A mechanical structure for automatic plugging of multi-core dense cables

Abstract

The present invention provides a mechanical structure for automatic plugging of multi-core dense cables, including a base, a sliding wire clamping module, a clutch wire storage module, and a clutch driving module. This mechanism can automatically insert wires into corresponding socket holes in sequence according to the geometric distribution of the socket holes of the wire harness, effectively avoiding interference between wires, completing the key operation of fully automatic plugging of multi-type dense cable wire harnesses, and providing support for realizing the full automation of wire harness insertion. The present invention can be applied to the automatic insertion of multi-core dense wire harnesses. The clutch wire storage module and the clutch driving module can, while avoiding interference between multiple wire harnesses, realize the process of changing the wire harness from disordered distribution to orderly waiting for insertion. At the same time, the designed structure for clamping the wire harness breaks through the limitation of wire harness models and is applicable to the insertion of wire harnesses with different wire diameters and different hole position distributions, meeting the characteristics of multi-type and small-batch wire harnesses in actual production, and will greatly reduce the production cost of wire harness insertion and assembly.

Description

Technical Field

[0001] The present invention relates to the automatic plugging of multi-core dense cables, and specifically to a multi-wire harness clutch grasping mechanical structure for the full-automatic plugging of multi-core dense cable harnesses. Background Art

[0002] In today's era of electronics and informatization, the development of cables has been very rapid, and cable products are involved in fields such as automobiles, household appliances, communication equipment, computers, densification, and military instrument equipment. The continuous expansion of market demand will effectively drive the development of the cable processing equipment industry. The cable harness process mainly can be divided into three stages: production preparation, wiring, and termination. Among them, the process of assembling the crimped harness into the connector is called insertion.

[0003] In recent years, there has been much research on the automatic wire feeding, wire cutting, and crimping technologies for ordinary wire harnesses at home and abroad, and a series of related products have been launched on the market, such as: automatic wire stripping machines, fully automatic terminal machines, microcomputer tube cutting machines, automatic wire twisting machines, fully automatic tin dipping machines, etc. However, in the field of wire harness assembly, there is a lack of relevant research in China. Most rely on imported automated insertion equipment from regions such as Europe, America, and Japan. Not only is the import price extremely expensive, but it can only meet the insertion of one type of connector and is difficult to achieve the automatic insertion of multiple specifications of connectors. For example, the Zeta 651 wire harness plugging module developed by the Swiss company Komax can perform full-automatic wire harness plugging and automatic connector feeding, and when used in conjunction with the host Zeta 633 module, it can achieve single-end automatic plugging and single-row and double-row plugging of connectors. However, most of these automated insertion devices rely on the position control of traditional rigid robotic arms and can only perform wire harness plugging with a dispersed hole distribution, with a narrow scope of application. Therefore, wire harness insertion in China mostly still relies on manual labor, resulting in low production efficiency and high labor costs. In the specific insertion process, due to the large number and dense distribution of the wire harnesses plugged into the multi-core connector, it is currently only possible to rely entirely on manual assembly operations. During the production preparation stage, wire numbers are printed on the wire insulation layer, and then workers manually identify the information of each wire by referring to the wire numbers and insert them into the sockets with corresponding hole numbers by hand. All in all, in the current research on automated equipment at home and abroad, as a flexible and deformable component, even the automatic insertion of a single wire harness is quite difficult, and the automatic plugging and assembly of multi-core wire harnesses with characteristics such as multi-core, dense hole distribution, multiple models, and small batches are still blank.

[0004] In the existing patents, the invention patent CN107346857A provides a device and method for a robot to automatically insert cable terminals. The device can fully automatically insert cable terminals into the sheath and can accurately perform wiring work on cables with terminals at both ends. However, it does not provide an actual solution for the insertion and connection of multi-core cables with densely distributed hole positions, which has quite large limitations. Summary of the Invention

[0005] In view of the problems in the current automatic insertion and connection process of multi-core cables with densely distributed hole positions, such as the initial disorder of multiple wire harnesses, the mutual interference of the wire harnesses themselves during the automatic insertion and connection process, and the interference between the inserted and to-be-inserted wire harnesses caused by the densely distributed holes, the present invention proposes a multi-wire harness clutch grasping mechanical structure for the full-automatic insertion and connection of dense wire harness cables. This mechanism can orderly separate each identified wire. After all wire harnesses are identified and separated, it will automatically insert the wires into the corresponding socket holes according to the geometric distribution of the socket holes of the wire harnesses, effectively avoiding interference between the wires and completing the key operation of the full-automatic insertion and connection of various types of dense cable wire harnesses, providing support for the full automation of wire harness insertion.

[0006] The technical solution of the present invention is as follows:

[0007] The mechanical structure for the automatic insertion and connection of multi-core dense cables includes a base, a sliding wire clamping module, a clutch wire storage module, and a clutch driving module;

[0008] The sliding wire clamping module is installed on the upper part of the base and can grasp and release the end of a single wire harness, and each time it grasps or releases the end of a single wire harness at the same position;

[0009] On the clutch wire storage module, there are clutch wire clamping slide rod mechanisms corresponding to the number of wire harnesses evenly distributed in a fan shape. The clamping slide rod in each clutch wire clamping slide rod mechanism can be controlled by the clutch driving module to move linearly along the direction of the clamping slide rod. The axes of all clamping slide rods converge at the same point, and the sliding wire clamping module can grasp and release the end of a single wire harness at the position where the axes of the clamping slide rods converge; a clamping spring is provided at the end of the clamping slide rod, which can clamp the wire harness grasped by the sliding wire clamping module at the convergence point of the axes of the clamping slide rods and return linearly for storage, or send the stored wire harness to the convergence point of the axes of the clamping slide rods for the sliding wire clamping module to grasp.

[0010] Further, the sliding wire clamping module includes a driving component, a left wire harness clamping block, and a right wire harness clamping block; the driving component can drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions to achieve grasping or releasing the end of a single wire harness; the clamping ends of the left wire harness clamping block and the right wire harness clamping block clamp the end of a single wire harness in the wedge groove through the wedge block and wedge groove cooperation method.

[0011] Further, two parallel wedges are provided at the clamping end of the left wire harness clamping block, and two parallel wedge grooves are correspondingly provided at the clamping end of the right wire harness clamping block. The two wedges and the two wedge grooves correspond to each other respectively, and the space between the two wedges is used for the wire clamping spring at the end of the wire clamping slide rod to clamp the wire harness.

[0012] Further, the driving component uses a bidirectional lead screw in cooperation with a ball slider and a linear slide rail to drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions; the bidirectional lead screw and the linear slide rail are fixedly arranged on the upper part of the base; the left ball slider and the right ball slider are respectively installed at both ends of the bidirectional lead screw and the linear slide rail, and the left ball slider and the right ball slider are respectively fixedly connected to the left wire harness clamping block and the right wire harness clamping block; the servo motor drives the bidirectional lead screw to rotate, so as to drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions through the left ball slider and the right ball slider.

[0013] Further, the clutch wire clamping slide rod mechanism includes an arc-shaped seat body, a wire clamping slide rod, a return spring and a wire clamping spring;

[0014] A plurality of radially through holes uniformly distributed along the circumferential direction are formed in the arc-shaped inner wall of the arc-shaped seat body, and a first spring fixing member corresponding to the radially through holes is further installed on the side wall surface of the arc-shaped seat body;

[0015] The wire clamping slide rod is installed in the radially through hole, and the wire clamping slide rod has a rack structure and can axially move along the radially through hole under the action of the clutch driving module; a wire clamping spring is fixedly installed at the front end of the wire clamping slide rod for clamping the wire harness at a specified position; a second spring fixing member is further installed at the front end of the wire clamping slide rod; both ends of the return spring are respectively connected to the first spring fixing member and the second spring fixing member. When the wire clamping slide rod axially moves along the radially through hole, the return spring is synchronously stretched, and the stretching direction of the return spring is parallel to the axial direction of the wire clamping slide rod.

[0016] Further, the radially through hole on the arc-shaped seat body is a linear sliding bearing hole, which can cooperate with the wire clamping slide rod for linear motion.

[0017] Further, the arc-shaped seat body and the base are of an integral structure, and both ends of the arc-shaped seat body are fixedly connected to the sliding wire clamping module.

[0018] Further, the clutch driving module includes an arc-shaped slide rail, an arc-shaped slider, an arc-shaped internal gear member, a clutch driving module base, a power mechanism, an arc motion gear and a linear motion gear;

[0019] The arc-shaped internal gear part and the arc-shaped slide rail are fixedly installed on the back of the arc-shaped seat body, and the center of the arc gear on the arc-shaped internal gear part and the center of the arc-shaped slide rail coincide with the convergence point of the axes of all the wire clamping slide rods;

[0020] The base of the clutch drive module is installed on the arc-shaped slide rail through an arc-shaped slider; the power mechanism is installed on the base of the clutch drive module and can drive the arc-shaped movement gear meshing with the arc gear on the arc-shaped internal gear part to rotate, so as to drive the base of the clutch drive module to move along the arc-shaped slide rail; the power mechanism can also drive the linear movement gear to rotate, and the linear movement gear can mesh with the rack on the wire clamping slide rod, so as to drive the wire clamping slide rod to move axially along the radial through hole.

[0021] Furthermore, the linear movement gear is an incomplete gear to avoid interference between the linear movement gear and the wire clamping slide rod.

[0022] Advantageous Effects

[0023] The automatic wire harness insertion clutch device proposed by the present invention can be applied to the automatic insertion of multi-core dense wire harnesses. The clutch wire storage module and the clutch drive module can avoid interference between multiple wire harnesses while realizing the process of changing the wire harness from disordered distribution to orderly waiting for insertion. At the same time, the designed wire harness clamping structure breaks through the limitation of wire harness models and is applicable to the insertion of wire harnesses with different wire diameters and different hole positions, which conforms to the characteristics of multi-model and small-batch wire harnesses in actual production, and will greatly reduce the production cost of wire harness insertion and assembly. In addition, compared with the prior art, the clutch structure of the present invention is space-compact and has a small overall size, only 35×10×20 cm. Compared with the complex wiring process and the operation of the robotic arm of its robotic system, the production cost of the device of the present invention is further reduced.

[0024] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0025] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

[0026] Figure 1 : Schematic diagram of the overall structure of the present invention;

[0027] Figure 2 : Schematic diagram of the back of the overall structure of the present invention;

[0028] Figure 3 : Schematic diagram of the sliding wire clamping module of the present invention; (In the figure, the positioning nut 20 and the spring fixing part 21 at the front end of the wire clamping slide rod are not hidden)

[0029] Figure 4 : Schematic diagram of a partial sliding wire clamping module of the present invention;

[0030] Figure 5 : Schematic diagram of the clutch wire storage module of the present invention;

[0031] Figure 6 : Schematic diagram of a partial clutch wire storage module of the present invention;

[0032] Figure 7 : Schematic diagram of the clutch drive module of the present invention;

[0033] Figure 8 : Schematic diagram of the back side of the clutch drive module of the present invention;

[0034] Among them: 1. Sliding wire clamping module; 2. Clutch wire storage module; 3. Clutch drive module; 4. 2020 aluminum profile; 5. Left bearing seat; 6. Bidirectional lead screw; 7. Left ball screw slider; 8. Left wire harness clamping block; 9. Wire harness; 10. Linear slide rail; 11. Right ball screw slider; 12. Right wire harness clamping block; 13. Right bearing seat; 14. Coupling; 15. Servo motor; 16. Motor bracket; 17. Arc-shaped seat body; 18. Wire clamping slide bar; 19. Return spring; 20. Positioning nut; 21. Spring fixing piece; 22. Fixing nut; 23. Wire clamping circlip; 24. Arc-shaped slide rail; 25. Arc-shaped internal gear part; 26. Clutch drive module base; 27. Arc motion servo motor; 28. Coupling; 29. Arc motion gear; 30. Incomplete gear; 31. Coupling; 32. Linear motion servo motor; 33. Arc-shaped slider. Detailed implementation manners

[0035] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0037] Furthermore, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0038] As Figure 1 and Figure 2 shown, the mechanical structure for automatic plugging of multi-core dense cables in this embodiment includes a base, a sliding wire clamping module 1, a clutch wire storage module 2, and a clutch drive module 3.

[0039] As Figure 3 shown, in this embodiment, the base adopts an arc-shaped seat body 17, where support surfaces are designed at both ends of the arc-shaped seat body for fixedly installing the sliding wire clamping module 1; the arc part of the arc-shaped seat body serves as a part of the clutch wire storage module 2 for providing a movement space for the clutch wire clamping slide bar mechanism; a connecting flange for fixing the base is also provided in the middle of the side surface of the arc-shaped seat body. As Figure 1 and Figure 2 shown, the entire base is fixedly supported by 2020 aluminum profiles 4 and installed directly in front of the position of the wire harness socket.

[0040] The sliding wire clamping module 1 is installed on the upper part of the base, capable of grasping and releasing the end of a single wire harness 9, and each time grasping or releasing the end of the single wire harness at the same position.

[0041] As Figure 3 shown, the sliding wire clamping module includes a driving component, a left wire harness clamping block 8, and a right wire harness clamping block 12; the driving component can drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions to achieve grasping or releasing the end of a single wire harness; the clamping ends of the left wire harness clamping block and the right wire harness clamping block clamp the end of the single wire harness in the wedge groove by means of wedge block and wedge groove cooperation.

[0042] As Figure 4 shown, in this embodiment, two parallel wedge blocks are provided at the clamping end of the left wire harness clamping block, and two parallel wedge grooves are correspondingly provided at the clamping end of the right wire harness clamping block. The two wedge blocks and the two wedge grooves correspond respectively, and the space between the two wedge blocks is for the wire clamping spring at the end of the wire clamping slide bar to clamp the wire harness.

[0043] In this embodiment, the driving component uses a bidirectional lead screw in cooperation with ball sliders and linear slide rails to drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions; the bidirectional lead screw 6 and the linear slide rail 10 are fixedly arranged in parallel on the upper part of the base; the left ball slider 7 and the right ball slider 11 are respectively installed at both ends of the bidirectional lead screw and the linear slide rail, and the left ball slider and the right ball slider are respectively fixedly connected to the left wire harness clamping block and the right wire harness clamping block; the servo motor 15 drives the bidirectional lead screw to rotate, so as to drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions through the left ball slider and the right ball slider, and realize the precise clamping action of the wire harness 9. As shown in the appendix Figure 4 As shown, the design of the left wire harness clamping block 8 and the right wire harness clamping block 12 enables them to clamp the metal position at the end of the wire harness 9 when they are closed. The action function of the entire sliding wire clamping module 1 is realized by the left wire harness clamping block 8 and the right wire harness clamping block 12 clamping and releasing the wire.

[0044] On the clutch wire storage module, clutch wire clamping slide bar mechanisms corresponding to the number of wire harnesses are evenly distributed in a fan shape. The wire clamping slide bar in each clutch wire clamping slide bar mechanism can be controlled by the clutch driving module to move linearly along the direction of the wire clamping slide bar. The axes of all the wire clamping slide bars converge at the same point, and the sliding wire clamping module can grab and release the end of a single wire harness at the position where the axes of the wire clamping slide bars converge; a wire clamping snap spring is arranged at the end of the wire clamping slide bar, which can clamp the wire harness grabbed by the sliding wire clamping module at the convergence point of the axes of the wire clamping slide bars, and linearly return for storage, or send the stored wire harness to the convergence point of the axes of the wire clamping slide bars for the sliding wire clamping module to grab.

[0045] As Figure 5 and Figure 6 shown, the clutch wire clamping slide bar mechanism in this embodiment includes an arc-shaped seat body, a wire clamping slide bar 18, a return spring 19 and a wire clamping snap spring 23.

[0046] A plurality of radially through holes evenly distributed in the circumferential direction are formed in the arc-shaped inner wall of the arc-shaped seat body. In this embodiment, the radially through holes are linear sliding bearing holes, which can cooperate with the wire clamping slide bar for linear movement; and a first spring fixing part corresponding to the radially through hole one by one is also installed on the side wall surface of the arc-shaped seat body.

[0047] The wire clamping slide rod is installed in the radial through hole, and the wire clamping slide rod has a rack structure, which can make the wire clamping slide rod axially move along the radial through hole under the action of the clutch drive module; a wire clamping snap spring is fixedly installed at the front end of the wire clamping slide rod for clamping the wire harness at a specified position; in addition, a second spring fixing member is also installed at the front end of the wire clamping slide rod through a positioning nut and a fixing nut, and the axial position of the second spring fixing member is adjustable to adjust the initial length of the return spring 19; both ends of the return spring are respectively connected to the first spring fixing member and the second spring fixing member. When the wire clamping slide rod axially moves along the radial through hole, the return spring is synchronously stretched until the wire clamping snap spring 23 completes the clamping of the wire harness 9, wherein the stretching direction of the return spring is parallel to the axial direction of the wire clamping slide rod. After the clamping is completed, the return spring 19 can assist the wire clamping slide rod 18 to return, so as to complete the clamping or feeding of each wire harness 9. A plurality of wire clamping slide rods 18 realize the clutch clamping or feeding of each wire.

[0048] As Figure 7 and Figure 8 shown, the clutch drive module includes an arc-shaped slide rail 24, an arc-shaped slider 33, an arc-shaped internal gear member 25, a clutch drive module base 26, a power mechanism, an arc motion gear and a linear motion gear.

[0049] The arc-shaped internal gear member and the arc-shaped slide rail are fixedly installed on the back of the arc-shaped seat body, and the center of the arc gear on the arc-shaped internal gear member and the center of the arc-shaped slide rail coincide with the convergence point of the axes of all wire clamping slide rods.

[0050] The clutch drive module base is installed on the arc-shaped slide rail through an arc-shaped slider; the power mechanism is installed on the clutch drive module base and is divided into an arc motion servo motor 27 and a linear motion servo motor 32. Among them, the arc motion servo motor 27 can drive the arc motion gear 29 meshing with the arc gear on the arc-shaped internal gear member to rotate, thereby driving the clutch drive module base to move along the arc-shaped slide rail so that it can reach the position of any wire clamping slide rod 18; the linear motion servo motor 32 can drive the linear motion gear to rotate, and the linear motion gear can mesh with the rack on the wire clamping slide rod, thereby driving the wire clamping slide rod to axially move along the radial through hole. In this embodiment, the linear motion gear is an incomplete gear 30 to avoid interference between the linear motion gear and the wire clamping slide rod when the clutch drive module base moves along the arc-shaped slide rail. After the incomplete gear 30 reaches the specified position, it cooperates with the rack of the wire clamping slide rod 18 for transmission, so that the wire clamping slide rod 18 makes a linear motion. Finally, the clutch drive module 3 can realize the linear clutch drive of any wire clamping slide rod 18 in the clutch wire storage module 2.

[0051] When the multi-strand wire harness clutch grasping mechanical structure for fully automatic plugging of intensive wire harness cables proposed by the present invention is working, first, after identifying the serial number of the wire harness 9 fixed at a certain station, the serial number information is obtained; at the same time, under the opposite movement of the left wire harness clamping block 8 and the right wire harness clamping block 12 in the sliding wire clamping module 1, the fixing and clamping of the metal end of the wire harness 9 are completed. In addition, the clutch driving module 3 performs a circular motion to move the incomplete gear 30 to the position of the wire clamping slide rod 18 corresponding to the serial number, so that the wire clamping slide rod 18 moves linearly, and the wire clamping spring 23 advances towards the end of the wire harness 9. After the wire harness 9 is clamped by the wire clamping spring 23, the left wire harness clamping block 8 and the right wire harness clamping block 12 in the sliding wire clamping module 1 release the metal end of the wire harness 9 under the control of the servo motor 15, and the wire clamping slide rod 18 returns to the original position through the incomplete gear 30 and the return spring. Thus, the clamping and storage of any wire harness 9 are completed. Similarly, when it is necessary to perform the insertion action on the wire harness clamped by any wire clamping spring 23, the above process can be reversed, that is, first send the wire to the fixed position, the sliding wire clamping module 1 performs fixed clamping, and the clutch wire storage module 2 and the clutch driving module 3 cooperate to return the wire clamping slide rod 18 of the released wire harness, and then the left wire harness clamping block 8 and the right wire harness clamping block 12 cooperate with the wire harness socket to perform the insertion. All the above processes achieve the orderly storage of the disordered wire harnesses and then the orderly insertion, avoiding the interference during the insertion process of the intensive wire harnesses; in addition, the spatial layout of the three modules makes all the wire harnesses spread out in an umbrella shape, avoiding the winding interference between the wire harnesses during the insertion process.

[0052] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and purposes of the present invention.

Claims

1. A mechanical structure for automatic plugging of multi-core dense cables, characterized in that: It includes a base, a sliding wire clamping module, a clutch wire storage module, and a clutch driving module; The sliding wire clamping module is installed on the upper part of the base, capable of grasping and releasing the end of a single wire harness, and each time it grasps or releases the end of a single wire harness at the same position; On the clutch wire storage module, clutch wire clamping slide bar mechanisms corresponding to the number of wire harnesses are evenly distributed in a fan shape. The wire clamping slide bar in each clutch wire clamping slide bar mechanism can be controlled by the clutch driving module to move linearly along the direction of the wire clamping slide bar. The axes of all wire clamping slide bars converge at the same point, and the sliding wire clamping module can grasp and release the end of a single wire harness at the position where the axes of the wire clamping slide bars converge; a wire clamping circlip is provided at the end of the wire clamping slide bar, capable of clamping the wire harness grasped by the sliding wire clamping module at the convergence point of the axes of the wire clamping slide bars, and then linearly returning for storage, or sending the stored wire harness to the convergence point of the axes of the wire clamping slide bars for the sliding wire clamping module to grasp; The sliding wire clamping module includes a driving component, a left wire harness clamping block, and a right wire harness clamping block; the driving component can drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions to achieve grasping or releasing the end of a single wire harness; the clamping ends of the left wire harness clamping block and the right wire harness clamping block clamp the end of a single wire harness in the wedge groove through the wedge block and wedge groove cooperation method; The clutch wire clamping slide bar mechanism includes an arc-shaped seat body, a wire clamping slide bar, a return spring, and a wire clamping circlip; A number of radially through holes evenly distributed in the circumferential direction are provided on the arc-shaped inner wall of the arc-shaped seat body, and a first spring fixing part corresponding to the radially through hole is further installed on the side wall surface of the arc-shaped seat body; The wire clamping slide bar is installed in the radially through hole, and the wire clamping slide bar has a rack structure and can axially move along the radially through hole under the action of the clutch driving module; a wire clamping circlip is fixedly installed at the front end of the wire clamping slide bar for clamping the wire harness at a specified position; a second spring fixing part is further installed at the front end of the wire clamping slide bar; both ends of the return spring are respectively connected to the first spring fixing part and the second spring fixing part. When the wire clamping slide bar axially moves along the radially through hole, the return spring is synchronously stretched, and the stretching direction of the return spring is parallel to the axial direction of the wire clamping slide bar; The clutch driving module includes an arc-shaped slide rail, an arc-shaped slider, an arc-shaped internal gear part, a clutch driving module base, a power mechanism, an arc movement gear, and a linear movement gear; The arc-shaped internal gear part and the arc-shaped slide rail are fixedly installed on the back of the arc-shaped seat body, and the center of the arc gear on the arc-shaped internal gear part and the center of the arc-shaped slide rail coincide with the convergence point of the axes of all wire clamping slide bars; The clutch driving module base is installed on the arc-shaped slide rail through the arc-shaped slider; the power mechanism is installed on the clutch driving module base and can drive the arc movement gear meshing with the arc gear on the arc-shaped internal gear part to rotate, thereby driving the clutch driving module base to move along the arc-shaped slide rail; the power mechanism can also drive the linear movement gear to rotate, and the linear movement gear can mesh with the rack on the wire clamping slide bar to drive the wire clamping slide bar to axially move along the radially through hole.

2. The mechanical structure for automatic plugging of multi-core dense cables according to claim 1, characterized in that: The clamping end of the left wire harness clamping block is provided with two parallel wedges, and the clamping end of the right wire harness clamping block is correspondingly provided with two parallel wedge grooves. The two wedges and the two wedge grooves correspond to each other respectively, and the space between the two wedges is used for the wire clamping spring at the end of the wire clamping slide rod to clamp the wire harness.

3. The mechanical structure for automatic plugging of multi-core dense cables according to claim 1, characterized in that: The driving component uses a bidirectional lead screw in cooperation with ball sliders and linear slide rails to drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions; the bidirectional lead screw and the linear slide rail are fixedly arranged parallel to the upper part of the base; the left ball slider and the right ball slider are respectively installed at both ends of the bidirectional lead screw and the linear slide rail, and the left ball slider and the right ball slider are respectively fixedly connected to the left wire harness clamping block and the right wire harness clamping block; the servo motor drives the bidirectional lead screw to rotate, so as to drive the left wire harness clamping block and the right wire harness clamping block to move in the same direction or in opposite directions through the left ball slider and the right ball slider.

4. The mechanical structure for automatic plugging of multi-core dense cables according to claim 1, characterized in that: The radial through hole on the arc-shaped seat body is a linear sliding bearing hole, which can cooperate with the wire clamping slide rod for linear movement.

5. A mechanical structure for automatic plugging of multi-core dense cables according to claim 1, characterized in that: The arc-shaped seat body and the base are of an integral structure, and are fixedly connected to the sliding wire clamping module at both ends of the arc-shaped seat body.

6. The mechanical structure for automatic plugging of multi-core dense cables according to claim 1, characterized in that: The linear motion gear is an incomplete gear to avoid interference between the linear motion gear and the wire clamping slide rod.

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