Precision Position Search and Insertion Device Based on Flexible Double Cardan Workpieces

Abstract

The present invention discloses a precise positioning and inserting device for flexible double universal workpieces, which includes mounting columns. There are two mounting columns and they are symmetrically arranged. A lifting power component is installed and fixed on each mounting column. The output end of the lifting power component is connected to a lifting transmission assembly. A transverse movement power component is arranged on one side of the lifting transmission assembly. A wire clamping and inserting assembly is installed at the bottom of the lifting transmission assembly. The wire clamping and inserting assembly includes a downward pressing and limiting mechanism installed at the bottom of the lifting transmission assembly. Angle correction mechanisms and wire hooking and terminal alignment mechanisms are respectively arranged on both sides of the downward pressing and limiting mechanism. A profiling clamping mechanism is arranged between the angle correction mechanism and the wire hooking and terminal alignment mechanism, realizing the full-degree-of-freedom constraint of flexible lead wire inserting terminals. After positioning, there will be no deviation, and the positioning accuracy is high. It realizes the precise positioning and inserting of flexible lead wire inserting terminals fully automatically, without manual operation, ensuring the operation safety of employees and reducing labor consumption at the same time.

Description

Technical Field

[0001] The invention relates to the technical field of electric power supply, and in particular to a precise positioning and insertion device based on a flexible dual universal workpiece. Background Art

[0002] As attached Figure 11 As shown, in the prior art, all flexible lead-out wire plug terminals have not yet been automated. The lead-out wires need to be straightened manually and then manually inserted into the sockets. After connection, the corresponding product tests need to be performed, which wastes labor costs and causes a large amount of labor. After working for a long time, employees are prone to unsafe behaviors, resulting in abnormalities and low efficiency. Therefore, a precise positioning and insertion device based on a flexible dual universal workpiece is proposed. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a precise positioning and insertion device based on a flexible dual universal workpiece, which realizes the full-freedom constraint of the flexible lead-out wire plug terminal. After positioning, no offset will occur and the positioning accuracy is high. The flexible lead-out wire plug terminal can be fully automated and precisely positioned and inserted without manual operation, thereby ensuring the safety of employees' operation and reducing manpower consumption.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a precise positioning and insertion device based on a flexible dual universal workpiece, including mounting columns, two mounting columns are symmetrically arranged, a lifting power component is fixedly installed on each of the mounting columns, the output end of the lifting power component is connected to a lifting transmission assembly, a transverse moving power component is provided on one side of the lifting transmission assembly, a wire clamping and plugging assembly is installed at the bottom of the lifting transmission assembly, the wire clamping and plugging assembly includes a downward pressure limit mechanism installed at the bottom of the lifting transmission assembly, an angle correction mechanism and a wire hook and terminal alignment mechanism are respectively provided on both sides of the downward pressure limit mechanism, and a contour clamping mechanism is provided between the angle correction mechanism and the wire hook and terminal alignment mechanism.

[0005] As a preferred technical solution of the present invention, a lead-out wire connection shell is provided directly above the wire clamping and plugging assembly, and the product lead-out wires are inserted into the lead-out wire connection shell.

[0006] As a preferred technical solution of the present invention, the contoured clamping mechanism includes two groups of symmetrical contoured jaws and a clamping cylinder that drives the contoured jaws to open and close, a threading slot is provided in the contoured jaws, a clamping abutment slot is provided at the upper end port of the threading slot, the clamping abutment slot is adapted to the shape of the lead-out wire terminal housing, and the clamping abutment slot is located directly below the downward pressure limit mechanism.

[0007] As a preferred technical solution of the present invention, the downward pressing limit mechanism is provided with a downward pressing abutting head that can move up and down. The downward pressing abutting head is driven by a downward pressing air cylinder, and the downward pressing abutting head faces the clamping and abutting notch.

[0008] As a preferred technical solution of the present invention, a wire clamping center calibration component is provided between the lifting transmission component and the downward pressing limit mechanism. The wire clamping center calibration component includes a fixed plate fixed at the output end of the lifting transmission component and a movable plate fixed at the top end of the downward pressing limit mechanism. The fixed plate and the movable plate are movably connected, and the movable plate is driven by a lead screw and a hand wheel to move in the front-back direction.

[0009] As a preferred technical solution of the present invention, the angle correction mechanism includes angle correction fingers installed on the mounting frame. There are two angle correction fingers, which are symmetrically arranged front and back, and a finger driving air cylinder assembly is provided at the rear end of the angle correction fingers.

[0010] As a preferred technical solution of the present invention, the finger driving air cylinder assembly includes a finger air cylinder for driving the angle correction fingers to clamp and a long rod air cylinder for driving the angle correction fingers to extend and retract.

[0011] As a preferred technical solution of the present invention, a butting protrusion is provided on the inner side of one of the angle correction fingers, and the butting protrusion abuts against the inner side of the other angle correction finger.

[0012] As a preferred technical solution of the present invention, the wire hooking and terminal alignment mechanism includes a butting long rod installed on the substrate, and the butting long rod is driven by a butting air cylinder to perform telescopic movement in the front-back direction.

[0013] The insertion method of the precise positioning device for a flexible double universal workpiece specifically includes the following steps:

[0014] S1: The Y-axis moves. The lifting power component drives the lifting transmission component to move in the negative Y-axis direction. When it moves to 5 mm above the product, the X-axis moves. The transverse movement power component drives the wire clamping and inserting component to move in the positive X-axis direction, so that the profiling clamping mechanism moves to directly below the bottom of the lead wire.

[0015] S2: The profiling clamping mechanism works to clamp the lead wire between the two profiling clamping jaws. The angle correction mechanism positions the root of the lead wire. Then the lifting power component drives the lifting transmission component to move in the positive Y-axis direction, straightening the lead wire upward. When it reaches the lead wire connection shell, the lead wire connection shell abuts in the clamping and abutting notch. The angle correction mechanism works, and the angle correction fingers extend to clamp the lead wire connection shell and make its circumferential alignment.

[0016] S3: The wire hooking and terminal alignment mechanism works. The butting long rod extends and abuts against the lead wire connection shell to make the lead wire connection shell vertically perpendicular. At this time, the lead wire connection shell restricts five degrees of freedom.

[0017] S4: When the five - degree - of - freedom restriction of the lead - wire connection housing is complete, the downward - pressing limit mechanism works to press the lead - wire connection housing at the front section of the lead wire into the profiling clamping mechanism to completely restrict its degrees of freedom.

[0018] S5: The lead - wire connection housing with completely restricted degrees of freedom is inserted into an external socket under the servo - drive of the X - axis horizontal moving power component and the Y - axis lifting power component to complete the connection, so as to achieve the expected preparatory work for normal performance testing.

[0019] Compared with the prior art, the beneficial effects that the present invention can achieve are as follows:

[0020] By designing profiling jaws to form a profiling clamping mechanism, cooperating with an angle - correcting mechanism, a wire - hooking and terminal - aligning mechanism, and a downward - pressing limit mechanism, after the workpiece reaches the specified position, first position the root of the lead wire, then straighten the lead wire upward and automatically clip it into the profiling jaws, and the downward - pressing limit mechanism presses it tightly, realizing the full - degree - of - freedom constraint of the flexible lead - wire inserting the terminal, making its precise positioning, without deviation after positioning, with high positioning accuracy. Then, under the servo - drive of the lifting power component and the horizontal moving power component, it is accurately inserted into the external socket, realizing the precise position - finding and inserting of the flexible lead - wire inserting the terminal fully automatically, without manual operation, ensuring the safety of employee operation and reducing labor consumption at the same time.

[0021] By positioning the root of the lead wire through the angle - correcting mechanism and then straightening it upward, the swing at the intersection of the flexible position and the fixed position of the root of the lead wire is minimized, and precise guidance can be achieved for it, with an accuracy of 99.5%.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 is a schematic structural diagram of the present invention;

[0025] Figure 2 is a schematic diagram of the working state of the wire - clamping and wire - inserting assembly of the present invention;

[0026] Figure 3 is an exploded view of the position - finding and inserting device of the present invention;

[0027] Figure 4 This is a schematic structural diagram of the wire clamping and plugging component in the present invention;

[0028] Figure 5 This is an exploded view of the wire clamping and plugging component in the present invention;

[0029] Figure 6 This is a working schematic diagram of the profiling clamping mechanism in the present invention;

[0030] Figure 7 This is a schematic structural diagram of the profiling clamping jaw in the present invention;

[0031] Figure 8 This is a schematic structural diagram of the angle correction mechanism in the present invention;

[0032] Figure 9 This is a schematic structural diagram of the downward pressing and limiting mechanism in the present invention;

[0033] Figure 10 This is a schematic structural diagram of the wire clamping center calibration component in the present invention;

[0034] Figure 11 This is a schematic diagram of the prior art in the existing background art.

[0035] Wherein: 1. Lifting transmission component; 2. Wire clamping center calibration component; 3. Wire clamping and plugging component; 4. Lifting power component; 5. Transverse movement power component; 6. Lead wire connection shell; 7. Hook wire and terminal alignment mechanism; 8. Downward pressing and limiting mechanism; 9. Profiling clamping mechanism; 10. Angle correction mechanism; 11. Installation column; 12. Installation frame; 13. Driving cylinder assembly; 14. Angle correction finger; 15. Profiling clamping jaw; 16. Wire passing slot opening; 17. Clamping abutting slot opening; 18. Downward pressing abutting head. Detailed implementation manners

[0036] In order to make the technical means, creative features, achieved purposes and effects realized by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation manners, other embodiments obtained by those skilled in the art without making creative efforts all fall within the protection scope of the present invention. The experimental methods in the following embodiments are all conventional methods unless otherwise specified, and the materials, reagents, etc. used in the following embodiments can all be obtained from commercial channels unless otherwise specified.

[0037] Refer to Figures 1 to 10As shown in the figure, the present invention provides a precise positioning and insertion device based on a flexible double universal joint workpiece, including mounting columns 11. There are two mounting columns 11 which are symmetrically arranged. A lifting power component 4 is fixedly installed on each mounting column 11. The output end of the lifting power component 4 is connected to a lifting transmission assembly 1. A transverse movement power component 5 is arranged on one side of the lifting transmission assembly 1. A wire clamping and inserting assembly 3 is installed at the bottom of the lifting transmission assembly 1. The wire clamping and inserting assembly 3 includes a downward pressing and limiting mechanism 8 installed at the bottom of the lifting transmission assembly 1. An angle correction mechanism 10 and a wire hooking and terminal alignment mechanism 7 are respectively arranged on both sides of the downward pressing and limiting mechanism 8. A profiling clamping mechanism 9 is arranged between the angle correction mechanism 10 and the wire hooking and terminal alignment mechanism 7. The profiling clamping mechanism 9, the angle correction mechanism 10, the wire hooking and terminal alignment mechanism 7 and the profiling clamping mechanism 9 cooperate to simultaneously limit the six degrees of freedom of the product lead wire. Two groups of wire clamping and inserting assemblies 3 can work simultaneously to complete the wire clamping and inserting operations.

[0038] Preferably, a lead wire connection housing 6 is arranged directly above the wire clamping and inserting assembly 3. The product lead wire passes through the lead wire connection housing 6. The use of the lead wire connection housing 6 is more convenient for restricting all degrees of freedom of the plug at the end of the lead wire.

[0039] Preferably, the profiling clamping mechanism 9 includes two groups of symmetric profiling jaws 15 and a clamping cylinder for driving the profiling jaws 15 to open and close. A wire passing groove 16 is arranged in the profiling jaws 15. A clamping abutting groove 17 is arranged at the upper end port of the wire passing groove 16. The clamping abutting groove 17 is adapted to the outer shape of the lead wire connection housing 6. The clamping abutting groove 17 is located directly below the downward pressing and limiting mechanism 8. When the lead wire connection housing 6 falls into the wire passing groove 16, it will abut in the clamping abutting groove 17.

[0040] Preferably, a downward pressing abutting head 18 that can move up and down is arranged on the downward pressing and limiting mechanism 8. The downward pressing abutting head 18 is driven by a downward pressing cylinder. The downward pressing abutting head 18 is directly opposite to the clamping abutting groove 17. When the lead wire connection housing 6 is limited by the wire hooking and terminal alignment mechanism 7, the angle correction mechanism 10 and the profiling clamping mechanism 9, the downward pressing abutting head 18 performs a downward pressing action to completely limit the lead wire connection housing 6.

[0041] Preferably, a wire clamping center calibration assembly 2 is arranged between the lifting transmission assembly 1 and the downward pressing and limiting mechanism 8. The wire clamping center calibration assembly 2 includes a fixed plate fixed to the output end of the lifting transmission assembly 1 and a movable plate fixed to the top end of the downward pressing and limiting mechanism 8. The fixed plate and the movable plate are movably connected. The movable plate is driven to move in the front-rear direction by a lead screw and a handwheel. By turning the handwheel manually, the movable plate is driven to move along the Z-axis to adjust the relative position between the wire clamping and inserting assembly 3 and the lead wire.

[0042] Preferably, the angle correction mechanism 10 includes an angle correction finger 14 mounted on a mounting frame 12 , wherein there are two angle correction fingers 14 symmetrically arranged front to back, and a finger-driven cylinder assembly 13 is provided at the rear end of the angle correction finger 14 .

[0043] Preferably, the finger-driven cylinder assembly 13 includes a finger cylinder for driving the angle correction fingers 14 to clamp and a long rod cylinder for driving the angle correction fingers 14 to extend and retract. By driving the long rod cylinder and the finger cylinder, the two angle correction fingers 14 can be operated to clamp the lead wires to straighten them, and to align the lead wire terminal housing 6.

[0044] Preferably, an abutment protrusion is provided on the inner side of one angle correction finger 14, and the abutment protrusion abuts on the inner side of another angle correction finger 14, so that a certain distance can be maintained between the two angle correction fingers 14 to avoid pinching the lead wire when straightening the wire.

[0045] Preferably, the wire hook and terminal alignment mechanism 7 includes an abutment long rod installed on a substrate, which is driven by an abutment cylinder to perform telescopic movement in the forward and backward directions. When the lead-out wire terminal housing 6 is aligned, the abutment long rod is driven to abut against the lead-out wire terminal housing 6 to limit it.

[0046] The present invention provides an insertion method of a precise positioning device based on a flexible dual universal workpiece, which specifically comprises the following steps:

[0047] S1: Y-axis moves, the lifting power component 4 drives the lifting transmission component 1 to move in the negative direction of the Y-axis, and moves to 5mm above the upper end of the product. The X-axis moves, and the horizontal movement power component 5 drives the clamping and plugging assembly 3 to move in the positive direction of the X-axis, so that the contour clamping mechanism 9 moves to the bottom of the lead-out wire;

[0048] S2: the contour clamping mechanism 9 works to clamp the lead wire between the two contour clamping claws 15, the angle correction mechanism 10 positions the root of the lead wire, and the rear lifting power component 4 drives the lifting transmission assembly 1 to move in the positive direction of the Y axis to straighten the lead wire upward. When the lead wire is straightened to the lead wire terminal housing 6, the lead wire terminal housing 6 abuts against the clamping abutment notch 17, and the angle correction mechanism 10 works, and the angle correction fingers 14 extend to clamp the lead wire terminal housing 6 to align it circumferentially;

[0049] S3: The hooking and terminal alignment mechanism 7 works, the abutting long rod extends out and abuts on the lead-out wire connection housing 6, so that the lead-out wire connection housing 6 is vertically vertical. At this time, the lead-out wire connection housing 6 restricts five degrees of freedom;

[0050] S4: When the five degrees of freedom of the lead wire connection housing 6 are completely restricted, the limit mechanism 8 is pressed down to work, and the lead wire connection housing 6 at the front section of the lead wire is pressed into the contour clamping mechanism 9, so that its degrees of freedom are completely restricted;

[0051] S5: The lead-out terminal housing 6 with completely restricted freedom is inserted into an external socket under the servo drive of the X-axis lateral movement power component 5 and the Y-axis lifting power component 4 to complete the connection and achieve the expected preparation for normal performance testing. Example

[0052] In order to meet the requirement of full automation to replace manual work, the operation of the present invention is as follows:

[0053] like Figures 2 - 6 As shown, the wire clamping and plugging assembly 3 is divided into three-axis collaborative movement. The wire clamping and plugging assembly 3 reaches the bottom of the product lead-out line to perform correction action. Among the three axes, the Z axis is the reference axis. By manually turning the hand wheel, the front and rear positions of the wire clamping center calibration assembly 2 are pre-adjusted so that the wire clamping and plugging assembly 3 is in the same plane position as the center of the socket point in the Z axis direction. Under the servo drive of the lifting power component 4 and the lateral movement power component 5, the error of inserting into the socket can be reduced to below 0.1mm. While ensuring normal on and off and stable and reliable testing, the quality and appearance of the product are guaranteed at the same time.

[0054] Combination Figures 2 - 6 As shown, after loading, the wire clamping and plugging assembly 3 is at the origin position.

[0055] Step 1: The Y-axis moves, and the lifting power component 4 drives the lifting transmission component 1 to move in the negative direction of the Y-axis (depending on the different models of products, the parameter bits stored in the Y-axis servo are also different), and moves to 5mm above the upper end of the product; the X-axis moves, and the horizontal movement power component 5 drives the clamping and plugging component 3 to move in the positive direction of the X-axis to just below the bottom of the product lead-out line;

[0056] Step 2: The starting action position has been completely determined, the contour clamping mechanism 9 works, the lead wire is clamped between the two contour clamping claws 15, the angle correction mechanism 10 positions the root of the lead wire, and the rear lifting power component 4 drives the lifting transmission assembly 1 to move in the positive direction of the Y axis, straightens the lead wire upward, and when it is pulled to the lead wire terminal shell 6, the lead wire terminal shell 6 abuts against the clamping abutment notch 17, the angle correction mechanism 10 works, the angle correction finger 14 extends, clamps the lead wire terminal shell 6, and aligns it circumferentially, and the hook wire and terminal alignment mechanism 7 makes the terminal shell vertically vertical, at this time, the terminal shell has been restricted to 5 degrees of freedom;

[0057] Step 3: When the five degrees of freedom are completely restricted by pressing down the limit mechanism 8, the lead wire connection housing 6 of the front section of the lead wire is pressed into the contour clamping mechanism 9 to completely restrict its degrees of freedom;

[0058] Step 4: The lead-out terminal housing 6 with completely restricted freedom is inserted into the external socket under the drive of the X-axis and Y-axis servos to complete the connection and achieve the expected preparation for normal performance testing.

[0059] like Figure 6 It is a schematic diagram showing the relative connection relationship between the lead-out wire connection housing 6 and the contour clamping mechanism 9 , wherein the bottom of the lead-out wire connection housing 6 faces the clamping abutment notch of the contour clamping claw 15 .

[0060] like Figure 7 The schematic diagram of the structure of the contoured clamping jaw 15 is shown. The contoured clamping jaw 15 has a threading slot 16 for the lead wire to pass through and a clamping abutment slot 17 for limiting the position of the lead wire terminal housing 6.

[0061] like Figure 8 The figure shows an enlarged view of the angle correction mechanism 10 , which is mainly driven by a finger cylinder and a long rod cylinder; the main function is to realize the circumferential angle adjustment of the lead-out wire connection housing 6 .

[0062] The present invention adopts mechanical direct positioning and designs a two-group, totaling four independent profiling jaws 15, which can be automatically spliced into a profiling clamping mechanism 9, in conjunction with an angle correction mechanism 10, a hook wire and terminal alignment mechanism 7 and a downward limit mechanism 8. After the workpiece reaches the specified position, the root of the lead-out wire is first positioned by the angle correction mechanism 10. The root of the lead-out wire is positioned, and the swing at the intersection of the flexible position and the fixed position of the root of the lead-out wire is the smallest, so it can be accurately guided with an accuracy of 99.5%. Then, the lead-out wire is straightened upward by the lifting power component 4. When it is straightened to the lead-out wire terminal shell 6, the lead-out wire terminal shell 6 is automatically clamped into the profiling jaw 15, and the downward limit mechanism 8 is pressed to realize full-degree-of-freedom constraint, so that it is accurately positioned, and no offset will occur after positioning, and the positioning accuracy is high. Thereafter, under the servo drive of the lifting power component 4 and the lateral movement power component 5, it is accurately inserted into the external socket to complete the power connection.

[0063] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0064] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and the descriptions in the specification are only preferred examples of the present invention, and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A precise positioning and insertion device for a flexible double universal workpiece, including a mounting column, characterized in that: There are two installation columns which are symmetrically arranged. A lifting power component is installed and fixed on each installation column. The output end of the lifting power component is connected with a lifting transmission component. A transverse movement power component is arranged on one side of the lifting transmission component. A wire clamping and plugging component is installed at the bottom of the lifting transmission component. The wire clamping and plugging component includes a downward pressing and limiting mechanism installed at the bottom of the lifting transmission component. An angle correction mechanism and a wire hooking and terminal aligning mechanism are respectively arranged on both sides of the downward pressing and limiting mechanism. A profiling clamping mechanism is arranged between the angle correction mechanism and the wire hooking and terminal aligning mechanism; A lead wire connection shell is arranged directly above the wire clamping and plugging component, and a product lead wire is inserted into the lead wire connection shell; The profiling clamping mechanism includes two groups of symmetric profiling clamping jaws and a clamping air cylinder for driving the profiling clamping jaws to open and close. A wire passing groove opening is arranged in the profiling clamping jaws. A clamping abutting groove opening is arranged at the upper end port of the wire passing groove opening. The clamping abutting groove opening is adapted to the outer shape of the lead wire connection shell. The clamping abutting groove opening is located directly below the downward pressing and limiting mechanism; The angle correction mechanism includes angle correction fingers installed on a mounting bracket. There are two angle correction fingers which are symmetrically arranged front and back. A finger driving air cylinder assembly is arranged at the rear end of the angle correction fingers; The wire hooking and terminal aligning mechanism includes an abutting long rod installed on a substrate. The abutting long rod is driven by an abutting air cylinder to perform telescopic movement in the front and back directions.

2. The precise positioning and insertion device based on a flexible double universal joint workpiece according to claim 1, wherein: A downward pressing abutting head which can move up and down is arranged on the downward pressing and limiting mechanism. The downward pressing abutting head is driven by a downward pressing air cylinder. The downward pressing abutting head is directly opposite to the clamping abutting groove opening.

3. The precise positioning and insertion device based on a flexible double universal joint workpiece according to claim 1, characterized in that: A wire clamping center calibration component is arranged between the lifting transmission component and the downward pressing and limiting mechanism. The wire clamping center calibration component includes a fixing plate fixed at the output end of the lifting transmission component and a movable plate fixed at the top end of the downward pressing and limiting mechanism. The fixing plate and the movable plate are movably connected. The movable plate is driven by a lead screw and a hand wheel to move in the front and back directions.

4. The precise positioning and insertion device based on a flexible double universal joint workpiece according to claim 1, characterized in that: The finger driving air cylinder assembly includes a finger air cylinder for driving the angle correction fingers to clamp and a long rod air cylinder for driving the angle correction fingers to extend and retract.

5. The precise positioning and insertion device based on a flexible double universal joint workpiece according to claim 4, characterized in that: An abutting protrusion is arranged on the inner side of one angle correction finger, and the abutting protrusion abuts against the inner side of the other angle correction finger.

6. The insertion method of the precise positioning and insertion device based on a flexible double universal joint workpiece according to claim 1, characterized in that: Specifically, it includes the following steps: S1: Act on the Y axis. The lifting power component drives the lifting transmission component to move in the negative direction of the Y axis. When it moves to 5 mm above the upper end of the product, act on the X axis. The transverse movement power component drives the wire clamping and plugging component to move in the positive direction of the X axis, so that the profiling clamping mechanism moves to directly below the bottom of the lead wire; S2: The profiling clamping mechanism works to clamp the lead wire between the two profiling clamping jaws. The angle correction mechanism positions the root of the lead wire. Then the lifting power component drives the lifting transmission component to move in the positive direction of the Y axis, and straightens the lead wire upward. When the lead wire is straightened to the lead wire connection shell, the lead wire connection shell abuts in the clamping abutting groove opening. The angle correction mechanism works, the angle correction fingers extend, and clamp the lead wire connection shell to make its circumferential position correct; S3: The wire-hooking and terminal-aligning mechanism operates, the abutting long rod extends and abuts against the lead wire connection housing, making the lead wire connection housing vertically perpendicular. At this time, the lead wire connection housing restricts five degrees of freedom. S4: With the five degrees of freedom of the lead wire connection housing completely restricted, the downward pressing and limiting mechanism operates to press the lead wire connection housing at the front section of the lead wire into the profiling clamping mechanism, completely restricting its degrees of freedom. S5: The lead wire connection housing with completely restricted degrees of freedom is inserted into an external socket under the servo drive of the transverse moving power component on the X-axis and the lifting power component on the Y-axis to complete the connection, achieving the expected preparatory work for normal performance testing.

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