Method of manufacturing a conduit with automatic joint and coiled weld

Abstract

This invention relates to the technical field of conduits and discloses an automated method for conduit fitting and coiling welding, comprising the following steps: 1) clamping two conduits with a clamping head; 2) applying an adhesive layer to the outer periphery of the conduit's insertion end; 3) feeding a fitting, which has two mating ends; 4) inserting the insertion ends of the two conduits into the two mating ends of the fitting to form a finished part; 5) a rotating disk having a coiling station, a spot welding station, and a discharge station; the rotating disk has a coiling disc with two coiling grooves; a robotic arm clamps the fitting of the finished part onto the coiling disc at the coiling station, and rotating the coiling disc embeds the two conduits of the finished part into the coiling grooves to form a coiled part; 6) spot welding the two conduits together; 7) using a discharge structure to detach the coil from the coiling groove of the coiling disc, completing the automated operation of conduit and fitting insertion and coiling, resulting in high manufacturing efficiency.

Description

Technical Field

[0001] This invention patent relates to the technical field of catheters, and more specifically, to a method for manufacturing catheters by automatic fitting and coiling welding. Background Technology

[0002] Catheters are common household items with many uses. They are generally made of soft rubber and can be used to transport or conduct fluids, gases, etc. They are especially common in the medical industry.

[0003] Catheters often need to be assembled with connectors to form catheters with connectors at the ends. Generally, the ends of the catheter are inserted into the connectors to achieve the assembly of the catheter and connectors.

[0004] In the manufacturing industry, for certain specific needs, it is necessary to connect two conduits to a connector. The connector has two mating ends, and the ends of the two conduits need to be connected to the two mating ends respectively. The conduits of the two connectors are then coiled to form a coiled part for subsequent packaging.

[0005] In existing technologies, it is impossible to achieve fully automated insertion and coiling between catheters and connectors, which often requires manual operation, resulting in low manufacturing efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic catheter fitting and coiling welding manufacturing method, which aims to solve the problem of low manufacturing efficiency in the insertion and coiling of catheters and fittings in the prior art.

[0007] This invention is implemented as follows: an automatic conduit fitting and coiling welding manufacturing method, used to insert two conduits onto a fitting and coil the conduits, includes the following steps:

[0008] 1) Use a horizontally moving clamping head to clamp two parallel guide tubes for feeding;

[0009] 2) The end of the conduit has a plug end, and an adhesive layer is glued to the outer periphery of the plug end;

[0010] 3) Feeding connector, the connector having a main end and two mating ends, the two mating ends being arranged at an inclined intersection;

[0011] 4) Connect the two catheters to the two mating ends of the connector respectively, so that the two catheters and the connector form a finished product;

[0012] 5) The clamping head moves the finished part to the outside of the rotating disk. The rotating disk has a winding station, a spot welding station, and a discharge station. The rotating disk has a rotating winding disk with two winding grooves. The two winding grooves are arranged in the same direction on the top of the winding disk. The connector of the finished part is clamped by the robot arm and locked onto the winding disk at the winding station. The winding disk is rotated, and the two guide tubes of the finished part are embedded in the winding grooves to form a winding part.

[0013] 6) The coiled disc with the coiled parts rotates with the rotating disc to the spot welding station, and the two adjacent conduits are spot welded together using the welding head.

[0014] 7) After spot welding, the coiled part rotates with the rotating disk to the discharge station, and the discharge structure is used to detach the coil from the coiling groove of the coiling disk.

[0015] Furthermore, in manufacturing step 5), the rotating disk is provided with multiple winding disks, and the winding station, spot welding station and unloading station operate synchronously.

[0016] Furthermore, in manufacturing step 1), the clamping head has two clamping positions arranged in parallel, and the two clamping positions are arranged at intervals along the moving direction of the clamping head; the clamping positions are provided with two clamping grooves arranged in front and behind, the conduit is simultaneously embedded in the two clamping grooves, and the plug-in end is adjacent to the front of the clamping position.

[0017] Furthermore, in manufacturing step 2), the clamping head moves the conduit to the adhesive station, the adhesive station having an adhesive reservoir containing adhesive liquid inside, and the adhesive reservoir having a slot arranged toward the insertion end.

[0018] After the clamping head moves the conduit to the adhesive application station, the clamping head moves toward the adhesive storage head and inserts the conduit's connector end into the slot so that the outer periphery of the connector end is coated with adhesive.

[0019] Furthermore, in manufacturing step 3), the connector is loaded into the insertion station, which has a jig head. The jig head is provided with a limiting groove, which extends outward to form two strip grooves. The two strip grooves are arranged at an inclined intersection. A pressure head is provided above the jig head. When the pressure head moves toward the jig head and abuts against the top of the jig head, the pressure head closes the top of the limiting groove and the strip groove.

[0020] After the connector is fed onto the fixture head, the connector is embedded in the limiting groove, and the two mating ends are respectively embedded in the two strip grooves and are arranged towards the clamping head; the pressing head moves downward and abuts against the top of the fixture head, and abuts against the connector downward, restricting the position of the connector on the fixture head.

[0021] Furthermore, in manufacturing step 4), the insertion station has a translational chuck and a swing chuck, which are arranged in parallel.

[0022] After the clamping head moves the conduit to the insertion position, the translational clamp and the swing clamp respectively clamp the insertion ends of the two conduits on the clamping head. The swing clamp swings at a set angle relative to the translational clamp so that the swing clamp and the translational clamp are arranged at an angle.

[0023] When the swing chuck and the translation chuck are arranged at an angle, the swing chuck and the translation chuck hold the insertion end and move toward the connector. The insertion ends of the two conduits are respectively inserted along the two grooves until the insertion ends of the two conduits are inserted into the two mating ends.

[0024] Furthermore, in manufacturing step 4), the clamping head moves the finished part to the inspection station, which is equipped with a camera to visually inspect the insertion status of the plug-in end and the mating end.

[0025] Furthermore, the top of the winding disc has a locking groove, the outer ends of the two winding grooves are connected to the locking groove, and the inner ends of the two winding grooves are arranged to be coiled around the center of the winding disc.

[0026] In manufacturing step 5), a robotic arm is used to grip the connector of the finished part and embed it into the positioning groove. The two conduits are embedded in the outer ends of the two winding grooves. A pressure plate is provided above the winding station. When the winding plate rotates in the winding station, the pressure plate moves downward to a set height above the winding plate and presses the conduits in the winding downward into the winding groove.

[0027] Furthermore, the winding disc is provided with a plurality of through holes and through grooves that extend vertically through the center. Along the radial direction from the outside to the inside of the winding disc, the through grooves extend horizontally through the winding grooves, and the plurality of through holes are arranged in sequence, extending to the bottom of the winding grooves.

[0028] The discharge structure includes multiple lifting shafts and lifting plates arranged below the discharge station. When the winding disc carrying the winding part rotates to the discharge station with the rotating disc, the lifting plates pass through the through slot facing upwards, and the multiple lifting shafts pass through the multiple through holes facing upwards. The multiple lifting shafts and lifting plates disengage the winding part from the winding slot, and the winding part is horizontally flat.

[0029] Furthermore, a material receiving head is provided above the material discharge station, and the material receiving head has two swing blades in the middle. There are upper plates on both sides of the material receiving head. When the two swing blades swing downward to their limit position, the swing blades are arranged facing each other in a longitudinal arrangement. When the two swing blades swing upward to their limit position, the two swing blades are separated from each other in a horizontal position. The swing blades are located below the upper plates and have a clamping gap with the upper plates.

[0030] The coiled part has a hollowed-out area in the middle. In manufacturing step 7), after the coiled part is detached from the coiling disc, the material-taking head moves towards the coiled part. The two oscillating blades are arranged longitudinally, and after passing through the hollowed-out area, the two oscillating blades swing upwards to their extreme positions and become horizontal, thus horizontally clamping the coiled part in the clamping interval.

[0031] Compared with existing technologies ， The automatic conduit fitting and coiling welding manufacturing method provided by the present invention involves applying an adhesive layer to the insertion end of the conduit and then inserting it into the mating end of the connector. By rotating a rotating disk and a coiling disk, the two conduits of the finished product are coiled in a coiling groove to form a coiled part. Then, the coiled part is removed from the coiling disk by a discharge structure, thus completing the automated operation of conduit and connector insertion and coiling, resulting in high manufacturing efficiency. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of the clamping head provided by the present invention;

[0033] Figure 2 This is a top view of the rotating disk provided by the present invention;

[0034] Figure 3 This is a top view of the coiled disc provided by the present invention when the guide tube is not coiled.

[0035] Figure 4 This is a top view schematic diagram of the coiled disc and the guide tube provided by the present invention;

[0036] Figure 5 This is a top view schematic diagram of the jig head provided by the present invention;

[0037] Figure 6 This is a front view schematic diagram of the connector provided by the present invention;

[0038] Figure 7 This is a schematic diagram illustrating the arrangement conversion between the translation joint and the swing clamp provided by the present invention;

[0039] Figure 8 This is a schematic diagram showing the arrangement of the two oscillating plates in their oscillation states provided by the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0041] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0042] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0043] Reference Figure 1-8 The image shown is a preferred embodiment of the present invention.

[0044] An automatic conduit fitting and coiling welding manufacturing method for inserting two conduits 102 onto a connector 500 and coiling the conduits 102 includes the following steps:

[0045] 1) The horizontally moving clamping head 100 clamps two parallel guide tubes 102 for feeding.

[0046] 2) The end of the conduit 102 has a plug end. The outer periphery of the plug end is glued with an adhesive layer. When the plug end is plugged into the connector 500, the plugging is more secure.

[0047] 3) Feeding connector 500, the connector 500 has a main end and two mating ends 501, the two mating ends 501 are arranged at an inclined intersection;

[0048] 4) Connect the insertion ends of the two conduits 102 to the two mating ends 501 of the connector 500 respectively, so that the two conduits 102 and the connector 500 form a finished product;

[0049] 5) The clamping head 100 moves the finished part to the outside of the rotating disk 200. The rotating disk 200 has a winding station 201, a spot welding station 202, and a discharge station 203. The rotating disk 200 has a rotatingly arranged winding disk 300 with two winding grooves 301. The two winding grooves 301 are arranged in the same direction on the top of the winding disk 300. The connector 500 of the finished part is clamped by the robot arm and locked onto the winding disk 300 of the winding station 201. The rotating disk 200 rotates around the disk, and the two guide tubes 102 of the finished part are embedded in the winding grooves 301 to form a winding part.

[0050] 6) The coiled disc 300 with the coiled part rotates with the rotating disc 200 to the spot welding station 202. The two adjacent conduits 102 are spot welded together by the welding head. In this way, when the adjacent conduits 102 are spot welded together, it is easy for the whole coiled part to maintain its coiled shape.

[0051] 7) After spot welding, the coiled part rotates with the rotating disk 200 to the discharge station 203, and the discharge structure is used to remove the coil from the coiling groove 301 of the coiling disk 300.

[0052] The above-mentioned automated conduit fitting and coiling welding manufacturing method involves applying an adhesive layer to the insertion end of the conduit 102 and inserting it into the mating end 501 of the connector 500. By rotating the rotating disk 200 and the coiling disk 300, the two conduits 102 of the finished product are coiled in the coiling groove 301 to form a coiled part. Then, the coiled part is removed from the coiling disk 300 by the discharge structure, thus completing the automated operation of inserting the conduit 102 into the connector 500 and coiling, resulting in high manufacturing efficiency.

[0053] In manufacturing step 5), the rotating disk 200 is equipped with multiple winding disks 300, and the winding station 201, spot welding station 202, and unloading station 203 operate simultaneously. This can better improve the winding efficiency of finished parts.

[0054] In this embodiment, in manufacturing step 1), the clamping head 100 has two clamping positions arranged in parallel, and the two clamping positions are arranged at intervals along the moving direction of the clamping head 100; the clamping positions are provided with two clamping grooves 101 arranged in front and behind, and the conduit 102 is simultaneously embedded in the two clamping grooves 101, with the insertion end adjacent to the front of the clamping position.

[0055] By setting two clamping grooves 101, the insertion end of the conduit 102 can be clamped in a straight strip shape, which facilitates the subsequent insertion operation between the insertion end and the connector 500.

[0056] In manufacturing step 2), the clamping head 100 moves the conduit 102 to the adhesive bonding station, which has an adhesive reservoir containing adhesive liquid and a slot facing the insertion end. After the clamping head 100 moves the conduit 102 to the adhesive bonding station, the clamping head 100 moves toward the adhesive reservoir and inserts the insertion end of the conduit 102 into the slot so that the outer periphery of the insertion end is coated with adhesive.

[0057] In this embodiment, in manufacturing step 3), the connector 500 is loaded to the insertion station. The insertion station has a jig head 400. The jig head 400 is provided with a limiting groove 401. The limiting groove 401 extends outward to form two strip grooves 402. The two strip grooves 402 are arranged at an inclined intersection. A pressure head is provided above the jig head 400. When the pressure head moves toward the jig head 400 and abuts against the top of the jig head 400, the pressure head closes the top of the limiting groove 401 and the strip grooves 402.

[0058] When the connector 500 is fed onto the jig head 400, the connector 500 is embedded in the limiting groove 401, and the two mating ends 501 are respectively embedded in the two strip grooves 402 and are arranged towards the clamping head 100; the pressure head moves downward and abuts against the top of the jig head 400 and abuts against the connector 500 downward, restricting the position of the connector 500 on the jig head 400.

[0059] In this way, the connector 500 can be firmly fixed on the top of the jig head 400, keeping the position of the connector 500 stable, and forming two inclined intersecting strip grooves 402, which correspond to the two mating ends 501 of the connector 500, and also facilitate the subsequent insertion of the plug end to the mating end 501 through the strip grooves 402.

[0060] In this embodiment, in manufacturing step 4), the insertion station has a translation chuck 600 and a swing chuck 601, which are arranged in parallel.

[0061] After the clamping head 100 clamps the conduit 102 and moves it to the insertion position, the translational clamp 600 and the swing clamp 601 respectively clamp the insertion ends of the two conduits 102 on the clamping head 100. The swing clamp 601 swings at a set angle relative to the translational clamp 600 so that the swing clamp 601 and the translational clamp 600 are arranged at an angle.

[0062] When the swing chuck 601 and the translation chuck 600 are arranged at an angle, the swing chuck 601 and the translation chuck 600 hold the plug end and move toward the connector 500. The plug ends of the two conduits 102 are respectively inserted along the two grooves until the plugs 500 of the two conduits 102 are inserted into the two mating ends 501.

[0063] By swinging the swing chuck 601, the swing chuck 601 and the translation chuck 600 intersect at an angle, corresponding to the two intersecting docking ends 501, so that the insertion end of the conduit 102 can be inserted into the docking end 501 through the strip groove 402.

[0064] In this embodiment, in manufacturing step 4), the clamping head 100 moves the finished part to the inspection station, which is equipped with a camera to visually inspect the insertion status of the plug-in end and the docking end 501.

[0065] The top of the winding disc 300 has a locking groove 304, and the outer ends of the two winding grooves 301 are connected to the locking groove 304. The inner ends of the two winding grooves 301 are arranged to be coiled around the center of the winding disc 300. In manufacturing step 5), the connector 500 of the finished part is gripped by a robot and embedded in the locking groove 304. The two conduits 102 are embedded in the outer ends of the two winding grooves 301. A pressing plate is provided above the winding station 201. When the winding disc 300 rotates in the winding station 201, the pressing plate moves downward to a set height above the winding disc 300, pressing the conduits 102 in the winding downward into the winding grooves 301.

[0066] During the rotation of the coiling disc 300, the two guide tubes 102 coil along the coiling direction of the coiling groove 301. Under the pressure of the pressure disc, the guide tubes 102 can be embedded in the coiling groove 301 from top to bottom, thereby keeping the coiling direction of the guide tubes 102 consistent with the coiling direction of the coiling groove 301.

[0067] In this embodiment, the coiled disc 300 is provided with a plurality of through holes 302 and through grooves 303 that extend vertically through the coiled disc 300. Along the radial direction from the outside to the inside of the coiled disc 300, the through grooves 303 extend horizontally through the coiled groove 301. The plurality of through holes 302 are arranged in sequence and extend to the bottom of the coiled groove 301.

[0068] The discharge structure includes multiple lifting shafts and lifting plates arranged below the discharge station 203. When the winding disk 300 carrying the winding part rotates with the rotating disk 200 to the discharge station 203, the lifting plates pass through the through groove 303 with the top facing upward, and the multiple lifting shafts pass through the multiple through holes 302 with the top facing upward. The multiple lifting shafts and lifting plates disengage the winding part from the winding groove 301, and the winding part is in a horizontally flat state.

[0069] By setting through slots 303 and multiple through holes 302, and arranging them radially along the winding disc 300, multiple winding slots 301 are penetrated. In this way, the lifting plates and lifting shafts can lift the winding parts at multiple positions, so that the winding parts remain in a winding state after being removed from the winding slots 301.

[0070] In this embodiment, a material picker is provided above the material discharge station 203. The material picker has two swing blades 701 in the middle and upper plates 700 on both sides of the material picker. When the two swing blades 701 swing downward to their limit position, the swing blades 701 are arranged facing each other in a longitudinal arrangement. When the two swing blades 701 swing upward to their limit position, the two swing blades 701 are separated from each other in a horizontal position. The swing blades 701 are located below the upper plates 700 and have a clamping gap 702 between them.

[0071] The coiled part has a hollow area in the middle. In manufacturing step 7), after the coiled part is detached from the coiling disc 300, the material take-up head moves toward the coiled part. The two swing blades 701 are arranged longitudinally. After passing through the hollow area, the two swing blades 701 swing upward to the limit position and become horizontal, clamping the coiled part horizontally in the clamping interval 702.

[0072] By utilizing the swing of the two swing pieces 701, when the two swing pieces 701 are arranged longitudinally, after passing through the hollow area of ​​the coiled part, the two swing pieces swing horizontally and abut against the coiled part from bottom to top, and the coiled part is placed in the clamping interval 702, keeping the coiled part in a horizontal coiled state.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatically assembling and coiling / welding conduits, characterized in that, The steps for inserting two catheters into the connector and coiling the catheters include: 1) Use a horizontally moving clamping head to clamp two parallel guide tubes for feeding; 2) The end of the conduit has a plug-in end, and an adhesive layer is glued to the outer periphery of the plug-in end; 3) Feeding connector, the connector having a main end and two mating ends, the two mating ends being arranged at an inclined intersection; 4) Connect the two catheters to the two mating ends of the connector respectively, so that the two catheters and the connector form a finished product; 5) The clamping head moves the finished part to the outside of the rotating disk. The rotating disk has a winding station, a spot welding station, and a discharge station. The rotating disk has a rotating winding disk with two winding grooves. The two winding grooves are arranged in the same direction on the top of the winding disk. The connector of the finished part is clamped by the robot arm and locked onto the winding disk at the winding station. The winding disk is rotated, and the two guide tubes of the finished part are embedded in the winding grooves to form a winding part. 6) The coiled disc with the coiled parts rotates with the rotating disc to the spot welding station, and the two adjacent conduits are spot welded together using the welding head. 7) After spot welding, the coiled part rotates with the rotating disk to the discharge station, and the discharge structure is used to detach the coil from the coiling groove of the coiling disk. The top of the winding disc has a locking groove, the outer ends of the two winding grooves are connected to the locking groove, and the inner ends of the two winding grooves are arranged to be coiled around the center of the winding disc. In step 5), the robotic arm grips the connector of the finished part and embeds it into the positioning groove, and the two guide tubes are embedded in the outer ends of the two winding grooves; a pressure plate is provided above the winding station. When the winding plate rotates in the winding station, the pressure plate moves downward to a set height above the winding plate and presses the guide tubes in the winding downward into the winding groove. The winding disc is provided with multiple through holes and through slots that extend vertically. Along the radial direction from the outside to the inside of the winding disc, the through slots extend horizontally through the winding slots. The multiple through holes are arranged in sequence and extend to the bottom of the winding slots. The discharge structure includes multiple lifting shafts and lifting plates arranged below the discharge station. When the winding disk carrying the winding part rotates to the discharge station with the rotating disk, the lifting plates pass through the through slot facing upwards, and the multiple lifting shafts pass through the multiple through holes facing upwards. The multiple lifting shafts and lifting plates disengage the winding part from the winding slot, and the winding part is in a horizontally flat state. Above the discharge station is a material receiving head, and the material receiving head has two swing blades in the middle. There are upper plates on both sides of the material receiving head. When the two swing blades swing downward to their limit position, the swing blades are arranged facing each other in a longitudinal arrangement. When the two swing blades swing upward to their limit position, the two swing blades are separated from each other in a horizontal position. The swing blades are located below the upper plates and have a clamping gap between them and the upper plates. The coiled part has a hollow area in the middle. In step 7), after the coiled part is detached from the coiling disc, the material taking head moves toward the coiled part. The two swing blades are arranged longitudinally and after passing through the hollow area, the two swing blades swing upward to the limit position and become horizontal, clamping the coiled part horizontally in the clamping interval.

2. The method for automatically assembling and coiling / welding conduits as described in claim 1, characterized in that, In step 5), the rotating disk is provided with multiple winding disks, and the winding station, spot welding station and unloading station operate synchronously.

3. The method for automatically assembling and coiling / welding conduits as described in claim 1, characterized in that, In step 1), the clamping head has two clamping positions arranged in parallel, and the two clamping positions are arranged at intervals along the moving direction of the clamping head; the clamping position is provided with two clamping grooves arranged in front and behind, the conduit is simultaneously embedded in the two clamping grooves, and the plug-in end is adjacent to the front of the clamping position.

4. The automatic conduit fitting and coiling welding manufacturing method according to any one of claims 1 to 3, characterized in that, In step 2), the clamping head moves the conduit to the adhesive station, the adhesive station has an adhesive storage head, the interior of the adhesive storage head contains adhesive liquid, and the adhesive storage head has a slot arranged towards the insertion end. After the clamping head moves the conduit to the adhesive application station, the clamping head moves toward the adhesive storage head and inserts the conduit's connector end into the slot so that the outer periphery of the connector end is coated with adhesive.

5. The automatic conduit fitting and coiling welding manufacturing method according to any one of claims 1 to 3, characterized in that, In step 3), the connector is fed to the insertion station, which has a fixture head. The fixture head is provided with a limiting groove, which extends outward to form two strip grooves. The two strip grooves are arranged at an inclined intersection. A pressure head is provided above the fixture head. When the pressure head moves toward the fixture head and abuts against the top of the fixture head, the pressure head closes the top of the limiting groove and the strip groove. After the connector is fed onto the fixture head, the connector is embedded in the limiting groove, and the two mating ends are respectively embedded in the two strip grooves and are arranged towards the clamping head; the pressing head moves downward and abuts against the top of the fixture head, and abuts against the connector downward, restricting the position of the connector on the fixture head.

6. The method for automatically assembling and coiling / welding conduits as described in claim 5, characterized in that, In step 4), the insertion station has a translational chuck and a swing chuck, which are arranged in parallel. After the clamping head moves the conduit to the insertion position, the translational clamp and the swing clamp respectively clamp the insertion ends of the two conduits on the clamping head. The swing clamp swings at a set angle relative to the translational clamp so that the swing clamp and the translational clamp are arranged at an angle. When the swing chuck and the translation chuck are arranged at an angle, the swing chuck and the translation chuck hold the insertion end and move toward the connector. The insertion ends of the two conduits are respectively inserted along the two grooves until the insertion ends of the two conduits are inserted into the two mating ends.

7. The method for automatically assembling and coiling / welding conduits as described in any one of claims 1 to 3, characterized in that, In step 4), the clamping head moves the finished part to the inspection station, which is equipped with a camera to visually inspect the insertion status of the plug-in end and the docking end.

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