Sleeving method and sleeving device based on secondary pressing and clamping

Abstract

The invention discloses a pipe sleeving method and device based on secondary pressing and clamping. The pipe sleeving method comprises the following steps that S1, at least one wire core is clamped and fixed through a first clamping mechanism; s2, clamping the insulating tube through a second clamping mechanism; s3, enabling the insulating tube to move relative to the end part of the wire core, and enabling the insulating tube to be partially connected to the end part of the wire core in a sleeving manner; s4, releasing the clamping of the wire core by the first clamping mechanism, and repositioning the first clamping mechanism to the tail part of the insulating tube; s5, clamping the tail part of the wire core through the repositioned first clamping mechanism; and S6, enabling the insulating tube and the wire core to continuously move relative to each other until the sleeving is completed. The sleeve device is used for executing the method.

Description

Technical Field

[0001] The present invention relates to the technical field of wire harness assembly production, and in particular to a casing method and a casing device based on secondary clamping. Background Art

[0002] During wire harness assembly, after stripping and shield separation, the exposed wire cores need to be sleeved with numbered tubes and crimped with terminals. Traditional manual sleeve-sleeving methods present significant efficiency bottlenecks. Operators must apply heat shrink tubing to each wire core individually, which is not only time-consuming and labor-intensive but also prone to quality issues such as mismatching the numbered tube and wire core model. While some automated sleeve-sleeving equipment is available on the market, it is typically only capable of sleeveing ​​a single wire core. Because the stripped wire cores are often scattered and scattered, existing equipment is unable to simultaneously sleeve multiple wire cores, hindering overall production efficiency. Furthermore, existing equipment only clamps the insulation tube during the sleeve-sleeving process, without additional clamping for the wire core itself, resulting in poor sleeve accuracy. Furthermore, existing technologies lack effective sleeve quality inspection mechanisms and are unable to automatically identify the proper matching of the wire core and insulation tube before sleeve-sleeving, which can easily lead to mass misassembly incidents. After the casing is completed, the existing equipment also lacks an automated wire core transfer mechanism and still requires manual intervention to switch workstations, which seriously restricts the continuous operation capacity of the production line. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a casing method and casing device based on secondary clamping, which has the advantages of improving the efficiency of synchronous casing of multiple cores, enhancing clamping stability, and realizing automated station switching.

[0004] In a first aspect, a casing method based on secondary clamping according to an embodiment of the present invention includes: S1: clamping and fixing at least one wire core by a first clamping mechanism; S2: clamping the insulating tube by the second clamping mechanism; S3: causing the insulating tube and the end of the wire core to move relative to each other, so that the insulating tube is partially sleeved on the end of the wire core; S4: releasing the first clamping mechanism from clamping the wire core, and relocating the first clamping mechanism to the tail end of the insulating tube; S5: Clamping the tail of the wire core by the repositioned first clamping mechanism; S6: The insulating tube and the wire core continue to move relative to each other until the connection is completed.

[0005] According to an embodiment of the present invention, a casing method based on secondary clamping has at least the following beneficial effects: the present application constructs an operating system for synchronous casing of multiple cores by setting two clamping actions and a staged casing process. First, the core is initially positioned by the first clamping mechanism, and the insulating tube is fixed by the second clamping mechanism to form a stable double-end clamping structure. In the first sleeve connection stage, the initial sleeve connection is achieved by controlling the relative movement of the insulating tube and the core, and the core is only fixed at one end. When deep sleeve connection needs to be completed, the first clamping mechanism is moved to the tail area of ​​the insulating tube by releasing the initial clamping and repositioning the clamping point, forming a secondary clamping of the tail of the core. This staged clamping strategy not only ensures the stability of the core during the sleeve connection process, but also avoids interference between the clamping mechanism and the sleeve connection path of the insulating tube. Through the coordinated cooperation of two clamping positioning and step-by-step sleeve connection, the synchronous and precise sleeve connection of multiple cores is achieved, and the sleeve offset problem caused by traditional single clamping is solved. Among them, the dynamic repositioning mechanism of the first clamping mechanism breaks through the limitations of the traditional fixed clamping mode, enabling the clamping point to adaptively adjust according to the splicing progress, ensuring that the wire core is always in a controlled state during the splicing process.

[0006] According to a casing method based on secondary clamping according to an embodiment of the present invention, the repositioning in S4 includes: after the first clamping mechanism withdraws laterally from the wire core, it moves to the tail position along the axial extension direction of the insulating tube.

[0007] According to a casing method based on secondary pressing and clamping according to an embodiment of the present invention, in steps S1 and S5: the first clamping mechanism synchronously clamps a plurality of wire cores distributed in a radial array.

[0008] According to an embodiment of the present invention, a casing method based on secondary clamping further includes S8: transferring the wire core of the completed casing to a carrier, and transferring it to the next workstation through the carrier.

[0009] According to a casing method based on secondary clamping according to an embodiment of the present invention, the transfer in S8 includes: The wire core is vertically pressed down to the third clamping mechanism through the first clamping mechanism; The third clamping mechanism maintains a clamping state when receiving the wire core; The first clamping mechanism releases the clamping after the third clamping mechanism clamps the wire core.

[0010] According to a casing method based on secondary clamping according to an embodiment of the present invention, the third clamping mechanism is installed on a movable carrier, and is moved to the next station by the carrier after receiving the wire core.

[0011] According to a casing method based on secondary clamping according to an embodiment of the present invention, the first clamping mechanism and the third clamping mechanism are both radial array clamping seats; During the vertical pressing process, each clamping cavity of the first clamping mechanism is kept coaxially aligned with the corresponding clamping cavity of the third clamping mechanism.

[0012] According to a casing method based on secondary clamping according to an embodiment of the present invention, the vertical downward pressing specifically includes: a: The first clamping mechanism maintains the clamping state when moving downward; b: When the wire core contacts the clamping surface of the third clamping mechanism, the pressure sensor is triggered; c: In response to the pressure signal, the third clamping mechanism performs a clamping action; d: The first clamping mechanism releases the clamping and resets.

[0013] A casing method based on secondary clamping according to an embodiment of the present invention further includes S7: heating and fixing the insulating tube and the wire core.

[0014] According to a casing method based on secondary clamping according to an embodiment of the present invention, the heating in S7 is achieved by: heating and curing is performed by a heating component built into or external to the second clamping mechanism.

[0015] A casing method based on secondary clamping according to an embodiment of the present invention further includes, before S1: Obtain the marking information on the surface of the insulation tube and the color information of the wire core through the identification system; Comparing the matching relationship between the marking information and the color information; When the match is successful, execute S1; When a match fails, terminate the process and issue an alert.

[0016] According to a casing method based on secondary clamping in an embodiment of the present invention, the marking information includes text, barcode or QR code printed on the surface of the insulating tube, and the color information is obtained by a spectral analysis sensor or an RGB color sensor.

[0017] According to a casing method based on secondary clamping in an embodiment of the present invention, when matching fails, the incorrectly matched insulating tube or wire core is automatically rejected, and a re-feeding mechanism is triggered to re-feed.

[0018] In a second aspect, a casing device according to an embodiment of the present invention is used to perform the above-mentioned casing method based on secondary clamping, comprising: The tube sleeve module includes a second clamping mechanism and a second movable unit, wherein the second clamping mechanism is provided on the second movable unit and is provided with a second clamping cavity for accommodating the insulating tube, and the first movable unit is capable of driving the second clamping mechanism to move back and forth linearly; The wire core clamping module is arranged at one end of the tube body sleeve module. The wire core clamping module includes a first clamping mechanism and a first movable unit. The first clamping mechanism is arranged on the first movable unit. The first clamping mechanism is provided with a first clamping cavity. The first clamping cavity is used to clamp and fix the wire core to be sleeved. The first movable unit can drive the unloaded first clamping mechanism to switch between the front end and the rear end position of the second clamping mechanism.

[0019] A casing device according to an embodiment of the present invention has at least the following beneficial effects: the present application constructs an operating system for synchronous casing of multiple cores by setting two clamping actions and a staged casing process. First, the core is initially positioned by the first clamping mechanism, and the insulating tube is fixed by the second clamping mechanism to form a stable double-end clamping structure. In the first sleeve connection stage, the initial sleeve connection is achieved by controlling the relative movement of the insulating tube and the core, and the core is only fixed at one end. When deep sleeve connection needs to be completed, the first clamping mechanism is moved to the tail area of ​​the insulating tube by releasing the initial clamping and repositioning the clamping point, forming a secondary clamping of the tail of the core. This staged clamping strategy not only ensures the stability of the core during the sleeve connection process, but also avoids interference between the clamping mechanism and the sleeve connection path of the insulating tube. Through the coordinated cooperation of two clamping positioning and step-by-step sleeve connection, the synchronous and precise sleeve connection of multiple cores is achieved, and the sleeve offset problem caused by traditional single clamping is solved. Among them, the dynamic repositioning mechanism of the first clamping mechanism breaks through the limitations of the traditional fixed clamping mode, enabling the clamping point to adaptively adjust according to the splicing progress, ensuring that the wire core is always in a controlled state during the splicing process.

[0020] According to the sleeve device of an embodiment of the present invention, the first clamping mechanism includes a first fixed seat and a first clamping assembly, a plurality of the first clamping assemblies are arranged at equal intervals along the radial direction of the first fixed seat, the first clamping assembly includes a first clamping block and a second clamping block, the first clamping block is fixedly connected to the first fixed seat, the second clamping block is movably connected to the first fixed seat, the first clamping block and the second clamping block are arranged relative to each other to form the first clamping cavity, and the second clamping block can move away from or approach the first clamping block to adjust the opening amplitude of the first clamping cavity.

[0021] According to an embodiment of the present invention, the first clamping mechanism further comprises a retractable member, one end of the retractable member being connected to the second clamping block, and the other end of the retractable member being connected to the first fixing seat and one of the first clamping block, wherein the retractable member is capable of causing the second clamping block to always tend to move closer to the first clamping block. or, A hinge structure is provided between the second clamping block and the first fixing seat, and the hinge structure includes a hinge hole provided on the second clamping block and a hinge shaft provided on the first fixing seat, the hinge hole is matched and connected with the hinge shaft, and a hinge spring is provided between the hinge hole and the hinge shaft, and the hinge spring can make the second clamping block always tend to approach the first clamping block.

[0022] According to the sleeve device of an embodiment of the present invention, the retractable member is a spring; and / or, It also includes an adjusting drive member, which is fixed on the first fixing seat. The output end of the adjusting drive member is connected to the second clamping block. The adjusting drive member can drive the second clamping block to rotate to adjust the clamping force of the first clamping cavity on the workpiece.

[0023] According to an embodiment of the present invention, the sheath device further includes the wire harness transfer module, and the wire harness transfer module and the tube body sleeve module are respectively arranged at both ends of the wire harness clamping module. The wire harness transfer module includes a wire harness carrier and a third clamping mechanism arranged on the wire harness carrier, and the third clamping mechanism is used to clamp and fix the sheathed wire core.

[0024] According to the casing device of an embodiment of the present invention, the first clamping mechanism is located above the second clamping mechanism, and the first clamping mechanism and the second clamping mechanism are arranged opposite to each other in a vertical direction and are coaxially aligned; and / or, The first clamping mechanism and the second clamping mechanism have the same structure.

[0025] According to an embodiment of the present invention, the sleeve device further includes a tube conveying module, which is arranged at the feed end of the tube sleeve mold. The tube conveying module includes a feed roller group and a guide mechanism. The guide mechanism is arranged at the feed end of the feed roller group and / or between the feed roller group and the tube sleeve module. The guide mechanism includes a guide channel that allows the insulating tube to pass through. A plurality of guide channels are arranged at intervals along the width direction of the feed roller group. The guide channel is coaxial with the second clamping cavity.

[0026] The casing device according to an embodiment of the present invention further includes an identification module, which includes a first detector and a second detector. The first detector is used to obtain marking information on the surface of the insulating tube, and the second detector is used to obtain color information of the wire core to be casing.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 This is a flow logic diagram of a casing method based on secondary clamping according to an embodiment of the present invention; Figure 2 A structural diagram of a casing device according to an embodiment of the present invention; Figure 3 is a cross-sectional view of a casing device according to an embodiment of the present invention; Figure 4 This is a structural diagram of a first clamping mechanism from a first perspective according to an embodiment of the present invention; Figure 5 A structural diagram of the first clamping mechanism from a second perspective according to an embodiment of the present invention; Figure 6 2 is a structural diagram of a wire harness carrier according to an embodiment of the present invention.

[0029] Description of reference numerals: Tube sleeve module 100; second clamping mechanism 110; second moving unit 120; First clamping mechanism 200; first fixing seat 210; first clamping block 211; second clamping block 211; retractable member 213; Wire harness carrier 300; third clamping mechanism 310; Feeding roller group 500; Guide mechanism 600. DETAILED DESCRIPTION

[0030] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0031] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0032] In the description of an invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0033] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0034] Reference Figure 1 , the embodiment of the present invention provides a casing method based on secondary clamping, and at the same time, Figures 2 to 6 As shown, a casing device is also provided for executing the casing method provided by the present application.

[0035] Specifically, the method includes the following steps: S1: clamping and fixing at least one wire core by a first clamping mechanism 200; S2: clamping the insulating tube by the second clamping mechanism 110; S3: causing the insulating tube and the end of the wire core to move relative to each other, so that the insulating tube is partially sleeved on the end of the wire core; S4: releasing the first clamping mechanism 200 from clamping the wire core, and relocating the first clamping mechanism 200 to the tail end of the insulating tube; S5: Clamping the tail of the wire core by the repositioned first clamping mechanism 200; S6: The insulating tube and the wire core continue to move relative to each other until the connection is completed.

[0036] It is understandable that in the initial clamping stage, the wire core group is radially fixed by the first clamping mechanism 200 to form a stable working reference. After the second clamping mechanism 110 implements axial clamping on the insulating tube, the initial socketing is achieved by controlling the relative displacement between the two. When the socketing depth reaches the preset value, the first clamping mechanism 200 releases the clamping and moves along the axis of the insulating tube to its tail area, re-clamping the tail of the wire core to form a new fixed point. After re-clamping the tail of the wire core, the socketing action is continued until the target area is completely covered. During this process, the two clamping actions form fixed supports at the starting and ending ends of the socketing, respectively, and the tail clamping point is used to prevent the wire core from bending, ensuring the stability of the remaining socketing process and avoiding the wire core from shifting during the socketing process.

[0037] What is beneficial is that this application has built a clamping system that covers the entire sleeve process through the coordination of clamping and repositioning in stages, which solves the defect of the traditional method of only fixing the insulating tube and ignoring the clamping of the wire core. At the same time, the dual clamping mechanisms work together to effectively improve the sleeve positioning accuracy, and can perform synchronous sleeve operations on multiple wire cores at the same time, eliminating the efficiency bottleneck caused by manual operation. Through the dynamic adjustment of the clamping points, dual fixation of the end and the tail is formed during the sleeve process, effectively controlling the posture of the wire core, realizing the synchronous sleeve operation of multiple wire cores, and ensuring the stability of the sleeve process through two clamping operations, avoiding the dislocation of the sleeve caused by the bending of the wire core. The dynamic repositioning strategy is adopted to adapt to the processing requirements of wire cores of different lengths, while improving the working efficiency and ensuring the consistency of the sleeve depth.

[0038] Understandably, the secondary clamping mechanism ensures that the wire core remains in a controlled state during the splicing process, avoiding positioning deviations caused by single-point clamping. Automated clamping and displacement control effectively reduce model matching errors and improve the standardization of wire harness assembly production.

[0039] The present application further proposes that the repositioning includes the first clamping mechanism 200 withdrawing from the wire core laterally and then moving to the tail position along the axial extension direction of the insulating tube.

[0040] It should be noted that in this application, lateral exit refers to the clamping mechanism leaving the wire core clamping area in a direction perpendicular to the axis of the insulating tube, which can be achieved by using a linear guide rail combined with a transverse cylinder drive. This action avoids spatial interference between the clamping mechanism and the wire core or insulating tube.

[0041] It is understandable that after the first clamping mechanism 200 releases the wire core clamping, it first moves laterally to disengage from the wire core clamping area to eliminate the risk of contact with the wire core or the already sleeved insulating tube. Subsequently, the first clamping mechanism 200 moves linearly along the axial direction of the insulating tube to its end, and during the movement, it is constrained by the guide rail to maintain coaxial alignment with the insulating tube. After reaching the tail position, the first clamping mechanism 200 re-establishes the clamping reference to provide positioning guarantee for the subsequent clamping of the wire core tail. This path planning avoids the mechanical interference that may occur during direct axial exit through a compound movement of first lateral disengagement and then axial positioning, while eliminating lateral offset errors through axial constraints.

[0042] Advantageously, traditional clamping mechanisms usually retreat directly along the direction of the sleeve when resetting, which can easily cause collisions with the already sleeved insulating tube or wire core, resulting in positioning deviation or component damage. However, the present application avoids the risk of motion interference through the coordinated control of lateral withdrawal and axial extension movement, and ensures positioning accuracy through the axial linear motion path, thereby solving the problem of sleeve misalignment caused by the reset path deviation of the clamping mechanism, effectively eliminating the path deviation during the repositioning process of the clamping mechanism, and ensuring that the clamping mechanism can quickly and accurately reach the predetermined position at the tail of the insulating tube after the clamping is released, thereby improving the positioning accuracy and operation continuity of the clamping mechanism movement during the sleeve process, and avoiding the problem of sleeve misalignment or mechanism collision caused by positioning error.

[0043] The present application further proposes that in steps S1 and S5 , the first clamping mechanism 200 synchronously clamps a plurality of wire cores distributed in a radial array.

[0044] It's understood that during the initial clamping phase, multiple wire cores are pre-arranged in an array configuration. The first clamping mechanism 200 simultaneously retracts to grasp all the wire cores, eliminating positioning deviations caused by scattered wire cores. During the secondary clamping phase, the first clamping mechanism 200 re-grips the tails of the wire cores in the same manner, maintaining axial alignment during the insulating tube insertion process. This synchronized control during these two clamping phases ensures that the wire cores maintain a stable position during movement and insertion, preventing tube misalignment caused by the deviation of a single wire core.

[0045] Beneficially, the present application converts multi-wire core processing into a batch operation mode through the synergistic effect of radial array layout and synchronous clamping, which not only solves the problem of scattered wire cores, but also reduces the time consumption of repeated clamping actions, realizes batch clamping and positioning of multiple wire cores, and avoids the inefficiency of manual one-by-one operation; through the radially symmetrical layout, the clamping force is ensured to be evenly distributed, preventing the wire core from twisting or shifting during the splicing process, providing the basic conditions for the subsequent precise splicing of the insulating tube.

[0046] The present application further proposes a step of transferring the wire core of the completed casing to a carrier, and moving it to the next workstation via the carrier.

[0047] As will be understood, after the casing process is completed, the first clamping mechanism 200 lowers the wire core vertically into the carrier's fixture. Upon receiving the wire core, the carrier immediately initiates the transfer process, using an encoder to control the movement speed and stop position, allowing the carrier to precisely dock at the next processing station. During transfer, the carrier's locking mechanism secures the wire core, preventing it from shifting during transport.

[0048] Beneficially, the present application uses automated transport of the carrier to enable the wire core to maintain a preset arrangement order and spatial posture during the transfer process, directly entering the processing position of the next workstation, eliminating the interruption of production rhythm caused by manual handling, achieving seamless connection between the casing process and subsequent processing processes, and avoiding production line pauses due to manual intervention. At the same time, mechanical positioning replaces manual visual alignment, so that the wire core maintains precise spatial coordinates during the transfer process, thereby improving the stability of multi-station collaborative operations.

[0049] The present application further proposes that the wire core is vertically pressed down to the third clamping mechanism 310 by the first clamping mechanism 200, and the third clamping mechanism 310 maintains a clamping state when receiving the wire core, and the first clamping mechanism 200 releases the clamping after the third clamping mechanism 310 clamps the wire core.

[0050] It should be noted that vertical downward pressure refers to the movement of the clamping mechanism in a linear displacement along the direction of gravity, which can be specifically achieved by using a servo motor to drive a ball screw. This movement path can ensure that the axis of the wire core remains coaxially aligned with the target clamping mechanism. The third clamping mechanism 310 maintains a clamping state, which means that it is in a closed standby state before receiving the wire core. This can be specifically achieved by using a spring-preloaded clamping claw structure, which can eliminate the response delay of the traditional clamping action. In addition, the first clamping mechanism 200 releases the clamping force under preset conditions, which can be specifically achieved by using a cylinder release action controlled by an electromagnetic valve. This operation forms a timing interlock with the clamping action of the third clamping mechanism 310.

[0051] It is understandable that after the wire core completes the casing process, the first clamping mechanism 200 carries the wire core downward in the vertical direction, and its motion trajectory is constrained by a linear guide rail to ensure that each wire core remains coaxial with the clamping cavity corresponding to the third clamping mechanism 310. When the clamping jaws of the third clamping mechanism 310 are in the normally closed state, the end of the wire core is directly inserted into its clamping area. When the pressure sensor detects that the wire core is in contact with the clamping surface, the third clamping mechanism 310 maintains the clamping force through the pre-tightening spring. At this time, the first clamping mechanism 200 immediately triggers the solenoid valve to release the clamping jaws, completing the seamless switching of the clamping right. The entire process avoids the risk of radial offset during the transfer of multiple wire cores through motion path constraints and clamping state presets.

[0052] Compared with traditional equipment that usually adopts a single clamping mechanism for horizontal transfer during workstation transfer, the wire core is prone to swing and misalignment due to inertia, and the clamping mechanism needs to perform two actions, loosening and clamping, in sequence, resulting in a time difference in action response. This solution completely eliminates the lateral displacement component during the wire core transfer process through the coordinated control of the vertical axial motion path and the pre-clamping state. At the same time, through the pre-setting and immediate release of the clamping state, the switching action is merged into a single timing operation, effectively solving the problem of misalignment and falling off caused by motion trajectory deviation during the transfer of multiple wire cores. At the same time, through the timing optimization of the clamping state pre-setting and release action, the switching time of the clamping mechanism is shortened to the physical contact trigger stage, which can ensure that each wire core maintains precise axial positioning during the workstation transfer.

[0053] The present application further proposes that the third clamping mechanism 310 is installed on the movable wire harness carrier 300 and is moved to the next workstation by the wire harness carrier 300 after receiving the wire core.

[0054] It is understandable that after the wire core completes the casing process, the third clamping mechanism 310 remains in a clamping state under the support of the movable harness carrier 300. The harness carrier 300 transports the wire core as a whole to the next workstation, such as a crimping terminal or an inspection station, through a preset moving trajectory. In this process, the movement of the harness carrier 300 and the clamping action of the third clamping mechanism 310 form a linkage control, so that the wire core transfer and production line logistics are carried out synchronously. After the harness carrier 300 reaches the target position, it is precisely docked through positioning pins or photoelectric sensors to ensure that the clamping mechanism of the next process can accurately receive the wire core.

[0055] Beneficially, by integrating the clamping mechanism with the mobile carrier, the present application allows the core to be switched between workstations while still clamped, eliminating the repetitive clamping-releasing-re-clamping motions of traditional methods. This enables automated and continuous transfer of the core between processes, avoiding production line pauses caused by manual intervention. The coordinated movement of the clamping mechanism and the carrier eliminates the need to release the clamping state during the core transfer process, ensuring core positioning accuracy while reducing process switching time.

[0056] The present application further proposes that the first clamping mechanism 200 and the fixed clamping mechanism are both radial array clamping seats. During the vertical downward pressing process, each clamping cavity of the first clamping mechanism 200 remains coaxially aligned with the corresponding clamping cavity of the third clamping mechanism 310.

[0057] It is understood that when the wire cores are transferred vertically downward, the radial array clamping seat simultaneously secures multiple wire cores through its equally spaced clamping cavities. The symmetrical layout of the clamping cavities allows the wire core groups to form a stable spatial distribution. When the first clamping mechanism 200 moves downward, its clamping cavity and the corresponding clamping cavity of the third clamping mechanism 310 are axially positioned by a guide structure. For example, a tapered guide sleeve is provided on the outer edge of the clamping seat to automatically correct the position offset at the moment of contact, so that the end of the wire core is accurately embedded in the clamping cavity opening of the third clamping mechanism 310 before it is separated from the first clamping mechanism 200. This avoids the tilting or bending of the wire core caused by the misalignment of the clamping mechanism during the traditional transfer process, effectively solves the problem of wire core position offset caused by the misalignment of the clamping mechanism during the vertical transfer of multiple wire cores, ensures the precise alignment of the wire core end and the insulation tube during the casing process, and prevents the wire core from deforming or shifting during the transfer process, providing a reliable positioning reference for subsequent casing operations.

[0058] This application further proposes the specific implementation steps of vertical downward pressure: The first clamping mechanism 200 maintains the clamping state when moving downward; When the wire core contacts the clamping surface of the fixed clamping mechanism, the pressure sensor is triggered; In response to the pressure signal, the third clamping mechanism 310 performs a clamping action; The first clamping mechanism 200 releases the clamping and returns to its original position. It should be noted that, in this application, "maintaining the clamped state and moving downward" means that the first clamping mechanism 200 continuously applies a clamping force during the vertical movement to prevent the wire core from shifting due to inertia or gravity during the initial transfer. "Unclamping and resetting" means that after confirming that the third clamping mechanism 310 has completed clamping, the first clamping mechanism 200 releases the clamping state by retracting the cylinder or reversing the motor, and returns to its initial position in the vertical direction.

[0059] It is understandable that during the handover of the clamping mechanism, the first clamping mechanism 200 continues to clamp the wire core during the descending phase to prevent the wire core from being displaced due to gravity sagging or mechanical vibration in a free state. When the end of the wire core contacts the third clamping mechanism 310, the distributed pressure sensor array installed on the contact surface detects the contact pressure distribution state, and when it exceeds the set threshold, it is determined to be effective contact. At this time, the clamping claws of the third clamping mechanism 310 quickly complete the closing action to ensure that the wire core is completely captured. Subsequently, the clamping claws of the first clamping mechanism 200 synchronously open to release the wire core, and return to the initial height through the linear module. The entire process replaces the traditional position encoder positioning with a pressure trigger mechanism to eliminate the positioning error caused by mechanical transmission gap. Through the pressure-triggered real-time feedback mechanism, it can adapt to the actual contact status of different wire cores, and immediately start the handover procedure after detecting effective physical contact, avoiding wire core misalignment or loosening due to mechanism positioning errors, and effectively solving the problem of insufficient positioning accuracy caused by loosening or misalignment when the wire core is transferred between clamping mechanisms. The pressure-triggered closed-loop control mechanism ensures that the handover action is only performed after confirming physical contact, so that the wire core is always in the constraint state of at least one clamping mechanism during the entire transfer process, realizing seamless connection between clamping mechanisms and improving the operation reliability of the automated production line.

[0060] The present application further proposes to add a step of heating and fixing the insulating tube and the wire core after the casing is completed.

[0061] It is understood that after the insulation tube and the wire core are mechanically joined, a heating device applies heat to the joint. When the insulation tube is made of a heat-shrinkable material, it shrinks radially upon heating, tightly wrapping around the wire core surface. When a layer of hot-melt adhesive is pre-placed between the insulation tube and the wire core, the adhesive melts upon heating and fills the gap between the contact surfaces, solidifying upon cooling to form a bond. This process eliminates the joint gap through material phase change, forming a wrapping or adhesive fixed structure between the insulation tube and the wire core, preventing relative displacement due to external forces.

[0062] In some embodiments of the present application, the heating operation can be performed by a built-in heating component in the second clamping mechanism 110 that clamps the insulating tube. For example, a heating wire is integrated into the clamping jaws, or an infrared radiator is provided on the outside of the clamping mechanism. This heating step solves the problem of loosening caused by the loose connection between the insulating tube and the wire core after the casing is inserted, substantially improving the bonding strength of the contact surface and preventing the insulating tube from shifting or falling off due to mechanical vibration or external pulling.

[0063] This application further proposes that before S1, it also includes: Obtain the marking information on the surface of the insulation tube and the color information of the wire core through the identification system; Comparing the matching relationship between the marking information and the color information; When the match is successful, execute S1; When a match fails, terminate the process and issue an alert.

[0064] It is understandable that before starting to clamp the wire core, the marking information on the surface of the insulation tube and the color information of the wire core are obtained through the identification system, and the matching relationship between the two is compared. If the match is successful, the subsequent process is executed. If the match fails, the process is terminated and an alarm is issued.

[0065] It should be noted that the identification system refers to a device used to collect material characteristic data. Specifically, it can be implemented using a machine vision system or radio frequency identification device. An image sensor captures the barcode or QR code printed on the surface of the insulation tube, while a color sensor identifies the color of the outer wall of the wire core. Marking information refers to the identification symbols applied to the surface of the insulation tube. Specifically, it can be implemented using a laser-engraved alphanumeric combination or graphic code, which is used to indicate the specifications of the insulation tube. Color information refers to the color rings or bands coated on the outer surface of the wire core. Specifically, it can be identified using a color difference sensor or spectrum analyzer to distinguish wire cores with different functions.

[0066] It is understandable that before the clamping process is started, the identification system synchronously collects features of the insulating tube and the wire core. When the insulating tube is transported to the identification station, the visual system reads its surface marking and decodes it into a model code. At the same time, the wire core is guided to the color mark detection area and its external color features are obtained by the color sensor. The control unit inputs the decoded model code and color features into the preset matching rule library. For example, the insulating tube with model code A must be paired with the blue wire core. If the comparison result shows that the standard color corresponding to the model code is consistent with the measured color, the clamping mechanism start signal is triggered; if it is detected that the model code and the color feature do not match, for example, the insulating tube marked B is combined with the yellow wire core, the equipment operating power is immediately cut off and the sound and light alarm device is activated at the same time.

[0067] Beneficially, this application uses a dual-feature cross-verification mechanism to complete complex conditional judgments before materials enter the processing stage. This not only avoids the limitations of a single identification method, but also prevents incorrect materials from entering the production process through an automatic blocking mechanism, effectively solving the problem of substandard casing quality caused by incorrect matching of wire core and insulation tube models. Through automated identification and dual information comparison, the accuracy of material matching is ensured to meet production requirements. At the same time, a process interruption mechanism is used to prevent the continuation of incorrect operations, significantly reducing rework and scrap rates. The instant triggering of the alarm function enables operators to quickly locate problem batches and improve the efficiency of exception handling.

[0068] The present application further proposes that when the matching fails, the incorrectly paired insulating tubes or wire cores are automatically removed, and the refilling mechanism is triggered to reload the materials.

[0069] It should be noted that automatically rejecting incorrectly paired insulation tubes or wire cores means removing materials that do not meet the matching criteria from the processing flow. This can be achieved using a robotic arm or pneumatic push rod combined with a conveyor belt sorting device, physically separating the materials to prevent them from entering subsequent processes. Triggering the refill mechanism, on the other hand, sends a signal to the feeding system to replenish the correct material. This can be achieved by linking a PLC control system with a feed hopper, with sensors automatically triggering the feeding process when they detect a material shortage.

[0070] As you can understand, when the recognition system detects a mismatch between the insulation tubing markings and the wire core color, the control module sends a command to the rejection mechanism, driving the robotic arm to pick up the incorrect material and transfer it to the scrap area. Simultaneously, it sends a restocking request to the feeding system. Upon receiving this signal, the feeding system delivers the correct type of insulation tubing or wire core to the processing station via a vibrating plate or conveyor belt. During this process, the rejection and restocking actions are seamlessly linked through timed sequencing, ensuring that the production line can resume operations without downtime after an error occurs.

[0071] This application utilizes Figures 2 to 6 The cannulation device shown is used to perform the above-mentioned cannulation method.

[0072] Specifically, the sleeve device includes a pipe body sleeve module 100 and a wire core clamping module. Figures 2 to 3 As shown, the pipe connection module 100 includes a second clamping mechanism 110 and a second movable unit 120. The second clamping mechanism 110 has a second clamping cavity for accommodating the insulating tube, and the second movable unit 120 drives the second clamping mechanism 110 to reciprocate linearly. The wire core clamping module is disposed at one end of the pipe connection module 100 and includes a first clamping mechanism 200 and a first movable unit. The first clamping mechanism 200 has a first clamping cavity for clamping the wire core, and the first movable unit drives the unloaded first clamping mechanism 200 to switch positions between the front and rear ends of the second clamping mechanism 110.

[0073] As can be understood, the core clamping module secures the multiple wires to be sleeved using its first clamping cavity, while the second clamping cavity of the tube sleeve module 100 clamps the insulating tube. When the second movable unit 120 drives the second clamping mechanism 110 toward the wire cores, the insulating tube is pushed to the ends of the wire cores, completing the sleeve connection. The unloaded first clamping mechanism 200 is switched from the front to the back by the first movable unit. After the sleeve connection is completed, the clamping mechanism releases the wire cores and returns to its initial position. By alternating the positions of the clamping mechanisms, continuous sleeve connection is achieved.

[0074] This application eliminates manual intervention and improves operational continuity by switching the front and rear ends of the clamping mechanism. This allows for the simultaneous sleeving of multiple wires, while improving splicing accuracy through bidirectional clamping and motion control. The clamping mechanism's station switching mechanism allows for alternating sleeving and release processes, creating a continuous production line. The modular design effectively integrates clamping, splicing, and transfer functions, reducing the risk of misassembly and significantly improving wire harness assembly efficiency.

[0075] Furthermore, the first moving unit may be a three-axis moving mechanism.

[0076] It is understandable that when the first fixed seat 210 serves as the support base of the clamping mechanism, a multi-station clamping structure is formed by a plurality of radially distributed clamping components. When the wire core enters the clamping cavity, the second clamping block 211 is driven by an external device to move closer to the first clamping block 211, and the adaptation to different wire diameters is achieved by adjusting the distance between the two. The opening range of the first clamping cavity is automatically adjusted according to the diameter of the wire core to ensure that the wire core does not shift during the clamping process. After the clamping assembly completes the fixation of the wire core, the first moving unit drives the entire first clamping mechanism 200 to switch stations, providing a stable positioning reference for subsequent casing operations.

[0077] Specifically, before sleeve insertion, the first moving unit drives the first clamping mechanism 200 to move. After the first clamping mechanism 200 clamps the wire core, the first moving unit drives the first clamping mechanism 200 to the sleeve insertion position, where it awaits sleeve insertion. After the second clamping mechanism 110 clamps the insulating tube, the second moving unit 120 drives the second clamping mechanism 110 toward the first clamping mechanism 200, allowing the insulating tube to be sleeved onto the end of the wire core. During the initial sleeve insertion phase, the second moving unit 120 drives the second clamping mechanism 110 toward the first clamping mechanism 200 a first distance, partially sleeved onto the wire core, and then the second moving unit 120 stops moving. Subsequently, after the first clamping mechanism 200 releases the wire core, the first movable unit is started again. The first movable unit first drives the first clamping mechanism 200 to move horizontally, so that the first clamping mechanism 200 is withdrawn from the sleeve area on one side of the wire core. Subsequently, the first movable unit drives the first clamping mechanism 200 to move toward the tail end of the insulating tube. After reaching the free end of the wire core (that is, the tail end of the insulating tube), the first movable unit drives the first clamping mechanism 200 to reposition, and the first clamping mechanism 200 clamps and fixes the free end of the wire core.

[0078] Among them, when the first clamping mechanism 200 withdraws from the casing area, the second moving unit 120 is started again at the same time, driving the second clamping mechanism 110 to continue to move forward, so that the free end of the wire core can be in a bare state. That is, when the first clamping mechanism 200 withdraws from the casing area and moves to the tail end of the insulating tube, the continuously advancing second clamping mechanism 110 drives the insulating tube forward, so that the tail end of the insulating tube passes through the free end of the wire core and exposes the free end of the wire core, and the second clamping mechanism 110 continues to move forward to complete the casing process.

[0079] Alternatively, after the first clamping mechanism 200 has completely withdrawn from the casing area and moved to the end of the insulating tube, repositioning and gripping the wire core, the second moving unit 120 is activated again, driving the second clamping mechanism 110 to continue forward, completing the casing. During this process, when the first clamping mechanism 200 is in its initial position gripping the wire core, the linear distance between the first clamping mechanism 200 and the free end of the wire core should be greater than the length of the insulating tube to prevent the first clamping mechanism 200 from being unable to properly grip the free end of the wire core after switching positions.

[0080] In some embodiments of the present application, Figures 4 to 5 As shown, the first clamping mechanism 200 includes a first fixed seat 210 and a first clamping assembly, and multiple first clamping assemblies are arranged at equal intervals along the radial direction of the first fixed seat 210. The first clamping assembly includes a first clamping block 211 and a second clamping block 211. The first clamping block 211 is fixedly connected to the first fixed seat 210, and the second clamping block 211 is movably connected to the first fixed seat 210. The first clamping block 211 and the second clamping block 211 are arranged relative to each other to form a first clamping cavity. The second clamping block 211 can move away from or close to the first clamping block 211 to adjust the opening amplitude of the first clamping cavity.

[0081] Specifically, the first fixed seat 210 serves as the support base of the clamping mechanism, and a multi-station clamping structure is formed by multiple radially distributed clamping components. When the wire core enters the first clamping cavity, the second clamping block 211 is externally driven to move closer to the first clamping block 211, and the distance between the two is adjusted to accommodate different wire diameters. The opening range of the first clamping cavity is automatically adjusted according to the wire core diameter to ensure that the wire core does not shift during the clamping process. After the clamping assembly completes the fixation of the wire core, the first movable unit drives the entire first clamping mechanism 200 to switch positions, providing a stable positioning reference for subsequent casing operations.

[0082] Advantageously, multiple radially arranged clamping assemblies achieve simultaneous clamping of multiple wire cores. The displacement characteristics of the movable clamping block are used to adaptively adjust the clamping cavity size, preventing deformation or displacement of the wire cores due to uneven clamping force. This allows for precise clamping of multiple scattered wire cores simultaneously, addressing the issues of inefficient manual operation and the inability of existing equipment to operate multiple wires simultaneously. The coordinated structure of the movable and fixed clamping blocks accommodates the clamping requirements of wire cores of varying specifications, preventing wire core slippage due to insufficient clamping force during the casing process. The radially evenly spaced design enables the clamping mechanism to achieve a high-density clamping station layout within a limited space, providing stable operating conditions for subsequent casing processes.

[0083] In the specific implementation of the present application, the first clamping mechanism 200 is provided with a retractable member 213 and an adjustment drive member. Preferably, the retractable member 213 is a spring.

[0084] Specifically, if Figure 5 As shown, the retractable member 213 is installed between the second clamping block 211 and the first fixed seat 210, and in a natural state, pushes the second clamping block 211 to be close to the first clamping block 211 to form a closed clamping state. When the wire core needs to be placed, the external driving force overcomes the pre-tightening force of the spring to move the second clamping block 211 away from the first clamping block 211, forming an opening of the first clamping cavity. The adjusting drive member is connected to the second clamping block 211 through a transmission mechanism, and during the clamping process, the rotation amplitude of the second clamping block 211 is adjusted in real time according to the wire core diameter, so that the clamping force is always kept within the set range. For example, when it is detected that the wire core diameter increases, the adjusting drive member drives the second clamping block 211 to rotate outward to expand the first clamping cavity to prevent excessive clamping force from damaging the insulation layer on the surface of the wire core.

[0085] When the first clamping cavity has already clamped the wire core, when the wire core is placed in the first clamping cavity, the preload force of the spring automatically causes the second clamping block 211 to approach the first clamping block 211, forming an initial clamping state. At this time, the adjustment drive member drives the second clamping block 211 to rotate according to the diameter parameters of the wire core, further adjusting the closing range of the clamping cavity to ensure that the wire core is stably clamped and does not slip. For example, for thicker wire cores, the adjustment drive member can increase the rotation angle of the second clamping block 211 to expand the clamping cavity; for thinner wire cores, the rotation angle can be reduced to increase the clamping force. Dynamic adjustment of the clamping force is achieved through mechanical linkage without the need for manual intervention.

[0086] What is beneficial is that the coordinated action of the spring and the adjusting drive member not only ensures the stability of the clamping process, but also realizes the adaptive adjustment of the clamping force, effectively solving the compatibility problem of wire cores of different specifications, and can automatically match the changes in wire core diameter during the casing process, eliminating the operational errors of manual adjustment of the clamping force, avoiding wire core damage or casing misalignment caused by improper clamping force, and significantly improving the accuracy and yield of casing operations.

[0087] In some embodiments of the present application, a wiring harness transfer module is further included, specifically, Figure 6 As shown, the harness transfer module includes a harness carrier 300, wherein a third clamping mechanism 310 is provided on the harness carrier 300. Preferably, the third clamping mechanism 310 has the same structure as the first clamping mechanism 200.

[0088] In some embodiments of the present application, the first clamping mechanism 200 is located above the third clamping mechanism 310. The first clamping mechanism 200 and the third clamping mechanism 310 are arranged opposite to each other in the vertical direction and are coaxially aligned. Preferably, the first clamping mechanism 200 and the third clamping mechanism 310 have the same structure.

[0089] Among them, being relatively arranged and coaxially aligned in the vertical direction means that the axes of the first clamping mechanism 200 and the third clamping mechanism 310 coincide in the vertical plane. Specifically, this can be achieved by using a guide rail positioning or a visual calibration system to ensure the axial consistency of the wire core and the insulating tube during the clamping process.

[0090] Specifically, the first clamping mechanism 200 is arranged directly above the third clamping mechanism 310, and the first clamping mechanism 200 realizes relative movement in the vertical direction through the linear drive of the first movable unit. During the casing operation, after the completed wire core is clamped and fixed by the first clamping cavity, the first clamping mechanism 200 is moved toward the third clamping mechanism 310 under the linear drive of the first movable unit. When the first clamping mechanism 200 descends to a predetermined position, the first clamping mechanism 200 continuously moves the wire core of the completed casing downward by a preset distance, and pushes the wire core of the completed casing into the clamping cavity of the third clamping mechanism 310. Then, the adjustment drive member of the first clamping mechanism 200 is activated, so that the clamping cavity of the first clamping mechanism 200 opens and releases the wire core clamped and fixed by the third clamping mechanism 310. Finally, the first movable unit drives the first clamping mechanism 200 to rise and reset to wait for the next casing operation.

[0091] By adjusting the active action of the driving member, the first clamping mechanism 200 has the function of actively opening the clamping cavity, thereby avoiding failure to release part of the wire core due to the clamping force when releasing the wire core.

[0092] In some embodiments of the present application, Figure 3 As shown, the sleeve device also includes a tube conveying module, which is arranged at the feed end of the tube sleeve mold. The tube conveying module includes a feed roller group 500 and a guide mechanism 600. The guide mechanism 600 is arranged at the feed end of the feed roller group 500 and between the feed roller group 500 and the tube sleeve module 100. The guide mechanism 600 includes a guide channel that allows the insulating tube to pass through. The multiple guide channels are arranged at intervals along the width direction of the feed roller group 500, and the guide channels are coaxial with the second clamping cavity.

[0093] As will be appreciated, a tube conveying module is installed at the feed end of the tube sleeve module 100. The feed roller assembly 500 rotates to push the insulating tubes toward the guide mechanism 600. Multiple guide channels in the guide mechanism 600, spaced along the width of the feed roller assembly 500, simultaneously guide multiple insulating tubes into their corresponding second clamping cavities. Because the guide channels are coaxial with the second clamping cavities, the insulating tubes remain on a predetermined trajectory during conveyance, preventing misalignment caused by misalignment. Once the insulating tubes reach the second clamping cavities, the second clamping mechanism 110 precisely grips them and completes the subsequent sleeve operation. Furthermore, if Figure 3 As shown, the feed end of the feed roller set 500 is also provided with a guide mechanism 600 , and the guide mechanism 600 at the feed end of the feed roller set 500 is also coaxial with the second clamping cavity.

[0094] In some embodiments of the present application, the identification module includes a first detector and a second detector, the first detector is used to obtain marking information on the surface of the insulating tube, and the second detector is used to obtain color information of the wire core to be sleeved. Specifically, the identification module is configured to perform a double check before casing operations: a first detector scans the insulation tube, extracting the color code and specification parameters from the markings; a second detector performs non-contact inspection of the wire core, generating color signature data. The control system compares the two data sets. If the color codes match and the wire diameter meets the specification, the casing device is triggered to clamp and sleeve. If there is any discrepancy, the operation is suspended and an alarm is issued.

[0095] As will be understood, before the casing operation, the first detector scans the insulating tube being fed by the feed roller assembly 500, extracts its surface marking information, and compares it with preset parameters. The second detector simultaneously performs color recognition on the wire core to be processed in the core clamping module and verifies the recognition result against the insulating tube marking information. If a color mismatch between the insulating tube and the wire core is detected, the system automatically triggers an alarm and suspends the casing operation.

[0096] In some embodiments, the first detector can be configured as an industrial camera with an image processing algorithm, such as using grayscale threshold segmentation technology to extract the marking characters. The second detector can be configured as an RGB sensor, such as determining the color coding of the wire core through three-channel light intensity analysis.

[0097] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0098] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. The casing method based on secondary clamping is characterized in that: The following steps are involved: S1: clamping and fixing at least one wire core by a first clamping mechanism; S2: clamping the insulating tube by the second clamping mechanism; S3: causing the insulating tube and the end of the wire core to move relative to each other, so that the insulating tube is partially sleeved on the end of the wire core; S4: releasing the first clamping mechanism from clamping the wire core, and relocating the first clamping mechanism to the tail end of the insulating tube; S5: Clamping the tail of the wire core by the repositioned first clamping mechanism; S6: The insulating tube and the wire core continue to move relative to each other until the connection is completed.

2. The casing method based on secondary clamping according to claim 1, characterized in that: The repositioning in S4 includes: after the first clamping mechanism withdraws from the side of the wire core, it moves to the tail position along the axial extension direction of the insulation tube.

3. The casing method based on secondary clamping according to claim 1, characterized in that: In steps S1 and S5: the first clamping mechanism synchronously clamps a plurality of wire cores distributed in a radial array.

4. The casing method based on secondary clamping according to claim 1, characterized in that: The process also includes S8: transferring the wire core of the completed sleeve to a carrier, and transferring the core to the next workstation via the carrier.

5. The casing method based on secondary clamping according to claim 4, characterized in that: The transfer mentioned in S8 includes: The wire core is vertically pressed down to the third clamping mechanism through the first clamping mechanism; The third clamping mechanism maintains a clamping state when receiving the wire core; The first clamping mechanism releases the clamping after the third clamping mechanism clamps the wire core.

6. The casing method based on secondary clamping according to claim 5, characterized in that: The third clamping mechanism is installed on a movable carrier and is moved to the next station by the carrier after receiving the wire core.

7. The casing method based on secondary clamping according to claim 5, characterized in that: The first clamping mechanism and the third clamping mechanism are both radial array type clamping seats; During the vertical pressing process, each clamping cavity of the first clamping mechanism is kept coaxially aligned with the corresponding clamping cavity of the third clamping mechanism.

8. The casing method based on secondary clamping according to claim 5, characterized in that: The vertical downward pressure specifically includes: a: The first clamping mechanism maintains the clamping state when moving downward; b: When the wire core contacts the clamping surface of the third clamping mechanism, the pressure sensor is triggered; c: In response to the pressure signal, the third clamping mechanism performs a clamping action; d: The first clamping mechanism releases the clamping and resets.

9. The casing method based on secondary clamping according to claim 1, characterized in that: The process also includes S7: heating and fixing the insulating tube and the wire core.

10. The casing method based on secondary clamping according to claim 9, characterized in that: The heating in S7 is achieved by: heating and curing is performed by a heating component built into or external to the second clamping mechanism.

11. The casing method based on secondary clamping according to claim 1, characterized in that: Before S1, it also included: Obtain the marking information on the surface of the insulation tube and the color information of the wire core through the identification system; Comparing the matching relationship between the marking information and the color information; When the match is successful, execute S1; When a match fails, terminate the process and issue an alert.

12. The casing method based on secondary clamping according to claim 11, characterized in that: The marking information includes text, barcode or QR code printed on the surface of the insulating tube, and the color information is obtained by a spectrum analysis sensor or an RGB color sensor.

13. The casing method based on secondary clamping according to claim 12, characterized in that: When the matching fails, the incorrectly matched insulation tube or wire core is automatically removed and the refilling mechanism is triggered to reload.

14. A casing device for executing the casing method based on secondary clamping according to any one of claims 1 to 13, characterized in that: include: A pipe body sleeve module (100) comprises a second clamping mechanism (110) and a second movable unit (120), wherein the second clamping mechanism (110) is arranged on the second movable unit (120), the second clamping mechanism (110) is provided with a second clamping cavity, the second clamping cavity is used to accommodate the insulating pipe, and the first movable unit is capable of driving the second clamping mechanism (110) to perform linear reciprocating motion; A wire core clamping module is arranged at one end of the tube body sleeve module (100), and the wire core clamping module includes a first clamping mechanism (200) and a first movable unit. The first clamping mechanism (200) is arranged on the first movable unit. The first clamping mechanism (200) is provided with a first clamping cavity. The first clamping cavity is used to clamp and fix the wire core to be sleeved. The first movable unit can drive the unloaded first clamping mechanism (200) to switch between the front end and the rear end position of the second clamping mechanism (110).

15. The casing device according to claim 14, characterized in that The first clamping mechanism (200) includes a first fixed seat (210) and a first clamping assembly, wherein a plurality of the first clamping assemblies are arranged at equal intervals along the radial direction of the first fixed seat (210), and the first clamping assembly includes a first clamping block (211) and a second clamping block (211), wherein the first clamping block (211) is fixedly connected to the first fixed seat (210), and the second clamping block (211) is movably connected to the first fixed seat (210), and the first clamping block (211) and the second clamping block (211) are arranged relative to each other to form the first clamping cavity, and the second clamping block (211) can be moved away from or close to the first clamping block (211) to adjust the opening amplitude of the first clamping cavity.

16. The casing device according to claim 15, characterized in that The first clamping mechanism (200) further comprises a retractable member (213), one end of the retractable member (213) being connected to the second clamping block (211), and the other end being connected to one of the first fixing seat (210) and the first clamping block (211), wherein the retractable member (213) is capable of causing the second clamping block (211) to always have a tendency to approach the first clamping block (211); or, A hinge structure is provided between the second clamping block (211) and the first fixing seat (210), the hinge structure comprising a hinge hole provided on the second clamping block (211) and a hinge shaft provided on the first fixing seat (210), the hinge hole being matched and connected to the hinge shaft, a hinge spring being provided between the hinge hole and the hinge shaft, the hinge spring enabling the second clamping block (211) to always have a tendency to approach the first clamping block (211).

17. The casing device according to claim 16, characterized in that The retractable member (213) is a spring; and / or, The invention also includes an adjusting drive member, which is fixed on the first fixing seat (210), and the output end of the adjusting drive member is connected to the second clamping block (211). The adjusting drive member can drive the second clamping block (211) to rotate to adjust the clamping force of the first clamping cavity on the workpiece.

18. The casing device according to any one of claims 14 to 17, characterized in that The invention also includes the wire harness transfer module, wherein the wire harness transfer module and the tube sleeve module (100) are respectively arranged at two ends of the wire harness clamping module, and the wire harness transfer module includes a wire harness carrier (300) and a third clamping mechanism (310) arranged on the wire harness carrier (300), and the third clamping mechanism (310) is used to clamp and fix the wire core that has been sleeved.

19. The casing device according to claim 18, characterized in that The first clamping mechanism (200) is located above the second clamping mechanism (110), and the first clamping mechanism (200) and the second clamping mechanism (110) are arranged opposite to each other in a vertical direction and are coaxially aligned; and / or, The first clamping mechanism (200) and the second clamping mechanism (110) have the same structure.

20. The cannula device according to claim 14, wherein The invention also includes a tube conveying module, which is arranged at the feed end of the tube sleeve mold, and the tube conveying module includes a feed roller group (500) and a guide mechanism (600). The guide mechanism (600) is arranged at the feed end of the feed roller group (500) and / or between the feed roller group (500) and the tube sleeve module (100). The guide mechanism (600) includes a guide channel that allows the insulating tube to pass through. A plurality of guide channels are arranged at intervals along the width direction of the feed roller group (500), and the guide channel is coaxial with the second clamping cavity.

21. The cannula device according to claim 11, characterized in that It also includes an identification module, which includes a first detector and a second detector. The first detector is used to obtain marking information on the surface of the insulating tube, and the second detector is used to obtain color information of the wire core to be sleeved.

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