Quadrant method and device for casing

Abstract

The application discloses a sleeve method and a sleeve device based on secondary pressure clamping, and the sleeve method comprises the following steps: S1, clamping and fixing at least one core through a first clamping mechanism; S2, clamping an insulating tube through a second clamping mechanism; S3, making the insulating tube and the end of the core relatively move, and making the insulating tube partially sleeve the end of the core; S4, releasing the clamping of the core by the first clamping mechanism, and repositioning the first clamping mechanism to the tail of the insulating tube; S5, clamping the tail of the core through the repositioned first clamping mechanism; and S6, continuing the relative movement between the insulating tube and the core until the sleeve is completed. The sleeve device is used for executing the above method.

Description

Technical Field

[0001] This invention relates to the field of wire harness assembly and production technology, and in particular to a sleeve method and sleeve device based on secondary clamping. Background Technology

[0002] In wire harness assembly, after stripping and shielding, the exposed wire cores require number tube sleeves and crimping terminals. Traditional manual sleeve methods have significant efficiency bottlenecks. Operators must individually attach heat-shrink tubing to each wire core, which is not only time-consuming and labor-intensive but also prone to quality issues such as mismatched number tubes with wire core models. Although some automated sleeve-sleeving equipment exists on the market, these devices typically only perform sleeve-sleeving on single wire cores. Since the stripped wire cores are often scattered, existing equipment cannot simultaneously sleeve multiple cores, hindering overall production efficiency. Furthermore, existing equipment only clamps and fixes the insulation tube during sleeve-sleeving, without clamping and fixing the wire core itself, resulting in low sleeve-sleeving accuracy. In addition, current technology lacks an effective sleeve-sleeving quality inspection mechanism, failing to automatically identify the matching relationship between the wire core and insulation tube before sleeve-sleeving, easily leading to batch misassembly accidents. After the sleeve is completed, the existing equipment also lacks an automated core transfer mechanism, and manual intervention is still required for station switching, which seriously restricts the continuous operation capability of the production line. Summary of the Invention

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

[0004] In a first aspect, according to an embodiment of the present invention, a sleeve method based on secondary clamping includes: S1: At least one wire core is clamped and fixed by the first clamping mechanism; S2: The insulating tube is clamped by the second clamping mechanism; S3: Cause relative movement between the end of the insulating tube and the end of the wire core, so that the insulating tube is partially sleeved on the end of the wire core; S4: Release the first clamping mechanism from the wire core and reposition the first clamping mechanism to the tail of the insulating tube; S5: The tail of the wire core is clamped by the repositioned first clamping mechanism; S6: Continue to move the insulating tube and the wire core relative to each other until the connection is completed.

[0005] According to an embodiment of the present invention, a bushing method based on secondary clamping has at least the following beneficial effects: This application constructs a multi-core synchronous bushing operation system by setting two clamping actions and a staged bushing process. First, the core is initially positioned by a first clamping mechanism, and a stable double-end clamping structure is formed by combining the second clamping mechanism to fix the insulating tube. In the initial bushing stage, the initial bushing is achieved by controlling the relative movement between the insulating tube and the core, at which time the core is only fixed at one end. When a deep bushing is required, 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 ensures the stability of the core during the bushing process and avoids interference between the clamping mechanism and the bushing path of the insulating tube. Through the coordinated cooperation of two clamping positioning and staged bushing, synchronous and accurate bushing of multiple cores is achieved, while solving the bushing offset problem caused by traditional single clamping. 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 under control during the splicing process.

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

[0007] According to an embodiment of the present invention, in a sleeve method based on secondary clamping, in steps S1 and S5: the first clamping mechanism simultaneously clamps multiple radially arrayed wire cores.

[0008] According to an embodiment of the present invention, a bushing method based on secondary clamping further includes S8: transferring the completed bushing core to a carrier and then transferring it to the next work station via the carrier.

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

[0010] According to an embodiment of the present invention, a sleeve method based on secondary clamping is provided, wherein the third clamping mechanism is mounted on a movable carrier and is transferred by the carrier to the next work station after receiving the wire core.

[0011] According to an embodiment of the present invention, a sleeve method based on secondary clamping is provided, wherein both the first clamping mechanism and the third clamping mechanism are radial array type clamping seats; During the vertical downward pressing process, each clamping cavity of the first clamping mechanism and the corresponding clamping cavity of the third clamping mechanism remain coaxially aligned.

[0012] According to an embodiment of the present invention, a sleeve method based on a secondary clamping mechanism includes, in which the vertical pressing specifically comprises: a: The first clamping mechanism maintains the clamping state when it moves 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 its clamp and resets.

[0013] According to an embodiment of the present invention, a bushing method based on a secondary clamping clamp further includes S7: heating to fix the insulating tube and the wire core.

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

[0015] According to an embodiment of the present invention, a sleeve method based on secondary clamping further includes, before S1: The system acquires marking information on the surface of the insulating tube and color information of the wire core. Compare the matching relationship between the marker information and the color information; If a match is found, execute S1; If a match fails, terminate the process and issue an alert.

[0016] According to an embodiment of the present invention, a sleeve method based on secondary clamping is provided, wherein 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 an embodiment of the present invention, a bushing method based on secondary clamping automatically removes incorrectly matched insulating tubes or wire cores when matching fails, and triggers a replenishment mechanism to re-feed materials.

[0018] Secondly, according to an embodiment of the present invention, a sleeve device is used to perform the above-described sleeve method based on secondary clamping, comprising: The tube sleeve module includes a second clamping mechanism and a second moving unit. The second clamping mechanism is disposed on the second moving unit and has a second clamping cavity for accommodating the insulating tube. The first moving unit can drive the second clamping mechanism to reciprocate linearly. A wire core clamping module is disposed at one end of the tube sleeve module. The wire core clamping module includes a first clamping mechanism and a first moving unit. The first clamping mechanism is disposed on the first moving unit and has a first clamping cavity. The first clamping cavity is used to clamp and fix the wire core to be sleeved. The first moving unit can drive the unloaded first clamping mechanism to switch between the front end and rear end position of the second clamping mechanism.

[0019] According to an embodiment of the present invention, a bushing device has at least the following beneficial effects: This application constructs a multi-core synchronous bushing operation system by setting two clamping actions and a staged bushing process. First, the core is initially positioned by a first clamping mechanism, and a stable double-end clamping structure is formed by combining the second clamping mechanism to fix the insulating tube. In the initial bushing stage, the initial bushing is achieved by controlling the relative movement between the insulating tube and the core, at which time the core is only fixed at one end. When a deep bushing is required, 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 ensures the stability of the core during the bushing process and avoids interference between the clamping mechanism and the bushing path of the insulating tube. Through the coordinated cooperation of two clamping positioning actions and staged bushing, synchronous and accurate bushing of multiple cores is achieved, while solving the bushing offset problem caused by traditional single clamping. 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 under control during the splicing process.

[0020] According to an embodiment of the present invention, the first clamping mechanism includes a first fixed base 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 base. Each first clamping assembly includes a first clamping block and a second clamping block. The first clamping block is fixedly connected to the first fixed base, and the second clamping block is movably connected to the first fixed base. The first clamping block and the second clamping block are disposed opposite to each other to form the first clamping cavity. The second clamping block can move away from or closer to the first clamping block to adjust the opening range of the first clamping cavity.

[0021] According to an embodiment of the present invention, the first clamping mechanism further includes a telescopic member, one end of which is connected to the second clamping block and the other end of which is connected to one of the first fixed seat and the first clamping block. The telescopic member enables 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 fixed base. The hinge structure includes a hinge hole provided on the second clamping block and a hinge shaft provided on the first fixed base. The hinge hole and the hinge shaft are matched and connected. A hinge spring is provided between the hinge hole and the hinge shaft. The hinge spring enables the second clamping block to always tend to move closer to the first clamping block.

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

[0023] According to an embodiment of the present invention, the sleeve device further includes the wire harness transfer module, which is disposed at both ends of the wire harness clamping module, and the wire harness transfer module includes a wire harness carrier and a third clamping mechanism disposed on the wire harness carrier. The third clamping mechanism is used to clamp and fix the sleeved wire core.

[0024] According to an embodiment of the present invention, in the sleeve device, 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 the 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 disposed at the feeding end of the tube sleeve mold. The tube conveying module includes a feeding roller group and a guiding mechanism. The guiding mechanism is disposed at the feeding end of the feeding roller group and / or between the feeding roller group and the tube sleeve module. The guiding mechanism includes a guiding channel that allows the insulating tube to pass through. A plurality of guiding channels are arranged at intervals along the width direction of the feeding roller group. The guiding channels are coaxial with the second clamping cavity.

[0026] The bushing device according to an embodiment of the present invention further includes an identification module, the identification module including a first detector and a second detector, the first detector being used to acquire marking information on the surface of the insulating tube, and the second detector being used to acquire color information of the wire core to be bushed.

[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

[0029] Explanation of reference numerals in the attached figures: Pipe body sleeve module 100; second clamping mechanism 110; second moving unit 120; First clamping mechanism 200; first fixed base 210; first clamping block 211; second clamping block 211; telescopic component 213; Wire harness carrier 300; third clamping mechanism 310; Feeding roller group 500; Guiding mechanism 600. Detailed Implementation

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

[0031] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are 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, they should not be construed as limiting this invention.

[0032] In the description of the invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If the terms "first" and "second" are used, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0033] In the description of this invention, unless otherwise explicitly defined, terms such as "setting," "installing," and "connecting" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0034] Reference Figure 1 This invention provides a sleeve method based on secondary clamping, and, as... Figures 2 to 6 As shown, a sleeve device is also provided for performing the sleeve method provided in this application.

[0035] Specifically, it includes the following steps: S1: At least one wire core is clamped and fixed by the first clamping mechanism 200; S2: The insulating tube is clamped by the second clamping mechanism 110; S3: Cause relative movement between the end of the insulating tube and the end of the wire core, so that the insulating tube is partially sleeved on the end of the wire core; S4: Release the clamping mechanism 200 from the wire core and reposition the clamping mechanism 200 to the tail of the insulating tube; S5: The tail of the wire core is clamped by the repositioned first clamping mechanism 200; S6: Continue to move the insulating tube and the wire core relative to each other until the connection is completed.

[0036] Understandably, during the initial clamping stage, the first clamping mechanism 200 radially fixes the wire core assembly, forming a stable working reference. After the second clamping mechanism 110 axially clamps the insulating tube, preliminary connection is achieved by controlling the relative displacement between the two. When the connection depth reaches a preset value, the first clamping mechanism 200 releases the clamp 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 fixing point. After re-clamping the tail of the wire core, the connection action continues until the target area is completely covered. During this process, the two clamping actions form fixed supports at the beginning and end of the connection, respectively, using the tail clamping point to prevent the wire core from bending, ensuring the stability of the remaining connection process, and preventing the wire core from shifting during the connection process.

[0037] Beneficially, this application constructs a clamping system covering the entire sleeve connection process through a combination of staged clamping and repositioning. This solves the problem of traditional methods that only fix the insulating tube while neglecting the clamping of the wire core. Simultaneously, the dual clamping mechanisms work together to effectively improve the positioning accuracy of the sleeve connection and enable simultaneous sleeve connection operations on multiple wire cores, eliminating efficiency bottlenecks caused by manual operation. Through dynamic adjustment of the clamping points, a double fixation at the end and tail is achieved during the sleeve connection process, effectively controlling the wire core posture and enabling simultaneous sleeve connection operations on multiple wire cores. The two clamping operations ensure the stability of the sleeve connection process and prevent sleeve misalignment caused by wire core bending. The dynamic repositioning strategy adapts to the processing requirements of wire cores of different lengths, improving operational efficiency while ensuring consistent sleeve depth.

[0038] Understandably, the secondary clamping mechanism ensures that the wire core remains under control throughout the splicing process, avoiding positioning deviations caused by single-point clamping. Automated clamping and displacement control effectively reduce the model matching error rate and improve the standardization level of wire harness assembly production.

[0039] This application further proposes that the repositioning includes the first clamping mechanism 200 moving to its tail position along the axial extension direction of the insulating tube after it is withdrawn from the side of the wire core.

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

[0041] Understandably, after the first clamping mechanism 200 releases the wire core clamp, it first moves laterally to disengage from the wire core clamping area, eliminating the risk of contact with the wire core or the already fitted insulating tube. Subsequently, the first clamping mechanism 200 moves linearly along the axis of the insulating tube to its end, maintaining coaxial alignment with the insulating tube during the movement through guide rail constraints. Upon reaching the tail position, the first clamping mechanism 200 re-establishes the clamping reference, providing positioning assurance for subsequent clamping of the wire core tail. This path planning, through a composite movement of lateral disengagement followed by axial positioning, avoids potential mechanical interference that might occur with direct axial withdrawal, while simultaneously eliminating lateral offset errors through axial constraints.

[0042] The advantage is that traditional clamping mechanisms typically retract directly along the sleeve direction during reset, which can easily lead to collisions with the already sleeved insulating tube or wire core, resulting in positioning deviations or component damage. This application, however, utilizes coordinated control of lateral withdrawal and axial extension movement to avoid the risk of motion interference and ensure positioning accuracy through an axial linear motion path. This solves the problem of sleeve misalignment caused by clamping mechanism reset path deviation, effectively eliminating path deviations during the clamping mechanism's repositioning process. It ensures that the clamping mechanism can quickly and accurately reach the predetermined position at the tail of the insulating tube after release, thereby improving the positioning accuracy and operational continuity of the clamping mechanism during sleeve sleeve processing and avoiding sleeve misalignment or mechanism collisions caused by positioning errors.

[0043] This application further proposes that, in steps S1 and S5, the first clamping mechanism 200 simultaneously clamps multiple radially arrayed wire cores.

[0044] Understandably, during the initial clamping stage, multiple wire cores are pre-arranged into an array. The first clamping mechanism 200 simultaneously grasps all wire cores through a retraction action, eliminating positioning deviations caused by the scattered wire cores. In the secondary clamping stage, the first clamping mechanism 200 re-clamps the tail of the wire core in the same manner, maintaining the axial alignment of the wire core during the insulation tube connection process. Through synchronous control of the two clamping stages, the wire core maintains a stable posture throughout the movement and connection process, avoiding sleeve misalignment caused by the displacement of a single wire core.

[0045] Beneficially, this application transforms multi-core processing into a batch operation mode through the synergistic effect of radial array layout and synchronous clamping. This not only solves the problem of scattered cores but also reduces the time consumption of repeated clamping actions, realizing batch clamping and positioning of multiple cores and avoiding the inefficiency of manual operation one by one. The radially symmetrical layout ensures uniform distribution of clamping force, preventing cores from twisting or shifting during the splicing process, and providing a foundation for the accurate splicing of subsequent insulating tubes.

[0046] This application further proposes a step of transferring the completed conduit core to a carrier and then transporting it to the next work station via the carrier.

[0047] Understandably, after the sleeve-holding process is completed, the first clamping mechanism 200 vertically lowers the wire core into the fixing device of the carrier. Upon receiving the wire core, the carrier immediately initiates the transfer procedure, controlling the moving speed and stopping position via an encoder to ensure the carrier precisely stops at the processing area of ​​the next station. During the transfer process, the carrier's locking mechanism keeps the wire core fixed, preventing displacement during transportation.

[0048] Beneficially, this application enables the wire cores to maintain a preset arrangement and spatial posture during the transfer process through automated transport of the carrier, allowing them to directly enter the processing position of the next workstation. This eliminates production cycle interruptions caused by manual handling, achieves seamless connection between the sleeve process and subsequent processing processes, avoids production line stoppages caused by manual intervention, and at the same time, replaces manual visual alignment with mechanical positioning, ensuring that the wire cores maintain accurate spatial coordinates during the transfer process, thereby improving the stability of multi-workstation collaborative operations.

[0049] This application further proposes that the first clamping mechanism 200 vertically presses the wire core down to the third clamping mechanism 310, the third clamping mechanism 310 maintains the 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 linear displacement of the clamping mechanism along the direction of gravity, which can be achieved by using a servo motor to drive a ball screw. This motion path ensures that the wire core axis remains coaxially aligned with the target clamping mechanism. The third clamping mechanism 310 maintaining the clamping state means that it is in a closed standby state before receiving the wire core. This can be achieved using a spring-preloaded gripper structure, eliminating the response delay of traditional clamping actions. Furthermore, the first clamping mechanism 200 releasing the clamp refers to the active release of the clamping force under preset conditions. This can be achieved by using a cylinder release action controlled by a solenoid valve. This operation forms a timing interlock with the clamping action of the third clamping mechanism 310.

[0051] Understandably, after the wire core completes the sleeve process, the first clamping mechanism 200 carries the wire core downwards in a vertical direction. Its movement trajectory is constrained by a linear guide rail, ensuring that each wire core remains coaxial with the corresponding clamping cavity of the third clamping mechanism 310. When the 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 a pre-tension spring. At this time, the first clamping mechanism 200 immediately triggers the solenoid valve to release the jaws, completing a seamless switch of clamping power. 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 to traditional equipment that typically uses a single clamping mechanism for translational transfer during workstation transfer, where the wire core is prone to swaying and misalignment due to inertia, and the clamping mechanism requires two separate actions—releasing and clamping—resulting in a time lag, this solution completely eliminates lateral displacement during wire core transfer by coordinating the vertical axial motion path and the pre-clamping state. Furthermore, by presetting and instantly releasing the clamping state, the switching action is merged into a single sequential operation, effectively solving the misalignment and detachment problem caused by motion trajectory deviations during multi-wire core transfer. Additionally, by optimizing the timing of the clamping state presetting and release actions, the clamping mechanism switching time is shortened to the physical contact trigger stage, ensuring precise axial positioning of each wire core during workstation transfer.

[0053] This application further proposes that the third clamping mechanism 310 is mounted on the movable wire harness carrier 300 and is transferred by the wire harness carrier 300 to the next work station after receiving the wire core.

[0054] Understandably, after the wire core completes the sleeve process, the third clamping mechanism 310 maintains its clamping state under the support of the movable wire harness carrier 300. The wire harness carrier 300 transports the entire wire core to the next workstation, such as a crimping terminal or a testing station, via a preset movement trajectory. During this process, the movement of the wire harness carrier 300 and the clamping action of the third clamping mechanism 310 are linked for control, ensuring that the wire core transfer is synchronized with the production line logistics. After the wire harness carrier 300 reaches the target position, it stops precisely using a positioning pin or photoelectric sensor, ensuring that the clamping mechanism in the next process can accurately receive the wire core.

[0055] Beneficially, this application integrates the clamping mechanism with the moving carrier, enabling direct station switching of the wire core while it is clamped. This eliminates the repetitive clamping-releasing-re-clamping motion of traditional methods, achieving automated and continuous wire core transport between processes and avoiding production line downtime caused by manual intervention. The coordinated movement of the clamping mechanism and the carrier ensures that the wire core transfer process does not require unclamping, guaranteeing wire core positioning accuracy and shortening process changeover time.

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

[0057] Understandably, during the vertical downward transfer of the wire cores, the radial array clamping seat simultaneously fixes multiple wire cores through its equally spaced clamping cavities. The symmetrical layout of each clamping cavity ensures a stable spatial distribution of the wire core group. 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 through a guide structure. For example, a tapered guide sleeve is provided on the outer edge of the clamping seat, which automatically corrects the positional offset at the moment of contact. This ensures that before the wire core is detached from the first clamping mechanism 200, its end is accurately embedded in the clamping cavity opening of the third clamping mechanism 310. This avoids the tilting or bending of the wire core caused by misalignment of the clamping mechanism during the traditional transfer process. It effectively solves the problem of wire core positional offset caused by misalignment of the clamping mechanism during the vertical transfer of multiple wire cores, ensuring precise alignment of the wire core end with the insulating tube in the sleeve process. At the same time, it avoids deformation or displacement of the wire core during the transfer process, providing a reliable positioning reference for subsequent sleeve operations.

[0058] This application further proposes the specific implementation steps for vertical downward pressure: The first clamping mechanism 200 maintains the clamping state when it moves 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 clamp and resets. It should be noted that, in this application, maintaining the clamping state during movement means that the first clamping mechanism 200 continuously applies clamping force during vertical movement to prevent the wire core from shifting due to inertia or gravity in the initial stage of transfer. Releasing the clamp 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] Understandably, during the handover process of the clamping mechanisms, the first clamping mechanism 200 continuously clamps the wire core during the descent phase to prevent displacement of the wire core due to gravity or mechanical vibration in its free state. When the end of the wire core contacts the third clamping mechanism 310, the distributed pressure sensor array mounted on the contact surface detects the contact pressure distribution. When it exceeds a set threshold, it is determined to be a valid contact. At this time, the grippers of the third clamping mechanism 310 quickly complete the closing action to ensure that the wire core is completely captured. Subsequently, the grippers of the first clamping mechanism 200 synchronously open to release the wire core, which returns to its initial height via a linear module. The entire process uses a pressure-triggered mechanism to replace traditional position encoder positioning, eliminating positioning errors caused by mechanical transmission backlash. Through a pressure-triggered real-time feedback mechanism, it can adapt to the actual contact state of different wire cores. After detecting effective physical contact, the handover procedure is started immediately to avoid wire core misalignment or loosening caused by mechanical positioning errors. This effectively solves the problem of insufficient positioning accuracy caused by loosening or misalignment when wire cores are transferred between clamping mechanisms. The pressure-triggered closed-loop control mechanism ensures that the handover action is only performed after physical contact is confirmed, so that the wire core is always under the constraint of at least one clamping mechanism throughout the transfer process, achieving seamless connection between clamping mechanisms and improving the operational reliability of automated production lines.

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

[0061] Understandably, after the mechanical connection between the insulating tube and the wire core is completed, the heating device applies heat to the connection area. When the insulating tube is made of heat-shrinkable material, it undergoes radial shrinkage deformation upon heating, tightly wrapping the surface of the wire core. When a hot-melt adhesive layer is pre-placed between the insulating tube and the wire core, the adhesive melts upon heating and fills the gaps at the contact surface, forming a solidified bond upon cooling. This process eliminates the connection gap through material phase change, creating a wrapping or adhesive fixing structure between the insulating tube and the wire core, preventing relative displacement due to external forces.

[0062] In some embodiments of this application, the heating operation can be performed by a built-in heating component in the second clamping mechanism 110 that holds the insulating tube, such as by integrating a heating wire inside the clamping jaws or by setting an infrared radiator on the outside of the clamping mechanism. This application solves the problem of loosening caused by insecure fixing between the insulating tube and the wire core after sleeve sheathing through the heating step, and achieves a substantial improvement in the bonding strength of the contact surface, avoiding the phenomenon of displacement or detachment of the insulating tube due to mechanical vibration or external pulling force.

[0063] This application further proposes that, prior to S1, it also includes: The system acquires marking information on the surface of the insulating tube and color information of the wire core. Compare the matching relationship between the marker information and the color information; If a match is found, execute S1; If a match fails, terminate the process and issue an alert.

[0064] Understandably, before clamping the wire core, the system obtains the marking information on the surface of the insulating tube and the color information of the wire core, compares the matching relationship between the two, and executes the subsequent process when the matching is successful, and terminates the process and issues an alarm when the matching fails.

[0065] It should be noted that the identification system refers to the device used to collect material characteristic data. Specifically, it can be implemented using a machine vision system or a radio frequency identification (RFID) device. This involves capturing barcodes or QR codes printed on the surface of the insulating tube using an image sensor, and simultaneously identifying the color of the outer wall of the wire core using a color sensor. The marking information refers to the identification symbols set on the surface of the insulating tube, which can be implemented using laser-engraved alphanumeric combinations or graphic codes, used to characterize the specifications of the insulating tube. The color information refers to the color rings or bands coated on the outside of the wire core, which can be identified using a color difference sensor or a spectral analyzer, used to distinguish wire cores with different functions.

[0066] Understandably, before the clamping process begins, the identification system simultaneously acquires features from the insulating tube and the wire core. When the insulating tube is conveyed to the identification station, the vision system reads its surface markings and decodes them into model codes. Simultaneously, the wire core is guided to the color mark detection area, where a color sensor acquires its external color characteristics. The control unit inputs the decoded model code and color characteristics into a preset matching rule library; for example, an insulating tube with model code A must be paired with a blue wire core. If the comparison result shows that the standard color corresponding to the model code matches the measured color, the clamping mechanism is triggered to start. If a mismatch between the model code and color characteristics is detected, such as an insulating tube marked B being paired with a yellow wire core, the equipment's operating power is immediately cut off, and an audible and visual alarm is activated.

[0067] Beneficially, this application employs a dual-feature cross-validation mechanism to complete the composite condition judgment before materials enter the processing stage. This avoids the limitations of a single identification method and prevents erroneous materials from entering the production process through an automatic blocking mechanism, effectively solving the problem of substandard bushing quality caused by mismatched wire core and insulating tube models. Automated identification and dual information comparison ensure that the material matching accuracy meets production requirements. Simultaneously, the process interruption mechanism prevents the continuation of erroneous operations, significantly reducing rework and scrap rates. The immediate triggering of the alarm function allows operators to quickly locate problematic batches, improving the efficiency of anomaly handling.

[0068] This application further proposes that when matching fails, the incorrectly matched insulating tube or wire core is automatically removed, and a replenishment mechanism is triggered to refill the material.

[0069] It should be noted that automatically removing mismatched insulating tubes or wire cores refers to removing materials that do not meet the matching conditions from the processing flow. This can be achieved using a robotic arm or pneumatic pusher combined with a conveyor belt sorting device, preventing incorrect materials from entering subsequent processes through physical separation. Triggering a replenishment mechanism to refill the material refers to sending a signal to the feeding system to replenish the correct material. This can be achieved by linking a PLC control system with the feeding hopper, automatically triggering the feeding process after sensors detect a material shortage.

[0070] Understandably, when the identification system detects a mismatch between the insulation tube marking information and the wire core color information, the control module sends a command to the rejection device, driving the robotic arm to pick up the incorrect material and transfer it to the scrap area. Simultaneously, it sends a replenishment request to the feeding system. Upon receiving the signal, the feeding system transports the correct type of insulation tube or wire core to the processing station via a vibratory feeder or conveyor belt. During this process, the rejection and replenishment actions are seamlessly integrated through timing control, ensuring that the production line can resume operation without stopping after an error occurs.

[0071] This application utilizes, for example Figures 2 to 6 The sleeve device shown is used to perform the sleeve method described above.

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

[0073] Understandably, the wire core clamping module fixes multiple wire cores to be sleeved through the first clamping cavity, while the second clamping cavity of the tube sleeve module 100 clamps the insulating tube. When the second moving unit 120 drives the second clamping mechanism 110 to move towards the wire core, the insulating tube is pushed to the end of the wire core to complete the sleeve connection. The unloaded first clamping mechanism 200 switches from the front end to the rear end through the first moving unit, releasing the wire core and resetting to the initial position after the sleeve connection is completed. By alternately switching the positions of the clamping mechanisms, continuous sleeve connection operations are achieved.

[0074] This application achieves simultaneous sleeve operation for multiple wire cores by switching between the front and rear ends of the clamping mechanism, avoiding manual intervention and improving operational continuity. It enhances sleeve connection accuracy through bidirectional clamping and movement control. The station switching mechanism of the clamping mechanism allows the sleeve and release processes to alternate, forming a continuous production line. The modular design effectively integrates clamping, sleeve connection, and transfer functions, reducing the risk of incorrect assembly and significantly improving wire harness assembly efficiency.

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

[0076] Understandably, when the first fixed base 210 serves as the supporting foundation of the clamping mechanism, a multi-station clamping structure is formed by multiple radially distributed clamping components. When the wire core enters the clamping cavity, the second clamping block 211 moves closer to the first clamping block 211 under external drive, and the distance between the two is adjusted to adapt to 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 components have completed fixing the wire core, the first moving unit drives the entire first clamping mechanism 200 to switch positions, providing a stable positioning reference for subsequent sleeve operations.

[0077] That is, before the sleeve is installed, 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 position to wait for the sleeve. After the second clamping mechanism 110 clamps the insulating tube, the second moving unit 120 drives the second clamping mechanism 110 to move towards the first clamping mechanism 200, and makes the insulating tube sleeved with the end of the wire core. In the initial sleeve stage, the second moving unit 120 drives the second clamping mechanism 110 to move a first distance towards the first clamping mechanism 200, and after the insulating tube is partially sleeved with the wire core, the second moving unit 120 stops moving. Subsequently, after the first clamping mechanism 200 releases the wire core, the first moving unit is started again. The first moving unit first moves the first clamping mechanism 200 horizontally, so that the first clamping mechanism 200 is withdrawn from the sleeve area from one side of the wire core. Then, the first moving unit moves the first clamping mechanism 200 toward the tail end of the insulating tube. After reaching the free end of the wire core (i.e. the tail end of the insulating tube), the first moving unit moves the first clamping mechanism 200 to reposition, and the first clamping mechanism 200 clamps and fixes the free end of the wire core.

[0078] When the first clamping mechanism 200 withdraws from the sleeve area, the second moving unit 120 is simultaneously restarted, driving the second clamping mechanism 110 to continue moving forward, so that the free end of the wire core can be exposed. That is, while the first clamping mechanism 200 withdraws from the sleeve area and moves to the tail end of the insulating tube, the continuously moving 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. The second clamping mechanism 110 continues to move forward to complete the sleeve process.

[0079] Alternatively, after the first clamping mechanism 200 has completely withdrawn from the sleeve area and moved to the tail end of the insulating tube, and repositioned to clamp the wire core, the second moving unit 120 is restarted, driving the second clamping mechanism 110 to continue moving forward, completing the sleeve installation. During this process, when the first clamping mechanism 200 clamps the wire core in its initial position, the straight-line distance between the first clamping mechanism 200 at its current position and the free end of the wire core should be greater than the length of the insulating tube, to avoid the first clamping mechanism 200 failing to properly clamp the free end of the wire core after switching positions.

[0080] In some embodiments of this application, such as Figures 4 to 5 As shown, the first clamping mechanism 200 includes a first fixed base 210 and a first clamping assembly. A plurality of first clamping assemblies are arranged at equal intervals along the radial direction of the first fixed base 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 base 210, and the second clamping block 211 is movably connected to the first fixed base 210. The first clamping block 211 and the second clamping block 211 are arranged opposite to each other to form a first clamping cavity. The second clamping block 211 can move away from or closer to the first clamping block 211 to adjust the opening range of the first clamping cavity.

[0081] Specifically, the first fixed base 210 serves as the supporting foundation of the clamping mechanism, forming a multi-station clamping structure through multiple radially distributed clamping components. When the wire core enters the first clamping cavity, the second clamping block 211 moves closer to the first clamping block 211 under external drive, and the distance between the two is adjusted to adapt to 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 components have completed fixing the wire core, the first moving unit drives the entire first clamping mechanism 200 to switch positions, providing a stable positioning reference for subsequent sleeve operations.

[0082] Beneficially, the radially arranged multiple clamping components enable simultaneous clamping of multiple wire cores. Simultaneously, the displacement characteristics of the movable clamping blocks 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 randomly distributed wire cores, solving the problems of low efficiency in manual operation and the inability of existing equipment to perform multi-line simultaneous operation. The cooperative structure of the movable and fixed clamping blocks can adapt to the clamping requirements of wire cores of different specifications, preventing wire core slippage due to insufficient clamping force during the tubing process. The radially evenly spaced arrangement design enables the clamping mechanism to achieve a high-density clamping station layout within a limited space, providing stable operating conditions for subsequent tubing processes.

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

[0084] Specifically, such as Figure 5 As shown, the telescopic member 213 is installed between the second clamping block 211 and the first fixed base 210. In its natural state, it pushes the second clamping block 211 tightly against the first clamping block 211 to form a closed clamping state. When a wire core needs to be inserted, the external driving force overcomes the preload of the spring, causing the second clamping block 211 to move away from the first clamping block 211, forming the opening of the first clamping cavity. The adjusting drive member is connected to the second clamping block 211 through a transmission mechanism. During the clamping process, the rotation amplitude of the second clamping block 211 is adjusted in real time according to the diameter of the wire core, so that the clamping force is always kept within the set range. For example, when an increase in the diameter of the wire core is detected, the adjusting drive member drives the second clamping block 211 to rotate outward to expand the first clamping cavity, avoiding excessive clamping force from damaging the insulation layer on the surface of the wire core.

[0085] When the wire core is already clamped in the first clamping cavity, the preload of the spring causes the second clamping block 211 to automatically move closer to the first clamping block 211, forming the initial clamping state. At this time, the adjusting drive unit drives the second clamping block 211 to rotate according to the diameter parameter of the wire core, further adjusting the closing range of the clamping cavity to ensure that the wire core is stably clamped and will not slip. For example, for thicker wire cores, the adjusting drive unit 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 decreased to increase the clamping force. The clamping force is dynamically adjusted through mechanical linkage without manual intervention.

[0086] Beneficially, the synergistic effect of the spring and the adjusting drive ensures the stability of the clamping process and enables adaptive adjustment of the clamping force. This effectively solves the compatibility problem of wire cores of different specifications, automatically matches the changes in wire core diameter during the sleeving process, eliminates the operational error of manually adjusting the clamping force, avoids wire core damage or sleeving misalignment caused by improper clamping force, and significantly improves the accuracy and yield of sleeving operations.

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

[0088] In some embodiments of this application, the first clamping mechanism 200 is located above the third clamping mechanism 310, and the first clamping mechanism 200 and the third clamping mechanism 310 are arranged opposite 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] The vertical arrangement and coaxial alignment means that the axes of the first clamping mechanism 200 and the third clamping mechanism 310 coincide in the vertical plane. This can be achieved by using 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 positioned directly above the third clamping mechanism 310. The first clamping mechanism 200 achieves relative vertical movement through the linear drive of the first moving unit. During the sleeve operation, after the completed wire core is clamped and fixed by the first clamping cavity, the first clamping mechanism 200 moves towards the third clamping mechanism 310 under the linear drive of the first moving unit. When the first clamping mechanism 200 descends to a predetermined position, it continuously moves the completed wire core downwards a preset distance, pushing the completed wire core into the clamping cavity of the third clamping mechanism 310. Subsequently, the adjustment drive of the first clamping mechanism 200 is activated, causing the clamping cavity of the first clamping mechanism 200 to open and release the wire core that has been clamped and fixed by the third clamping mechanism 310. Finally, the first moving unit drives the first clamping mechanism 200 to rise and reset, awaiting the next sleeve operation.

[0091] By adjusting the active action of the driving component, the first clamping mechanism 200 has the function of actively opening the clamping cavity, thus avoiding the failure of some wire cores to be released due to the clamping force when releasing the wire cores.

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

[0093] Understandably, a tube conveying module is installed at the feeding end of the tube sleeve module 100, and the feeding roller group 500 pushes the insulating tube to the guiding mechanism 600 through rotational motion. Multiple guiding channels arranged at intervals along the width of the feeding roller group 500 in the guiding mechanism 600 can simultaneously guide multiple insulating tubes into their corresponding second clamping cavities. Because the guiding channels are coaxial with the second clamping cavities, the insulating tubes remain on a predetermined trajectory during conveying, avoiding clamping misalignment due to deviation. Once the insulating tube reaches the second clamping cavity, the second clamping mechanism 110 can accurately clamp it and complete subsequent sleeve operations. Furthermore, such as Figure 3 As shown, the feeding end of the feeding roller group 500 is also provided with a guiding mechanism 600, and the guiding mechanism 600 at the feeding end of the feeding roller group 500 is also coaxial with the second clamping cavity.

[0094] In some embodiments of this 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 sheathed. Specifically, the identification module is configured to perform dual verification before bushing operations: a first detector scans the insulating tube and extracts the color code and specification parameters from the marking information; a second detector performs non-contact detection on the wire core and generates color feature data. The control system compares the two sets of information. If the color code matches and the wire diameter meets the specification requirements, the bushing device is triggered to perform clamping and bushing actions; if there is a deviation, the operation is suspended and an alarm is issued.

[0095] Understandably, before the bushing operation, the first detector scans the insulating tube to be conveyed by the 500 feeding roller group, extracts its surface marking information, and compares it with preset parameters. Simultaneously, the second detector performs color recognition on the wire cores to be processed in the wire core clamping module, matching the recognition results with the marking information of the insulating tube. When a color mismatch is detected between the insulating tube and the wire core, the system automatically triggers an alarm and suspends the bushing operation.

[0096] In some specific implementations, the first detector can be configured as an industrial camera working in conjunction with image processing algorithms, such as using grayscale thresholding to extract marker characters. The second detector can be configured as an RGB sensor, for example, determining the core color code through three-channel light intensity analysis.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions 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 one or more embodiments or examples.

[0098] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A sleeve method based on secondary clamping, characterized in that, Includes the following steps: S1: Multiple radially arrayed wire cores are simultaneously clamped by the first clamping mechanism; S2: The insulating tube is clamped by the second clamping mechanism; S3: Cause relative movement between the end of the insulating tube and the end of the wire core, so that the insulating tube is partially sleeved on the end of the wire core; S4: Release the clamping mechanism from the wire core and reposition the first clamping mechanism to the tail of the insulating tube. 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 insulating tube. S5: The end of the wire core is clamped by the repositioned first clamping mechanism; S6: Continue to move the insulating tube and the wire core relative to each other until the connection is completed; S7: Transfer the completed tubing core to a carrier, and then transport it to the next workstation via the carrier. The transfer includes: The wire core is vertically pressed down to the third clamping mechanism by the first clamping mechanism; The third clamping mechanism maintains a clamping state when receiving the wire core; The first clamping mechanism releases its clamping action after the third clamping mechanism clamps the wire core.

2. The sleeve method based on secondary clamping according to claim 1, characterized in that, The third clamping mechanism is mounted on a movable carrier and is transferred to the next workstation by the carrier after receiving the wire core.

3. The sleeve method based on secondary clamping according to claim 1, characterized in that, Both the first clamping mechanism and the third clamping mechanism are radial array type clamping seats; During the vertical downward pressing process, each clamping cavity of the first clamping mechanism and the corresponding clamping cavity of the third clamping mechanism remain coaxially aligned.

4. The sleeve method based on secondary clamping according to claim 1, characterized in that, The vertical downward pressure specifically includes: a: The first clamping mechanism maintains the clamping state when it moves 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 its clamp and resets.

5. The sleeve method based on secondary clamping according to claim 1, characterized in that, The process after S6 and before S7 also includes: heating to fix the insulating tube and the wire core.

6. The sleeve method based on secondary clamping according to claim 5, characterized in that, After S6, the heating before S7 is achieved by heating curing performed by a heating component built into or external to the second clamping mechanism.

7. The sleeve method based on secondary clamping according to claim 1, characterized in that, Before S1, it also includes: The system acquires marking information on the surface of the insulating tube and color information of the wire core. Compare the matching relationship between the marker information and the color information; If a match is found, execute S1; If a match fails, terminate the process and issue an alert.

8. The sleeve method based on secondary clamping according to claim 7, characterized in that, The marking information includes text, barcodes, or QR codes printed on the surface of the insulating tube, and the color information is obtained through a spectral analysis sensor or an RGB color sensor.

9. The sleeve method based on secondary clamping according to claim 8, characterized in that, When matching fails, the incorrectly matched insulation tube or wire core is automatically removed, and the replenishment mechanism is triggered to refill the material.

10. A sleeve device for performing the sleeve method based on secondary clamping as described in any one of claims 1 to 9, characterized in that, include: The tube sleeve module (100) includes a second clamping mechanism (110) and a second moving unit (120). The second clamping mechanism (110) is disposed on the second moving unit (120). The second clamping mechanism (110) is provided with a second clamping cavity for accommodating the insulating tube. The second moving unit (120) can drive the second clamping mechanism (110) to reciprocate linearly. A wire core clamping module is disposed at one end of the tube sleeve module (100). The wire core clamping module includes a first clamping mechanism (200) and a first moving unit. The first clamping mechanism (200) is disposed on the first moving 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 moving unit can drive the unloaded first clamping mechanism (200) to switch between the front end and rear end positions of the second clamping mechanism (110).

11. The sleeve device according to claim 10, characterized in that, The first clamping mechanism (200) includes a first fixed base (210) 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 base (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 base (210), and the second clamping block (211) is movably connected to the first fixed base (210). The first clamping block (211) and the second clamping block (211) are arranged opposite to each other to form the first clamping cavity. The second clamping block (211) can move away from or closer to the first clamping block (211) to adjust the opening range of the first clamping cavity.

12. The sleeve device according to claim 11, characterized in that, The first clamping mechanism (200) further includes a telescopic member (213), one end of which is connected to the second clamping block (211) and the other end is connected to one of the first fixed base (210) and the first clamping block (211). The telescopic member (213) enables the second clamping block (211) to always tend to move closer to the first clamping block (211). or, A hinge structure is provided between the second clamping block (211) and the first fixed seat (210). The hinge structure includes a hinge hole provided on the second clamping block (211) and a hinge shaft provided on the first fixed seat (210). The hinge hole and the hinge shaft are matched and connected. A hinge spring is provided between the hinge hole and the hinge shaft. The hinge spring enables the second clamping block (211) to always tend to move closer to the first clamping block (211).

13. The sleeve device according to claim 12, characterized in that, The retractable component (213) is a spring; And / or, It also includes an adjustment drive component, which is fixed on the first fixed base (210). The output end of the adjustment drive component is connected to the second clamping block (211). The adjustment drive component can drive the second clamping block (211) to rotate, so as to adjust the clamping force of the first clamping cavity on the workpiece.

14. The sleeve device according to any one of claims 10 to 13, characterized in that, It also includes a wire harness transfer module, which is disposed at both ends of the wire core clamping module, and the wire harness transfer module is disposed at the same end as the tube sleeve module (100). The wire harness transfer module includes a wire harness carrier (300) and a third clamping mechanism (310) disposed on the wire harness carrier (300). The third clamping mechanism (310) is used to clamp and fix the sleeved wire core.

15. The sleeve device according to claim 14, 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 each other in the vertical direction and are coaxially aligned; And / or, The first clamping mechanism (200) and the second clamping mechanism (110) have the same structure.

16. The sleeve device according to claim 10, characterized in that, It also includes a tube conveying module, which is disposed at the feeding end of the tube sleeve mold. The tube conveying module includes a feeding roller group (500) and a guiding mechanism (600). The guiding mechanism (600) is disposed at the feeding end of the feeding roller group (500) and / or between the feeding roller group (500) and the tube sleeve module (100). The guiding mechanism (600) includes a guiding channel that allows the insulating tube to pass through. Multiple guiding channels are arranged at intervals along the width direction of the feeding roller group (500). The guiding channels are coaxial with the second clamping cavity.

17. The sleeve device according to claim 10, 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 sheathed.

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