Terminal crimping method and equipment based on wire stripping and wire twisting

Abstract

The invention discloses a terminal crimping method and terminal crimping equipment based on wire stripping and wire twisting. The terminal crimping method comprises the following steps: a stripping and twisting synchronization process: feeding a wire core, and moving and conveying the wire core to a stripping and twisting station by a first clamping module along a first direction; insulating layer girdling: the stripping and twisting module clamps the to-be-processed section of the wire core and carries out girdling on the insulating layer to form a stripping starting point; performing stripping and twisting processing, performing rotary motion and synchronous linear motion, so that the insulating layer is stripped and the conductor of the wire core is twisted; a station switching process: the first clamping module carries the wire core of the exposed conductor to move to a crimping station, and the crimping mechanism is in a standby state at the crimping station; a terminal crimping process: the crimping mechanism and the first clamping module generate relative movement, so that the terminal is crimped by the crimping mechanism after the conductor is inserted into the terminal; wherein in the stripping and twisting synchronization process, the rotation axis of a stripping and twisting module is coaxial with the cable core conveying axis, and synchronous linear movement is relative movement between the stripping and twisting module and the first clamping module. The terminal crimping equipment is used for executing the method.

Description

Technical Field

[0001] This invention relates to the field of wire harness assembly and production technology, and in particular to a method and equipment for terminal crimping based on wire stripping and twisting. Background Technology

[0002] In the manufacturing process of wire harnesses in industries such as electronics, automobiles, and home appliances, the ends of the conductors need to undergo multiple processes, including stripping, twisting, and crimping. Traditional equipment typically employs a step-by-step operation mode, first removing the insulation layer using an independent stripping mechanism, then twisting the exposed conductor using an additional twisting device, and finally transferring it to the crimping station. This process has the following technical drawbacks: First, the step-by-step operation requires independent stripping, twisting, and crimping machines, and the wire cores are repeatedly transferred between different stations manually or by robotic arms. This not only results in a large equipment footprint and a slow production cycle, but also the repeated clamping operations can easily cause deformation of the metal conductors or shrinkage of the insulation layer, seriously affecting the subsequent crimping quality. Second, there is a risk of conductor damage during the multiple transfers, which can easily lead to breakage or plastic deformation. Third, after the traditional stripping process, the conductor is in a loose state, and direct crimping can easily cause poor terminal contact, affecting the reliability of the electrical connection. Although there are attempts to integrate stripping, twisting, and crimping functions into the same equipment in existing technologies, there are still obvious shortcomings: the stripping and twisting operations are carried out in stages, requiring stripping to be completed before a second clamping can be performed before twisting can be carried out, making it impossible to achieve simultaneous stripping and twisting operations, which makes it difficult to shorten the production cycle; the terminal feeding and crimping posture switching mostly adopt horizontal movement or lifting avoidance mechanisms, which have complex mechanical structures and low space utilization; in addition, the posture control precision of the wire core or terminal during the station switching process is insufficient, which can easily lead to quality problems such as insertion misalignment or crimping defects. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a terminal crimping method and equipment based on wire stripping and twisting, which has the advantages of improving processing efficiency, reducing conductor damage, improving crimping quality, and reducing equipment space occupation.

[0004] In a first aspect, according to an embodiment of the present invention, a terminal crimping method based on wire stripping and twisting includes: Peeling and twisting synchronous process: The wire core is fed into the first clamping module, which moves along the first direction to convey the wire core to the stripping and twisting station. The insulation layer is circumferentially cut, and the stripping and twisting module holds the section of the wire core to be processed and performs circumferential cutting on the insulation layer to form the stripping starting point; The stripping and twisting process involves performing rotational motion and synchronous linear movement to strip the insulation layer and twist the conductor of the wire core. Station switching process: The first clamping module carries the exposed conductor core to the crimping station, and the crimping mechanism is on standby at the crimping station; Terminal crimping process: The crimping mechanism moves relative to the first clamping module, so that after the conductor is inserted into the terminal, the crimping mechanism crimps the terminal; In the synchronous stripping and twisting process, the rotation axis of the stripping and twisting module is coaxial with the core conveying axis, and the synchronous linear movement is the relative movement between the stripping and twisting module and the first clamping module.

[0005] The terminal crimping method based on wire stripping and twisting according to embodiments of the present invention has at least the following beneficial effects: This application creatively solves the problems of low efficiency and quality defects caused by traditional step-by-step operations by integrating wire stripping and twisting processes into synchronous operations. Specifically: In the synchronous stripping and twisting process, the directional conveying of the first clamping module ensures that the wire core is accurately positioned to the stripping and twisting station, avoiding positioning errors caused by multi-station transfers; after clamping the wire core, the stripping and twisting module simultaneously performs ring cutting, stripping, and rotational twisting actions, and the coaxial design of the rotation axis ensures that the conductor remains axially aligned during twisting. The relative motion generated by the synchronous linear movement can both strip the insulation layer and form a natural conductor twist. This composite action completes the dual functions of stripping and twisting in a single station, significantly shortening the process cycle. In the station switching process, the first clamping module directly carries the processed wire core to the crimping station, maintaining the wire core clamping state to avoid secondary clamping damage. In the terminal crimping process, the relative movement of the crimping mechanism and the first clamping module achieves precise insertion, and the modular collaborative action ensures the alignment accuracy of the conductor and the terminal. The coaxial design of the rotating axis eliminates the risk of conductor bending and deformation caused by non-concentric rotation in traditional equipment. The relative motion mode between the stripping and twisting module and the first clamping module not only achieves linear control of insulation layer stripping, but also forms a dense conductor bundle through rotational twisting, providing a structurally stable conductor end for subsequent crimping.

[0006] According to the present invention, in the wire stripping and twisting-based terminal crimping method of the present invention, in the simultaneous stripping and twisting process, the rotational motion is used to drive the cutting mechanism to complete the circumferential cutting to form the stripping starting point and to make the insulation layer and the conductor rotate relative to each other to twist the conductor into a bundle. Furthermore, during conductor twisting, the stripping module moves linearly in sync, causing the insulation layer to be pulled off the conductor body.

[0007] According to the terminal crimping method based on wire stripping and twisting according to an embodiment of the present invention, the terminal crimping process includes: Positioning sleeve, generating relative movement to allow the conductor to be inserted into the terminal; Assembly: The crimping mechanism is activated to fix the terminals and conductors in place using the crimping mold. The workpiece is released, and the terminal clamping mechanism of the crimping mechanism releases the wire core; Reset, the first clamping module moves out of the crimping station.

[0008] According to the terminal crimping method based on wire stripping and twisting according to an embodiment of the present invention, in the terminal crimping process, the relative movement between the crimping mechanism and the first clamping module is achieved by any one of the following: the first clamping module moves toward the crimping mechanism, the crimping mechanism moves toward the first clamping module, or the first clamping module and the crimping mechanism move toward each other.

[0009] According to the terminal crimping method based on wire stripping and twisting according to an embodiment of the present invention, the terminal crimping process includes: Terminal state switching: After receiving the terminal, the crimping mechanism switches from the receiving station to the crimping station, so that the terminal changes from a vertical state to a horizontal state. After the crimping mechanism switches positions, the central axis of the terminal on the crimping mechanism is parallel to the first direction. The first clamping module moves in the reverse direction to the crimping station.

[0010] According to the terminal crimping method based on wire stripping and twisting according to an embodiment of the present invention, in the terminal crimping process, the station switching is as follows: after receiving the terminal, the crimping mechanism rotates 90 degrees around an axis perpendicular to the first direction, switching from the receiving station to the crimping station, so that the terminal switches from a vertical state to a horizontal state.

[0011] According to the terminal crimping method based on wire stripping and twisting according to an embodiment of the present invention, the terminal crimping process further includes, before the station switching: terminal feeding process: Terminal screening: The vibratory feeder screens the terminals and outputs them vertically to the waiting mechanism. Terminal transfer: The transfer mechanism clamps the vertically positioned terminals and transfers them to the receiving station. The crimping mechanism receives the material and clamps the vertically positioned terminals at the receiving station.

[0012] According to the terminal crimping method based on wire stripping and twisting according to an embodiment of the present invention, in the simultaneous stripping and twisting process, the circumferential cutting operation is achieved by either laser circumferential cutting or mechanical circumferential cutting. Among them, laser circumferential cutting involves a relative rotational motion between the laser emitter and the wire core, forming an annular fused band in the insulation layer; mechanical circumferential cutting involves a cutting tool radially feeding to perform a circumferential cut.

[0013] According to the terminal crimping method based on wire stripping and twisting according to embodiments of the present invention, when laser circumferential cutting is used, the relative rotational motion is achieved by either the laser emitter revolving around the stationary wire core or the laser emitter being fixed, and the first clamping module driving the wire core to rotate around the axis in any mode; when mechanical circumferential cutting is used, the relative rotational motion is achieved by either the cutting tool revolving around the stationary wire core or the cutting tool being radially fixed, and the first clamping module driving the wire core to rotate in any mode.

[0014] Secondly, according to an embodiment of the present invention, a terminal crimping device is used to perform the above-described terminal crimping method based on wire stripping and twisting. The terminal crimping device is provided with a crimping station and a stripping and twisting station, including: The first clamping module is used to clamp and transfer the wire core. The first clamping module can transport the wire core to the crimping station and the stripping and twisting station. The stripping and twisting module is set at the stripping and twisting station. The stripping and twisting module includes a cutting mechanism and a stripping and twisting mechanism. The cutting mechanism is used to cut the insulation layer of the wire core, and the stripping and twisting mechanism is used to clamp and drive the insulation layer to be stripped to rotate. The first clamping module and the stripping and twisting mechanism can move relative to each other so that the insulation layer is separated from the wire core. A crimping module is installed at the crimping station. The crimping module includes a crimping mechanism for receiving and crimping terminals. A first clamping module and the crimping mechanism are able to move relative to each other so that the conductor of the wire core is matched and plugged into the terminal on the crimping mechanism.

[0015] The terminal crimping device according to embodiments of the present invention has at least the following beneficial effects: This application achieves coordinated operation of wire stripping, twisting, and crimping processes through integrated equipment design. Specifically, the first clamping module simultaneously undertakes the function of transferring the wire core between the stripping / twisting station and the crimping station, avoiding the risk of wire core damage caused by multiple clamping in traditional step-by-step operations; the stripping / twisting module integrates the cutting mechanism and the stripping / twisting mechanism in the same station. After the cutting mechanism completes the insulation layer cutting, the stripping / twisting mechanism achieves simultaneous completion of insulation layer stripping and conductor twisting by clamping the insulation layer and coordinating with the relative movement with the first clamping module, thus shortening the production cycle; the crimping module is equipped with a dedicated crimping mechanism, which ensures accurate alignment of the conductor and the terminal through relative movement with the first clamping module, solving the problem of terminal misalignment in traditional processes. Among them, the cross-station transfer capability of the first clamping module breaks through the limitations of traditional equipment spatial isolation. The coordinated action of the stripping and twisting mechanism's rotation stripping and wire core traction realizes the physical integration of the stripping and twisting processes. The relative motion mechanism between the crimping mechanism and the first clamping module optimizes the positioning accuracy of terminal crimping. By integrating the stripping and twisting processes to form synchronous operations, it creatively solves the problems of low efficiency and quality defects caused by traditional step-by-step operations. Furthermore, by rotating and twisting to form a dense conductor bundle, it provides a structurally stable conductor end for subsequent crimping.

[0016] 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

[0017] 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: Explanation of reference numerals in the attached figures: Figure 1This is a flowchart of the terminal crimping method based on wire stripping and twisting according to an embodiment of the present invention. Figure 2 This is a structural diagram of the terminal crimping device according to an embodiment of the present invention; Figure 3 This is a structural diagram of the flipping mechanism from a first-view perspective according to an embodiment of the present invention; Figure 4 This is a structural diagram of the flipping mechanism from a second perspective according to an embodiment of the present invention; Figure 5 This is a structural diagram of the stripping and twisting module according to an embodiment of the present invention; Figure 6 This is a structural diagram of the transfer mechanism according to an embodiment of the present invention; Figure 7 for Figure 6 A magnified view of the area marked A; Figure 8 A side view diagram showing the layout of each workstation; Figure 9 This is a schematic diagram of the press mechanism according to an embodiment of the present invention; Figure 10 This is a structural diagram of the terminal.

[0018] Figure label: Terminal 1; First outer wall surface 11; Second outer wall surface 12; Receiving station 2; Crimping station 3; Cutting station 4; Peeling and twisting station 5; First clamping module 100; First clamping assembly 110; First moving unit 120; First translation assembly 121; First lifting assembly 122; Peeling and twisting module 200; Cutting mechanism 210; Third driving component 211; Cutting component 212; Connecting component 213; Peeling and twisting mechanism 220; Second clamping assembly 221; Second driving component 222; Second translation assembly 223; Crimping module 300; crimping mechanism 310; fixed base 311; crimping block 312; flipping mechanism 320; flipping drive 321; mounting bracket 322; flipping bracket 323; terminal feeding module 400; screening mechanism 410; transfer mechanism 420; translation drive 421; lifting drive 422; first robotic arm 423; fourth drive 4231; second clamping block 4232; first clamping surface 4233; second clamping surface 4234; waiting mechanism 430; receiving groove 431. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" 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.

[0023] Reference Figures 2 to 10 This invention provides a terminal crimping device based on wire stripping and twisting. Specifically, the terminal crimping device includes a first clamping module 100, a stripping and twisting module 200, a crimping module 300, and a terminal feeding module. The terminal crimping device is equipped with a receiving station 2, a crimping station 3, a cutting station 4, and a twisting and stripping station.

[0024] like Figure 1 and Figure 7 As shown, the stripping and twisting module 200 is located at the stripping and twisting station 5. Figure 5 As shown, the stripping and twisting module 200 includes a cutting mechanism 210 and a stripping and twisting mechanism 220. The cutting mechanism 210 is used to cut the insulation layer of the wire core, and the stripping and twisting mechanism 220 is used to clamp and rotate the insulation layer to be stripped. The first clamping module 100 and the stripping and twisting mechanism 220 can move relative to each other to separate the insulation layer from the wire core. The first clamping module 100 can clamp the wire core and transport it to the crimping station 3 and the stripping and twisting station 5. The crimping module 300 is disposed at the crimping station 3. Specifically, the crimping module 300 includes a crimping mechanism 310 for receiving and crimping the terminal 1 and a flipping mechanism 320 for switching the position of the crimping mechanism 310. The flipping mechanism 320 can switch the position of the crimping mechanism 310 between the receiving station 2 and the crimping station 3 so that the terminal 1 and the wire core are coaxial.

[0025] Understandably, after the first clamping module 100 clamps the wire core, it is transported to the stripping and twisting station 5, where the cutting mechanism 210 performs a circumferential cut on the insulation layer. The stripping and twisting mechanism 220 clamps the cut insulation layer segment and, while keeping the wire core axially fixed, separates the insulation layer from the conductor through rotation. Simultaneously, the rotational torque causes the exposed conductor to form a helical twist structure. After stripping and twisting, the first clamping module 100 transfers the wire core with the twisted conductor to the crimping station 3, where the terminal 1 on the crimping mechanism 310 is adjusted to be coaxial with the conductor by flipping. The relative displacement between the first clamping module 100 and the crimping mechanism 310 allows the conductor to be precisely inserted into the terminal 1 slot, and then the crimping mechanism 310 crimps the terminal 1. The entire process is completed by a single clamping action of the first clamping module 100, with the stripping and twisting of the insulation layer and conductor twisting completed simultaneously by the rotation of the stripping and twisting mechanism 220. The posture adjustment function of the crimping mechanism 310 ensures that the terminal 1 is axially aligned with the conductor.

[0026] The cross-station conveying function of the first clamping module 100 in this application reduces the number of clamping operations to one, significantly reducing the risk of conductor damage. In existing integrated equipment, wire stripping and twisting require separate operations. This application achieves simultaneous insulation layer removal and conductor twisting through the rotational stripping action of the stripping and twisting mechanism 220, shortening the process time. Traditional crimping processes rely on manual adjustment of the terminal 1's posture, while this application achieves automatic alignment through the relative motion mechanism between the crimping mechanism 310 and the first clamping module 100, eliminating insertion misalignment. Furthermore, the modular integrated design of the stripping and twisting station 5 and the crimping station 3 reduces the floor space compared to traditional separate equipment.

[0027] Beneficially, in this application, the wire core only needs to be clamped once throughout the entire processing, avoiding conductor deformation and insulation shrinkage caused by multiple transfers. The simultaneous implementation of the stripping and twisting process shortens the production cycle, and the rotary stripping action ensures complete insulation removal and a regular twisted conductor structure. The relative motion mechanism of the crimping station 3 achieves precise alignment between terminal 1 and the conductor, improving the crimping pass rate. The integrated equipment design simplifies the wire harness processing flow and reduces equipment purchase and maintenance costs.

[0028] Furthermore, such as Figure 7 As shown, the cutting station 4, the stripping and twisting station 5, and the crimping station 3 are arranged sequentially along the axial direction of the wire core, while the receiving station 2 is located above the stripping and twisting station 5 or the cutting station 4. The flipping mechanism 320 can drive the crimping station 3 to rotate between the receiving station 2 and the crimping station 3 to switch stations.

[0029] Understandably, the stripping and twisting module 200 is directly positioned below the receiving station 2. The first clamping module 100 moves linearly along the axial direction of the wire core for a first displacement, causing the wire core to reach the cutting station 4 and the stripping and twisting station 5. The stripping and twisting mechanism 220 clamps the end of the wire core, while the cutting mechanism 210 performs a circumferential cut on the wire core to form a stripping starting point. After the circumferential cut is completed, the stripping and twisting mechanism 220 completes the insulation layer removal and metal wire twisting process on the end of the wire core. Subsequently, the first clamping module 100 moves linearly in the opposite direction along the axial direction of the wire core for a second displacement, and the first clamping module 100 retracts to the crimping station 3. Subsequently, the flipping mechanism 320 is activated, and the flipping mechanism 320 drives the crimping mechanism 310 to rotate around the fixed axis, so that the crimping mechanism 310, which has received the terminal 1, switches from the receiving station 2 to the crimping station 3. When the crimping mechanism 310 reaches the crimping station 3, its axis coincides with the axis of the wire core held by the first clamping module. When the first clamping module drives the wire core to move, so that the wire core and the terminal 1 are coaxially inserted, the crimping mechanism 310 performs the crimping action to complete the crimping process of the terminal 1 and the wire core conductor.

[0030] The advantage is that the problems of large space occupation and redundant operation lines caused by the separation of stripping and twisting equipment and crimping equipment in the prior art are solved in this application by a compact vertical and axial layout, realizing the automated connection of the stripping and twisting and terminal crimping processes, avoiding the efficiency loss and safety risks caused by manual handling of wire cores, and the wire cores can be directly transferred to the crimping station 3 after stripping and twisting, improving the processing speed while ensuring the positioning accuracy of the wire cores.

[0031] According to some embodiments of this application, such as Figure 2 and Figure 3 As shown, the first clamping module 100 includes a first clamping component 110 and a first moving unit 120. Specifically, the first moving unit 120 includes a first translation component 121 and a first lifting component 122. The first lifting component 122 is mounted on the first translation component 121. The first clamping component 110 is connected to the first lifting component 122. The first translation component 121 can drive the first clamping component 110 away from or closer to the terminal 1 crimping mechanism 310.

[0032] It is understood that the first translation component 121 refers to the drive component that adjusts the position in the horizontal direction, which can be implemented by a lead screw mechanism or a linear motor, and is used to control the horizontal distance between the first clamping component 110 and the terminal 1 crimping mechanism 310. The first lifting component 122 refers to the drive component that adjusts the height in the vertical direction, which can be implemented by a cylinder or a servo electric cylinder, and is used to adjust the height of the first clamping component 110 to meet the alignment requirements of the terminal 1 crimping mechanism 310.

[0033] Specifically, after the first lifting component 122 fixes the wire core, the first translation component 121 is activated, which drives the first clamping component 110, which has clamped the wire core, to move linearly along the axial direction of the wire core by a first displacement, so that the wire core reaches the cutting station 4 and the stripping and twisting station 5. The stripping and twisting mechanism 220 clamps the end of the wire core, while the cutting mechanism 210 performs a circumferential cut on the wire core to form a stripping starting point. After the circumferential cut is completed, the stripping and twisting mechanism 220 completes the insulation layer removal and metal wire twisting process on the end of the wire core. Subsequently, the first translation component 121 drives the first clamping component 110 to move linearly in the opposite direction along the axial direction of the wire core for a second displacement. After the first clamping component 110 retracts to the crimping station 3, the flipping mechanism 320 is activated. The flipping mechanism 320 drives the crimping mechanism 310 to rotate around the fixed axis, so that the crimping mechanism 310, which has received the terminal 1, switches from the receiving station 2 to the crimping station 3. When the crimping mechanism 310 reaches the crimping station 3, its axis coincides with the axis of the wire core clamped by the first clamping module. The first translation component 121 is activated again and drives the first clamping component 110 to move linearly along the axial direction of the wire core, moving towards the crimping mechanism 310 for a third displacement so that the wire core and the terminal 1 are coaxially inserted. The crimping mechanism 310 performs the crimping action to complete the crimping process between the terminal 1 and the wire core conductor.

[0034] It is important to note that before the wire core is coaxially inserted into terminal 1, the first lifting assembly 122 adjusts the height of the wire core end to align it coaxially with the crimping hole of the crimping mechanism 310. After the crimping mechanism 310 starts and completes the crimping process of terminal 1, the first translation assembly 121 restarts, driving the first clamping assembly 110 to reset. The wire core that has completed the crimping of terminal 1 can be transferred to the next process through the transfer mechanism 420, or the first clamping assembly 110 releases the wire core, and the wire core that has completed the crimping of terminal 1 is transported to the finished product collection mechanism.

[0035] According to some embodiments of this application, such as Figure 5 As shown, the stripping and twisting mechanism 220 includes a second clamping assembly 221, a second driving member 222, and a second translation assembly 223. The second driving member 222 is connected to the second translation assembly 223, and the second clamping assembly 221 is connected to the second driving member 222. The second clamping assembly 221 is used to clamp the insulating layer to be stripped. The second driving member 222 can drive the second clamping assembly 221 to rotate, and the second translation assembly 223 can drive the second clamping assembly 221 to move linearly.

[0036] Understandably, the second clamping assembly 221 refers to a mechanical device used to fix the insulation layer, which can be implemented using a pneumatic clamp or an electromagnetic gripper. Its function is to maintain stable clamping of the insulation layer during rotation and linear motion. The second driving element 222 refers to an actuator that provides rotational power. Its function is to drive the clamping assembly to rotate via the output shaft to achieve conductor engagement. The second translation assembly 223 refers to a transmission mechanism that achieves linear displacement, which can be implemented using a ball screw module or a linear guide slide. Its function is to separate the insulation layer from the wire core through axial traction.

[0037] Specifically, when the conductor is conveyed to the stripping and twisting station 5, the second clamping assembly 221 clamps the end of the insulation layer. After the cutting mechanism 210 completes the circumferential cutting, the second driving member 222 drives the second clamping assembly 221 to rotate, causing the exposed conductor to form a tight twist under torsional load. The second translation assembly 223 drives the second clamping assembly 221 to move linearly away from the conductor, peeling the insulation layer from the conductor surface through mechanical traction, causing the insulation layer to separate axially from the conductor. The combined action of rotation and linear motion allows the conductor twisting and insulation layer peeling to be completed simultaneously, eliminating the need for a secondary operation of re-clamping the conductor after stripping. The second clamping assembly 221 serves as both the clamping point for stripping the insulation layer and the force application point for conductor twisting. Its rotation axis is orthogonal to the translation direction, ensuring that the timing of the actions does not interfere with each other. The synchronous rotation and linear motion allows the conductor twisting and insulation layer peeling to be completed in a single clamping operation, avoiding the secondary operation of stripping and then re-clamping the conductor for twisting required in traditional processes.

[0038] Beneficially, this application achieves simultaneous execution of stripping and twisting processes at a single station through composite trajectory control of rotation and linear motion. This avoids the risk of conductor deformation caused by multiple clamping operations and solves the problem of secondary clamping caused by phased stripping and twisting operations. It realizes integrated synchronous operation of insulation peeling and conductor twisting. By integrating clamping, rotation, and linear motion functions, stripping and twisting are completed simultaneously at the same station, eliminating intermediate transfer links. This allows the wire core to complete the stripping and twisting process in a single clamping state. That is, the middle conductor completes all actions only in the initial clamping state, avoiding repeated stress and conductor damage caused by repeated clamping in traditional processes. At the same time, it combines the two originally separate processes into a single operation, eliminating the need for secondary clamping caused by traditional step-by-step stripping and twisting operations, reducing the number of wire core transfers and the risk of clamping damage, and shortening the processing cycle of a single wire core. The synchronous execution of conductor twisting and insulation peeling ensures that the conductor enters the subsequent crimping process directly in a tight state without loosening, avoiding the problem of poor contact of terminal 1 caused by conductor dispersion.

[0039] In other embodiments of this application, the second clamping component 221 may be configured with an adaptive clamping force adjustment function, for example, by providing real-time feedback on the clamping status through a pressure sensor. The rotational speed of the second drive component 222 may be set to a stepped increase mode, starting at a low speed initially to avoid conductor breakage, and then gradually increasing to the set rotational speed. The travel distance of the second translation component 223 may be preset according to the length of the insulation layer, for example, by recording the displacement through an encoder to achieve precise control.

[0040] According to some embodiments of this application, such as Figure 5 As shown, the cutting mechanism 210 includes a third driving member 211 and a cutting member 212. The third driving member 211 can drive the cutting member 212 to move closer to or away from the wire core, or the third driving member 211 can drive the cutting member 212 to rotate around the wire core.

[0041] It is understood that the third driving element 211 refers to an actuator capable of providing linear or rotational power to drive the cutting element 212 to perform linear forward / backward or circumferential rotational movements. The cutting element 212 is a tool used to cut the insulation layer, specifically a cutting blade or a laser emitter. A cutting blade cuts through mechanical contact, while a laser emitter cuts through non-contact thermal melting. That is, when the third driving element 211 drives the cutting element 212 to approach the wire core in a linear direction, the cutting element 212 performs a localized cut on the insulation layer in a vertical cutting manner. At this time, the cutting depth can be precisely controlled by the driving stroke to avoid damaging the conductor. When the third driving element 211 drives the cutting element 212 to rotate circumferentially around the wire core, the cutting element 212 forms a continuous circular cutting trajectory along the conductor axis, ensuring that the insulation layer is completely cut off.

[0042] Specifically, when the cutting element 212 is a cutting blade, the third driving element 211 drives the cutting blade to move closer to or further away from the wire core, adjusting the depth of the blade cutting into the insulation layer to avoid damaging the internal metal conductor. Specifically, as shown in the figure, the cutting blade can be a metal blade with a concave cutting edge, which can form a circumferential cutting trajectory on the surface of the wire core to completely peel off the insulation layer.

[0043] Understandably, when the cutting blade closes, the contour of the concave blade makes continuous contact with the surface of the wire core. Driven by the third driving component 211, it approaches the wire core, and the progressive entry of the concave blade, combined with the rotation of the wire core by the second driving component 222, generates a uniform circumferential cutting force on the insulation layer. When the two cutting blades move synchronously towards each other, the cutting cavity formed by the concave blade exerts circumferential constraint on the insulation layer, limiting the radial displacement of the wire core. This achieves radial positioning protection of the wire core during insulation layer cutting, eliminating the risk of metal wire damage caused by traditional cutting methods. The circumferential constraint of the cutting cavity ensures consistent cutting depth, avoiding wire core exposure due to local overcutting. The progressive entry of the concave blade reduces the instantaneous impact force during cutting, keeping the edge of the insulation layer cut flat and providing a precise starting position for subsequent stripping and twisting processes.

[0044] When the cutting element 212 is a laser emitter, different thicknesses of insulation layers can be cut by adjusting the laser focal length. The cutting depth can be controlled by adjusting the laser power and focusing position to avoid damaging the internal metal wires. It can be understood that the third driving element 211 moves the laser emitter closer to the wire core, focusing the laser beam onto the surface of the insulation layer of the wire core. When the laser emitter outputs a laser beam onto the insulation layer of the wire core, the focused laser beam forms a thermally fused area on the surface of the insulation layer. This, combined with the second driving element 222, causes the wire core to rotate, achieving circumferential cutting.

[0045] Furthermore, in some other embodiments of this application, such as Figure 5 As shown, the cutting mechanism 210 and the stripping and twisting mechanism 220 are arranged side by side along a direction perpendicular to the wire core axis. The cutting mechanism 210 further includes an L-shaped connector 213, one end of which is connected to the third driving member 211, and the cutting member 212 is connected to the other end of the connector 213. It can be understood that the L-shaped connector 213 refers to a mechanical connecting component with a bent structure, which can be implemented using a right-angle bent metal sheet or casting. The mechanism avoids obstacles by changing the spatial relationship between the third driving member 211 and the cutting member 212.

[0046] Specifically, such as Figure 5 As shown, the cutting mechanism 210 and the stripping and twisting mechanism 220 are arranged side by side along the vertical axis. The L-shaped connector 213 changes the movement direction of the third driving member 211 from the vertical axis to the parallel axis, enabling the cutting member 212 to complete the cutting action on the side of the wire core. At the same time, it leaves axial operating space for the stripping and twisting mechanism 220. Through vertical staggered arrangement, the mechanism is compacted while ensuring processing accuracy. Advantageously, this application eliminates the risk of mechanical interference by creating space avoidance through the L-shaped connector 213, effectively solving the contradiction of spatial layout of multi-process equipment.

[0047] According to some embodiments of this application, such as Figures 2 to 4As shown, the flipping mechanism 320 includes a flipping drive 321, a mounting bracket 322, and a flipping bracket 323. The flipping bracket 323 is rotatably connected to the mounting bracket 322. The crimping mechanism 310 is fixed on the flipping bracket 323. The output end of the flipping drive 321 is connected to the flipping bracket 323. The flipping drive 321 can drive the crimping mechanism 310 to switch positions between the receiving station 2 and the crimping station 3 so that the terminal 1 is coaxial with the wire core.

[0048] It is understandable that the flipping drive component 321 refers to the power element that drives the flipping bracket 323 to rotate around its axis. Specifically, it can be implemented using a servo motor or a stepper motor, providing precise rotation angle control to ensure the positioning accuracy of the crimping mechanism 310 when switching between the two stations. The mounting bracket 322 refers to the support structure fixed to the equipment body, providing a stable rotation fulcrum for the flipping bracket 323 and preventing positional displacement due to vibration during the crimping process. The flipping bracket 323 is the load-bearing component rotatably connected to the mounting bracket 322, specifically a rotating shaft structure with bearing seats. It is used to fix the crimping mechanism 310 and transmit the rotational motion of the flipping drive component 321, enabling posture switching between the crimping station 3 and the receiving station 2. The crimping mechanism 310 is the actuating component used to receive and crimp the terminal 1, specifically a hydraulic cylinder with grippers or a pneumatic crimping module, used to complete the insertion and crimping of the terminal 1 and the wire core under the drive of the flipping bracket 323.

[0049] Specifically, the flipping bracket 323 forms a rotating pair with the mounting bracket 322 via a rotating shaft. The output end of the flipping drive 321 is connected to the flipping bracket 323. When the flipping drive 321 is activated, the flipping bracket 323 drives the crimping mechanism 310 to rotate around the rotating shaft. At the receiving station 2, the crimping mechanism 310 receives the vertical terminal 1 supplied by the terminal feeding module. Subsequently, the flipping drive 321 drives the flipping bracket 323 to rotate by a certain angle, causing the crimping mechanism 310 to carry the terminal 1 to the crimping station 3. During this process, the terminal 1 on the crimping mechanism 310 adjusts its spatial posture synchronously with the flipping action, so that the axis of the terminal 1 coincides with the axis of the wire core held by the first clamping module 100. Since the flipping motion path is a rotational trajectory around a fixed axis, the insertion direction of the terminal 1 and the wire core is precisely controlled by the rotation angle, avoiding the positioning deviation caused by the multi-axis superimposed motion of traditional horizontal or vertical moving mechanisms. When the crimping mechanism 310 reaches the crimping station 3, the terminal 1 and the wire core are coaxially aligned. At this time, the first clamping module 100 moves relative to the crimping mechanism 310, inserting the wire core conductor into the terminal 1 to complete the crimping. This rotary motion replaces the complex transmission structure such as guide rails and sliders required for traditional horizontal or vertical movement, simplifying the mechanical layout. The rigid support of the mounting bracket 322 can suppress the slight deformation of the flip bracket 323 caused by force during the crimping process, ensuring the alignment accuracy of the terminal 1 and the wire core. The design of fixing the crimping mechanism 310 to the flip bracket 323 makes the terminal 1 posture adjustment and crimping action a continuous operation, avoiding positional errors introduced by intermediate transfer links.

[0050] Beneficially, this application employs a rotary station switching mechanism, requiring only a single rotary axis system to complete attitude adjustment. This results in a more compact mechanical structure, a shorter motion path, and significantly improved space utilization. Simultaneously, the repeatability of rotary motion is higher than the superposition accuracy of multi-axis linear motion, effectively eliminating the terminal 1 misalignment problem caused by redundant mechanical movements. Single-degree-of-freedom control of the rotary motion path reduces the risk of accumulated positioning errors and facilitates high-precision attitude matching compared to multi-axis linkage mechanisms. This enables automatic coaxial alignment of terminal 1 with the wire core during the attitude switching process from feeding to crimping, eliminating the insertion misalignment problem caused by accumulated errors in multi-axis moving mechanisms. The rotary switching mechanism reduces equipment space requirements, avoids the avoidance stroke required by traditional translation mechanisms, improves the space utilization of the crimping module 300, and solves the problems of mechanical structural redundancy and low space utilization caused by the complexity of the attitude switching mechanism during terminal 1 feeding and crimping. Furthermore, the rotary station switching achieves high-precision coaxial positioning of terminal 1 and the wire core, avoiding crimping misalignment defects caused by accumulated errors in traditional multi-axis moving mechanisms. The fixed connection design between the crimping mechanism 310 and the flipping bracket 323 ensures the synchronization of the terminal 1 posture switching and improves the consistency of crimping quality.

[0051] According to some embodiments of this application, such as Figure 9 As shown, the crimping mechanism 310 includes a fixed base 311, crimping blocks 312, and a crimping drive. Multiple crimping blocks 312 are circumferentially arranged to form crimping holes. At least one crimping block 312 is movably connected to the fixed base 311. The movable crimping block 312 is connected to the crimping drive, which can move the crimping block 312 away from or towards the crimping hole. It can be understood that when the multiple crimping blocks 312 are closed, they form crimping holes that match the shape of the terminal 1. The hole diameter is adjusted by changing the spacing between adjacent crimping blocks 312.

[0052] Specifically, when terminal 1 is clamped and transported by transfer mechanism 420 to receiving station 2 and enters crimping mechanism 310, crimping drive unit drives movable crimping block 312 to move towards the center of crimping hole according to preset parameters. Multiple crimping blocks 312 synchronously retract to form a clamping space matching the size of terminal 1. When flipping mechanism 320 drives crimping mechanism 310 to switch from receiving station 2 to crimping station 3, after terminal 1 is inserted with wire core conductor, crimping drive unit starts again to perform crimping process. During crimping, circumferentially distributed crimping blocks 312 apply uniform radial pressure to terminal 1 to ensure that the contact surface between terminal 1 and wire core is force balanced. When it is necessary to change the specification of terminal 1, crimping drive unit moves in the opposite direction to drive crimping block 312 to expand outward, and the diameter of crimping hole increases accordingly. After the new specification terminal 1 is positioned, the closing action is performed again. Through the independent control of at least one movable crimping block 312, continuous processing of terminals 1 of different sizes can be achieved without changing the mold. Alternatively, in some other embodiments, the number of pressing blocks 312 can be set to four, two of which are connected to the fixed base 311 via slide rails and are synchronously driven by the pressing drive, while the other two are rigidly connected to the fixed base 311 to form a reference positioning surface. The pressing drive can be a double-rod cylinder, whose piston rod is connected to the movable pressing block 312 via a linkage mechanism to achieve bidirectional synchronous movement.

[0053] Beneficially, this application, through its adjustable crimping hole structure, allows for adaptation to various terminal 1 specifications simply by adjusting the position of the crimping block 312, eliminating the need for mold replacement and avoiding crimping misalignment caused by mold clearance errors. Furthermore, it enables the crimping module 300 to adjust the crimping hole diameter in real time according to the terminal 1's shape, ensuring uniform distribution of the covering force on the terminal 1 during crimping and resolving issues such as terminal 1 deformation or weak crimping caused by mismatched hole diameters. The modular adjustable structure enables a single device to handle multiple terminal 1 specifications, reducing the number of devices required and maintenance costs, and improving the production line's flexible production capabilities.

[0054] According to some embodiments of this application, the terminal crimping device of this application is further provided with a terminal feeding module. Specifically, as shown in the embodiments of this application... Figure 6As shown, the terminal feeding module includes a screening mechanism 410, a waiting mechanism 430, and a transfer mechanism 420. The screening mechanism 410 is used to output the terminal 1 in a vertical state, and the transfer mechanism 420 is used to transfer the terminal 1 output by the screening mechanism 410 to the crimping module 300.

[0055] Specifically, the screening mechanism 410 is a vibrating screener, and the receiving mechanism 430 is a receiving platform located at the discharge end of the vibrating screener. The receiving platform is provided with a receiving groove 431 for accommodating the terminal 1 to be transferred. The transfer mechanism 420 includes a translation drive 421, a lifting drive 422, and a first robotic arm 423. The lifting drive 422 is connected to the translation drive 421, and the first robotic arm 423 is connected to the lifting drive 422. The lifting drive 422 can move the first robotic arm 423 away from or near the receiving end of the screening mechanism 410 and the crimping mechanism 310, so that the first robotic arm 423 can pick up and place the terminal 1. The translation drive 421 is used to transfer the terminal 1 to the crimping mechanism 310.

[0056] It is understood that the vibrating screening machine refers to a device that achieves the directional arrangement of terminals 1 through vibration. Specifically, it can be implemented using an electromagnetically driven vibrating plate structure. Its internal track is designed with guide grooves according to the shape of terminals 1, so that terminals 11 are output in a preset posture. The receiving platform refers to the transition platform connecting the vibrating screening machine and the transfer mechanism 420, used to temporarily store the screened terminals 1. Specifically, the receiving platform is provided with a receiving groove 431, which refers to a groove structure set on the surface of the receiving platform. It can be rectangular or U-shaped, with its depth matching the height of terminals 1 and its width slightly larger than the diameter of terminals 1, used to limit the horizontal displacement of terminals 1 and maintain their vertical posture. The transfer mechanism 420 refers to the execution component that realizes spatial position transfer. The lifting drive 422 refers to the drive device that provides vertical displacement, specifically using a servo motor and ball screw structure. The linear motion of the screw nut drives the robot to move vertically. The translation drive 421 refers to the drive device that provides horizontal displacement, specifically using a linear module or synchronous belt drive mechanism. The horizontal movement of the robot is achieved by the sliding of the slider on the guide rail. The first robotic arm 423 refers to the end effector that performs the gripping action. Specifically, it can adopt a pneumatic gripper or electromagnetic chuck structure to fix the terminal 1 by clamping or adsorption. That is, the screening mechanism 410 adjusts the posture of the randomly input terminal 1 through a vibrating screening machine and transports it to the discharge end along a specific track. During this process, the terminal 1 is adjusted to a uniform orientation so that it enters the receiving groove 431 of the receiving table in a preset direction. After receiving the oriented terminal 1, the receiving groove 431 provides lateral constraint to the terminal 1 through the groove wall to prevent positional deviation due to residual vibration or external interference. When the first robotic arm 423 of the transfer mechanism 420 moves to the receiving table, the geometric constraint of the receiving groove 431 ensures that the terminal 1 is in the predetermined gripping position, thereby avoiding manual adjustment or complex positioning operations. The transfer mechanism 420 is responsible for transporting the terminal 1 between the screening mechanism 410 and the crimping mechanism 310.

[0057] Specifically, during the transfer of terminal 1, the lifting drive 422 and the translation drive 421 form a compound motion control. When it is necessary to retrieve material from the screening mechanism 410, the lifting drive 422 drives the first robotic arm 423 to descend to the receiving slot 431 of the receiving platform, clamping the vertically placed terminal 1; then the lifting drive 422 raises the robotic arm to the clearance height, and the translation drive 421 moves the terminal 1 horizontally to the receiving end of the flipping unit; at this time, the lifting drive 422 drives the robotic arm to descend again, accurately placing the terminal 1 in the clamping mechanism located at the receiving station 2. Through vertical height compensation, the difference between the discharge height of the screening mechanism 410 and the feed height of the clamping mechanism can be eliminated, ensuring that the axis of terminal 1 remains aligned throughout the transfer process.

[0058] Beneficially, this application constructs a three-dimensional motion trajectory planning capability through the coordinated control of the lifting drive component 422 and the translation drive component 421. This enables the robot to actively adjust its working height in the vertical direction, solving the spatial matching problem between the terminal 1's posture and the clamping mechanism. It achieves precise positioning and transfer of the terminal 1 from the screening mechanism 410 to the clamping mechanism, avoiding manual intervention or the setup of complex positioning mechanisms. Through the coordinated control of vertical lifting and horizontal movement, the consistency of the axial direction of the terminal 1 during transfer is ensured, providing reliable posture assurance for the subsequent automatic splicing of the terminal 1 and the wire core, significantly improving the automation level and production efficiency of the crimping process. Simultaneously, by setting a receiving platform with a receiving groove 431, this application forms a physical limiting buffer zone between the screening and transfer processes, allowing the terminal 1 to maintain a stable state after leaving the vibrating screening machine. This eliminates the need for additional positioning sensors or complex gripper structures, achieving seamless connection of the terminal 1 from vibrating screening to transfer and gripping. It solves the problem of gripping failure caused by the unstable posture of the vertical terminal 1, while also eliminating the need for manual intervention, enabling continuous operation of the automated production line. The geometric constraints of the accommodating slot 431 further simplify the positioning control logic of the robot and reduce the difficulty of equipment debugging.

[0059] Furthermore, such as Figure 6 As shown, the first robotic arm 423 includes a fourth driving member 4231 and a second clamping block 4232. The second clamping block 4232 is connected to the output end of the fourth driving member 4231. The two second clamping blocks 4232 are arranged opposite to each other to form a clamping cavity. The fourth driving member 4231 can drive the second clamping blocks 4232 to adjust the size of the clamping cavity.

[0060] It is understood that the fourth driving element 4231 refers to the actuator that provides the motion power for the second clamping block 4232. Specifically, it can be implemented using a cylinder, electric push rod, or servo motor in conjunction with a lead screw mechanism. Its function is to directly control the spacing change of the second clamping block 4232 by outputting linear displacement. The second clamping block 4232 refers to the rigid component that directly contacts the outer wall of terminal 1. The clamping cavity formed by its symmetrical arrangement achieves stable clamping by matching the shape of terminal 1. The spatial adjustment of the clamping cavity refers to changing the relative distance between the two second clamping blocks 4232 through the fourth driving element 4231. Specifically, it can adopt a bidirectional synchronous drive or an independent drive mode. Its dynamic adjustment capability allows the clamping cavity to adapt to the shape characteristics of terminals 1 of different sizes. That is, when terminal 1 enters the clamping area, the fourth driving element 4231 outputs power according to a preset program, pushing the two second clamping blocks 4232 to move in opposite directions, and the lateral dimension of the clamping cavity increases or decreases accordingly. The second clamping blocks 4232 always maintain parallel alignment during the movement, ensuring that the clamping surface forms surface contact with the outer wall of terminal 1. During the clamping phase, the fourth drive member 4231 continuously applies pressure to keep the second clamping block 4232 tightly against the surface of terminal 1, achieving reliable fixation through friction. When it is necessary to release terminal 1, the fourth drive member 4231 moves in the opposite direction to separate the second clamping block 4232, expanding the clamping cavity space to exceed the outer diameter of terminal 1. This dynamic adjustment process achieves positional accuracy control through a closed-loop control system, ensuring that terminals 1 of different batches or specifications can obtain suitable clamping force. Compared with the prior art, traditional clamping mechanisms mostly use fixed-size jaw structures, which can only adapt to a single type of terminal 1. When changing product specifications, the clamps need to be replaced, resulting in increased downtime. However, this application, through the combination of the rigid second clamping block 4232 and the active drive system, maintains clamping stability and achieves adaptive size adjustment, avoiding the drawbacks of frequent clamp replacement.

[0061] Beneficially, this application effectively solves the compatibility problem of the first robotic arm 423 when gripping terminals 1 of different sizes. By actively adjusting the gripping cavity space, it achieves stable gripping of terminals 1 of various specifications, eliminating gripping failure caused by size mismatch, and avoiding surface damage to terminals 1 caused by rigid gripping. While maintaining high positioning accuracy, this structure significantly improves the equipment's adaptability to different models of terminals 11, reducing equipment adjustment time caused by product changes.

[0062] As a further improvement to the plan, such as Figure 7 As shown, the end of the second clamping block 4232 is provided with a clamping part, which has a first clamping surface 4233 and a second clamping surface 4234 that can be connected to the outer wall of the terminal 1. The first clamping surface 4233 and the second clamping surface 4234 are respectively connected to the first outer wall surface 11 and the second outer wall surface 12 of the terminal 1.

[0063] It is understood that, regarding the structural diagram of terminal 1 in this application, as shown... Figure 10 As shown, the terminal 1 of this application includes two structural parts, each having a first outer wall surface 11 and a second outer wall surface 12. In this application, the first clamping surface 4233 refers to the contact area matching the first outer wall surface 11 of the terminal 1, specifically implemented using a planar structure matching the lateral contour of the terminal 1, used to limit the lateral displacement of the terminal 1. The second clamping surface 4234 refers to the contact area matching the second outer wall surface 12 of the terminal 1, specifically implemented using a sloped structure matching the longitudinal contour of the terminal 1, used to limit the longitudinal displacement of the terminal 1. The corresponding connection refers to the geometric matching relationship between the clamping surfaces and the outer wall of the terminal 1. That is, when the second clamping block 4232 is closed, the first clamping surface 4233 contacts the lateral outer wall of the terminal 1 to form a lateral constraint, and the second clamping surface 4234 contacts the longitudinal outer wall of the terminal 1 to form a longitudinal constraint. The spatial constraint formed by the two clamping surfaces forces the axis of the terminal 1 to coincide with the center line of the clamping mechanism. The corresponding connection between the clamping surface and the outer wall of terminal 1 ensures that the clamping force is evenly distributed on both sides of terminal 1, avoiding tilting of terminal 1 caused by single-point pressure. The matching design of the geometry of the clamping part and the outer wall of terminal 1 allows terminal 1 to automatically correct positional deviations during clamping, ensuring the alignment accuracy between the crimping station 3 and the axis of terminal 1. Through the synergistic effect of the two clamping surfaces, lateral positioning and longitudinal correction are completed simultaneously during the clamping action, solving the problem of clamping instability caused by the center of gravity shift when vertically placed terminal 1. The existing technology has the defect that the fixed shape of the clamping surface is difficult to adapt to different shapes of terminal 1, which is improved by the corresponding connection design between the clamping surface and the outer wall of terminal 1.

[0064] Beneficially, this application achieves stable clamping of the vertically placed terminal 1, eliminating the positional displacement of terminal 1 caused by uneven clamping force distribution. The geometric matching relationship between the clamping surface and the outer wall of terminal 1 ensures the consistency of the axial direction of terminal 1 during clamping, enabling the coaxiality of the wire core and terminal 1 to meet process requirements in subsequent crimping processes. Furthermore, the multi-directional constraint design of the clamping part effectively prevents terminal 1 from rotating or slipping, improving the crimping position accuracy.

[0065] like Figure 1 As shown, this application also provides a terminal crimping method based on wire stripping and twisting, which is implemented by the aforementioned terminal crimping equipment.

[0066] Specifically, the terminal crimping method includes the following steps: S1. Peeling and twisting synchronous process: (a) The first clamping module 100 moves along the first direction to transport the wire core to the stripping and twisting station 5; (b) The stripping module 200 clamps the section of the wire core to be processed and performs a circumferential cut on the insulation layer to form the stripping starting point; (c) Perform rotational motion and synchronous linear movement to strip the insulation layer and twist the conductor of the wire core; S2, Station switching process: The first clamping module 100 moves the exposed conductor core to the crimping station 3, and the crimping mechanism 310 is on standby at the crimping station 3. S3. Terminal crimping process: The crimping mechanism 310 moves relative to the first clamping module 100, so that after the conductor is inserted into the terminal 1, the crimping mechanism 310 crimps the terminal 1. in: (i) In step S1(c), the rotation axis of the stripping and twisting module 200 is coaxial with the core conveying axis; (ii) In step S1(c), the synchronous linear movement is the relative movement between the stripping and twisting module 200 and the first clamping module 100.

[0067] Understandably, in the simultaneous stripping and twisting process, after the wire core is conveyed to the stripping and twisting station 5 along the fixed axis by the first clamping module 100, the stripping and twisting module 200 fixes the section of the wire core to be processed through clamping action. The circumferential cutting tool completes the circumferential cutting of the insulation layer under the rotational drive, forming the stripping starting point. Subsequently, the stripping and twisting module 200 rotates while maintaining the clamping state, and at the same time, it generates axial relative displacement with the first clamping module 100. This combined action causes the insulation layer to be stripped under the combined action of rotational torque and axial tension, while the exposed conductor forms a tight spiral structure under the action of rotational torque. During the station switching process, the wire core is always held by the first clamping module 100 and directly transferred to the crimping station 3. When the terminal 1 is crimped, the relative movement between the crimping mechanism 310 and the first clamping module 100 ensures that the conductor is accurately inserted into the cavity of the terminal 1, and the crimping hole of the crimping mechanism 310 closes to complete the mechanical connection between the terminal 1 and the conductor.

[0068] In practical applications of this application, reference is made to the appendices of this application. Figure 2 To be continued Figure 6 After the first clamping module 100 clamps the wire core, it is transported to the stripping and twisting station 5, where the cutting mechanism 210 performs a circumferential cut on the insulation layer. The stripping and twisting mechanism 220 clamps the cut insulation layer segment and, while keeping the wire core axially fixed, separates the insulation layer from the conductor through rotation. Simultaneously, the rotational torque causes the exposed conductor to form a spiral twisted structure. After stripping and twisting, the first clamping module 100 transfers the wire core with the twisted conductor to the crimping station 3, where the terminal 1 on the crimping mechanism 310 is adjusted to be coaxial with the conductor by flipping. The relative displacement between the first clamping module 100 and the crimping mechanism 310 allows the conductor to be precisely inserted into the terminal 1 slot, and then the crimping mechanism 310 crimps the terminal 1. The entire process is completed by a single clamping action of the first clamping module 100, with the stripping and twisting mechanism 220 rotating to peel off the insulation layer and simultaneously twisting the conductor. The posture adjustment function of the crimping mechanism 310 ensures that the terminal 1 is axially aligned with the conductor.

[0069] Beneficially, this application integrates the two processes into a single action cycle through a simultaneous stripping and twisting process, eliminating two clamping operations. In existing integrated equipment, stripping and twisting are performed in stages, requiring circumferential cutting before changing the clamping point for twisting. This application, however, achieves conductor twisting during insulation stripping through synchronized rotation and linear motion. Furthermore, while traditional station switching requires a robotic arm to transfer the wire core, this application utilizes the first clamping module 100 to directly carry the wire core, avoiding conductor deformation caused by secondary clamping and achieving simultaneous stripping and twisting, reducing the number of equipment stations and floor space. A single clamping operation avoids conductor damage caused by multiple clamping operations, and the coaxial design of the rotation axis ensures the conductor maintains a straight shape after twisting, providing a dense conductor end for terminal 1 crimping. The relative movement mode allows insulation stripping and conductor twisting to be completed in a single action, shortening the process cycle. Maintaining the wire core clamping state in crimping station 3 ensures the alignment accuracy between the conductor and terminal 1, effectively improving the stability of crimping quality.

[0070] Specifically, the rotational motion in step S1(c) achieves the following function: (a) The drive cutting mechanism 210 completes the circumferential cutting to form the peeling start point; (b) To twist the conductor into a bundle by causing relative rotation between the insulating layer and the conductor; Furthermore, when function (b) is executed, the stripping and twisting module 200 moves synchronously in a straight line to pull the insulation layer off the core body.

[0071] Understandably, during the rotation of the stripping and twisting module 200, the cutting mechanism 210 is first driven to complete the circumferential cutting of the insulation layer, forming the stripping starting point. Subsequently, the rotational motion causes the insulation layer and the conductor to rotate relative to each other, twisting the loose conductor into a bundled structure. During this process, the synchronous linear movement of the stripping and twisting module 200 and the clamping module gradually pulls the insulation layer away axially, achieving the synchronous completion of the three actions of cutting, stripping, and twisting. By integrating cutting and twisting into the same process through compound rotational motion, intermediate transfer links are eliminated, and the synergistic effect of synchronous linear movement and rotational motion is used to achieve automated execution of the stripping action.

[0072] Specifically, refer to Figure 5The stripping and twisting module 200 includes a cutting mechanism 210 and a stripping and twisting mechanism 220. The cutting mechanism 210 is used to cut the insulation layer of the wire core, and the stripping and twisting mechanism 220 is used to clamp and rotate the insulation layer to be stripped. The first clamping module 100 and the stripping and twisting mechanism 220 can move relative to each other to separate the insulation layer from the wire core. The stripping and twisting mechanism 220 includes a second clamping assembly 221, a second driving member 222, and a second translation assembly 223. The second driving member 222 is connected to the second translation assembly 223, and the second clamping assembly 221 is connected to the second driving member 222. The second clamping assembly 221 is used to clamp the insulation layer to be stripped. The second driving member 222 can drive the second clamping assembly 221 to rotate, and the second translation assembly 223 can drive the second clamping assembly 221 to move linearly. The cutting mechanism 210 includes a third driving member 211 and a cutting member 212. The third driving member 211 can drive the cutting member 212 to move closer to or further away from the wire core.

[0073] When the conductor is conveyed to the stripping and twisting station 5, the second clamping assembly 221 clamps the end of the insulation layer. After the cutting mechanism 210 completes the circumferential cut, the second driving member 222 drives the second clamping assembly 221 to rotate, causing the exposed conductor to form a tight twist under torsional load. The second translation assembly 223 drives the second clamping assembly 221 to move linearly away from the conductor, peeling the insulation layer from the conductor surface through mechanical traction, causing the insulation layer to separate axially from the conductor. The combined action of rotation and linear motion allows the conductor twisting and insulation layer peeling to be completed simultaneously, eliminating the need for a secondary operation of re-clamping the conductor after stripping. The second clamping assembly 221 serves as both the clamping point for stripping the insulation layer and the force application point for conductor twisting. Its rotation axis is orthogonal to the translation direction, ensuring that the timing of the actions does not interfere with each other. The synchronous rotation and linear motion allows the conductor twisting and insulation layer peeling to be completed in a single clamping operation, avoiding the secondary operation of stripping and then re-clamping the conductor for twisting required in traditional processes. When the third driving component 211 drives the cutting component 212 to approach the wire core in a straight line, the cutting component 212 performs a local cut on the insulation layer in a vertical cutting manner. At this time, the cutting depth can be precisely controlled by the driving stroke to avoid damaging the conductor.

[0074] Beneficially, this application solves the problem of cumbersome procedures caused by separate stripping and twisting operations in traditional processes, integrating what originally required three independent operations into a single action cycle, reducing the number of times the conductor is repeatedly clamped. The coordinated control of rotational motion and linear movement avoids excessive torsional damage to the conductor caused by simple rotation during twisting, ensuring the tightness and integrity of the conductor bundle. The insulation layer peeling process is achieved through axial tension, which is more beneficial for protecting the conductor surface structure compared to traditional radial peeling methods.

[0075] As a further improvement to the solution, step S3 includes: S3a, relative movement is generated to insert the conductor into terminal 1; S3b, the crimping mechanism 310 starts the crimping mold to fix terminal 1 and conductor; S3c, the terminal 1 clamping mechanism of the crimping mechanism 310 releases the wire core; S3d, the first clamping module 100 moves out of the crimping station 3.

[0076] It is understandable that relative movement refers to the axial displacement between the first clamping module 100 and the crimping mechanism 310, which can be achieved by using a servo motor to drive a linear guide rail to ensure coaxial alignment of the conductor and the terminal 1 cavity. The crimping mold refers to a forming cavity with a shape matching the terminal 1, which can be a split mold structure driven by a hydraulic cylinder to close, applying uniform pressure to the terminal 1 and the conductor to form a mechanical engagement. The terminal clamping mechanism refers to a clamp used to fix the position of the terminal 1, which can be a pneumatic gripper that actively releases the wire core after crimping to avoid residual stress. Removing from the crimping station 3 refers to the first clamping module 100 carrying the wire core out axially, which can be achieved by a sliding table mechanism to free up operating space for subsequent processes.

[0077] Specifically, during the insertion of the conductor into terminal 1, lateral offset is eliminated by axial relative movement, allowing the conductor to enter the cavity of terminal 1 along a straight path. When the crimping hole closes, the crimping block 312 applies radial pressure to terminal 1, causing the metal material to undergo plastic deformation and form a tight coating with the conductor. The crimping mechanism 310 immediately releases the constraint on the wire core after crimping, avoiding conductor tensile deformation caused by clamping force during demolding. When the first clamping module 100 withdraws, it maintains continuous clamping of the wire core, ensuring that the wire core does not swing or loosen during movement.

[0078] As a further improvement to the scheme, the relative movement in step S3a can be achieved in any of the following ways: (a) The first clamping module 100 moves toward the crimping mechanism 310; (b) The crimping mechanism 310 moves toward the first clamping module 100; (c) The first clamping module 100 moves toward the crimping mechanism 310.

[0079] It is understood that the first clamping module 100 refers to a mechanical structure used to clamp the end of the wire core and has linear drive capability. Specifically, it can be implemented using a servo motor-driven slide module, and its function is to maintain the axial alignment accuracy of the conductor during movement. The crimping mechanism 310 refers to a device including a terminal clamping mechanism and a crimping mold, and its function is to fix the terminal 1 and perform the crimping action. Relative movement refers to the process of adjusting the position of two components along the same axis, which can be achieved through the cooperation of a linear guide and a ball screw. Its function is to eliminate the space occupation problem caused by the long stroke movement of a single component. That is, when it is necessary to insert the conductor into the terminal 1, any one of the three movement modes can be selected. For example, when the crimping mechanism 310 is fixed, the first clamping module 100 drives the wire core forward through the slide to complete the insertion action. At this time, the crimping mechanism 310 does not need moving parts, reducing the complexity of the equipment. Or, in some other embodiments, when the wire core needs to be kept absolutely still, the crimping mechanism 310 can actively move to the end of the conductor to complete the docking, avoiding vibration offset caused by the movement of the wire core. Alternatively, in some other embodiments, when space is limited and the movement path needs to be shortened, moving towards each other can reduce the movement distance on one side. All three modes optimize the layout of the moving parts of the device by adjusting the motion distribution strategy, while ensuring the alignment of the conductor and terminal 1's axis.

[0080] As a further improvement to the solution, step S3d also includes: (a) The first clamping module 100 moves in the opposite direction along the first direction to remove the crimping station 3 and remove the wire core from the crimping mechanism 310; the crimping mechanism 310 is reset to the initial position; (b) The crimping mechanism 310 is reset to its initial position; (c) The terminal feeding module delivers a new terminal 1 to the crimping mechanism 310.

[0081] It is understandable that the crimping mechanism 310 resetting to its initial position means that after completing a single terminal 1 crimping process and the first clamping module 100 moves in the opposite direction along the first direction to move out of the crimping station 3, the crimping mechanism 310, driven by the flipping mechanism 320, resets to the receiving station 2 to await the transfer mechanism 420 to deliver a new terminal 1. The first clamping module 100 moving in the opposite direction along the first direction means that the module clamping the wire core moves in the opposite direction of the original conveying path, causing the wire core to actively exit the crimping area and avoiding conductor deformation caused by secondary clamping.

[0082] As a further improvement to the solution, step S2 includes: S2a: After receiving terminal 1, the crimping mechanism 310 switches from receiving station 2 to crimping station 3, so that terminal 1 changes from a vertical state to a horizontal state. S2b: After the crimping mechanism 310 switches positions, the central axis of terminal 1 on the crimping mechanism 310 is parallel to the first direction; S2c: The first clamping module 100 moves in the opposite direction to the crimping station 3.

[0083] As a further improvement to the solution, step S2b: after receiving terminal 1, the crimping mechanism 310 rotates 90 degrees around an axis perpendicular to the first direction, and flips from receiving station 2 to crimping station 3, so that terminal 1 changes from a vertical state to a horizontal state.

[0084] Among them, reference Figure 1 and Figure 8 In this application, the first direction refers to the direction from the cutting station 4 to the stripping and twisting station 5. Switching from a vertical to a horizontal state means that terminal 1 rotates 90 degrees around an axis perpendicular to the first direction, which is specifically achieved through the flipping mechanism 320 of this application. Spatial interference during horizontal movement is eliminated through spatial posture conversion. The central axis being parallel to the first direction means that the axial direction of terminal 1 after adjustment is consistent with the direction of wire core conveying. This can be achieved by using an angle sensor in conjunction with a servo motor. Axial alignment ensures coaxial connection between the conductor and terminal 1.

[0085] Understandably, after receiving the vertically positioned terminal 1 at the receiving station 2, the crimping mechanism 310 adjusts the terminal 1 to a horizontal position through a flipping action, making the axis of the terminal 1 parallel to the wire core conveying direction. During the station switching process, the spatial posture transformation of the terminal 1 and the positioning of the wire core form a coordinated relationship, ensuring that the axes of the two coincide when the conductor is inserted into the terminal 1. When the crimping mechanism 310 receiving the terminal 1 switches from the receiving station 2 to the crimping station 3 under the drive of the flipping mechanism 320, the first clamping module 100 drives the wire core to move towards the crimping mechanism 310 along the first direction, and finally makes the terminal 1 and the conductor of the wire core coaxially inserted. The posture calibration is achieved through mechanical linkage and motion control, and precise alignment can be completed without additional positioning devices.

[0086] Beneficially, this application employs a flipping motion to adjust the posture of terminal 1, simultaneously completing axis calibration during station switching. This reduces space occupation and eliminates angular deviations. Axis alignment is directly achieved through single-degree-of-freedom rotation, simplifying the structure and improving positioning accuracy. This solves the insertion misalignment problem caused by insufficient posture control precision of terminal 1. The flipping adjustment of terminal 1 and the core positioning form a coordinated motion, ensuring that the conductor and the axis of terminal 1 coincide, avoiding insertion failure due to angular deviations. The spatial posture conversion mechanism during station switching eliminates path interference from traditional horizontal movement, reducing equipment space occupation. The establishment of axial alignment allows the conductor to be accurately inserted into the cavity of terminal 1, improving the crimping yield.

[0087] As a further improvement to the solution, step S2b is preceded by: S2b-1: Terminal 1 loading process: (a) The vibratory feeder screening terminal 1 outputs the material to the waiting mechanism 430 in a vertical position; (b) The transfer mechanism 420 clamps the vertical terminal 1 and transfers it to the receiving station 2; (c) The crimping mechanism 310 receives and clamps the vertically positioned terminal 1 at the receiving station 2.

[0088] Understandably, the vibratory feeder uses directional vibration to ensure that the terminals 1 enter the waiting mechanism 430 with a uniform orientation, and the limiting structure of the waiting mechanism 430 prevents the terminals 1 from tilting. When the transfer mechanism 420 extracts the terminals 1 from the waiting mechanism 430, the first robotic arm 423 moves vertically to avoid posture disturbance. The crimping mechanism 310 remains stationary at the receiving station 2, and the terminals 1 are clamped immediately after being vertically inserted into the crimping holes of the crimping mechanism 310. The entire process eliminates the need for the transfer mechanism 420 to rotate 90 degrees after horizontal transfer, as is required in traditional methods, by maintaining the vertical posture of the terminals 1 from screening to crimping.

[0089] As a further improvement to the scheme, the circumferential cutting operation in step S1(b) can be implemented in any of the following ways: (a) Laser ring cutting: The laser emitter and the wire core generate relative rotational motion, forming an annular fusion strip in the insulation layer; (b) Mechanical circumferential cutting: The cutting tool performs circumferential cutting by radial feed.

[0090] As a further improvement to the solution, when using laser circumferential cutting, relative rotational motion can be achieved through any of the following modes: (a) Laser rotation mode: The laser emitter revolves around a stationary wire core; (b) Core rotation mode: The first clamping module 100 drives the core to rotate around the axis, while the laser emitter is fixed; When mechanical circumferential cutting is used, it can be accomplished through any of the following modes: (a) The cutting tool revolves around a stationary wire core; (b) The first clamping module 100 drives the wire core to rotate, and the cutting tool is radially fixed.

[0091] Understandably, during laser circumferential cutting, the laser emitter and the wire core form a circular cutting path through relative rotation. This movement can be achieved by fixing the laser and driving the wire core to rotate, or by fixing the wire core and driving the laser to revolve around its axis. Laser energy is focused on the surface of the insulation layer, causing the material to melt or vaporize through thermal effects, forming a stress-free circular fracture band and preventing conductor deformation under pressure. In mechanical circumferential cutting, the cutting tool feeds radially to a preset depth, and then completes the circumferential cutting by moving the tool around the wire core or by the wire core rotating. Precise cutting depth control is achieved through the mechanical contact between the tool edge and the insulation layer.

[0092] Specifically, when laser circumferential cutting is used, the laser emitter can be mounted on a rotating bracket and driven by a servo motor to revolve around a stationary wire core; alternatively, the wire core can be driven by a clamping module to rotate around its own axis, while the laser emitter remains fixed. Alternatively, when mechanical circumferential cutting is used, the cutting blade can be mounted on a radially movable blade holder, and the blade can be driven by a cam mechanism or a linear motor to complete the feeding action.

[0093] 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.

[0094] 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 terminal crimping method based on wire stripping and twisting, characterized in that, Includes the following steps: Peeling and twisting synchronous process: The wire core is fed into the first clamping module, which moves along the first direction to convey the wire core to the stripping and twisting station. The insulation layer is circumferentially cut, and the stripping and twisting module holds the section of the wire core to be processed and performs circumferential cutting on the insulation layer to form the stripping starting point; The stripping and twisting process involves performing rotational motion and synchronous linear movement to strip the insulation layer and twist the conductor of the wire core. Station switching process: The first clamping module carries the exposed conductor core to the crimping station, and the crimping mechanism is on standby at the crimping station; Terminal crimping process: The crimping mechanism moves relative to the first clamping module, so that after the conductor is inserted into the terminal, the crimping mechanism crimps the terminal; In the synchronous stripping and twisting process, the rotation axis of the stripping and twisting module is coaxial with the core conveying axis, and the synchronous linear movement is the relative movement between the stripping and twisting module and the first clamping module.

2. The terminal crimping method based on wire stripping and twisting according to claim 1, characterized in that, In the peeling and twisting synchronous process, the rotational motion drives the cutting mechanism to complete the circumferential cutting to form the peeling starting point and causes the insulation layer and the conductor to rotate relative to each other to twist the conductor into a bundle. Furthermore, during conductor twisting, the stripping module moves linearly in sync, causing the insulation layer to be pulled off the conductor body.

3. The terminal crimping method based on wire stripping and twisting according to claim 1, characterized in that, The terminal crimping process includes: Positioning sleeve, generating relative movement to allow the conductor to be inserted into the terminal; Assembly: The mechanism starts pressing the die to fix the terminals and conductors; The workpiece is released, and the terminal clamping mechanism of the crimping mechanism releases the wire core; Reset, the first clamping module moves out of the crimping station.

4. The terminal crimping method based on wire stripping and twisting according to claim 3, characterized in that, In the terminal crimping process, the relative movement between the crimping mechanism and the first clamping module is achieved by any one of the following methods: the first clamping module moves toward the crimping mechanism, the crimping mechanism moves toward the first clamping module, or the first clamping module and the crimping mechanism move toward each other.

5. The terminal crimping method based on wire stripping and twisting according to claim 1, characterized in that, The terminal crimping process includes: Terminal state switching: After receiving the terminal, the crimping mechanism switches from the receiving station to the crimping station, so that the terminal changes from a vertical state to a horizontal state. After the crimping mechanism switches positions, the central axis of the terminal on the crimping mechanism is parallel to the first direction. The first clamping module moves in the reverse direction to the crimping station.

6. The terminal crimping method based on wire stripping and twisting according to claim 5, characterized in that, In the terminal crimping process, the station switching is as follows: after receiving the terminal, the crimping mechanism rotates 90 degrees around an axis perpendicular to the first direction, switching from the receiving station to the crimping station, so that the terminal changes from a vertical state to a horizontal state.

7. The terminal crimping method based on wire stripping and twisting according to claim 1, characterized in that, Before the station switch, the terminal crimping process also includes: terminal loading process: Terminal screening: The vibratory feeder screens the terminals and outputs them vertically to the waiting mechanism. Terminal transfer: The transfer mechanism clamps the vertically positioned terminals and transfers them to the receiving station. The crimping mechanism receives the material and clamps the vertically positioned terminals at the receiving station.

8. The terminal crimping method based on wire stripping and twisting according to claim 1, characterized in that, In the stripping and twisting synchronization process, the ring cutting operation is achieved by either laser ring cutting or mechanical ring cutting. In laser ring cutting, a relative rotational motion is generated between the laser emitter and the wire core, forming an annular fused band in the insulation layer. In mechanical ring cutting, the cutting tool performs a circumferential cut by radial feed.

9. The terminal crimping method based on wire stripping and twisting according to claim 8, characterized in that, When laser circumferential cutting is used, the relative rotational motion is achieved by either the laser emitter revolving around the stationary wire core or the laser emitter being fixed, and the first clamping module driving the wire core to rotate around the axis in either mode. When mechanical circumferential cutting is used, the relative rotational motion is achieved by either the cutting tool revolving around the stationary wire core or the cutting tool being fixed radially, and the first clamping module driving the wire core to rotate in either mode.

10. A terminal crimping device for performing the terminal crimping method based on wire stripping and twisting as described in any one of claims 1 to 9, the terminal crimping device being provided with a crimping station (3) and a stripping and twisting station (5), characterized in that, include: The first clamping module (100) is used to clamp and transfer the wire core. The first clamping module (100) can transport the wire core to the crimping station (3) and the stripping and twisting station (5). A stripping and twisting module (200) is provided at the stripping and twisting station (5). The stripping and twisting module (200) includes a cutting mechanism (210) and a stripping and twisting mechanism (220). The cutting mechanism (210) is used to cut the insulation layer of the wire core. The stripping and twisting mechanism (220) is used to clamp and drive the insulation layer to be stripped to rotate. The first clamping module (100) and the stripping and twisting mechanism (220) can move relative to each other so that the insulation layer is separated from the wire core. A crimping module (300) is provided at the crimping station (3). The crimping module (300) includes a crimping mechanism (310) for receiving and crimping terminals (1). The first clamping module (100) and the crimping mechanism (310) can move relative to each other so that the conductor of the wire core is matched and plugged into the terminal (1) on the crimping mechanism (310).

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