Mold glue sealing device and method for module wire harness isolation plate

Abstract

The present application relates to mold forming and intelligent glue injection equipment technical field, specifically to a kind of mold glue sealing device and method of mould harness isolation plate;Contain mold base, servo drive component, piezoelectric ceramic transducer, micro support thimble and controller etc module;Device will main glue injection runner and the antagonistic hydraulic chamber of thimble tail portion are connected by micro capillary flow channel;Its core is to utilize fluid pressure change passive synchronous control thimble extension, when glue is injected, pressure is increased, and thimble is automatically extended to provide adaptive support to resist fluid scour, and thimble is slightly withdrawn to avoid affecting coating when pressure decays;The present application does not need external independent hydraulic mechanism, significantly reduces the risk that harness is scoured and bent or displaced, effectively improves the integrity of packaging structure.

Description

Technical Field

[0001] This invention relates to the field of mold forming and intelligent glue injection equipment technology, specifically to a mold sealing device and method for a module wire harness isolation plate. Background Technology

[0002] In the encapsulation process of module wire harness separators, a high-viscosity polymer sealant needs to be injected into a narrow mold cavity with varying cross-sections to achieve a sealed encapsulation of flexible wire harnesses containing high-density flexible circuit boards and fine copper busbars. To complete this filling process, existing solutions generally use conventional high-pressure injection molding machines in conjunction with ordinary closed molds for direct pressure injection. Although this solution can achieve basic polymer material injection molding, due to the narrow cavity gap and the apparent viscosity of the sealant exceeding the preset viscosity threshold, the fluid will generate a fluid shear impact force exceeding the yield limit of the wire harness when it propagates within the mold cavity. Since existing molding devices lack dynamic viscosity reduction methods for local rheological states and adaptive mechanical support mechanisms, the flexible wire harness and separator are prone to instability under such complex fluid-structure interaction, resulting in irreversible displacement, bending, or even breakage, reducing the structural integrity and encapsulation quality of the final plastic encapsulation.

[0003] Therefore, how to effectively reduce fluid shear impact and suppress the scouring displacement of flexible wire bundles during polymer injection molding in narrow mold cavities with variable cross-sections, thereby improving the stability of the encapsulation and the molding qualification rate, has become an urgent technical problem to be solved. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a mold sealing device and method for a module wire harness isolation plate. Specifically, the technical solution of the present invention is as follows: A mold sealing device for a module wire harness isolation plate includes: The mold base includes a lower mold base and an upper mold base, wherein the lower mold base and the upper mold base are closed to form a sealed cavity, the sealed cavity is used to accommodate the isolation plate and the wire harness, and the upper mold base is provided with a main injection channel; The servo drive assembly includes a servo motor and a servo plunger pump, wherein the inlet end of the main dispensing channel is connected to the output end of the servo plunger pump, and the servo plunger pump is connected to an external polymer sealing liquid. Piezoelectric ceramic transducers are arranged in an array on the sidewall of the sealed cavity; A miniature support ejector pin is fitted with a guide hole inside the lower mold base. The space where the tail of the miniature support ejector pin is located forms an antagonistic hydraulic chamber, which is connected to the main injection channel through a miniature capillary channel. The controller is connected to the servo motor and the piezoelectric ceramic transducer, respectively.

[0005] Furthermore, the lower mold base is fixedly connected to the external glue injection machine table by bolts, and the upper mold base is slidably engaged with the lower mold base by linear guide posts.

[0006] Furthermore, the servo plunger pump is driven by the servo motor through a quincunx flexible coupling.

[0007] Furthermore, the sidewall of the sealed cavity is provided with a reserved groove, and the piezoelectric ceramic transducer is bonded to the reserved groove by thermally conductive structural adhesive.

[0008] Furthermore, the main body of the micro support pin is made of high-strength stainless steel.

[0009] Furthermore, a return spring is provided between the tail of the miniature support pin and the bottom of the guide hole.

[0010] A method for controlling a mold sealing device for a module wire harness isolation plate includes: S1. Control the servo motor to drive the servo plunger pump, and push the polymer sealant liquid into the main injection channel and into the sealing cavity at a preset reference pressure; S2. Extract the phase angle drift of the dynamic impedance of the piezoelectric ceramic transducer and extract the high-frequency fluctuation of the microsecond-level torque of the servo motor; S3. Extract the timing characteristics of the dynamic impedance phase angle drift and the microsecond-level torque high-frequency fluctuation through the controller, and input them into the preset variable stiffness compensation model. S4. The dynamic margin distance between the current wire harness pose deviation and the preset yield critical value is calculated in real time through the preset variable stiffness compensation model, and the viscosity requirement correction coefficient is output. The viscosity requirement correction coefficient is the ratio of the current target apparent viscosity to the material's natural apparent viscosity. S5. Dynamically adjust the power duty cycle and frequency bandwidth of the piezoelectric ceramic transducer according to the viscosity requirement correction coefficient.

[0011] Furthermore, in step S3, the preset variable stiffness compensation model equates the sudden change in fluid resistance to the degradation of the flow channel boundary stiffness, and outputs the viscosity requirement correction coefficient based on the pre-calibrated mapping relationship.

[0012] Furthermore, a reset spring is supported between the tail of the micro support pin and the bottom of the guide hole. After step S1, the following steps are included: S601, obtaining the fluid pressure in the main injection channel and introducing part of the energy of the fluid pressure into the antagonistic hydraulic chamber through the micro capillary channel. S602, The antagonistic hydraulic chamber pressure is passively increased synchronously based on the fluid pressure, which pushes the miniature support pin forward to block the isolation plate and wire harness; S603. When the local fluid pressure decreases, the pressure of the antagonistic hydraulic chamber decreases synchronously and passively, causing the micro support pin to retract slightly under the action of the return spring.

[0013] Further, after step S5, the process includes: S701, controlling the piezoelectric ceramic transducer to induce acoustic flow effect and micro-acoustic cavitation inside the polymer sealant, thereby reducing the apparent viscosity of the polymer sealant. S702. Break the entanglement of polymer chain segments, causing the apparent viscosity of the polymer sealing liquid to decrease exponentially; S703. When the current harness pose deviation reaches or exceeds the preset warning zone or intervention zone threshold, the servo motor pulse feed is reduced proportionally to control the fluid front propulsion destructive force to be suppressed within the preset flexible harness error envelope until the pose deviation falls back to the safe zone range.

[0014] The present invention has the following beneficial effects: 1. The mold sealing device of the present invention utilizes the fluid pressure changes in the main injection channel to passively and synchronously control the extension and slight retraction of micro support pins under the action of an antagonistic hydraulic chamber through a micro capillary channel; when the injection pressure increases, the pins automatically extend to abut against the isolation plate and wire harness, providing adaptive mechanical support to resist the destructive force of the fluid; when the local pressure decreases, the pins slightly retract under the action of a return spring to avoid continuous pressure affecting the encapsulation; this structure does not require an external independent hydraulic mechanism, significantly reducing the risk of wire harness bending or displacement due to erosion, and improving the integrity of the encapsulation structure; 2. This invention extracts the dynamic impedance phase angle drift of the piezoelectric ceramic transducer and the microsecond-level high-frequency torque fluctuation of the servo motor, and substitutes them into a preset variable stiffness compensation model to obtain the viscosity requirement correction coefficient. Based on this, the power duty cycle and frequency bandwidth of the transducer are dynamically adjusted to induce acoustic flow effect and micro-acoustic cavitation inside the polymer sealing liquid, breaking the polymer chain segment entanglement and causing the apparent viscosity to decrease exponentially. Combined with the fine adjustment of the pulse feed amount of the servo motor, the destructive force of the fluid front propulsion is suppressed within the preset flexible wire harness error envelope, realizing local dynamic viscosity reduction and effectively solving the fluid-structure interaction instability problem. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall external structure of the device; Figure 2 This is a schematic diagram of the isolation plate structure; Figure 3 This is a schematic diagram of the mold base structure; Figure 4 This is a schematic diagram of the upper mold base; Figure 5 This is a schematic diagram of the servo drive component; Figure 6 This is a cross-sectional structural diagram of a miniature support pin; Figure 7 This is a flowchart of the method of the present invention.

[0016] In the diagram: 1. Mold base; 2. Lower mold base; 3. Upper mold base; 4. Sealed cavity; 5. Isolation plate; 6. Wiring harness; 7. Main injection channel; 8. Servo drive assembly; 9. Servo motor; 10. Servo plunger pump; 11. Polymer sealing liquid; 12. Piezoelectric ceramic transducer; 13. Miniature support ejector pin; 14. Guide hole; 15. Antagonistic hydraulic chamber; 16. Miniature capillary channel; 18. Bolt; 19. External injection machine table; 20. Linear guide post; 21. Guide sleeve; 22. Plum blossom-shaped flexible coupling; 23. Metal claw disc; 24. Elastomer; 25. Reserved groove; 26. Thermally conductive structural adhesive; 27. Return spring; 28. High-density flexible circuit board; 29. ​​Micro copper busbar. Detailed Implementation

[0017] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. Example 1:

[0018] Combination Figure 1 As shown, a mold sealing device for a module wire harness isolation plate includes: The mold base 1 includes a lower mold base 2 and an upper mold base 3, wherein the lower mold base 2 and the upper mold base 3 are closed to form a sealed cavity 4, the sealed cavity 4 is used to accommodate the isolation plate 5 and the wire harness 6, and the upper mold base 3 is provided with a main injection channel 7. The servo drive assembly 8 includes a servo motor 9 and a servo plunger pump 10, wherein the inlet end of the main dispensing channel 7 is connected to the output end of the servo plunger pump 10, and the servo plunger pump 10 is connected to an external polymer sealing liquid 11. Piezoelectric ceramic transducers 12 are arrayed on the sidewalls of the sealed cavity 4; The micro support ejector pin 13 is fitted with a guide hole 14 inside the lower mold base 2. The space where the tail of the micro support ejector pin 13 is located forms an antagonistic hydraulic chamber 15. The antagonistic hydraulic chamber 15 is connected to the main injection channel 7 through a micro capillary channel 16. The controller is connected to the servo motor 9 and the piezoelectric ceramic transducer 12 respectively; The mold sealing device for the module wire harness 6 and the isolation plate 5 is used to seal and encapsulate the flexible wire harness 6 and the isolation plate 5 within a narrow, variable cross-section mold cavity; combined with Figure 2As shown, the isolation plate 5 in the sealed cavity 4 includes a high-density flexible circuit board 28 and a fine copper busbar 29, both of which are susceptible to displacement or bending due to fluid shear impact during the sealing stage. To reduce this type of fluid-structure interaction instability, combined with Figure 3 As shown, the mold base 1 adopts an upper and lower mold closing structure, wherein the lower mold base 2 is used to support the workpiece to be sealed, combined with Figure 4 As shown, the upper mold base 3 is used to form a closed injection space and provide the main injection channel 7. The main injection channel 7 can be processed into a combination structure of a straight through hole extending along the thickness direction of the upper mold base 3 and a distribution channel extending along the length direction of the cavity. The equivalent inner diameter of the main injection channel 7 can be selected from 1.0mm to 4.0mm to meet the delivery requirements of high viscosity sealant. The bottom of the distribution channel is provided with multiple injection gates or continuous slit gates. The distribution channel is connected to the sealed cavity 4 through the injection gates or slit gates. Combination Figure 5 As shown, the servo motor 9 in the servo drive assembly 8 is used to output adjustable torque and adjustable speed, and the servo plunger pump 10 is used to pressurize the polymer sealing liquid 11 in the external storage tank into the main injection channel 7. The single discharge volume of the servo plunger pump 10 can be selected from 0.5mL to 10mL, which facilitates low-pressure, micro-volume, and controllable injection. The piezoelectric ceramic transducer array 12 is disposed on the side wall of the sealed cavity 4. In this invention, it is not simply a vibrating element, but an active source for coupling an ultrasonic shear field to the local sealant liquid. Its placement corresponds to narrow gaps, high-resistivity areas, or areas where the wire bundle 6 is prone to deflection, so that ultrasound can be applied only where it is necessary to reduce the apparent viscosity. Combination Figure 6 As shown, the miniature support pin 13 can reciprocate slightly along the axial direction through the guide hole 14. The clearance fit is preferably controlled between 0.005mm and 0.03mm, so that it can meet the set guide tolerance requirements and avoid jamming. The antagonistic hydraulic chamber 15 is formed by the tail of the miniature support pin 13 and the bottom of the guide hole 14. This hydraulic chamber is not an independent hydraulic actuator, but uses the fluid pressure in the main injection channel 7 to form a synchronous support force after being diverted through the miniature capillary channel 16. When the local injection pressure of the sealing cavity 4 increases, the miniature support pin 13 extends towards the isolation plate 5 and the wire harness 6 to provide mechanical support to the impacted area. When the local pressure decreases, the support force decreases synchronously, thereby avoiding continuous pressure from affecting the subsequent sealing liquid coating. The controller can be an industrial controller, an embedded main control board, or a programmable logic controller. Its input terminal receives the feedback quantity of the servo motor 9 and the electrical response quantity of the piezoelectric ceramic transducer 12. Its output terminal is used to adjust the torque command and speed command of the servo motor 9, as well as the excitation power and frequency bandwidth of the piezoelectric ceramic transducer 12. The device, through the fluid delivery of the main glue injection channel 7, the local viscosity reduction effect of the piezoelectric ceramic transducer 12, and the synchronous support effect of the micro support pin 13 driven by the antagonistic hydraulic chamber 15, enables the polymer sealant liquid 11 to enter the narrow area at a lower reference pressure, reducing the probability of the wire harness 6 being eroded, displaced, and broken. In the experiment, when the initial viscosity of the sealant was 3000 mPa·s to 15000 mPa·s and the narrowest gap of the cavity was 0.2 mm to 1.2 mm, the structure could achieve stable sealing without adding an independent pressure sensor in the cavity. The missing glue rate after molding could be controlled below 3%, and the visible offset of wire harness 6 could be controlled within 0.1 mm.

[0019] The lower mold base 2 is fixedly connected to the external glue injection machine table 19 by bolts 18, and the upper mold base 3 is slidably engaged with the lower mold base 2 by linear guide post 20; The lower mold base 2 is fixedly connected to the external dispensing machine table 19 by bolts 18 to establish a rigid installation relationship between the mold base 1 and the dispensing equipment. The bolts 18 can be arranged in a four-corner distribution pattern, preferably 4 to 8 in number. The bolt specifications can be selected as metric coarse thread of 8mm to 16mm to ensure that the lower mold base 2 does not loosen beyond the preset tolerance range during the pulsating dispensing process of the servo plunger pump 10. The external dispensing machine table 19 can be a steel installation platform, and its flatness is preferably no more than 0.05mm per 300mm to reduce the dimensional deviation of the sealing cavity 4 after mold closing. The upper mold base 3 is slidably engaged with the lower mold base 2 via linear guide posts 20. In this invention, the linear guide posts 20 are used to limit the upper mold base 3 to perform only single-degree-of-freedom linear motion along the mold opening and closing directions, thereby preventing the upper mold base 3 from lateral swaying during the mold closing process. Four linear guide posts 20 can be provided, respectively arranged at the four corners of the mold base 1. The diameter of the guide posts can be selected from 12mm to 30mm, and the fit clearance between the guide posts and the guide sleeves 21 is preferably 0.003mm to 0.02mm. With this installation relationship, the sealed cavity 4 can repeatedly form a stable boundary each time the mold is closed, which makes it easy for the acoustic energy coupling position of the piezoelectric ceramic transducer 12 to remain consistent, and also makes it easy for the front end of the micro support pin 13 to correspond with the support point of the isolation plate 5. Compared with relying solely on ordinary hinged mold flipping or single-sided clamping, this structure can reduce the local gap changes caused by mold opening and closing deviations. When performing trial molding of the isolation plate 5 assembly with a thickness of 2mm to 8mm, the repeatability error of the upper mold base 3 moving along the linear guide post 20 can be controlled within 0.02mm, which is beneficial to maintaining a stable pressure mapping relationship between the micro capillary channel 16 and the main injection channel 7.

[0020] The servo piston pump 10 is driven by the servo motor 9 through the plum blossom-shaped flexible coupling 22; The output shaft of the servo motor 9 and the input shaft of the servo piston pump 10 are arranged coaxially, and no gearbox, pulley or sprocket transmission mechanism is set between them, thereby reducing the mechanical lag in the transmission chain; the plum blossom-shaped flexible coupling 22 includes metal claw discs 23 at both ends and an elastic body 24 located in the middle. The elastic body 24 can be made of polyurethane material, and the hardness is preferably Shore 85A to 98A; The coupling is used to compensate for minor installation deviations between the servo motor 9 shaft and the plunger pump shaft, with the allowable installation deviations being 0.05mm to 0.2mm radially and 0.5° to 1.5° angularly. On the other hand, it is used to suppress the propagation of high-frequency micro-vibrations to the mold base 1. Since the control method of the present invention needs to extract the high-frequency fluctuations of the servo motor 9 at the microsecond level, the transmission structure cannot introduce excessive elastic delay and backlash. Compared with multi-stage reduction mechanisms, the plum blossom-shaped flexible coupling 22 is more conducive to preserving the transient load information formed by the change of fluid back pressure of the plunger pump at the motor end, so that the controller can invert the fluid obstruction state based on the current and torque estimation value of the servo motor 9 or the micro-speed fluctuation of the encoder. In actual configuration, the rated power of the servo motor 9 can be selected from 200W to 1500W, and the rated speed can be selected from 1000rpm to 3000rpm; the plunger diameter of the servo plunger pump 10 can be selected from 4mm to 20mm; this driving method improves the resolution of the glue injection pressure adjustment in the main glue injection channel 7, and with the local viscosity reduction control of the piezoelectric ceramic transducer 12, the reference glue injection pressure can be maintained in the range of 0.05MPa to 1.5MPa, reducing the overall impact on the flexible wire harness 6.

[0021] The sidewall of the sealed cavity 4 is provided with a reserved groove 25, and the piezoelectric ceramic transducer 12 is bonded to the reserved groove 25 by thermally conductive structural adhesive 26. The sealed cavity 4 has a reserved groove 25 on its side wall to accommodate the piezoelectric ceramic transducer 12 and determine its relative position with the cavity wall. The reserved groove 25 can be processed into a rectangular groove, an arc groove or a stepped groove. The groove depth is preferably 60% to 95% of the transducer thickness to ensure sufficient side wall strength while ensuring acoustic energy coupling efficiency. The piezoelectric ceramic transducer 12 is bonded to the reserved groove 25 by thermally conductive structural adhesive 26. In this invention, the thermally conductive structural adhesive 26 has three functions: fixing, heat transfer and acoustic coupling. The fixing function is used to prevent the transducer from loosening during long-term vibration, the heat transfer function is used to guide the working heat of the transducer to the mold base 1, and the acoustic coupling function is used to reduce the interface reflection loss between the transducer and the metal mold wall. The thermal conductivity of the thermally conductive structural adhesive 26 is preferably between 1.0 W / (m·K) and 4.0 W / (m·K), the shear strength after curing is preferably not less than 8 MPa, and the adhesive layer thickness is preferably controlled between 0.05 mm and 0.30 mm; the piezoelectric ceramic transducer 12 can adopt a plate, ring, or arc-surface bonding structure, and its working frequency can be selected from 20 kHz to 80 kHz; when the viscosity of the sealant liquid in the cavity is high and the gap is narrow, the excitation frequency bandwidth can be appropriately increased or the number of arrays can be increased; After adopting the installation method of pre-reserved groove 25 and thermally conductive structural adhesive 26, the positional displacement of the transducer under heating conditions is small, and the outer contour of the sidewall of the sealed cavity 4 can still be kept compact, which is convenient for arranging multiple sets of transducers within a limited mold volume. When the glue injection process is tested for continuous operation from 30 min to 120 min, the surface temperature rise of the transducer can be controlled within the range of 20℃ to 45℃, and no macroscopic delamination or structural peeling phenomenon occurs. The acoustic energy response remains stable, which is conducive to maintaining the consistency of the apparent viscosity adjustment of the sealant liquid.

[0022] The main body of the miniature support pin 13 is made of high-strength stainless steel. The main body of the miniature support pin 13 is made of high-strength stainless steel to withstand the repeated thrust from the antagonistic hydraulic chamber 15 and the local contact stress when in contact with the isolation plate 5 and the wire harness 6. The high-strength stainless steel can be precipitation hardening stainless steel, martensitic stainless steel or other materials with high yield strength after heat treatment. The yield strength of the material is preferably not less than 800 MPa, and the hardness is preferably Rockwell hardness of 35 to 52. The front end of the miniature support pin 13 can be processed into a flat head, a ball head or a micro-arc head. Among them, the ball head or micro-arc head is more conducive to dispersing the local pressure in contact with the flexible circuit board and reducing the risk of indentation. The diameter of the miniature support pin 13 can be selected from 0.5mm to 3.0mm, and the effective extension stroke can be selected from 0.05mm to 1.5mm. The purpose of using high-strength stainless steel is to avoid bending, wear or end plastic deformation of the pin under high-frequency micro-motion and periodic hydraulic loading conditions. If the pin material is not strong enough, the geometry of the pin front end will change, resulting in unstable support force distribution and possible scratch damage to the surface of the isolation plate 5. When the 100,000-cycle reciprocating expansion and contraction life test is conducted, the axial residual deformation of the high-strength stainless steel ejector pin can be controlled within 0.01mm, and the wear depth at the contact end can be controlled within 0.005mm, thereby ensuring the consistency of the antagonistic hydraulic support in repeated production.

[0023] A return spring 27 is supported between the tail of the miniature support pin 13 and the bottom of the guide hole 14; A return spring 27 is supported between the tail of the miniature support pin 13 and the bottom of the guide hole 14. This spring provides a retraction force to the miniature support pin 13 when the pressure in the antagonistic hydraulic chamber 15 decreases. The return spring 27 can be a miniature cylindrical helical compression spring, a wave spring, or a laminated spring. The miniature cylindrical helical compression spring is easier to arrange within the axial guide hole 14. The free length of the return spring 27 can be selected from 3 mm to 20 mm, the spring stiffness can be selected from 0.1 N / mm to 5 N / mm, and the pre-compression can be selected from 0.02 mm to 0.5 mm. The purpose of setting the return spring 27 is to enable the miniature support pin 13 to retract from the support position in time after the local glue injection pressure is released, so that the sealant can flow into the area previously contacted by the pin and complete the coating. Without the return spring 27, the miniature support pin 13 may rely on friction or hydraulic residual pressure to retract naturally. The retraction speed lags behind the filling speed of the sealant, which can easily cause local coating gaps. The stiffness of the return spring 27 is matched with the flow resistance of the miniature capillary channel 16, the effective pressure area of ​​the antagonistic hydraulic chamber 15, and the extension amount of the target pin. For example, when the effective pressure-bearing area of ​​the antagonistic hydraulic chamber 15 is 0.5 mm² and the local flow pressure is 0.2 MPa, the hydraulic pressure is about 0.1 N. A return spring 27 with a stiffness of 0.5 N / mm and a pre-compression amount of 0.1 mm can be selected so that the ejector pin can overcome the spring force to extend when the pressure increases and rely on the spring force to retract when the pressure decreases. This configuration is beneficial to keep the ejector pin displacement synchronized with the fluid pressure change and reduce the local pressure caused by continuous contact on the flexible wire harness 6. Example 2:

[0024] Combination Figure 7 As shown, a control method for a mold sealing device for a module wire harness isolation plate includes: S1. Control the servo motor 9 to drive the servo plunger pump 10, push the polymer sealant liquid 11 into the main injection channel 7 and into the sealing cavity 4 at a preset reference pressure. S2. Extract the phase angle drift of the dynamic impedance of the piezoelectric ceramic transducer 12 and extract the high-frequency fluctuation of the torque of the servo motor at the microsecond level. S3. Extract the timing characteristics of dynamic impedance phase angle drift and microsecond-level torque high-frequency fluctuation through the controller, and input them into the preset variable stiffness compensation model. S4. The dynamic margin distance between the current 6-position pose deviation of the wire harness and the preset yield critical value is calculated in real time through the preset variable stiffness compensation model, and the viscosity requirement correction coefficient is output. The viscosity requirement correction coefficient is the ratio of the current target apparent viscosity to the material's natural apparent viscosity. S5. Dynamically adjust the power duty cycle and frequency bandwidth of piezoelectric ceramic transducer 12 according to the viscosity requirement correction coefficient. This control method, used in conjunction with the device, is used to dynamically adjust the local apparent viscosity of the sealant based on the force changes of the wire harness 6 during the glue injection process. In S1, the controller outputs a speed or displacement command to the servo motor 9, causing the servo plunger pump 10 to push the polymer sealant 11 into the main glue injection channel 7 and into the sealed cavity 4 at a preset reference pressure. The preset reference pressure is used to establish the basic fluid posture and macroscopic filling path. Its value can be determined based on the initial viscosity of the sealant, the diameter of the main glue injection channel 7, and the narrowest cross section of the cavity. It can usually be set to 0.05MPa to 1.5MPa. In S2, dynamic impedance phase angle drift refers to the change in the phase difference between the terminal voltage and terminal current of the piezoelectric ceramic transducer 12 over time under excitation. This change is affected by the cavity wall load, fluid coupling impedance, and acoustic field reflection caused by the deformation of the local wire harness 6. The microsecond-level high-frequency torque fluctuation of the servo motor 9 can be obtained by converting the sampling value of the current loop inside the driver, the output value of the torque observer, or the speed perturbation of the high-speed encoder. The sampling period is preferably 1μs to 100μs. In S3, the controller performs integral calculations on the dynamic resistance phase angle drift and microsecond-level torque high-frequency fluctuations. The integration window can be set from 0.1ms to 20ms to suppress isolated noise and retain the cumulative trend reflecting local resistance changes. The two types of characteristic quantities after integration are used as inputs to the variable stiffness compensation model. In S4, the preset variable stiffness compensation model equates the sudden change in fluid resistance to the degradation of the flow channel boundary stiffness. The basic idea is that when the wire harness 6 undergoes micro-bending, offset, or local volume expansion deformation, the equivalent flow cross-sectional area of ​​the narrow gap decreases, the flow resistance increases, and the ultrasonic reflection conditions change, thereby generating identifiable disturbances on both the electrical and mechanical sides. The controller calculates the dynamic margin distance between the current pose deviation of the wire harness 6 and the preset yield critical value based on the pre-calibrated mapping matrix, sensitivity coefficient, or state parameters, and outputs the viscosity requirement correction coefficient, which is the ratio of the current target apparent viscosity to the material's natural apparent viscosity. Specifically, the purpose of the preset variable stiffness compensation model is to accurately estimate the current pose deviation of the wire harness 6 and provide viscosity adjustment requirements by means of externally collectable electrical and mechanical disturbance signals, in the case that the micro-deformation of the wire harness 6 inside the sealed cavity 4 cannot be directly measured. The model logically includes two stages: feature fusion and state mapping. Its data flow is as follows: it receives the integral value of dynamic impedance phase angle drift and the integral value of high frequency torque fluctuation as input. After feature fusion, it enters the state mapping stage to calculate the current 6-position pose deviation of the harness. Based on the pose deviation and the remaining margin of the preset yield critical value, it outputs the viscosity requirement correction coefficient. The model as a whole characterizes the physical causal relationship between fluid shear force, elastic deformation of wire harness 6, and acoustic field reflection impedance when fluid propagates in a complex variable cross-section slit. That is, the deformation of wire harness 6 caused by scouring leads to an increase in local flow resistance and a change in acoustic boundary. The model inversely derives the degree of deformation based on this causal relationship. The dynamic margin distance refers to the margin between the current estimated stress state and the threshold for unacceptable deformation of wire harness 6. It can be preset according to the thickness of the flexible circuit board, the cross-sectional size of the copper busbar, and the upper limit of the allowable offset. In S5, the controller dynamically adjusts the power duty cycle and frequency bandwidth of the piezoelectric ceramic transducer 12 according to the viscosity requirement correction coefficient; when the estimated position deviation of the wire harness 6 increases and the yield critical value distance decreases, the power duty cycle is increased or the frequency bandwidth is widened to enhance the local ultrasonic shearing effect; when the risk is reduced, the duty cycle is reduced or the frequency bandwidth is narrowed to avoid unnecessary cavitation and heat generation. The dynamic impedance phase angle drift and high-frequency torque fluctuations collected in this control method are all included in the subsequent model calculations and directly affect the adjustment amount of the piezoelectric ceramic transducer 12, so there is no isolated data. When the two-component sealing liquid with an initial viscosity of 8000 mPa·s was tested, within a control period of 0.5 ms to 5 ms, the passage time in the narrow area was shortened by about 15% to 35%, and the peak value of the wire harness 6 offset was reduced by about 20% to 45%. To make the role of the above parameters in the control process clearer, the dynamic impedance phase angle drift is used as a state variable on the acoustic coupling side in this embodiment. Its physical meaning is the degree of deviation of the current load state of the transducer from the initial calibration state. The initial calibration state can be obtained under the conditions of empty mold, standard sample or known viscosity sealant, corresponding to a reference phase angle interval. In this embodiment, the 9-microsecond-level high-frequency fluctuation of the servo motor torque is used as a state quantity on the flow resistance side. Its physical meaning is the strength of the transient load disturbance fed back to the motor end due to the sudden change in local flow resistance during the output of the plunger pump. The two respectively characterize the ultrasonic coupling change and the fluid transport resistance change, and are combined in S3 to avoid misjudgment caused by relying on only a single signal. The processing logic of S2 to S4 can be executed in the following order: The controller reads the terminal voltage and terminal current of the piezoelectric ceramic transducer 12 in the current sampling window, calculates the phase difference of each sampling point and compares it with the reference phase angle to obtain the phase angle offset sequence; the phase angle offset sequence is accumulated over time to obtain the dynamic impedance phase angle drift integral value; at the same time, the controller reads at least one of the current loop sampling value, torque observation value or encoder micro-speed disturbance value of the servo driver, converts it into a torque fluctuation sequence, and accumulates the torque fluctuations in the same time window to obtain the torque high-frequency fluctuation integral value. The controller inputs these two types of integral values, along with the current reference pressure and the current servo feed speed, into the preset variable stiffness compensation model. It first obtains the resistance change trend in the current narrow area, and then converts it into an estimated value of the pose deviation of the harness 6. Based on the remaining margin between this estimated value and the preset yield critical value, a viscosity requirement correction coefficient is generated. The final output of the process is the viscosity requirement correction coefficient, which flows directly to S5 as the basis for adjusting the power duty cycle and frequency bandwidth of the piezoelectric ceramic transducer 12. The preset yield critical value can be determined by pre-calibration. Specifically, the safe working boundary of the corresponding sample can be established first based on the thickness of the isolation plate 5, the outer diameter of the wire harness 6, the cross-sectional size of the copper busbar, the allowable permanent offset, and the allowable minimum bending radius. Then, under the condition of gradually increasing the injection pressure and feed speed, the characteristic signal values ​​when the wire harness 6 exhibits unacceptable residual deformation, conductor cracking, insulation layer indentation, or offset exceeding the limit are recorded, and this critical state is mapped to the yield critical value in the model. The difference between the current 6-position pose deviation of the harness and the preset yield threshold value is the dynamic margin distance. The smaller the dynamic margin distance, the closer the current state is to the instability or damage boundary. The controller can divide this distance into a safe zone, a warning zone, and an intervention zone. The warning zone can correspond to 50% to 80% of the upper limit of allowable offset, and the intervention zone can correspond to 80% to 100% of the upper limit of allowable offset. When entering the warning zone, the duty cycle is increased or the frequency bandwidth is widened. When entering the intervention zone, the control action of reducing the servo feed is further superimposed, so that the parameter has physical meaning, source path, and decision-making role at the same time. At the data flow and interaction level, the controller and servo drive preferably communicate using real-time industrial Ethernet or process automation fieldbus, with the communication cycle set to 100μs to 1ms. The servo motor's 9-microsecond-level torque high-frequency fluctuation data is internally cached by the servo drive at a high-frequency sampling rate of 1μs to 10μs at the bottom layer, and periodically reported to the controller via the aforementioned industrial Ethernet bus in the form of a structured data packet containing timestamps, position feedback, and actual torque values. The dynamic impedance phase angle drift of the piezoelectric ceramic transducer 12 is detected by acquiring the instantaneous waveforms of voltage and current through a high-frequency power analysis module. After extracting the fundamental frequency phase difference through a fast Fourier transform, the waveforms are sent to the controller in the form of standard communication messages to ensure that the multi-source heterogeneous data achieves timestamp alignment and accurate interaction within the controller.

[0025] In step S3, the preset variable stiffness compensation model equates the sudden change in fluid resistance to the degradation of the flow channel boundary stiffness, and outputs the viscosity requirement correction coefficient based on the pre-calibrated mapping relationship. In step S3, the preset variable stiffness compensation model uses a computable matrix form to process the input feature quantities. The model discretizes the local coupling region in the sealed cavity 4, which is composed of the isolation plate 5, the wire harness 6 and the sealing liquid, into several equivalent boundary elements. Each element corresponds to a boundary stiffness parameter. The sudden change in fluid resistance is regarded as the decrease in the equivalent boundary stiffness of one or several elements, thereby causing a change in the state vector. In actual calculations, the input vector can be defined as a column vector consisting of the integral value of dynamic impedance phase angle drift, the integral value of high-frequency torque fluctuation, the reference pressure value, and the current servo feed speed; the state transition matrix, observation matrix, and compensation matrix are defined to characterize the influence relationship between the 6-position pose change of the harness on the electrical and mechanical feedback, respectively. In terms of technical principles and causal relationships, since the offset of wire harness 6 will simultaneously compress the local flow cross section and change the ultrasonic reflection interface, the state transition matrix and observation matrix can combine the phase angle drift on the electrical side with the torque fluctuation on the mechanical side to eliminate noise interference from a single signal. Since the apparent viscosity of the sealing liquid directly determines its flow resistance in the slit, the compensation matrix directly outputs the viscosity requirement correction coefficient based on the observed pose deviation to guide the subsequent adjustment of ultrasonic energy. The controller performs matrix multiplication and weighted summation according to the pre-calibrated parameters to obtain the state estimate, and then calculates the viscosity requirement correction coefficient from the state estimate. For example, the viscosity requirement correction coefficient can be expressed as the ratio of the current target apparent viscosity to the material's natural apparent viscosity, and its value can be limited to the range of 0.2 to 1.0. The smaller the value, the stronger the viscosity reduction effect is required. The model parameters can be obtained through sample calibration. The calibration process includes collecting dynamic impedance phase angle drift and torque fluctuation under known gap size, known wire harness stiffness and known sealant viscosity, establishing a correspondence table between the input vector and the measured pose deviation, and then determining the matrix coefficients through least squares fitting or recursive estimation. The significance of equating fluid resistance change with boundary stiffness degradation is that the controller does not need to directly measure the shape of the wire harness 6 inside the cavity, but can invert the internal state by using externally acquired signals; by outputting viscosity requirement correction coefficients through matrix operations, multi-source information can be integrated into a single control quantity, which facilitates the subsequent unified adjustment of the excitation parameters of the piezoelectric ceramic transducer 12; in the experiment, under the condition that the viscosity fluctuation of different batches of sealing liquid does not exceed 15%, after reloading the corresponding mapping coefficients, the estimation error of the model for the pose deviation of the wire harness 6 can be controlled within the range of 0.03mm to 0.12mm. To avoid the model's internal calculation process becoming unanalyzable, matrix operations are performed in a clearly defined order in this implementation. Step one: The controller performs dimensional unification and interval normalization on the dynamic impedance phase angle drift integral value, torque high-frequency fluctuation integral value, reference pressure value, and current servo feed speed input from S3, obtaining a standardized input vector. The normalization upper and lower limits can be taken as the minimum and maximum values ​​of each parameter within the 95% effective working range of the calibration sample. When a parameter exceeds this range, the controller truncates it according to the boundary value to prevent abrupt signal peaks from directly amplifying subsequent calculation results. Step 2: The controller uses the state transition matrix to perform the first round of mapping on the standardized input vector to obtain the boundary stiffness change trend of each equivalent boundary element; where an increase in the value indicates that the flow resistance of the element tends to be stable, and a decrease in the value indicates that the element may experience local necking, wire bundle interference, or equivalent stiffness degradation caused by volume expansion deformation. Step 3: The controller then inputs the boundary stiffness change trend into the observation matrix to obtain the state estimate related to the pose deviation of the harness 6. Step 4: The controller sends the state estimate into the compensation matrix, outputs the viscosity requirement correction coefficient, and passes it to S5 to adjust the piezoelectric ceramic transducer 12. Thus, the flow of the model output is fixed and unidirectional, that is, from multi-source input to boundary stiffness change trend, then to attitude deviation estimation, and finally to viscosity requirement correction coefficient. The division of equivalent boundary elements can correspond to the high-risk areas in the sealed cavity 4. For example, the area near the main injection inlet, the narrowest gap area, the cross area of ​​wire harness 6, and the edge area of ​​copper busbar can be divided into independent elements. The boundary stiffness parameter of each element reflects the deformation resistance of the area to the propulsion of the fluid front. The meaning of fluid resistance mutation being equivalent to flow channel boundary stiffness degradation is: when a certain region of wire harness 6 shifts and compresses the local flow area, even if the controller does not directly obtain the geometric shape data of wire harness 6, it will simultaneously observe an increase in torque disturbance and an aggravation of transducer phase angle shift. Based on this, the model lowers the equivalent boundary stiffness of the region, thereby transforming the abstract flow resistance anomaly into a calculable boundary state change. The viscosity requirement correction factor can be determined using piecewise logic. If the state estimate output by the model is in the safe zone, the viscosity requirement correction factor is maintained in the range of 0.8 to 1.0, indicating that only basic ultrasonic excitation needs to be maintained. If the state estimate is in the warning zone, the viscosity requirement correction factor is adjusted to the range of 0.5 to 0.8, indicating that local viscosity reduction needs to be enhanced. If the state estimate is within the intervention zone, the viscosity demand correction factor is adjusted to the range of 0.2 to 0.5, and preferably, servo feed deceleration is triggered simultaneously. The segmentation threshold can be determined by the state estimate corresponding to 50% and 80% of the allowable offset of the calibration sample. Through the above rules, the viscosity demand correction factor not only has a clear source but also has a direct decision-making role. In a set of feasible calculation examples, the viscosity demand correction factor can be... Represented as: ; in, The current target apparent viscosity is output by the model. This corresponds to the natural apparent viscosity of the sealant at the current temperature; in the formula... For division of parameters with the same dimension, these are dimensionless coefficients; the controller does not directly solve the complex continuous field equations, but first obtains the state estimate through matrix operations, and then converts the state estimate into the target apparent viscosity according to a preset segmented table. The viscosity requirement correction factor is obtained. This approach preserves the computability of the matrix model while ensuring the reproducibility of the control quantity formation process. To ensure that the above matrix operations can be efficiently implemented by software programming, a set of quantitative derivation examples are given here: Assuming that the high-risk area is discretized into equivalent boundary elements, the standardized input vector can be defined as a column vector containing phase drift integral, torque fluctuation integral, reference pressure, and servo feed speed, and the state transition matrix is ​​a pre-calibrated coefficient matrix; after receiving the input vector, the controller performs calculations in conjunction with the state transition matrix to obtain the boundary stiffness change trend vector, which characterizes the stiffness degradation magnitude of each element; The boundary stiffness change trend vector is multiplied by a preset observation matrix to obtain a scalar state estimate. This state estimate is then converted into a viscosity demand correction coefficient using a compensation matrix. This process is based on fundamental linear algebra operations, has a clear data flow, and can run stably in interrupt tasks of conventional programmable logic controllers or embedded controllers.

[0026] A reset spring 27 is supported between the tail of the miniature support pin 13 and the bottom of the guide hole 14. After step S1, the following steps are included: S601, obtaining the fluid pressure in the main injection channel 7, and introducing part of the fluid pressure energy into the antagonistic hydraulic chamber 15 through the miniature capillary channel 16. S602, the pressure inside the antagonistic hydraulic chamber 15 increases passively based on the fluid pressure, pushing the miniature support pin 13 forward to block the isolation plate 5 and the wiring harness 6; S603. When the local fluid pressure decreases, the pressure of the antagonistic hydraulic chamber 15 decreases synchronously and passively, causing the miniature support pin 13 to slightly retract under the action of the return spring 27. After establishing the basic glue injection in step S1, support control related to the antagonistic hydraulic chamber 15 is executed; in S601, the fluid pressure in the main glue injection channel 7 can be measured by the outlet pressure sensor of the servo piston pump 10, or obtained by load inversion of the servo motor 9; the controller determines whether the local glue injection resistance increases based on the pressure value or its changing trend; the micro capillary channel 16 not only plays a connecting role in this invention, but also determines the pressure transmission speed and attenuation degree through its geometric dimensions; the diameter of the micro capillary channel 16 can be selected from 0.05mm to 0.5mm, and the length can be selected from 1mm to 20mm. Its flow resistance design makes the pressure change in the antagonistic hydraulic chamber 15 have a controlled delay relative to the main glue injection channel 7, and the delay time can be designed from 0.1ms to 50ms; In S602, when the fluid pressure in the main injection channel 7 increases, some of the pressure energy enters the antagonistic hydraulic chamber 15 through the micro capillary channel 16. The pressure in the hydraulic chamber increases synchronously and acts on the pressure-bearing surface of the tail of the micro support pin 13, pushing the micro support pin 13 to extend forward. It should be noted that the control in S602 and S603 does not refer to the controller actively pressurizing by sending electronic commands to drive an independent external hydraulic pump. Instead, it refers to the system passively and synchronously adjusting the pressure of the antagonistic hydraulic chamber 15 at the fluid physics level by pre-designing the flow resistance parameters of the micro capillary channel 16 and combining it with the control of the glue injection pressure of the servo motor 9 in S1. The controller can further adjust the servo feed speed according to the pressure change rate in the main glue injection channel 7 and the current working state of the piezoelectric ceramic transducer 12 so that the ejector pin extension is matched with the risk of local impact. In S603, because the micro capillary channel 16 directly connects the main injection channel 7 and the antagonistic hydraulic chamber 15, when the pressure in the main injection channel 7 increases, the fluid pressure is naturally transmitted to the antagonistic hydraulic chamber 15, pushing the micro support pin 13 to extend. Similarly, when the fluid front crosses a narrow area or the local resistance decreases, causing the pressure in the main injection channel 7 to drop, the pressure in the antagonistic hydraulic chamber 15 drops synchronously through the micro capillary channel 16, causing the micro support pin 13 to retract slightly under the action of the return spring 27. This design of coupling the structure with the fluid ensures that the generation of the pin support force and the increase of the fluid impact force maintain a high causal correlation and synchronization in terms of timing and intensity, achieving an adaptive mechanical support effect. The preferred retraction amount is 0.02mm to 0.5mm to ensure that the sealant can enter the original contact area of ​​the ejector pin and form a complete coating layer. This method utilizes the parasitic pressure of the main driving fluid to generate a protective support force, so that the impact force and the support force change synchronously under the same pressure source, reducing the need for additional actuators and control loops. For test pieces with a minimum gap of 0.3mm and a local peak pressure of 0.6MPa, after adopting this method, the local depression of the isolation plate 5 can be reduced from 0.18mm to about 0.07mm, and no encapsulation voids exceeding the allowable standard appear at the corresponding position after the ejector pin retracts.

[0027] Step S5 is followed by: S701, controlling the piezoelectric ceramic transducer 12 to induce acoustic flow effect and micro-acoustic cavitation inside the polymer sealant liquid 11, thereby reducing the apparent viscosity of the polymer sealant liquid 11. S702 breaks the entanglement of polymer chain segments, causing the apparent viscosity of polymer sealing liquid 11 to decrease exponentially; S703. When the current pose deviation of the harness 6 reaches or exceeds the preset warning zone or intervention zone threshold, the pulse feed of the servo motor 9 is reduced proportionally to control the fluid front propulsion destructive force to be suppressed within the preset error envelope of the flexible harness 6 until the pose deviation falls back to the safe zone. After setting the power duty cycle and frequency bandwidth of the piezoelectric ceramic transducer 12 according to the viscosity requirement correction coefficient in step S5, active adjustment of local fluid properties is performed; in S701, the controller applies a set excitation signal to the piezoelectric ceramic transducer 12 to induce acoustic flow effect and micro-acoustic cavitation inside the polymer sealing liquid 11. Acoustic flow effect refers to the steady-state microflow formed when ultrasound propagates in a viscous fluid, which can improve the local boundary layer flow state; micro-acoustic cavitation refers to the formation of tiny cavitation nuclei inside the liquid and their oscillation under controlled conditions, the intensity of which is affected by the excitation amplitude, frequency bandwidth and fluid temperature; in order to avoid adverse impact on the mold and wire harness 6, the peak displacement of the transducer excitation can be controlled from 0.5μm to 20μm, and the action time can be controlled from 0.2ms to 50ms; In S702, under the aforementioned ultrasonic action, the entanglement of the internal chain segments of the polymer sealant 11 is disrupted, and the local apparent viscosity decreases. In this invention, apparent viscosity refers to the equivalent flow resistance exhibited by the sealant under a transient ultrasonic shear field, which is not equivalent to the inherent viscosity of the material in a static state. For sealants with thixotropic or shear-thinning properties, the local apparent viscosity can be reduced from the initial value by 20% to 90%, and recover within 0.01s to 3s after the ultrasonic action is terminated. In the S703, the controller fine-tunes the pulse feed of the servo motor 9 based on the current viscosity requirement correction factor, the torque fluctuation of the servo motor 9, and the pose deviation of the model output. The pulse feed can be expressed as the piston displacement step size per unit time, the speed increment, or the differential flow command, and the adjustment range can be 1% to 30% of the original set value. The preset error envelope of the flexible wire harness 6 refers to the safe range established based on the allowable displacement, allowable bending radius and allowable strain upper limit of the wire harness 6; the controller keeps the impact force acting on the wire harness 6 during the advancement of the fluid front within this safe range by reducing the local apparent viscosity and simultaneously correcting the amount of adhesive injection. When the fluid passes through the narrow area and the excitation of the piezoelectric ceramic transducer 12 weakens, the viscosity of the sealant recovers and the flow resistance increases, which helps to limit the overflow. When the two-component silicone-based sealant and epoxy-based sealant are tested separately, the filling integrity rate of the slit area is increased by about 10% to 28% after using this method, and the occurrence of wire harness 6 breakage and deviation exceeding the tolerance is reduced to below the preset qualified line. The control logic in S701 to S703 can be further broken down as follows: the controller determines the current excitation level based on the viscosity requirement correction coefficient output by S5, and reads the power duty cycle, center frequency, frequency bandwidth and duration corresponding to the level from the pre-stored parameter table; the piezoelectric ceramic transducer 12 operates according to the read excitation parameters to establish a local ultrasonic shear field in the target narrow area. The controller reads the torque fluctuation of servo motor 9, feed speed and pose deviation of model output at a fixed sampling period to determine whether the local viscosity reduction has reached the expected level. If the pose deviation continues to rise, the transducer excitation level is increased and the pulse feed is reduced simultaneously within the allowable temperature rise range. If the pose deviation begins to fall, the excitation level is maintained or gradually reduced. Therefore, S701 outputs the local acoustic field state, S702 outputs the local target apparent viscosity reduction state, and S703 outputs the corrected pulse feed command, which ultimately acts on the propulsion process of the servo plunger pump 10. The exponential decrease in apparent viscosity in this embodiment is used to describe the nonlinear decreasing trend of local flow resistance after ultrasonic excitation enhancement. This does not mean that complex rheological equations need to be solved in real time in the controller, but rather that under the same material and temperature conditions, an increase in excitation energy density and a small increase in energy in the early stage can cause a nonlinear expansion of the viscosity reduction in the later stage. In practical applications, a lookup table can be pre-calibrated to obtain the corresponding target apparent viscosity range under different combinations of duty cycles, frequency bandwidths, and action times, and then write it into the controller. During controller operation, only the corresponding range needs to be queried according to the current viscosity requirement correction coefficient, eliminating the need for on-site fitting of nonlinear parameters lacking clear physical meaning. For situations requiring quantitative relationships, the following approach can be used: ; In the formula, e is the base of the natural logarithm. The target apparent viscosity output by the aforementioned model is the current target apparent viscosity under ultrasonic treatment. To correspond to the natural apparent viscosity of the sealant at the current temperature, The equivalent energy parameter characterizing the current excitation intensity is... The characteristic value is calculated after normalization of the product of the working power amplitude, frequency bandwidth and actual operating time of the piezoelectric ceramic transducer 12. The material response coefficients are obtained through calibration; to ensure the exponential term Dimensionless, parameter The dimensions should be set as parameters. The reciprocal of the dimensions; this relationship is only used to illustrate the direction of monotonic change between parameters, and it is preferable to use table lookup or piecewise interpolation methods when implementing control. The determination of the preset error envelope of the flexible harness 6 can be based on sample testing. Specifically, three types of upper limits for displacement, curvature, and strain can be established first, based on the conductor material, insulation layer thickness, minimum allowable bending radius, allowable axial displacement, and installation tolerance of the isolation plate 5. Then, these three types of upper limits can be converted into safe boundaries that the controller can use, and an error envelope can be formed. For example, the pose deviation can be defined as 50% of the allowable displacement upper limit as the safe zone, 50% to 80% as the warning zone, and 80% to 100% as the intervention zone. The fine-tuning logic in S703 is directly related to this envelope: when the pose deviation is in the safe zone, the pulse feed remains at the original set value or is only fine-tuned by no more than 5%; when the pose deviation enters the warning zone, the pulse feed is reduced by 5% to 15% and the current viscosity reduction excitation is maintained; when the pose deviation enters the intervention zone, the pulse feed is reduced by 15% to 30% and the transducer duty cycle or frequency bandwidth is increased until the pose deviation falls back below the warning zone. In this way, the error envelope has a clear source and also serves as a direct trigger for S703. In the specific implementation of the software program, the fine-tuning logic of S703 can be implemented through a finite state machine or a periodically executed decision function. The specific processing is as follows: the controller reads the current pose deviation D and viscosity requirement correction coefficient k in each control cycle. The safe state, early warning state, and intervention state correspond to the aforementioned safe zone, early warning zone, and intervention zone, respectively. If D is less than the early warning threshold, the state machine remains in the safe state, and the pulse feed increment instruction is 0. If D is greater than or equal to the early warning threshold and less than the intervention threshold, the state machine switches to the early warning state and executes the instruction to reduce the feed by 10%. If D is greater than or equal to the intervention threshold, the state machine switches to the intervention state and executes the instruction to reduce the feed by 25% and simultaneously triggers the instruction to increase the transducer duty cycle. In the next cycle, the D value is re-evaluated. When D falls back to the safe range and remains there for a set time, the state machine gradually returns to the safe state, and the pulse feed is smoothly restored to the initial set value in the form of a ramp function. This logic clarifies the input, processing rules and output of the algorithm, and has full software programmability.

[0028] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A mold sealing device for a module wire harness isolation plate, characterized in that, include: The mold base (1) includes a lower mold base (2) and an upper mold base (3), wherein the lower mold base (2) and the upper mold base (3) are closed to form a sealed cavity (4), the sealed cavity (4) is used to accommodate the isolation plate (5) and the wire harness (6), and the upper mold base (3) is provided with a main injection channel (7). The servo drive assembly (8) includes a servo motor (9) and a servo plunger pump (10), wherein the inlet end of the main glue injection channel (7) is connected to the output end of the servo plunger pump (10), and the servo plunger pump (10) is connected to an external polymer sealing liquid (11). Piezoelectric ceramic transducers (12) are arranged in an array on the side wall of the sealed cavity (4); The micro support ejector pin (13) is fitted with a guide hole (14) inside the lower mold base (2). The space where the tail of the micro support ejector pin (13) is located forms an antagonistic hydraulic chamber (15). The antagonistic hydraulic chamber (15) is connected to the main injection channel (7) through a micro capillary channel (16). The controller is connected to the servo motor (9) and the piezoelectric ceramic transducer (12), respectively.

2. The mold sealing device for the module wire harness isolation plate according to claim 1, characterized in that, The lower mold base (2) is fixedly connected to the external glue injection machine table (19) by bolts (18), and the upper mold base (3) is slidably engaged with the lower mold base (2) by linear guide post (20).

3. The mold sealing device for the module wire harness isolation plate according to claim 2, characterized in that, The servo plunger pump (10) is driven by the servo motor (9) through a plum blossom-shaped flexible coupling (22).

4. The mold sealing device for the module wire harness isolation plate according to claim 3, characterized in that, The side wall of the sealed cavity (4) is provided with a reserved groove (25), and the piezoelectric ceramic transducer (12) is bonded to the reserved groove (25) by thermally conductive structural adhesive (26).

5. The mold sealing device for the module wire harness isolation plate according to claim 4, characterized in that, The main body of the micro support pin (13) is made of high-strength stainless steel.

6. The mold sealing device for the module wire harness isolation plate according to claim 5, characterized in that, A reset spring (27) is supported between the tail of the micro support pin (13) and the bottom of the guide hole (14).

7. A control method, applied to the mold sealing device for the module wire harness isolation plate as described in claim 1, characterized in that, include: S1. Control the servo motor (9) to drive the servo plunger pump (10) to push the polymer sealant liquid (11) into the main injection channel (7) at a preset reference pressure and into the sealing cavity (4). S2. Extract the dynamic impedance phase angle drift of the piezoelectric ceramic transducer (12) and extract the microsecond-level torque high-frequency fluctuation of the servo motor (9); S3. Extract the timing characteristics of the dynamic impedance phase angle drift and the microsecond-level torque high-frequency fluctuation through the controller, and input them into the preset variable stiffness compensation model. S4. The dynamic margin distance between the current wire harness (6) pose deviation and the preset yield critical value is calculated in real time through the preset variable stiffness compensation model, and the viscosity requirement correction coefficient is output. The viscosity requirement correction coefficient is the ratio of the current target apparent viscosity to the material's natural apparent viscosity. S5. Dynamically adjust the power duty cycle and frequency bandwidth of the piezoelectric ceramic transducer (12) according to the viscosity requirement correction coefficient.

8. The control method according to claim 7, characterized in that, In step S3, the preset variable stiffness compensation model equates the sudden change in fluid resistance to the degradation of the flow channel boundary stiffness, and outputs the viscosity requirement correction coefficient based on the pre-calibrated mapping relationship.

9. The control method according to claim 7, characterized in that, A return spring (27) is supported between the tail of the miniature support pin (13) and the bottom of the guide hole (14). After step S1, the following is included: S601. Obtain the fluid pressure in the main injection channel (7) and introduce part of the energy of the fluid pressure into the antagonistic hydraulic chamber (15) through the micro capillary channel (16). S602, the pressure inside the antagonistic hydraulic chamber (15) increases passively based on the fluid pressure, pushing the micro support pin (13) to extend forward to block the isolation plate (5) and the wire harness (6). S603 When the local fluid pressure decreases, the pressure of the antagonistic hydraulic chamber (15) decreases synchronously and passively, causing the micro support pin (13) to retract slightly under the action of the return spring (27).

10. The control method according to claim 7, characterized in that, The step S5 is followed by: S701, controlling the piezoelectric ceramic transducer (12) to induce acoustic flow effect and micro-acoustic cavitation inside the polymer sealant liquid (11), thereby reducing the apparent viscosity of the polymer sealant liquid (11); S702, break the entanglement of polymer chain segments, so that the apparent viscosity of the polymer sealing liquid (11) decreases exponentially; S703. When the pose deviation of the current harness (6) reaches or exceeds the preset warning zone or intervention zone threshold, the pulse feed of the servo motor (9) is reduced proportionally to control the fluid front propulsion destructive force and suppress it within the preset flexible harness (6) error envelope until the pose deviation falls back to the safe zone range.

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