Wire harness plug-in device and wire harness plug-in method

Abstract

The application belongs to the technical field of wire processing, and discloses a wire harness plug-in equipment and a wire harness plug-in method. The wire harness plug-in equipment comprises a conveying mechanism, a cutting and stripping device, a crimping device, a stranding device and a welding and heat shrinking device. The stranding device is used for temporarily storing hinged wires formed by at least two single wires and for temporarily storing single wires without hinging. The welding and heat shrinking device comprises a material taking mechanism, a first conveying mechanism, a second conveying mechanism, a welding mechanism and a clamping mechanism. The material taking mechanism is used for carrying the wire without welding temporarily stored in the stranding device to the first conveying mechanism for conveying. The material taking mechanism is also used for carrying the wire with welding temporarily stored in the stranding device to the second conveying mechanism. The second conveying mechanism is used for conveying the wire with welding. The clamping mechanism is used for clamping and transferring the welding end of the wire with welding to the welding mechanism for welding. The wire harness plug-in equipment and the wire harness plug-in method provided by the application have high automation degree and high universality.

Description

Technical Field

[0001] This application relates to the field of wire processing technology, and in particular to a wire harness splicing device and a wire harness splicing method. Background Technology

[0002] Currently, there are many types of automotive wiring harnesses. For example, automotive wiring harnesses include single wires, stranded wires, ultrasonic wires, etc., and different types of wiring harnesses have different functions.

[0003] In related technologies, most wire harness splicing equipment in the industry uses a single wire harness production process, which has poor versatility and is difficult to be compatible with the production needs of different types of wire harnesses. Moreover, it can only complete individual processes such as cutting and stripping, inserting waterproof plugs, and crimping terminals, resulting in low production efficiency and weak automation. Summary of the Invention

[0004] One embodiment of this application provides a wire harness plugging device to solve the technical problems of low wire processing efficiency and weak automation.

[0005] One embodiment of this application provides a wire harness insertion method with high insertion efficiency and a high degree of automation.

[0006] The technical solution adopted in one embodiment of this application is: Wiring harness connectors, including: A cutting and peeling device is used to cut single threads and peel the ends of the cut single threads. A conveying mechanism and a crimping device, wherein the conveying mechanism is used to feed a single wire from the cutting and peeling device to the crimping device, and the crimping device selectively crimps terminals onto the peeled end of the single wire. The stranding device includes a conveying mechanism for feeding single wires from the crimping device to the stranding device, and a stranding device for temporarily storing a hinged wire formed by twisting at least two single wires together, as well as for temporarily storing single wires that do not require twisting. The welding heat shrinking device includes a material picking mechanism, a first conveying mechanism, a second conveying mechanism, a welding mechanism, and a clamping mechanism. The material picking mechanism is used to transport the non-welding wire temporarily stored in the stranding device to the first conveying mechanism for conveying. The material handling mechanism is also used to transport the wires to be welded that are temporarily stored in the stranding device to the second conveying mechanism. The second conveying mechanism is used to transport the wires to be welded. The clamping mechanism is used to clamp and transfer the welding end of the wires to be welded to the welding mechanism for welding.

[0007] In one or more embodiments of this application, the welding heat shrinking device further includes a first paralleling mechanism, a material picking mechanism for transporting the welding end of the wire to be welded to the first paralleling mechanism, the first paralleling mechanism for paralleling the welding ends of at least two wires to be welded, and a clamping mechanism for clamping and transferring the welding ends of the at least two wires after paralleling to the welding mechanism for welding.

[0008] In one or more embodiments of this application, the welding heat shrinking device further includes a heat shrink tubing fitting mechanism, which is used to fit the heat shrink tubing onto at least two wires after they are wired together, and a clamping mechanism is used to clamp and transfer the welding ends of the at least two wires after the heat shrink tubing is fitted to the welding mechanism for welding.

[0009] In one or more embodiments of this application, the heat shrink tubing mechanism includes a heat shrink tubing drive, a second heat shrink tubing gripper, a second wire gripper, and a wire transport assembly; the second heat shrink tubing gripper is used to hold the heat shrink tubing, and the second wire gripper is disposed on the wire transport assembly and is used to hold at least two wires that need to be heat-shrink tubing after being wired together; the wire transport assembly is used to drive the second wire gripper to reciprocate between the first wire-connecting mechanism and the heat shrink tubing position; the heat shrink tubing drive is used to drive the second heat shrink tubing gripper to move closer to or away from the second wire gripper.

[0010] In one or more embodiments of this application, the welding heat shrinking device further includes a heat shrink tubing feeding mechanism, which includes a heat shrink tubing vibration feeding assembly, a first vision inspection component, a heat shrink tubing feeding robot, and a first heat shrink tubing gripper. The heat shrink tubing vibration feeding assembly is used to provide heat shrink tubing. The first vision inspection component is used to detect the position of the heat shrink tubing in the heat shrink tubing vibration feeding assembly. The first heat shrink tubing gripper is located on the heat shrink tubing feeding robot. The heat shrink tubing feeding robot drives the first heat shrink tubing gripper to clamp and transfer the heat shrink tubing in the heat shrink tubing vibration feeding assembly to the heat shrink tubing feeding mechanism according to the detection result of the first vision inspection component.

[0011] In one or more embodiments of this application, the welding heat shrinking device further includes a heat shrinking mechanism, a clamping mechanism for clamping and transferring the welded end of the welded wire to the heat shrinking mechanism, and a heat shrinking mechanism for heat shrinking the heat shrink tube onto the welded wire.

[0012] In one or more embodiments of this application, the heat shrinking mechanism includes a heat shrinking module, heat shrinking jaws, and a heat shrinking drive. The clamping mechanism is used to clamp and transfer the welded end of the welded wire to the heat shrinking jaws. The heat shrinking jaws are used to clamp the welded end of the wire. The heat shrinking jaws are disposed on the heat shrinking drive, and the heat shrinking drive drives the heat shrinking jaws to move into or out of the heat shrinking space of the heat shrinking module.

[0013] In one or more embodiments of this application, the welding heat shrinking device further includes a feeding mechanism, which is located downstream of the heat shrinking mechanism; The wire harness splicing equipment also includes a splicing device located downstream of the welding heat shrinking device. The feeding mechanism is used to transport the wires on the first conveying mechanism and the second conveying mechanism to the splicing device, and the splicing device is used to splice the wires to the housing.

[0014] In one or more embodiments of this application, the end of the wire that needs to be welded is the welding end, and the end of the wire that is crimped with a terminal is the terminal end; The second conveying mechanism is used to convey the terminal end of the wire, and the clamping mechanism is used to clamp the welding end of the transferred wire; The second conveying mechanism is configured to move synchronously with the welding end of the wire when conveying the terminal end of the wire.

[0015] In one or more embodiments of this application, the stranding device includes a wire handling mechanism, a stranding mechanism, and a wire unloading mechanism, wherein the wire unloading mechanism includes a single wire gripper and a stranding gripper; The wire handling mechanism is used to handle at least two single wires to be stranded to the stranding mechanism. The stranding mechanism is used to strand at least two single wires. The wire handling mechanism is also used to handle the stranded wire to the stranding clamp for temporary storage. Single-line grippers are used to grip and temporarily store single lines that do not require hinge on the conveyor mechanism.

[0016] A wire harness insertion method, applied to wire harness insertion devices using any of the above technical solutions, includes the following steps: The cutting and peeling device cuts a single thread and then peels the ends of the single thread after cutting; The conveying mechanism transports the cut and stripped single wires to the crimping device, which selectively crimps terminals onto the stripped ends of the single wires. The conveying mechanism transports single wires from the crimping device to the stranding device, which strands at least two single wires that need to be stranded together to form a hinged wire, and temporarily stores the hinged wire and single wires that do not need to be stranded. The material handling mechanism transports the non-welding wires temporarily stored in the stranding device to the first conveying mechanism for conveying, and the material handling mechanism also transports the welding-required wires temporarily stored in the stranding device to the second conveying mechanism for conveying. The clamping mechanism clamps and transfers the welding end of the wire to be welded to the welding mechanism, which then welds the welding end of the wire.

[0017] In one or more embodiments of this application, the welding heat shrinking device further includes a first paralleling mechanism; before the clamping mechanism clamps and transfers the welding end of the wire to be welded to the welding mechanism, and before the welding mechanism welds the welding end of the wire to be welded, the wire harness insertion method further includes: The material handling mechanism transports the welding ends of the wires to be welded to the first paralleling mechanism, which then parallels the welding ends of at least two wires to be welded.

[0018] In one or more embodiments of this application, the welding heat shrinking device further includes a heat shrink tubing fitting mechanism; after the first paralleling mechanism parallels the welding ends of at least two wires to be welded, the wire harness insertion method further includes: the heat shrink tubing fitting mechanism fitting the heat shrink tubing onto the at least two wires after paralleling.

[0019] In one or more embodiments of this application, the welding heat shrinking device further includes a heat shrinking mechanism; after the welding mechanism welds the welding ends of the wires to be welded, the wire harness insertion method further includes: The clamping mechanism clamps and transfers the welded end of the welded wire to the heat shrinking mechanism, which then heat shrinks the heat shrink tubing onto the welded wire.

[0020] In one or more embodiments of this application, the welding heat shrinking device further includes a feeding mechanism, and the wire harness plugging device further includes a plugging device located downstream of the welding heat shrinking device. The wiring harness connection method also includes: The feeding mechanism transports the wires from the first conveying mechanism and the second conveying mechanism to the plugging device respectively; The plug-in device will plug in the wires that do not require soldering and the wires that have been soldered and heat-shrinked to the housing respectively.

[0021] The beneficial effects of this application are: This wire harness splicing equipment can process and transport single wires as well as articulated wires. Furthermore, when single wires or articulated wires require welding, they can be welded using a welding heat shrinking device. This configuration greatly enriches the variety of products produced by the wire harness splicing equipment, improves its versatility, and allows for automatic transfer of products between devices, resulting in a high level of automation and effectively improving production efficiency.

[0022] The wire harness plugging method provided in this application has high plugging efficiency. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this application and these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a wire harness plug-in device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a welding heat shrinking device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the material handling mechanism provided in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of the first conveying mechanism provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the second conveying mechanism provided in one embodiment of this application; Figure 6 This is a schematic diagram of the structure of a heat shrink tubing mechanism provided in one embodiment of this application; Figure 7 This is a schematic diagram of the structure of a heat shrink mechanism provided in an embodiment of this application; Figure 8 This is a schematic diagram of the clamping mechanism provided in one embodiment of this application; Figure 9 This is a schematic diagram of the paralleling mechanism provided in one embodiment of this application; Figure 10 This is a schematic diagram of the structure of a heat shrink tubing feeding mechanism provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a stranded wire device provided in an embodiment of this application; Figure 12 This is a schematic diagram of the structure of a second vision inspection mechanism provided in an embodiment of this application; Figure 13 This is a schematic diagram of the paralleling mechanism provided in one embodiment of this application; Figure 14 This is a schematic diagram of the offline mechanism provided in one embodiment of this application; Figure 15 This is a schematic diagram of the stranding mechanism provided in one embodiment of this application; Figure 16 This is a schematic diagram of the structure of a conveying mechanism provided in one embodiment of this application; Figure 17 This is a schematic diagram of the structure of a cutting and peeling device provided in one embodiment of this application; Figure 18 This is a schematic diagram of the structure of a crimping device provided in an embodiment of this application; Figure 19 This is a schematic diagram of the structure of a plug-in device provided in an embodiment of this application; Figure 20 This is a schematic diagram of the structure of a finished product unloading device provided in an embodiment of this application; Figure 21 This is a flowchart of a wire harness plugging method provided in an embodiment of this application. Figure 1 ; Figure 22 This is a flowchart of a wire harness plugging method provided in an embodiment of this application. Figure 2 .

[0025] Explanation of reference numerals in the attached figures: 10. Conveying mechanism; 101. Upper flow channel; 102. Mover lifting drive; 103. Lower flow channel; 104. Single-line mover; 20. Cutting and peeling device; 201. Straightening mechanism; 202. Cable exit mechanism; 203. Cable selection frame; 204. Cutting module; 206. Peeling module; 207. Twist removal module; 208. Cable insertion module; 209. Third vision inspection mechanism; 30. Crimping device; 301. Terminal transfer and feeding module; 302. Terminal handling module; 304. First crimping module; 305. Second crimping module; 306. Terminal waste suction module; 40. Wire stranding device; 401. Second vision inspection mechanism; 4011. Image module; 4012. First wire gripper; 4013. Detection rotation drive; 4014. Detection translation drive; 402. Second paralleling mechanism; 4021. First paralleling lifting drive; 4022. First paralleling gripper; 4023. Lifting drive; 4024. Wire guiding assembly; 4025. Paralleling translation drive; 403. Wire handling mechanism; 4031. Second six-axis robot; 4032. Alternating wire feeding assembly; 404. Wire stranding mechanism; 4041. First stranding head; 4042. Second stranding head; 4043. Wire pulling assembly; 405. Wire unloading mechanism; 4051. Single wire gripper; 4052. Wire stranding gripper; 4053. X-axis drive; 4054. Y-axis drive; 50. Welding heat shrinking device; 1. Material handling mechanism; 11. First six-axis robot arm; 12. First wire picking gripper; 13. Second wire picking gripper; 14. Cylinder; 2. Second conveying mechanism; 21. Magnetic levitation stator; 22. Return servo motor; 23. Magnetic levitation mover; 24. Terminal end carrier; 3. First conveying mechanism; 31. Synchronous drive component; 32. Switching drive component; 33. Synchronous transport carrier; 4. Heat shrink tubing fitting mechanism; 41. Heat shrink tubing fitting drive component; 42. Second heat shrink tubing gripper; 43. Second wire gripper; 44. Transport component; 5. Welding mechanism; 6. Heat shrinking mechanism; 61. Heat shrink module; 62. Heat shrink gripper; 63. Heat shrink drive component 7. Clamping mechanism; 71. First welding drive component; 72. Second welding drive component; 73. Third welding drive component; 74. Fourth welding drive component; 75. Fifth welding drive component; 76. Sixth welding drive component; 77. Third wire gripper; 78. Fourth wire gripper; 8. First paralleling mechanism; 81. Paralleling gripper drive component; 82. Second paralleling lifting drive component; 83. Second paralleling gripper; 9. Heat shrink tubing loading mechanism; 91. Heat shrink tubing vibration loading assembly; 911. Heat shrink tubing flexible vibration; 912. Heat shrink tubing direct vibration hopper; 92. First vision inspection component; 93. Heat shrink tubing loading robot; 95. First heat shrink tubing gripper; 501. Unloading mechanism; 60. Connecting device; 601. 360° vision inspection station; 602. Terminal angle correction station; 603. Wire storage wheel station; 604. Pin insertion station; 605. Loading and unloading station; 606. Pin insertion module; 70. Finished product unloading device; 701. Work station; 702. Carrier lifting module; 703. Finished product transfer vehicle; 704. Carrier tilting and lifting module. Detailed Implementation

[0026] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of this application will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not all of them.

[0027] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0029] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0030] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. In the description of this embodiment, unless otherwise specified, "multiple" specifically refers to two or more.

[0031] In the description of this embodiment, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of description and simplification of operation. They 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, and therefore should not be construed as a limitation of this application. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0032] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on the other component or it can be located in between the component.

[0033] The technical solution of this application will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] This embodiment provides a wire harness splicing device that can process and transport single wires as well as articulated wires. Furthermore, when single wires or articulated wires require welding, they can be welded using a welding heat shrinking device 50. This configuration greatly enriches the variety of products produced by the wire harness splicing device, improves its versatility, and allows for automatic transfer of products between devices, resulting in a high level of automation and effectively improving production efficiency.

[0035] It should be noted that the wire harness plugging device provided in this embodiment is used to plug wires into the housing to form a wire harness. The wire harness is used to plug into connectors or sockets to achieve electrical connection. The specific composition of the wire harness can be determined according to the specific function, and this embodiment does not limit it.

[0036] It should also be noted that the wire can be directly plugged into the housing in the form of a single wire, or it can be plugged into the housing in the form of a twisted wire, or it can be plugged into the housing after being soldered. This embodiment does not limit this.

[0037] For example, the wire may have a crimp terminal at one end or crimp terminals at both ends. The end of the wire with the crimp terminal is called the terminal end, which does not require soldering. The end of the wire without the crimp terminal may or may not be soldered, depending on the requirements. The end that requires soldering is called the soldering end.

[0038] The following section will provide a detailed explanation of the specific structure of the wire harness connector and how to achieve wire harness connector insertion.

[0039] For example, such as Figure 1 As shown, the wire harness splicing device includes a conveying mechanism 10, a cutting and stripping device 20, a crimping device 30, a stranding device 40, and a welding heat shrinking device 50.

[0040] The cutting and stripping device 20 is used to cut single wires and strip the ends of the cut single wires to facilitate subsequent processes such as terminal crimping or welding of the single wires. It can be understood that a single wire is a single wire that is not reamed or welded.

[0041] The crimping device 30 is located downstream of the cutting and stripping device 20. The conveying mechanism 10 is used to clamp the cut and stripped single wire and convey it from the cutting and stripping device 20 to the crimping device 30. The crimping device 30 is used to selectively crimp terminals onto the stripped ends of the single wire. It can be understood that selectively crimping terminals onto the stripped ends of the single wire by the crimping device 30 means that neither of the two stripped ends of the single wire can be crimped with terminals, one of the two stripped ends can be crimped with a terminal and the other end can be left uncrimped, or both stripped ends can be crimped with terminals, depending on the requirements of the wire.

[0042] In this embodiment, as Figure 1 As shown, the stranding device 40 is located downstream of the crimping device 30. The conveying mechanism 10 is also used to feed single wires from the crimping device 30 to the stranding device 40. The stranding device 40 is used to strand at least two single wires together; the stranded single wire can be called a twisted wire. Furthermore, the stranding device 40 is also used to temporarily store the twisted wire formed by at least two single wires and to temporarily store single wires that do not require stranding.

[0043] In this embodiment, the single wire twisted by the twisting device 40 can be a single wire with terminals crimped at both ends, a single wire with no terminals crimped at both ends, or a single wire with a terminal crimped at one end and no terminal crimped at the other end. This embodiment does not limit this.

[0044] In this embodiment, please continue to refer to Figure 1 The welding heat shrinking device 50 is located downstream of the stranding device 40. For example... Figure 2 As shown, the welding heat shrinking device 50 includes a material picking mechanism 1, a first conveying mechanism 3, a second conveying mechanism 2, a welding mechanism 5, and a clamping mechanism 7. The material picking mechanism 1 is used to transport the non-welding wire temporarily stored in the stranding device 40 to the first conveying mechanism 3 for conveying. It should be noted that the non-welding wire includes articulated wires and single wires that do not require welding. With this configuration, the material picking mechanism 1, in conjunction with the first conveying mechanism 3, can convey processed articulated wires or single wires that do not require welding for subsequent processes such as shell insertion.

[0045] It should be noted that the welding mechanism 5 can be constructed as, but is not limited to, ultrasonic welding. The welding mechanism 5 is only used to weld the wires that need to be welded. Therefore, whether it is a hinged wire or a single wire, when one end of the wire (hinged wire or single wire) is crimped with a terminal, the end of the wire with the crimped terminal cannot be welded. In other words, whether it is a hinged wire or a single wire, the wire that needs to be welded can only be the stripped end without the crimped terminal, and the end with the crimped terminal does not need to be welded.

[0046] Furthermore, the material handling mechanism 1 is also used to transport the wires (including articulated wires and single wires) temporarily stored in the stranding device 40 to the second conveying mechanism 2. The clamping mechanism 7 is used to clamp and transfer the welding end of the wire to be welded to the welding mechanism 5 for welding. Here, the welding end refers to the end of the wire that needs to be welded and does not have a crimped terminal. With this configuration, the second conveying mechanism 2, in conjunction with the welding mechanism 5, can transport the processed articulated wires or single wires that need to be welded for welding, thereby enabling subsequent processes such as shell insertion.

[0047] In summary, this wire harness splicing equipment can process and transport both single-wire and articulated wires. Furthermore, when single-wire or articulated wires require welding, a welding heat-shrink device can be used for welding. This configuration significantly enriches the product range produced by the wire harness splicing equipment, improves its versatility, and the automatic transfer of products between devices results in a high level of automation, thereby effectively improving production efficiency.

[0048] Meanwhile, the wire harness splicing equipment, by setting up a material handling mechanism 1, can separate wires that require welding from those that do not. This allows wires that require welding to be concentrated at the second conveying mechanism 2, while wires that do not require welding are concentrated at the first conveying mechanism 3. In other words, it can transport wires that require welding and those that do not require welding to two independent conveying mechanisms for transport, which helps to further improve the conveying efficiency and reduces the risk of wires getting blocked at the welding heat shrinking device 50.

[0049] In this embodiment, the end of the wire to be welded is the welding end, and the end of the wire to be crimped with a terminal is the terminal end. The second conveying mechanism 2 is used to convey the terminal end of the wire, and the clamping mechanism 7 is used to clamp and transfer the welding end of the wire. The second conveying mechanism 2 is configured to convey the terminal end of the wire to move synchronously with the welding end of the wire, thereby reducing the pulling on the wire and avoiding interference between wires or between the wire and the equipment.

[0050] In other embodiments, if both ends of the wire are welding ends, then when the wire is being welded, both ends of the wire are clamped to the welding mechanism 5 by the clamping mechanism 7 for welding, while the second conveying mechanism 2 can clamp and simultaneously convey the middle part of the wire.

[0051] It should also be noted that, for example, when the wire to be soldered is a hinged wire formed by twisting two single wires together, if neither end of the two single wires has a crimped terminal, then during soldering, it is equivalent to soldering the four stripped ends that do not have crimped terminals.

[0052] In some optional embodiments, this embodiment provides a material handling mechanism 1, such as... Figure 3As shown, the material handling mechanism 1 includes a first six-axis robotic arm 11, a first wire-taking gripper 12, a second wire-taking gripper 13, and a cylinder 14. The first six-axis robotic arm 11 drives the first wire-taking gripper 12 and the second wire-taking gripper 13 to move, while the cylinder 14 drives the first wire-taking gripper 12 and the second wire-taking gripper 13 to clamp or release wires. For example, the first wire-taking gripper 12, in conjunction with the second wire-taking gripper 13, can transport wires that do not require welding from the stranding device 40 to the first conveying mechanism 3 for subsequent transport by the first conveying mechanism 3. Alternatively, the first wire-taking gripper 12, in conjunction with the second wire-taking gripper 13, can also transport wires that require welding from the stranding device 40 to the second conveying mechanism 2 for subsequent transport by the second conveying mechanism 2 and for the clamping mechanism 7 to clamp and transfer the welding end of the wire.

[0053] It should be noted that the specific structure of the first wire-taking claw 12 and the second wire-taking claw 13 can refer to the claws used for holding wires in related technologies, and this embodiment does not limit it.

[0054] In one or more embodiments, such as Figure 5 As shown, this embodiment provides a first conveying mechanism 3, which includes a synchronous drive 31, a switching drive 32, and a synchronous transport carrier 33. The material handling mechanism 1 transports wires that do not require welding (including articulated wires and single wires) to the synchronous transport carrier 33. The synchronous transport carrier 33 is used to clamp the wires that do not require welding. The synchronous drive 31 drives the synchronous transport carrier 33 to move, and the switching drive 32 drives the synchronous transport carrier 33 to switch between different flow channels. For example, the first conveying mechanism 3 has an upper flow channel and a lower flow channel, and the switching drive 32 drives the synchronous transport carrier 33 to switch between the upper and lower flow channels. This configuration achieves both the conveying of wires that do not require welding and the cyclical flow of the synchronous transport carrier 33.

[0055] In some alternative embodiments, this embodiment provides a second conveying mechanism 2, such as... Figure 4 As shown, the second conveying mechanism 2 includes a magnetic levitation stator 21, a return servo motor 22, a magnetic levitation mover 23, and a terminal carrier 24. The magnetic levitation stator 21 interacts with the magnetic levitation mover 23 to drive its movement. The terminal carrier 24 is mounted on the magnetic levitation mover 23, allowing it to move synchronously with it. It should be noted that the terminal carrier 24 is equipped with grippers to hold the wires to be welded.

[0056] After the material handling mechanism 1 transports the wires to be welded (including articulated wires and single wires) to the terminal end carrier 24, the terminal end carrier 24 is used to fix the wires, and the clamping mechanism 7 clamps and transfers the welding end of the wires. At this time, the magnetic levitation mover 23 is used to drive the wires on the terminal end carrier 24 to move synchronously with the welding end. It should be noted that the return servo motor 22 is used to drive the magnetic levitation mover 23 to switch between different flow channels. For example, the second conveying mechanism 2 also has an upper flow channel and a lower flow channel. The return servo motor 22 drives the magnetic levitation mover 23 to switch between the upper flow channel and the lower flow channel, thereby realizing the cyclic flow of the terminal end carrier 24.

[0057] This setup achieves both the delivery of the wires to be welded and the cyclical flow of the terminal carrier 24.

[0058] In some alternative embodiments, this embodiment provides a clamping mechanism 7, such as... Figure 8 As shown, the clamping mechanism 7 includes a first welding drive 71, a second welding drive 72, a third welding drive 73, a fourth welding drive 74, a fifth welding drive 75, a sixth welding drive 76, a third wire clamp 77, and a fourth wire clamp 78.

[0059] The first welding drive 71 has its output end connected to the second welding drive 72 and is used to drive the second welding drive 72 to move in a first horizontal direction. The second welding drive 72 is connected to both the third welding drive 73 and the fourth welding drive 74 and is used to drive the third welding drive 73 and the fourth welding drive 74 to move in a second horizontal direction perpendicular to the first horizontal direction, respectively. The output end of the third welding drive 73 is connected to the fifth welding drive 75 and is used to drive the fifth welding drive 75 to move in a vertical direction. The output end of the fourth welding drive 74 is connected to the sixth welding drive 76 and is used to drive the sixth welding drive 76 to move in a vertical direction. The fifth welding drive 75 is connected to the third wire clamp 77 and is used to drive the third wire clamp 77 to rotate. The sixth welding drive 76 is connected to the fourth wire clamp 78 and is used to drive the fourth wire clamp 78 to rotate.

[0060] With this configuration, the position and angle of the third wire clamp 77 can be adjusted by the coordinated use of the first welding drive 71, the second welding drive 72, the third welding drive 73, and the fifth welding drive 75. Similarly, the position and angle of the fourth wire clamp 78 can be adjusted by the coordinated use of the first welding drive 71, the second welding drive 72, the fourth welding drive 74, and the sixth welding drive 76. It is understood that the third wire clamp 77 and the fourth wire clamp 78 can be used to clamp the welding end of the wire to be welded. Furthermore, by adjusting the position and angle of the third wire clamp 77 and the fourth wire clamp 78, the welding end of the wire to be welded can be clamped and transferred to the welding mechanism 5 for welding.

[0061] In at least one possible implementation, such as Figure 9 As shown, the welding heat shrinking device 50 also includes a first paralleling mechanism 8. The material picking mechanism 1 is used to transport the welding end of the wire to be welded to the first paralleling mechanism 8. The first paralleling mechanism 8 is used to parallel the welding ends of at least two wires to be welded. The clamping mechanism 7 is used to clamp and transfer the welding ends of the at least two wires after paralleling to the welding mechanism 5 for welding.

[0062] In some embodiments, please continue to see Figure 9 The first paralleling mechanism 8 includes a paralleling jaw drive 81, a second paralleling lifting drive 82, and multiple second paralleling jaws 83. The second paralleling jaws 83 are used to clamp the welding ends of the wires to be paralleled. The paralleling jaw drive 81 drives the second paralleling jaws 83 to clamp or release the welding ends of the wires. The second paralleling lifting drive 82 drives the paralleling jaw drive 81 and the second paralleling jaws 83 to rise and fall, adapting to different paralleling requirements.

[0063] For example, when it is necessary to combine the welding ends of two wires, the material handling mechanism 1 transfers the welding end of the first wire to the first second paralleling jaw 83. The paralleling jaw drive 81 drives the first second paralleling jaw 83 to clamp the welding end of the first wire. Then, the second paralleling lifting drive 82 drives the paralleling jaw drive 81 and the first second paralleling jaw 83 to rise to provide clearance space for the welding end of the second wire. The material handling mechanism 1 transfers the welding end of the second wire to the second second paralleling jaw 83. The paralleling jaw drive 81 drives the second second paralleling jaw 83 to clamp the welding end of the second wire. Then, the clamping mechanism 7 clamps and transfers the welding ends of the two wires after paralleling to the welding mechanism 5 for welding.

[0064] This configuration, by setting the first paralleling mechanism 8, enables the welding ends of the wires to be welded to be aligned, thus facilitating subsequent welding processes.

[0065] In some alternative embodiments, such as Figure 2 As shown, the welding heat shrinking device 50 also includes a heat shrink tubing fitting mechanism 4, which is located downstream of the first paralleling mechanism 8. The heat shrink tubing fitting mechanism 4 is used to fit the heat shrink tubing onto at least two wires after paralleling, and the clamping mechanism 7 is used to clamp and transfer the welding ends of the at least two wires after the heat shrink tubing is fitted to the welding mechanism 5 for welding.

[0066] Thus, applying heat shrink tubing to the wires after paralleling them before welding facilitates the subsequent heat shrinking process. In addition, the welding heat shrinking device 50 in this embodiment integrates paralleling, heat shrink tubing application, and welding, enriching the functionality of the welding heat shrinking device 50 and improving its versatility and reliability.

[0067] In some alternative embodiments, such as Figure 6 As shown, the heat shrink tubing fitting mechanism 4 includes a heat shrink tubing fitting drive 41, a second heat shrink tubing clamp 42, a second wire clamp 43, and a wire transport assembly 44. The second heat shrink tubing clamp 42 is used to hold the heat shrink tubing. The second wire clamp 43 is disposed on the wire transport assembly 44 and is used to hold at least two wires that need to be fitted with heat shrink tubing after being wired together. The wire transport assembly 44 drives the second wire clamp 43 to reciprocate between the first wire merging mechanism 8 and the heat shrink tubing fitting position. The heat shrink tubing fitting drive 41 drives the second heat shrink tubing clamp 42 to move closer to or away from the second wire clamp 43.

[0068] Specifically, after the first paralleling mechanism 8 parallels the welding ends of at least two wires, the wire transport component 44 moves the second wire gripper 43 from the heat shrink tubing position towards the first paralleling mechanism 8. The second wire gripper 43 clamps the paralleled wires on the first paralleling mechanism 8. Subsequently, the wire transport component 44 moves the second wire gripper 43 back to the heat shrink tubing position, and the second heat shrink tubing gripper 42 clamps the heat shrink tubing and moves close to the second wire gripper 43. It should be noted that the heat shrink tubing position can be a position where the second wire gripper 43 is opposite to and spaced apart from the second heat shrink tubing gripper 42 along the axial direction of the heat shrink tubing. This allows the wires on the second wire gripper 43 to be axially aligned with the heat shrink tubing on the second heat shrink tubing gripper 42. In other words, by driving the second heat shrink tubing gripper 42 to move along the axial direction of the heat shrink tubing, the heat shrink tubing can be fitted onto the paralleled wires, greatly improving the heat shrink tubing fitting efficiency.

[0069] For example, such as Figure 6 As shown, multiple second heat shrink tubing clamps 42 and multiple second wire clamps 43 can be provided, so that multiple wires can be fitted with heat shrink tubing at the same time, improving the efficiency of heat shrink tubing fitting and thus improving the efficiency of wire splicing.

[0070] In some alternative embodiments, such as Figure 2As shown, the welding heat shrinking device 50 also includes a heat shrink tubing feeding mechanism 9. Exemplarily, as... Figure 10 As shown, the heat shrink tubing feeding mechanism 9 includes a heat shrink tubing vibration feeding assembly 91, a first vision detection component 92, a heat shrink tubing feeding robot 93, and a first heat shrink tubing gripper 95. The heat shrink tubing vibration feeding assembly 91 provides heat shrink tubing, and the first vision detection component 92 visually detects the position of the heat shrink tubing within the heat shrink tubing vibration feeding assembly 91. The first heat shrink tubing gripper 95 is mounted on the heat shrink tubing feeding robot 93. Based on the detection result of the first vision detection component 92, the heat shrink tubing feeding robot 93 drives the first heat shrink tubing gripper 95 to clamp and transfer the heat shrink tubing within the heat shrink tubing vibration feeding assembly 91 to the heat shrink tubing sleeve mechanism 4.

[0071] Specifically, the first visual inspection component 92 can be a CCD camera, which is used to take pictures of the heat shrink tubing. The heat shrink tubing loading robot 93 can accurately determine the position of the heat shrink tubing based on the image taken by the CCD camera, and then drive the first heat shrink tubing gripper 95 to move to the corresponding position of the heat shrink tubing for gripping. After the first heat shrink tubing gripper 95 grasps the heat shrink tubing, the heat shrink tubing loading robot 93 drives the first heat shrink tubing gripper 95 to transfer the heat shrink tubing to the heat shrink tubing sleeve mechanism 4. For example, the heat shrink tubing loading robot 93 can drive the first heat shrink tubing gripper 95 to dock with the second heat shrink tubing gripper 42 of the heat shrink tubing sleeve mechanism 4, thereby realizing the transfer of the heat shrink tubing in the heat shrink tubing loading mechanism 9 to the heat shrink tubing sleeve mechanism 4.

[0072] In some embodiments, the first heat shrink tubing clamp 95 may be provided with one or more.

[0073] In some alternative embodiments, such as Figure 10 As shown, the heat shrink tubing vibration feeding assembly 91 includes a heat shrink tubing flexible vibrator 911 and a heat shrink tubing direct vibration hopper 912. The heat shrink tubing flexible vibrator 911 is used to realize the vibration feeding of heat shrink tubing. The heat shrink tubing direct vibration hopper 912 is used to store heat shrink tubing, that is, the heat shrink tubing feeding robot 93 can drive the first heat shrink tubing gripper 95 to pick up the heat shrink tubing from the heat shrink tubing direct vibration hopper 912 according to the detection result of the first vision detection component 92.

[0074] In some embodiments, such as Figure 2As shown, the welding heat shrinking device 50 also includes a heat shrinking mechanism 6. A clamping mechanism 7 is used to clamp and transfer the welded end of the wire to the heat shrinking mechanism 6. The heat shrinking mechanism 6 is used to heat shrink the heat shrink tubing onto the welded wire. It is understood that after welding (e.g., ultrasonic welding), the fragile weld point needs comprehensive protection and sealing to ensure the reliability and service life of the connection. Therefore, before welding, the heat shrink tubing pre-fitted to the welded end of the wire needs to be heat-shrinked at the heat shrinking mechanism 6. The heat shrink tubing shrinks after heating. The heat shrinking mechanism 6 heats the heat shrink tubing to shrink it and wrap it around the welded wire, thereby protecting and insulating the weld point.

[0075] In some alternative embodiments, such as Figure 7 As shown, the heat shrinking mechanism 6 includes a heat shrinking module 61, heat shrinking jaws 62, and a heat shrinking drive component 63. The clamping mechanism 7 is used to clamp and transfer the welded end of the welded wire to the heat shrinking jaws 62. The heat shrinking jaws 62 are used to clamp the welded end of the wire. The heat shrinking jaws 62 are located on the heat shrinking drive component 63, and the heat shrinking drive component 63 drives the heat shrinking jaws 62 to move into or out of the heat shrinking space of the heat shrinking module 61.

[0076] Specifically, after the welding end of the wire is welded by the welding mechanism 5, it can be clamped by the third wire clamp 77 or the fourth wire clamp 78. For example, the third wire clamp 77 can be driven by the cooperation of the first welding drive 71, the second welding drive 72, the third welding drive 73 and the fifth welding drive 75 to clamp and transfer the welded end of the wire to the heat shrink clamp 62 of the heat shrink mechanism 6. Then, the heat shrink drive 63 drives the heat shrink clamp 62 to move into the heat shrink space of the heat shrink module 61, so as to use the high temperature of the heat shrink space to heat shrink the heat shrink tube pre-fitted to the welding end of the wire. It can be understood that the welded end of the wire after heat shrink treatment can be moved out of the heat shrink space of the heat shrink module 61 and proceed to the next station. Meanwhile, when the heat-shrinkable welded wire on the heat-shrinkable gripper 62 is removed and transferred to the next station, the heat-shrinkable drive unit 63 can drive the heat-shrinkable gripper 62 to reset, so as to cyclically receive wire from the third wire gripper 77 or the fourth wire gripper 78.

[0077] In some alternative embodiments, such as Figure 7 As shown, there are two heat shrink clamps 62, which are spaced apart on both sides of the heat shrink tubing on the wire. The two heat shrink clamps 62 clamp the same wire, that is, the heat shrink tubing on the wire is located between the two heat shrink clamps 62, so that the heat shrink clamps 62 will not affect the heat shrinking of the heat shrink tubing.

[0078] In some optional embodiments, the two heat shrink clamps 62 are tunably connected to the heat shrink drive 63. For example, the two heat shrink clamps 62 may be connected to a spacer drive, which drives one of the heat shrink clamps 62 to move, so that the heat shrink clamp 62 can push the heat shrink tube to move on the wire, thereby adjusting the heat shrink tube to a suitable position. That is, the heat shrink clamp 62 in this embodiment has the function of adjusting the position of the heat shrink tube, so that the heat shrink tube can be moved to a suitable position to provide better protection for the solder joint after welding.

[0079] In some alternative embodiments, such as Figure 2 As shown, the welding heat shrinking device 50 also includes a feeding mechanism 501. The feeding mechanism 501 is located downstream of the heat shrinking mechanism 6. The wire harness splicing device also includes a splicing device 60 located downstream of the welding heat shrinking device 50. The feeding mechanism 501 is used to transport the wires on the first conveying mechanism 3 and the second conveying mechanism 2 to the splicing device 60. The splicing device 60 is used to splice the wires to the housing (such as a plastic housing).

[0080] Specifically, the unloading mechanism 501 can be a robotic arm or other components, which is not limited in this embodiment. On one hand, the unloading mechanism 501 can transport the wires (including articulated wires or single wires that do not require welding) on ​​the first conveying mechanism 3 to the plugging device 60 for plugging into the housing; on the other hand, the unloading mechanism 501 can also transport the welded and heat-shrinkable wires on the second conveying mechanism 2 to the plugging device 60 for plugging into the housing. It should be noted that the welded end of the welded and heat-shrinkable wire is located at the heat-shrinkable gripper 62. Therefore, when the unloading mechanism 501 clamps the wire or terminal end on the second conveying mechanism 2, the unloading mechanism 501 also needs to clamp the welded end of the wire from the heat-shrinkable gripper 62 to achieve the overall transport of the welded and heat-shrinkable wire.

[0081] In some alternative embodiments, this embodiment provides a plug-in device 60. For example... Figure 19 As shown, the plug-in device 60 includes: a 360° vision inspection station 601, a terminal angle correction station 602, a wire storage wheel station 603, a pin insertion station 604, a loading and unloading station 605, and a pin insertion module 606.

[0082] In this system, the terminals of the wires that do not require soldering (including articulated wires or single wires that do not require soldering) are crimped with terminals. Therefore, the unloading mechanism 501 transports the terminal ends of the wires from the first conveying mechanism 3 to the grippers of the terminal angle correction station 602. The 360° vision inspection station 601 is used to inspect the side and tilt of the crimped terminals. Based on the inspection results of the 360° vision inspection station 601, the terminal angle correction station 602 adjusts the angle of the crimped terminals to ensure that the terminals remain aligned with the clamping position of the wires after crimping, thereby improving the pin insertion yield. The pin insertion module 606 in the pin insertion station 604 is used to clamp the wires with qualified terminal adjustments and insert the terminal ends of the wires into the plastic shell (housing) to ensure that the wires that do not require soldering (including articulated wires or single wires that do not require soldering) are correctly inserted into the corresponding holes in the plastic shell, thus completing the pin insertion action. The unloading station 605 is used to replace the plastic shells after the pin insertion is completed. The plastic shell is mounted on a carrier plate, which is a reversible structure.

[0083] The heat-shrinkable wires come in two types: one with a welding end and a terminal end. The terminal end requires correction by the 360° vision inspection station 601 and the terminal angle correction station 602, while the welding end requires no processing. The unloading mechanism 501 transports the terminal end of the wire from the second conveying mechanism 2 to the grippers of the terminal angle correction station 602. The 360° vision inspection station 601 inspects the side profile and tilt of the crimped terminal. The unloading mechanism 501 then transfers the welding end of the wire from the heat-shrink grippers 62 to the pin insertion module 606 within the pin insertion station 604. After the terminal end of the wire passes the correction by the terminal angle correction station 602, the pin insertion module 606 grips the adjusted terminal end and inserts both the terminal end and the welding end into the corresponding holes in the plastic shell, thus completing the pin insertion process. Another type of wire has soldered ends at both ends. The unloading mechanism 501 transfers the two soldered ends of the wire from the heat shrink gripper 62 to the pin insertion module 606 in the pin insertion station 604. No terminal testing is required. The pin insertion module 606 is used to insert the two soldered ends of the wire into the corresponding plastic shell holes, thereby completing the pin insertion action.

[0084] It should be noted that the wire storage station 603 is used to replenish the wire when there are non-compliant (NG) wires that need to be discarded. At this time, the wires on the flow channel will continue to be processed according to the process and stored in the wire storage station 603. After the NG wires are replenished, the subsequent pin insertion work will continue.

[0085] The advantages of the plug-in device 60 provided in this embodiment are: it is compatible with composite wire harness products with up to 150 circuits, and it is compatible with automatic plug-in of single wire / twisted wire / welded heat shrink wire (up to 8 terminals), which helps to shorten the wire harness movement distance and increase productivity.

[0086] It should be noted that the plug-in device 60 provided in this application is only a reference structure, and this application is not limited to a specific plug-in device 60. That is to say, the plug-in device 60 in the above embodiments is merely an example for clear illustration of this application, and not a limitation on the implementation of this application. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all implementation methods here.

[0087] Optionally, the wire harness splicing equipment also includes a finished product unloading device 70. The wires and housings processed by the splicing device 60 are conveyed to the finished product unloading device 70, such as... Figure 20 As shown, the finished product unloading device 70 includes a work station 701, a carrier lifting module 702, a finished product transfer cart 703, and a carrier tilting and lifting module 704. The carrier tilting and lifting module 704 rotates the tray holding the products from a vertical to a horizontal position. The wires and plastic shells after insertion processing are placed on the tray for transport. Workers at the work station 701 perform tasks such as wire arrangement, tape wrapping, and clipping on the products on the tray, and then place the processed finished products onto the finished product transfer cart 703 to complete the unloading process. Simultaneously, workers replenish empty plastic shells at the work station 701, while the carrier lifting module 702 enables the recycling of the trays after the workers remove the finished products.

[0088] In some alternative embodiments, such as Figure 11 As shown, the stranding device 40 includes a wire handling mechanism 403, a stranding mechanism 404, and a wire unwinding mechanism 405. Among them, as... Figure 14 As shown, the unwinding mechanism 405 includes a single-wire gripper 4051 and a stranding gripper 4052. The wire handling mechanism 403 is used to transport at least two single wires to be stranded to the stranding mechanism 404. The stranding mechanism 404 is used to strand at least two single wires. The wire handling mechanism 403 is also used to transport the stranded wire to the stranding gripper 4052 for temporary storage. The single-wire gripper 4051 is used to grip and temporarily store single wires that do not need to be stranded on the conveying mechanism 10.

[0089] Specifically, the single-wire gripper 4051 is used to grip and temporarily store single wires that do not need to be twisted on the conveying mechanism 10. That is, the conveying mechanism 10 can transport single wires that do not need to be twisted to a position close to the single-wire gripper 4051. Then, the single-wire gripper 4051 actively grips and temporarily stores the single wires on the conveying mechanism 10, waiting for the subsequent gripping by the material handling mechanism 1.

[0090] When a single wire needs to be twisted, the wire handling mechanism 403 transports at least two single wires to be twisted from the conveying mechanism 10 to the twisting mechanism 404, so that the twisting mechanism 404 can twist the at least two single wires to form a twisted wire. Then, the wire handling mechanism 403 is also used to transport the twisted wire to the twisting jaw 4052 for temporary storage, waiting for the material picking mechanism 1 to pick it up later.

[0091] In other words, the wire processed by the stranding device 40 is not returned to the conveying mechanism 10, but is stored on the single wire gripper 4051 and the stranding gripper 4052.

[0092] In some embodiments, such as Figure 14 As shown, the material handling mechanism 1 is used to clamp single wires on the single wire gripper 4051 and transfer them to the second conveying mechanism 2 or the first conveying mechanism 3, and to clamp articulated wires on the stranded wire gripper 4052 and transfer them to the second conveying mechanism 2 or the first conveying mechanism 3. By setting the single wire gripper 4051 and the stranded wire gripper 4052, single wires and articulated wires can be distinguished, enabling temporary storage of single wires and articulated wires. This facilitates the material handling mechanism 1 in handling single wires and articulated wires according to the processing requirements of the wires, and reduces the risk of wire blockage at the stranding device 40.

[0093] In this embodiment, one or more single-wire clamps 4051 and stranded wire clamps 4052 may be provided, and this embodiment does not limit this.

[0094] Optionally, please continue to see Figure 14 The unloading mechanism 405 also includes an X-axis drive 4053 and a Y-axis drive 4054. The X-axis drive 4053 is used to drive the single wire gripper 4051 and at least one stranded wire gripper 4052 to move in the X-axis, and the Y-axis drive 4054 is used to drive the other stranded wire grippers 4052 to move in the Y-axis.

[0095] For example, the single-wire gripper 4051 receives a single wire that does not require twisting from the conveying mechanism 10 and is driven to the wire-picking position of the picking mechanism 1 by the X-axis drive member 4053, so that the picking mechanism 1 can pick up the single wire. The stranded wire gripper 4052 moves to the wire-picking position of the picking mechanism 1 under the drive of the X-axis drive member 4053 and the Y-axis drive member 4054, so that the picking mechanism 1 can pick up the stranded wire.

[0096] In some optional embodiments, the stranding device 40 further includes a second visual inspection mechanism 401. The conveying mechanism 10 transports the single wire after crimping the terminals to the second visual inspection mechanism 401, which judges the crimping quality of the single wire's terminals. If the crimping effect is unqualified, no further processing is required, and the wire can be scrapped or the terminals can be re-crimped. If the crimping effect is qualified, subsequent stranding can proceed.

[0097] In some alternative embodiments, such as Figure 12 As shown, the second visual inspection mechanism 401 includes an image module 4011, a first wire gripper 4012, a detection rotation drive 4013, and a detection translation drive 4014. The image module 4011 captures images of the terminal end of a single wire to determine whether the terminal end is qualified. The first wire gripper 4012 holds the terminal end of the single wire. The detection rotation drive 4013 drives the first wire gripper 4012 to rotate, causing the single wire to rotate 30°, 90°, 180°, or 360°, with the specific rotation angle set according to actual needs, thereby enabling the detection of the outer circumferential surface of the terminal end. The detection translation drive 4014 drives the first wire gripper 4012 to move horizontally, thereby adjusting the position of the first wire gripper 4012. In some embodiments, a robotic arm can be used to transport the terminal end of the single wire to the first wire gripper 4012. In other embodiments, the first wire gripper 4012 may directly grasp the terminal end of a single wire from the conveying mechanism 10 under the drive of the detection translation drive 4014; this embodiment is not limited to this. For example, the image module 4011 may be a CCD camera. The detection rotation drive 4013 may be a motor or other component capable of outputting torque.

[0098] Optionally, the stranding device 40 further includes a second paralleling mechanism 402 for paralleling single wires to facilitate subsequent stranding. In at least one possible embodiment, such as Figure 13 As shown, this embodiment provides a second paralleling mechanism 402, which includes a first paralleling lifting drive 4021, a first paralleling gripper 4022, a lifting drive 4023, a line guide assembly 4024, and a paralleling translation drive 4025.

[0099] For example, when two single wires need to be merged, the conveying mechanism 10 transports the first single wire to the second merging mechanism 402. Multiple first merging grippers 4022 are used. The first first merging gripper 4022 holds the first single wire. Then, the first merging lifting drive 4021 drives the first first merging gripper 4022 to rise, providing clearance for the second single wire. When the conveying mechanism 10 transports the second single wire to the second merging mechanism 402, the second first merging gripper 4022 holds the second single wire, thus merging the two single wires. After the two single wires are merged, the lifting drive 4023 lifts the two single wires that have detached from the conveying mechanism 10 and are now merged. Then, the wire handling mechanism 403 holds the two merged single wires. The merging translation drive 4025 drives the wire guiding assembly 4024 to move horizontally to complete the wire guiding action, allowing the successfully merged single wire to detach from the mover on the conveying mechanism 10 and be transported to the stranding mechanism 404.

[0100] In some alternative embodiments, such as Figure 11 As shown, the wire handling mechanism 403 may include a second six-axis robot 4031 and an alternating wire feeding assembly 4032. The alternating wire feeding assembly 4032 includes a single-wire take-up gripper and a stranded wire take-up gripper. The second six-axis robot 4031 drives the alternating wire feeding assembly 4032 to move. When the second six-axis robot 4031 drives the alternating wire feeding assembly 4032 to the second paralleling mechanism 402, the single-wire take-up gripper picks up the single wire after paralleling at the second paralleling mechanism 402. The paralleled single wire is then transferred to the stranding mechanism 404 for hinge processing. The stranded wire take-up gripper on the alternating wire feeding assembly 4032 is used to pick up the hinged wire. The second six-axis robot 4031 drives the alternating wire feeding assembly 4032 to move to the stranded wire gripper 4052 to pick up the hinged wire on the stranded wire take-up gripper.

[0101] The wire handling mechanism 403 also includes multiple telescopic cylinders, which can drive the single wire picking claw and the stranded wire picking claw to move up, down, forward, backward and left and right to realize the gripping of single wires and stranded wires after they are combined.

[0102] In some alternative embodiments, such as Figure 15 As shown, the stranding mechanism 404 includes a first stranding head 4041, a second stranding head 4042, and a wire pulling assembly 4043. The first stranding head 4041 and the second stranding head 4042 are arranged opposite to each other. After the wire transport mechanism 403 transports the two ends of the fused single wire to the first stranding head 4041 and the second stranding head 4042 respectively, the wire pulling assembly 4043 first straightens the fused single wire, and then the first stranding head 4041 and the second stranding head 4042 rotate relative to each other to complete the stranding.

[0103] It should be noted that the stranding device 40 provided in this embodiment has strong product compatibility, facilitates product upgrades and replacements, and has low modification costs. Furthermore, the stranding device 40 has high production efficiency.

[0104] In some alternative embodiments, such as Figure 16 As shown, this embodiment provides a conveying mechanism 10, which includes an upper flow channel 101, a mover lifting drive 102, a lower flow channel 103, and a single-wire mover 104. Both the upper flow channel 101 and the lower flow channel 103 are magnetically levitated structures. The single-wire mover 104 is equipped with grippers for holding a single wire. The upper flow channel 101 interacts with the single-wire mover 104 to drive its movement, and the lower flow channel 103 interacts with the single-wire mover 104 to drive its movement. The mover lifting drive 102 is used to drive the return flow of the single-wire mover 104. Specifically, the single-wire mover 104 can achieve docking and circulation between the upper flow channel 101 and the lower flow channel 103 through the mover lifting drive 102.

[0105] In some optional embodiments, the wire harness splicing device further includes a wire feeder (not shown), which has multiple wire spools on which single wires are wound. The wire feeder provided in this embodiment is compatible with 50 different types of single wires. The wire feeder is used to provide single wires for the cutting and stripping device 20.

[0106] In some alternative embodiments, such as Figure 17 As shown, the cutting and stripping device 20 may include a straightening mechanism 201, a wire exiting mechanism 202, a wire selection frame 203, a cutting module 204, a stripping module 206, a twist-removing module 207, a threading module 208, and a third-vision inspection mechanism 209. The wire selection frame 203 is used to select individual wires, for example, selecting individual wires according to wire diameter requirements. The specific structure of the wire selection frame 203 can be found in related technologies, and this embodiment does not limit it.

[0107] In this embodiment, the straightening mechanism 201 is used to straighten a single wire to facilitate subsequent processing. For example, the single wire is straightened using the straightening wheel of the straightening mechanism 201. The straightening wheel can be adjusted in position according to the diameter of the single wire, thereby achieving the straightening function for different single wires.

[0108] In this embodiment, the straightened single wire is fed out to a fixed length through the wire feeding mechanism 202. Exemplarily, the wire feeding mechanism 202 can drive the active wire feeding wheel and the auxiliary wire feeding wheel to rotate through a drive component such as a servo motor to provide power for feeding the single wire, and the encoding wheel assembly of the wire feeding mechanism 202 determines the fixed length of the single wire based on the data fed back from the rotation of the wheel.

[0109] In this embodiment, the fixed-length single wire is cut by the cutting module 204. For example, at the wire exit point, one end of the single wire is first clamped by the wire clamping structure (power cylinder) of the cutting module 204. Then, the rotary motor of the cutting module 204 drives the single wire to rotate 180° and form a U-shape. During the U-shape process, the wire guide of the cutting module 204 restricts the left-right position of the single wire. Finally, the cutting power cylinder of the cutting module 204 drives the cutting blade assembly of the cutting module 204 to complete the cutting of the fixed-length single wire.

[0110] In this embodiment, the cut single thread is stripped by the stripping module 206. Exemplarily, the conveying mechanism 10 carries the cut single thread of a fixed length to the stripping station. According to the stripping process requirements, the two stripping modules 206 of the cutting and stripping device 20 cut and strip both ends of the single thread, and the waste wire sheathing is collected by the wire sheathing collection device of the stripping module 206.

[0111] In this embodiment, the anti-twist module 207 is used to eliminate the twist of a single wire. For example, the conveying mechanism 10 moves the stripped single wire to the anti-twist station. According to the anti-twist process requirements, the two anti-twist modules 207 of the cutting and stripping device 20 rotate and eliminate the twist at both ends of the single wire. It should be noted that wire stripping can be done by full stripping or partial stripping, and the anti-twist module 207 processes the partially stripped wire.

[0112] In this embodiment, the plug-threading module 208 is used to thread waterproof plugs onto the stripped single wire. For example, the conveying mechanism 10 moves the single wire to the plug-threading station, and the plug-threading module 208, configured with different waterproof plug materials according to different waterproofing requirements, threads the corresponding waterproof plug onto the stripped end of the single wire.

[0113] In this embodiment, the stripped and threaded single wire is conveyed to the third vision inspection mechanism 209 via the conveying mechanism 10. The third vision inspection mechanism 209 is used to detect whether the stripping and threading of the single wire is qualified. For example, the single wire clamping module of the third vision inspection mechanism 209 clamps the single wire, the upper CCD of the third vision inspection mechanism 209 detects the stripping length and other related dimensions, and the side CCD of the third vision inspection mechanism 209 detects the number and status of the wire cores of the single wire.

[0114] It should be noted that the cutting and peeling device 20 provided in this application is only a reference structure, and this application is not limited to a specific cutting and peeling device 20. That is to say, the cutting and peeling device 20 in the above embodiments is merely an example for clear illustration of this application, and is not intended to limit the implementation of this application. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all implementation methods here.

[0115] In some optional embodiments, this embodiment provides a crimping device, such as... Figure 18 As shown, the crimping device 30 includes a terminal transfer and feeding module 301, a terminal handling module 302, a first crimping module 304, a second crimping module 305, and a terminal waste suction module 306.

[0116] The terminal cutting and feeding module 301 is used to cut the terminal strip into individual terminals. The terminal handling module 302 is used to transport the cut individual terminals to the first crimping module 304 or the second crimping module 305. The first crimping module 304 and the second crimping module 305 are used to match different terminals according to the single wire size for crimping. The terminal waste suction module 306 is used to suck the small sections of waste material remaining after riveting into a specific recycling place.

[0117] For example, the terminal strip is in roll form. The terminal strip is fixed by the terminal roll feeding rack of the terminal transfer and feeding module 301. The terminal feeding power assembly (16 sets) of the terminal transfer and feeding module 301 can push the terminal strip. The terminal cutting assembly (16 sets) of the terminal transfer and feeding module 301 can cut the terminal strip into individual terminals.

[0118] After being cut into individual terminals, the two transport sub-modules of the terminal transport module 302 will transport the corresponding terminals to the first crimping module 304 or the second crimping module 305 according to the needs of the single wire.

[0119] The cut and stripped single wires are conveyed to the corresponding workstation (first crimping module 304 or second crimping module 305) by the conveying mechanism 10 for crimping.

[0120] For example, when it is necessary to crimp a terminal onto the stripped end of a single wire, the stripped end of the single wire is conveyed to the first crimping module 304 according to the requirements of the single wire. The corresponding terminal is conveyed to the designated position of the first crimping module 304 by the conveying submodule in the terminal conveying module 302. The terminal conveying jaws of the first crimping module 304 clamp the terminal, and the conveying module conveys the terminal to the mold corresponding to the requirements of the first crimping module 304. The servo press of the first crimping module 304 crimps the terminal and the stripped end of the single wire in the vertical direction. The crimping method of the second crimping module 305 is similar to the above method, and will not be described in detail here.

[0121] After crimping, the terminal waste is transported by the terminal handling gripper to the guide plate above the terminal waste suction module 306. The guide plate guides the terminal waste to the terminal waste suction module 306 for collection and unified processing.

[0122] It should be noted that the crimping device 30 provided in this application is only a reference structure, and this application is not limited to a specific crimping device 30. That is to say, the crimping device 30 in the above embodiments is merely an example for clear illustration of this application, and not a limitation on the implementation of this application. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all implementation methods here.

[0123] This embodiment also provides a wire harness insertion method, applied to the wire harness insertion device in any of the above embodiments. For example, as shown... Figure 21 As shown, the wire harness connection method includes the following steps: S1. The cutting and peeling device 20 cuts the single thread and peels the two ends of the single thread after cutting. S2. The conveying mechanism 10 conveys the cut and stripped single wire to the crimping device 30, and the crimping device 30 selectively crimps terminals onto the stripped end of the single wire. S3. The conveying mechanism 10 conveys the single wire from the crimping device 30 to the stranding device 40. The stranding device 40 strands at least two single wires that need to be stranded together to form a hinged wire, and temporarily stores the hinged wire and the single wires that do not need to be stranded. S4. The material handling mechanism 1 transports the non-welding wire temporarily stored in the stranding device 40 to the first conveying mechanism 3 for conveying, and the material handling mechanism 1 also transports the welding wire temporarily stored in the stranding device 40 to the second conveying mechanism 2 for conveying. S5, the clamping mechanism 7 clamps and transfers the welding end of the wire to be welded to the welding mechanism 5, and the welding mechanism 5 welds the welding end of the wire to be welded.

[0124] It should be noted that in step S1, the cutting and stripping device 20 can also be used to thread a waterproof plug onto the wire to improve the waterproof performance of the wire.

[0125] In step S2, the stripped ends of the single wires that need to be crimped with terminals are crimped with terminals.

[0126] In step S3, it is determined whether the single wires that have been crimped with terminals and the single wires that have not been crimped with terminals still need to be twisted. The wires that need to be twisted are twisted. The twisting device 40 temporarily stores the twisted wires and the single wires that have not been twisted.

[0127] It is understood that this wire harness plugging method has been described in detail in the above-mentioned wire harness plugging equipment workflow, and will not be repeated here.

[0128] This wire harness splicing method enables the processing and conveying of both single-wire and articulated wires. Furthermore, it allows for welding of single-wire or articulated wires when necessary. This design significantly enriches the variety of products produced and effectively improves production efficiency.

[0129] In one or more embodiments of this application, the welding heat shrinking device 50 further includes a first wire paralleling mechanism 8; before the clamping mechanism 7 clamps and transfers the welding end of the wire to be welded to the welding mechanism 5, and the welding mechanism 5 welds the welding end of the wire to be welded, such as Figure 22 As shown, the wire harness plugging method also includes: S401, the material handling mechanism 1 transports the welding ends of the wires to be welded to the first paralleling mechanism 8, which then parallels the welding ends of at least two wires to be welded. In other words, before welding the wires, the welding ends of the wires to be welded are paralleled by the first paralleling mechanism 8, which makes it easier for the welding mechanism 5 to weld the paralleled wire ends.

[0130] It is understandable that the paralleling method of the first paralleling mechanism 8 has been described in detail in the above-mentioned wiring harness plug-in device workflow, and will not be repeated here.

[0131] In one or more embodiments of this application, the welding heat shrinking device 50 further includes a heat shrink tubing mechanism 4; after the first paralleling mechanism 8 parallels the welding ends of at least two wires to be welded, as... Figure 22 As shown, the wire harness plugging method also includes: S402, The heat shrink tubing mechanism 4 applies heat shrink tubing to at least two wires after they are connected.

[0132] Thus, applying heat shrink tubing to the wires after paralleling them before welding facilitates the subsequent heat shrinking process. In addition, the welding heat shrinking device in this embodiment integrates paralleling, heat shrink tubing application, and welding, enriching the functionality of the welding heat shrinking device and improving its versatility and reliability.

[0133] It is understandable that the method of installing the heat shrink tubing mechanism 4 has been explained in detail in the above-mentioned wire harness plug-in equipment workflow, and will not be repeated here.

[0134] In one or more embodiments of this application, the welding heat shrinking device 50 further includes a heat shrinking mechanism 6; after the welding mechanism 5 welds the welding ends of the wire to be welded, as... Figure 22 As shown, the wire harness plugging method also includes: S501, the clamping mechanism 7 clamps and transfers the welded end of the welded wire to the heat shrinking mechanism 6, and the heat shrinking mechanism 6 heat shrinks the heat shrink tube onto the welded wire.

[0135] After welding (such as ultrasonic welding) the welding ends of the wire, the fragile welding points need to be fully protected and sealed to ensure the reliability and service life of the connection. Therefore, before welding, the heat shrink tubing pre-fitted to the welding end of the wire needs to be heat-shrinked at the heat shrinking mechanism 6. The heat shrink tubing will shrink back after heating. The heat shrinking mechanism 6 is used to heat the heat shrink tubing so that it shrinks and wraps around the welded wire, thereby achieving protection and insulation of the welding point.

[0136] It is understandable that the heat shrinking method of the heat shrinking mechanism 6 has been described in detail in the above-mentioned wire harness plug-in equipment workflow, and will not be repeated here.

[0137] In one or more embodiments of this application, the welding heat shrinking device further includes a feeding mechanism 501, and the wire harness plugging device further includes a plugging device 60 located downstream of the welding heat shrinking device. like Figure 22 As shown, the wire harness plugging method also includes: S6, the unloading mechanism 501 respectively transports the wires on the first conveying mechanism 3 and the second conveying mechanism 2 to the plugging device 60; S7, the plug-in device 60 will plug the wires that do not need to be soldered and the wires that have been soldered and heat-shrinked into the housing respectively.

[0138] Specifically, the unloading mechanism 501 can be a robotic arm or other components, which is not limited in this embodiment. On one hand, the unloading mechanism 501 can transport the wires (including articulated wires or single wires that do not require welding) on ​​the first conveying mechanism 3 to the plugging device 60 for plugging into the housing; on the other hand, the unloading mechanism 501 can also transport the welded and heat-shrinkable wires on the second conveying mechanism 2 to the plugging device 60 for plugging into the housing. It should be noted that the welded end of the welded and heat-shrinkable wire is located in the heat-shrinkable gripper. Therefore, when the unloading mechanism 501 clamps the wire or terminal end on the second conveying mechanism 2, the unloading mechanism 501 also needs to clamp the welded end of the wire from the heat-shrinkable gripper to achieve the overall transport of the welded and heat-shrinkable wire.

[0139] In summary, in the wire harness splicing device and method provided in this embodiment, the single wire conveyed by the upper wire rack is fed into the cutting and stripping device 20. After cutting, stripping, and threading, the single wire is fed into the crimping device 30 to selectively complete the terminal crimping process. Subsequently, the single wire is fed into the stranding device 40, which strands the single wires that need to be stranded to form a hinged wire.

[0140] Next, the articulated wire and the single wire are transported downstream along two different paths: one path, consisting of a single wire and an articulated wire, is directly sent to the welding heat shrinking device 50 for welding heat shrinking, while the other path, consisting of a single wire and an articulated wire, is directly sent to the insertion device 60 for shell insertion. The articulated wire and the single wire processed by the welding heat shrinking device 50 can then be sent to the insertion device 60 for shell insertion. In other words, the insertion device 60 completes the shell insertion of the single wire, articulated wire, and welding heat shrink wire. The finished product is then transported to the finished product unloading device 70, where manual assistance is used to wrap it with tape or attach clips. The unloading process completes the entire processing, realizing the processing from spool wire to finished wire.

[0141] Obviously, the above embodiments of this application are merely examples for clear illustration and are not intended to limit the implementation of this application. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of the claims of this application.

Claims

1. A wire harness plug-in device, characterized in that, include: A cutting and peeling device is used to cut a single thread and peel the ends of the cut single thread. A conveying mechanism and a crimping device, the conveying mechanism being used to feed the single wire from the cutting and peeling device to the crimping device, the crimping device selectively crimping terminals onto the peeled end of the single wire; A stranding device, wherein the conveying mechanism is used to convey the single wire from the crimping device to the stranding device, and the stranding device is used to temporarily store at least two single wires twisted together to form a hinged wire and to temporarily store single wires that do not need to be hinged. The welding heat shrinking device includes a material picking mechanism, a first conveying mechanism, a second conveying mechanism, a welding mechanism, and a clamping mechanism. The material picking mechanism is used to transport the non-welding wire temporarily stored in the stranding device to the first conveying mechanism for conveying. The material handling mechanism is also used to transport the wire to be welded that is temporarily stored in the stranding device to the second conveying mechanism. The second conveying mechanism is used to transport the wire to be welded. The clamping mechanism is used to clamp and transfer the welding end of the wire to be welded to the welding mechanism for welding.

2. The wire harness plug-in device according to claim 1, characterized in that, The welding heat shrinking device further includes a first paralleling mechanism. The material picking mechanism is used to transport the welding end of the wire to be welded to the first paralleling mechanism. The first paralleling mechanism is used to parallel the welding ends of at least two wires to be welded. The clamping mechanism is used to clamp and transfer the welding ends of at least two wires after paralleling to the welding mechanism for welding.

3. The wire harness plug-in device according to claim 2, characterized in that, The welding heat shrinking device further includes a heat shrink tubing fitting mechanism, which is used to fit the heat shrink tubing onto at least two of the wires after they are wired together. The clamping mechanism is used to clamp and transfer the welding ends of the at least two wires after the heat shrink tubing is fitted to the welding mechanism for welding.

4. The wire harness plug-in device according to claim 3, characterized in that, The heat shrink tubing mechanism includes a heat shrink tubing drive, a second heat shrink tubing gripper, a second wire gripper, and a wire transport assembly. The second heat shrink tubing gripper is used to hold the heat shrink tubing, and the second wire gripper is disposed on the wire transport assembly and is used to hold at least two wires that need to be fitted with heat shrink tubing after being wired together; The wire transport assembly is used to drive the second wire gripper to reciprocate between the first wire paralleling mechanism and the heat shrink tubing position; The heat shrink tubing drive is used to drive the second heat shrink tubing gripper to move closer to or further away from the second wire gripper.

5. The wire harness plug-in device according to claim 3, characterized in that, The welding heat shrinking device also includes a heat shrink tubing feeding mechanism, which includes a heat shrink tubing vibration feeding component, a first vision inspection component, a heat shrink tubing feeding robot, and a first heat shrink tubing gripper. The heat shrink tubing vibration feeding assembly is used to provide the heat shrink tubing. The first vision detection device is used to detect the position of the heat shrink tubing in the heat shrink tubing vibration feeding assembly. The first heat shrink tubing gripper is disposed on the heat shrink tubing feeding robot. The heat shrink tubing feeding robot drives the first heat shrink tubing gripper to clamp and transfer the heat shrink tubing in the heat shrink tubing vibration feeding assembly to the heat shrink tubing set mechanism according to the detection result of the first vision detection device.

6. The wire harness plugging device according to claim 3, characterized in that, The welding heat shrinking device further includes a heat shrinking mechanism. The clamping mechanism is used to clamp and transfer the welded end of the welded wire to the heat shrinking mechanism, and the heat shrinking mechanism is used to heat shrink the heat shrink tube to the welded wire.

7. The wire harness plug-in device according to claim 6, characterized in that, The heat shrinking mechanism includes a heat shrinking module, heat shrinking jaws, and a heat shrinking drive. The clamping mechanism is used to clamp and transfer the welded end of the welded wire to the heat shrinking jaws. The heat shrinking jaws are used to clamp the welded end of the wire. The heat shrinking jaws are located on the heat shrinking drive. The heat shrinking drive drives the heat shrinking jaws to move into or out of the heat shrinking space of the heat shrinking module.

8. The wire harness plug-in device according to claim 6, characterized in that, The welding heat shrinking device also includes a feeding mechanism, which is located downstream of the heat shrinking mechanism; The wire harness splicing device further includes a splicing device located downstream of the welding heat shrinking device. The feeding mechanism is used to transport the wires on the first conveying mechanism and the second conveying mechanism to the splicing device, and the splicing device is used to splice the wires to the housing.

9. The wire harness plug-in device according to any one of claims 1-8, characterized in that, The end of the wire that needs to be welded is the welding end, and the end of the wire that is crimped with a terminal is the terminal end; The second conveying mechanism is used to convey the terminal end of the wire, and the clamping mechanism is used to clamp and transfer the welding end of the wire; The second conveying mechanism is configured to move synchronously with the welding end of the wire when conveying the terminal end of the wire.

10. The wire harness plugging device according to any one of claims 1-8, characterized in that, The stranding device includes a wire handling mechanism, a stranding mechanism, and a wire unloading mechanism, wherein the wire unloading mechanism includes a single wire gripper and a stranding gripper. The wire handling mechanism is used to handle at least two single wires to be stranded to the stranding mechanism, the stranding mechanism is used to strand at least two single wires, and the wire handling mechanism is also used to handle the stranded wire to the stranding clamp for temporary storage. The single-line gripper is used to grip and temporarily store the single line that does not require hinge on the conveying mechanism.

11. A wire harness plugging method, characterized in that, The wire harness insertion device as described in any one of claims 1-10 is characterized in that the wire harness insertion method comprises the following steps: The cutting and peeling device cuts a single thread and then peels the skin off both ends of the single thread after cutting. The conveying mechanism transports the cut and stripped single wire to the crimping device, which selectively crimps terminals onto the stripped end of the single wire. The conveying mechanism transports the single wire from the crimping device to the stranding device, and the stranding device strands at least two single wires that need to be stranded to form a hinged wire, and temporarily stores the hinged wire and the single wires that do not need to be stranded. The material handling mechanism transports the non-welding wire temporarily stored by the stranding device to the first conveying mechanism for conveying, and the material handling mechanism also transports the welding-required wire temporarily stored by the stranding device to the second conveying mechanism for conveying. The clamping mechanism clamps and transfers the welding end of the wire to be welded to the welding mechanism, which then welds the welding end of the wire.

12. The wire harness insertion method according to claim 11, characterized in that, The welding heat shrinking device also includes a first paralleling mechanism; Before the clamping mechanism clamps and transfers the welding end of the wire to be welded to the welding mechanism, and before the welding mechanism welds the welding end of the wire, the wire harness splicing method further includes: The material handling mechanism transports the welding end of the wire to be welded to the first paralleling mechanism, and the first paralleling mechanism parallels at least two welding ends of the wire to be welded.

13. The wire harness insertion method according to claim 12, characterized in that, The welding heat shrinking device also includes a heat shrink tubing fitting mechanism; After the first paralleling mechanism parallels the welding ends of at least two wires that need to be welded, the wire harness insertion method further includes: the heat shrink tubing fitting mechanism fitting heat shrink tubing onto the at least two wires after paralleling.

14. The wire harness insertion method according to claim 13, characterized in that, The welding heat shrinking device also includes a heat shrinking mechanism; After the welding mechanism welds the welding ends of the wires to be welded, the wire harness splicing method further includes: The clamping mechanism clamps and transfers the welded end of the welded wire to the heat shrinking mechanism, which then heat shrinks the heat shrink tube onto the welded wire.

15. The wire harness insertion method according to claim 14, characterized in that, The welding heat shrinking device also includes a feeding mechanism, and the wire harness plugging device also includes a plugging device located downstream of the welding heat shrinking device. The wire harness insertion method further includes: The feeding mechanism respectively transports the wires on the first conveying mechanism and the second conveying mechanism to the plugging device; The plugging device plugs the wire that does not require welding and the wire that has been welded and shrunk to the housing respectively.

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