A sleeve active disengagement device for a wire clamp installation

Abstract

The application discloses a sleeve active disengaging device for wiring clamp installation and relates to the technical field of line operation robots, which comprises a rotary driving assembly configured to keep axial position fixed and provide rotary driving force in a fastening operation stage; at least two fastener adapting heads which are circumferentially limited with the driving end of the rotary driving assembly and axially slide-fitted, configured to transmit torque to screw fasteners and axially retreat along the driving end in a sleeve retreat stage; at least two linear driving members which are respectively arranged corresponding to the fastener adapting heads, configured to respectively apply axial pulling force to drive independent axial retreat of each fastener adapting head in the sleeve retreat stage; and a shell holding assembly which has a transverse guide structure and an elastic retreat holding structure, configured to hold a clamp shell from below in a picking stage. The application reduces sleeve retreat motion quality, adapts to differences in resistance on both sides to avoid additional load disturbance, and improves the picking stability of preloaded clamps.

Description

Technical Field

[0001] This invention belongs to the field of line operation robot technology, and particularly relates to a sleeve active disengagement device for installing wire clamps. Background Technology

[0002] In line splicing and lead-in operations, the end effector needs to complete processes such as clamp pickup, double bolt tightening, and tool removal. In existing technologies, for the removal of the sleeve after tightening multiple bolt clamps, separation is typically achieved by a lifting mechanism driving the entire rotary drive module backward, or by relying on a spring-floating structure for passive rebound. When the bolts on both sides experience inconsistent removal resistance due to machining errors, friction differences, or pressure deformation, the overall backward retraction method causes the detached side to continue moving while the non-detached side becomes stuck. The resulting deflection load is transmitted to the clamp and conductor via the gearbox and robotic arm, easily causing clamp swaying, conductor stress, or robotic arm overload. The spring-floating structure also struggles to provide a directional and controllable active pull-out force. Furthermore, during the clamp pickup stage, existing tools either rely solely on the sleeve engaging the nut to bear the lifting load, making it difficult to reliably limit the lateral swing and rotation of the clamp in its pre-opened state; or they add independent grippers to hold the clamp, but this increases the number of drive components, occupies alignment space, and adds more steps. Therefore, there is an urgent need for an end effector that can adapt to the resistance difference on both sides during the unsleeving stage to avoid additional load disturbance, and stably lift the pre-installed clamp during the picking stage. Summary of the Invention

[0003] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section that follows. This summary section is not intended to identify key or essential features of the claimed invention, nor is it intended to limit the scope of the claimed invention.

[0004] To overcome the shortcomings of the prior art, this invention provides an active sleeve disengagement device for installing wire clamps, comprising: A rotary drive assembly configured to maintain an axially fixed position during the fastening operation phase and to provide rotary drive force; At least two fastener adapters are circumferentially limited and axially slidingly engaged with the drive end of the rotary drive assembly, configured to transmit torque to tighten the fastener of the clamp during the tightening operation phase, and to retract axially along the drive end of the rotary drive assembly during the unsleeving phase. At least two linear drive components, each corresponding to at least two fastener adapters, are configured to apply axial pull-out force to the corresponding fastener adapters during the unsleeving phase, so as to drive each fastener adapter to move axially backward independently. The housing holding assembly has a lateral guide structure and a resilient recoil holding structure, configured to support the clamp housing from below during the pickup phase to bear the lifting load.

[0005] Furthermore, the fastener adapter head has an axially stressed flange on its outer periphery; The linear drive unit is equipped with an axial force transmission component, and an axial clearance is maintained between the axial force transmission component and the fastener adapter head during the fastening operation. During the unsleeving stage, the axial force transmission component crosses the axial clearance and abuts against the axial force-bearing flange to apply an axial pull-out force to the fastener adapter head.

[0006] Furthermore, the fastener adapter includes a sleeve body and a sleeve guide cover that is sleeved and fixed to the working end of the sleeve body; The rear part of the sleeve body forms an annular limiting installation part. The axial force-bearing flange includes a first retaining ring half and a second retaining ring half that surround the annular limiting installation part from both radial sides. The first retaining ring half and the second retaining ring half are kept in an enclosing state by a positioning pin and a fastening screw, so as to jointly form an annular flange structure with an outer diameter larger than the outer diameter of the sleeve body. The sleeve guide cover forms a flared inlet facing the fastener of the wire clamp and a reset abutment surface facing the axial force transmission component. The sleeve guide cover and the sleeve body maintain circumferential synchronous rotation and restrict axial relative displacement. During the reset phase, the linear drive unit drives the axial force transmission unit to extend towards the working end of the sleeve body, so that the axial force transmission unit abuts against the reset abutment surface. The reset thrust is transmitted to the sleeve body through the sleeve guide cover, pushing the fastener adapter head forward.

[0007] Furthermore, the housing fastening assembly includes a fixing block and a resilient fastening element; The fixing block forms a guide area facing the side of the clamp housing to correct the lateral position of the clamp during descent; The elastic fastener is set at the working end of the fixed block. The side of the elastic fastener facing the wire clamp housing in the direction of entry forms an inclined guide surface, and the part located behind the inclined guide surface forms a bearing surface for supporting the wire clamp housing. During the pickup phase, the clamp housing presses against the inclined guide surface, causing the elastic fastener to retract outward. After passing the elastic fastener, the elastic fastener returns under the elastic reset action, so that the bearing surface is located below the bearing position of the clamp housing.

[0008] Furthermore, the fixing block is provided with a transverse guide groove, and the elastic fastener is embedded in the transverse guide groove and can reciprocate in the direction of approaching or moving away from the side of the clamp housing. An elastic reset member is provided between the rear of the elastic fastener and the fixing block. The elastic reset member is configured to maintain the initial position of the elastic fastener extending into the fastening area when the elastic fastener is not subjected to external force. The fixing blocks include a left fixing block and a right fixing block respectively provided on the left and right sides of the clamp housing, and the elastic fasteners include a left fastener and a right fastener respectively embedded in the left fixing block and the right fixing block; During the unloading and release phase, the robotic arm drives the active release device of the sleeve used for wire clamp installation to move downward to release the lifting load on the bearing surface of the wire clamp housing. Then it moves along the opening direction of the clamping area formed by the fixed blocks, so that the side of the wire clamp housing presses against the inclined guide surface again, forcing the elastic clamping member to retract outward until it is completely misaligned.

[0009] Furthermore, the rotary drive assembly includes a rotary drive motor and a front gearbox and a rear gearbox that are driveably connected to the rotary drive motor. The rotary drive motor, the front gearbox, and the rear gearbox maintain a fixed axial position during the unsleeving stage. The drive end includes a left output shaft and a right output shaft arranged in parallel, with the front ends of the left output shaft and the right output shaft respectively inserted into the rear of the corresponding fastener adapter head; The insertion parts of the left and right output shafts are respectively non-circular cross sections. The rear part of the fastener adapter head is respectively provided with non-circular insertion holes that match the cross-sectional shape of the corresponding output shaft, so as to form a circumferentially limited and axially sliding fit relationship. During the fastening phase, the non-circular mating surfaces abut against each other to transmit torque; during the unsleeving phase, the fastener adapter head slides backward along the corresponding output axis while maintaining the circumferential fit and keeping its axial position unchanged.

[0010] Furthermore, it also includes support connection components, vision observation components, and robotic arm interface components; The supporting connection assembly includes a fixed base plate and a base fixed on the fixed base plate, a rotation drive assembly is installed in the middle of the fixed base plate, and a housing fastening assembly is set at the working end of the fixed base plate; The visual observation component includes a lens mount and a camera mounted on the lens mount. The camera faces the mating area of ​​the fastener adapter and the wire clamp, and is used to remotely observe the insertion and separation status. The robotic arm interface assembly includes a first robotic arm interface component and a second robotic arm interface component. The first robotic arm interface component and the second robotic arm interface component are configured to connect to the same robotic arm end of the working robot to withstand the lifting load, twisting reaction torque and active sleeve release axial reaction force of the wire clamp.

[0011] Furthermore, the axial force transmission component is a plate-shaped pull lug body, and the linear drive component is an electric push rod; One end of the plate-shaped pull lug body is provided with a push rod connection hole, which is fixedly connected to the front end of the telescopic rod of the electric push rod through the push rod connection hole, so as to transmit axial push and pull force with the telescopic rod; The other end of the plate-shaped pull lug body is provided with a closed through hole. The sleeve body passes through the closed through hole. The diameter of the closed through hole is larger than the outer diameter of the main body of the sleeve body, and smaller than the outer diameter of the axial force-bearing flange and the outer diameter of the reset contact surface of the sleeve guide cover, respectively. The plate-shaped pull lug body is located between the reset contact surface and the axially stressed flange. During the fastening operation, radial clearance and axial clearance are maintained between the plate-shaped pull lug body, the axially stressed flange, and the reset contact surface, respectively, to avoid applying lateral constraints to the rotating sleeve body.

[0012] Furthermore, the sleeve guide cover is detachably fixed to the outer periphery of the working end of the sleeve body via a threaded connection; The flared inlet of the sleeve guide cover is configured to guide the fasteners of the wire clamp into the working hole of the sleeve body during the descent of the sleeve active release device for wire clamp installation, so as to assist in the alignment of the two sleeve bodies. The sleeve guide cover and the sleeve body rotate synchronously in the circumferential direction, and restrict the axial relative displacement between them; During the reset phase, the linear drive unit drives the axial force transmission unit to extend towards the working end of the sleeve body, so that the axial force transmission unit abuts against the reset abutment surface. The reset thrust is transmitted from the linear drive unit through the axial force transmission unit, the sleeve guide cover, and the fixed connection structure between the sleeve guide cover and the sleeve body to the sleeve body, pushing the sleeve body forward along the drive end of the corresponding rotary drive assembly.

[0013] Furthermore, at least two fastener adapters include a first fastener adapter and a second fastener adapter, and at least two linear actuators include a first linear actuator and a second linear actuator. The first linear drive and the first fastener adapter form the first active disengagement branch, and the second linear drive and the second fastener adapter form the second active disengagement branch. The first active disengagement branch and the second active disengagement branch are independent of each other. The housings of the first linear drive and the second linear drive are fixedly installed, and only their telescopic rods and corresponding adapters generate axial displacement during the unsleeving stage and the reset stage. The first and second active disengagement branches are respectively connected to independent control channels and configured to start synchronously, start separately, or stop. When either adapter head first withdraws from the fastener of the corresponding wire clamp, the corresponding linear drive stops or maintains its current position, while the other active disengagement branch continues to operate within the allowable uncoupling stroke until the two fastener adapter heads withdraw from the fasteners of the corresponding wire clamps.

[0014] The beneficial effects of this invention are as follows: The active sleeve release device for wire clamp installation provided by this invention features a structure in which a rotary drive assembly maintains a fixed axial position during the sleeve release phase, the fastener adapter head and the drive end are circumferentially limited and axially slidingly engaged, and at least two linear drive components independently drive the corresponding fastener adapter head to axially retract. This structure limits the sleeve release movement to local lightweight components such as the fastener adapter head and the telescopic rod of the linear drive components, significantly reducing the motion mass and retraction inertia during the sleeve release process. Simultaneously, since the sleeve release actions of the fastener adapter heads on both sides are independent, when the release resistance on both sides is inconsistent due to processing errors, friction differences, or pressure deformation, each linear drive component can apply an axial pulling force adapted to its respective resistance. One side can release first and then stop or remain, while the other side continues to move until it releases. This avoids transmitting the deflection load to the wire clamp and wire via the gearbox and robotic arm, thereby eliminating additional load disturbances during the sleeve release process and protecting the completed electrical connection and the safety of the robotic arm.

[0015] Furthermore, by incorporating a housing clamping assembly with a lateral guiding structure and an elastic recoil clamping structure, the housing clamping assembly supports the clamp housing from below during the pickup phase to bear the main lifting load. The fastener adapter head is only used to engage the fasteners to limit the clamp's rotation and swaying posture, thus achieving a functional division of labor between lifting load-bearing and posture maintenance. This collaborative pickup architecture avoids concentrating the entire weight of the clamp onto the working hole of the fastener adapter head and the fastener edges, reducing the risk of the clamp falling off and swaying in the pre-installed open state. It also eliminates the need to add dedicated lifting points or modify the clamp structure on the clamp body, as well as the need for an additional independent gripper drive mechanism. This simplifies the structure and control complexity of the end effector while ensuring pickup stability.

[0016] Furthermore, by maintaining an axial clearance between the axial force transmission component and the fastener adapter during the fastening operation, applying an active pull-out force to the axially stressed flange during the sleeve removal stage, and applying a reset thrust to the reset contact surface during the reset stage, the same linear drive component and axial force transmission component can simultaneously perform both sleeve removal and reset functions without the need for a separate reset actuator, further simplifying the device structure; the flared inlet design of the sleeve guide cover assists in the insertion and alignment of the fastener, improving operational efficiency and tolerance. Attached Figure Description

[0017] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention, making other features, objects, and advantages of the invention more apparent. The illustrative embodiments of the invention, along with their descriptions, are used to explain the invention and do not constitute an undue limitation of the invention.

[0018] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0019] In the attached diagram: Figure 1 This is a schematic diagram of the overall structure of the sleeve active disengagement device for installing wire clamps according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the support connection component according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the rotation drive component structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram showing the connection between the linear drive component and the axial force transmission component according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a sleeve structure assembly according to an embodiment of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of a sleeve structure assembly according to an embodiment of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the protective components according to an embodiment of the present invention; Figure 8 This is an exploded view of the visual observation component, battery, and robotic arm interface component according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the wiring clamp assembly according to an embodiment of the present invention.

[0020] The meanings of the reference numerals in the figure are as follows: 1. Support connection assembly; 11. Fixed base plate; 12. Left fixed block; 13. Right fixed block; 14. Servo mounting plate; 15. Base; 16. First robotic arm interface component; 17. Second robotic arm interface component; 18. Left locking tongue; 19. Right locking tongue; 2. Rotary drive assembly; 21. Motor mount; 22. Front gearbox; 23. Rear gearbox; 24. Left output shaft; 25. Right output shaft; 26. First fastener adapter head; 27. Second fastener adapter head; 31. First electric push rod; 32. Second electric push rod; 33. First pull lug; 34. Second pull lug; 4. Fastener adapter head; 41. Dodecagonal sleeve; 42. First retaining ring half. ; 43. Second retaining ring half; 44. Sleeve guide cover; 45. Positioning pin; 46. Fastening screw; 5. Protective assembly; 51. Motor housing; 52. Push rod cover; 53. Left servo housing; 54. Right servo housing; 55. First side cover; 56. Second side cover; 61. First servo; 62. Second servo; 63. Battery; 64. Battery pin; 65. Lens mounting bracket; 66. Camera; 7. Wiring clamp assembly; 71. Upper shell; 72. Lower shell; 73. First piercing blade assembly; 74. Second piercing blade assembly; 75. Piercing body clamp; 76. First bolt assembly; 77. Second bolt assembly; 78. First metal washer; 79. Second metal washer. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] like Figures 1 to 9 As shown, an active sleeve release device for installing wire clamps is used to connect to a robotic arm to perform clamp picking and tightening operations. The device mainly includes a rotary drive assembly 2, at least two fastener adapter heads 4, at least two linear drive components, and a housing holding assembly. These four core modules are arranged collaboratively in space to form an end effector capable of stably picking up pre-installed wire clamps and adapting to varying sleeve release resistance after tightening multiple bolts.

[0023] The rotary drive assembly 2 is configured to maintain a fixed axial position during the fastening operation and provide rotary driving force. Specifically, the fixed axial position means that during the fastener tightening and subsequent sleeve removal operations, the power source, transmission mechanism, and output shaft of the rotary drive assembly 2 do not undergo axial displacement relative to the support base of the sleeve active release device. For example, the rotary drive assembly 2 includes a motor and gearbox assembly, which are rigidly mounted in the middle region of the support connection assembly 1, which constitutes the overall load-bearing frame of the machine. This design allows the rotary drive assembly 2 to function solely as a pure torque output source and axial sliding guide, without participating in the axial feed motion during sleeve removal. Compared to the existing technology that uses a lifting mechanism to move the entire rotary module backward to achieve separation, this embodiment completely eliminates the moment of inertia during sleeve removal by keeping the large-mass drive component in a fixed axial position, avoiding the transmission of impact loads generated by the overall backward retraction to the end of the robotic arm, thereby significantly improving the stability of the operation process.

[0024] At least two fastener adapter heads 4 are circumferentially limited and axially slidingly engaged with the drive end of the rotary drive assembly 2, thereby facilitating the transmission of torque to tighten the fastener of the wire clamp during the tightening operation and axially retracting along the drive end during the unsleeving stage. Specifically, the circumferentially limited and axially sliding engagement defines a composite kinematic pair relationship between the fastener adapter head 4 and the drive end. During the tightening operation, the two abut against each other through mating surfaces such as non-circular cross sections or splines to achieve lossless torque transmission; while during the unsleeving operation, the fastener adapter head 4 can independently slide axially relative to the drive end, whose axial position remains unchanged. It should be understood that although the fastener adapter head 4 is preferably in the form of a sleeve in this embodiment, in other embodiments, it can also be any adapter structure capable of forming a torque transmission engagement with a specific fastener (such as a nut, bolt head, rivet, etc.). This cooperative relationship is the physical basis for achieving the independent retraction of the fastener adapter 4 while the drive end remains stationary. It ensures that the fastener adapter 4 is always subject to circumferential constraint and axial guidance from the drive end during the unsleeving process, preventing jamming or skew due to loss of guidance. It also ensures that the unsleeving action will not drag the rotating drive component 2 in the opposite direction and cause displacement.

[0025] At least two linear drive units are respectively configured to correspond to at least two fastener adapter heads 4, and are configured to apply axial pull-out force to the corresponding fastener adapter head 4 during the unsleeving stage to drive each fastener adapter head 4 to independently retract axially. Specifically, "respectively corresponding" means that each fastener adapter head 4 has its own dedicated linear drive source, and there is no forced mechanical linkage between the two. The independent application of axial pull-out force emphasizes the initiative and decoupling of the unsleeving power. In actual operation, due to factors such as machining errors, differences in friction coefficients, or deformation of the clamp housing, the unsleeving resistance of the fasteners on both sides is often inconsistent. This embodiment, through independent linear drive units, allows one fastener adapter head 4 to retract and stop first when encountering less resistance, while the other fastener adapter head 4 continues to complete the unsleeving under greater resistance, without interference. This architecture fundamentally solves the deflection load problem caused by uneven resistance on both sides in traditional integral unsleeving mechanisms, avoids the transmission of unbalanced force to the clamp and wire through the gearbox, and effectively protects the completed electrical connection state. It should be noted that the form of linear drive is not limited to a specific actuator type; any drive unit that can provide controllable axial linear motion is applicable.

[0026] The housing holding assembly features a lateral guiding structure and an elastically retractable holding structure to support the clamp housing from below during the pickup phase, thus bearing the lifting load. Specifically, the housing holding assembly is located at the working end of the device, and its functional positioning is clearly divided with that of the fastener adapter head 4. When picking up a clamp in a pre-installed open state, the housing holding assembly utilizes its elastic retraction characteristics to automatically avoid the clamp as it enters and reset after passing the bearing position, thereby forming a force path that supports the clamp housing from below and bears the main gravity load of the clamp. At the same time, the fastener adapter head 4 only fits around the outer periphery of the fastener, serving to limit the clamp's rotation around its axis and maintain its lateral sway, without bearing the main lifting weight. This collaborative pickup architecture avoids the risk of damage caused by concentrating the entire weight of the clamp on the edge of the fastener, and eliminates the need for an independent gripper mechanism as in existing technologies, simplifying the structural complexity of the end tool while ensuring pickup stability. In addition, the lateral guiding structure can also assist in correcting the lateral position of the clamp during descent, further improving alignment efficiency.

[0027] By organically combining the four core modules mentioned above, this embodiment constructs a functionally decoupled and independently operating active sleeve release device for installing wire clamps. The axial fixation of the rotary drive assembly 2 and the axial sliding of the fastener adapter head 4 achieve lightweighting of the sleeve release motion; the independent configuration of the linear drive component gives the device the flexibility to adapt to varying sleeve release resistance; and the lower support design of the housing holding assembly establishes a stable pickup force path. These features work together to enable the active sleeve release device to balance pickup reliability, fastening effectiveness, and smooth sleeve release in complex operating environments.

[0028] The fastener adapter 4 has an axially stressed flange on its outer periphery; the linear drive has an axially transmitted force component, and an axial clearance is maintained between the axially transmitted force component and the fastener adapter 4 during the fastening operation; during the unsleeving stage, the axially transmitted force component crosses the axial clearance and abuts against the axially stressed flange to apply an axial pull-out force to the fastener adapter 4. Specifically, this axial clearance design is the key boundary that distinguishes the active unsleeving structure of this invention from traditional spring-floating or rigid connection schemes. Figure 4As shown, during the tightening operation, the fastener adapter 4 experiences slight changes or floating in axial position due to the thread feed. At this time, the axial force transmission component and the axial force-bearing flange remain in a non-contact separation state, thus completely avoiding friction, lateral constraint, or motion interference from the stationary axial force transmission component on the high-speed rotating fastener adapter 4. Only when entering the unsleeving stage does the linear drive component actively drive the axial force transmission component to cross the gap and establish a rigid contact with the axial force-bearing flange, thereby directly converting the linear drive force into axial pull-out force. This sequential avoidance-then-contact mechanism ensures both smooth and unobstructed tightening and a clear, controllable, and directional active pull-out force during the unsleeving process, effectively overcoming the defects of insufficient rebound force or uncertain direction in spring-floating structures under jamming conditions.

[0029] Furthermore, for ease of manufacturing and assembly, the fastener adapter 4 includes a sleeve body and a sleeve guide cover 44 fitted and fixed to the working end of the sleeve body; the rear part of the sleeve body forms an annular limiting mounting portion, and the axial force-bearing flange includes a first retaining ring half 42 and a second retaining ring half 43 that surround the annular limiting mounting portion from both radial sides. The first retaining ring half 42 and the second retaining ring half 43 are kept in an enclosing state by a positioning pin 45 and a fastening screw 46, so as to jointly form an annular flange structure with an outer diameter larger than the outer diameter of the sleeve body. Figure 5 , Figure 6 As shown, the first retaining ring half 42 and the second retaining ring half 43 radially enclose the annular limiting mounting part at the rear of the sleeve body, and are circumferentially positioned by the locating pin 45, and then locked together by the fastening screw 46. Compared with directly machining an integral flange on the sleeve body, this split assembly structure not only reduces the machining difficulty and heat treatment deformation risk of high-strength sleeves, but also makes the axially stressed flange a replaceable vulnerable component module. When the flange surface wears due to long-term tensile loads, only the retaining ring half needs to be replaced without scrapping the entire expensive sleeve body, significantly reducing maintenance costs. At the same time, the enclosed annular flange structure provides a continuous and uniform axial stop surface for the axial force transmission component, ensuring that the tensile force is evenly distributed along the circumference and avoiding sleeve skewing or jamming caused by single-point force.

[0030] As a specific implementation of the aforementioned axial force transmission component, the axial force transmission component is a plate-shaped pull lug body, and the linear drive component is an electric push rod. One end of the plate-shaped pull lug body has a push rod connection hole, which is fixedly connected to the front end of the telescopic rod of the electric push rod to transmit axial push-pull force along with the telescopic rod. The other end of the plate-shaped pull lug body has a closed through hole through which the sleeve body passes. The diameter of the closed through hole is larger than the outer diameter of the main body of the sleeve body, and smaller than the outer diameter of the axially stressed flange and the outer diameter of the reset contact surface of the sleeve guide cover 44, respectively. The plate-shaped pull lug body is located between the reset contact surface and the axially stressed flange. During the fastening operation, radial clearance and axial clearance are maintained between the plate-shaped pull lug body, the axially stressed flange, and the reset contact surface, respectively, to avoid applying lateral constraints to the rotating sleeve body. Figure 4 , Figure 5 , Figure 6 It is evident that both the first pull lug 33 and the second pull lug 34 employ this plate-shaped closed through-hole structure, allowing the sleeve body (such as the dodecagonal sleeve 41) to pass freely through the through-hole. Because the through-hole diameter is carefully designed to fall between the outer diameter of the sleeve body and the outer diameter of the force-bearing surfaces at both ends, the plate-shaped pull lug body effectively forms a transmission slider suspended around the outer periphery of the sleeve. During the screwing stage, the radial clearance ensures that the inner wall of the pull lug does not contact the rotating sleeve surface; while during the unsleeving or resetting stage, the front and rear end faces of the pull lug can precisely engage with the axial force-bearing flange or the resetting abutment surface to transmit force. This non-contact, circumferential transmission design, while ensuring bidirectional force transmission reliability, minimizes the risk of wear between moving parts and the accuracy requirements for alignment.

[0031] Furthermore, the sleeve guide cover 44 forms a flared inlet facing the fastener of the wire clamp and a reset abutment surface facing the axial force transmission member. The sleeve guide cover 44 and the sleeve body maintain circumferential synchronous rotation and restrict axial relative displacement. During the reset phase, the linear drive member drives the axial force transmission member to extend towards the working end of the sleeve body, so that the axial force transmission member abuts against the reset abutment surface. The reset thrust is transmitted to the sleeve body through the sleeve guide cover 44, pushing the fastener adapter head 4 forward. Specifically, the sleeve guide cover 44 is detachably fixed to the outer periphery of the working end of the dodecagonal sleeve 41 by a threaded connection. The flared inlet at its front end is flared and configured to guide the fastener of the wire clamp into the working hole of the sleeve body during the descent of the sleeve active release device for wire clamp installation, so as to assist in completing the alignment of the two sleeve bodies. This flared structure acts as a physical tolerance amplifier. Even if the robotic arm's positioning has a deviation of several millimeters, the fastener can be automatically guided into the sleeve's working hole along the flared slope, significantly reducing the reliance on visual recognition accuracy and robotic arm trajectory planning accuracy. More importantly, the rear end face of the sleeve guide cover 44 forms a reset abutment surface, which, together with the aforementioned axial force-bearing flange, defines the axial movement space of the plate-shaped pull lug body. When the sleeve is unloaded and reset is required, the electric push rod extends in the opposite direction, driving the pull lug to cross the front axial clearance gap and abut against the reset abutment surface. The thrust is transmitted to the sleeve body via the threaded connection structure between the sleeve guide cover 44 and the dodecagonal sleeve 41, causing it to move forward along the output shaft back to the initial working position. Thus, the same set of linear drive components and plate-shaped pull lug body integrate the dual functions of backward pulling unloading and forward pushing reset by cooperating with different force-bearing surfaces in different directions. This eliminates the need for an additional independent reset cylinder or spring mechanism, greatly simplifying the internal structure and control logic of the end effector, while also reducing potential failure points and weight burden caused by an increase in parts.

[0032] The housing clamping assembly includes a fixing block and a resilient clamping member. The fixing block forms a guide area facing the side of the clamp housing to correct the lateral position of the clamp during descent. The resilient clamping member is located at the working end of the fixing block, and an inclined guide surface is formed on the side of the resilient clamping member facing the direction of entry into the clamp housing. A bearing surface for supporting the clamp housing is formed at the rear of the inclined guide surface. During the pickup phase, the clamp housing presses against the inclined guide surface, causing the resilient clamping member to retract outward. After passing the resilient clamping member, the resilient clamping member returns under the action of elastic reset, so that the bearing surface is located below the bearing position of the clamp housing. Specifically, as follows... Figure 2As shown, the fixing blocks include a left fixing block 12 and a right fixing block 13 respectively positioned on the left and right sides of the clamp housing. The elastic fastening components include a left locking tongue 18 and a right locking tongue 19 respectively embedded in the left fixing block 12 and the right fixing block 13. The opposing inner surfaces of the left fixing block 12 and the right fixing block 13 constitute the aforementioned guide area. When the device descends with the robotic arm and approaches the clamp, these two guide areas act like an inverted funnel or guide rail, physically constraining the lateral degree of freedom of the clamp housing and forcibly correcting the horizontal deviation of the clamp relative to the center of the device. This ensures that subsequent fastening and alignment actions can be performed smoothly within the preset tolerance range. This passive guiding mechanism based on geometry effectively reduces the over-reliance on the positioning accuracy of the robotic arm end effector and improves the robustness of the operating system.

[0033] Furthermore, the core function of the elastic latch lies in its unique passive trigger-automatic locking logic. Taking the left latch 18 as an example, its inclined guide surface facing the wire clamp entry direction forms a wedge-shaped ramp. When the wire clamp housing contacts this ramp during descent, the vertical downward motion is converted into a horizontal component force that pushes the latch outward (i.e., away from the center of the wire clamp), forcing the elastic latch to overcome elastic resistance and retract outward, thus making room for the wire clamp housing to continue descending. Once the bottom edge of the wire clamp housing passes the highest point of the elastic latch, the external driving force disappears, and the elastic latch quickly rebounds inward under the action of elastic restoring force, causing its upper bearing surface to move precisely to the underside of the preset bearing part of the wire clamp housing. It is particularly important to emphasize that the bearing surface here is designed as a support plane or slightly concave curved surface that is substantially parallel to the horizontal plane, and its force mode is a vertically upward normal support force, which is fundamentally different from the grippers in the prior art that rely on lateral friction to hold objects. The bottom-supporting method not only withstands greater loads without damaging the clamp surface, but also completely avoids the risk of slippage due to insufficient clamping force or the problem of housing deformation due to excessive clamping force. It is particularly suitable for handling wire clamps that are in a pre-installed open state and whose structure is not yet stable. It should be understood that although the elastic fastener in this embodiment is specifically manifested as a sliding locking tongue structure, in other embodiments, it can also be replaced by a cantilever spring or a torsion spring-driven swing arm, as long as it has the function of pressure relief and reset bearing.

[0034] To ensure the elastic fastener remains in the correct operational position when unloaded, a transverse guide groove is provided within the fixing block. The elastic fastener is embedded within this groove and can reciprocate along the direction approaching or away from the side of the clamp housing. An elastic reset element is located between the rear of the elastic fastener and the fixing block. This reset element is configured to maintain the elastic fastener in its initial extended position towards the clamping area when no external force is applied. Specifically, the transverse guide groove not only limits the movement trajectory of the elastic fastener, preventing deflection or jamming under lifting loads, but also provides installation space and compression stroke for the internal elastic reset element. The elastic reset element is preferably a compression spring, with one end abutting against the bottom wall of the guide groove and the other end abutting against the tail of the elastic fastener, continuously providing inward thrust. This built-in elastic reset design results in a clean and compact appearance for the entire clamping mechanism, and the spring is protected by the groove, making it less susceptible to contamination by foreign objects or failure due to accidental impact. In other possible implementations, the elastic reset element may also be a rubber pad, a disc spring assembly, or a permanent magnet repulsion structure, to adapt to different load requirements and environmental conditions.

[0035] Furthermore, this embodiment defines a clear unloading and release sequence for the clamp release stage after the operation is completed: During the unloading and release phase, the robotic arm moves the active release device of the sleeve used for clamp installation downwards to release the lifting load on the clamp housing from the bearing surface. It then moves along the opening direction of the clamping area formed by the fixed blocks, causing the side of the clamp housing to press against the inclined guide surface again, forcing the elastic clamping member to retract outwards until it is completely disengaged. This release process includes two crucial, irreversible steps. The first step is unloading, which involves using a downward micro-motion device to allow the clamp housing to fall onto the conductor or other support, or at least to ensure that the weight of the clamp is no longer borne by the bearing surface, thereby eliminating the normal pressure and static friction between the bearing surface and the clamp. The second step is retraction, which involves lateral translation under no-load conditions, using the side wall of the clamp housing to press against the inclined guide surface again, triggering a second passive retraction of the elastic clamping member until the device is completely disengaged from the clamp. If the first step is omitted and the lateral translation is performed directly under load, the enormous frictional resistance may cause the elastic clamping member to jam, deform, or even break, and may also scratch the clamp housing. By decoupling the release action into two stages—first unloading force, then disengaging—this embodiment cleverly utilizes simple mechanical coordination to achieve safe, reliable, and non-destructive release without the need for additional active unlocking drivers, further simplifying the control complexity and hardware cost of the end effector.

[0036] The rotary drive assembly 2 includes a rotary drive motor and a front gearbox 22 and a rear gearbox 23 connected to the rotary drive motor. The rotary drive motor, front gearbox 22, and rear gearbox 23 maintain a fixed axial position during the unsleeving stage. The drive end includes a left output shaft 24 and a right output shaft 25 arranged in parallel. The front ends of the left output shaft 24 and the right output shaft 25 are respectively inserted into the rear of the corresponding fastener adapter head 4. The insertion portions of the left output shaft 24 and the right output shaft 25 each have a non-circular cross-section. The rear portion of the fastener adapter head 4 is provided with a non-circular insertion hole that matches the cross-sectional shape of the corresponding output shaft, forming a circumferentially limited and axially sliding fit. During the fastening operation, the non-circular mating surfaces abut against each other to transmit torque. During the unsleeving stage, the fastener adapter head 4 slides backward along the corresponding output shaft while maintaining a circumferential fit, keeping its axial position unchanged. Specifically, as... Figure 3 As shown, the rotary drive motor is rigidly mounted on the motor base 21. The motor base 21, the front gearbox 22, and the rear gearbox 23 are sequentially and fixedly connected and integrally fixed in the middle area of ​​the support connection assembly 1, forming a power unit that is absolutely stationary during the sleeve removal process. The left output shaft 24 and the right output shaft 25 extend forward from the rear gearbox 23 in parallel. Their front end insertion sections are machined into a dodecagonal prism or other non-circular cross section, which precisely matches the dodecagonal insertion hole at the rear of the dodecagonal sleeve 41. This non-circular fitting structure has dual functional attributes: when tightening, it transmits large torque by simultaneously abutting multiple sides, avoiding the stress concentration problem of single-key or pin connections; when sliding during sleeve removal, it also acts as a high-precision linear guide, ensuring that the dodecagonal sleeve 41 can only translate along the axis and will not experience radial wobble or circumferential rotation. It should be understood that although a dodecagonal fit is preferred in this embodiment, in other embodiments, non-circular cross-section forms such as hexagonal, octagonal, rectangular splines, or involute splines can be selected according to torque requirements and processing conditions, as long as the functions of circumferential locking and axial guiding can be satisfied simultaneously. Compared with the traditional circular shaft plus flat key structure, the integrated non-circular fit of this embodiment eliminates the gaps and impacts caused by the keyway, improving transmission smoothness and service life; compared with the integral spline shaft, its processing technology is simpler and it is easier to strengthen by heat treatment, achieving the best balance between performance and cost.

[0037] Furthermore, in order to adapt to the uneven resistance conditions commonly encountered in multi-bolt fastening operations, this invention constructs a fully decoupled dual-branch independent unsleeving architecture. At least two fastener adapters 4 include a first fastener adapter 26 and a second fastener adapter 27, and at least two linear drives include a first linear drive and a second linear drive. The first linear drive is a first electric push rod 31, and the second linear drive is a second electric push rod 32. The corresponding axial force transmission components are a first pull lug 33 and a second pull lug 34, respectively. The first linear drive and the first fastener adapter 26 constitute a first active disengagement branch, and the second linear drive and the second fastener adapter 27 constitute a second active disengagement branch. The two branches are independent of each other. The housings of the first and second linear drives are fixedly installed, and only their telescopic rods and corresponding adapters generate axial displacement during the unsleeving and resetting stages. The first and second active disengagement branches are respectively connected to independent control channels and configured to start synchronously, start separately, or stop. When either adapter first exits the corresponding fastener, the corresponding linear drive stops or maintains its current position, and the other active disengagement branch continues to operate within the allowable unsleeving stroke until both adapters exit the corresponding fasteners. Figure 3 and Figure 4It is known that the housings of the first electric push rod 31 and the second electric push rod 32 are rigidly fixed to two independent mounting positions on the base 15, which means that the axial reaction force generated by the sleeve removal is directly transmitted to the support frame through the base 15, without acting in the opposite direction on the rotary drive motor or gearbox, thus ensuring the static stability of the power unit. More importantly, this physical isolation in the structure provides a hardware foundation for a flexible strategy at the control level. In actual lead wire splicing operations, due to differences in factors such as the tightening depth of the two copper nuts, the coefficient of thread friction, the degree of deformation of the wire clamp housing, and the tension of the wire, the removal resistance of the sleeves on both sides is often significantly different. If a linkage mechanism is used to force both sides to retreat synchronously, the side with less resistance may have already disengaged but is still forced to continue its empty travel, while the side with greater resistance may be stuck due to insufficient driving force, or even cause the entire mechanism to overload or the wire clamp posture to change abruptly. In this embodiment, by connecting the two branches to independent control channels, the control system can monitor the current or position feedback of each branch in real time and implement differentiated sleeve removal strategies. For example, when it is detected that the first fastener adapter 26 has successfully disengaged while the second fastener adapter 27 is still under high load, the system can immediately instruct the first electric push rod 31 to stop and maintain its current position, while simultaneously instructing the second electric push rod 32 to continue disengaging with constant thrust or adaptive mode until both are safely separated. This control logic minimizes additional load disturbances caused by inconsistent resistance, significantly improving the safety margin and success rate of the disengagement process. It should be noted that independent control here does not preclude the possibility of synchronous operation; under ideal conditions, the two branches can still start synchronously to improve efficiency. The core lies in having the capability to operate independently.

[0038] The support connection assembly 1 includes a fixed base plate 11 and a base 15 fixed on the fixed base plate 11. The rotation drive assembly 2 is installed in the middle of the fixed base plate 11, and the housing fastening assembly is set at the working end of the fixed base plate 11. The vision observation assembly includes a lens mounting bracket 65 and a camera 66 installed on the lens mounting bracket 65. The camera 66 faces the mating area between the fastener adapter head 4 and the fastener of the wire clamp, and is used to remotely observe the insertion and separation status. The robotic arm interface assembly includes a first robotic arm interface component 16 and a second robotic arm interface component 17. The first robotic arm interface component 16 and the second robotic arm interface component 17 are configured to connect to the same robotic arm end of the working robot to bear the lifting load, twisting reaction torque, and active unsleeving axial reaction force of the wire clamp. Specifically, as Figure 1 , Figure 7 and Figure 8As shown, the fixed base plate 11 serves as the integrated base of the entire machine, supporting the rotary drive assembly 2, the housing fastening assembly, and the base 15. A protective assembly 5 is also provided on the fixed base plate 11, allowing all functional modules to be arranged in an orderly manner within a compact space. The lens mounting bracket 65 extends forward above the work area, and the camera 66 is mounted on the lens mounting bracket 65 to obtain a top-down view, clearly capturing the alignment of the dodecagonal sleeve 41 and the copper nut, as well as the separation gap after sleeve removal. This provides crucial visual feedback for operators or the automatic control system, effectively compensating for blind spots in high-altitude operations. The first robotic arm interface component 16 and the second robotic arm interface component 17 together form a highly rigid connection interface. They must not only withstand the vertical gravity load during clamp pickup but also resist the enormous reaction torque generated during tightening and the axial thrust caused by the reaction force of the electric push rod during active sleeve removal. This comprehensive multi-dimensional load-bearing design ensures that the end effector maintains a stable connection with the robotic arm end effector under various extreme working conditions, avoiding loosening or attitude drift due to insufficient local stiffness. It should be understood that although the robotic arm interface assembly in this embodiment adopts a two-component split structure to adapt to a specific model of robot flange, in other embodiments, it can also be designed as an integrated flange, quick-change adapter, or other form of connection structure according to the target robot's interface standard, as long as the same load transfer function can be achieved.

[0039] The protective assembly 5 includes a motor housing 51, a push rod cover 52, a left servo housing 53, a right servo housing 54, a first side cover 55, and a second side cover 56. The motor housing 51, push rod cover 52, left servo housing 53, right servo housing 54, first side cover 55, and second side cover 56 are detachably mounted to corresponding installation positions on the fixed base plate 11, base 15, and servo mounting plate 14 using screws. The motor housing 51 covers the outside of the motor mount 21, the front gearbox 22, and the rear gearbox 23; the push rod cover 52 covers the outside of the two electric push rods and provides clearance channels for the telescopic rods and pull lugs to move axially; the left servo housing 53 and right servo housing 54 cover the outside of the first servo 61 and the second servo 62, respectively; the first side cover 55 and the second side cover 56 respectively cover the transmission areas on both sides of the rotary drive assembly 2. The first servo motor 61 and the second servo motor 62 are respectively mounted on the servo motor mounting plate 14. The first servo motor 61 drives the locking member corresponding to the first robotic arm interface component 16 to rotate, and the second servo motor 62 drives the locking member corresponding to the second robotic arm interface component 17 to rotate, so that the two locking members together complete the locking and releasing of the robotic arm interface component and the same robotic arm end. The battery 63 is detachably mounted on the support connection component 1 through the battery pin 64, and supplies power to the rotary drive motor, the first electric push rod 31, the second electric push rod 32, the first servo motor 61, the second servo motor 62, and the camera 66.

[0040] The overall working principle of this invention is as follows: The robotic arm drives the sleeve active release device for installing the connector clamp to move downwards towards the connector clamp assembly 7, which is in a pre-installed open state. The connector clamp assembly 7 is the working object of this device and includes an upper shell 71, a lower shell 72, a first piercing blade assembly 73, a second piercing blade assembly 74, a piercing body clamping plate 75, a first bolt assembly 76, a second bolt assembly 77, a first metal washer 78, and a second metal washer 79. Both the first bolt assembly 76 and the second bolt assembly 77 include hexagonal bolts, tapered nuts, and brass nuts. The two brass nuts correspond to the first fastener adapter 26 and the second fastener adapter 27, respectively. During this process, the left fixing block 12 and the right fixing block 13 in the shell holding assembly first play a lateral guiding role. Their guiding areas facing the side of the connector shell physically constrain the lateral degree of freedom of the lower shell 72 of the connector clamp, correcting the horizontal deviation of the connector clamp relative to the center of the sleeve active release device. As the sleeve disengagement device continues to descend, the left and right sides of the lower housing 72 of the wiring clamp press against the inclined guide surfaces of the left locking tongue 18 and the right locking tongue 19, respectively, forcing the elastic fastening element to passively retract outward along the transverse guide groove. After the lower housing 72 passes the highest point of the locking tongue, the left locking tongue 18 and the right locking tongue 19 automatically rebound under the action of the internal elastic reset element, so that their bearing surfaces are precisely located below the bearing position of the lower housing 72, forming a clamping state that supports the wiring clamp housing from below. At the same time, the sleeve guide cover 44 at the working end of the fastener adapter head 4 guides the copper nuts of the first bolt assembly 76 and the second bolt assembly 77 of the wiring clamp to smoothly enter the working hole of the dodecagonal sleeve 41 using its flared inlet, assisting in completing the alignment of the two sleeves. This process verifies that the device can simultaneously complete the three types of cooperation relationships—horizontal correction of the wiring clamp, double-sided elastic fastening, and double sleeve alignment—in one descent movement of the robotic arm, without the need for additional tool switching or pre-tightening operations during the picking stage, significantly improving work efficiency and alignment tolerance.

[0041] After alignment, the device enters the combined lifting stage. The robotic arm lifts the sleeve for the wire clamp installation actively disengages. At this time, the main lifting load of the wire clamp assembly 7 is vertically supported from below by the bearing surfaces of the left locking tongue 18 and the right locking tongue 19, and transmitted to the end of the robotic arm via the left fixing block 12, the right fixing block 13, and the fixed base plate 11. The dodecagonal sleeve 41 only fits around the outer circumference of the copper nut, which is used to limit the rotation of the wire clamp assembly 7 around the vertical axis and the lateral swing relative to the end device, and does not bear the main gravity load. By using this collaborative picking architecture, the risk of damage caused by concentrating all the weight of the wire clamp on the edge of the sleeve working hole is effectively avoided, and the posture stability of the wire clamp in the pre-installed open state and whose structure is not yet stable is ensured during the handling process. This solves the technical pain point of the prior art where the wire clamp is easily dislodged or swings due to the sleeve bearing the weight alone.

[0042] After the wire clamp is moved to the contact position of the main wire and the lead wire and the wires are in place, the device enters the fastening stage. The rotary drive assembly 2 starts, driving the left output shaft 24 and the right output shaft 25 to rotate through the front gearbox 22 and the rear gearbox 23. This drives the two dodecagonal sleeves 41 to tighten the corresponding copper nuts, bringing the upper shell 71 and the lower shell 72 of the wire clamp closer together and pressing the wires together. During this fastening stage, the rotary drive motor, the front gearbox 22, the rear gearbox 23, and the left and right output shafts 24 and 25 all maintain a fixed axial position, serving only as pure torque output sources and axial sliding guides. This design ensures that the heavy drive components do not participate in the subsequent sleeve removal and feeding motion, laying the structural foundation for the subsequent lightweight sleeve removal. At the same time, because the dodecagonal sleeves 41 and the output shafts use a non-circular cross-section fit, they retain the freedom of axial sliding while transmitting large torque, ensuring a smooth and reliable fastening process.

[0043] After tightening, the device enters the crucial active disengagement stage. Once the robot control unit confirms the tightening is in place, it stops the rotary drive motor and activates the first electric push rod 31 and the second electric push rod 32 to drive the first pull lug 33 and the second pull lug 34 away from the copper nut, respectively. Each pull lug first crosses the axial clearance reserved during the tightening stage, then abuts against the annular axial force-bearing flange (composed of the first retaining ring half 42 and the second retaining ring half 43) at the rear of the corresponding dodecagonal sleeve 41, converting the linear driving force into an axial pulling force, driving the dodecagonal sleeve 41 to slide backward along the output axis while maintaining its axial position. During this process, the first and second active disengagement branches operate independently. For example, when the left sleeve disengages from the copper nut first due to lower frictional resistance, the first electric push rod 31 immediately stops and maintains its current position; while if the right sleeve is still in a high-load stuck state, the second electric push rod 32 continues to apply thrust within its allowable stroke until the right sleeve is safely disengaged. Since the rotary drive assembly 2 remains stationary, only local lightweight components such as the lugs and sleeves experience axial displacement, resulting in minimal mass during the unsleeving motion. More importantly, the two side branches can adapt to different unsleeving resistances without forced linkage, completely eliminating the risk of deflection loads caused by inconsistent resistances on both sides being transmitted to the clamps and wires via the gearbox. This effectively protects the completed electrical connection state and avoids overload of the robotic arm or sudden changes in the clamp posture.

[0044] Finally, the active sleeve release device performs the latch unloading and sleeve reset phases. After confirming that both sleeves have actively released, the robotic arm first slightly moves the active sleeve release device downwards, releasing the lifting load on the bearing surfaces of the left latch 18 and right latch 19 against the lower housing 72 of the wire clamp, achieving unloading without load. Then, it moves along the opening direction of the clamping area, causing the side of the lower housing 72 to press against the inclined guide surface of the latch again, forcing it to retract, until the active sleeve release device is completely disengaged from the wire clamp. This timing design of first unloading and then releasing avoids mechanism jamming or wire clamp damage caused by forced release under load. After disengagement, the first electric push rod 31 and the second electric push rod 32 extend in opposite directions, driving the pull lug to cross the front axial clearance and abut against the reset abutment surface of the sleeve guide cover 44, transmitting the thrust through the sleeve guide cover 44 to the dodecagonal sleeve 41, pushing the dodecagonal sleeve 41 forward along the output shaft back to the initial working position. Thus, the same set of linear drive components and pull lugs completed the two-way functional closed loop of sleeve removal and reset push, without the need for an additional reset mechanism, further demonstrating the compactness and functional integration of the device structure.

[0045] The above-mentioned full-process application verification shows that the active sleeve release device for wire clamp installation provided by the present invention can effectively solve the disturbance problem caused by uneven sleeve release resistance after multiple bolt tightening and the problem of unstable pickup of pre-installed wire clamps under real fire conditions through the precise coordination of each component, thus achieving a high degree of unity between structural design and operational effect.

Claims

1. A sleeve active disengagement device for installing wire clamps, characterized in that, include: A rotary drive assembly (2) is configured to maintain an axial position fixed during the fastening operation and to provide a rotary drive force; At least two fastener adapter heads (4) are circumferentially limited and axially slidingly engaged with the drive end of the rotary drive assembly (2), configured to transmit torque to tighten the fastener of the clamp during the fastening operation phase, and to retract axially along the drive end of the rotary drive assembly (2) during the unsleeving phase. At least two linear drive members, each corresponding to at least two of the fastener adapters (4), are configured to apply an axial pull force to the corresponding fastener adapters (4) during the unsleeving phase, so as to drive each of the fastener adapters (4) to move axially backward independently. The housing holding assembly has a lateral guide structure and a resilient recoil holding structure, configured to support the clamp housing from below during the pickup phase to bear the lifting load.

2. The active disengagement device for the sleeve used in installing wire clamps according to claim 1, characterized in that, The fastener adapter (4) has an axial force-bearing flange on its outer periphery; The linear drive is provided with an axial force transmission component, and an axial clearance is maintained between the axial force transmission component and the fastener adapter (4) during the fastening operation. During the unsleeving stage, the axial force transmission member crosses the axial clearance gap and abuts against the axial force-bearing flange to apply the axial pull-out force to the fastener adapter head (4).

3. The active disengagement device for the sleeve used in installing wire clamps according to claim 2, characterized in that, The fastener adapter (4) includes a sleeve body and a sleeve guide cover (44) sleeved and fixed on the working end of the sleeve body; The rear part of the sleeve body forms an annular limiting mounting part. The axial force-bearing flange includes a first retaining ring half (42) and a second retaining ring half (43) that surround the annular limiting mounting part from both radial sides. The first retaining ring half (42) and the second retaining ring half (43) are kept in a surrounding state by a positioning pin (45) and a fastening screw (46) to jointly form an annular flange structure with an outer diameter larger than the outer diameter of the sleeve body. The sleeve guide cover (44) forms an flared inlet toward the fastener of the wire clamp and a reset abutment surface toward the axial force transmission member. The sleeve guide cover (44) rotates synchronously in the circumferential direction with the sleeve body and restricts axial relative displacement. During the reset phase, the linear drive drives the axial force transmission member to extend towards the working end of the sleeve body, so that the axial force transmission member abuts against the reset abutment surface, and the reset thrust is transmitted to the sleeve body through the sleeve guide cover (44), pushing the fastener adapter head (4) forward.

4. The active disengagement device for the sleeve used in installing wire clamps according to claim 1, characterized in that, The housing fastening assembly includes a fixing block and an elastic fastening element; The fixing block forms a guide area facing the side of the clamp housing to correct the lateral position of the clamp during descent. The elastic fastener is disposed at the working end of the fixed block. The side of the elastic fastener facing the wire clamp housing in the ingress direction forms an inclined guide surface, and the portion located behind the inclined guide surface forms a bearing surface for supporting the wire clamp housing. During the picking phase, the clamp housing presses against the inclined guide surface, causing the elastic fastener to retract outward. After passing the elastic fastener, the elastic fastener returns under the elastic reset action, so that the bearing surface is located below the bearing position of the clamp housing.

5. The active disengagement device for the sleeve used in installing wire clamps according to claim 4, characterized in that, The fixing block is provided with a transverse guide groove, and the elastic fastener is embedded in the transverse guide groove and can reciprocate in the direction of approaching or moving away from the side of the clamp housing. An elastic reset member is provided between the rear part of the elastic fastener and the fixing block. The elastic reset member is configured to maintain the elastic fastener in its initial position of extending into the fastening area when the elastic fastener is not subjected to external force. The fixing block includes a left fixing block (12) and a right fixing block (13) respectively provided on the left and right sides of the clamp housing, and the elastic fastener includes a left fastener and a right fastener respectively embedded in the left fixing block (12) and the right fixing block (13); During the unloading and release phase, the robotic arm moves the active release device of the sleeve used for wire clamp installation downward to release the lifting load of the bearing surface on the clamp housing. Then it moves along the opening direction of the clamping area formed by the fixing blocks, so that the side of the clamp housing presses against the inclined guide surface again, forcing the elastic clamping member to retract outward until it is completely misaligned.

6. The active disengagement device for the sleeve used in installing wire clamps according to claim 1, characterized in that, The rotary drive assembly (2) includes a rotary drive motor and a front gearbox (22) and a rear gearbox (23) that are connected to the rotary drive motor. The rotary drive motor, the front gearbox (22) and the rear gearbox (23) maintain a fixed axial position during the unsleeving stage. The drive end includes a left output shaft (24) and a right output shaft (25) arranged in parallel. The front ends of the left output shaft (24) and the right output shaft (25) are respectively inserted into the rear of the corresponding fastener adapter head (4). The insertion parts of the left output shaft (24) and the right output shaft (25) are respectively non-circular cross sections. The rear part of the fastener adapter (4) is respectively provided with non-circular insertion holes that match the cross-sectional shape of the corresponding output shaft, so as to form a circumferentially limited and axially sliding fit relationship. During the fastening operation, the non-circular mating surfaces abut against each other to transmit torque; during the unsleeving stage, the fastener adapter (4) slides backward along the corresponding output axis while maintaining the circumferential fit and keeping its axial position unchanged.

7. The active disengagement device for the sleeve used in installing wire clamps according to claim 1, characterized in that, It also includes a support connection component (1), a vision observation component, and a robotic arm interface component; The support connection assembly (1) includes a fixed base plate (11) and a base (15) fixed on the fixed base plate (11). The rotation drive assembly (2) is installed in the middle of the fixed base plate (11). The housing fastening assembly is located at the working end of the fixed base plate (11). The visual observation component includes a lens mount (65) and a camera (66) mounted on the lens mount (65). The camera (66) faces the mating area of ​​the fastener adapter (4) and the fastener of the wire clamp, and is used to remotely observe the insertion and separation status. The robotic arm interface assembly includes a first robotic arm interface component (16) and a second robotic arm interface component (17). The first robotic arm interface component (16) and the second robotic arm interface component (17) are configured to be connected to the same robotic arm end of the working robot to bear the lifting load, twisting reaction torque and active unsleeving axial reaction force of the wire clamp.

8. The active disengagement device for the sleeve used in installing wire clamps according to claim 3, characterized in that, The axial force transmission component is a plate-shaped pull lug body, and the linear drive component is an electric push rod; One end of the plate-shaped pull lug body is provided with a push rod connection hole, which is fixedly connected to the front end of the telescopic rod of the electric push rod through the push rod connection hole, so as to transmit axial push and pull force with the telescopic rod; The other end of the plate-shaped pull lug body is provided with a closed through hole, through which the sleeve body passes. The diameter of the closed through hole is larger than the outer diameter of the main body of the sleeve body, and smaller than the outer diameter of the axial force-bearing flange and the outer diameter of the reset contact surface of the sleeve guide cover (44), respectively. The plate-shaped pull lug body is located between the reset abutment surface and the axial force-bearing flange; during the fastening operation, a radial clearance and an axial clearance are maintained between the plate-shaped pull lug body, the axial force-bearing flange, and the reset abutment surface, respectively, to avoid applying lateral constraints to the rotating sleeve body.

9. The active disengagement device for the sleeve used in installing wire clamps according to claim 3, characterized in that, The sleeve guide cover (44) is detachably fixed to the outer periphery of the working end of the sleeve body by a threaded connection; The flared inlet of the sleeve guide cover (44) is configured to guide the fasteners of the wire clamp into the working hole of the sleeve body during the descent of the sleeve active release device for the installation of the wire clamp, so as to assist in the alignment of the two sleeve bodies.

10. The active disengagement device for the sleeve used in installing wire clamps according to claim 1, characterized in that, At least two of the fastener adapters (4) include a first fastener adapter (26) and a second fastener adapter (27), and at least two of the linear actuators include a first linear actuator and a second linear actuator. The first linear drive and the first fastener adapter (26) constitute the first active disengagement branch, and the second linear drive and the second fastener adapter (27) constitute the second active disengagement branch. The first active disengagement branch and the second active disengagement branch are independent of each other. The housings of the first linear drive and the second linear drive are fixedly installed, and only their telescopic rods and the corresponding adapters generate axial displacement during the unsleeving stage and the resetting stage; The first active disengagement branch and the second active disengagement branch are respectively connected to an independent control channel and configured to start synchronously, start separately or stop. When either adapter head first exits the fastener of the corresponding wire clamp, the corresponding linear drive stops or maintains its current position, and the other active disengagement branch continues to operate within the allowable unsleeving stroke until the two fastener adapter heads (4) exit the fastener of the corresponding wire clamp respectively.

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