A clamping manipulator mechanism for a multi-station cold heading machine

Abstract

The present invention relates to a mechanism component of a multi-station cold heading machine, and specifically, to a clamping manipulator mechanism of the multi-station cold heading machine. The mechanism comprises a fixed shell, which is hollow with an open end, and is used to be fixed on one side of the multi-station cold heading machine. A motor is provided at the end of the fixed shell, and the output shaft of the motor passes through the fixed shell and a screw is provided at the end. A substrate is provided on the surface of the screw, and an empty groove is provided on the surface of the substrate. When the screw rotates, the substrate is driven to move horizontally. A placement component is provided at the end of the motor, and an automatic clamping component is provided inside the placement component. The present invention compresses the end of the pressure rod when the sliding rod is subjected to the action of a reset spring to slide, and compresses the air inside the three-way pipe when the pressure rod moves, so that the air inside the three-way pipe is squeezed from the air outlet end to the ventilation pipe, and the air flows from the corrugated pipe to the inside of the inflatable cushion, and the inside of the inflatable cushion is inflated, so that the clamp arm drives the inflatable cushion to clamp workpieces of different sizes to prevent the workpieces from falling.

Description

Technical Field

[0001] The invention relates to a mechanism component of a multi-station cold heading forming machine, in particular to a clamping manipulator mechanism of the multi-station cold heading forming machine. Background Art

[0002] Cold heading machine is a kind of equipment that cuts and cold extrude various processed metal wires, and cold heads the wires in the mold. It is mainly used for processing various standard and non-standard fasteners and automobile and motorcycle accessories.

[0003] There are many existing technologies for cold heading machines, such as:

[0004] Chinese patent publication number CN214349385U discloses a clamping manipulator of a multi-station automotive fastener cold heading machine, which belongs to the field of automotive processing technology and includes a fixed shell, wherein the front and back sides of the fixed shell are provided with round holes, and the left and right sides of the front side of the fixed shell are provided with bin doors; the patent sets a first clamping mechanism and a second clamping mechanism, and the first rotating shaft can be rotated by starting the motor, thereby driving the two first threaded columns to rotate, and then the two first nuts drive the two rubber plates to move to the opposite sides through the two L-shaped rods, so as to clamp the bar material at the first level, and at the same time, the rotation of the first rotating shaft can release the transmission belt, so that the arc rod drives the two clamping plates to rotate to the middle position through the operating shell, and the four clamping plates are used to realize the secondary clamping of the bar material, thereby avoiding the clamping of the bar material at only one place, improving the clamping effect, and facilitating the subsequent processing of the bar material.

[0005] However, there are still some problems in actual use:

[0006] At present, the traditional clamping device has certain limitations in use. During the cold heading process, when the workpiece is cold headed at different stations, the surface will inevitably deform. The existing practice is to match different clamping devices according to different deformed surfaces, which increases the cost and complexity of operation. On the one hand, frequent replacement of clamping devices will consume a lot of time and reduce production efficiency; on the other hand, different clamping devices need to be managed and maintained separately, which increases the management cost of the enterprise;

[0007] 2. During the processing of the cold heading machine, since the processing process requires the workpiece to be placed in different processing molds for cold heading, the existing method mostly uses single parts for processing, which leads to extremely low processing efficiency. Under the demand for large-scale production, single part processing not only prolongs the production cycle, but also affects the stability and continuity of the entire production process, resulting in low processing efficiency.

[0008] In view of this, we propose a clamping robot mechanism for a multi-station cold heading machine. Summary of the invention

[0009] The object of the present invention is to provide a clamping robot mechanism for a multi-station cold heading machine to solve the problems raised in the above background technology.

[0010] To achieve the above-mentioned purpose, the present invention aims to provide a clamping robot mechanism of a multi-station cold heading machine, including a fixed shell, the fixed shell is hollow with an open end, the fixed shell is used to be fixed on one side of the multi-station cold heading machine, a motor is provided at the end of the fixed shell, the motor output shaft passes through the fixed shell and a screw is provided at the end, a substrate is provided on the surface of the screw, an empty groove is provided on the surface of the substrate, and the substrate is driven to move horizontally when the screw rotates, a placement component is provided at the end of the motor, an automatic clamping component is provided inside the placement component, the automatic clamping component is used to clamp the workpiece, the placement component drives the automatic clamping component to reciprocate axially when the substrate moves, an inflation component is provided on one side of the placement component, and when the placement component moves axially, the inflation component is used to inflate the end of the automatic clamping component, so that the automatic clamping component can clamp workpieces of different shapes.

[0011] As a further improvement of the present technical solution, a main gear is provided at the center of the screw rod, and a secondary gear is provided above the main gear. When the main gear rotates, the secondary gear is driven to mesh and rotate. A winding roller is provided on the top of the secondary gear, and the winding roller rotates coaxially with the secondary gear.

[0012] As a further improvement of the present technical solution, the placement assembly includes a column barrel arranged at the end of the motor, limit grooves are arranged on both sides of the column barrel, a sliding rod is slidably arranged on the inner wall of the column barrel, a movable frame is arranged at the end of the sliding rod, and a reset spring is arranged between the column barrel and the sliding rod.

[0013] As a further improvement of the technical solution, a pull rope is provided at the center of the side wall of the movable frame, and the pull rope passes through the empty groove and is connected to the end of the winding roller. When the winding roller rotates to wind the pull rope, the sliding rod slides on the inner wall of the column and squeezes the reset spring.

[0014] As a further improvement of the present technical solution, auxiliary ears are provided on both sides of the bottom of the slide rod. The auxiliary ears are symmetrically arranged on both sides of the slide rod. When the auxiliary ears move, they drive the slide rod to slide in the limit groove. When the auxiliary ears move, they squeeze the inflatable component and the internal gas thereof is compressed.

[0015] As a further improvement of the present technical solution, the automatic clamping assembly includes a cylinder with a screw rod side wall, the cylinder output end passes through the movable frame and a movable plate is provided at the end, a rack is provided on the surface of the movable plate, and gear shafts are provided on both sides of the rack. When the rack is controlled to move in the axial direction, the gear shafts mesh and rotate on both sides of the rack.

[0016] As a further improvement of the technical solution, a clamping arm is provided on the surface of the gear shaft, and the clamping arm rotates coaxially with the gear shaft. A tension spring is provided between the clamping arms, and the clamping arms are used to clamp the workpiece. The end of the movable plate is provided at three clamping positions.

[0017] As a further improvement of the technical solution, a fan is provided on the surface of the movable plate, and the fan is used to blow air to cool the surface of the workpiece.

[0018] As a further improvement of the technical solution, the inflatable assembly includes a three-way pipe arranged on the side wall of the moving frame, the inner wall of the three-way pipe is slidably provided with a pressure rod, the end of the pressure rod is fixed on the surface of the auxiliary ear, and when the auxiliary ear moves, the pressure rod is driven to move and compress the gas inside the three-way pipe

[0019] As a further improvement of the technical solution, a vent pipe is provided at the air outlet end of the three-way pipe, a plurality of groups of bellows are provided at the surface end of the vent pipe, an inflatable cushion is provided at the end of the bellows, and the inflatable cushion is fixed to the inner wall of the clamp arm.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the clamping robot mechanism of the multi-station cold heading forming machine, the output shaft at the end of the motor is controlled to drive the screw to rotate in the opposite direction. A base plate is provided on the surface of the screw to move in the opposite direction in the horizontal direction. At this time, the pull rope wrapped on the surface of the winding roller is loosened, and the slide rod slides on the inner wall of the column under the restoring force of the reset spring, so that the moving frame is close to the surface of the workpiece. The moving plate is driven to move in the horizontal direction by the output end of the cylinder. When the rack provided at the end of the moving plate moves, it drives the gear shaft to rotate. When the gear shaft rotates, it drives the clamping arm to rotate coaxially. When the clamping arm surrounds the workpiece, the piston rod at the end of the cylinder is controlled to drive the moving plate to move in the opposite direction, so that the workpiece is clamped and fixed between the clamping arms. Since there are three clamping positions at the end of the moving plate, multiple workpieces can be clamped, thereby improving the processing efficiency.

[0022] 2. In the clamping robot mechanism of the multi-station cold heading forming machine, the motor output shaft is controlled to drive the screw to rotate, and the base plate provided on the surface of the screw moves in the horizontal direction, so that the base plate drives the moving frame to move to the end of the next station for processing, so that the workpiece clamped on the surface of the placement component is moved to the mold on the adjacent side, thereby improving the cold heading processing efficiency. When the screw rotates, it drives the main gear to rotate coaxially, and the sub-gear provided above the main gear meshes and rotates. The winding roller provided on the top of the sub-gear rotates and pulls the pull rope, so that the pull rope passes through the empty groove and is wound on the surface of the winding roller. When the pull rope is wound on the surface of the winding roller, it drives the moving frame away from the current processing position, so that the workpiece clamped on the surface of the automatic clamping component is placed in the adjacent station for processing, thereby improving the safety of the cold heading operation.

[0023] 3. In the clamping robot mechanism of the multi-station cold heading machine, when the slide rod slides under the action of the return spring, it squeezes the end of the pressure rod, and when the pressure rod moves, it squeezes the air inside the three-way pipe, so that the air inside the three-way pipe is squeezed from the air outlet to the ventilation pipe. Since multiple groups of bellows are connected to the end of the ventilation pipe, the air flows from the bellows to the inside of the inflatable cushion, and the inside of the inflatable cushion is inflated, so that the clamping arm drives the inflatable cushion to clamp workpieces of different sizes to prevent the workpieces from falling, thereby improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a cross-sectional view of the overall structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the substrate structure of the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of the inflatable component of the present invention;

[0028] Figure 5 For the present invention Figure 4 Schematic diagram of point B;

[0029] Figure 6 It is a schematic diagram of the structure of the movable plate of the present invention;

[0030] Figure 7 It is a schematic diagram of the structure of the automatic clamping assembly of the present invention;

[0031] Figure 8 For the present invention Figure 7 Schematic diagram of the B structure.

[0032] The meaning of each number in the figure is:

[0033] 100, fixed shell;

[0034] 200, motor; 201, lead screw; 202, base plate; 203, main gear; 204, sub gear; 205, take-up roller; 206, empty slot;

[0035] 300, placement assembly; 301, moving frame; 302, column; 303, slide bar; 304, return spring; 305, auxiliary ear; 306, pull rope;

[0036] 400, automatic clamping assembly; 401, cylinder; 402, moving plate; 403, rack; 404, gear shaft; 405, clamping arm; 406, tension spring; 407, fan.

[0037] 500, inflatable component; 501, three-way pipe; 502, pressure rod; 503, bellows; 504, inflatable cushion. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] The purpose of this embodiment is to provide a clamping manipulator mechanism for a multi-station cold heading machine. Figure 1-Figure 8 As shown, it includes a fixed shell 100, which is hollow with an open end. The fixed shell 100 is used to be fixed on one side of a multi-station cold heading machine. A motor 200 is provided at the end of the fixed shell 100. The output shaft of the motor 200 passes through the fixed shell 100 and a screw rod 201 is provided at the end. A substrate 202 is provided on the surface of the screw rod 201. An empty groove 206 is provided on the surface of the substrate 202. When the screw rod 201 rotates, it drives the substrate 202 to move horizontally. A placement component 300 is provided at the end of the motor 200. An automatic clamping component 400 is provided inside the placement component 300. The automatic clamping component 400 is used to clamp the workpiece. When the substrate 202 moves, the placement component 300 drives the automatic clamping component 400 to reciprocate along the axial direction. An inflation component 500 is provided on one side of the placement component 300. When the placement component 300 moves axially, the inflation component 500 is used to inflate the end of the automatic clamping component 400, so that the automatic clamping component 400 can clamp workpieces of different shapes.

[0041] In the process of cold heading forming of the workpiece, the workpiece needs to be placed in different molds for processing, which leads to low efficiency. Therefore, the placement component 300 includes a column 302 arranged at the end of the motor 200, and limit grooves are arranged on both sides of the column 302. A slide bar 303 is slidingly arranged on the inner wall of the column 302, and a moving frame 301 is arranged at the end of the slide bar 303. A return spring 304 is arranged between the column 302 and the slide bar 303. A main gear 203 is arranged at the center of the screw rod 201, and a sub gear 204 is arranged above the main gear 203. When the main gear 203 rotates, it drives the sub gear 204 to mesh and rotate. A winding roller 205 is arranged on the top of the sub gear 204, and the winding roller 205 rotates coaxially with the sub gear 204. When the workpiece is cold headed and needs to be moved to the next mold for processing, the workpiece is clamped and fixed by the automatic clamping component 400, and the output shaft of the control motor 200 drives the screw rod 201 to rotate. When the screw rod 201 rotates, it drives the base plate 202 to move horizontally. By pulling the moving frame 301, the slide rod 303 slides on the inner wall of the column 302, so that the moving frame 301 is away from the processing station. At the same time, the output shaft of the control motor 200 drives the screw rod 201 to rotate the base plate 202 provided on the surface of the screw rod 201 to move in the horizontal direction, so that the base plate 202 drives the moving frame 301 to move to the end of the next station for processing, so that the workpiece clamped on the surface of the placement component 300 is moved toward the mold on the adjacent side, thereby improving the cold heading processing efficiency.

[0042] When the pull rope 306 is wound around the surface of the winding roller 205, the moving frame 301 is driven away from the current processing position, so that the workpiece clamped on the surface of the automatic clamping assembly 400 is placed in the adjacent work station for clamping and fixing, thereby avoiding the operator from pulling the moving frame 301, and improving the safety of the cold heading operation.

[0043] In the process of cold heading of the workpiece, since the surface of the workpiece is relatively smooth, in order to facilitate the clamping of multiple processed workpieces, the automatic clamping assembly 400 includes a cylinder 401 provided on the side wall of the screw rod 201, the output end of the cylinder 401 passes through the moving frame 301 and the end is provided with a moving plate 402, the surface of the moving plate 402 is provided with a rack 403, and both sides of the rack 403 are provided with a gear shaft 404. When the rack 403 is controlled to move in the axial direction, the gear shaft 404 meshes and rotates on the rack 403. 03 On both sides, the surface of the gear shaft 404 is provided with a clamping arm 405, the clamping arm 405 rotates coaxially with the gear shaft 404, and a tension spring 406 is provided between the clamping arms 405. The clamping arms 405 are used to clamp the workpiece. The end of the movable plate 402 is provided with three clamping positions. When the workpiece is cold-forging and needs to be moved to the adjacent station, the output shaft at the end of the control motor 200 drives the screw rod 201 to rotate in the opposite direction. The surface of the screw rod 201 is provided with a base plate 202 which moves in the opposite direction in the horizontal direction. At this time, the winding is wound on the winding plate 402. The pull rope 306 on the surface of the roller 205 is loosened, and the slide rod 303 slides on the inner wall of the column 302 under the restoring force of the return spring 304, so that the moving frame 301 is close to the surface of the workpiece, and the moving plate 402 is driven to move in the horizontal direction by the output end of the control cylinder 401. When the rack 403 provided at the end of the moving plate 402 moves, it drives the gear shaft 404 to rotate. When the gear shaft 404 rotates, it drives the clamping arm 405 to rotate coaxially. When the clamping arm 405 surrounds the workpiece, the piston rod at the end of the control cylinder 401 drives The movable plate 402 moves in the opposite direction, so that the workpiece is clamped and fixed between the clamping arms 405. Since three clamping positions are provided at the end of the movable plate 402, multiple workpieces can be clamped, thereby improving the processing efficiency. At the same time, since a tension spring 406 is provided between the clamping arms 405, when the tension spring 406 is loose, the clamping force of the tension spring 406 on the clamping arms 405 is applied, thereby preventing the workpiece from falling and bumping between the clamping arms 405, thereby improving the protection of the workpiece during the processing.

[0044] When the workpiece is subjected to cold heading, the workpiece is subjected to greater pressure and has a higher surface temperature, which can easily cause burns during the collection of the parts. Therefore, a fan 407 is provided on the surface of the movable plate 402, and the fan 407 is used to blow air to cool the surface of the workpiece. During the clamping of the workpiece by the clamping arm 405, the fan 407 always blows air on the surface of the workpiece, thereby facilitating rapid cooling of the surface of the workpiece, avoiding burns during the collection of the workpiece, and thus avoiding safety hazards.

[0045] During the cold heading process, the workpiece surface is deformed when different processing dies are used to process the workpiece. When the workpiece is clamped by the clamp arm 405, the workpiece surface size is different, which may cause the clamp arm 405 to clamp the workpiece with unstable clamping force, resulting in the part falling, bumping and being damaged during the movement. Therefore, auxiliary ears 305 are provided on both sides of the bottom of the slide bar 303. The auxiliary ears 305 are symmetrically arranged on both sides of the slide bar 303. When the auxiliary ears 305 move, they drive the slide bar 303 to slide. In the limiting groove, when the auxiliary ear 305 moves, the inflatable component 500 is squeezed and the internal gas is compressed. The inflatable component 500 includes a three-way pipe 501 arranged on the side wall of the moving frame 301. The inner wall of the three-way pipe 501 is slidably provided with a pressure rod 502. The end of the pressure rod 502 is fixed on the surface of the auxiliary ear 305. When the auxiliary ear 305 moves, the pressure rod 502 is driven to move and compress the internal gas of the three-way pipe 501. The outlet end of the three-way pipe 501 is provided with a ventilation pipe, and the end of the surface of the ventilation pipe is provided with a plurality of groups of bellows 5 03, an inflatable cushion 504 is provided at the end of the bellows 503, and the inflatable cushion 504 is fixed to the inner wall of the clamp arm 405. When the part needs to be clamped, the screw rod 201 rotates in the opposite direction to drive the base plate 202 to move horizontally. When the screw rod 201 rotates in the opposite direction, the pull rope 306 wound on the surface of the winding roller 205 is loosened. At this time, the slide bar 303 slides on the inner wall of the column 302, so that the clamp arm 405 provided at the end of the moving frame 301 is close to the workpiece. When the slide bar 303 slides under the action of the return spring 304 The end of the pressure rod 502 is squeezed, and the pressure rod 502 squeezes the air inside the three-way pipe 501 when it moves, so that the air inside the three-way pipe 501 is squeezed from the air outlet end to the ventilation pipe. Since multiple groups of bellows 503 are connected to the end of the ventilation pipe, air flows from the bellows 503 to the inside of the inflatable cushion 504, and the inside of the inflatable cushion 504 is inflated, so that the clamping arm 405 drives the inflatable cushion 504 to clamp workpieces of different sizes to prevent the workpieces from falling, thereby improving the practicability of the device.

[0046] In summary, the working principle of the present invention is as follows: when the cold heading of the workpiece is completed and it needs to be moved to the adjacent workstation, the output shaft at the end of the control motor 200 drives the screw rod 201 to rotate in the opposite direction, and the base plate 202 provided on the surface of the screw rod 201 moves in the opposite direction in the horizontal direction. At this time, the pull rope 306 wound on the surface of the winding roller 205 is loosened, and the slide rod 303 slides on the inner wall of the column 302 under the restoring force of the reset spring 304, so that the moving frame 301 is close to the surface of the workpiece, and the moving plate 402 is driven to move in the horizontal direction by the output end of the control cylinder 401. When the rack 403 provided at the end of the moving plate 402 moves, it drives the gear shaft 404 to rotate, and when the gear shaft 404 rotates, it drives the clamping arm 405 to rotate coaxially. When the clamping arm 405 surrounds the workpiece, the piston rod at the end of the control cylinder 401 drives the moving plate 402 to move in the opposite direction, so that the workpiece is clamped and fixed between the clamping arms 405. Since the end of the moving plate 402 is provided with three clamping positions, multiple workpieces can be clamped, thereby improving the processing efficiency.

[0047] When the clamping is completed, the output shaft of the control motor 200 drives the screw rod 201 to rotate. When the screw rod 201 rotates, it drives the substrate 202 to move horizontally. By pulling the moving frame 301, the slide rod 303 slides on the inner wall of the column 302, so that the moving frame 301 is away from the processing station. At the same time, the output shaft of the control motor 200 drives the screw rod 201 to rotate the substrate 202 provided on the surface of the screw rod 201 to move in the horizontal direction, so that the substrate 202 drives the moving frame 301 to move to the end of the next station for processing, so that the workpiece clamped on the surface of the placement component 300 moves to the mold on the adjacent side, thereby improving the cold heading processing efficiency;

[0048] When the slide rod 303 slides under the force of the return spring 304, it squeezes the end of the pressure rod 502. When the pressure rod 502 moves, it squeezes the air inside the three-way pipe 501, so that the air inside the three-way pipe 501 is squeezed from the air outlet end to the ventilation pipe. Since multiple groups of bellows 503 are connected to the end of the ventilation pipe, the air flows from the bellows 503 to the inside of the inflatable cushion 504, and the inside of the inflatable cushion 504 is inflated, so that the clamping arm 405 drives the inflatable cushion 504 to clamp workpieces of different sizes to prevent the workpieces from falling, thereby improving the practicability of the device.

[0049] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A clamping manipulator mechanism for a multi-station cold heading machine, characterized in that: The invention comprises a fixed shell (100), wherein the fixed shell (100) is hollow with an open end, and is used to be fixed on one side of a multi-station cold heading forming machine. A motor (200) is provided at the end of the fixed shell (100), and an output shaft of the motor (200) passes through the fixed shell (100) and a screw rod (201) is provided at the end. A base plate (202) is provided on the surface of the screw rod (201), and a hollow groove (206) is provided on the surface of the base plate (202). When the screw rod (201) rotates, it drives the base plate (202) to move horizontally. A placement component (306) is provided at the end of the motor (200). 00), an automatic clamping component (400) is provided inside the placement component (300), and the automatic clamping component (400) is used to clamp the workpiece. When the substrate (202) moves, the placement component (300) drives the automatic clamping component (400) to reciprocate along the axial direction. An inflation component (500) is provided on one side of the placement component (300). When the placement component (300) moves axially, the inflation component (500) is used to inflate the end of the automatic clamping component (400), so that the automatic clamping component (400) can clamp workpieces of different shapes.

2. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 1 is characterized in that: A main gear (203) is provided at the center of the screw rod (201), and a sub-gear (204) is provided above the main gear (203). When the main gear (203) rotates, the sub-gear (204) is driven to mesh and rotate. A winding roller (205) is provided at the top of the sub-gear (204), and the winding roller (205) rotates coaxially with the sub-gear (204).

3. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 1 is characterized in that: The placement assembly (300) includes a column (302) arranged at the end of the motor (200), and limit grooves are arranged on both sides of the column (302). A sliding rod (303) is slidably arranged on the inner wall of the column (302), and a moving frame (301) is arranged at the end of the sliding rod (303). A return spring (304) is arranged between the column (302) and the sliding rod (303).

4. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 3 is characterized in that: A pull rope (306) is provided at the center of the side wall of the movable frame (301), and the pull rope (306) passes through the empty slot (206) and is connected to the end of the winding roller (205). When the winding roller (205) rotates to wind the pull rope (306), the sliding rod (303) slides on the inner wall of the column (302) and squeezes the return spring (304).

5. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 4 is characterized in that: Auxiliary ears (305) are provided on both sides of the bottom of the slide bar (303). The auxiliary ears (305) are symmetrically arranged on both sides of the slide bar (303). When the auxiliary ears (305) move, they drive the slide bar (303) to slide in the limiting groove. When the auxiliary ears (305) move, they squeeze the inflatable component (500) so that the gas inside it is compressed.

6. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 1 is characterized in that: The automatic clamping assembly (400) comprises a cylinder (401) provided with a side wall of a screw rod (201); the output end of the cylinder (401) passes through a movable frame (301) and a movable plate (402) is provided at the end; a rack (403) is provided on the surface of the movable plate (402); gear shafts (404) are provided on both sides of the rack (403); when the rack (403) is controlled to move in an axial direction, the gear shafts (404) mesh and rotate on both sides of the rack (403).

7. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 6 is characterized in that: The surface of the gear shaft (404) is provided with a clamping arm (405), the clamping arm (405) rotates coaxially with the gear shaft (404), a tension spring (406) is provided between the clamping arms (405), the clamping arms (405) are used for clamping the workpiece, and the end of the movable plate (402) is provided at three clamping positions.

8. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 6 is characterized in that: A fan (407) is provided on the surface of the movable plate (402), and the fan (407) is used to blow air to cool down the surface of the workpiece.

9. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 1 is characterized in that: The inflation component (500) comprises a three-way pipe (501) arranged on the side wall of the movable frame (301), a pressure rod (502) is slidably arranged on the inner wall of the three-way pipe (501), and the end of the pressure rod (502) is fixed on the surface of the auxiliary ear (305). When the auxiliary ear (305) moves, it drives the pressure rod (502) to move and compresses the gas inside the three-way pipe (501).

10. The clamping manipulator mechanism of the multi-station cold heading machine according to claim 9, characterized in that: The outlet end of the three-way pipe (501) is provided with a vent pipe, and the end of the vent pipe surface is provided with a plurality of groups of bellows (503). The end of the bellows (503) is provided with an inflatable cushion (504), and the inflatable cushion (504) is fixed to the inner wall of the clamp arm (405).

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