A manipulator device for a multi-station cold heading machine

Abstract

The present invention discloses a manipulator device for a multi-station cold heading machine, which relates to the technical field of cold heading machines and includes a mounting bracket. A power swing arm is arranged on the surface of the mounting bracket. Two cylinders are fixedly connected to the inner wall of the mounting bracket. The output ends of the two cylinders are jointly fixedly connected to a switching plate. Five gripper assemblies are arranged below the mounting bracket. A central controller is fixedly connected to the surface of the mounting bracket. Five sets of transfer components are arranged on the mounting bracket. The transfer component includes a body, a gear, a working condition switching component and a calibration component. An arc-shaped toothed plate is fixedly connected to the surface of the body. The teeth of the gear are meshed with the teeth of the arc-shaped toothed plate. A rotating shaft is fixedly connected to the inner wall of the gear. The lower end of the rotating shaft is fixedly connected to the top surface of the gripper assembly. The working condition switching component is arranged on the switching plate to enable the vertical displacement of the arc-shaped toothed plate. Through the mutual cooperation among the above structures, the present invention has the effects of improving the application range and practicability of the device.

Description

Technical Field

[0001] The invention relates to the technical field of cold heading machines, in particular to a manipulator device for a multi-station cold heading machine. Background Art

[0002] Cold heading machine is a special equipment mainly used for batch production of nuts, bolts and other fasteners. The head of bolts and screws is forged by cold forging method, which can minimize cutting work and directly form them into required shapes and sizes. It can not only save a lot of materials, but also greatly improve production efficiency and significantly improve the mechanical strength of the forged parts.

[0003] The traditional multi-station cold heading machine manipulator device has only a single clamping function, that is, in the product manufacturing process, the manipulator simply translates the semi-finished product of the previous station to the next station, and the semi-finished product cannot be flipped during the translation process. Therefore, this structure can only complete simple products such as hexagonal head bolts for cold heading machines with multiple stations, but for complex products, it is necessary to replace the transmission translation device. There is now a manipulator device applied to the cold heading machine. By fixing the gear plate and the moving gear, the manipulator below flips 180° when it swings once in the form of a deflected rotating gear, which solves the traditional problem. However, this type of device can only meet one use requirement. In the actual production and manufacturing of the workpiece, a 90° flip is also required, such as the production of special-shaped nuts. If such a requirement is to be met, a long period of shutdown is required to replace the clamping device, and debugging and other work are also required. The operation is cumbersome. Therefore, the existing cold heading machine manipulator device is still insufficient in scope of application and practicality, and its actual use needs to be improved. Summary of the invention

[0004] The object of the present invention is to provide a manipulator device for a multi-station cold heading machine, which has the effect of improving the application range and practicability of the device and solves the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator device for a multi-station cold heading machine, comprising a mounting bracket, a power rocker arm is arranged on the surface of the mounting bracket, two cylinders are fixedly connected to the inner wall of the mounting bracket, a switching plate is fixedly connected to the output ends of the two cylinders, five hand claw assemblies are arranged below the mounting bracket, a central controller is fixedly connected to the surface of the mounting bracket, and five groups of transfer components are arranged on the mounting bracket;

[0006] The transfer component includes a body, a gear, a working condition switching component, and a calibration component. An arc-shaped toothed plate is fixedly connected to the surface of the body. The teeth of the gear mesh with the teeth of the arc-shaped toothed plate. A rotating shaft is fixedly connected to the inner wall of the gear. The lower end of the rotating shaft is fixedly connected to the top surface of the claw assembly. The shaft wall of the rotating shaft is rotatably connected to the inner wall of the power swing arm. The working condition switching component is arranged on the switching plate to enable the vertical displacement of the arc-shaped toothed plate. The calibration component is arranged in the body to change the movement form of the claw assembly after the displacement of the arc-shaped toothed plate.

[0007] Optionally, rectangular empty slots are formed on the surfaces of the five arc-shaped toothed plates. The inner diameter of the rectangular empty slots is half of the cross-sectional length of the arc-shaped toothed plate.

[0008] Optionally, the working condition switching component includes a connecting rod. The end of the connecting rod is rotatably connected to the top surface of the mounting bracket. The inner wall of the connecting rod is rotatably connected to the shaft wall of the rotating shaft. A connecting cylinder is fixedly connected to the surface of the body. A displacement slot is formed in the inner wall of the mounting bracket. Switching block one and switching block two are fixedly connected to the surface of the connecting cylinder. Switching block one is slidably connected to the wall of the displacement slot. A switching spring is fixedly connected to the surface of switching block one and the displacement slot. The top surface of the switching plate is in contact with the bottom surface of switching block two. An auxiliary component is arranged in the switching plate.

[0009] Optionally, the auxiliary component includes plate one. Plate one is slidably connected to the inner wall of the switching plate. A plate two is fixedly connected to the end of plate one. Plate two is slidably connected to the inner wall of the switching plate. Two rack rows are fixedly connected to the surface of plate two. A switching rod is rotatably connected to the inner wall of the switching plate. A switching gear is fixedly connected to the rod wall of the switching rod. The teeth of the switching gear mesh with the teeth of the rack rows. A clamping rod is fixedly connected to the end of the switching rod.

[0010] Optionally, the auxiliary component includes an electric push rod. The electric push rod is fixedly connected to the inner wall of the switching plate. The output end of the electric push rod is fixedly connected to the end of plate one. The electric push rod is electrically connected to the central controller in a signal manner.

[0011] Optionally, the calibration component includes two arc-shaped grooves, both of the two arc-shaped grooves are fixedly connected to the inner wall of the body, a calibration rod is fixedly connected to the groove walls of the two arc-shaped grooves, the rod wall of the calibration rod is rotationally connected to the inner wall of the connecting rod, the end of the calibration rod is drivingly connected to the shaft wall of the rotating shaft through a pulley assembly, a sliding seat is fixedly connected to the inner wall of the body, a slider is slidably connected to the inner wall of the sliding seat, both sides of the slider are connected to the inner wall of the sliding seat through connecting springs, a displacement rod is slidably connected to the inner wall of the slider, a clamping ring is fixedly connected to the end of the displacement rod, two friction pads are fixedly connected to the inner wall of the clamping ring, and a friction wheel is fixedly connected to the rod wall of the calibration rod.

[0012] Optionally, the size of the gear is adapted to the size of the arc-shaped toothed plate, five signal lights are fixedly connected to the surface of the mounting bracket, and all five signal lights are electrically and signal-connected to the central controller.

[0013] Optionally, the friction pad is made of rubber material, and wavy patterns are provided on the surface of the friction pad.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] First, through the cooperation of structures such as the air cylinder, the switching plate, and the switching block two, the present invention can enable the gripper assembly to quickly switch between rotating 90° and 180°, thus meeting the requirements under different working conditions, and the sides of some special-shaped nuts can also be conveniently processed, improving the applicability of the multi-station manipulator;

[0016] At the same time, by adopting this method, the left and right rotation angles of the power swing arm can just move the workpiece semi-finished product clamped by the gripper assembly from the previous station to the next station, and the arc height of the rotation trajectory of the power swing arm also just provides a flipping space for the flipping of the workpiece semi-finished product, making it more convenient to use.

[0017] Second, through the cooperation of structures such as the rotating shaft, the rack row, and the plate two, the present invention enables the manipulators at each station to move down synchronously to achieve synchronous adjustment work, and can also move down individually to achieve individual adjustment, so that when multiple workpieces are conveyed, the workpieces with different specifications can be controlled individually, and the applicability of the device is wider;

[0018] At the same time, through the setting of the signal lights in this device, the status of each station can be reminded in real time. For example, the yellow light is on for the 180° flipping station, and the red light is on for the 90° flipping station. In this way, the practicability of the device can be further improved, and it is more convenient in actual use.

[0019] III. Through the cooperation of structures such as friction pads, calibration rods, and arc-shaped grooves, the present invention enables the workpiece to be flipped by the gripper assembly at either 90° or 180°. After flipping, the axis of the workpiece is located on the same horizontal line. That is, relative to the workpiece, its position only undergoes an axial displacement. In this way, the cold-heading position on the side of the workpiece clamped by the gripper assembly will not deviate too much from the center, thereby further expanding the scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Isometric view of the present invention in the front view state;

[0021] Figure 2 Isometric view of the present invention in the rear view state;

[0022] Figure 3 For the present invention Figure 2 Enlarged view of the structure at A in the present invention;

[0023] Figure 4 Sectional isometric view of the present invention from the rear view perspective;

[0024] Figure 5 For the present invention Figure 4 Enlarged view of the structure at B in the present invention;

[0025] Figure 6 Schematic diagram of the transmission between the first plate member and the switching rod of the present invention from the top view perspective;

[0026] Figure 7 Schematic diagram of the position of the internal structure of the main body of the present invention from the rear view perspective;

[0027] Figure 8 For the present invention Figure 7 Enlarged view of the structure at C in the present invention;

[0028] Figure 9 Schematic diagram of the cooperation between the gear and the arc-shaped toothed plate of the present invention;

[0029] Figure 10 Isometric view of the arc-shaped toothed plate of the present invention;

[0030] Figure 11 Schematic diagram of the cooperation between the friction wheel and the retaining ring of the present invention from the left view perspective. DETAILED DESCRIPTION OF THE INVENTION

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment 1:

[0032] Please refer to Figures 1 to 11 , the present invention provides a manipulator device for a multi-station cold heading machine, including a mounting bracket 1, a power swing arm 2 is arranged on the surface of the mounting bracket 1, two cylinders 3 are fixedly connected to the inner wall of the mounting bracket 1, the output ends of the two cylinders 3 are jointly fixedly connected to a switching plate 4, five gripper assemblies 5 are arranged below the mounting bracket 1, a central controller 6 is fixedly connected to the surface of the mounting bracket 1, and five sets of transfer components are arranged on the mounting bracket 1;

[0033] The transfer component includes:

[0034] A body 7, a gear 8, a working condition switching component and a calibration component. An arc-shaped toothed plate 9 is fixedly connected to the surface of the body 7. The teeth of the gear 8 are meshed with the teeth of the arc-shaped toothed plate 9. A rotating shaft 10 is fixedly connected to the inner wall of the gear 8. The lower end of the rotating shaft 10 is fixedly connected to the top surface of the gripper assembly 5. The shaft wall of the rotating shaft 10 is rotatably connected to the inner wall of the power swing arm 2. The working condition switching component is arranged on the switching plate 4, and the calibration component is arranged in the body 7. Rectangular empty slots 11 are opened on the surfaces of the five arc-shaped toothed plates 9, and the inner diameter of the rectangular empty slot 11 is half of the cross-sectional length of the arc-shaped toothed plate 9;

[0035] Among them, the working condition switching component includes:

[0036] A connecting rod 12, the end of the connecting rod 12 is rotatably connected to the top surface of the mounting bracket 1, the inner wall of the connecting rod 12 is rotatably connected to the shaft wall of the rotating shaft 10, a connecting cylinder 13 is fixedly connected to the surface of the body 7, a displacement groove 14 is opened on the inner wall of the mounting bracket 1, a switching block one 15 and a switching block two 16 are fixedly connected to the surface of the connecting cylinder 13, the switching block one 15 is slidably connected to the groove wall of the displacement groove 14, a switching spring 17 is jointly fixedly connected to the switching block one 15 and the surface of the displacement groove 14, the top surface of the switching plate 4 is attached to the bottom surface of the switching block two 16, and an auxiliary component is arranged in the switching plate 4;

[0037] The auxiliary component includes: a plate one 18 and an electric push rod 24. The plate one 18 is slidably connected to the inner wall of the switching plate 4. The end of the plate one 18 is fixedly connected to a plate two 19. The plate two 19 is slidably connected to the inner wall of the switching plate 4. Two rack rows 20 are fixedly connected to the surface of the plate two 19. A switching rod 21 is rotatably connected to the inner wall of the switching plate 4. A switching gear 22 is fixedly connected to the rod wall of the switching rod 21. The teeth of the switching gear 22 are meshed with the teeth of the rack row 20. A clamping rod 23 is fixedly connected to the end of the switching rod 21. The electric push rod 24 is fixedly connected to the inner wall of the switching plate 4. The output end of the electric push rod 24 is fixedly connected to the end of the plate one 18. The electric push rod 24 is electrically connected to the central controller 6 by a signal.

[0038] The size of the gear 8 is adapted to the size of the arc-shaped toothed plate 9. Five signal lamps 35 are fixedly connected to the surface of the mounting bracket 1, and the five signal lamps 35 are all electrically and signal-connected to the central controller 6.

[0039] More specifically, in this embodiment: This device can be installed at the transmission part of a multi-station cold heading machine. During the production process of the cold heading machine, the initial position of the gear 8 is located in the lower area of the arc-shaped toothed plate 9. With the operation of the cold heading machine, the workpiece is clamped by the gripper assembly 5. When in use, the power output of the cold heading machine reaches the power swing arm 2, causing the power swing arm 2 to swing reciprocally. This kind of swing is a prior art, and the specific principle will not be elaborated here. During the reciprocal swing of the power swing arm 2, through the transmission of the rotating shaft 10, the lower gripper assembly 5 transports the workpiece, meeting the production requirements of the daily multi-station cold heading machine. During the reciprocal swing of the power swing arm 2, at this time, the connecting rod 12 deflects reciprocally synchronously during this process, and through the reciprocal deflection of the rotating shaft 10, the gear 8 performs a reciprocal displacement along an arc trajectory. During the arc trajectory displacement of the gear 8, it will cooperate with the arc-shaped toothed plate 9, causing the gripper assembly 5 to rotate self during the arc trajectory displacement, so that after one displacement, it rotates 180°, and the clamped workpiece can be flipped. If it is necessary to flip 90°, the central controller 6 can be used to start the two cylinders 3, causing the switching plate 4 to displace vertically. Through the vertical displacement of the switching plate 4, each switching rod 21 can be synchronously driven to displace vertically. Taking the position of a single switching rod 21 as an example, during its vertical downward movement, through the clamping rod 23, the switching block two 16 will be synchronously caused to move vertically downward. Through the vertical downward movement of the switching block two 16, the connecting cylinder 13 will be caused to move vertically downward, and thus through the transmission of the connecting cylinder 13, the main body 7 and the arc-shaped toothed plate 9 on the main body 7 will move vertically downward. During this process, the switching block one 15 is synchronously driven to slide along the groove wall of the displacement groove 14, causing the switching spring 17 here to be compressed. After the arc-shaped toothed plate 9 moves vertically downward, the gear 8 will transfer from the lower area of the arc-shaped toothed plate 9 to the upper area of the arc-shaped toothed plate 9. At this time, during the subsequent workpiece transportation process, the gear 8 will cooperate with the upper half of the teeth of the arc-shaped toothed plate 9, that is, when the gear 8 displaces, it only rotates 90°, and the circumferential displacement in the second half of the path will cooperate with the rectangular empty groove 11, causing the gear 8 not to rotate self;

[0040] Through the above method, when the gripper assembly 5 transfers the workpiece, there are two implementation methods of 180° and similar 90°, so as to expand the applicable requirements of the equipment, and the sides of some special-shaped nuts can also be conveniently processed;

[0041] In actual use, when the workpieces transferred in batches are different, the electric push rod 24 can also be controlled by the central controller 6. That is, during the vertical downward movement of the switching plate 4, the station gripper assembly 5 that does not need to be adjusted can be regulated, so that the push rod head of the electric push rod 24 at this place extends, so that the first plate 18 is displaced, and then the second plate 19 is displaced. Thus, through the transmission of the second plate 19, the two rack rows 20 are displaced, and the two switching gears 22 can be made to rotate self - sufficiently during this process, and then the two switching rods 21 rotate self - sufficiently, so that the two clamping rods 23 rotate self - sufficiently. During the self - rotation of the two clamping rods 23, they will be separated from the top surface area of the second switching block 16. At this time, when the clamping rod 23 moves vertically downward, it will no longer push the arc - shaped toothed plate 9 at this station to move vertically downward through the second switching block 16;

[0042] In this way, the manipulators at each station can not only move downward synchronously to achieve synchronous adjustment work, but also move downward separately to achieve separate adjustment. When multiple workpieces are conveyed, the workpieces with different specifications can be controlled separately, making the device more applicable. And through the setting of the signal lamp 35, the status of each station can be reminded in real time. For example, the yellow light is on for the station with 180° flipping, and the red light is on for the station with about 90° flipping. In this way, the practicability can be further improved.

[0043] Embodiment 2, on the basis of the above - mentioned embodiment:

[0044] Please refer to Figures 1 to 11 , the calibration component includes: two arc - shaped grooves 25, both of the two arc - shaped grooves 25 are fixedly connected to the inner wall of the body 7, a calibration rod 26 is fixedly connected to the groove walls of the two arc - shaped grooves 25, the rod wall of the calibration rod 26 is rotatably connected to the inner wall of the connecting rod 12, the end of the calibration rod 26 is drivingly connected to the shaft wall of the rotating shaft 10 through a pulley assembly 27, a sliding seat 28 is fixedly connected to the inner wall of the body 7, a slider 29 is slidably connected to the inner wall of the sliding seat 28, both sides of the slider 29 are connected to the inner wall of the sliding seat 28 through connecting springs 30, a displacement rod 31 is slidably connected to the inner wall of the slider 29, a retaining ring 32 is fixedly connected to the end of the displacement rod 31, two friction pads 33 are fixedly connected to the inner wall of the retaining ring 32, and a friction wheel 34 is fixedly connected to the rod wall of the calibration rod 26.

[0045] The friction pad 33 is made of rubber material, and the surface of the friction pad 33 is provided with wavy patterns.

[0046] More specifically, in this embodiment: during the circular arc deflection of the rotating shaft 10, the connecting rod 12 on each workstation performs synchronous movement during this process, so that the calibration rod 26 also performs synchronous circular arc trajectory displacement. At the same time, since the calibration rod 26 and the rotating shaft 10 are driven by the pulley assembly 27, the calibration rod 26 and the gripper assembly 5 maintain synchronous rotation. When the workstation performs a 180° deflection, the calibration rod 26 synchronously slides along the groove walls of the two arc grooves 25. During this process, the friction wheel 34 approaches the lower arc groove 25. At this time, the arc trajectory movement of the calibration rod 26 will only cause the rod wall and the gripper assembly 5 to move in the path. The collar 32 contacts the calibration rod 26, and the contact surface is the non-friction pad 33 on the collar 32, that is, the collar 32 does not provide correction for the self-rotation of the calibration rod 26 during this process. When the station is deflected by 90°, due to the vertical displacement of the body 7, the friction wheel 34 is relatively close to the upper arc groove 25 in this state. At this time, the arc trajectory movement of the calibration rod 26 will cause the collar 32 to block the friction wheel 34. After completing the 90° deflection, the friction wheel 34 contacts the collar 32, and then the arc displacement of the friction wheel 34 will push the collar 32 to move. Since the collar 32 is synchronously restricted by the slider 29 and the displacement rod 31, the friction wheel When the friction wheel 34 is displaced in the second half, it will not be able to rotate due to the close fit with the two friction pads 33. In this process, it will only push the clamping ring 32 to displace, that is, the displacement rod 31 is displaced through the clamping ring 32, and the slider 29 slides along the inner wall of the slide seat 28 through the transmission of the displacement rod 31. At the same time, since the movement trajectory of the friction wheel 34 is an arc, the displacement rod 31 will also slide along the inner wall of the slider 29 during this process. During this process, the two connecting springs 30 are deformed, and at this stage, the lower gear 8 will displace along the area where the rectangular slot 11 is located. Since the opening direction of the clamping ring 32 remains unchanged at this stage, the friction The rubbing wheel 34 cannot rotate on its own. Even if the calibration rod 26 is displaced in the second half of the arc trajectory during this process, it will be reversely deflected relative to the arc groove 25, that is, after the rotating shaft 1O is deflected 90°, it is displaced in the arc on the second half of the path. The orientation of the lower gripper assembly 5 will remain unchanged and will not shift slightly with the arc displacement in the second half. The friction pad 33 made of rubber can restrict the friction wheel 34 well after it contacts the friction wheel 34, and no relative rotation will occur between the friction wheel 34 and the friction pad 33. The friction between the two is further enhanced by the opening of the wavy pattern.

[0047] Through the above-mentioned method, by utilizing the cooperation between the friction wheel 34 and the friction pad 33, the gripper assembly 5 can flip the workpiece by 90° or 180°. After flipping, the axis of the workpiece is located on the same horizontal line, that is, relative to the workpiece, its position only undergoes axial displacement. In this way, the cold heading position of the side of the workpiece clamped by the gripper assembly 5 will not deviate too much from the center, thereby further improving the scope of application.

[0048] Working principle: When the manipulator device for a multi-station cold heading machine is in use, with the operation of the cold heading machine, the workpiece is clamped by the claw assembly 5. When in use, the power output of the cold heading machine is transmitted to the power swing arm 2, causing the power swing arm 2 to swing reciprocally. During the reciprocal swing of the power swing arm 2, through the transmission of the rotating shaft 10, the lower claw assembly 5 transports the workpiece, meeting the production requirements of the daily multi-station cold heading machine. During the circular arc trajectory displacement of the gear 8, it will cooperate with the arc-shaped tooth plate 9, causing the claw assembly 5 to rotate self-reliantly during the circular arc trajectory displacement. Thus, after one displacement, it rotates 180°, and the workpiece clamped by it can be flipped. The signal lamp 35 on this station lights up yellow. When it is necessary to flip the workpiece by 90°, it can be controlled through the central controller 6, causing the electric push rod 24 on the station that needs to be flipped by 90° to be driven, causing the two clamping rods 23 at this station to rotate self-reliantly and disengage from the top surface area of the switching block two 16. Subsequently, the central controller 6 drives the two cylinders 3, causing the switching plate 4 to displace vertically. Through the vertical displacement of the switching plate 4, the switching rod 21 can be driven to displace vertically synchronously, thereby pushing the switching block two 16 on the station that needs to be flipped by 90° to move downward, and further causing the arc-shaped tooth plate 9 on this station to move downward, so that the gear 8 at this station will transfer from the lower area of the arc-shaped tooth plate 9 to the upper area of the arc-shaped tooth plate 9. At this time, during the subsequent process of transporting the workpiece, the gear 8 will cooperate with the upper half of the tooth teeth on the arc-shaped tooth plate 9, that is, when the gear 8 displaces, it only rotates 90°. The circular displacement in the latter half of the path will cooperate with the rectangular empty groove 11, causing the gear 8 not to rotate self-reliantly. At this time, the signal lamp 35 on the station lights up red;

[0049] On the station that needs to be deflected by 90°, after the gear 8 has completed a 90° flip, the friction wheel 34 will come into contact with the friction pad 33. Subsequently, since the opening direction of the snap ring 32 remains unchanged, the friction wheel 34 cannot rotate self-reliantly at this time. Even when the calibration rod 26 displaces along the latter half of the arc-shaped trajectory, it will perform a reverse deflection relative to the arc-shaped groove 25, that is, after the rotating shaft 1O has been deflected by 90°, during the circular arc displacement in the latter half of the path, the orientation of the lower claw assembly 5 will remain unchanged and will not be slightly offset along with the circular arc displacement in the latter half. In this way, after the workpiece that needs to be flipped by 90° is flipped, the axes of the workpiece and the workpiece flipped by 180° are both on the same horizontal line. That is, relative to the workpiece, its position only undergoes an axial displacement. In this way, for the workpiece clamped by the claw assembly 5, the cold heading position on its side will not deviate too much from the center, thereby further expanding the scope of application.

[0050] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator device for a multi-station cold heading machine, comprising a mounting bracket, characterized in that: A power swing arm is provided on the surface of the mounting bracket. Two cylinders are fixedly connected to the inner wall of the mounting bracket. The output ends of the two cylinders are jointly fixedly connected to a switching plate. Five gripper assemblies are provided below the mounting bracket. A central controller is fixedly connected to the surface of the mounting bracket. Five sets of transfer components are provided on the mounting bracket; The transfer component includes: A body and a gear. An arc-shaped toothed plate is fixedly connected to the surface of the body. The teeth of the gear mesh with the teeth of the arc-shaped toothed plate. A rotating shaft is fixedly connected to the inner wall of the gear. The lower end of the rotating shaft is fixedly connected to the top surface of the gripper assembly. The shaft wall of the rotating shaft is rotatably connected to the inner wall of the power swing arm; A working condition switching component, which is arranged on the switching plate to enable the arc-shaped toothed plate to perform vertical displacement; A calibration component, which is arranged in the body to change the movement form of the gripper assembly after the arc-shaped toothed plate is displaced; Rectangular empty slots are formed on the surfaces of the five arc-shaped toothed plates; The working condition switching component includes: A connecting rod. The end of the connecting rod is rotatably connected to the top surface of the mounting bracket. The inner wall of the connecting rod is rotatably connected to the shaft wall of the rotating shaft. A connecting cylinder is fixedly connected to the surface of the body. A displacement slot is formed in the inner wall of the mounting bracket. A switching block one and a switching block two are fixedly connected to the surface of the connecting cylinder. The switching block one is slidably connected to the wall of the displacement slot. A switching spring is jointly fixedly connected to the switching block one and the surface of the displacement slot. The top surface of the switching plate is in contact with the bottom surface of the switching block two; The body and the arc-shaped toothed plate on the body move vertically downward. During this process, the switching block one is synchronously driven to slide along the wall of the displacement slot, so that the switching spring here is compressed. After the arc-shaped toothed plate moves vertically downward, the gear will transfer from the lower area of the arc-shaped toothed plate to the upper area of the arc-shaped toothed plate. At this time, during the subsequent workpiece transfer process, the gear will cooperate with the upper half of the teeth of the arc-shaped toothed plate. That is, when the gear is displaced, it only rotates 90°. The circumferential displacement in the second half of the path will cooperate with the rectangular empty slot, so that the gear does not rotate.

2. The manipulator device for a multi-station cold heading machine according to claim 1, characterized in that: An auxiliary component is arranged in the switching plate.

3. The manipulator device for a multi-station cold heading machine according to claim 2, characterized in that: The auxiliary component includes: A plate one, which is slidably connected to the inner wall of the switching plate. The end of the plate one is fixedly connected to a plate two. The plate two is slidably connected to the inner wall of the switching plate. Two rack rows are fixedly connected to the surface of the plate two. A switching rod is rotatably connected to the inner wall of the switching plate. A switching gear is fixedly connected to the rod wall of the switching rod. The teeth of the switching gear mesh with the teeth of the rack row. A clamping rod is fixedly connected to the end of the switching rod.

4. The manipulator device for a multi-station cold heading machine according to claim 3, characterized in that: The auxiliary component includes: An electric push rod, which is fixedly connected to the inner wall of the switching plate. The output end of the electric push rod is fixedly connected to the end of the plate one. The electric push rod is electrically connected to the central controller in a signal manner.

5. The manipulator device for a multi-station cold heading machine according to claim 4, characterized in that: The calibration component includes: Two arc-shaped grooves, both of the two arc-shaped grooves are fixedly connected to the inner wall of the body. A calibration rod is fixedly connected to the groove walls of the two arc-shaped grooves. The rod wall of the calibration rod is rotatably connected to the inner wall of the connecting rod. The end of the calibration rod is drivingly connected to the shaft wall of the rotating shaft through a pulley assembly. A sliding seat is fixedly connected to the inner wall of the body. A slider is slidably connected to the inner wall of the sliding seat. Both sides of the slider are connected to the inner wall of the sliding seat through connecting springs. A displacement rod is slidably connected to the inner wall of the slider. A clamping ring is fixedly connected to the end of the displacement rod. Two friction pads are fixedly connected to the inner wall of the clamping ring. A friction wheel is fixedly connected to the rod wall of the calibration rod.

6. The manipulator device for a multi-station cold heading machine according to any one of claims 1-5, characterized in that: The size of the gear is adapted to the size of the arc-shaped tooth plate. Five signal lights are fixedly connected to the surface of the mounting bracket. All five signal lights are electrically and signal-connected to the central controller.

7. The manipulator device for a multi-station cold heading machine according to claim 5, characterized in that: The material of the friction pad is rubber material, and wavy patterns are formed on the surface of the friction pad.

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