A pillow spring wedge assembly robot

Abstract

This invention provides a manipulator for assembling a wedge spring, relating to the technical field of railway freight car maintenance equipment. It includes a connecting plate for rotatably connecting and assembling the robot. The connecting plate is provided with: a support plate assembly disposed on the side of the connecting plate opposite to the assembly robot; an inner spring fixing device disposed on the support plate assembly; and an outer spring fixing device disposed on the support plate assembly. The opposite sides of the support plate assembly respectively constitute a wedge receiving side and a wedge spring receiving side. Both the inner spring fixing device and the outer spring fixing device are disposed on the wedge spring receiving side. When the support plate assembly receives the wedge spring, the inner spring fixing device and the outer spring fixing device together clamp the wedge spring from above and below. Based on the technical solution of this invention, the assembly requirements of both the wedge and the wedge spring are simultaneously met, enabling continuous assembly of the wedge and the wedge spring without the need for an additional manipulator, ensuring the assembly efficiency of the vibration damping device and reducing equipment costs.

Description

Technical Field

[0001] This invention relates to the field of railway freight car maintenance equipment technology, and in particular to a sleeper spring wedge assembly robot. Background Technology

[0002] As a key piece of transportation equipment for improving railway efficiency, railway freight cars travel on railways under heavy loads for extended periods, thus requiring guaranteed good operating condition. The railway system has departments such as vehicle repair shops, depots, station repair shops, and train inspection stations for the regular inspection and routine maintenance of freight cars. As a critical component of railway freight cars, the maintenance of the bogie is particularly important.

[0003] Currently, when assembling the vibration damping device of a bogie, the bolster spring and wedge are usually handled manually. However, the bolster spring and wedge are very heavy, resulting in high labor intensity and low efficiency. Furthermore, the assembly process is prone to dangerous situations due to slippage or loss of force. Therefore, a bolster spring and wedge assembly robot and a bogie vibration damping device assembly system have been developed. This system uses a six-axis robot equipped with an end effector to assemble the wedges and bolster springs on the bogie.

[0004] During bogie maintenance, after the vibration damping device of the bogie is disassembled and repaired, the main tasks are to disassemble the bolster springs and wedges. The vibration damping device needs to be reassembled. The main assembly process is as follows: place the wedges horizontally and then lift them onto the frame, and fix the wedges to complete the assembly of the wedges; after the two wedges are fixed, place the bolster springs one by one into the frame, push them upright, and complete the assembly of the bolster springs.

[0005] However, using existing technologies, it is difficult to perform the series of actions of picking up and assembling the wedge and the bolster spring from the pallet directly with a single assembly robot, resulting in low assembly efficiency of the vibration damping device. Summary of the Invention

[0006] This invention provides a manipulator for assembling a wedge and a pillow spring. It uses a support plate assembly to pick up the wedge and the pillow spring, and uses an inner spring fixing device and an outer spring fixing device to fix the pillow spring. At the same time, it realizes the assembly operation of the wedge and the pillow spring, which greatly improves the assembly efficiency of the vibration damping device.

[0007] This invention provides a pillow spring wedge assembly robot, including a connecting plate for rotatably connecting the assembly robot, the connecting plate being provided with:

[0008] A support plate assembly is located on the side of the connecting plate opposite to the assembly robot and is used to receive the wedge and the pillow spring.

[0009] An inner spring fixing device, disposed on the support plate assembly, is used to fix the inner spring on the pillow spring; and

[0010] An external spring fixing device is provided on the support plate assembly and is used to fix the external spring on the pillow spring;

[0011] The support plate assembly has a wedge receiving side and a spring receiving side on opposite sides, respectively; the inner spring fixing device and the outer spring fixing device are both located on the spring receiving side; when the support plate assembly receives the spring, the inner spring fixing device and the outer spring fixing device clamp the spring together from above and below.

[0012] In one embodiment, the support plate assembly includes:

[0013] A sliding cover plate is fixedly connected to the side of the connecting plate opposite to the assembly robot; and

[0014] A support base plate is slidably disposed on the sliding cover plate along the vertical direction of the connecting disc, and is used to receive the pillow spring and the wedge.

[0015] The sliding cover plate is provided with a first driving component for driving the supporting base plate.

[0016] In one embodiment, the inner spring fixing device includes:

[0017] A push plate is slidably disposed on the sliding cover plate along the extending direction of the support plate assembly;

[0018] A clamping element is movably mounted on the push plate;

[0019] The second driving component is disposed on the push plate and is connected to the pressing component in a transmission manner, and is used to drive the pressing component to press the inner spring;

[0020] The third driving component is fixedly mounted on the sliding cover plate and is connected to the push plate for driving the push plate to move.

[0021] In one embodiment, the clamping member and the second driving member are a clamping finger and a clamping cylinder, respectively; the bottom of the clamping cylinder is hinged to the push plate; the clamping finger has a curved structure, with its middle part hinged to the push plate, one end hinged to the piston rod of the clamping cylinder, and the other end used to clamp the inner spring, and a groove is provided on the end of the clamping finger used to clamp the inner spring.

[0022] In one embodiment, the external spring fixing device includes:

[0023] A pillow spring placement plate is disposed on the support plate assembly and is used to receive pillow springs;

[0024] The clamping element is vertically and vertically mounted on the pillow spring placement plate; and

[0025] The clamping drive assembly is located on the side of the pillow spring placement plate opposite to the clamping member and is connected to the clamping member for driving the clamping member to move up and down.

[0026] In one embodiment, the clamping member includes a clamping head and a connecting rod fixedly disposed on one side of the clamping head, the connecting rod passing vertically through the pillow spring placement plate and being threadedly connected to the pillow spring placement plate; the clamping drive assembly includes:

[0027] A drive gear is rotatably mounted on the spring mounting plate and is connected to the connecting rod for driving the connecting rod to rotate synchronously.

[0028] A telescopic rack, slidably disposed on the spring mounting plate along its length and meshing with the drive gear, is used to drive the drive gear to rotate; and

[0029] The fourth driving component is fixedly mounted on the pillow spring placement plate and is connected to the telescopic rack for driving the telescopic rack to extend and retract.

[0030] In one embodiment, the pillow spring placement plate is hinged to the support base plate, and the support plate assembly is provided with a flipping drive assembly for driving the pillow spring placement plate to flip.

[0031] In one embodiment, the flip drive component includes:

[0032] The drive slider slides along the extension direction of the support base plate and is mounted on the support base plate;

[0033] The drive linkage is hinged at both ends to the drive slider and the bolster spring mounting plate, respectively; and

[0034] The fifth driving component is fixedly mounted on the support base plate and connected to the driving slider, and is used to drive the driving slider to move.

[0035] In one embodiment, a roller is provided on the side of the pillow spring placement plate away from its hinge position with the support base plate; a mating inclined surface for the roller to roll is provided on the side of the drive slider away from the fifth drive member.

[0036] In one embodiment, a movable slot is provided through the drive link, and the drive link is hinged to the drive slider through the movable slot. A through slot is also provided through the support base plate for the end of the drive link to pass through.

[0037] In summary, compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0038] (1) The wedge and the pillow spring are connected by the support plate assembly, and the pillow spring is fixed by the inner spring fixing device and the outer spring fixing device. At the same time, the assembly requirements of the wedge and the pillow spring are met, and the continuous assembly of the wedge and the pillow spring can be realized, which greatly improves the assembly efficiency of the vibration damping device.

[0039] (2) By using the wedge spring assembly robot, the wedge and spring can be assembled at the same time without the need for additional robot, thus reducing equipment costs while ensuring assembly efficiency. Attached Figure Description

[0040] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0041] Figure 1 This is a schematic diagram of the overall structure after the robotic arm is assembled to receive the pillow spring in one embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the inner spring fixing device in one embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of an embodiment of the present invention, mainly used to illustrate the structure of the external spring fixing device and the flipping drive assembly;

[0044] Figure 4 This is a schematic diagram of the structure of the clamping drive assembly in one embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of the movable groove and the through groove in one embodiment of the present invention.

[0046] Reference numerals: 1. Connecting plate; 2. Sliding cover plate; 3. Support base plate; 31. Support guide rail; 32. Through groove; 4. Base plate cylinder; 5. Push plate; 6. Pressing finger; 61. Groove; 7. Pressing cylinder; 8. Push guide rail; 9. Pushing cylinder; 10. Pillow spring placement plate; 11. Tightening head; 12. Drive gear; 13. Telescopic rack; 14. Telescopic cylinder; 141. Cylinder bracket; 15. Pillow spring limiting block; 16. Drive slider; 161. Mating inclined surface; 17. Drive connecting rod; 171. Movable groove; 18. Tilting drive cylinder; 19. Roller. Detailed Implementation

[0047] The present invention will now be described clearly and completely with reference to the accompanying drawings.

[0048] See appendix Figure 1A wedge-shaped assembly robot with a bolster spring includes a connecting plate 1 for connecting to an assembly robot. A support plate assembly is located on the side of the connecting plate 1 facing away from the assembly robot. In practical applications, the connecting plate 1 is rotatably connected to the assembly robot, allowing the assembly robot to rotate the entire assembly robot via the connecting plate 1, thus achieving angle adjustment. The opposite sides of the support plate assembly are used to receive the wedge and the bolster spring, respectively; that is, the opposite sides of the support plate assembly constitute the wedge receiving side and the bolster spring receiving side, respectively.

[0049] In this embodiment, the aforementioned support plate assembly includes a sliding cover plate 2 connected to the connecting plate 1. The sliding cover plate 2 can be vertically fixed to the side of the connecting plate 1 away from the assembly robot by bolts, and extends vertically away from the connecting plate 1. The sliding cover plate 2 can be configured as a hollow cavity structure, with a support base plate 3 inserted inside. The support base plate 3 is slidably connected to the sliding cover plate 2 through a support guide rail 31, so that the support base plate 3 can extend and retract in the direction perpendicular to the connecting plate 1.

[0050] Meanwhile, the sliding cover plate 2 is also provided with a first driving component for driving the supporting base plate 3; specifically, the first driving component can be a base plate cylinder 4, which can be fixed on one side of the sliding cover plate 2 corresponding to the wedge receiving side, and its piston rod is fixedly connected to the supporting base plate 3; when the base plate cylinder 4 works, it can drive the supporting base plate 3 to move telescopically inside the sliding cover plate 2. When the supporting base plate 3 extends out from inside the sliding cover plate 2, the side of the supporting base plate 3 corresponding to the wedge receiving side can be used to receive the wedge to be assembled.

[0051] See appendix Figure 2 The side of the support plate assembly opposite to the base plate cylinder 4 is the side where the bolster spring is received. Due to the structure of the bolster spring itself, it is easy for the bolster spring to roll after being received by the support plate assembly. To ensure the stability of the bolster spring, the support plate assembly is also equipped with an inner spring fixing device and an outer spring fixing device. The inner spring fixing device and the outer spring fixing device can clamp the bolster spring together from above and below to ensure the stability of the bolster spring on the support plate assembly.

[0052] In this embodiment, the inner spring fixing device includes a push plate 5, a clamping member movably disposed on the push plate 5, and a second driving member that is pulsatorically connected to the clamping member. The second driving member can drive the clamping member to move and clamp the inner spring, thereby improving the stability of the pillow spring.

[0053] Specifically, the push plate 5 can be arranged parallel to the sliding cover plate 2, and can reciprocate in the extension direction of the support plate group by pushing the guide rail 8. Correspondingly, the sliding cover plate 2 is also provided with a third driving component that is connected to the push plate 5. The third driving component can be a pushing cylinder 9, which is fixedly connected to the sliding cover plate 2, and its piston rod is fixedly connected to the push plate 5. When the pushing cylinder 9 is working, it can drive the push plate 5 to reciprocate in the extension direction of the support plate group, thereby allowing the above-mentioned clamping component to extend into the pillow spring and fix the pillow spring.

[0054] The aforementioned second driving component can be a clamping cylinder 7, with its bottom hinged to the push plate 5, and its piston rod hinged to the clamping member. The clamping member can be a clamping finger 6, which can be configured as a curved rod-like structure or a curved plate-like structure. For example, in one embodiment, the clamping finger 6 can be configured as an L-shaped structure, without specific limitation. The middle part of the clamping finger 6 is hinged to the push plate 5, one end of which is hinged to the end of the piston rod of the clamping cylinder 7, and the other end is used to contact and clamp the inner spring.

[0055] In another embodiment, to further improve the stability of the pillow spring, a groove 61 is provided on one end of the pressing finger 6 that is used to contact the inner spring; the pressing finger 6 can contact and press the inner spring through the groove 61, so that the contact area between the pressing finger 6 and the inner spring is larger and the stability effect is better.

[0056] In practical applications, the push cylinder 9 can push the push plate 5 to move toward the pillow spring, so that the pressing finger 6 can be inserted into the pillow spring; then, the pressing cylinder 7 pushes the pressing finger 6 to rotate around the hinge point of its push plate 5, so that the pressing finger 6 presses the inner spring through the groove 61, thereby fixing the pillow spring.

[0057] See appendix Figure 3 The aforementioned outer spring fixing device includes a spring placement plate 10 mounted on a support base plate 3. A clamping member and a clamping drive assembly, which are pulsatingly connected to the clamping member, are vertically mounted on the spring placement plate 10. In practical applications, when the spring is received by the spring placement plate 10, the clamping drive assembly drives the clamping member to rise and clamp the outer spring from bottom to top, thereby cooperating with the aforementioned inner spring fixing device to clamp and fix the spring.

[0058] The aforementioned clamping component includes a clamping head 11 and a connecting rod fixedly disposed on one side of the clamping head 11; the connecting rod passes vertically through the spring holder plate 10 and is threadedly connected to the spring holder plate 10 via threads on its outer wall. To improve the clamping effect of the clamping head 11 on the outer spring, the clamping head 11 can be configured as a cross shape, a Y shape, or other similar structure to increase the contact area between the clamping head 11 and the outer spring.

[0059] like Figure 4 As shown, the aforementioned clamping drive assembly includes a drive gear 12 rotatably disposed on the side of the pillow spring placement plate 10 away from the clamping head 11, a telescopic rack 13 meshing with the drive gear 12, and a fourth drive member connected to the telescopic rack 13.

[0060] Specifically, the aforementioned drive gear 12 can be a spur gear, and the connecting rod passes vertically through the pillow spring placement plate 10 and through the mounting hole of the drive gear 12; the connecting rod has a smooth rod part, which is connected to the drive gear 12 by a key connection, so when the drive gear 12 rotates, the drive gear 12 will drive the entire clamping member to rotate synchronously through the connecting rod.

[0061] The aforementioned telescopic rack 13 is slidably disposed along its length on the side of the bolster spring placement plate 10 opposite to the tightening head 11, and meshes with the drive gear 12. The fourth driving component can be a telescopic cylinder 14, which is fixed to the side of the bolster spring placement plate 10 opposite to the tightening head 11 by a cylinder bracket 141, and its piston rod end is fixedly connected to one end of the telescopic rack 13.

[0062] In practical applications, the telescopic cylinder 14 drives the telescopic rack 13 to extend and retract, thereby driving the drive gear 12 to rotate. The drive gear 12 then drives the entire clamping head 11 to rotate synchronously via the connecting rod. Since the connecting rod is threadedly connected to the bolster spring placement plate 10, the clamping member will rise or fall along the axial direction of the connecting rod when it rotates. When it is necessary to fix the bolster spring, the clamping member rises and presses against the outer spring, cooperating with the aforementioned inner spring fixing device to achieve clamping and fixing of the bolster spring.

[0063] In one embodiment, to further improve the stability of the spring placement, a spring limiting member is also provided on the side of the spring placement plate 10 away from the clamping drive assembly. Specifically, the spring limiting member can be a spring limiting block 15, and one spring limiting block 15 can be provided on each of the opposite sides of the spring placement plate 10. The two spring limiting blocks 15 are preferably symmetrically arranged, and their adjacent sides are both provided with a beveled or arc-shaped structure. In this way, the two spring limiting blocks 15 will form a placement groove on the spring placement plate 10 for receiving the spring, which can prevent the spring from rolling off the spring placement plate 10.

[0064] In another embodiment, the aforementioned pillow spring placement plate 10 is hinged to the side of the support base plate 3 away from the sliding cover plate 2, so that the entire pillow spring placement plate 10 can be flipped up and down on the support base plate 3, making it convenient to adjust the pillow spring to a vertical state for assembly.

[0065] See appendix Figure 3 To drive the spring placement plate 10 to flip, a flipping drive assembly is also provided on the support base plate 3. The flipping drive assembly includes a drive slider 16 slidably disposed on the support base plate 3, a drive connecting rod 17 for connecting the drive slider 16 and the spring placement plate 10, and a fifth drive member connected to the drive slider 16.

[0066] Specifically, the aforementioned drive slider 16 can be slidably connected to the support base plate 3 via the aforementioned support guide rail 31, allowing the drive slider 16 to move along the extension direction of the support base plate 3. The two ends of the drive connecting rod 17 are hinged to the drive slider 16 and the bolster spring placement plate 10, respectively; and, to ensure stability, two drive connecting rods 17 can be arranged parallel to each other at intervals along the width direction of the bolster spring placement plate 10. The fifth driving component can be a tilting drive cylinder 18, which can be a dual-axis cylinder; the tilting drive cylinder 18 can be fixed on the support base plate 3, located on the side of the drive slider 16 opposite to the bolster spring placement plate 10, and connected to the drive slider 16.

[0067] In practical applications, the flipping drive cylinder 18 pushes the drive slider 16 to move along the support guide rail 31. The drive slider 16 drives the bolster spring placement plate 10 to flip through the connecting rod, thereby adjusting the posture of the bolster spring.

[0068] Since the drive slider 16 and the drive linkage 17 are initially in the same straight line and are at a dead point position, the aforementioned flipping drive cylinder 18 needs to accelerate at the beginning when the pillow spring placement plate 10 needs to be flipped to give the pillow spring placement plate 10 an impact force.

[0069] In another embodiment, to facilitate the initial upward flipping of the spring holder 10, the drive slider 16 is provided with a mating inclined surface 161 on the side near the spring holder 10. Correspondingly, a roller 19 is rotatably provided on the side of the spring holder 10 away from its hinge point with the support base plate 3. In practical applications, the drive slider 16 will contact the roller 19 under the action of the flipping drive cylinder 18; and the roller 19 will roll upward along the mating inclined surface 161 upon impact, thereby naturally lifting the spring holder 10 and facilitating the subsequent flipping movement of the spring holder 10.

[0070] At the same time, such as Figure 5 As shown, to ensure that the tilting drive cylinder 18 can accelerate sufficiently at the initial stage, a movable groove 171 is provided through one end of the drive connecting rod 17 for hinged drive slider 16. The movable groove 171 can be configured as an oblong groove structure, and the drive connecting rod 17 is hinged to the drive slider 16 through the movable groove 171. Furthermore, a through groove 32 extending along the length direction of the support base plate 3 is also provided on the support base plate 3 at the position corresponding to the drive connecting rod 17; the end of the drive connecting rod 17 for hinged drive slider 16 can pass through the through groove 32.

[0071] In practical applications, since the drive link 17 is hinged to the drive slider 16 through the movable groove 171 and the end of the drive link 17 can pass through the through groove 32, in the initial state, when the drive slider 16 is initially pushed by the flip drive cylinder 18, the drive link 17 and the drive slider 16 can move or rotate relative to each other. That is, the movable groove 171 provides a distance for the initial acceleration of the flip drive cylinder 18, and the through groove 32 provides space for the rotation and movement of the link, so that the drive slider 16 can drive the drive link 17 to move and pass through its dead point position.

[0072] The working principle of this embodiment is as follows:

[0073] During operation, the assembly robot is installed on the assembly robot. After the transfer robot transports the wedge to the target position, the assembly robot moves horizontally below the transfer robot with the back of the support base plate 3 facing upwards, picks up the wedge, and then moves to the side frame cavity while maintaining the horizontal posture of the assembly robot. Then it rises to the corresponding side of the rocker arm and waits for the wedge support robot to fix the wedge. The other wedge is handled in the same way.

[0074] After both wedges have been moved, the assembly robot moves to the bottom of the transfer platform to pick up the pillow spring. The clamping member rotates to fix the outer spring, and the inner spring fixing device extends forward and enters the inner spring. The clamping cylinder 7 drives the clamping finger 6 to fix the inner spring. After fixing, the assembly robot enters the side frame cavity in a horizontal posture. After reaching the assembly position, the clamping finger 6 is released, the flipping drive cylinder 18 pushes forward, and lifts the pillow spring through the drive slider 16 and drive connecting rod 17. Then, the support base plate 3 retracts under the action of the base plate cylinder 4, pulling the pillow spring back to its upright position and placing it vertically, so that the pillow spring falls stably into the designated position. Finally, the clamping member reverses, the robot exits the assembly position, and the assembly is completed.

[0075] In the description of this invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0076] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A bobbin spring wedge assembly robot, characterized in that, Includes a connecting plate for rotating and connecting the assembly robot, the connecting plate being provided with: A support plate assembly is located on the side of the connecting plate opposite to the assembly robot and is used to receive the wedge and the pillow spring. The support plate assembly includes: a sliding cover plate, fixedly connected to the side of the connecting plate opposite to the assembly robot; and a support base plate, slidably disposed on the sliding cover plate along the vertical direction of the connecting plate, for receiving the pillow spring and the wedge; an inner spring fixing device, disposed on the support plate assembly, for fixing the inner spring on the pillow spring; and An outer spring fixing device is disposed on the support plate assembly and is used to fix the outer spring on the pillow spring; the outer spring fixing device includes: a pillow spring placement plate, disposed on the support plate assembly, for receiving the pillow spring; The support plate assembly has a wedge receiving side and a spring receiving side on opposite sides, respectively; the inner spring fixing device and the outer spring fixing device are both located on the spring receiving side; when the support plate assembly receives the spring, the inner spring fixing device and the outer spring fixing device clamp the spring together from above and below.

2. The pillow spring wedge assembly robot according to claim 1, characterized in that, The sliding cover plate is provided with a first driving component for driving the supporting base plate.

3. The pillow spring wedge assembly robot according to claim 1, characterized in that, The inner spring fixing device includes: A push plate is slidably disposed on the sliding cover plate along the extending direction of the support plate assembly; A clamping element is movably mounted on the push plate; The second driving component is disposed on the push plate and is connected to the pressing component in a transmission manner, and is used to drive the pressing component to press the inner spring; The third driving component is fixedly mounted on the sliding cover plate and is connected to the push plate for driving the push plate to move.

4. The pillow spring wedge assembly robot according to claim 3, characterized in that, The clamping component and the second driving component are a clamping finger and a clamping cylinder, respectively; the bottom of the clamping cylinder is hinged to the push plate; the clamping finger has a curved structure, with its middle part hinged to the push plate, one end hinged to the piston rod of the clamping cylinder, and the other end used to clamp the inner spring, and a groove is provided on the end of the clamping finger used to clamp the inner spring.

5. The pillow spring wedge assembly robot according to claim 1, characterized in that, The external spring fixing device also includes: The clamping element is vertically and vertically mounted on the pillow spring placement plate; and The clamping drive assembly is located on the side of the pillow spring placement plate opposite to the clamping member and is connected to the clamping member for driving the clamping member to move up and down.

6. The pillow spring wedge assembly robot according to claim 5, characterized in that, The clamping member includes a clamping head and a connecting rod fixedly disposed on one side of the clamping head. The connecting rod passes vertically through the spring holder plate and is threadedly connected to the spring holder plate. The clamping drive assembly includes: A drive gear is rotatably mounted on the spring mounting plate and is connected to the connecting rod for driving the connecting rod to rotate synchronously. A telescopic rack, slidably disposed on the spring mounting plate along its length and meshing with the drive gear, is used to drive the drive gear to rotate; and The fourth driving component is fixedly mounted on the pillow spring placement plate and is connected to the telescopic rack for driving the telescopic rack to extend and retract.

7. A pillow spring wedge assembly robot according to claim 5 or 6, characterized in that, The pillow spring placement plate is hinged to the support base plate, and the support plate assembly is provided with a flipping drive assembly for driving the pillow spring placement plate to flip.

8. A pillow spring wedge assembly robot according to claim 7, characterized in that, The flip drive component includes: The drive slider slides along the extension direction of the support base plate and is mounted on the support base plate; The drive linkage is hinged at both ends to the drive slider and the bolster spring mounting plate, respectively; and The fifth driving component is fixedly mounted on the support base plate and connected to the driving slider, and is used to drive the driving slider to move.

9. A pillow spring wedge assembly robot according to claim 8, characterized in that, A roller is provided on the side of the pillow spring placement plate away from its hinge position with the support base plate; a mating inclined surface for the roller to roll is provided on the side of the drive slider away from the fifth drive member.

10. A pillow spring wedge assembly robot according to claim 9, characterized in that, The drive link has a through slot, and the drive link is hinged to the drive slider through the through slot. The support base plate also has a through slot for the end of the drive link to pass through.

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