Robot assembling manipulator for automatic pillow spring and wedge assembling system

Abstract

The utility model discloses a robot assembling manipulator for an automatic pillow spring and wedge assembling system. The robot assembling manipulator comprises a main body frame mechanism, a pillow spring assembling mechanism and a wedge assembling mechanism, the pillow spring assembling mechanism is mounted in the middle of the main body frame mechanism and is used for assembling the pillow spring; the wedge assembling mechanism comprises a first wedge moving assembly and a second wedge moving assembly. The first wedge moving assembly and the second wedge moving assembly are located on the left side and the right side of the pillow spring assembling mechanism correspondingly and used for assembling the wedge. The device can be suitable for assembling the bolster springs and the tapered wedges of different bogies (K2K6), the bolster springs and the tapered wedges are rapidly and accurately placed at the designated positions of the bogies, and the maintenance efficiency is improved.

Description

Technical Field

[0001] The utility model relates to an overhauling device for a bogie of a railway freight car, in particular to a robot assembly manipulator for a railway freight car for an automatic assembly system of bolster springs and inclined wedges. Background Art

[0002] During the overhaul of the bogie, the bolster springs and inclined wedges in the bogie need to be disassembled for dimensional inspection. After inspection, the bolster springs and inclined wedges need to be rematched according to the data and the unqualified products need to be replaced, and then the newly assembled bolster springs and inclined wedges are reinstalled into the bogie; in the existing overhaul process of the bogie, the assembly of the bolster springs and inclined wedges is mainly carried out manually. When assembling, workers need to move the bolster springs and inclined wedges into the bogie, then stand up different bolster springs and place them at the positions required for each bolster spring. When assembling the bolster springs, workers also need to hold up the inclined wedges and push them into the corresponding positions; this manual assembly method of bolster springs is inefficient, requires long-term manual physical work, and has extremely low safety and reliability. Content of the Utility Model

[0003] The purpose of the utility model is to provide a robot assembly manipulator for an automatic assembly system of bolster springs and inclined wedges, aiming to solve the problem of rapid and precise assembly of bolster springs and inclined wedges.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A robot assembly manipulator for an automatic assembly system of bolster springs and inclined wedges, the manipulator comprising a main frame mechanism, a bolster spring assembly mechanism and an inclined wedge assembly mechanism;

[0006] The bolster spring assembly mechanism is installed in the middle of the main frame mechanism for assembling the bolster springs;

[0007] The inclined wedge assembly mechanism comprises a first inclined wedge moving component and a second inclined wedge moving component; the first inclined wedge moving component and the second inclined wedge moving component are respectively located on the left and right sides of the bolster spring assembly mechanism, and are both used for assembling the inclined wedges.

[0008] Preferably, the main frame mechanism comprises a chassis and a top plate, both the chassis and the top plate are rectangular, the four corners of the chassis and the top plate are each connected by a column, and a mounting seat for connecting an industrial robot is installed above the top plate;

[0009] The front and rear ends of the chassis are respectively provided with first slide rails extending in the left-right direction; first servo electric cylinders are oppositely arranged at the left and right ends of the chassis;

[0010] A lifting ring is installed at each of the four corners of the chassis.

[0011] Preferably, the first inclined wedge moving assembly includes a translation frame, a lifting module, and a rotating module;

[0012] A first slider is respectively provided at the front and rear ends of the translation frame; two of the first sliders are slidably arranged on two opposite first slide rails; second slide rails extending along the front and rear directions are respectively provided at the left and right ends of the translation frame, and a rack is installed on the side of one of the second slide rails; the translation frame is connected to the corresponding first servo electric cylinder.

[0013] Preferably, the lifting module comprises a mounting horizontal plate, a mounting vertical plate and a lifting frame; second sliders are respectively provided at the left and right ends of the bottom of the mounting horizontal plate; two second sliders are slidably arranged on the corresponding second slide rails; the mounting vertical plate extending in the front-rear direction is installed above the mounting horizontal plate, a servo motor is installed on the mounting vertical plate, an output shaft of the servo motor is connected to a gear, and the gear is meshed with the rack;

[0014] The mounting vertical plate has an oblong hole, and third slide rails extending in the up-down direction are respectively provided at the front and rear ends of one side surface of the mounting vertical plate; third sliders are respectively provided at the front and rear ends of one side surface of the lifting frame, and two third sliders are slidably arranged on the corresponding third slide rails; a connecting block is provided in the middle of one side surface of the lifting frame, and the connecting block passes through the oblong hole; a lifting electric cylinder is installed at the bottom of the mounting horizontal plate, and the piston shaft of the lifting electric cylinder is connected to the connecting block.

[0015] Preferably, the rotating module comprises a rotating cylinder and a rotating rod; a bearing is installed at each of the front and rear ends of the other side of the lifting frame, the rotating rod is inserted into the inner ring of the bearing, the rotating shaft of the rotating cylinder is connected to one end of the rotating rod, and the cylinder body of the rotating cylinder is installed on the outer ring of the bearing located at the rear side;

[0016] A support plate for moving the inclined wedge is installed at the front end of the rotating rod, and a positioning hole corresponding to the inclined wedge is arranged on the support plate; the front end of the support plate is connected to the auxiliary plate through a spring hinge.

[0017] Preferably, the second inclined wedge moving assembly has the same structure as the first inclined wedge moving assembly, and the two are arranged on the left and right sides above the base frame relative to each other.

[0018] Preferably, a π-shaped adapter frame is provided below the middle of the top plate; two fourth sliding blocks are provided opposite to each other at the bottom of the adapter frame; and a second servo electric cylinder is installed on the adapter frame;

[0019] The pillow spring assembling mechanism includes a fixing frame, which comprises a first bottom plate, a second bottom plate and a top plate. The first bottom plate is located at the rear side of the second bottom plate and is lower than the second bottom plate; a stepped portion is formed between the first bottom plate and the second bottom plate; both sides of the first bottom plate, the second bottom plate and the top plate are respectively connected by a connecting plate;

[0020] Both sides of the front end of the second bottom plate respectively extend out a towing rod, and the end of the towing rod is rotatably connected to a pillow spring vertical plate, which is also connected with a multi-link assembly to push the pillow spring vertical plate to be in a vertical state or a horizontal state;

[0021] Both sides of the upper part of the fixing frame are respectively provided with a fourth slide rail, and the two fourth slide rails are slidably arranged on the corresponding two fourth sliders;

[0022] The top of the fixing frame is provided with a lug, and the output shaft of the second servo electric cylinder is connected to the lug;

[0023] The pillow spring vertical plate is V-shaped.

[0024] Preferably, the multi-link assembly includes a U-shaped link, a horizontal link, a first inclined rod and a second inclined rod;

[0025] The front end of the U-shaped link is rotatably connected to the pillow spring vertical plate, and the rear end of the U-shaped link is hinged to the front end of the horizontal link;

[0026] The first inclined rod is located at the rear side of the second inclined rod and is parallel to the second inclined rod. One ends of the first inclined rod and the second inclined rod are respectively hinged to the first bottom plate, and the other ends of the first inclined rod and the second inclined rod are respectively hinged to the horizontal link;

[0027] A cylinder fixing seat is installed at the bottom of the first bottom plate, a first cylinder is installed on the cylinder fixing seat, the bottom of the cylinder body of the first cylinder is hinged to the cylinder fixing seat, and the piston rod of the first cylinder is hinged to the middle of the second inclined rod.

[0028] Preferably, guide rod cylinders are respectively installed at both ends of the first bottom plate, the piston rods of the two guide rod cylinders are jointly connected to a fifth slider, and a fifth slide rail matching with it is arranged below the second bottom plate; an L-shaped pushing head is arranged at the front end of the fifth slider. When the pillow spring vertical plate is in a horizontal state, the L-shaped pushing head is higher than the pillow spring vertical plate and does not interfere with the U-shaped link;

[0029] The L-shaped pushing head is located in the middle of the two towing rods.

[0030] The advantages of the present utility model are as follows:

[0031] The robotic assembly manipulator for the pillow spring and inclined wedge automatic assembly system provided by the present utility model can be applicable to the assembly of pillow springs and inclined wedges of different bogies (K2\K6). Through this manipulator, the pillow spring and the inclined wedge can be automatically assembled to their corresponding positions, thereby saving manual operations and greatly improving the maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the main structural schematic diagram of a robotic assembly manipulator for the pillow spring and inclined wedge automatic assembly system of the present utility model;

[0033] Figure 2 is the structural schematic diagram of a main frame mechanism of the present utility model;

[0034] Figure 3 is the three-dimensional structural schematic diagram of a first inclined wedge moving component of the present utility model;

[0035] Figure 4 is the right view structural schematic diagram of a first inclined wedge moving component of the present utility model;

[0036] Figure 5 is the rear view structural schematic diagram of a first inclined wedge moving component of the present utility model;

[0037] Figure 6 is the top view structural schematic diagram of a first inclined wedge moving component of the present utility model;

[0038] Figures 7 to 10 is the main structural schematic diagram of a pillow spring assembly mechanism of the present utility model;

[0039] Figure 11 is the schematic diagram of the working state of an inclined wedge assembly mechanism cooperating with a pillow spring assembly mechanism of the present utility model;

[0040] Figure 12 is the main structural schematic diagram of an inner spring pushing mechanism of the present utility model;

[0041] Figure 13 and Figure 14 is the schematic diagram of the usage scenario of a robotic assembly manipulator for the pillow spring and inclined wedge automatic assembly system of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present utility model and are not intended to limit the protection scope of the present utility model.

[0043] It should be noted that in the description of the present utility model, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front", "rear", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0044] In addition, it should also be noted that in the description of the present utility model, unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0045] Referring to the attached Figure 1 , Figure 13 and Figure 14 , a robotic assembly manipulator for an automatic assembly system of pillow springs and wedges provided by the present utility model mainly includes a main frame mechanism 10, a pillow spring assembly mechanism 20, and a wedge assembly mechanism 30. The pillow spring assembly mechanism 20 is installed in the middle of the main frame mechanism 10 and is used for assembling the pillow spring 80. The wedge assembly mechanism 30 includes a first wedge moving component 31 and a second wedge moving component 32; the first wedge moving component 31 and the second wedge moving component 32 are respectively located on the left and right sides of the pillow spring assembly mechanism 20 and are both used for assembling the wedge 81. The present utility model is used in cooperation with an industrial robot and can quickly and accurately place the pillow spring and the wedge at the designated positions on the bogie during the automatic assembly operation of the pillow spring and the wedge, improving the maintenance efficiency.

[0046] Referring to the attached Figure 2 , the main frame mechanism 10 includes a bottom frame 11 and a top frame 12. Both the bottom frame 11 and the top frame 12 are rectangular. The four corners of the bottom frame 11 and the top frame 12 are each connected by a column 13. An installation seat 14 for connecting an industrial robot is installed above the top frame 12. First slide rails 15 extending in the left-right direction are respectively provided at the front and rear ends of the bottom frame 11; first servo electric cylinders 16 are oppositely provided at the left and right ends of the bottom frame 11. A lifting ring is installed at each of the four corners of the top frame 12. The spatial dimensions of the main frame mechanism 10 mainly consider being able to accommodate the operating space dimensions of the internal pillow spring assembly mechanism 20 and the wedge assembly mechanism 30 to ensure the stability and reliability of the operation of this manipulator.

[0047] Referring to the attachedFigures 3 to 6 , the first inclined wedge moving assembly 31 mainly includes a translation frame 40, a lifting module 50 and a rotating module 60.

[0048] At the front and rear ends of the translation frame 40, first sliders 41 are respectively provided; the two first sliders 41 are slidably arranged on two opposite first slide rails 15; at the left and right ends of the translation frame 40, second slide rails 42 extending in the front-rear direction are respectively provided, and a rack 43 is installed on the side of one of the second slide rails 42; the translation frame 40 is connected to the corresponding first servo electric cylinder 16. The translation frame 40 is driven by the first servo electric cylinder 16 to move left and right along the first slide rail 15.

[0049] The lifting module 50 includes a mounting horizontal plate 51, a mounting vertical plate 52 and a lifting frame 53. At the left and right ends of the bottom of the mounting horizontal plate 51, second sliders 54 are respectively provided; the two second sliders 54 are slidably arranged on the corresponding second slide rails 42; above the mounting horizontal plate 51, a mounting vertical plate 52 extending in the front-rear direction is provided, a servo motor 82 is installed on the mounting vertical plate 52, the output shaft of the servo motor 82 is connected to a gear 55, and the gear 55 meshes with the rack 43. The mounting vertical plate 52 and the components fixed on the mounting vertical plate 52 are driven by the servo motor 82 to move forward and backward together along the second slide rail 42.

[0050] The mounting vertical plate 52 has an oblong hole, and at the front and rear ends of one side surface of the mounting vertical plate 52, third slide rails 56 extending in the up-down direction are respectively provided; at the two ends of one side surface of the lifting frame 53, third sliders 57 are respectively provided, and the two third sliders 57 are slidably arranged on the corresponding third slide rails 56; a connecting block 58 is provided in the middle of the lifting frame 53, and the connecting block 58 passes through the oblong hole; the oblong hole provides a space for the connecting block 58 to move up and down. A lifting electric cylinder 59 is installed at the bottom of the mounting horizontal plate 51, the piston shaft of the lifting electric cylinder 59 is connected to the connecting block 58, and the connecting block 58 is driven by the lifting electric cylinder 59 so that the lifting frame 53 can move up and down along the third slide rail 56.

[0051] The rotating module 60 includes a rotating cylinder 61 and a rotating rod 62; at the front and rear ends of the other side of the lifting frame 53, a bearing 63 is installed respectively, the rotating rod 62 is sleeved in the inner ring of the bearing 63, the rotating shaft of the rotating cylinder 61 is connected to one end of the rotating rod 62, and the cylinder body of the rotating cylinder 61 is installed on the outer ring of the bearing 62 at the rear side. The rotating cylinder 61 is a 90-degree rotating cylinder 61. A support plate 64 for moving the inclined wedge 81 is installed at the front end of the rotating rod 62, and positioning holes 65 corresponding to the inclined wedge are provided on the support plate 64. The rotating cylinder 61 drives the rotating rod 62 and the support plate 64 to rotate to meet different states of the inclined wedge 81 when assembling the inclined wedge 81. The front end of the support plate 64 is connected to an auxiliary plate 66 through a spring hinge. The auxiliary plate 66 is used for assisting in assembling the pillow spring 80.

[0052] The structure of the second wedge moving component 32 is the same as that of the first wedge moving component 31. The two are oppositely arranged on the left and right sides above the chassis 11. The second wedge moving component 32 is driven by another first servo electric cylinder 16 and can thus move left and right along the first slide rail 15. Through the wedge assembly mechanism 30, during the automatic assembly of different bogie wedges 81, the lifting and positioning of the wedge 81 can be achieved and it can be accurately placed in its corresponding position.

[0053] Refer to the appendix Figures 7 to 10 , below the middle of the top frame 12, there is a π-shaped adapter frame 17 provided; at the bottom of the adapter frame 17, there are two oppositely arranged fourth sliders 18; a second servo electric cylinder 19 is installed on the adapter frame 17. The bolster spring assembly mechanism 20 includes a fixed frame 21, and the fixed frame 21 includes a first bottom plate 22, a second bottom plate 23, and a top plate 24. The first bottom plate 22 is located at the rear side of the second bottom plate 23 and is lower than the second bottom plate 23; a stepped portion 25 is formed between the first bottom plate 22 and the second bottom plate 23; both sides of the first bottom plate 22, the second bottom plate 23, and the top plate 24 are respectively connected by a connecting plate 26.

[0054] On both sides of the front end of the second bottom plate 23, there are respectively extended a drag rod 27. The end of the drag rod 27 is rotatably connected to the bolster spring vertical plate 28. The bolster spring vertical plate 28 is also connected to a multi-link assembly 29 to push the bolster spring vertical plate 28 to be in a vertical state or a horizontal state. The bolster spring vertical plate 28 is V-shaped.

[0055] The multi-link assembly 29 includes a U-shaped link 291, a horizontal link 292, a first diagonal rod 293 and a second diagonal rod 294. The front end of the U-shaped link 291 is rotatably connected to the pillow spring vertical plate 28, and the rear end of the U-shaped link 291 is hinged to the front end of the horizontal link 292. The first diagonal rod 293 is located behind the second diagonal rod 294 and parallel to the second diagonal rod 294. One ends of the first diagonal rod 293 and the second diagonal rod 294 are respectively hinged to the first bottom plate 22, and the other ends of the first diagonal rod 293 and the second diagonal rod 294 are respectively hinged to the horizontal link 292. A cylinder fixing seat 295 is installed at the bottom of the first bottom plate 22, and a first cylinder 296 is installed on the cylinder fixing seat 295. The bottom of the cylinder block of the first cylinder 296 is hinged to the cylinder fixing seat 295, and the piston rod of the first cylinder 296 is hinged to the middle of the second diagonal rod 294. When the first cylinder 296 is in a contracted state, its piston rod drives the second diagonal rod 294 to retract, thereby causing the pillow spring vertical plate 28 to be in a horizontal state. At this time, the pillow spring vertical plate 28, the U-shaped link 291, and the horizontal link 292 are basically flush with the towing rod 27. A dead point position is provided at the horizontal state position to ensure that the multi-link assembly 29 does not rotate downward at this position. When the first cylinder 296 is in an extended state, its piston rod pushes the second diagonal rod 294 to stand upright, and the step portion 25 just limits the second diagonal rod 294, so that the pillow spring vertical plate 28 is in a vertical state. When the pillow spring 80 stands up, it will fall forward due to inertia. At this time, the two auxiliary plates 66 of the first wedge moving assembly 31 and the second wedge moving assembly 32 cooperate to support the pillow spring 80. It should be noted that for reference, please refer to the attached Figure 11 , when using the auxiliary plate 66, the auxiliary plate 66 needs to be slightly bent with respect to the support plate 64; the two auxiliary plates 66 are bent towards each other to form a state of supporting the pillow spring 80. In addition, when the pillow spring 80 stands up, these two auxiliary plates 66 are also required for auxiliary positioning.

[0056] On both sides of the upper part of the fixing frame 21, fourth slide rails 70 are respectively provided, and the two fourth slide rails 70 slide on the corresponding two fourth sliders 18; a lug 83 is provided at the top of the fixing frame 21, and the output shaft of the second servo electric cylinder 19 is connected to the lug 83. The fixing frame 21 and the structural members fixed on the fixing frame 21 are driven by the second servo electric cylinder 19 to move along the extending direction (front-back direction) of the fourth slide rail 70. The pillow spring assembling mechanism 20 adopts a multi-link design similar to a parallelogram, and its pillow spring vertical plate 28 adopts a V-shaped design to ensure that the centers of pillow springs 80 with different diameters can be on the same central plane. Through the pillow spring assembling mechanism 20, the pillow spring 80 can be placed in the corresponding position of the bogie in a horizontal state, and then the pillow spring 80 can be erected and placed in its accurate position.

[0057] For reference, please refer to the attached Figure 12, when the pillow spring 80 is horizontally placed on the pillow spring vertical plate 28, the movement of the robot or the vibration during horizontal placement may cause the inner spring 80 to move backward and expose the outer spring. This will cause interference between the pillow spring 80 and the bogie side frame during the process of erecting and assembling it onto the bogie. Therefore, an inner spring pushing mechanism is designed to push the inner spring into the outer spring before the pillow spring 80 is erected to ensure that it does not protrude. The inner spring pushing mechanism includes guide rod cylinders 71 respectively installed at both ends of the first bottom plate 22. The piston rods of the two guide rod cylinders 71 are commonly connected to a fifth slider 72. A fifth slide rail 73 matching therewith is provided below the second bottom plate 23. A front end of the fifth slider 72 is provided with an L-shaped pushing head 74. When the pillow spring vertical plate 28 is in a horizontal state, the L-shaped pushing head 74 is higher than the pillow spring vertical plate 28 and does not interfere with the U-shaped connecting rod 291. The L-shaped pushing head 74 is located in the middle of the two drag rods 27. The moving distance of this pushing head is 0 - 30 mm, enabling it to reach its accurate positioning position according to different pillow springs 80. The pressure of the two guide rod cylinders 71 is adjustable to prevent the L-shaped pushing head 74 from pushing the outer spring.

[0058] So far, the technical solution of the present utility model has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present utility model is obviously not limited to these specific embodiments. Without departing from the principle of the present utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present utility model.

Claims

1. A robot assembly manipulator for a pillow spring and wedge automatic assembly system, characterized in that: The manipulator comprises a main frame mechanism, a pillow spring assembly mechanism and an angled wedge assembly mechanism; The pillow spring assembly mechanism is installed in the middle of the main frame mechanism and is used to assemble the pillow spring; The inclined wedge assembly mechanism includes a first inclined wedge moving assembly and a second inclined wedge moving assembly; the first inclined wedge moving assembly and the second inclined wedge moving assembly are respectively located on the left and right sides of the pillow spring assembly mechanism, and are both used to assemble the inclined wedge.

2. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 1, characterized in that: The main frame mechanism includes a bottom frame and a top plate, both of which are rectangular, and the four corners of the bottom frame and the top plate are connected by a column, and a mounting seat for connecting an industrial robot is installed above the top plate; The front and rear ends of the base frame are respectively provided with first slide rails extending in the left and right directions; the left and right sides of the base frame are relatively provided with first servo electric cylinders; A lifting ring is respectively installed at the four corners of the base frame.

3. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 2, characterized in that: The first inclined wedge moving assembly includes a translation frame, a lifting module, and a rotating module; A first slider is respectively provided at the front and rear ends of the translation frame; two of the first sliders are slidably arranged on two opposite first slide rails; second slide rails extending along the front and rear directions are respectively provided at the left and right ends of the translation frame, and a rack is installed on the side of one of the second slide rails; the translation frame is connected to the corresponding first servo electric cylinder.

4. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 3, characterized in that: The lifting module comprises a mounting horizontal plate, a mounting vertical plate and a lifting frame; second sliders are respectively provided at the left and right ends of the bottom of the mounting horizontal plate; two second sliders are slidably arranged on the corresponding second slide rails; the mounting vertical plate extending in the front-rear direction is installed above the mounting horizontal plate, a servo motor is installed on the mounting vertical plate, the output shaft of the servo motor is connected to a gear, and the gear is meshed with the rack; The mounting vertical plate has an oblong hole, and third slide rails extending in the up-down direction are respectively provided at the front and rear ends of one side surface of the mounting vertical plate; third sliders are respectively provided at the front and rear ends of one side surface of the lifting frame, and two third sliders are slidably arranged on the corresponding third slide rails; a connecting block is provided in the middle of the lifting frame, and the connecting block passes through the oblong hole; a lifting electric cylinder is installed at the bottom of the mounting horizontal plate, and the piston shaft of the lifting electric cylinder is connected to the connecting block.

5. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 4, characterized in that: The rotating module includes a rotating cylinder and a rotating rod; a bearing is installed at each of the front and rear ends of the other side of the lifting frame, the rotating rod is inserted into the inner ring of the bearing, the rotating shaft of the rotating cylinder is connected to one end of the rotating rod, and the cylinder body of the rotating cylinder is installed on the outer ring of the bearing located at the rear side; A support plate for moving the inclined wedge is installed at the front end of the rotating rod, and a positioning hole corresponding to the inclined wedge is arranged on the support plate; the front end of the support plate is connected to the auxiliary plate through a spring hinge.

6. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 5, characterized in that: The second inclined wedge moving assembly has the same structure as the first inclined wedge moving assembly, and the two are relatively arranged on the left and right sides above the base frame.

7. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 2, characterized in that: A π-shaped adapter frame is provided below the middle of the top plate; two fourth sliding blocks are provided at the bottom of the adapter frame and are arranged opposite to each other; a second servo electric cylinder is installed on the adapter frame; The pillow spring assembly mechanism includes a fixing frame, the fixing frame includes a first bottom plate, a second bottom plate and a top plate, the first bottom plate is located at the rear side of the second bottom plate and is lower than the second bottom plate; a step portion is formed between the first bottom plate and the second bottom plate; the first bottom plate, the second bottom plate and the top plate are connected at both sides by a connecting plate respectively; A towing rod is extended from both sides of the front end of the second bottom plate, and the ends of the towing rod are rotatably connected to the pillow spring upright plate, and the pillow spring upright plate is also connected to a multi-link assembly to push the pillow spring upright plate to be in a vertical state or a horizontal state; Fourth slide rails are respectively arranged on both sides of the upper portion of the fixing frame, and the two fourth slide rails are slidably arranged on the corresponding two fourth sliding blocks; A lug is provided on the top of the fixing frame, and the output shaft of the second servo electric cylinder is connected to the lug; The pillow spring upright plate is V-shaped.

8. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 7, characterized in that: The multi-link assembly includes a U-shaped link, a horizontal link, a first oblique link and a second oblique link; The front end of the U-shaped connecting rod is rotatably connected to the pillow spring vertical plate, and the rear end of the U-shaped connecting rod is hinged to the front end of the horizontal connecting rod; The first oblique rod is located at the rear side of the second oblique rod and is parallel to the second oblique rod, one end of the first oblique rod and the second oblique rod are respectively hinged to the first bottom plate, and the other ends of the first oblique rod and the second oblique rod are respectively hinged to the horizontal connecting rod; A cylinder fixing seat is installed at the bottom of the first base plate, and the first cylinder is installed on the cylinder fixing seat. The bottom of the cylinder body of the first cylinder is hinged to the cylinder fixing seat, and the piston rod of the first cylinder is hinged to the middle part of the second oblique rod.

9. The robot assembly manipulator for the pillow spring and wedge automatic assembly system according to claim 8, characterized in that: Guide rod cylinders are installed at both ends of the first bottom plate, and the piston rods of the two guide rod cylinders are connected to a fifth slider together. A fifth slide rail matching the fifth slide rail is provided below the second bottom plate. An L-shaped push head is provided at the front end of the fifth slider. When the pillow spring vertical plate is in a horizontal state, the L-shaped push head is higher than the pillow spring vertical plate and does not interfere with the U-shaped connecting rod. The L-shaped pushing head is located in the middle of the two towing rods.

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