A robot-based mattress composite tooling
By integrating multiple sets of movable pin gripping and clamping straightening components into the mattress composite tooling, the problems of fabric sagging and folding at the four corners are solved, achieving flat fabric laying and improved finished product quality, and adapting to the processing of mattresses of different sizes and shapes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHEJIANG JULIN INTELLIGENT EQUIP CO LTD
- Filing Date
- 2025-09-01
- Publication Date
- 2026-06-30
AI Technical Summary
During mattress manufacturing, the four corners of the fabric sag and fold due to weight, affecting the quality of the finished product.
Design a robot-based mattress composite tooling that employs multiple independently movable and adjustable pin gripping and clamping straightening components, including a first slide, a second and a third pin gripping component, capable of moving in different directions, and actively tightening the fabric edges, especially the four corners, through the clamping and straightening function to ensure the fabric is laid flat.
It effectively avoids sagging and folding of fabric edges, improves the appearance and composite quality of the finished mattress, adapts to mattress fabrics of different sizes and shapes, and enhances processing quality and versatility.
Smart Images
Figure CN224429557U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of tooling technology, specifically referring to a robot-based composite tooling for mattresses. Background Technology
[0002] In the home furnishing industry, mattresses are becoming increasingly diverse, with composite mattresses being the most popular due to their superior overall performance. The general manufacturing process for a mattress typically includes the following steps: raw material preparation and inspection, spring processing, quilting and fabric cutting, mattress mesh fabrication, base layering and filling, and edge trimming, followed by finished product inspection and packaging. During the base layering and filling, cotton felt or other padding layers are laid on the mattress mesh, followed by the quilted fabric, and then, according to design requirements, comfort layer materials such as foam or latex are added.
[0003] Sponge and latex cotton are typically gripped and transferred using an automatic fabric gripping device (patent number 2023114902950). This patent utilizes a combination of a pin gripping assembly and a clamping and straightening assembly on the outer side of a pressing plate. Multiple sets of pin gripping assemblies installed below the square frame can grip and hold the fabric, which is then lifted by a robotic arm. The irregularly shaped clamps on the outer side of the pressing plate, driven by a rotary cylinder, clamp the edges of the fabric against the lower surface of the pressing plate via a horizontal toothed plate. This facilitates the adjustment mechanism to straighten the fabric gripped and clamped by the pins on the lower surface of the pressing plate. However, the weight of the fabric can cause it to sag and fold during installation, affecting the quality of the finished mattress. Summary of the Invention
[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a robot-based mattress composite tooling.
[0005] The objective of this utility model can be achieved through the following technical solution: A robot-based mattress composite tooling includes a mobile robot arm, the end of which is rotatably connected to a square frame. A first drive motor is fixedly connected to the middle of the square frame, and a first lead screw is driven and connected to the first drive motor. A first slide rail parallel to the first lead screw is fixedly connected to the lower end of the square frame. A first carriage is slidably connected to the lower end of the first slide rail. At least two sets of first pin gripping components are connected to the first carriage. A first clamping and straightening component is connected to the first pin gripping component. A second slide rail parallel to the first slide rail is fixed to the square frame. A second pin gripping component and a third pin gripping component are slidably connected below the second slide rail. The third pin gripping component can also slide relative to the vertical direction of the second slide rail. A second clamping and straightening component is connected to the second pin gripping component, and a second clamping and straightening component is connected to the third pin gripping component.
[0006] In the aforementioned robot-based mattress composite tooling, a fourth pin gripping assembly is fixedly connected to the lower middle end of the square frame. The fourth pin gripping assembly includes a fourth fixing plate directly fixed to the lower end of the square frame. Two fourth guide rods are slidably passed through the fourth fixing plate. The other end of the fourth guide rods is fixedly connected to a fourth connecting plate. A fourth pin group is fixedly connected to the fourth connecting plate.
[0007] In the aforementioned robot-based mattress composite tooling, the first slide is perpendicular to the first slide rail, and the first pin gripping assembly includes a first fixing plate directly fixed to the first slide. Two first guide rods are slidably passed through the first fixing plate, and the other end of the first guide rods is fixedly connected to a first connecting plate. A first pin group is fixedly connected to the first connecting plate.
[0008] In the aforementioned robot-based mattress composite tooling, the first clamping and straightening assembly includes a first connecting bracket fixedly connected to a first connecting plate, a first rotary drive fixedly connected to the first connecting bracket, and a first clamping and straightening clamp connected to one end of the first rotary drive.
[0009] In the aforementioned robot-based mattress composite tooling, the first clamping and straightening clamp has a "C"-shaped structure design. The first clamping and straightening clamp includes a first mounting connecting ring, a first connecting clamp arm, a first transition clamp arm, and a first driving clamp arm. The first mounting connecting ring is mounted on the output shaft of the first rotary drive, and the lower end face of the first mounting ring is vertically connected to the first connecting clamp arm. The two ends of the first transition clamp arm are smoothly connected to the first connecting clamp arm and the first driving clamp arm, respectively. A first pressure rod is fixedly mounted on the top of the first driving clamp arm. At least two first protrusions protrude from the first pressure rod, and the upper end face of the first protrusions is close to the lower end face of the first connecting plate.
[0010] In the aforementioned robot-based mattress composite tooling, the second pin gripping assembly includes a second fixed plate slidably connected to a second slide rail. Two second guide rods are slidably passed through the second fixed plate, and the other end of each second guide rod is fixedly connected to a second connecting plate. A second pin assembly is fixedly connected to the second connecting plate.
[0011] In the aforementioned robot-based mattress composite tooling, the second clamping and straightening assembly includes a second connecting bracket fixedly connected to a second connecting plate, a second rotary drive fixedly connected to the second connecting bracket, and a second clamping and straightening clamp connected to one end of the second rotary drive.
[0012] In the aforementioned robot-based mattress composite tooling, the second clamping and straightening clamp has a "C"-shaped structure design. The first clamping and straightening clamp includes a second mounting connecting ring, a second connecting arm, a second transition arm, and a second driving arm. The second mounting connecting ring is mounted on the output shaft of the second rotary drive, and the lower end face of the second mounting ring is vertically connected to the second connecting arm. The two ends of the second transition arm are smoothly connected to the second connecting arm and the second driving arm by arcs, respectively. A second pressure rod is fixedly mounted on the top of the second driving arm. At least two second protrusions protrude from the second pressure rod. The upper end face of the second protrusions is close to the lower end face of the second connecting plate. The second connecting plate and the first connecting plate are horizontally aligned. The gap between the second transition arm and the second connecting plate is smaller than the gap between the first transition arm and the first connecting plate.
[0013] In the aforementioned robot-based mattress composite tooling, the third pin gripping assembly includes an intermediate fixed plate slidably connected to the second slide rail. A third slide rail is fixedly mounted on the intermediate fixed plate, and the third slide rail is perpendicular to the second slide rail. The third fixed plate is slidably connected to the third slide rail. Two third guide rods are slidably passed through the third fixed plate. The other end of each third guide rod is fixedly connected to a third connecting plate. A third pin assembly is fixedly connected to the third connecting plate. The third connecting plate and the second connecting plate are horizontally aligned. The third connecting plate is also fixedly connected to a second clamping and straightening assembly.
[0014] Compared with existing technologies, the technical advantages of this utility model are as follows: First, by integrating multiple sets of independently movable and adjustable pin gripping and clamping straightening components on a square frame, particularly the third pin gripping component which can move in two directions parallel and perpendicular to the first slide rail, this design allows the robot to accurately position and grip the four corners of the fabric according to the fabric size and mattress shape when laying the fabric. Through the clamping and straightening functions of each component, the edges of the fabric, especially the four corners, are actively tightened and flattened during lifting and movement, fundamentally avoiding sagging and folding of the edges and corners due to gravity. This ensures that the fabric is laid flat on the mattress net, greatly improving the appearance and composite quality of the finished mattress. Second, the components on the first slide can move along the first slide rail, the second and third pin components can move along the second slide rail, and the third component can also move in the vertical direction. This multi-directional movement capability allows the fixture to adapt to mattress fabrics of different sizes, such as single beds, double beds, and king beds, and different shapes, such as rectangular and rounded rectangular shapes, making it highly versatile. The gap between the second clamping and straightening clamp and the second connecting plate is different from the gap between the first clamping and straightening clamp and the first connecting plate. This differentiated design is used to better handle the different force and straightening requirements of the outer perimeter and inner perimeter of the fabric. During the lifting and moving process, it actively tightens and flattens the edges of the fabric, especially the four corners. Attached Figure Description
[0015] Figure 1 This is a perspective view of the utility model.
[0016] Figure 2 This is a perspective view of the present invention excluding the mobile robot arm.
[0017] Figure 3 This is a perspective view of the first pin gripping component and the first clamping and straightening component of this utility model.
[0018] Figure 4 This is a perspective view of the first pin gripping component and the first clamping and straightening component of this utility model.
[0019] Figure 5 This is a perspective view of the second pin gripping component, the third pin gripping component, and the second clamping and straightening component of this utility model.
[0020] Figure 6 This is a perspective view of the second pin gripping component and the second clamping and straightening component of this utility model.
[0021] Figure 7 This is a perspective view of the third pin gripping component and the second clamping and straightening component of this utility model.
[0022] Figure 8 This is a schematic diagram of the first clamping and straightening clamp of this utility model.
[0023] Figure 9 This is a schematic diagram of the second clamping and straightening clamp of this utility model.
[0024] Figure 10 This is a schematic diagram of the gap between the second transition clamping arm and the second connecting plate and the gap between the first transition clamping arm and the first connecting plate of this utility model.
[0025] Figure number markings: 1. First pin gripping assembly; 101. First fixing plate; 102. First guide rod; 103. First connecting plate; 2. Second pin gripping assembly; 201. Second fixing plate; 2011. Flat plate; 2012. Arch plate; 202. Second guide rod; 203. Second connecting plate; 3. Third pin gripping assembly; 301. Middle fixing plate; 3011. Horizontal plate; 3012. Vertical plate; 302. Third fixing plate; 303. Third slide rail; 304. Third drive motor; 305. Third lead screw; 306. Third guide rod; 307. Third connecting plate; 4. Fourth pin gripping assembly; 401. Fourth fixing plate; 402. Fourth guide rod; 403. Fourth connecting plate; 5. First clamping and straightening assembly; 501. First connecting bracket; 502. First rotation drive; 503. First clamping and straightening clamp; 5031. First mounting connecting ring; 5032. 5033, First connecting clamp arm; 5034, First transition clamp arm; 5035, First driving clamp arm; 5036, First pressure rod; 5037, First protrusion; 608, Second clamping and straightening assembly; 601, Second connecting bracket; 602, Second rotation drive; 603, Second clamping and straightening clamp; 6031, Second mounting connecting ring; 6032, Second connecting clamp arm; 6033, Second transition clamp arm; 6034, Second driving clamp arm; 6035, Second pressure rod; 6036, second protruding post; 7, fourth pin group; 701, tilting block; 702, cylinder; 703, oblique pin; 8, first pin group; 9, second pin group; 10, third pin group; 11, mobile robot arm; 12, square frame; 13, first drive motor; 14, first lead screw; 15, first slide rail; 16, first slide; 17, second slide rail; 18, lead screw sleeve; 19, second drive motor; 20, second lead screw. Detailed Implementation
[0026] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.
[0027] It should be noted that the descriptions of "up", "down", "left", "right", "top", "bottom", etc. in this utility model are defined based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0028] according to Figures 1 to 10As shown: A robot-based mattress composite tooling includes a mobile robot arm 11, the end of which is rotatably connected to a square frame 12. A first drive motor 13 is fixedly connected to the middle of the square frame 12, and a first lead screw 14 is driven and connected to the first drive motor 13. A first slide rail 15 parallel to the first lead screw 14 is fixedly connected to the lower end of the square frame 12. A first carriage 16 is slidably connected to the lower end of the first slide rail 15, and the first carriage 16 is perpendicular to the first slide rail 15. A series of components are connected to the first carriage 16. The system includes two sets of first pin gripping components 1, each connected to a first clamping and straightening component 5. A second slide rail 17, parallel to the first slide rail 15, is fixed to the square frame 12. A second pin gripping component 2 and a third pin gripping component 3 are slidably connected below the second slide rail 17. The third pin gripping component 3 can also slide relative to the vertical direction of the second slide rail 17. A second clamping and straightening component 6 is connected to both the second and third pin gripping components. The square frame 12 integrates multiple independently movable and adjustable pin gripping and clamping and straightening components. In particular, the third pin gripping component 3, which can move in two directions parallel and perpendicular to the first slide rail 15, enables the robot to accurately locate and grip the four corners of the fabric according to its size and the shape of the mattress when laying it. Through the clamping and straightening functions of each component, the edges of the fabric, especially the four corners, are actively tightened and flattened during lifting and movement. This fundamentally avoids sagging and folding of the edges and corners caused by gravity, ensuring that the fabric is laid flat on the mattress net, which greatly improves the appearance and composite quality of the finished mattress.
[0029] Four different pin gripping assemblies are fixed to the lower end of the square frame 12. The fourth pin gripping assembly 4 does not slide along a slide rail and is directly fixed to the lower middle end of the square frame 12. Two to three sets of the fourth pin gripping assembly 4 are provided. The fourth pin gripping assembly 4 includes a fourth fixing plate 401 directly fixed to the lower end of the square frame 12. Two fourth guide rods 402 slide through the fourth fixing plate 401. The other end of the fourth guide rods 402 is fixedly connected to a fourth connecting plate 403. A fourth pin group 7 is fixedly connected to the fourth connecting plate 403. The structure of the fourth needle assembly 7 is that of an existing product. The fourth needle assembly 7 includes an inclined block 701 fixed on the fourth connecting plate 403, and a cylinder 702 fixed on the inclined block 701. The cylinder 702 drives the inclined needles 703 to be inserted into the fabric at an angle. The fourth connecting plate 403 has inclined holes for the inclined needles 703 to pass through at an angle. Four fourth needle assemblies 7 are provided on the fourth connecting plate 403. Two fourth needle assemblies 7 are arranged opposite each other as a pair, and the pair of fourth needle assemblies 7 are symmetrically arranged at both ends of the fourth connecting plate 403. The structures of the first needle assembly 8, the second needle assembly 9, and the third needle assembly 10 described below are the same as those of the fourth needle assembly 7.
[0030] The first pin gripping component 1, the second pin gripping component 2, and the third pin gripping component 3 slide along a slide rail.
[0031] The first pin gripping assembly 1 includes a first fixing plate 101 directly fixed to the first slide 16. Two first guide rods 102 are slidably passed through the first fixing plate 101. The other end of the first guide rods 102 is fixedly connected to a first connecting plate 103. A first pin group 8 is fixedly connected to the first connecting plate 103. The first pin group 8 and the fourth pin group 7 have the same structure. The first clamping and straightening assembly 5 includes a first connecting bracket 501 fixedly connected to the first connecting plate 103. A first rotary drive 502 is fixedly connected to the first connecting bracket 501. The first rotary drive 502 is driven by a cylinder 702 or a motor. One end of the first rotary drive 502 is connected to a first clamping and straightening clamp 503. The first clamping and straightening clamp 503 has a "C"-shaped structure design. The first clamping and straightening clamp 503 includes a first mounting connecting ring 5031, a first connecting clamp arm 5032, a first transition clamp arm 5033, and a first driving clamp arm 5034. The first mounting connecting ring 5031 is mounted on the output shaft of the first rotary drive 502, and its lower end face is vertically connected to the first connecting clamp arm 5032. The two ends of the first transition clamp arm 5033 are smoothly connected to the first connecting clamp arm 5032 and the first driving clamp arm 5034, respectively. A first pressure rod 5035 is fixedly mounted on the top of the first driving clamp arm 5034. At least two first protrusions 5036 protrude from the first pressure rod 5035, with the upper end face of the first protrusions 5036 close to the lower end face of the first connecting plate 103. Two first drive motors 13 and a first lead screw 14 are arranged opposite each other. The first drive motor 13 drives the first lead screw 14 to rotate, causing the first slide 16 to slide along the first slide rail 15. A lead screw sleeve 18, which is threadedly engaged with the first lead screw 14, is fixedly installed on the first slide 16. The first slide 16 drives the first pin gripping assembly 1 to perform lateral adjustment. Two or three sets of the first pin gripping assembly 1 are provided on the first slide 16.
[0032] The second pin gripping assembly 2 includes a second fixed plate 201 slidably connected to the second slide rail 17. Two second guide rods 202 are slidably passed through the second fixed plate 201. The other end of the second guide rods 202 is fixedly connected to a second connecting plate 203. A second pin assembly 9 is fixedly connected to the second connecting plate 203. The second clamping and straightening assembly 6 includes a second connecting bracket 601 fixedly connected to the second connecting plate 203. A second rotary drive 602 is fixedly connected to the second connecting bracket 601. One end of the second rotary drive 602 is connected to a second clamping and straightening clamp 603. The second clamping and straightening clamp 603 has a "C"-shaped structure design. The first clamping and straightening clamp 503 includes a second mounting connecting ring 6031, a second connecting clamp arm 6032, a second transition clamp arm 6033, and a second driving clamp arm 6034. The second mounting connecting ring 6031 is mounted on the output shaft of the second rotary drive 602, and the lower end face of the second mounting ring is vertically connected to the second connecting clamp arm 6032. The two ends of the second transition clamp arm 6033 are respectively connected to the second connecting clamp arm 6032 and the second driving clamp arm 6034. 4. A smooth arc connection is formed. A second pressure rod 6035 is fixedly installed at the top of the second drive clamping arm 6034. At least two second protrusions 6036 protrude from the second pressure rod 6035. The upper end face of the second protrusions 6036 is close to the lower end face of the second connecting plate 203. The second connecting plate 203 and the first connecting plate 103 are horizontally flush. The gap b between the second transition clamping arm 6033 and the second connecting plate 203 is smaller than the gap a between the first transition clamping arm 5033 and the first connecting plate 103. The second fixed plate 201 includes a flat plate 2011 and an arch plate 2012 vertically fixed on the flat plate 2011. The second guide rod 202 is slidably engaged with the flat plate 2011. A screw sleeve 18 is fixed to the upper end of the arch plate 2012. The second screw 20 and the screw sleeve 18 are threadedly engaged. The second screw 20 is driven to rotate by the second drive motor 19.
[0033] The difference between the third pin gripping assembly 3 and the second pin gripping assembly 2 is that the third pin gripping assembly 3 can also be adjusted along the vertical second slide rail 17. That is to say, the third pin gripping assembly 3 can slide both along the second slide rail 17 and in a direction perpendicular to the second slide rail 17. The third pin gripping assembly 3 includes an intermediate fixing plate 301 that is slidably connected to the second slide rail 17. The intermediate fixing plate 301 includes a horizontal plate 3011 and a vertical plate 3012 that are fixed perpendicularly to each other. A lead screw sleeve 18 and a second lead screw 20 are fixed on the vertical plate 3012 for threaded transmission. A third slide rail 303 and a third drive motor 304 are fixedly installed on the horizontal plate 3011. The third slide rail 303 is perpendicular to the second slide rail 17. A third fixed plate 302 is slidably connected to the third slide rail 303. The third drive motor 304 drives the third lead screw 305 to rotate, causing the third fixed plate 302 to slide. Two third guide rods 306 are slidably inserted in the third fixed plate 302. The other end of the third guide rods 306 is fixedly connected to the third connecting plate 307. A third pin group 10 is fixedly connected to the third connecting plate 307. The third connecting plate 307 and the second connecting plate 203 are horizontally flush. The third connecting plate 307 is also fixedly connected to the second clamping and straightening assembly 6.
[0034] The components on the first slide 16 can move along the first slide rail 15, the second and third pin assemblies 10 pieces can move along the second slide rail 17, and the third component can also move vertically. This multi-directional movement capability allows the fixture to adapt to different sizes such as single beds, double beds, and king-size beds, as well as different shapes such as rectangular and rounded rectangular mattress fabrics, making it highly versatile. By using a different gap between the second clamping and straightening clamp 603 and the second connecting plate 203 and the first clamping and straightening clamp 503 and the first connecting plate 103, this differentiated design is used to better handle the different force and straightening requirements of the outer perimeter and inner perimeter of the fabric, actively tightening and flattening the edges of the fabric, especially the four corners, during lifting and movement.
[0035] The above embodiments are merely preferred embodiments of the present utility model and are not intended to limit the scope of protection of the present utility model. Therefore, all equivalent changes made to the structure, shape, and principle of the present utility model should be covered within the scope of protection defined by the claims of the present utility model.
Claims
1. A robot-based mattress composite tooling system comprising a mobile robot arm (11) having a frame (12) pivotally connected to the end of the mobile robot arm (11), characterised in that: A first drive motor (13) is fixedly connected to the middle of the square frame (12). A first lead screw (14) is driven and connected to the first drive motor (13). A first slide rail (15) parallel to the first lead screw (14) is fixedly connected to the lower end of the square frame (12). A first slide frame (16) is slidably connected to the lower end of the first slide rail (15). At least two sets of first pin gripping components (1) are connected to the first slide frame (16). A first clamping and straightening assembly is connected to the first pin gripping component (1). The square frame (12) is fixed with a second slide rail (17) parallel to the first slide rail (15). A second pin gripping assembly (2) and a third pin gripping assembly (3) are slidably connected below the second slide rail (17). The third pin gripping assembly (3) can also slide relative to the vertical direction of the second slide rail (17). A second clamping and straightening assembly (6) is connected to the second pin gripping assembly (2). A second clamping and straightening assembly (6) is connected to the third pin gripping assembly (3).
2. The robot-based mattress composite tooling system of claim 1, wherein: The lower middle end of the square frame (12) is fixedly connected to the fourth pin gripping assembly (4). The fourth pin gripping assembly (4) includes a fourth fixing plate (401) directly fixed to the lower end of the square frame (12). Two fourth guide rods (402) are slidably passed through the fourth fixing plate (401). The other end of the fourth guide rod (402) is fixedly connected to the fourth connecting plate (403). A fourth pin group (7) is fixedly connected to the fourth connecting plate (403).
3. The robot-based mattress composite tooling system of claim 1 or 2, wherein: The first slide (16) is perpendicular to the first slide rail (15). The first pin gripping assembly (1) includes a first fixing plate (101) directly fixed to the first slide (16). Two first guide rods (102) are slidably passed through the first fixing plate (101). The other end of the first guide rod (102) is fixedly connected to a first connecting plate (103). A first pin group (8) is fixedly connected to the first connecting plate (103).
4. The robot-based mattress composite tooling according to claim 3, characterized in that: The first clamping and straightening assembly (5) includes a first connecting bracket (501) fixedly connected to the first connecting plate (103), a first rotary drive (502) fixedly connected to the first connecting bracket (501), and a first clamping and straightening clamp (503) connected to one end of the first rotary drive (502).
5. The robot-based mattress composite tooling according to claim 4, characterized in that: The first clamping and straightening clamp (503) has a "C" shaped structure design. The first clamping and straightening clamp (503) includes a first mounting connecting ring (5031), a first connecting clamp arm (5032), a first transition clamp arm (5033), and a first driving clamp arm (5034). The first mounting connecting ring (5031) is mounted on the output shaft of the first rotary drive (502), and the lower end face of the first mounting ring is vertically connected to the first connecting clamp arm (5032). The two ends of the first transition clamp arm (5033) are smoothly connected to the first connecting clamp arm (5032) and the first driving clamp arm (5034), respectively. A first pressure rod (5035) is fixedly mounted on the top end of the first driving clamp arm (5034). At least two first protrusions (5036) protrude from the first pressure rod (5035), and the upper end face of the first protrusion (5036) is close to the lower end face of the first connecting plate (103).
6. The robot-based mattress composite tooling according to claim 5, characterized in that: The second pin gripping assembly (2) includes a second fixing plate (201) slidably connected to the second slide rail (17). Two second guide rods (202) are slidably passed through the second fixing plate (201). The other end of the second guide rods (202) is fixedly connected to a second connecting plate (203). A second pin group (9) is fixedly connected to the second connecting plate (203).
7. The robot-based mattress composite tooling according to claim 6, characterized in that: The second clamping and straightening assembly (6) includes a second connecting bracket (601) fixedly connected to the second connecting plate (203), a second rotary drive (602) fixedly connected to the second connecting bracket (601), and a second clamping and straightening clamp (603) connected to one end of the second rotary drive (602).
8. The robot-based mattress composite tooling according to claim 7, characterized in that: The second clamping and straightening clamp (603) has a "C"-shaped structure design. The first clamping and straightening clamp (503) includes a second mounting connecting ring (6031), a second connecting clamp arm (6032), a second transition clamp arm (6033), and a second driving clamp arm (6034). The second mounting connecting ring (6031) is mounted on the output shaft of the second rotary drive (602), and the lower end face of the second mounting ring is vertically connected to the second connecting clamp arm (6032). The two ends of the second transition clamp arm (6033) are respectively connected to the second connecting clamp arm (6032) and the second driving clamp arm (6034). The second drive clamping arm (6034) is connected by a smooth arc. A second pressure rod (6035) is fixedly installed on the top end of the second drive clamping arm (6034). At least two second protrusions (6036) protrude from the second pressure rod (6035). The upper end face of the second protrusion (6036) is close to the lower end face of the second connecting plate (203). The second connecting plate (203) and the first connecting plate (103) are horizontally aligned. The gap between the second transition clamping arm (6033) and the second connecting plate (203) is smaller than the gap between the first transition clamping arm (5033) and the first connecting plate (103).
9. A robot-based mattress composite tooling according to claim 8, characterized in that: The third pin gripping assembly (3) includes an intermediate fixing plate (301) slidably connected to the second slide rail (17). A third slide rail (303) is fixedly mounted on the intermediate fixing plate (301). The third slide rail (303) is perpendicular to the second slide rail (17). A third fixing plate (302) is slidably connected to the third slide rail (303). Two third guide rods (306) are slidably passed through the third fixing plate (302). The other end of the third guide rods (306) is fixedly connected to a third connecting plate (307). A third pin group (10) is fixedly connected to the third connecting plate (307). The third connecting plate (307) is horizontally flush with the second connecting plate (203). The third connecting plate (307) is also fixedly connected to a second clamping and straightening assembly (6).