CN116021531A

CN116021531A - Sleeper spring inclined wedge assembling manipulator

Info

Publication number: CN116021531A
Application number: CN202211717585.XA
Authority: CN
Inventors: 孙宝民; 秦春林; 石建刚; 任帅; 吕俊亮; 崔艳平; 王萌
Original assignee: CHN Energy Railway Equipment Co Ltd
Current assignee: CHN Energy Railway Equipment Co Ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-04-28

Abstract

The invention provides a sleeper spring wedge assembling manipulator, which relates to the technical field of railway wagon overhaul equipment and comprises a connecting disc for rotationally connecting an assembling robot, wherein the connecting disc is provided with: the support plate group is arranged on one side of the connecting disc, which is away from the assembling robot; the inner spring fixing device is arranged on the supporting plate group; the outer spring fixing device is arranged on the supporting plate group; wherein, the opposite sides of the supporting plate group respectively form an inclined wedge connection side and a sleeper spring connection side; the inner spring fixing device and the outer spring fixing device are arranged on the pillow spring receiving side; when the supporting plate is assembled with the sleeper spring, the inner spring fixing device and the outer spring fixing device clamp the sleeper spring up and down together. Based on the technical scheme of the invention, the assembly operation requirements of the wedge and the sleeper spring are met, the continuous assembly of the wedge and the sleeper spring is realized, no additional mechanical arm is needed, the assembly efficiency of the vibration damper is ensured, and the equipment cost is reduced.

Description

Sleeper spring inclined wedge assembling manipulator

Technical Field

The invention relates to the technical field of railway wagon overhaul equipment, in particular to a sleeper spring inclined wedge assembling manipulator.

Background

Railway freight cars are used as key transportation equipment for improving transportation efficiency of railways, and long-term load is driven on the railway, so that good running state of the vehicles needs to be ensured. Railway systems provide departments such as vehicle repair factories, vehicle sections, station service centers, train check centers, etc. for periodic maintenance and routine maintenance of supply vehicle vehicles. The bogie is used as a key component of a railway wagon, and the maintenance work of the bogie is particularly important.

At present, when the vibration damper of the bogie is assembled, a mode of manual moving is generally adopted to take and place the sleeper spring wedge, but the weight of the sleeper spring and the weight of the wedge are large, so that the labor intensity is very high, the efficiency is low, and meanwhile, dangerous situations are easily caused in the assembling process due to the fact that the sleeper spring and the wedge slide by hands and take off force. Therefore, the existing sleeper spring and wedge assembling robot and bogie vibration damping device assembling system realize the assembly of the wedge and the sleeper spring on the bogie by adding the tail end manipulator to the six-axis robot.

In the bogie overhauling process, after the vibration reduction device of the bogie is disassembled and overhauled, the sleeper spring and the inclined wedge are mainly disassembled, and the vibration reduction device is required to be assembled again, wherein the main process of assembly is as follows; the wedge is horizontally placed into the top of the wedge and fixed, so that the assembly of the wedge is realized; after the two wedges are fixed, the sleeper springs are placed into the frame one by one, and are pushed to be upright, so that the sleeper springs are assembled.

However, with the prior art solution, it is difficult to realize a series of actions of clamping and assembling the wedge and the pillow from the tray directly by a single assembly manipulator, resulting in a lower assembly efficiency of the vibration damping device.

Disclosure of Invention

The invention provides a sleeper spring and wedge assembling manipulator which utilizes a supporting plate to assemble a wedge and a sleeper spring, fixes the sleeper spring by means of an inner spring fixing device and an outer spring fixing device, and simultaneously realizes the assembling operation of the wedge and the sleeper spring, thereby greatly improving the assembling efficiency of a vibration damper.

The invention provides a sleeper spring inclined wedge assembling manipulator which comprises a connecting disc used for rotationally connecting an assembling robot, wherein the connecting disc is provided with:

the support plate group is arranged on one side of the connecting disc, which is away from the assembling robot, and is used for receiving the wedge and the sleeper spring;

the inner spring fixing device is arranged on the supporting plate group and used for fixing the inner springs on the sleeper springs; and

the outer spring fixing device is arranged on the supporting plate group and used for fixing the outer springs on the sleeper springs;

wherein, the opposite sides of the supporting plate group respectively form an inclined wedge connection side and a sleeper spring connection side; the inner spring fixing device and the outer spring fixing device are arranged on the pillow spring receiving side; when the supporting plate is assembled with the sleeper spring, the inner spring fixing device and the outer spring fixing device clamp the sleeper spring up and down together.

In one embodiment, the support plate set includes:

the sliding cover plate is fixedly connected with one side of the connecting disc, which is away from the assembling robot; and

the support bottom plate is arranged on the sliding cover plate in a sliding manner along the vertical direction of the connecting disc and is used for taking the sleeper spring and the wedge;

the sliding cover plate is provided with a first driving piece for driving the supporting bottom plate.

In one embodiment, the innerspring retention apparatus includes:

the pushing plate is arranged on the sliding cover plate in a sliding manner along the extending direction of the supporting plate group;

the compressing piece is movably arranged on the push plate;

the second driving piece is arranged on the push plate, is in transmission connection with the compressing piece and is used for driving the compressing piece to compress the inner spring;

the third driving piece is fixedly arranged on the sliding cover plate and is in transmission connection with the push plate and used for driving the push plate to move.

In one embodiment, the pressing member and the second driving member are a pressing finger and a pressing cylinder, respectively; the bottom of the compaction cylinder is hinged with the push plate; the compressing finger is of a bending structure, the middle of the compressing finger is hinged to the pushing plate, one end of the compressing finger is hinged to a piston rod of the compressing cylinder, the other end of the compressing finger is used for compressing the inner spring, and a groove is formed in one end of the compressing finger, which is used for compressing the inner spring.

In one embodiment, the outer spring fixing device includes:

the sleeper spring placing plate is arranged on the supporting plate group and used for receiving sleeper springs;

the jacking piece is vertically lifted and arranged on the sleeper spring placing plate; and

the jacking driving assembly is arranged on one side of the sleeper spring placing plate, which is away from the jacking piece, and is in transmission connection with the jacking piece, and is used for driving the jacking piece to move up and down.

In one embodiment, the propping piece comprises a propping head and a connecting rod fixedly arranged at one side of the propping head, wherein the connecting rod vertically penetrates through the sleeper spring placing plate and is in threaded connection with the sleeper spring placing plate; the jack drive assembly includes:

the driving gear is rotationally arranged on the sleeper spring placing plate and is in transmission connection with the connecting rod, and is used for driving the connecting rod to synchronously rotate;

the telescopic rack is arranged on the sleeper spring placing plate in a sliding manner along the length direction and meshed with the driving gear, and is used for driving the driving gear to rotate; and

and the fourth driving piece is fixedly arranged on the sleeper spring placing plate, is in transmission connection with the telescopic rack and is used for driving the telescopic rack to move in a telescopic way.

In one embodiment, the sleeper spring placing plate is hinged with the supporting bottom plate, and the supporting plate group is provided with a turnover driving assembly for driving the sleeper spring placing plate to turn.

In one embodiment, the flip drive assembly includes:

the driving sliding block is arranged on the supporting bottom plate in a sliding manner along the extending direction of the supporting bottom plate;

the two ends of the driving connecting rod are respectively hinged with the driving sliding block and the sleeper spring placing plate; and

and the fifth driving piece is fixedly arranged on the supporting bottom plate and connected with the driving sliding block and used for driving the driving sliding block to move.

In one embodiment, a roller is arranged on one side of the sleeper spring placing plate, which is far away from the hinge position of the sleeper spring placing plate and the supporting bottom plate; one side of the driving sliding block, which is far away from the fifth driving piece, is provided with a matching inclined plane for the rolling of the roller.

In one embodiment, the driving connecting rod is provided with a movable groove in a penetrating manner, the driving connecting rod is hinged with the driving sliding block through the movable groove, and the supporting bottom plate is provided with a through groove for the end part of the driving connecting rod to pass through in a penetrating manner.

In summary, compared with the prior art, the invention has the following beneficial technical effects:

(1) The wedge and the sleeper spring are assembled through the supporting plate, the sleeper spring is fixed by the inner spring fixing device and the outer spring fixing device, meanwhile, the assembly operation requirement of the wedge and the sleeper spring is met, the wedge and the sleeper spring can be continuously assembled, and the assembly efficiency of the vibration damper is greatly improved;

(2) By means of the inclined wedge and sleeper spring assembling manipulator, assembling operation can be carried out on the inclined wedge and the sleeper spring at the same time, no additional manipulator is needed, assembling efficiency is guaranteed, and meanwhile equipment cost of phase change is reduced.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:

FIG. 1 is a schematic view of the overall structure of an assembly robot after the assembly robot receives a pillow spring according to one embodiment of the present invention;

FIG. 2 is a schematic view of an innerspring retention apparatus in accordance with one embodiment of the invention;

FIG. 3 is a schematic view of an embodiment of the present invention, which is primarily used to embody the outer spring fixing device and the tilt drive assembly;

FIG. 4 is a schematic view of the construction of a jack drive assembly according to one embodiment of the present invention;

FIG. 5 is a schematic diagram of the structure of the movable slot and the through slot according to an embodiment of the present invention.

Reference numerals: 1. a connecting disc; 2. a sliding cover plate; 3. a support base plate; 31. a support rail; 32. a through groove; 4. a bottom plate cylinder; 5. a push plate; 6. pressing the finger; 61. a groove; 7. a compacting cylinder; 8. pushing the guide rail; 9. a pushing cylinder; 10. a sleeper spring placing plate; 11. tightly pushing the head; 12. a drive gear; 13. a telescopic rack; 14. a telescopic cylinder; 141. a cylinder bracket; 15. a sleeper spring limiting block; 16. driving a sliding block; 161. matching with the inclined plane; 17. a drive link; 171. a movable groove; 18. a turnover driving cylinder; 19. and a roller.

Detailed Description

The present invention will now be described more fully hereinafter with reference to the accompanying drawings.

Referring to fig. 1, a sleeper spring wedge assembling manipulator comprises a connecting disc 1 for connecting an assembling robot, wherein a supporting plate group is arranged on one side, away from the assembling robot, of the connecting disc 1. In practical application, the connecting disc 1 is rotationally connected with the assembling robot, and the assembling robot can drive the whole assembling manipulator to rotate through the connecting disc 1, so that angle adjustment is realized; the opposite sides of the supporting plate group are respectively used for connecting the wedge and the sleeper spring, namely, the opposite sides of the supporting plate group respectively form an inclined wedge connection side and a sleeper spring connection side.

In this embodiment, the support plate set includes a slide cover plate 2 connected to the connection disc 1, and the slide cover plate 2 may be vertically fixed on a side of the connection disc 1 facing away from the assembly robot by bolts, and vertically extends toward a side facing away from the connection disc 1. The sliding cover plate 2 can be arranged into a hollow cavity structure, and a supporting bottom plate 3 is inserted into the sliding cover plate; the support base plate 3 is slidably connected with the slide cover plate 2 through the support guide rail 31 so that the support base plate 3 can move telescopically in a direction perpendicular to the connection disc 1.

Meanwhile, a first driving piece for driving the supporting bottom plate 3 is also arranged on the sliding cover plate 2; specifically, the first driving member may be a bottom plate cylinder 4, where the bottom plate cylinder 4 may be fixed on one side of the sliding cover plate 2 corresponding to the oblique wedge connection side, and a piston rod of the first driving member is fixedly connected with the supporting bottom plate 3; when the base plate cylinder 4 works, it can drive the support base plate 3 to move telescopically inside the slide cover plate 2. When the supporting base plate 3 extends out of the sliding cover plate 2, one side of the supporting base plate 3 corresponding to the wedge connection side can be used for connecting the wedge to be assembled.

Referring to fig. 2, a side of the support plate set away from the bottom plate cylinder 4 is a sleeper spring receiving side; due to the structure of the sleeper spring, the sleeper spring is easy to roll after being assembled by the support plate. In order to ensure the stability of the sleeper spring, the support plate group is also provided with an inner spring fixing device and an outer spring fixing device, and the inner spring fixing device and the outer spring fixing device can jointly clamp the sleeper spring up and down so as to ensure the stability of the sleeper spring on the support plate group.

In this embodiment, the innerspring fixing device includes a push plate 5, a pressing member movably disposed on the push plate 5, and a second driving member in transmission connection with the pressing member. The second driving piece can drive the compressing piece to move and compress the inner spring, so that stability of the sleeper spring is improved.

Specifically, the push plate 5 may be disposed in parallel on the slide plate 2, and may implement reciprocating sliding in the extending direction of the support plate set through the push rail 8. Correspondingly, a third driving piece in transmission connection with the push plate 5 is further arranged on the sliding cover plate 2, the third driving piece can be a pushing air cylinder 9, the pushing air cylinder 9 is fixedly connected with the sliding cover plate 2, and a piston rod of the pushing air cylinder is fixedly connected with the push plate 5; when the pushing cylinder 9 works, the pushing plate 5 can be driven to reciprocate in the extending direction of the supporting plate group, so that the pressing piece can extend into the pillow spring and can fix the pillow spring.

The second driving member may be a pressing cylinder 7, the bottom of the pressing cylinder 7 is hinged to the push plate 5, and the piston rod of the pressing cylinder is hinged to the pressing member. The pressing member may be a pressing finger 6, and the pressing finger 6 may be provided in a bent rod-like structure or a bent plate-like structure, for example, in one embodiment, the pressing finger 6 may be provided in an L-shaped structure, which is not particularly limited. The middle part of the compressing finger 6 is hinged with the pushing plate 5, one end of the compressing finger is hinged with the end part of a piston rod of the compressing cylinder 7, and the other end of the compressing finger is used for contacting and compressing the inner spring.

In another embodiment, to further improve the stability of the sleeper spring, a groove 61 is further provided at one end of the pressing finger 6 for contacting the inner spring; the compressing finger 6 can contact and compress the inner spring through the groove 61, so that the contact area between the compressing finger 6 and the inner spring is larger, and the stabilizing effect is better.

In practical application, the pushing cylinder 9 can push the pushing plate 5 to move towards the sleeper spring, so that the compressing finger 6 stretches into the sleeper spring; subsequently, the pressing cylinder 7 pushes the pressing finger 6 to rotate around the hinge point of the push plate 5 thereof, so that the pressing finger 6 presses the inner spring through the groove 61 to fix the pillow spring.

Referring to fig. 3, the outer spring fixing device includes a sleeper spring placing plate 10 disposed on the supporting base plate 3, and a puller member and a puller driving assembly in driving connection with the puller member are vertically lifted on the sleeper spring placing plate 10. In practical application, after the tie spring is taken in by the tie spring placing plate 10, the jacking driving assembly can drive the jacking piece to ascend and jack the outer spring from bottom to top, so that the tie spring is clamped and fixed by matching with the inner spring fixing device.

The propping piece comprises a propping head 11 and a connecting rod fixedly arranged on one side of the propping head 11; the connecting rod vertically penetrates through the sleeper spring placing plate 10 and is in threaded connection with the sleeper spring placing plate 10 through threads on the outer wall of the connecting rod. In order to improve the tightening effect of the tightening head 11 on the outer spring, the tightening head 11 may be configured in a cross shape, a Y shape or other similar structures, so as to increase the contact area between the tightening head 11 and the outer spring.

As shown in fig. 4, the tightening driving assembly includes a driving gear 12 rotatably disposed on a side of the sleeper spring placing plate 10 facing away from the tightening head 11, a telescopic rack 13 engaged with the driving gear 12, and a fourth driving member connected to the telescopic rack 13.

Specifically, the driving gear 12 may be a spur gear, and the connecting rod vertically penetrates through the sleeper spring placing plate 10 and penetrates through the mounting hole of the driving gear 12; the connecting rod is provided with a polish rod part, and the polish rod part is in transmission connection with the driving gear 12 in a key connection mode, so that when the driving gear 12 rotates, the driving gear 12 drives the whole propping piece to synchronously rotate through the connecting rod.

The telescopic rack 13 is slidably disposed along the length direction thereof on a side of the pillow spring placement plate 10 facing away from the tightening head 11, and is engaged with the driving gear 12. The fourth driving piece may be a telescopic cylinder 14, the telescopic cylinder 14 is fixed on one side of the sleeper spring placing plate 10, which is far away from the jacking head 11, through a cylinder bracket 141, and the end of a piston rod of the telescopic cylinder 14 is fixedly connected with one end of the telescopic rack 13.

In practical application, the telescopic cylinder 14 drives the telescopic racks 13 to move in a telescopic manner, so as to drive the driving gear 12 to rotate; the driving gear 12 drives the whole propping head 11 to synchronously rotate through a connecting rod; because of the threaded connection between the connecting rod and the pillow spring placement plate 10, the jack will rise or fall along the connecting rod axis as the jack rotates. When the sleeper spring needs to be fixed, the jacking piece rises and props against the outer spring, and the clamping and fixing of the sleeper spring are realized by matching with the inner spring fixing device.

In one embodiment, to further improve stability of placement of the tie, a tie stop is also provided on the side of tie placement plate 10 facing away from the jack drive assembly. Specifically, the pillow spring limiting member may be a pillow spring limiting member 15, where the pillow spring limiting member 15 may be disposed on two opposite sides of the pillow spring placing plate 10, and the two pillow spring limiting members 15 are preferably disposed symmetrically, and adjacent sides thereof are both disposed in an inclined plane structure or an arc surface structure. Thus, the two pillow stoppers 15 enclose a groove for receiving the pillow on the pillow placing plate 10, and prevent the pillow from rolling off the pillow placing plate 10.

In another embodiment, the above-mentioned sleeper spring placing plate 10 is hinged with the side of the supporting base plate 3 away from the slide cover plate 2, so that the whole sleeper spring placing plate 10 can be turned up and down on the supporting base plate 3, and the sleeper springs can be conveniently adjusted to be in a vertical state for assembly.

Referring to fig. 3, in order to drive the pillow spring placing plate 10 to turn over, a turning driving assembly is further provided on the supporting base plate 3. The turnover driving assembly comprises a driving slide block 16 which is arranged on the supporting bottom plate 3 in a sliding way, a driving connecting rod 17 which is used for connecting the driving slide block 16 with the sleeper spring placing plate 10, and a fifth driving piece which is connected with the driving slide block 16.

Specifically, the driving slider 16 may be slidably connected to the support base plate 3 through the support rail 31, so that the driving slider 16 may move along the extending direction of the support base plate 3. Two ends of the driving connecting rod 17 are respectively hinged with the driving sliding block 16 and the sleeper spring placing plate 10; also, to ensure stability, the driving links 17 may be provided in parallel at intervals along the width direction of the pillow spring placement plate 10. The fifth driving member may be a turnover driving cylinder 18, and the turnover driving cylinder 18 may be a biaxial cylinder; the tilting drive cylinder 18 can be fastened to the support base 3 on the side of the drive slide 16 facing away from the sleeper bearing plate 10 and connected to the drive slide 16.

In practical application, the overturning driving cylinder 18 pushes the driving sliding block 16 to move along the supporting guide rail 31, and the driving sliding block 16 drives the sleeper spring placing plate 10 to overturn through the connecting rod, so that posture adjustment is realized on the sleeper spring.

Since the driving slider 16 and the driving link 17 are in the same straight line in the initial state and are in the dead point position, when the tie bar 10 needs to be driven to turn, the turning driving cylinder 18 needs to accelerate at the beginning to give the impact force to the tie bar 10.

In another embodiment, to facilitate the initial upward turning of the sleeper spring mounting plate 10, the side of the driving slider 16 adjacent to the sleeper spring mounting plate 10 is provided with a mating slope 161. Correspondingly, a roller 19 is rotatably arranged on one side of the sleeper spring placing plate 10 away from the hinge point of the sleeper spring placing plate and the supporting bottom plate 3. In practical application, the driving slide block 16 contacts with the roller 19 under the action of the overturning driving cylinder 18; the roller 19 will roll upwards along the matching inclined plane 161 when receiving impact, thereby naturally lifting the sleeper spring placing plate 10, and facilitating the subsequent overturning movement of the sleeper spring placing plate 10.

Meanwhile, as shown in fig. 5, in order to ensure that the turnover driving cylinder 18 can be sufficiently accelerated initially, a movable groove 171 is formed in the driving link 17 at one end for hinging the driving slider 16, the movable groove 171 may be configured as a kidney-shaped groove, and the driving link 17 is hinged with the driving slider 16 through the movable groove 171. The position of the supporting bottom plate 3 corresponding to the driving connecting rod 17 is also provided with a through groove 32 extending along the length direction of the supporting bottom plate 3 in a penetrating way; the end of the drive link 17 for the articulation of one end of the drive slider 16 can pass through the through slot 32.

In practical application, since the driving link 17 is hinged to the driving slider 16 through the movable slot 171, and the end of the driving link 17 can pass through the through slot 32, in the initial state, when the driving slider 16 is initially pushed by the overturning driving cylinder 18, the driving link 17 and the driving slider 16 can move relatively, or rotate relatively, that is, the movable slot 171 reserves a distance for initial acceleration of the overturning driving cylinder 18, and the through slot 32 reserves a space for rotation and movement of the link, so that the driving slider 16 can conveniently drive the driving link 17 to move and pass through the dead point position thereof.

The working principle of the embodiment is as follows:

during operation, the assembly robot is mounted on the assembly robot. After the transfer manipulator conveys the wedge to the target position, the assembly manipulator horizontally moves the back of the supporting bottom plate 3 upwards to the lower part of the transfer manipulator to pick up the wedge, then the horizontal posture of the assembly manipulator is kept, the assembly manipulator moves to the side frame cavity, then the assembly manipulator ascends to the corresponding side of the swing bolster, the wedge is fixed by the wedge supporting robot, and the other wedge is carried out according to the steps.

When the two inclined wedges are carried, the assembling manipulator moves to the lower part of the transfer platform to connect the sleeper spring, the jacking piece rotates to fix the outer spring, the inner spring fixing device stretches forwards, and after entering the inner spring, the compressing cylinder 7 drives the compressing finger 6 to fix the inner spring. After the fixing is finished, the assembling manipulator keeps the gesture and horizontally enters the side frame cavity, after the assembling position is reached, the pressing finger 6 is loosened, the overturning driving cylinder 18 pushes forward and jacks up the sleeper spring through the driving sliding block 16 and the driving connecting rod 17, then the supporting bottom plate 3 is driven by the bottom plate cylinder 4 to retract, the sleeper spring is driven to be pulled back to be vertically placed, and the sleeper spring stably falls into the designated position. And finally, the propping piece is reversed, the manipulator is withdrawn from the assembling position, and the assembling is completed.

In the description of the present invention, it should be understood that the terms "upper," "lower," "bottom," "top," "front," "rear," "inner," "outer," "left," "right," and the like indicate orientation or positional relationships described based on the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. The sleeper spring wedge assembling manipulator is characterized by comprising a connecting disc for rotationally connecting an assembling robot, wherein the connecting disc is provided with:

2. The tie spring cam assembly robot of claim 1, wherein said support plate set comprises:

3. The tie spring cam assembly robot of claim 1, wherein said innerspring retention means comprises:

the compressing piece is movably arranged on the push plate;

4. A tie spring cam assembly manipulator according to claim 3, wherein the hold-down member and the second drive member are hold-down fingers and hold-down cylinders, respectively; the bottom of the compaction cylinder is hinged with the push plate; the compressing finger is of a bending structure, the middle of the compressing finger is hinged to the pushing plate, one end of the compressing finger is hinged to a piston rod of the compressing cylinder, the other end of the compressing finger is used for compressing the inner spring, and a groove is formed in one end of the compressing finger, which is used for compressing the inner spring.

5. The tie spring cam assembly robot of claim 1, wherein said outer spring securing means comprises:

6. The tie spring and wedge assembly manipulator of claim 5, wherein the tightening piece comprises a tightening head and a connecting rod fixedly arranged on one side of the tightening head, and the connecting rod vertically penetrates through the tie spring placing plate and is in threaded connection with the tie spring placing plate; the jack drive assembly includes:

7. A tie slide wedge assembly manipulator according to claim 5 or 6, wherein the tie placement plate is hinged to the support base plate, and a turnover driving assembly for driving the tie placement plate to turn is provided on the support plate set.

8. The tie spring cam assembly robot of claim 7, said flip drive assembly comprising:

9. The sleeper spring and wedge assembling manipulator according to claim 8, wherein a roller is arranged on one side of the sleeper spring placing plate away from the hinge position of the sleeper spring placing plate and the supporting bottom plate; one side of the driving sliding block, which is far away from the fifth driving piece, is provided with a matching inclined plane for the rolling of the roller.

10. The sleeper spring wedge assembling manipulator of claim 9, wherein the driving connecting rod is provided with a movable groove in a penetrating mode, the driving connecting rod is hinged with the driving sliding block through the movable groove, and the supporting bottom plate is provided with a through groove for the end portion of the driving connecting rod to penetrate through.