阅读说明：本技术 一种提高直线七轴生产节拍的快换系统及自动更换方法 (Quick-change system for improving production rhythm of seven linear shafts and automatic change method ) 是由 赵兵 杜晓 温智权 杨龙成 赵昕颢 王璐 于 2019-10-24 设计创作，主要内容包括：本发明公开了一种提高直线七轴生产节拍的快换系统及自动更换方法,所述系统设于两台压力机之间,包括工业机器人及控制单元、直线七轴、吸附装置、快换装置和TOOLING车装置。对于行程较小的压力机利用快换系统实现快速自动化生产。吸附装置自动更换时,由TOOLING车携带新吸附装置及空工位支架进入设定的更换区域,工业机器人将旧吸附装置和快换母盘放置在支架上,快换公盘与母盘脱离,使直线七轴移至新吸附装置工位上；快换公盘与母盘夹紧,直线七轴携带新吸附装置和快换母盘脱离支架,TOOLING车携带旧吸附装置离开,冲压人员将旧吸附装置更换为新吸附装置。本发明快换系统,结构紧凑,易于维护,传输速度快,效率高。(The invention discloses a quick-change system and an automatic change method for improving the production takt time of a linear seven-axis press, wherein the system is arranged between two presses and comprises an industrial robot, a control unit, a linear seven-axis press, an adsorption device, a quick-change device and a TOOLING vehicle device. And the press with a smaller stroke realizes rapid automatic production by using a quick change system. When the adsorption device is automatically replaced, the TOOLING vehicle carries a new adsorption device and an empty station support to enter a set replacement area, the industrial robot places the old adsorption device and the quick-change mother disc on the support, and the quick-change male disc is separated from the mother disc, so that the seven linear shafts are moved to the station of the new adsorption device; the quick-change male disc is clamped with the master disc, the linear seven shafts carry the new adsorption device and the quick-change master disc to separate from the support, the TOOLING vehicle carries the old adsorption device to separate from the support, and a punching worker replaces the old adsorption device with the new adsorption device. The quick-change system has the advantages of compact structure, easy maintenance, high transmission speed and high efficiency.)

1. The utility model provides an improve seven quick change systems of production beat of straight line, this system locate between two presses, its characterized in that: comprises an industrial robot (21), a control unit (24), a linear seven-shaft (1), an adsorption device (5), a quick-change device (6) and a TOOLING vehicle device (19);

the industrial robot (21) is a four-axis or six-axis hinged robot, is arranged on a robot base (22) and is used for supporting and driving a linear seven-axis (1) to convey the plate-shaped part from an upper sequence station to a lower sequence station;

the control unit (24) is used for controlling the swinging parameters of all the axes of the industrial robot (21) and the motion of the linear seven-axis (1);

the linear seven-axis (1) is arranged at the wrist part of the industrial robot through a connecting device, moves along the C direction relative to the industrial robot (21), is used for bearing the quick-change device (6) and the adsorption device (5), and assists the industrial robot (21) to quickly convey the plate-shaped part from the upper sequence station to the lower sequence station;

the adsorption devices (5) are mounted on the quick-change devices (6) and used for a robot (21) to grab the plate, the two adsorption devices (5) are fixed through the respective quick-change devices (6), and the plate-shaped parts are conveyed to a next-sequence station by virtue of linear motion of the linear seven-axis (1);

the quick change device (6) is installed on the secondary transmission of the seven straight shafts (1), placed on the TOOLING vehicle (19), contacted with the wear-resistant device of the adsorption device support (20) and used for connecting the adsorption device (5) with the seven straight shafts (1) and supporting the adsorption device (5), so that the vacuum/high-pressure gas transmission and the quick automatic replacement of the adsorption device (5) are realized, and the plate-shaped parts adsorbed on the adsorption device (5) are quickly sent to a next-procedure station through the self movement of the industrial robot (21) and the linear movement of the seven straight shafts (1).

2. The quick-change system for improving the linear seven-axis takt time according to claim 1, characterized in that: the linear seven-shaft guide device comprises a servo motor, a transmission system, a linear seven-shaft cross beam and a linear seven-shaft guide device, wherein the transmission system comprises a transmission box body (3), a primary transmission device (4) and a secondary transmission device (7), the transmission box body (3) drives the primary transmission device (4), and the secondary transmission device (7) is in passive transmission, so that the primary transmission device (4) and the secondary transmission device (7) form a speed multiplication relation.

3. The quick-change system for improving the linear seven-axis takt time according to claim 1, characterized in that: the adsorption device (5) comprises an adsorption device support (29) and a sucker (30), the adsorption device support (29) is used for supporting the sucker (30) and enabling the sucker (30) to keep a set posture, and the sucker (30) is used for adsorbing the plate-shaped part.

4. The quick-change system for improving the linear seven-axis takt time according to claim 1, characterized in that: the quick-change device (6) comprises a quick-change male disc (8), a quick-change mother disc (9) and one or more ball lock devices (14), the quick-change device (6) completes butt joint of the quick-change male disc (8) and the quick-change mother disc (9) through locking of the ball lock devices (14), and then vacuum/high-pressure gas is transmitted to the adsorption device (5); the quick-change male disc (9) and the quick-change mother disc (8) are separated by loosening the ball lock device (14), so that the plate materials are quickly sent to a next-sequence station through the self movement of the industrial robot (21) and the movement of the linear seven-shaft (1); the locking and the releasing of the ball lock device (14) are controlled pneumatically, the ball lock device has a self-locking function, and when the locking/releasing air source is cut off, the locking of the quick-change male disc (9) and the quick-change mother disc (8) is ensured not to be disengaged. The locking in-place detection switch (11) of the quick-change male disc (8) is used for detecting, and the loosening in-place detection switch (12) of the quick-change male disc (8) is used for detecting.

5. The quick-change system for improving the linear seven-axis takt time according to claim 4, characterized in that: the quick-change male plate (9) comprises a quick-change male plate body (27), a vacuum/high-pressure gas access channel (25), a vacuum/high-pressure gas butt-joint channel (13), a ball lock loosening and locking gas source inlet (26), a butt-joint guide pin (15) and a ball lock device (14); the quick-change master disc (8) comprises a quick-change master disc body (28), a vacuum/high-pressure gas access channel (16) and a vacuum/high-pressure gas output channel (17); the quick-change male disc (9) is attached to the quick-change mother disc (8) through the guidance of the butt joint guide pin (15); the locking and loosening of the ball lock device (14) are controlled by loosening the on-off of the locking air source inlet (26) through the ball lock device (14), and the butt joint and loosening of the quick-change male disc (9) and the quick-change mother disc (8) are completed; when the quick-change male disc (9) and the quick-change mother disc (8) are butted, the vacuum/high-pressure gas butting channel (13) is communicated, so that vacuum/high-pressure gas transmitted by the vacuum/high-pressure gas input channel (25) is transmitted to the vacuum/high-pressure gas output channel (17) through the butting of the quick-change male disc (9) and the quick-change mother disc (8), and then the vacuum/high-pressure gas is transmitted to an adsorption device for adsorbing the plate-shaped part; and the quick-change male disc (9) of the quick-change device (6) is disconnected/butted with the quick-change mother disc (8), so that the on-off of vacuum/high-pressure gas transmission is realized, and the quick and automatic replacement of the adsorption device is realized.

6. The system of any one of claims 1to 5, wherein the system comprises: the TOOLING vehicle (19) comprises a TOOLING vehicle body (31), a positioning pin (32) and an adsorption device bracket (20), wherein the TOOLING vehicle body (31) is used for bearing the adsorption device bracket (20) and an adsorption device (5); the driving mode of the TOOLING vehicle (19) can adopt a motor driving mode or a pneumatic driving mode; the extension and retraction of the positioning pin (32) can be driven by a cylinder.

7. Method for handling plate-shaped parts on a press line using a quick-change system according to any one of claims 1to 6, comprising the steps of:

1) grabbing two or two groups of plate-shaped parts from the station of an upper-order press of a press line, and respectively grabbing one or one group of plate-shaped parts by each adsorption device;

2) two or two sets of plate-shaped parts are placed in the station of the downstream press of the press line.

8. Method for the automatic replacement of the suction means of a quick-change system according to any one of claims 1to 6, comprising the following steps:

1) the TOOLING vehicle (19) carries a new adsorption device (5) and an idle station support (20) to enter a set replacement area;

2) an industrial robot (21) carries a linear seven-axis (1) to adjust the posture, and an old adsorption device (23) and a quick-change mother disc (8) are placed on an idle station support (20);

3) the quick-change male disc (9) is separated from the quick-change mother disc (8), and the old adsorption device (23) and the quick-change mother disc (8) are left on the idle station support (20);

4) the industrial robot (21) carries the linear seven-axis (1) to act, so that the linear seven-axis (1) moves to a position above a new adsorption device (18);

5, clamping a quick-change male disc (9) and a quick-change mother disc (8), and moving a linear seven-shaft (1) to carry a new adsorption device (18) and the quick-change mother disc (8) to separate from a support (20) of the quick-change male disc;

6) the positioning pin (32) of the TOOLING vehicle is separated from the positioning, and the TOOLING vehicle (19) carries the old adsorption device (23) away from the relevant area under the driving of the driving device;

7) after the tool car (19) is separated from the replacement area, the old suction device (23) is replaced with a new suction device (18) by a punching equipment worker.

9. The automatic replacement method according to claim 8, wherein: in the step 1), the TOOLING vehicle (19) can finish certain fine positioning by adopting a mode of a cylinder and a guide pin (32).

Technical Field

The invention relates to a quick-change system for improving the linear seven-axis production rhythm and an automatic change method.

Background

Along with the improvement of the production rhythm of the automatic stamping production line, the requirement of the transmission speed of the plate-shaped parts between the pressing machines is higher and higher in order to meet the requirement of the rhythm of the automatic continuous stamping production line. At present, the automatic punching production line mainly adopts a robot and auxiliary seven-shaft matching mode to improve the transmission speed of the plate-shaped parts, the robot and the auxiliary seven-shaft can fast carry the plate-shaped parts from an upper-sequence station to a lower-sequence station, and in the motion process, the plate-shaped parts are kept horizontal, so that the production rhythm of the punching production line is improved. Because a large number of presses or manual production line dies with small stroke exist in the current stamping host factory, after a common linear seven-shaft is provided with a standard gun changing disc due to the equipment in the host factory, the thickness of the linear seven-shaft and a rigid pulling and adsorbing device is large, when the linear seven-shaft grabs a plate-shaped part, the linear seven-shaft is difficult to enter a stamping die area to grab the plate-shaped part due to the stroke of the presses or the stamping die, and the performance of the linear seven-shaft cannot be fully exerted in the motion process; for the press with better press stroke configuration, after the gun plate is replaced by the common linear seven-axis configuration standard, the thickness is larger, and the press needs to wait for the opening height of the press to be larger, so that the improvement of the stamping equipment is seriously influenced.

Disclosure of Invention

The invention aims to solve the technical problem of providing a system for improving the linear seven-axis production rhythm, which has strong use performance, high working efficiency, high automation degree and convenient maintenance and aims at overcoming the defects in the prior art.

In order to solve the technical problem, the invention provides a quick-change system for improving the linear seven-axis production takt, which is arranged between two presses and comprises an industrial robot, a control unit, a linear seven-axis machine, an adsorption device, a quick-change device and a TOOLING vehicle device;

the industrial robot is a four-axis or six-axis hinged robot, is arranged on a robot base and is used for supporting and driving a linear seven-axis robot to convey plate-shaped parts from an upper sequence station to a lower sequence station;

the control unit is used for controlling the swinging parameters of all the shafts of the industrial robot and the motion of the linear seven shafts;

the linear seven shafts are arranged on the wrist part of the industrial robot through a connecting device, move along the C direction relative to the industrial robot, are used for bearing a quick-change device and an adsorption device and assisting the industrial robot to quickly convey the plate-shaped part from an upper sequence station to a lower sequence station;

the two adsorption devices are fixed through respective quick-change devices, and the plate-shaped parts are conveyed to a next-procedure station by virtue of linear seven-axis linear motion;

the quick-change device is arranged on the two-stage transmission of the seven linear shafts, is placed on the TOOLING vehicle, is in contact with the wear-resistant device of the adsorption device support, is used for connecting the adsorption device with the seven linear shafts and supporting the adsorption device, realizes the transmission of vacuum/high-pressure gas and the quick automatic replacement of the adsorption device, and enables the plate-shaped parts adsorbed on the adsorption device to be quickly sent to a next-sequence station through the self-motion of the industrial robot and the linear motion of the seven linear shafts.

The linear seven-shaft guide device comprises a servo motor, a transmission system, a linear seven-shaft cross beam and a linear seven-shaft guide device, wherein the transmission system comprises a transmission box body, a primary transmission device and a secondary transmission device, the transmission box body drives the primary transmission device, and the secondary transmission device is driven to transmit, so that the primary transmission device and the secondary transmission device form a speed multiplication relation.

The adsorption device comprises an adsorption device support and a sucker, the adsorption device support is used for supporting the sucker and enabling the sucker to keep a set posture, and the sucker is used for adsorbing the plate-shaped part.

The quick-change device comprises a quick-change male disc, a quick-change mother disc and one or more ball lock devices, the quick-change male disc and the quick-change mother disc are butted by the quick-change device through the locking of the ball lock devices, and then the vacuum/high-pressure gas is transmitted onto the adsorption device; the quick-change male disc and the quick mother disc are separated by loosening the ball lock device, so that the plate is quickly sent to a next-procedure station by the self motion of the industrial robot and the motion of a linear seven-axis; the locking and the releasing of the ball lock device are both pneumatically controlled, the ball lock device has a self-locking function, when the locking/releasing air source is cut off, the locking of the quick-change male disc and the quick-change mother disc is ensured not to be released, the locking in-place detection switch of the quick-change male disc is used for detecting, the releasing in-place detection switch of the quick-change male disc is used for detecting,

the quick-change male plate comprises a quick-change male plate body, a vacuum/high-pressure gas access channel, a vacuum/high-pressure gas butt-joint channel, a ball lock loosening and locking gas source inlet, a butt-joint guide pin and a ball lock device; the quick-change mother disc comprises a quick-change mother disc body, a vacuum/high-pressure gas access channel and a vacuum/high-pressure gas output channel; the quick-change male disc is attached to the quick-change mother disc through the guidance of the butt joint guide pin; the locking and loosening of the ball lock device are controlled by loosening the on-off of the locking air source inlet through the ball lock device, and the butt joint and loosening of the quick-change male disc and the quick-change mother disc are completed; when the quick-change male disc and the quick-change mother disc are butted, the vacuum/high-pressure gas butting channel is communicated, so that vacuum/high-pressure gas transmitted from the vacuum/high-pressure gas input channel is transmitted to the vacuum/high-pressure gas output channel through the butt joint of the quick-change male disc and the quick-change mother disc, and then the vacuum/high-pressure gas is transmitted to the adsorption device and is used for adsorbing the plate-shaped part; the quick-change male disc of the quick-change device is disconnected/butted with the quick-change mother disc, so that the vacuum/high-pressure gas transmission is switched on and off, and the adsorption device is quickly and automatically replaced.

The TOOLING vehicle comprises a TOOLING vehicle body, a positioning pin and an adsorption device bracket, wherein the TOOLING vehicle body is used for bearing the adsorption device bracket and the adsorption device; the driving mode of the TOOLING vehicle can adopt a motor driving mode or a pneumatic driving mode; the extension and retraction of the positioning pin can be driven by a cylinder.

A method for carrying plate-shaped parts on a stamping production line by using a quick-change system comprises the following steps:

1) grabbing two or two groups of plate-shaped parts from the station of an upper-order press of a press line, and respectively grabbing one or one group of plate-shaped parts by each adsorption device;

2) two or two sets of plate-shaped parts are placed in the station of the downstream press of the press line.

A method for automatically replacing an adsorption device comprises the following steps:

1) the TOOLING vehicle carries a new adsorption device and an idle station support to enter a set replacement area;

2) carrying a linear seven-axis by an industrial robot to adjust the posture, and placing an old adsorption device and a quick-change mother disc on an idle station support;

3) separating the quick-change male disc from the quick-change mother disc, and keeping the old adsorption device and the quick-change mother disc on the idle station support;

4) the industrial robot carries out linear seven-axis motion to enable the linear seven-axis motion to move to a position above a new adsorption device;

5) the quick-change male disc and the quick-change mother disc are clamped, and the novel adsorption device and the quick-change mother disc are carried to separate from the bracket by linear seven-axis action;

6) the positioning pin of the TOOLING vehicle is separated from the positioning of the TOOLING vehicle, and the TOOLING vehicle is driven by the driving device to carry the old adsorption device away from the related area;

7) after the tool car is separated from the replacement area, the punching equipment personnel replace the old adsorption device with a new adsorption device.

In the step 1), the TOOLING vehicle can finish certain fine positioning by adopting a mode of a cylinder and a guide pin.

Has the advantages that: the invention adopts the linear seven-shaft device, the quick-change device and the adsorption device, realizes the quick automatic production of the press with smaller stroke, can improve the production rhythm of the automatic stamping production line and has innovativeness. The robot quick-change system has the advantages of compact integral structure, easiness in maintenance, realization of autonomous production, reduction of dependence on import quick change, high transmission speed and high efficiency, realizes an automatic change mode of the adsorption device, is favorable for improving the economic benefit of automobile production enterprises, and realizes domestic replacement of key equipment. The automatic grabbing and conveying device is novel in structure, has great operability on automatic transformation of various old stamping production lines and improvement of the beat of a new stamping production line, is short in grabbing and conveying process time and high in efficiency, and has innovativeness; the plate-shaped part conveying device is compact in overall structure, easy to maintain, short in plate-shaped part conveying time and high in efficiency, and is beneficial to improving the unit yield of a stamping production line and the economic benefit of automobile production enterprises. The quick-change device completes the transmission of vacuum/high-pressure gas through the butt joint of the quick-change male disc mother disc, and is used for adsorbing the plate-shaped part by the adsorption device, and the plate-shaped part is firm and reliable when moving along with the adsorption device.

Drawings

FIG. 1 is a schematic view of a conventional linear seven-axis side;

FIG. 2a is a front view of the present invention in a schematic configuration;

FIG. 2b is a schematic side view of the structure of the present invention;

FIG. 3 is a schematic view of a linear seven-axis tool of the present invention;

fig. 4 is a shaft measuring view of the quick-change device of the invention;

FIG. 5a is a first schematic view of the quick-change male disc shaft according to the present invention;

FIG. 5b is a second schematic view of the quick-change male disc shaft according to the present invention;

FIG. 6a is a first schematic view of a spindle of a quick-change master disc according to the present invention;

fig. 6b shows a second schematic view of the spindle measurement of the fast-changing master disc of the present invention;

FIG. 7 is a schematic view of a TOOLING vehicle carrying a new adsorption apparatus entering a replacement area on a 45-degree axis;

FIG. 8 is a view of the present invention showing a linear seven-axis arrangement of the old adsorption apparatus at a 45 degree angle;

FIG. 9 is a schematic view of the present invention showing a 45-degree axis of the old adsorption device being placed on the seven linear axes and the new adsorption device being grabbed;

FIG. 10 is a schematic view of the TOOLING vehicle driving 45 ° out of the replacement area after the linear seven-axis replacement of the suction device according to the present invention.

In the figure: the thickness direction size of the line A in the seven-axis direction, the thickness direction size of the line B in the seven-axis direction and the motion direction of the line C in the seven-axis direction are shown schematically; 1 linear seven-shaft, 2 standard linear seven-shaft, 3 linear seven-shaft transmission boxes, 4-stage transmission, 5 adsorption devices, 6 quick-change devices, 7-stage transmission, 8 quick-change mother discs, 9 quick-change male discs, 10 wear-resistant devices, 11 loosening in-place detection switches, 12 locking in-place detection switches, 13 vacuum/high-pressure gas butt-joint channels, 14 ball lock mechanisms, 15 butt-joint guide pins, 16 vacuum/high-pressure gas access channels, 17 vacuum/high-pressure gas output channels, 18 new adsorption devices, 19TOOLING vehicles, 20 adsorption device placing supports, 21 industrial robots, 22 industrial robot mounting bases, 23 old adsorption devices, 24 industrial robot controllers, 25 vacuum/high-pressure gas input channels, 26 ball lock loosening and locking gas source inlets, 27 quick-change male disc bodies, 28 quick-change mother disc bodies, 29 adsorption device supports, 30 suckers, 31TOOLING vehicle bodies, 32 locating pins.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

Fig. 2a shows a front view of the structure of the present invention.

Figure 2b shows a schematic side view of the structure of the present invention.

The invention provides a quick-change system for improving the linear seven-axis production takt time, which is arranged between two presses and comprises an industrial robot 21, a control unit 24, a linear seven-axis 1, an adsorption device 5, a quick-change device 6 and a TOOLING vehicle device 19;

the industrial robot 21 is a four-axis or six-axis articulated robot, is mounted on a robot base 22, and is used for supporting and driving a linear seven-axis 1to convey a plate-shaped part from an upper sequence station to a lower sequence station;

the control unit 24 is used for controlling the swinging parameters of the axes of the industrial robot 21 and the motion of the linear seven-axis 1;

the linear seven-axis 1 is arranged on the wrist part of the industrial robot through a connecting device, moves along the C direction relative to the industrial robot 21, is used for bearing the quick-change device 6 and the adsorption device 5 and assisting the industrial robot 21 to rapidly convey the plate-shaped part from the upper sequence station to the lower sequence station;

the adsorption devices 5 are arranged on the quick-change devices 6 and used for the robot 21 to grab the plate, the two adsorption devices 5 are fixed through the respective quick-change devices 6, and the plate-shaped parts are conveyed to a next-procedure station by virtue of linear motion of the linear seven-axis 1;

the quick change device 6 is arranged on the two-stage transmission of the linear seven-shaft 1, is placed on the TOOLING vehicle 19, is in contact with the wear-resistant device of the adsorption device support 20, is used for connecting the adsorption device 5 with the linear seven-shaft 1 and supporting the adsorption device 5, realizes the transmission of vacuum/high-pressure gas and the quick automatic replacement of the adsorption device 5, and enables the plate-shaped parts adsorbed on the adsorption device 5 to be quickly sent to a next-procedure station through the self movement of the industrial robot 21 and the linear movement of the linear seven-shaft 1.

Fig. 3 is a schematic view of the present invention showing a linear seven-axis measurement.

The linear seven-shaft 1 comprises a servo motor, a transmission system, a linear seven-shaft beam and a linear seven-shaft guide device, the transmission system comprises a transmission box body 3, a primary transmission device 4 and a secondary transmission device 7, the transmission box body 3 drives the primary transmission device 4, and the secondary transmission device 7 is in passive transmission, so that the primary transmission device 4 and the secondary transmission device 7 form a speed multiplication relation.

The suction device 5 includes a suction device holder 29 and a suction cup 30, the suction device holder 29 is used for supporting the suction cup 30 and keeping the suction cup 30 in a set posture, and the suction cup 30 is used for sucking the plate-shaped part.

Fig. 4 shows a shaft measuring diagram of the quick-change device.

The quick-change device 6 comprises a quick-change male disc 8, a quick-change mother disc 9 and one or more ball lock devices 14, the quick-change device 6 completes butt joint of the quick-change male disc 8 and the quick-change mother disc 9 through locking of the ball lock devices 14, and then transmission of vacuum/high-pressure gas to the adsorption device 5 is achieved; the quick-change male disc 9 and the quick master disc 8 are separated by loosening the ball lock device 14, so that the plate is quickly sent to a next-sequence station through the self motion of the industrial robot 21 and the motion of the linear seven-axis 1; the locking and the releasing of the ball lock device 14 are controlled pneumatically, and the ball lock device has a self-locking function, and ensures that the quick-change male disc 9 and the quick-change mother disc 8 are locked without being released when a locking/releasing air source is cut off. The locking in-place detection switch 11 of the quick-change male plate 8 is used for detecting, and the loosening in-place detection switch 12 of the quick-change male plate 8 is used for detecting; the detection switch may be a proximity switch or a magnetic switch.

Fig. 5a is a schematic view showing the quick-change male disc shaft of the present invention.

Fig. 5b is a schematic view showing the quick-change male disc shaft of the present invention.

The quick-change male plate 9 comprises a quick-change male plate body 27, a vacuum/high-pressure gas access channel 25, a vacuum/high-pressure gas butt-joint channel 13, a ball lock loosening and locking gas source inlet 26, a butt-joint guide pin 15 and a ball lock device 14.

Fig. 6a is a first schematic view of the spindle measurement of the fast-change master disc of the present invention.

Fig. 6b shows a second schematic view of the spindle measurement of the fast-change master disc of the present invention.

The quick-change master disc 8 comprises a quick-change master disc body 28, a vacuum/high-pressure gas access channel 16 and a vacuum/high-pressure gas output channel 17; the quick-change male disc 9 is attached to the quick-change mother disc 8 under the guidance of the butt joint guide pin 15; the locking and loosening of the ball lock device 14 are controlled by loosening the on-off of the locking air source inlet 26 through the ball lock device 14, and the butt joint and loosening of the quick-change male disc 9 and the quick-change mother disc 8 are completed; when the quick-change male disc 9 and the quick-change mother disc 8 are butted, the vacuum/high-pressure gas butting channel 13 is communicated, so that vacuum/high-pressure gas transmitted from the vacuum/high-pressure gas input channel 25 is transmitted to the vacuum/high-pressure gas output channel 17 through the butt joint of the quick-change male disc 9 and the quick-change mother disc 8, and then the vacuum/high-pressure gas is transmitted to an adsorption device for adsorbing the plate-shaped part; the quick-change male disc 9 of the quick-change device 6 is disconnected/butted with the quick-change mother disc 8, so that the on-off of vacuum/high-pressure gas transmission is realized, and the quick and automatic replacement of the adsorption device is realized.

The tool car 19 comprises a tool car body 31, a positioning pin 32 and a suction device bracket 20, wherein the tool car body 31 is used for bearing the suction device bracket 20 and the suction device 5; the driving mode of the TOOLING trolley 19 can adopt a motor driving mode or a pneumatic driving mode; the extension and retraction of the positioning pin 32 may be driven by a pneumatic cylinder.

A method for carrying plate-shaped parts on a stamping production line by using a quick-change system comprises the following steps:

1) grabbing two or two groups of plate-shaped parts from the station of an upper-order press of a press line, and respectively grabbing one or one group of plate-shaped parts by each adsorption device;

2) two or two sets of plate-shaped parts are placed in the station of the downstream press of the press line.

A method for automatically replacing an adsorption device comprises the following steps:

1) the tool car 19 carries the new suction device 5 and the idle work support 20 into the set replacement area (as shown in fig. 7);

2) the industrial robot 21 carries the linear seven-axis 1to perform attitude adjustment, and places the old adsorption device 23 and the quick-change mother disc 8 on the idle-station support 20 (as shown in fig. 8);

3) the quick-change male disc 9 is separated from the quick-change mother disc 8, and the old adsorption device 23 and the quick-change mother disc 8 are left on the idle station support 20;

4) the industrial robot 21 carries out motion of the linear seven-axis 1, so that the linear seven-axis 1 moves to a position above the new adsorption device 18;

5) the quick-change male disc 9 and the quick-change mother disc 8 are clamped, the linear seven-shaft 1 acts, and the new adsorption device 18 and the quick-change mother disc 8 are carried to be separated from the bracket 20 (as shown in fig. 9);

6) the position of the position locating pin 32 of the tool trolley 19 is separated from the position locating pin, and the tool trolley 19 is driven by the driving device to carry the old adsorption device 23 away from the relevant area (as shown in fig. 10);

7) after the tool car 19 is separated from the replacement area, the old suction device 23 is replaced with the new suction device 18 by the punching equipment worker.

In the step 1), the tool car 19 itself can complete a certain fine positioning by using the cylinder and the guide pin 32.

Fig. 1 is a schematic side view of a conventional straight line seven shaft, wherein the dimension of the straight line seven shaft 1 in the thickness direction in fig. 1 is a, and the dimension of the common straight line seven shaft in fig. 2a in the thickness direction is B, it can be seen that the dimension of B is much larger than the dimension of a, because the dimension of the straight line seven shaft 1 in the thickness direction determines the opening angle of the slide block when the straight line seven shaft 1 enters the die area of the press, the smaller the opening angle is, that is, the straight line seven shaft 1 can enter the die area of the press in advance; and the die area of the press machine can be delayed to retreat, so that the matching time of the linear seven-axis 1 and the press machine is prolonged, and the production beat of the press line can be effectively improved.

The invention adopts the linear seven-shaft device, the quick-change device and the adsorption device, realizes the quick automatic production of the press with smaller stroke, can improve the production rhythm of the automatic stamping production line and has innovativeness. The robot quick-change device has the advantages of compact integral structure, easiness in maintenance, realization of autonomous production, reduction of dependence on import quick change, high transmission speed and high efficiency, realizes an automatic replacement mode of the adsorption device, is favorable for improving the economic benefit of automobile production enterprises, and realizes domestic replacement of key equipment. The automatic grabbing and conveying device is novel in structure, has great operability on automatic transformation of various old stamping production lines and improvement of the beat of a new stamping production line, is short in grabbing and conveying process time and high in efficiency, and has innovativeness; the plate-shaped part conveying device is compact in overall structure, easy to maintain, short in plate-shaped part conveying time and high in efficiency, and is beneficial to improving the unit yield of a stamping production line and the economic benefit of automobile production enterprises. The quick-change device completes the transmission of vacuum/high-pressure gas through the butt joint of the quick-change male disc mother disc, and is used for adsorbing the plate-shaped part by the adsorption device, and the plate-shaped part is firm and reliable when moving along with the adsorption device. The other mode is a mode of a mechanical single arm, the mechanical single arm generally has one to two redundant degrees of freedom, a standard gun changing disc is arranged at the tail end of the mechanical single arm, the thickness of the gun changing disc is thinner than that of a common linear seven-axis, the gun changing disc can better and more adaptively enter a die area of an upper-order press and exit a die area of a lower-order press, and the efficiency of stamping equipment is improved. Since the appearance time of the mechanical single arm is late, the technology is not mature, although related punching enterprises at home and abroad have developed the second generation mechanical single arm in succession, the mechanical single arm device is expensive, and the maintenance cost is high due to the adoption of more servo motors and complex control methods.

The automatic grabbing and conveying device is novel in structure, has great operability on automatic transformation of various old stamping production lines and improvement of the beat of a new stamping production line, is short in grabbing and conveying process time and high in efficiency, and has innovativeness; the plate-shaped part conveying device is compact in overall structure, easy to maintain, short in plate-shaped part conveying time and high in efficiency, and is beneficial to improving the unit yield of a stamping production line and the economic benefit of automobile production enterprises.

The above-described embodiments of the invention are intended to be illustrative only and are not intended to be limiting, as all changes that come within the scope of or equivalence to the invention are intended to be embraced therein.