CN109647976B

CN109647976B - Small-size automobile part stamping production line and method for machining parts by using same

Info

Publication number: CN109647976B
Application number: CN201811546401.1A
Authority: CN
Inventors: 徐海港; 于兆申; 齐文君; 高俊峰; 马全军; 李光杰
Original assignee: Shandong Shifeng Group Co Ltd
Current assignee: Shandong Shifeng Group Co Ltd
Priority date: 2018-12-17
Filing date: 2018-12-17
Publication date: 2020-05-29
Anticipated expiration: 2038-12-17
Also published as: CN109647976A

Abstract

The invention discloses a small-volume automobile part stamping production line and a stamping method thereof, wherein the small-volume automobile part stamping production line comprises a stamping working system, a grabbing assembly, a scrap containing assembly, a conveying assembly and a control system; the stamping working system comprises a frame and a stamping working platform, wherein a plurality of stamping tools suitable for different stamping procedures are transversely arranged on the stamping working platform; the grabbing assembly comprises a manipulator mounting seat which is arranged on the front side or the rear side of the stamping working platform and can move transversely, two mechanical grippers, a plurality of longitudinal cleaning manipulators and a plurality of longitudinal grabbing manipulators are arranged on the manipulator mounting seat; the conveying assembly comprises a conveying belt which is transversely arranged on the side, far away from the stamping working platform, of the manipulator mounting seat. The multi-mechanism coordinated operation realizes multi-station automobile part stamping, the automation degree is higher, the working efficiency and the working precision are further improved, and the labor cost of enterprises can be greatly saved.

Description

Small-size automobile part stamping production line and method for machining parts by using same

Technical Field

The invention belongs to the technical field of automatic machining equipment of automobile parts, and particularly relates to a small-size automobile part stamping production line and a method for machining parts by using the same.

Background

Metal stamped parts of automobile parts are important parts in automobile construction, and for example, main bodies of doors, frames and compartments of automobiles are formed by stamping and then welding and assembling steel plates. The progressive automatic stamping part adopted in the current industry can only meet the requirements of a flat panel part and is not suitable for a special-shaped part, a part with stretching and a stamping deformation part, and the pushing can not be finished due to the uneven bottom surface. Whole punching press process can set up more, like a plurality of processes such as unloading, punching a hole, tensile, turn-ups, side cut, plastic, in addition because output is big, sheet metal weight is heavy, and workman's physical demands is also big during the operation in reality, needs a plurality of workman's alternate operation usually, and this leads to the recruitment cost higher. On the other hand, manual high-intensity operation inevitably causes safety problems due to operation carelessness and errors. Of course, at present, some enterprises adopt an automated manipulator to replace manual loading, but in practical application, the following problems exist:

1) the manipulator grabbing has high quality requirements on plate stacking, and if workers are stacked in a mess or the stacking height is not in place, the manipulator can not grab smoothly, the workers need to arrange and stack again, and time and labor are wasted;

2) unloading, a plurality of processes such as punching a hole, tensile, turn-ups, side cut, plastic all need snatch, and manipulator snatchs efficiency still lower during actual operation, if adopt a plurality of manipulators, then need each manipulator of very big place ability expansion.

Disclosure of Invention

The invention aims to provide a small-volume automobile part stamping production line and a method for machining parts by using the same, aiming at the defects of the prior art.

The technical scheme adopted by the invention is as follows.

The utility model provides a little volume auto parts stamping line which characterized in that: stamping work system, snatch the subassembly, the piece holds subassembly, conveying component, control system.

The stamping working system comprises a rack, a stamping working platform is arranged below the rack, a plurality of lower dies which are suitable for different stamping processes are transversely arranged on the stamping working platform, upper dies which correspond to the stamping production processes are arranged right above the lower dies on the rack, and the upper dies on the stamping production are connected to the rack through a vertical movement driving device.

The grabbing component comprises a manipulator mounting seat arranged on the front side or the rear side of the stamping working platform, and the manipulator mounting seat is mounted on a transverse moving component; the left end and the right end of the top surface of the manipulator mounting seat are respectively provided with a turntable which is arranged in the vertical direction of the rotating shaft; the turntables are connected with a turntable driving motor arranged in the manipulator mounting seat and right below the manipulator mounting seat, and each turntable is provided with a mechanical gripper; a plurality of longitudinal manipulator bases are transversely arranged between turnplates at two ends of the top surface of the manipulator mounting seat, a part of the longitudinal manipulator bases are longitudinally provided with longitudinal cleaning manipulators, the longitudinal cleaning manipulators are provided with chip adsorption discs, and a part of the longitudinal manipulator bases are longitudinally provided with longitudinal grabbing manipulators.

The conveying assembly comprises a conveying belt which is transversely arranged on the side, far away from the stamping working platform, of the manipulator mounting seat.

The piece holds the subassembly and holds the box including the piece, and the piece holds the box and transversely sets up between punching press work platform and manipulator mount pad or the keeping away from of punching press work platform snatchs the subassembly side.

The control device comprises a plurality of sensors for detecting the positions of the automobile parts, each sensor, the mechanical gripper, the longitudinal cleaning manipulator, the longitudinal grabbing manipulator and the controller are electrically connected, and the controller is simultaneously connected with and controls the mechanical gripper, the longitudinal cleaning manipulator, the longitudinal grabbing manipulator and each vertical motion driving device to move.

As a preferred technical scheme, the mechanical gripper comprises a vertical mechanical gripper upright column, a transverse mechanical gripper articulated shaft, a longitudinal electric telescopic device of the mechanical gripper, a vertical mechanical gripper connecting rod, a first automobile part adsorption disc, a diagonal electric telescopic device of the mechanical gripper, a diagonal plate of the mechanical gripper and a mechanical gripper base, wherein the bottom end of the vertical mechanical gripper upright column is articulated with the top end of the diagonal plate of the mechanical gripper through the mechanical gripper articulated shaft; the mechanical gripper vertical connecting rod is connected to the lower part, close to the end of the stamping working platform, of the mechanical gripper longitudinal electric telescopic device, and the first automobile part adsorption disc is installed at the lower end of the mechanical gripper vertical connecting rod; the front end of the mechanical gripper oblique electric telescopic device is hinged with the front part of the mechanical gripper oblique electric telescopic device on the top surface of the turntable, and the rear end of the mechanical gripper oblique electric telescopic device is hinged with the upper end of the mechanical gripper upright post; the mechanical gripper longitudinal electric telescopic device and the mechanical gripper oblique electric telescopic device are electric linear drivers; the first automobile part adsorption disc is an electromagnetic adsorption disc or a vacuum adsorption disc.

As a preferred technical scheme, the longitudinal cleaning manipulator comprises a vertical cleaning manipulator upright column, a transverse vertical cleaning manipulator articulated shaft, a longitudinal electric telescopic device of the longitudinal cleaning manipulator, a vertical connecting rod of the longitudinal cleaning manipulator, a fragment adsorption disc, a longitudinal inclined electric telescopic device of the longitudinal cleaning manipulator and a longitudinal inclined cleaning manipulator plate, wherein the bottom end of the vertical cleaning manipulator upright column is articulated with the top end of the longitudinal inclined cleaning manipulator plate through the transverse vertical cleaning manipulator articulated shaft; the longitudinal cleaning manipulator vertical connecting rod is connected to the lower part, close to the end of the stamping working platform, of the longitudinal electric telescopic device of the longitudinal cleaning manipulator, and the scrap adsorption disc is installed at the lower end of the longitudinal cleaning manipulator vertical connecting rod; the front end of the longitudinal cleaning manipulator oblique electric telescopic device is hinged with the front part of a longitudinal manipulator base on the top surface of the manipulator mounting seat, and the rear end of the longitudinal cleaning manipulator oblique electric telescopic device is hinged with the upper end of a longitudinal cleaning manipulator upright post; the longitudinal electric telescopic device of the longitudinal cleaning manipulator and the oblique electric telescopic device of the longitudinal cleaning manipulator are electric linear drivers; the chip adsorption disc is an electromagnetic adsorption disc or a vacuum adsorption disc.

According to a preferred technical scheme, the longitudinal grabbing manipulator comprises a longitudinal grabbing manipulator upright column, a longitudinal grabbing manipulator articulated shaft, a longitudinal electric telescopic device, a longitudinal grabbing manipulator vertical connecting rod, a second automobile part adsorption disc, a longitudinal grabbing manipulator inclined electric telescopic device and a longitudinal grabbing manipulator inclined plate, wherein the longitudinal grabbing manipulator upright column is vertically arranged, the longitudinal grabbing manipulator articulated shaft is transversely arranged, the bottom end of the longitudinal grabbing manipulator upright column is articulated with the top end of the longitudinal grabbing manipulator inclined plate through the longitudinal grabbing manipulator articulated shaft which is transversely arranged, the bottom end of the longitudinal grabbing manipulator inclined plate is connected with the rear end of a longitudinal manipulator base, and the end, far away from a stamping working platform, of the longitudinal grabbing manipulator longitudinal electric telescopic device is connected to the top end of the longitudinal grabbing manipulator upright column; the vertical connecting rod of the longitudinal grabbing manipulator is connected to the lower part, close to the end of the stamping working platform, of the longitudinal electric telescopic device of the longitudinal grabbing manipulator, and the second automobile part adsorption disc is installed at the lower end of the vertical connecting rod of the longitudinal grabbing manipulator; the front end of the longitudinal grabbing manipulator oblique electric telescopic device is hinged with the front part of a longitudinal manipulator base on the top surface of the manipulator mounting seat, and the rear end of the longitudinal grabbing manipulator oblique electric telescopic device is hinged with the upper end of a longitudinal grabbing manipulator upright post; the longitudinal electric telescopic device of the longitudinal grabbing manipulator and the oblique electric telescopic device of the longitudinal grabbing manipulator are electric linear drivers; the second automobile part adsorption disc is an electromagnetic adsorption disc or a vacuum adsorption disc.

As a preferred technical scheme, the vacuum type adsorption plate comprises a plate body, a plurality of suckers arranged on the bottom surface of the plate body, a vacuum device and a hose; the vacuum device comprises a vacuum pump, a vacuum generator, a vacuum supply electromagnetic valve, a vacuum destruction electromagnetic valve, a shutoff valve, a vacuum switch and a vacuum filter, wherein the vacuum pump, the vacuum supply electromagnetic valve, the vacuum generator and the vacuum filter are sequentially connected in series through pipelines; the vacuum filter is respectively connected with each sucker through a hose by a pipeline; the vacuum pump is connected with the vacuum breaking electromagnetic valve through a pipeline, the vacuum breaking electromagnetic valve is connected with the shutoff valve through a pipeline, and the shutoff valve is connected with the vacuum filter through a pipeline; a vacuum switch is arranged on a pipeline between the vacuum generator and the vacuum filter.

As the preferred technical scheme, the vacuum generator comprises a shell, and an air inlet, a Laval nozzle, a receiving pipe and an exhaust port which are sequentially arranged on the shell, wherein the upper end of the middle part of the receiving pipe on the shell is connected with a negative pressure cavity, and the lower end of the middle part of the receiving pipe on the shell is connected with a vacuum cavity; the vacuum cavity is connected with the vacuum filter through a pipeline.

As an optimal technical scheme, a plurality of male dies are arranged on the upper die for stamping production, a plurality of female dies are respectively arranged at corresponding positions of the lower die for stamping production, and various operations of blanking, punching, stretching, flanging, trimming and shaping are completed through a stamping working system.

As the preferred technical scheme, the transverse movement assembly comprises a base, a sliding groove is transversely formed in the top surface of the base, a manipulator mounting seat electric linear driver is transversely fixed on the left side and the right side of the sliding groove, and the manipulator mounting seat is arranged on the sliding groove, and two ends of the manipulator mounting seat electric linear driver are connected with a telescopic shaft of the manipulator mounting seat electric linear driver respectively.

The stamping method of any small-volume automobile part stamping production line comprises the following steps:

step 1: and putting the iron plate to be punched into the right end of the conveying belt, feeding the position of the iron plate to be punched on the input end of the conveying belt back to the controller by the sensor, and stopping the movement of the conveying belt.

Step 2: the transverse moving assembly drives the manipulator mounting base to transversely move to the guide rail to be close to the end of the iron plate to be punched; rotating a turntable on a manipulator mounting seat, which is close to the end of an iron plate to be punched, to enable a mechanical gripper on the turntable to grab the iron plate to be punched onto a lower die, which is close to the end of the iron plate to be punched, on a punching working platform, for punching production, then moving the mechanical gripper out of the upper working range of the lower die for punching production, moving an upper die for punching production right above the lower die for punching production downwards, and punching the iron plate to be punched on the upper die to complete a punching process to form a punched automobile part; the manipulator mounting base moves to enable the cleaning manipulator which is closest to the automobile parts and is arranged between the turntables at the two ends of the manipulator mounting base to adsorb the chips on the iron plate to be punched and place the chips in a chip containing box, and the cleaning manipulator moves out of the position above the punched automobile parts.

And step 3: the manipulator mount pad moves to enable the grabbing manipulator on the turntable closest to the automobile part between the turntables at the two ends of the manipulator to grab the automobile part and place the automobile part on the lower die for next stamping production on the stamping working platform, the upper die for stamping production right above the lower die for stamping production moves downwards and stamps the stamped automobile part on the upper die to complete a stamping process, the manipulator mount pad moves to enable the cleaning manipulator closest to the automobile part between the turntables at the two ends of the manipulator to adsorb scraps on the stamped automobile part and place a scrap containing box, and the cleaning manipulator moves out of the position above the stamped automobile part. And repeating the steps until the automobile part is punched in all the lower dies for punching production.

And 4, step 4: the manipulator mounting base moves to the guide rail and is close to the output end of the conveying belt, and a mechanical gripper on a turntable of the manipulator mounting base, which is close to the output end of the conveying belt, grabs the punched automobile parts to the output end of the conveying belt; the conveyer belt starts to move; the process is repeated, and the full-automatic stamping production can be carried out on a plurality of automobile parts.

The invention has the beneficial effects that: whole punching press process can set up more, like unloading, punch a hole, tensile, turn-ups, side cut, plastic etc. a plurality of processes, the cope match-plate pattern sets up respectively and corresponds a plurality of terrace dies, and the lower bolster sets up a plurality of corresponding concave mould, and bullet piece etc. corresponds and sets up a plurality of manipulators, and the length of flexible arm is different according to the adsorption site position of different work pieces, but its operation can be synchronous. The manipulator mounting seat can move, so that the mechanical gripper, the longitudinal cleaning manipulator and the longitudinal grabbing manipulator are small in required length. The mechanical gripper can be used for finishing automobile parts after punching iron plates to be punched, the longitudinal cleaning manipulator is used for cleaning scraps, the longitudinal grabbing manipulator is used for grabbing the automobile parts in the punching process and finishing the longitudinal movement of the automobile parts in the punching process, the transverse movement assembly is used for transverse movement of the automobile parts, the operation of the manipulators is finished by completing the transfer and reset of one manipulator from blanking to punching, and the occupied space is small. The feeding and discharging are carried out by one conveying belt, the position of the module is calculated, a proper space is arranged, and the module is placed at the position without the feeding part, so that the transmission space is saved, and the connection is easy. The sucker is arranged, the grabbing piece is stable, and the adsorption is balanced. The stamping working platform is provided with the working area, so that the stamping working platform can work simultaneously, the time is saved, and the working efficiency is improved. The multi-station automobile part stamping machine realizes multi-station automobile part stamping through the coordination operation of the PLC control multiple mechanisms, has higher automation degree, further improves the working efficiency and the working precision, and can greatly save the labor cost of enterprises.

Drawings

FIG. 1 is a schematic structural diagram of a stamping line for small-sized automobile parts according to a preferred embodiment of the present invention.

Fig. 2 is a partially enlarged view of a portion a of fig. 1.

Fig. 3 is a partially enlarged view of a portion C of fig. 2.

Fig. 4 is a partially enlarged view of a portion B of fig. 1.

Fig. 5 is a state diagram of the small volume automotive part stamping line of fig. 1.

Fig. 6 is a state diagram of the small-volume automobile part press line shown in fig. 1.

Fig. 7 is a state diagram of the small volume automotive part stamping line of fig. 1.

Fig. 8 is a state diagram of the small volume automotive part stamping line of fig. 1.

Fig. 9 is a state diagram of the small-volume automobile part press line shown in fig. 1.

Fig. 10 is a state diagram of the small volume automotive part stamping line of fig. 1.

Fig. 11 is a state diagram of the small volume automotive part stamping line of fig. 1.

Fig. 12 is a state diagram of the small-volume automobile part press line shown in fig. 1.

Fig. 13 is a state diagram of the small volume automotive part stamping line of fig. 1.

Fig. 14 is a schematic configuration diagram of a press working system.

Fig. 15 is a bottom view of the upper die for press working in the press working system shown in fig. 14.

Fig. 16 is a plan view of a lower die for press working in the press working system shown in fig. 14.

Fig. 17 is a schematic structural view of a vacuum adsorption tray.

Fig. 18 is a schematic structural view of the vacuum generator.

FIG. 19 is a schematic structural diagram of a stamping line for small-sized automobile parts according to a preferred embodiment of the present invention.

FIG. 20 is a schematic structural diagram of a stamping line for small-sized automobile parts according to a preferred embodiment of the present invention.

Fig. 21 is a partially enlarged view of a portion D of fig. 20.

Wherein: a frame-1; a stamping working platform-2; a lower die-21 for stamping production; an upper die-22 for stamping production; a vertical motion driving device-23; a male die-24; a female die-25; a crumb holding box-3; a conveying belt-4; a conveyor belt drive motor-41; a controller-5; a power supply-51; a manipulator mounting seat-6; a turntable-61; a turntable drive motor-62; a longitudinal manipulator base-63; a lateral motion assembly-64; a base-65; a chute-66; manipulator mount electric linear actuator-67; a mechanical gripper-7; a first automobile part adsorption disc-71; mechanical gripper upright-72; a transversely arranged hinge shaft-73 of the mechanical gripper; a mechanical gripper longitudinal electric telescopic device-74; mechanical gripper vertical connecting rod-75; a mechanical gripper inclined electric telescopic device-76; a mechanical gripper diagonal plate-77; mechanical gripper base-78; longitudinally cleaning a mechanical arm-8; a chip adsorption pan-81; longitudinally cleaning a manipulator upright post-82; a transverse longitudinal cleaning manipulator articulated shaft-83; a longitudinal cleaning manipulator longitudinal electric telescopic device-84; a vertical connecting rod-85 of the longitudinal cleaning manipulator; a longitudinal cleaning manipulator oblique electric telescopic device-86; longitudinally cleaning a manipulator inclined plate-87; a longitudinal grabbing manipulator-9; a second automobile part adsorption disc-91; a vertical column-92 of a longitudinal grabbing manipulator; a transverse longitudinal grabbing manipulator hinged shaft-93; a longitudinal electric telescopic device-94 of the longitudinal grabbing manipulator; a vertical connecting rod-95 of the longitudinal grabbing manipulator; a longitudinal grabbing manipulator oblique electric telescopic device-96; a longitudinal grabbing manipulator inclined plate-97; a tray body-101; a suction cup-102; vacuum device-103; a hose-104; vacuum supply solenoid valve-105; vacuum breaking solenoid valve-106; a shut-off valve-107; a vacuum switch-108; a vacuum filter-109; vacuum pump-110; vacuum generator-111; a housing-112; an air inlet-113; laval nozzle-114; receiving tube-115; -exhaust port-116; a negative pressure cavity-117; a vacuum chamber-118; iron plate-10 to be punched; the automobile part-11 is punched; automotive part-12 in press.

Detailed Description

The invention is further illustrated by the following figures and examples.

Example 1. As shown in fig. 1-13, a small-size automobile part stamping production line is characterized in that: stamping work system, snatch the subassembly, the piece holds subassembly, conveying component, control system.

The stamping working system comprises a frame 1, a stamping working platform 2 is arranged below the frame 1, a plurality of lower dies 21 suitable for different stamping processes are transversely arranged on the stamping working platform 2, upper dies 22 corresponding to the stamping processes are arranged right above the lower dies 21 on the frame 1, and the upper dies 22 are connected to the frame 1 through a vertical movement driving device 23.

The grabbing component comprises a manipulator mounting seat 6 arranged on the front side of the stamping working platform 2, and the manipulator mounting seat 6 is arranged on a transverse moving component 64; the left end and the right end of the top surface of the manipulator mounting seat 6 are respectively provided with a turntable 61 which is arranged in the vertical direction of the rotating shaft; the turntables 61 are connected with turntable driving motors 62 arranged in the manipulator mounting seat 6 and right below the turntables, and each turntable 61 is provided with a mechanical gripper 7; two longitudinal manipulator bases 63 are transversely arranged between the turntables 61 at the two ends of the top surface of the manipulator mounting seat 6, a longitudinal cleaning manipulator 8 is longitudinally arranged on the longitudinal manipulator base 63 at the left side in the two longitudinal manipulator bases 63, a scrap adsorption disc 81 is arranged on the longitudinal cleaning manipulator 8, and a longitudinal grabbing manipulator 9 is longitudinally arranged on the longitudinal manipulator base 63 at the right side. The frame 1 comprises two upright columns with the same height and a cross beam, the cross beam is connected to the top ends of the two upright columns, the vertical motion driving device 23 is installed on the cross beam, and the upper die 22 for stamping production is installed at the bottom end of the vertical motion driving device 23.

The conveying assembly comprises a conveying belt 4 transversely arranged on the side, far away from the stamping working platform 2, of the manipulator mounting seat 6.

The piece holds the subassembly and holds box 3 including the piece, and the piece holds box 3 and transversely sets up the subassembly side of grabbing of keeping away from at punching press work platform 2.

The control device comprises a plurality of sensors for detecting the positions of the automobile parts, the sensors, the mechanical gripper 7, the longitudinal cleaning manipulator 8 and the longitudinal grabbing manipulator 9 are electrically connected with the controller 5, and the controller 5 is simultaneously connected with and controls the mechanical gripper 7, the longitudinal cleaning manipulator 8, the longitudinal grabbing manipulator 9, the conveyer belt motion driving device 41 and the vertical motion driving device 23 to move.

The mechanical hand 7 comprises a vertical mechanical hand column 72, a transverse mechanical hand hinge shaft 73, a longitudinal electric telescopic device 74 of the mechanical hand, a vertical mechanical hand connecting rod 75, a first automobile part adsorption disc 71, a diagonal electric telescopic device 76 of the mechanical hand, a diagonal plate 77 of the mechanical hand and a mechanical hand base 78, wherein the bottom end of the vertical mechanical hand column 72 is hinged to the top end of the diagonal plate 77 of the mechanical hand through the vertical mechanical hand hinge shaft 73, the bottom end of the diagonal plate 77 of the mechanical hand is connected to the rear end of the top surface of the rotary disc 61 through the mechanical hand base 78, and the end, far away from the stamping working platform 2, of the longitudinal electric telescopic device 74 of the mechanical hand is connected to the top end of the vertical mechanical hand column 72; the mechanical gripper vertical connecting rod 75 is connected to the lower part, close to the end of the stamping working platform 2, of the mechanical gripper longitudinal electric telescopic device 74, and the first automobile part adsorption disc 71 is installed at the lower end of the mechanical gripper vertical connecting rod 75; the front end of the mechanical gripper oblique electric telescopic device 76 is hinged with the front part of the mechanical gripper oblique electric telescopic device 76 on the top surface of the turntable 61, and the rear end of the mechanical gripper oblique electric telescopic device is hinged with the upper end of the mechanical gripper upright post 72; the longitudinal electric telescopic device 74 of the mechanical gripper and the oblique electric telescopic device 76 of the mechanical gripper are electric linear drivers; the first automobile part adsorption disc 71 is an electromagnetic adsorption disc.

The longitudinal cleaning manipulator 8 comprises a longitudinal cleaning manipulator upright 82 vertically arranged, a transverse longitudinal cleaning manipulator hinged shaft 83, a longitudinal electric telescopic device 84 of the longitudinal cleaning manipulator, a longitudinal vertical cleaning manipulator connecting rod 85, a fragment adsorption disc 81, a longitudinal inclined electric telescopic device 86 of the longitudinal cleaning manipulator and a longitudinal cleaning manipulator inclined plate 87, wherein the bottom end of the longitudinal cleaning manipulator upright 82 is hinged with the top end of the longitudinal cleaning manipulator inclined plate 87 through the transverse longitudinal cleaning manipulator hinged shaft 83, the bottom end of the longitudinal cleaning manipulator inclined plate 87 is connected with the rear end of the longitudinal manipulator base 63, and the end, far away from the stamping working platform 2, of the longitudinal electric telescopic device 84 of the longitudinal cleaning manipulator is connected with the top end of the longitudinal cleaning manipulator upright 82; a vertical connecting rod 85 of the longitudinal cleaning manipulator is connected below the end, close to the stamping working platform 2, of the longitudinal electric telescopic device 84 of the longitudinal cleaning manipulator, and the scrap adsorption disc 81 is installed at the lower end of the vertical connecting rod 85 of the longitudinal cleaning manipulator; the front end of the longitudinal cleaning manipulator oblique electric telescopic device 86 is hinged with the front part of the longitudinal manipulator base 63 on the top surface of the manipulator mounting seat 6, and the rear end of the longitudinal cleaning manipulator oblique electric telescopic device 86 is hinged with the upper end of the longitudinal cleaning manipulator upright post 82; the longitudinal cleaning manipulator longitudinal electric telescopic device 84 and the longitudinal cleaning manipulator oblique electric telescopic device 86 are electric linear drivers; the debris adsorption disk 81 is an electromagnetic adsorption disk.

The longitudinal grabbing manipulator 9 comprises a longitudinal grabbing manipulator upright 92 vertically arranged, a transverse longitudinal grabbing manipulator hinge shaft 93, a longitudinal grabbing manipulator longitudinal electric telescopic device 94, a longitudinal grabbing manipulator vertical connecting rod 95, a second automobile part adsorption disc 91, a longitudinal grabbing manipulator inclined electric telescopic device 96 and a longitudinal grabbing manipulator inclined plate 97, wherein the bottom end of the longitudinal grabbing manipulator upright 92 is hinged to the top end of the longitudinal grabbing manipulator inclined plate 97 through the transverse longitudinal grabbing manipulator hinge shaft 93, the bottom end of the longitudinal grabbing manipulator inclined plate 97 is connected with the rear end of the longitudinal manipulator base 63, and the end, far away from the stamping working platform 2, of the longitudinal grabbing manipulator longitudinal electric telescopic device 94 is connected to the top end of the longitudinal grabbing manipulator upright 92; the vertical connecting rod 95 of the longitudinal grabbing manipulator is connected to the lower part, close to the 2 end of the stamping working platform, of the longitudinal electric telescopic device 94 of the longitudinal grabbing manipulator, and the second automobile part adsorption disc 91 is installed at the lower end of the vertical connecting rod 95 of the longitudinal grabbing manipulator; the front end of the longitudinal grabbing manipulator oblique electric telescopic device 96 is hinged with the front part of the longitudinal manipulator base 63 on the top surface of the manipulator mounting seat 6, and the rear end of the longitudinal grabbing manipulator oblique electric telescopic device 96 is hinged with the upper end of the longitudinal grabbing manipulator upright post 92; the longitudinal grabbing manipulator longitudinal electric telescopic device 94 and the longitudinal grabbing manipulator oblique electric telescopic device 96 are electric linear drivers; the second automobile part adsorption plate 91 is an electromagnetic type adsorption plate.

As shown in fig. 14-16, the upper die 22 for stamping production is provided with a plurality of male dies 24, the lower die 21 for stamping production is provided with a plurality of female dies 25 at corresponding positions, and the stamping system is used for completing a plurality of operations including blanking, punching, stretching, flanging, trimming and shaping.

The transverse movement assembly 64 comprises a base 65, a sliding groove 66 is transversely formed in the top surface of the base 65, a manipulator mounting seat electric linear driver 67 is transversely fixed on the left side and the right side of the sliding groove 66, and the manipulator mounting seat 6 is arranged on the sliding groove 66, and two ends of the manipulator mounting seat electric linear driver are connected with a telescopic shaft of the manipulator mounting seat electric linear driver 67 respectively. The vertical motion driving device 23 is an electric linear driver or a hydraulic oil cylinder or a hydraulic air cylinder.

The stamping method of the small-volume automobile part stamping production line comprises the following steps:

step 1: and putting the iron plate to be punched into the right end of the conveyer belt 4, feeding back the position of the iron plate to be punched on the input end of the conveyer belt 4 to the controller 5 by the sensor, and stopping the conveyer belt 4.

Step 2: the transverse moving assembly 64 drives the manipulator mounting base 6 to transversely move to the guide rail close to the end of the iron plate to be punched; as shown in fig. 5, the turntable 61 on the manipulator mounting seat 6 near the end of the iron plate to be punched rotates to make the mechanical gripper 7 on the turntable grip the iron plate to be punched onto the lower die 21 on the punching working platform 2 near the end of the iron plate to be punched, as shown in fig. 6, then the mechanical gripper 7 moves out of the upper working range of the lower die 21 for punching, as shown in fig. 7, and the upper die 22 for punching directly above the lower die 21 for punching moves downwards and punches the iron plate to be punched on the upper die to be punched to complete a punching process to form a punched automobile part, as shown in fig. 8; the manipulator mounting seat 6 moves to enable the cleaning manipulator which is arranged between the turntables 61 at the two ends and is closest to the automobile parts to adsorb the scraps on the iron plate to be punched and place the scraps in the scrap containing box 3, and the cleaning manipulator moves out of the position above the punched automobile parts, as shown in figures 9-10.

And step 3: as shown in fig. 11 to 12, the manipulator mount 6 moves to make the grabbing manipulator on the turntable 61 closest to the automobile part between the turntables 61 at the two ends grab the automobile part and place the automobile part on the lower die 21 for stamping production above the stamping working platform 2, the upper die 22 for stamping production above the lower die 21 for stamping production moves downwards and stamps the stamped automobile part thereon to complete a stamping process, the manipulator mount 6 moves to make the cleaning manipulator closest to the automobile part between the turntables 61 at the two ends adsorb the scraps on the stamped automobile part and place the scraps in the scraps containing box 3, and the cleaning manipulator moves out of the upper side of the stamped automobile part. This is repeated until the automobile part is pressed by all the lower dies 21 for press production.

And 4, step 4: the manipulator mounting base 6 moves to the guide rail close to the output end of the conveying belt, and the mechanical gripper 7 on the turntable 61 of the manipulator mounting base 6 close to the output end of the conveying belt grabs the punched automobile parts to the output end of the conveying belt, as shown in fig. 13; the conveyor belt 4 starts to move; the process is repeated, and the full-automatic stamping production can be carried out on a plurality of automobile parts.

In this embodiment, whole punching press process can set up more, like unloading, punch a hole, tensile, turn-ups, side cut, plastic etc. a plurality of processes, the cope match-plate pattern sets up respectively and corresponds a plurality of terrace dies, and the lower bolster sets up a plurality of corresponding concave mould, and bullet piece etc. corresponds and sets up a plurality of manipulators, and the length of flexible arm is different according to the adsorption site position of different work pieces, but its operation can be synchronous. The mounting for the manipulator 6 is movable, so that the mechanical gripper 7, the longitudinal cleaning manipulator 8, the longitudinal gripping manipulator 9 need to be of small length. The mechanical gripper 7 can be used for an iron plate 10 to be punched and an automobile part 11 to be punched, the longitudinal cleaning manipulator 8 is used for cleaning scraps, the longitudinal grabbing manipulator 9 is used for grabbing the automobile part 12 in punching and completing longitudinal movement of the automobile part 12 in punching, the transverse movement assembly 64 is used for transverse movement of the automobile part 12, operation of the manipulators is completed by completing transfer and reset of one manipulator from blanking to punching, and occupied space is small. The feeding and discharging are carried out by one material conveying belt, the position of the module is calculated, a proper space is set, and the module is just placed at the position without the feeding part, so that the conveying space is saved, and the connection is easy. The sucker is arranged, the grabbing piece is stable, and the adsorption is balanced. The stamping working platform 2 is provided with the working area, so that the stamping working platform can work simultaneously, the time is saved, and the working efficiency is improved. The multi-station automobile part feeding device realizes multi-station automobile part feeding by controlling multi-mechanism coordinated operation through the PLC, has higher automation degree, further improves the working efficiency and the working precision, and can greatly save the labor cost of enterprises.

Embodiment 2, as shown in fig. 20, 21, 17 and 18, the present embodiment is different from embodiment 2 in that: the second automobile part adsorption disc 91, the scrap adsorption disc 81 and the first automobile part adsorption disc 71 are vacuum adsorption discs. The vacuum type adsorption plate comprises a plate body 101, a plurality of suction cups 102 arranged on the bottom surface of the plate body 101, a vacuum device 103 and a hose 104; the vacuum device 103 comprises a vacuum pump 110, a vacuum generator 111, a vacuum supply electromagnetic valve 105, a vacuum breaking electromagnetic valve 106, a cut-off valve 107, a vacuum switch 108 and a vacuum filter 109, wherein the vacuum pump 110, the vacuum supply electromagnetic valve 105, the vacuum generator 111 and the vacuum filter 109 are sequentially connected in series through pipelines; the vacuum filter 109 is respectively connected with each suction cup 102 through a hose 104 through a pipeline; the vacuum pump 110 is connected with the vacuum breaking electromagnetic valve 106 through a pipeline, the vacuum breaking electromagnetic valve 106 is connected with the cut-off valve 107 through a pipeline, and the cut-off valve 107 is connected with the vacuum filter 109 through a pipeline; a vacuum switch 108 is provided on a pipe between the vacuum generator 111 and the vacuum filter 109. By adopting the circuit of the generator assembly, after the vacuum supply electromagnetic valve 105 is electrified, compressed air passes through the vacuum generator 111, vacuum is generated due to high-speed movement of airflow, the workpiece is sucked up by the suction cup 102, the vacuum switch 108 detects the vacuum degree and sends out a signal, when the vacuum supply electromagnetic valve 105 is powered off and the vacuum breaks the electromagnetic valve 106 to be electrified, the vacuum generator 111 stops working, the vacuum disappears, and the compressed air enters the suction cup 102 to blow the workpiece and the suction cup away.

As a preferred technical scheme, the vacuum generator 111 comprises a housing 112, and an air inlet 113, a laval nozzle 114, a receiving pipe 115 and an exhaust port 116 which are sequentially arranged on the housing 112, wherein the upper end of the middle part of the receiving pipe 115 on the housing 112 is connected with a negative pressure cavity 117, and the lower end of the middle part of the receiving pipe 115 on the housing 112 is connected with a vacuum cavity 118; the vacuum chamber 118 is connected to the vacuum filter 109 through a pipe. The vacuum generator is used for generating vacuum, has simple structure, small volume, no movable mechanical parts and convenient installation and use, thereby having wide application and the vacuum degree generated by the vacuum generator can reach 88 kPa. The vacuum generator consists of a Laval nozzle which contracts and expands firstly, a negative pressure cavity, a receiving pipe and the like, and is provided with an air supply port, an air exhaust port and a vacuum port, and when the air supply pressure of the air supply port is higher than a certain value, the ultrasonic jet flow ejected by the nozzle. Due to the viscosity of the gas, the high-speed jet flow sucks away the gas in the negative pressure cavity, so that the cavity forms a very low vacuum degree, and the lower end of the vacuum cavity is connected with the sucking disc 102. The object is sucked by vacuum pressure and a sucking disc.

The suction-corresponding time is a time from when the supply valve is actuated to when the degree of vacuum in the suction cup reaches a degree of vacuum necessary for suction, and is referred to as a suction-corresponding time. The model ZFB-200-06 is selected for the vacuum filter, the flow is 30L/min and is larger than the maximum flow of a vacuum generator by 24L/min, the requirement is met, the vacuum throttle valve is selected from a KLA series one-way throttle valve KLA-L6, the nominal diameter is 6mm, the effective section is larger than 5mm2, the leakage is smaller than 50cm3/min, and the opening pressure of the one-way valve is 0.05 MPa. The supply valve is arranged in the pressure pipeline, and the general reversing valves AB31 and AB41 series multi-fluid two-position two-way direct-acting stop type electromagnetic reversing valves are selected, and the types are as follows: AB310-1-6, nominal diameter 5mm, AB adapter thread ZG1/8, effective cross-sectional area 15.3mm2, effective cross-sectional area 4 times larger than the nozzle geometry area of the vacuum generator, connecting tube inner diameter of the air supply port 4 times larger than the nozzle diameter, reducing the pressure loss of the supply loop. The vacuum reversing valve is arranged in a vacuum loop, the reversing valve which can be used under the vacuum condition is required to be selected, the vacuum reversing valve does not leak, so that a stop type structure and a guide diaphragm type structure are selected to be ideal, and 09270 and 09550 series of various fluid two-position two-way guide diaphragm type electromagnetic valves are selected, and the models are as follows: 0927000, connecting pipe screw thread 1/4in, diameter 8mm, reversing frequency more than 0.5 Hz.

After the control system is provided with a control system for controlling each mechanical gripper 7, the longitudinal cleaning manipulator 8 and the longitudinal grabbing manipulator 9, a computer becomes a core, a control algorithm is realized by the computer, various signals are received and processed to form and send instructions, and considering that the computer is used as a mechanical hand control device and needs to complete a large amount of operations, a microcomputer is difficult to realize, so a layered control mode is generally adopted in control, a two-layer microcomputer control system is generally adopted, and the first-level microcomputer is used as a main control microcomputer and mainly receives task operation instructions, coordinates joint movement, controls movement tracks and meets operation requirements. The other stage of microcomputer constitutes one group of miniature servo system, each joint has its own independent microprocessor, and they receive the command signal from the main control microcomputer to each joint for real-time control of the operation of each joint of the operating machine.

The servo driver 1 consists of a servo motor, a position sensor, a speed sensor and a brake, and an output shaft of the servo driver is directly connected with a joint shaft of an operating machine so as to complete the detection of the speed and the position of the joint.

2, a sensor. The position sensor used in the manipulator includes a potentiometer, a differential transformer, a resolver, an optical encoder, and the like.

And 3, a brake. The joint shaft is automatically rotated by electrifying an electromagnet coil and disengaging a friction disc, and when the joint shaft is not electrified, the friction disc is pressed under the action of a spring to generate friction force to brake. The structure is various, and the brake and the servo mechanism are usually integrated.

4 power amplifier. The servo mechanism is used for amplifying a control signal output by the controller and driving the servo mechanism to move.

4.2 Main control System

The main functions of the system are to establish an information channel between the manipulator and the manipulator, to transmit operation instructions and parameters, to feed back the working state, to complete various calculations required by the operation, and to establish an interface with the servo control stage.

1 controlling machine. The main requirements for the hardware of the main control computer are the operation speed and precision, the storage capacity and the interrupt processing capability.

2 external device. Besides common external devices such as a display, a control keyboard, a hard disk drive and a printer, the teaching control box is also provided. The teaching control box can be used for achieving the purpose of controlling all joints.

3 main control software. The control programming software is an important component of a control system, and mainly has the functions of analyzing and explaining instructions, planning movement, marking out movement parameters along the movement track according to the movement track, performing interpolation calculation, performing interpolation according to straight lines, circular arcs or polynomials to obtain intermediate points with proper density, and performing coordinate transformation.

PLC control through the controller: 1. the lateral movement assembly 64 moves; 2. the position of a manipulator mounting seat 6; 3. each sensor comprises a video sensor and a position sensor; 4. each control switch; 5. a programmer, a display and control keys; 6. rotating the turntable; 7. the mechanical gripper 7, the longitudinal cleaning manipulator 8 and the longitudinal grabbing manipulator 9 grab; 8. vacuum adsorption or electromagnetic adsorption, etc.

On the frame, all set up a plurality of photoelectric protection devices, in case the vision error appears, when photoelectric detector detected that there is the abnormal conditions in the effective area, the machine automatic shutdown work has solved the vision blind area, can ensure the security performance.

In this embodiment, in order to realize the continuous automation of punching press, guarantee that the accuracy of stamping workpiece targets in place, through the visual identification system of sensor, the work of the PLC control components and parts of controller, the cooperation is used for the conveyer belt 4 of material loading and unloading, forms the work department production line such as efficient snatchs, aversion, designs a set of neotype pneumatic manipulator collaborative work, uses pneumatic type vacuum adsorption formula manipulator system to accomplish corresponding work more synchronous, high-efficient. The mechanical gripper 7, the longitudinal cleaning manipulator 8 and the longitudinal grabbing manipulator 9 have the same structure. The vacuum type sucker is an important component for grabbing a workpiece, the adsorption mechanism is formed by a plurality of sucker groups in a rectangular or triangular layout, balanced adsorption force is formed on the workpiece, and the mechanical structure is a four-degree-of-freedom manipulator. The vacuum adsorption type mechanical arm manufactured by using the vacuum pump technology is an assembly tool which has high efficiency, no pollution, high positioning precision, economy and reliability.

The manipulator mounting base 6 can be intelligently moved according to the size of a workpiece, the position of an adsorption point, the size of a die and the like. And reaching the preset position. The mechanical gripper 7, the longitudinal cleaning manipulator 8 and the longitudinal grabbing manipulator 9 synchronously extend to work, workpieces at different stations are adsorbed according to beats, the lower end of a telescopic arm of the manipulator is also provided with a telescopic device and a visual sensor, the sensor sends an identification signal to the PLC, and the PLC compares and calculates the identification signal to send a signal whether the workpieces are adsorbed or not, and the workpieces are not adsorbed under the condition of no workpieces. The vacuum generators are respectively controlled and cooperatively operated. When the mechanical gripper 7 at the rightmost end puts the material to be punched into a preset position with the aid of a position sensor; under the combined action of the two manipulator mounting seat electric linear drivers 67, the manipulators stably move to the left by one position, the adsorption is closed, the mechanical grippers 7 retract to the original position, the first stamping process is started, and the longitudinal cleaning manipulator 8 cleans scraps. This is repeated. Under the state that the connecting line is normally and continuously stamped, the mechanical gripper 7 at the leftmost side is a blanking manipulator, and is in the states of adsorption, movement, piece placement and return under the control of a PLC instruction. Whole punching press process, can set up more, if the unloading, punch a hole, it is tensile, the turn-ups, cut edge, the plastic etc., a plurality of processes, the cope match-plate pattern sets up respectively and corresponds a plurality of terrace dies, the lower bolster sets up a plurality of corresponding concave touching and bullet piece etc., it sets up two mechanical tongs 7 to correspond, a plurality of vertical cleaning manipulator 8, vertically snatch manipulator 9, mechanical tongs 7, vertical cleaning manipulator 8, vertically snatch the vertical flexible length of manipulator 9, the adsorption site position according to different work pieces is different, but its operation can be synchronous. The operation of the two mechanical grippers 7, a plurality of longitudinal cleaning manipulators 8 and a plurality of longitudinal grabbing manipulators 9 can complete the procedures of transferring, resetting and the like from blanking to punching, and the like. After the workpiece discharging action is completed, under the combined action of the two manipulator mounting seat electric linear drivers 67, the manipulator mounting seat 6 retracts to a workpiece position, namely, resets. The feeding and discharging are carried out by one conveyer belt 4, the position of the module is calculated, a proper space is arranged, and the module is just placed at the position without the feeding module, so that the transmission space is saved, and the connection is easy.

Example 3. As shown in fig. 19, the present embodiment is different from embodiment 1 in that: the piece holds the subassembly and holds box 3 including the piece, and the piece holds box 3 and transversely sets up between punching press work platform 2 and manipulator mount pad 6. The automatic stamping workpiece of the formula of upgrading that adopts in the trade at present can only satisfy the panel spare, and be not suitable for dysmorphism piece, have tensile piece, stamping deformation piece, because the bottom surface is uneven, can't accomplish the propelling movement, and the automatic punching press of this research can satisfy the continuous punching press of all kinds of pieces, and the conveyer belt, material, piece use has mixed, has realized lean production. The embodiment can be used for processing small stretching pieces, and complex pieces such as an oil pan can be selected.

Claims

1. The utility model provides a little volume auto parts stamping line which characterized in that: the small-volume automobile part stamping production line comprises a stamping working system, a grabbing assembly, a scrap containing assembly, a conveying assembly and a control system;

the stamping working system comprises a rack (1), a stamping working platform (2) is arranged below the rack (1), a plurality of lower dies (21) suitable for different stamping processes are transversely arranged on the stamping working platform (2), an upper die (22) corresponding to the stamping production process is arranged right above each lower die (21) on each rack (1), and each upper die (22) for stamping production is connected to the rack (1) through a vertical motion driving device (23);

the grabbing component comprises a manipulator mounting seat (6) arranged on the front side or the rear side of the stamping working platform (2), and the manipulator mounting seat (6) is mounted on a transverse moving component (64); the left end and the right end of the top surface of the manipulator mounting seat (6) are respectively provided with a turntable (61) which is arranged in the vertical direction of the rotating shaft; the turntables (61) are connected with a turntable driving motor (62) arranged in the manipulator mounting seat (6) and right below the turntables, and each turntable (61) is provided with a mechanical gripper (7); a plurality of longitudinal manipulator bases (63) are transversely arranged between turntables (61) at two ends on the top surface of the manipulator mounting seat (6), a part of the longitudinal manipulator bases (63) is longitudinally provided with a longitudinal cleaning manipulator (8), the longitudinal cleaning manipulator (8) is provided with a scrap adsorption disc (81), and a part of the longitudinal manipulator bases (63) is longitudinally provided with a longitudinal grabbing manipulator (9);

the conveying assembly comprises a conveying belt (4) which is transversely arranged on the side, far away from the stamping working platform (2), of the manipulator mounting seat (6);

the scrap containing assembly comprises a scrap containing box (3), and the scrap containing box (3) is transversely arranged between the stamping working platform (2) and the manipulator mounting seat (6) or on the side, far away from the grabbing assembly, of the stamping working platform (2);

the control device comprises a plurality of sensors for detecting the positions of the automobile parts, each sensor, the mechanical gripper (7), the longitudinal cleaning manipulator (8) and the longitudinal grabbing manipulator (9) are electrically connected with the controller (5), and the controller (5) is simultaneously connected with and controls the mechanical gripper (7), the longitudinal cleaning manipulator (8), the longitudinal grabbing manipulator (9) and each vertical motion driving device (23) to move;

the mechanical gripper (7) comprises a vertical mechanical gripper upright post (72), a transverse mechanical gripper hinge shaft (73), a longitudinal electric telescopic device (74) of the mechanical gripper, a vertical mechanical gripper connecting rod (75), a first automobile part adsorption disc (71), a mechanical gripper inclined electric telescopic device (76), a mechanical gripper inclined plate (77) and a mechanical gripper base (78), the bottom end of the mechanical gripper upright post (72) is hinged to the top end of the mechanical gripper inclined plate (77) through the mechanical gripper hinge shaft (73), the bottom end of the mechanical gripper inclined plate (77) is connected with the rear end of the top surface of the turntable (61) through the mechanical gripper base (78), and the end, far away from the stamping working platform (2), of the longitudinal electric telescopic device (74) of the mechanical gripper is connected to the top end of the mechanical gripper upright post (72); a vertical connecting rod (75) of the mechanical gripper is connected to the lower part of the longitudinal electric telescopic device (74) of the mechanical gripper, which is close to the end of the stamping working platform (2), and a first automobile part adsorption disc (71) is arranged at the lower end of the vertical connecting rod (75) of the mechanical gripper; the front end of the mechanical hand oblique electric telescopic device (76) is hinged with the front of the mechanical hand oblique electric telescopic device (76) on the top surface of the turntable (61), and the rear end of the mechanical hand oblique electric telescopic device is hinged with the upper end of the mechanical hand upright post (72); the longitudinal electric telescopic device (74) of the mechanical gripper and the oblique electric telescopic device (76) of the mechanical gripper are electric linear drivers; the first automobile part adsorption disc (71) is an electromagnetic adsorption disc or a vacuum adsorption disc.

2. A small-volume automotive part stamping line as defined in claim 1, wherein: the longitudinal cleaning manipulator (8) comprises a vertical cleaning manipulator upright post (82) which is vertically arranged, a transverse longitudinal cleaning manipulator articulated shaft (83), a longitudinal electric telescopic device (84) of the longitudinal cleaning manipulator, a vertical connecting rod (85) of the longitudinal cleaning manipulator, a fragment adsorption disc (81), a longitudinal inclined electric telescopic device (86) of the longitudinal cleaning manipulator and a longitudinal inclined plate (87) of the longitudinal cleaning manipulator, the bottom end of the vertical cleaning manipulator upright post (82) is hinged with the top end of a vertical cleaning manipulator inclined plate (87) through a horizontal vertical cleaning manipulator hinged shaft (83), the bottom end of the vertical cleaning manipulator inclined plate (87) is connected with the rear end of a vertical manipulator base (63), the end, far away from the stamping working platform (2), of a longitudinal electric telescopic device (84) of the longitudinal cleaning manipulator is connected to the top end of a vertical column (82) of the longitudinal cleaning manipulator; a vertical connecting rod (85) of the longitudinal cleaning manipulator is connected below the end, close to the stamping working platform (2), of a longitudinal electric telescopic device (84) of the longitudinal cleaning manipulator, and a fragment adsorption disc (81) is installed at the lower end of the vertical connecting rod (85) of the longitudinal cleaning manipulator; the front end of the longitudinal cleaning manipulator oblique electric telescopic device (86) is hinged with the front of a longitudinal manipulator base (63) on the top surface of the manipulator mounting seat (6), and the rear end of the longitudinal cleaning manipulator oblique electric telescopic device (86) is hinged with the upper end of a longitudinal cleaning manipulator upright post (82); the longitudinal electric telescopic device (84) of the longitudinal cleaning manipulator and the oblique electric telescopic device (86) of the longitudinal cleaning manipulator are electric linear drivers; the debris adsorption disk (81) is an electromagnetic adsorption disk or a vacuum adsorption disk.

3. A small-volume automotive part stamping line as defined in claim 1, wherein: the longitudinal grabbing manipulator (9) comprises a longitudinal grabbing manipulator upright post (92) vertically arranged, a transverse longitudinal grabbing manipulator articulated shaft (93), a longitudinal electric telescopic device (94) of the longitudinal grabbing manipulator, a longitudinal grabbing manipulator vertical connecting rod (95), a second automobile part adsorption disc (91), a longitudinal grabbing manipulator inclined electric telescopic device (96) and a longitudinal grabbing manipulator inclined plate (97), the bottom end of the vertical grabbing manipulator upright post (92) is hinged with the top end of a vertical grabbing manipulator inclined plate (97) through a horizontal vertical grabbing manipulator hinge shaft (93), the bottom end of the vertical grabbing manipulator inclined plate (97) is connected with the rear end of a vertical manipulator base (63), the end, far away from the stamping working platform (2), of the longitudinal electric telescopic device (94) of the longitudinal grabbing manipulator is connected to the top end of the vertical column (92) of the longitudinal grabbing manipulator; a vertical connecting rod (95) of the longitudinal grabbing manipulator is connected to the lower part of the end, close to the stamping working platform (2), of the longitudinal electric telescopic device (94) of the longitudinal grabbing manipulator, and a second automobile part adsorption disc (91) is installed at the lower end of the vertical connecting rod (95) of the longitudinal grabbing manipulator; the front end of the longitudinal grabbing manipulator oblique electric telescopic device (96) is hinged with the front of a longitudinal manipulator base (63) on the top surface of the manipulator mounting seat (6), and the rear end of the longitudinal grabbing manipulator oblique electric telescopic device (96) is hinged with the upper end of a longitudinal grabbing manipulator upright post (92); the longitudinal electric telescopic device (94) of the longitudinal grabbing manipulator and the oblique electric telescopic device (96) of the longitudinal grabbing manipulator are electric linear drivers; the second automobile part adsorption disc (91) is an electromagnetic adsorption disc or a vacuum adsorption disc.

4. A small-volume automotive part stamping line as defined in any one of claims 2-3, wherein: the vacuum type adsorption plate comprises a plate body (101), a plurality of suction plates (102) arranged on the bottom surface of the plate body (101), a vacuum device (103) and a hose (104); the vacuum device (103) comprises a vacuum pump (110), a vacuum generator (111), a vacuum supply electromagnetic valve (105), a vacuum breaking electromagnetic valve (106), a shutoff valve (107), a vacuum switch (108) and a vacuum filter (109), wherein the vacuum pump (110), the vacuum supply electromagnetic valve (105), the vacuum generator (111) and the vacuum filter (109) are sequentially connected in series through pipelines; the vacuum filter (109) is respectively connected with each sucker (102) through a hose (104) through a pipeline; the vacuum pump (110) is connected with the vacuum breaking electromagnetic valve (106) through a pipeline, the vacuum breaking electromagnetic valve (106) is connected with the cut-off valve (107) through a pipeline, and the cut-off valve (107) is connected with the vacuum filter (109) through a pipeline; a vacuum switch (108) is arranged on a pipeline between the vacuum generator (111) and the vacuum filter (109).

5. A small-volume automotive part stamping line as defined in claim 4, wherein: the vacuum generator (111) comprises a shell (112), and an air inlet (113), a Laval nozzle (114), a receiving pipe (115) and an exhaust port (116) which are sequentially arranged on the shell (112), wherein the upper end of the middle part of the receiving pipe (115) on the shell (112) is connected with a negative pressure cavity (117), and the lower end of the middle part of the receiving pipe (115) on the shell (112) is connected with a vacuum cavity (118); the vacuum chamber (118) is connected to the vacuum filter (109) through a pipe.

6. A small-volume automotive part stamping line as defined in claim 1, wherein: the punching production is provided with a plurality of male dies (24) on the upper die (22), a plurality of female dies (25) are respectively arranged at corresponding positions of the lower die (21), and various operations of blanking, punching, stretching, flanging, trimming and shaping are completed through the punching working system.

7. A small-volume automotive part stamping line as defined in claim 1, wherein: the transverse motion assembly (64) comprises a base (65), a sliding groove (66) is transversely formed in the top surface of the base (65), a manipulator mounting seat electric linear driver (67) is transversely fixed to the left side and the right side of the sliding groove (66), and the manipulator mounting seat (6) is arranged on the sliding groove (66) and two ends of the manipulator mounting seat electric linear driver are connected with a telescopic shaft of the manipulator mounting seat electric linear driver (67) respectively.

8. The stamping method for a small-volume automotive part stamping line as defined in any one of claims 1 to 7, comprising the steps of:

step 1: putting an iron plate to be punched at the right end of the conveyer belt (4), feeding back the position of the iron plate to be punched at the input end of the conveyer belt (4) to the controller (5) by the sensor, and stopping the conveyer belt (4) from moving;

step 2: the transverse moving assembly (64) drives the manipulator mounting seat (6) to transversely move to the end, close to the iron plate to be punched, of the guide rail; a turntable (61) on a manipulator mounting seat (6) close to the end of an iron plate to be punched rotates to enable a mechanical gripper (7) on the turntable to grab the iron plate to be punched to a lower die (21) on a punching working platform (2) close to the end of the iron plate to be punched for punching production, then the mechanical gripper (7) moves out of the upper working range of the lower die (21) for punching production, an upper die (22) for punching production right above the lower die (21) for punching production moves downwards and punches the iron plate to be punched on the upper die to be punched to complete a punching process to form a punched automobile part; the manipulator mounting seat (6) moves to enable the cleaning manipulator which is arranged between the turntables (61) at the two ends of the manipulator and is closest to the automobile parts to adsorb the scraps on the iron plate to be punched and place the scraps in the scrap containing box (3), and the cleaning manipulator moves out of the upper part of the punched automobile parts;

and step 3: the manipulator mounting seat (6) moves to enable a grabbing manipulator on a turntable (61) which is closest to the automobile part and between turntables (61) at two ends of the manipulator mounting seat to grab the automobile part and place the automobile part on a lower die (21) for stamping production above a stamping working platform (2), an upper die (22) for stamping production right above the lower die (21) for stamping production moves downwards and stamps the stamped automobile part on the upper die to complete a stamping process, the manipulator mounting seat (6) moves to enable a cleaning manipulator which is closest to the automobile part and between the turntables (61) at two ends of the manipulator mounting seat to adsorb scraps on the stamped automobile part and place the cleaning manipulator in a scrap containing box (3), and the cleaning manipulator moves out of the upper side of the stamped automobile part;

repeating the steps until the automobile parts are stamped in all lower dies (21) for stamping production;

and 4, step 4: the manipulator mounting seat (6) moves to the guide rail and is close to the output end of the conveying belt, and a mechanical gripper (7) on a turntable (61) of the manipulator mounting seat (6) close to the output end of the conveying belt grabs the punched automobile parts to the output end of the conveying belt; the conveyor belt (4) starts to move; the process is repeated, and the full-automatic stamping production can be carried out on a plurality of automobile parts.