Framework weakening and skin weakening all-in-one machine for instrument panel

Abstract

The utility model discloses an instrument panel framework weakening and skin weakening all-in-one machine, belongs to the technical field of automobile instrument panel weakening, and solves the technical problems of high cost and large occupied area of instrument panel framework weakening and skin weakening. The all-in-one machine integrates a manipulator, an instrument panel framework jig table, an instrument panel skin jig table, a milling cutter assembly, a cold cutter assembly, a cutter changing frame and an electric control system. The milling cutter assembly and the cold cutter assembly are stored on the cutter changing frame. The mechanical arm is provided with a pneumatic lock disc, and the milling cutter assembly and the cold cutter assembly are provided with lock seats matched with the pneumatic lock disc. By means of mutual locking or unlocking of the pneumatic lock disc and the lock seat, the mechanical arm can take or store the milling cutter assembly and the cold cutter assembly from the cutter rest, and framework weakening and skin weakening of the instrument panel are achieved through the single mechanical arm. Manual intervention is not needed in the whole weakening and tool changing process, cost is reduced, the occupied area is small, and the integration degree is high. And the lock bracket and lock disc positioning guide cone is electrically connected with the taper hole, so that one object has two purposes, the structure is compact, the cost is reduced, and the efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of automotive instrument panel weakening, in particular to the weakening of the instrument panel skeleton and the weakening machine of the skin. Background Art

[0002] Automotive instrument panels are mainly divided into two categories: hard and soft. The soft instrument panel is composed of a plastic skeleton, an intermediate foaming layer, and a surface skin layer.

[0003] Modern automotive instrument panels are mostly equipped with airbags. To ensure that the airbag can pop out smoothly in an emergency, it is necessary to weaken the instrument panel in the airbag area of the instrument panel, making the instrument panel in this area thinner or cutting out tear lines. In this way, when the vehicle collides, the airbag can tear open the instrument panel along these weakened lines and pop out quickly to protect the passengers in the vehicle.

[0004] As a kind of residual thickness line, the processing accuracy of the tear line is extremely high. If it is too thick, the airbag may not pop out normally; if it is too thin, it may affect the appearance quality of the instrument panel. Therefore, the weakening of the instrument panel usually requires high-precision processing equipment for treatment.

[0005] Cold knife skin weakening and milling cutter skeleton weakening are relatively mature processing methods at present, but they are respectively completed by two high-precision robotic arms, with high costs and large footprints. Therefore, an integrated weakening device that is economical and occupies less space is needed to reduce production costs and improve space utilization. Content of the Utility Model

[0006] Aiming at the deficiencies of the prior art, the utility model provides an integrated machine for weakening the instrument panel skeleton and the skin, which integrates milling cutter skeleton weakening and cold knife skin weakening into one machine for processing, reducing costs and reducing space.

[0007] To achieve the above object, the technical solution of the utility model is: an integrated machine for weakening the instrument panel skeleton and the skin, including a robotic arm, an instrument panel skeleton jig table, an instrument panel skin jig table, a milling cutter assembly, a cold knife assembly, a tool rest, and an electric control system.

[0008] The robotic arm of the robotic arm is provided with a pneumatic lock disk. The milling cutter assembly and the cold knife assembly are both provided with lock seats adapted to the pneumatic lock disk. Through the locking and unlocking between the pneumatic lock disk and the lock seats, the robotic arm can be fixedly connected to and separated from the milling cutter assembly or the cold knife assembly.

[0009] The instrument panel skeleton jig table and the instrument panel skin jig table are respectively located on both sides of the robotic arm;

[0010] The tool holder is used to store the milling cutter assembly and the cold cutter assembly. The tool holder is located between the instrument panel skeleton jig table and the instrument panel skin jig table, on one side of the manipulator. The tool holder can also be divided into a milling cutter support and a cold cutter support, which are respectively installed on the corresponding instrument panel skeleton jig table and instrument panel skin jig table to reduce costs and save space.

[0011] The pneumatic lock disk includes a cylinder, a piston, and a lock ball clamping seat. The large end of the lock ball clamping seat is fixedly arranged inside the lower end face of the cylinder, and three or an integral multiple of three lock ball through holes are circumferentially equidistantly arranged on the side wall of the small end of the lock ball clamping seat. This structure ensures the balanced force of the lock balls in the circumferential direction, prevents the occurrence of eccentric forces with different axes, and is beneficial to improving the weakening accuracy. A lock ball is arranged in the lock ball through hole, and the lock ball is in interference fit with the lock ball through hole, and the interference amount is not more than 2μm. This structure can ensure that the lock ball will not naturally slide out of the through hole and will only move when sufficient thrust is applied. The structure is simple and convenient to process.

[0012] The lower part of the piston passes through the central hole of the lock ball clamping seat, and a conical push column is fixedly arranged at the bottom of the piston. When the piston moves downward, the conical inclined surface of the conical push column can push the lock ball to move radially in the lock ball through hole. The frictional force between the lock ball through hole and the lock ball is much smaller than the radial thrust of the conical inclined surface of the conical push column. This design feature ensures that when the piston moves downward, the conical push column can easily overcome the frictional force between the lock ball and the through hole and push the lock ball to move radially, thereby realizing the locking or unlocking function of the manipulator and the milling cutter assembly (or cold cutter assembly). The structure is compact, the processing is simple, and it has high reliability and stability.

[0013] Further, the conical circumferential surface of the conical push column is composed of three inclined surfaces with different inclination angles. The three inclined surfaces are, from bottom to top, the starting push outer inclined surface, the self-locking inner inclined surface, and the locking outer inclined surface. The inclination angle of the self-locking inner inclined surface is less than 30 degrees, and its inclined surface forms self-locking with the steel ball surface to ensure that the lock ball remains locked when the pressure is lost.

[0014] A snap ring is fixedly embedded on the end face of the lock seat. The diameter of the central through hole of the snap ring is smaller than the diameter of the central through hole of the lock seat, and a groove is provided on its lower end face. The groove is used to lock the lock ball in the pneumatic lock disk.

[0015] Further, the groove of the snap ring is of a flared structure, and the inclination angle of its inclined surface is less than 45°. Compared with a stepped groove, the inclined surface of the flared structure helps the lock ball to smoothly enter the card slot, making it easier to be locked, with relatively small impact force and a more stable locking process.

[0016] The end face of the pneumatic lock disc is provided with several positioning cones and two driving and guiding conical holes; the end face of the lock seat is provided with several positioning cone holes and two driving and guiding round head columns, the driving and guiding round head columns are adapted to the guiding conical holes, and the positioning cone holes are adapted to the positioning cones. The setting of the positioning cone holes and the positioning cones improves the stability and accuracy of docking, and also plays a role in guiding alignment and deviation correction, avoiding connection problems caused by docking deviation.

[0017] Furthermore, a spring electric pin is arranged inside the positioning cone; an electric socket adapted to the spring electric pin is arranged inside the positioning cone hole for the electrical connection between the pneumatic lock disc and the lock seat to realize the transmission of electrical signals and current. It has the beneficial effects of dual use of one object, compact structure, convenient processing, low cost and high efficiency.

[0018] Both the milling cutter assembly and the cold cutter assembly are provided with positioning and guiding members, and positioning and guiding holes are arranged on the positioning and guiding members. The positioning and guiding holes are adapted to the positioning and guiding columns on the tool changer, so that the milling cutter assembly and the cold cutter assembly can be guided into the positioning and guiding holes on the tool rest, and accurately and stably placed and positioned on the table top of the tool changer.

[0019] Furthermore, both the milling cutter assembly and the cold cutter assembly are provided with driving mechanisms for driving the operation of the milling cutter or the cold cutter. The driving mechanism can be an active driving mechanism or a passive driving mechanism.

[0020] Furthermore, the orifice of the positioning and guiding hole has a guiding conical surface, which has the function of compensating for position and attitude errors and helps the positioning and guiding hole to slide into the round head positioning and guiding shaft on the tool changer.

[0021] The tool changer includes a tool rest support and a table board; several open slots are arranged on the edge of the table board, and the open slots correspond to the milling cutter assembly and the cold cutter assembly one by one. The open slots are used for the introduction, accommodation and placement and fixation of the milling cutter assembly and the cold cutter assembly. Round head positioning and guiding shafts are arranged on the two sides of the table board of the accommodation slot, and the round head positioning and guiding shafts are used for the alignment and sleeving of the guiding holes (conical orifices) of the positioning and guiding members to limit the rotation of the milling cutter assembly or the cold cutter assembly on the table board.

[0022] Furthermore, a sensor is arranged inside the positioning and guiding shaft on the table board of the tool changer for detecting the position of the guiding hole on the positioning and guiding member, so that the manipulator can place the milling cutter assembly or the cold cutter assembly on the tool changer or take it away from the tool changer.

[0023] The instrument panel skeleton skin weakening device further includes a compressed air source and a pipeline for supplying air to the locking air duct and the unlocking air duct of the cylinder to realize the fixation or separation of the manipulator from the milling cutter assembly and the cold cutter assembly.

[0024] The electric control system is used to control the movement of the manipulator, the replacement of the tool, the weakening of the instrument panel, and the opening and closing of other components such as the air pump air source, so as to realize the automation and intelligent control of the entire weakening process.

[0025] A sensor 6-5 is provided under the tool rest table panel to monitor the tool replacement process and status, ensuring the accuracy and safety of tool replacement.

[0026] The all-in-one machine also includes a human-machine operation interface, which facilitates the operator to process production and displays alarm and equipment information.

[0027] The milling cutter weakening jig and the cold cutter weakening jig are equipped with a positioning mechanism to ensure that the repeated accuracy of the instrument panel placement is within the required range.

[0028] The beneficial effects of the present utility model are as follows:

[0029] 1. Since the pneumatic locking disc is installed on the robot arm and the corresponding matching locking seats are installed on the milling cutter assembly and the cold cutter assembly, the manipulator can flexibly access and replace the milling cutter or the cold cutter from the tool rest, realizing the processing of two processes of weakening the instrument panel skeleton and the skin by one manipulator. The cost is reduced, the floor area is small, and the integration degree is high.

[0030] 2. The pneumatic locking disc locking seat adopts a porous conical positioning and guiding conical column, and a structure with three locking balls arranged collinearly and equidistantly, so that the manipulator is accurately docked with the milling cutter assembly and the cold cutter assembly, and the positioning is reliable, ensuring the accuracy and stability of the weakening processing.

[0031] 3. An electrical connection is provided in the positioning cone and the conical hole, realizing both electrical and mechanical connections at the same time, simplifying the overall structure, improving the connection stability and space utilization rate, and reducing the cost.

[0032] 4. The structure of the locking ball of the pneumatic locking disc locking seat is adopted, so that the manipulator can simply insert and access the milling cutter or the cold cutter from the tool rest, which is simple and fast. And while weakening the skeleton, the skin weakening jig can be replaced, saving time and having higher efficiency.

[0033] 5. The mirror-symmetric inclined plane push column structure has a two-way self-locking function, so that the piston can still ensure that the pneumatic locking disc and the locking seat are locked under the condition of pressure loss, with a simple structure, safety and reliability. Description of the Drawings

[0034] Figure 1 is a schematic structural diagram of the present utility model;

[0035] Figure 2 is a schematic diagram of the separated state of the tool assembly locking seat and the manipulator pneumatic locking disc of the present utility model;

[0036] Figure 3Schematic cross-sectional view of the pneumatic lock disk and lock seat of the utility model in the locked state

[0037] Figure 4 Schematic enlarged view of the conical push column of the utility model

[0038] Figure 5 Schematic cross-sectional view of the pneumatic lock disk and lock seat of the utility model in the unlocked and separated state

[0039] Figure 6 Schematic diagram of the one-to-one correspondence between the columns, cones, and holes of the pneumatic lock disk and lock seat of the utility model

[0040] Figure 7 Schematic diagram of the milling cutter assembly and cold cutter assembly placed on the tool holder of the utility model

[0041] Figure 8 Schematic diagram (top view) of the milling cutter assembly and cold cutter assembly placed on the tool holder of the utility model

[0042] Figure 9 Schematic diagram (bottom view) of the milling cutter assembly and cold cutter assembly placed on the tool holder of the utility model

[0043] Markings in the figure: 1. Manipulator; 1-1, 2. Instrument panel skeleton jig table; 3. Instrument panel skin jig table; 4. Milling cutter assembly; 5. Cold cutter assembly; 6. Tool holder; 6-1. Tool holder support; 6-2. Table panel; 6-3. Open slot; 6-4. Positioning guide post; 6-5. Sensor; 7. Pneumatic lock disk; 7-1. Cylinder; 7-1-1. Locking air passage; 7-1-2. Unlocking air passage; 7-2. Piston; 7-3. Lock ball clamping seat; 7-4. Lock ball through hole; 7-5. Lock ball; 7-6. Conical push column; 7-6-1. Outer inclined surface for starting the push; 7-6-2. Self-locking inner inclined surface; 7-6-3. Locking outer inclined surface; 7-7. Positioning cone; 7-8. Transmission guiding conical hole; 8. Lock seat; 8-1. Snap ring; 8-2. Positioning conical hole; 8-3. Transmission guiding round head column; 9. Positioning guide; 9-1. Positioning guide hole. Detailed implementation manners

[0044] The following further describes in detail the specific implementation manners of the utility model in conjunction with the drawings and embodiments.

[0045] As shown in Figure 1 , Figure 2 , the instrument panel skeleton and skin weakening integrated machine 1 includes a manipulator 1, an instrument panel skeleton jig table 2, an instrument panel skin jig table 3, a milling cutter assembly 4, a cold cutter assembly 5, a tool holder 6, and an electric control system.

[0046] The dashboard skeleton jig table 2 and the dashboard skin jig table 3 are installed on both sides of the robot 1; the tool rest 6 is installed between the dashboard skeleton jig table 2 and the dashboard skin jig table 3, on one side of the robot 1. The milling cutter assembly 4 and the cold cutter assembly 5 are placed on the tool rest.

[0047] The tool changing rest 6 includes a tool rest support 6-1 and a table top panel 6-2; several open slots 6-3 are provided at the edge of the table top panel 6-2, and the open slots 6-3 are used for the introduction, accommodation, placement and fixation of the milling cutter assembly and the cold cutter assembly. Positioning guide posts 6-4 are provided on the table top panel 6-2 on both sides of the accommodation slot 6-3. The positioning guide posts 6-4 are used to guide the alignment and sleeving of the guiding holes of the positioning guide members 9 on the milling cutter assembly 4 and the cold cutter assembly 5, and at the same time to limit the rotation of the milling cutter assembly 3 or the cold cutter assembly 4 on the table top panel, preventing the posture of the milling cutter assembly or the cold cutter assembly on the tool rest from changing and affecting the access of the robot.

[0048] Since the relative positions of the robot, the jig table and the tool rest are preset and remain unchanged, the robot can perform weakening processing only through the programmed motion trajectory, realize the access and replacement of the milling cutter assembly and the cold cutter assembly on the tool rest, reduce unnecessary movement and recognition time. Greatly simplify the working process of the robot, improve work efficiency, at the same time reduce the number of sensors, and reduce manufacturing and maintenance costs.

[0049] Among them:

[0050] A pneumatic lock disk 7 is fixedly installed on the wrist of the robot 1, and the milling cutter assembly 4 and the cold cutter assembly 5 are fixedly provided with lock seats 8 adapted to the pneumatic lock disk 7. Through the mutual buckling and unlocking of the pneumatic lock disk 7 and the lock seat 8, the robot 1 can be connected and separated from the milling cutter assembly 4 or the cold cutter assembly 5. Since the lock seats 8 on the milling cutter assembly 4 and the cold cutter assembly 5 have the same structure, therefore, after the robot disconnects the milling cutter assembly 4 (or the cold cutter assembly 5), it can directly go to the tool rest 6 to interlock and combine with the cold cutter assembly 5 (or the milling cutter assembly 4) (that is, interlock through the lock disk 7 and the lock seat), so as to complete tool change and perform another weakening (skin weakening or skeleton weakening).

[0051] Specifically (see Figures 2 to 5 ):

[0052] The pneumatic locking disc 7 includes a cylinder 7-1, a piston 7-2, and a lock ball clamping seat 7-3. The large end of the lock ball clamping seat 7-3 is fixedly arranged inside the lower end face of the cylinder 7-1. The side wall of the small end of the lock ball clamping seat 7-3 is circumferentially and equidistantly provided with three or an integral multiple of three lock ball through holes 7-4. A lock ball 7-5 is arranged in the lock ball through hole 7-4. The lock ball 7-5 is in interference fit with the lock ball through hole 7-4 (the interference amount is not greater than 2μm), ensuring that the lock ball does not slide out of the lock ball through hole when in the unlocked state, and can be pushed by an external force greater than the frictional force of the interference fit. The three lock balls are equidistantly distributed on the side wall of the small end, applying the principle of three-force balance to ensure the balanced force of the lock balls, with the force center coaxial with the locking disc, thereby realizing the coaxial and stable locking of the locking disc and the locking seat, and ensuring the accuracy of weakening processing. Since the instrument panel is made of non-metallic material, the force on the tool during weakening is small. Therefore, using three lock balls can meet the requirements of the fixed driving force, further reducing the cost and manufacturing cost.

[0053] The lower part of the piston 7-2 passes through the central hole of the lock ball clamping seat 7-3, and a conical push column 7-6 is fixedly arranged at the bottom of the piston 7-2. When the piston 7-2 moves downward, the conical inclined surface of the conical push column 7-6 can push the lock ball 7-5 to move radially in the lock ball through hole 7-4. The frictional force between the lock ball through hole 7-4 and the lock ball 7-5 is much smaller than the radial thrust of the conical inclined surface of the conical push column 7-6.

[0054] A snap ring 8-1 is fixedly embedded in the end face of the locking seat 8. The diameter of the central through hole of the snap ring 8-1 is smaller than the diameter of the central through hole of the locking seat 8, and a groove is provided on its lower end face for clamping the lock ball 7-5 in the pneumatic locking disc 7.

[0055] Two transmission guiding conical holes 7-8 are provided on the end face of the pneumatic locking disc 7, and two transmission guiding round head columns 8-3 are provided on the end face of the locking seat 8. The guiding round head columns 8-3 are adapted to the transmission guiding conical holes 7-8. The adaptation of the conical hole and the round head has three functions: on the one hand, it uses the conical inclined surface of the conical hole to guide the round head column to slide into the hole position, which helps the flexible alignment of the manipulator; on the other hand, it is used for the end face fitting and positioning of the pneumatic locking disc and the locking seat; on the third hand, it has the function of driving torque. It serves three purposes with a simple structure and high efficiency.

[0056] The process of the connection and separation between the pneumatic locking disc manipulator and the locking disc milling cutter assembly (or cold cutter assembly) is as follows:

[0057] The robotic arm moves to the position of the cutter head milling cutter assembly along the pre-set trajectory. The pneumatic locking disc on the wrist is guided to the locking disc. The pneumatic locking disc installed on the robotic wrist gradually approaches above the locking seat of the milling cutter assembly placed on the tool machine. Under the guiding action of the two guiding round head columns and the two guiding conical holes, the pneumatic locking disc accurately docks with the locking seat.

[0058] The air pressure source is activated, and the compressed gas enters the cylinder 7-1 through the locking air passage 7-1-1, pushing the piston 7-2 of the cylinder to drive the conical push column 7-6 mounted thereon to move towards the lock disc chuck 7-3. The conical inclined surface of the conical push column 7-6 pushes the lock beads 7-5 to move along the locking hole 7-4 towards the inner wall of the chuck and the wall of the snap ring groove, so that the lock balls are tightly combined with the conical surface of this section and the conical surface of the locking ring respectively, providing sufficient locking force. At the same time, the inclination angle of the conical inclined surface meets the self-locking angle condition to ensure that the lock balls are still in the locked state when the pressure is lost.

[0059] Then, the robotic arm leaves the tool rest according to the pre-set trajectory and comes to the dashboard skeleton weakening jig table to weaken the dashboard skeleton.

[0060] After the weakening is completed, it returns to the position of the milling cutter assembly of the tool rest according to the pre-set trajectory, places the milling cutter in place, and disengages the robotic arm from the milling cutter assembly.

[0061] At this time, the compressed gas enters the lower cavity of the cylinder through the unlocking air passage 7-1-2, pushing the piston to act in the reverse direction and driving the conical push column 7-6 to move upward. When the robotic arm lifts the pneumatic lock disc upward, the lock balls move inward along the locking hole under the action of the conical surface of the snap ring, and the pneumatic lock disc can be disengaged from the lock seat, and the robotic arm and the milling cutter assembly are disengaged synchronously.

[0062] Embodiment 2: The conical circumferential surface of the conical push column 7-6 in this example is composed of three inclined surfaces with different inclination angles. The three inclined surfaces are, from bottom to top, the starting push outer inclined surface 7-6-1, the self-locking inner inclined surface 7-6-2, and the locking outer inclined surface 7-6-3. Among them, the starting push outer inclined surface 7-6-1 is used to push the lock balls to move outward along the locking hole; the self-locking inner inclined surface 7-6-2 is used for self-locking when the pressure is lost to prevent unlocking when the pressure is lost; the locking outer inclined surface 7-6-3 is used to lock the lock balls and self-lock when the pressure is lost on the one hand, and to loosen and displace the lock balls before unlocking on the other hand. The specific process is as follows: The pneumatic device is activated, and the compressed gas enters the cylinder 7-1 through the locking air passage 7-1-1, pushing the piston 7-2 of the cylinder to drive the conical push column 7-6 mounted thereon to move towards the lock disc chuck 7-3. The starting push outer inclined surface 7-6-1 pushes the lock beads 7-5 to move along the locking hole 7-4 towards the inner wall of the chuck and the wall of the snap ring groove; when the conical push column moves to the locking inner inclined surface, after the lock balls move slightly inward along the locking inner inclined surface, the lock balls are resisted by both the locking outer inclined surface and the self-locking inclined surface. Since these two inclined surfaces are mirror-symmetric and have a two-way self-locking effect, the lock balls are firmly locked in the lock ball holes and the snap ring grooves. This mirror-symmetric inclined surface structure has reliable locking and high repeatability accuracy, which is beneficial to the fine processing required for dashboard weakening. When the air source fails, it can ensure that the tool will not automatically fall off the robotic arm.

[0063] Embodiment 3: Different from the step groove snap ring, the groove of the snap ring 8-1 is a horn-shaped structure, and the inclined angle of its inclined surface is less than 45°. The advantages are stable thrust, low noise, and long service life (small impact and small destructiveness), and it echoes with the self-locking inclined surface, with stronger locking force and better effect.

[0064] Embodiment 4: In this embodiment, several positioning cones 7-7 are further provided on the end face of the pneumatic lock disk 7; several positioning cone holes 8-2 are provided on the end face of the lock seat 8, and the positioning cone holes 8-2 are adapted to the positioning cones 7-7. In this way, with the guidance of the inclined surface of the positioning cone hole, the positioning cone can smoothly enter the positioning cone hole, which helps the manipulator to perform flexible alignment, plays a role in error compensation, and ensures accurate and reliable positioning.

[0065] Embodiment 5: In this embodiment, a spring electrical pin is arranged inside the positioning cone 7-7; an electrical socket adapted to the spring electrical pin is arranged inside the positioning cone hole 8-2, which can be used for electrical connection between the pneumatic lock disk 7 and the lock seat 8 to realize the transmission of electrical signals and current.

[0066] (1) This design that combines mechanical positioning and guidance with electrical connection makes the entire connection system more compact, further reduces the required space and the number of components, and thus simplifies the overall structure. (2) The mechanical positioning and electrical connection are completed simultaneously, improving the efficiency. (3) Using one thing for two purposes reduces the number of components and lowers the manufacturing cost. (4) The conical surface guidance and docking of the positioning cone and the cone hole ensure the stability and accuracy of the connection, and the electrical connection design provides reliable electrical signal transmission. When it is necessary to connect the power supply or signal, there is no need to separately provide a plug and socket module on the lock disk and lock seat.

[0067] Embodiment 6: In this embodiment, both the milling cutter assembly 4 and the cold cutter assembly 5 are provided with positioning guides 9. A positioning guide hole 9-1 is provided on the positioning guide 9, and the positioning guide hole 9-1 is adapted to the positioning guide post 6-4 on the tool changer, and is used to guide and position the milling cutter assembly 4 and the cold cutter assembly (5) on the tool changer (6). The orifice of the positioning guide hole 9-1 is a conical hole, and the conical surface of the conical hole has the function of guiding the positioning guide 9 into the hole, which is beneficial to the rapid and accurate entry of the tool into the tool holder and being fixed on the tool holder.

Claims

1. Instrument panel skeleton weakening and skin weakening integrated machine, characterized by: It comprises a manipulator (1), an instrument panel skeleton fixture table (2), an instrument panel surface fixture table (3), a milling cutter assembly (4), a cold knife assembly (5), a tool holder (6) and an electronic control system; The arm of the manipulator (1) is provided with a pneumatic locking plate (7); The milling cutter assembly (4) and the cold knife assembly (5) are both provided with a lock seat (8) adapted to the pneumatic lock disk (7), and the manipulator (1) can be fixedly connected to and separated from the milling cutter assembly or the cold knife assembly by locking and unlocking the pneumatic lock disk and the lock seat; The instrument panel skeleton jig station (2) and the instrument panel surface jig station (3) are respectively located on two sides of the manipulator (1); The tool holder (6) is used to store the milling cutter assembly (4) and the cold knife assembly (5), and the tool holder (6) is located between the instrument panel skeleton jig table (2) and the instrument panel surface jig table (3), and on one side of the manipulator (1); The pneumatic locking disk (7) comprises a cylinder (7-1), a piston (7-2), and a locking ball clamping seat (7-3); the large end of the locking ball clamping seat (7-3) is fixedly arranged in the lower end surface of the cylinder (7-1); the side wall of the small end of the locking ball clamping seat (7-3) is equidistantly arranged with three locking ball through holes (7-4) or an integer multiple of three in the circumferential direction, and the locking ball through hole (7-4) is provided with a locking ball (7-5), and the locking ball (7-5) is interference fit with the locking ball through hole (7-4); The lower part of the piston (7-2) is inserted into the central hole of the locking ball clamping seat (7-3), and a conical push column (7-6) is fixedly arranged at the bottom of the piston (7-2). When the piston (7-2) moves downward, the conical inclined surface of the conical push column (7-6) can push the locking ball (7-5) to move radially in the locking ball through hole (7-4); the friction force between the locking ball through hole (7-4) and the locking ball (7-5) is much smaller than the radial thrust of the conical inclined surface of the conical push column (7-6).

2. The integrated instrument panel frame weakening and skin weakening machine according to claim 1, characterized in that: The conical circumferential surface of the conical push column (7-6) is composed of three sections of inclined surfaces with different inclination angles, which are, from bottom to top, a push-starting outer inclined surface (7-6-1), a self-locking inner inclined surface (7-6-2), and a locking outer inclined surface (7-6-3).

3. The integrated instrument panel frame weakening and skin weakening machine according to claim 1, characterized in that: A snap ring (8-1) is fixedly embedded in the end surface of the lock seat (8); the diameter of the central through hole of the snap ring (8-1) is smaller than the diameter of the central through hole of the lock seat (8); and a groove is provided on the lower end surface thereof, and the groove is used to lock the lock ball (7-5) in the pneumatic lock disk (7).

4. The integrated instrument panel frame weakening and skin weakening machine according to claim 3, characterized in that: The groove is a trumpet-shaped structure, and the inclination angle of the inclined surface is less than 45°.

5. The integrated instrument panel frame weakening and skin weakening machine according to claim 1, characterized in that: The end surface of the pneumatic lock disk (7) is provided with a plurality of positioning cones (7-7) and two transmission guide cone holes (7-8); the end surface of the lock seat (8) is provided with a plurality of positioning cone holes (8-2) and two transmission guide round head columns (8-3), the transmission guide round head columns (8-3) are adapted to the transmission guide cone holes (7-8), and the positioning cone holes (8-2) are adapted to the positioning cones (7-7).

6. The integrated instrument panel frame weakening and skin weakening machine according to claim 5, characterized in that: A spring electric plug is provided in the positioning cone (7-7); an electric socket adapted to the spring electric plug is provided in the positioning cone hole (8-2) for electrically connecting the pneumatic lock disk (7) with the lock seat to realize transmission of electric signals and current.

7. The integrated instrument panel frame weakening and skin weakening machine according to any one of claims 1 to 6, characterized in that: The milling cutter assembly (4) and the cold knife assembly (5) are both provided with a positioning guide (9), and the positioning guide (9) is provided with a positioning guide hole (9-1). The positioning guide hole (9-1) is adapted to the positioning guide column (6-4) on the tool changer frame, and is used to guide and position the milling cutter assembly (4) and the cold knife assembly (5) on the tool changer frame (6).

8. The integrated instrument panel frame weakening and skin weakening machine according to any one of claims 1 to 6, characterized in that: The tool holder (6) includes a tool holder support (6-1) and a table panel (6-2); a plurality of open grooves (6-3) are provided on the edge of the table panel (6-2), and the open grooves (6-3) are used for introducing, accommodating and placing the milling cutter assembly and the cold knife assembly; positioning guide columns (6-4) are provided on the table panel (6-2) on both sides of the open grooves (6-3), and the positioning guide columns (6-4) are used for aligning and inserting the guide holes of the positioning guide member (9) to limit the rotation of the milling cutter assembly (4) or the cold knife assembly (5) on the table panel.

9. The integrated instrument panel frame weakening and skin weakening machine according to any one of claims 1 to 6, characterized in that: It also includes a compressed air source and a pipeline for supplying air to the locking air channel (7-1-1) and the unlocking air channel (7-1-2) of the cylinder (7-1) to achieve the fixed connection or separation of the manipulator and the milling cutter assembly and the cold knife assembly.

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