机械手是自动换刀装置中交换刀具的主要工具，它担负着把刀库上的刀具送到主轴上，再把主轴上已用过的刀具返回刀库上的任务。设计思路是用机械手的动作来实现对加工中心的换刀，机械手的转动有回转液压缸运来实现，其动力则由驱动系统实现。加工中心的自动换刀装置，通常是由刀库和机械手组成，它是加工中心的象征，又是加工中心成败的关键环节。因此各加工中心制造厂家都在下大力研制动作迅速、可靠性高的自动换刀装置，以求在激烈的竞争中取得好效益，自动换刀装置是加工中心的核心内容，各厂家都在保密，极少公开有关资料，尤其机械手部分更是如此。这种机械手的拔刀、插刀动作，大都由油缸动作来完成。根据结构要求，可以采用油缸动，活塞固定；或活塞动，油缸固定的结构形式。整个机械手由机械臂伸缩机构，机械爪开合机构，回转机构及装卸刀具直线运动机构组成。

关键词：加工中心；机械手；刀库；机械臂

Abstract

Manipulator is automatically change tool device the main tool to exchange tool, it bears on the knife library on the tool to spindle, and then the spindle has used tool returns tasks on tool store. Design idea is to use robots to achieve the action machining center, the rotation of the manipulator change cutters are shipped turn hydraulic cylinder, its power is realized by drive system implementation. Machining center, the automatic cutter replacement device is usually composed by knife library and manipulator, it is the symbol of processing center, it is crucial to the success of the processing center link. So the processing center manufactures are developed rapidly next vigorously, high reliability of action, in order to be automatic cutter replacement device in the fierce competition and achieved good benefit, automatically change tool device is the core content of machining center, the manufacturers are confidential, seldom publicly about material, especially manipulator part is even more so. This manipulator, a sword, inserted knife action by oil cylinder action mostly to finish. According to the structural requirement, can use oil cylinder move, piston fixed; Or the piston move, oil cylinder fixed structure. The whole manipulator, by mechanical arm telescopic institution of mechanical claw opening-closing institutions, rotary institutions and loading and unloading tool linear motion mechanism composition.

Key words: machining centre； manipulator； magazine tool； mechanical arm

1 前言1

2 加工中心的总体布局1

2.1 技术条件1

2.2 总体布局2

2.3 卧式加工中心的机械结构：2

3 换刀机械手的设计2

3.1 刀具的交换装置2

3.1.1 自动换刀装置2

3.1.2 机械手的种类3

3.1.3 手爪的选择8

3.1.4 刀具的夹持8

3.2 机械手的驱动装置9

3.2.1 手臂的伸缩运动：9

3.2.2 手爪的开合（见自动换刀机械手图）9

3.2.3 回转运动（见驱动装置图）10

3.2.4 直线运动10

3.3 设计计算10

3.3.1 手指夹紧力的计算：10

3.3.2 齿轮的设计11

3.3.3 轴的设计15

3.3.4 轴承的设计20

3.3.5 弹簧的设计22

4 结论26

参考文献27

致谢28

1 前言

本次设计的题目是加工中心的自动换刀装置中的核心部件---机械手的设计。机械手是加工中心自动换刀装置中交换刀具的主要工具，它担负着把刀库上的刀具送到主轴上，并且把主轴上已用过的刀具放回刀库上的任务。

设计此机械手的目的是为了使加工中心能够更快的的工作，使加工中心能够得到更加充分的利用，以实现其的价值；再者，由于使用机械手换刀，减少了由于人工换刀带来的生产效率低，并且容易出事故的弊端。

本次设计的内容主要有回转液压缸装置和机械运动的驱动系统，对于其中动作的实现则由电气控制来实现。

由于本人的实际能力及学到的知识有限，在设计中必然会存在有很多缺陷，望老师们能多加指导与指正。

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内容简介：: 长城学院本科毕业设计（论文）中期检查表系：工程技术系专业：机械设计制造及其自动化检查日期：2015年4月5日学生姓名闫俊业论文题目4轴加工中心机械手自动换刀装置机械装置的设计任务书已完成（），进行中（）参考文献 20 篇：其中外文文献 0 篇外文翻译已完成（），进行中（）；完成字数约： 5797 字（翻译成的汉字字数）开题报告已完成（），进行中（）；完成字数约： 1500 字正文已完成（），进行中（）；完成比比例： 90 %已完成的任务设计说明书初稿，图纸初稿待完成的任务说明书以及图纸的修改存在的问题计算内容不明确，计算公式不清楚，图纸绘画困难采取的办法翻阅参考文献以及工具书指导教师意见指导教师签名：注：按表中的要求填写，选项打钩（）；毕业论文（设计）教师指导记录表毕业论文（设计）题目4轴加工中心机械手自动换刀装置机械装置的设计学生姓名闫俊业系（部）工程技术系学生学号05211511专业班级机制五班指导教师姓名杨义勇职称教授主要指导内容：指导选择合适的设计题目指导时间： 2014 年 12 月 20 日主要指导内容：指导查找资料并且开题指导时间：2014 年12 月 30日主要指导内容：指导设计说明书的撰写以及设计内容的计算指导时间：2015 年 3 月 10日主要指导内容：指导设计图纸的绘画以及修改指导时间： 2015 年 3 月 20 日注：此表由指导教师按毕业论文（设计）的主要工作阶段填写主要指导内容。系主任签字（盖章）：中国地质大学长城学院毕业设计（论文）任务书学生姓名闫俊业学号05211511班级机械设计制造及其自动化指导教师杨义勇职称教授单位中国地质大学毕业设计（论文）题目4轴加工中心机械手自动换刀装置设计毕业设计（论文）主要内容和要求：1. 刀库容量： 24把刀2. 刀柄型号：标准刀柄3. 刀具最大直径： 1204. 刀具最大重量： 1.5kg 5. 刀具重量： 11毕业设计（论文）主要参考资料：机械设计、机械原理、液压传动、机械制图、材料力学、机械设计手册、互换性与测量技术基础毕业设计（论文）应完成的主要工作：机械手图纸机械手驱动装置图纸回转液压缸、回转座图纸轴、端盖、轴承端盖图纸设计说明书一份毕业设计（论文）进度安排：序号毕业设计（论文）各阶段内容时间安排备注1确定毕业设计题目，查阅并收集整理相关资料2014年12月到2015年1月2确定研究方法，分析处理数据，撰写论文大纲2015年1月到20015年3月3构思论文内容，设计开题报告，完成论文初稿的撰写2015年3月到2015年4月4论文修改润色，完成论文终稿，送交指导老师评审，进行答辩。2015年4月到2015年 5月课题信息：课题性质：设计论文课题来源：教学科研生产其它发出任务书日期：指导教师签名：年月日教研室意见：教研室主任签名：年月日学生签名：资料中国地质大学长城学院2015届外文翻译中国地质大学长城学院本科毕业设计外文资料翻译系别：工程技术系专业：机械设计制造及其自动化姓名：闫俊业学号： 05211511 2015年 01 月 16 日外文资料翻译译文数控立式铣床自动换刀装置的设计数控立式铣床是数控铣床中数量最多的一种，应用范围也最为广泛。小型数控铣床一般都采用工作台移动、升降、及主轴不动方式，与普通立式升降台铣床相似；中型数控立式铣床一般采用纵向和横向工作台移动方式，且主轴沿垂直溜板上下运动；大型数控立式铣床，因要考虑到扩大行程，缩小占地面积及刚性等技术问题，往往采用龙门架移动式，其主轴可以在龙门架的横向与垂直溜板上运动，而龙门架则沿床身作纵向运动。从机床数控系统控制的坐标数量来看，目前3坐标数控立式铣床仍占大多数。一般可进行3坐标联动加工，但也有部分机床只能进行3坐标中的任意二个坐标联动加工。此外，还有机床主轴可以绕X、Y、Z坐标轴中其中一个或两个轴作数控摆角运动的4坐标和5坐标数控立式铣床。一般来说，机床控制的坐标轴越多，特别是要求联动的坐标轴越多，机床的功能、加工范围及可选择的加工对象也越多。但随之而来的是机床的结构更复杂，对数控系统的要求更高，编程的难度更大，设备的价格也更高。数控立式铣床可以附加数控转盘，采用自动交换台，增加靠模装置等来扩大数控立式铣床的功能，加工范围和加工对象，进一步提高生产效率。数控铣床的功能数控铣廉的功能分为一般功能和特殊功能。一般功能是指各类数控铣床普遍所具有的功能。如点位控制功能、刀具半径自动补偿功能、镜象加工功能、固定循环功能等。特殊功能是指数控铣床在增加了某些特殊装置或附件后，分别具有或兼备的一些特殊功能。如刀具长度补偿功能、靠模加工功能、自动变换工作台功能、自适应功能、数控采集功能等。在使用数控铣床加工工件时，只要充分利用数控铣床的各种功能，就可以加工许多普通铣床难加工的工件。数控铣床的主要加工对象有：平面类零件；变斜角类零件；曲面类（立体类）零件。自动换刀装置(ATC)及其形式数控机床为了进一步提高生产率，进一步压缩非切削时间，现代的机床逐步发展为在一台机床上在一次装中完成多工序或全部工序的加工。数控机床为了能在工件一次装夹中完成多个工步，以缩减辅助时间和减少多次安装工件引起的误差，通常带有自动换刀系统。对工件的多工序加工而设置的存储及更换刀具的装置称为自动换刀装置(Automatic Tool Changer，ATC)；自动换刀(Automatic Tool Change简称ATC)系统由控制系统和换刀装置组成。在数控铣床的基础上，如果再配以刀具和自动换刀系统，就构成加工申心(Machining center简称MC)。在这类数控机床上，自动换刀装置(ATC)是必不可少的。例如加工中心机床又称多工序自动换刀数控机床，它主要是指具有自动换刀及自动改变工件加工位置工能的数控机床，具有自动换刀装置是加工中心机床的典型特征，是多工序加工的必要条件。自动换装置的功能，对整机的加工效率有很大的影响。由于普通的数控立式铣床加工的一般是中小零件，其大多需要几把刀具加工(10把刀具以内，)故增加自动换刀装置并同时自动变换主轴转速。可减轻劳动强度，减少换刀时间，既提高了机床的自动化程度，又提高了劳动生产率。因此，数控立式铣床作为数控铣床中数量最多、应用范围也最广的一种，对其附加能够快速、准确地换刀的自动换刀装置是非常有必要的。各类数控机床的自动换刀装置的结构取决于机床的型式、工艺范围及刀具的种类和数量等。这种装置主要可以分为以下几种形式：1)回转刀架换刀形式数控车床使用的回转刀架是一种简单的自动换刀装置。根据不同加工对象，可以设计成四方和六角刀架或其他等多种形式。回转刀架上分别安装着四把、六把或更多的刀具，并按数控装置的指令转位换刀。回转刀架在结构上必须有良好的强度和刚性，以及合理的定位结构，以保证回转刀架在每一次转位之后具有尽可能高的重复定位精度。如：CK7815型数控车床采用BA200L刀架，其工作循环是：刀架接收数控装置的指令一松开一转到指令要求的位置一夹紧一发出转位结束的信号。2)更换主轴头换刀形式在带有旋转刀具的数控机床中，更换主轴头换刀是一种简单的换刀方式。主轴头通有卧式和立式两种，而且常用转塔的转位来更换主轴头以实现自动换刀。各个主轴头上预先装有各工序加工所需要的旋转刀具，当收到换刀指令时，各主轴头依次地转到加工位置，并接通主运动使相应的主轴带动刀具旋转，而其他处于不加工位置上的主轴都与主运动脱开。转塔主轴头换刀方式的主要优点是省去了自动松夹、卸刀装刀、夹紧以及刀具搬运等一系列复杂的操作，从而显著地减少了换刀时间，提高了换刀的可靠性，但是由于结构上的原因和空间位置的限制，主轴部件的刚性差且主轴的数目不可能很多。因此转塔主轴头换刀通常只适用于工序较少，精度要求不太高的数控机床，如数控铣床。3)带刀库的自动换刀形式带刀库的自动换刀形式主要是由刀库和刀具交换装置组成。目前这种换刀方法在数控机床上的应用最为广泛。带刀库的自动换刀装置的数控机床主轴箱和转塔主轴头相比较，由于主轴箱内只有一个主轴，所以主轴部件具有足够刚度，因而能够满足各种精密加工的要求。另外，刀库可以存放数量较多的刀具，可进行复杂零件的多工序加工，可明显提高数控机床的适应性和加工效率。这种带刀库的自动换刀装置特别适用于教控铣床、数控钻床和数控镗床。刀库的类型按刀库的结构形式可分为：圆盘式刀库、链式刀库、箱型式刀库一一箱型和线型；按设置部位的不同，刀库可以分为：顶置式、侧置式、悬挂式和落地式等多种类型；按交换刀具还是交换主轴，刀库可分为：普通刀库（简称刀库）和主轴箱刀库。虽然刀库有多种形式，但数控机床上常用的主要是圆盘式和链式两种。交换装置的机械手形式也多样，目前在数控机床上用得最多的是回转式双臂机械手。其他形式还有摆动式单臂双爪机械手、单臂单爪回转式机械手、双机械手等等。确定换刀机械手形式在自动换刀数控机床中，换刀机械手的形式是多种多样的，常见的有以下几种。两手呈180的回转式单臂双手机械手；1手爪，2锥销；3手臂； 4、5弹簧，6活动销；7长销；8锁紧销2)两手互相垂直的回转式单臂双手机械手3)两手平行的回转式单臂双手机械手；4)双手交叉式机械手：由于不同的数控机床（加工中心）的刀库与主轴的相对位置不同。所以各种数控机床所使用的换刀机械手也不尽相同。上图是两手互相垂直的回转式单臂双手机械手的结构示意图。这种机械手的优点是换刀动作可靠，换好时间短，缺点是刀柄精度要求高，结构复杂，联机调整的相关精度要求高，机械手离加工区较近。一般来说，这种机械手用于刀库刀座轴线与机床主轴轴线垂直，刀库为径向存取刀具形式的自动换刀装置，因此，在XKA5032A/C数控立式升降铣床的自动换刀装置中可采用这种机械手形式。换刀机械手的工作原理下面是以在XKA5032A/C数控立式升降台铣床的自动换刀装置中采用这种上机械手换刀的工作原理。该机械手安装在主轴的左侧面，随同主轴箱一起运动。机械手由机械手臂与45的斜壳体组成。机械手臂1形状对称。固定在回转轴4上，回转轴与主轴成45角，安装在壳体3上，5为手臂托，可由液压缸带动（图中未标出），机械手有伸缩、回转、抓刀、松刀等动作。伸缩动作：液压缸（图中未标出）带动手臂托架5沿主轴轴向移动。回转动作：液压缸2中的齿条轮通过齿轮带动回转轴4转动。从而实现手臂正向和反向180的旋转运动。抓刀、松刀动作：机械手对刀具的夹紧和松开是通过液压缸6。碟形弹簧7及拉杆8、杠杆9、活动爪10来实现。碟形弹簧实现夹紧，液压缸实现松开。在活动爪中有两个销子11，当夹紧刀具时，插入刀柄凸缘的孔内，确保安全、可靠。机械手的自动换刀过程的动作顺序图4-6 换刀机械手的换刀过程自动换刀装置的换刀过程由选刀和换刀两部分组成。选刀即刀库按照选刀命令（或信息）自动将要用的刀具移动到换刀位置，完成选刀过程，为下面换刀做好准备，换刀即是机械手把主轴上用过的刀具取下，将选好的刀具安装在主轴之上。换刀动作的大致过程为：1)主轴箱回到最高处（z坐标零点），同时实现“主轴准停”。即主轴停止回转并准确停止在一个固定不变的角度方位上，保证主轴端面的键也在一个固定的方位，使刀柄上的键槽能恰好对正端面键。2)机械手抓住主轴和刀库上的刀具。如图4-6 (a)历示。3)把卡紧在主轴和发库上的刀具松开4)活塞杆推动机械手下行，从主轴和刀库上取出刀具5)机械手回转180，交换刀具位置，6)将更换后的刀具装入主轴和刀库7)分别夹紧主轴和刀库上的刀具8)机械手松开主轴和刀库上的刀具9)当机械手松开具后，限位开关发出“换刀完毕”的信号，主轴自由，可以开始加工或其他程序动作。在自动换刀的整个过程中，各项运动均由限位开关控制，只有前一个动作完成后，才能进行下一个动作，从而保证了运动的可靠性。机械手的分类和特点机械手一般分为三类：第一类是不需要人工操作的通用机械手。它是一种独立的不附属于某一主机的装置。它可以根据任务的需要编制程序，以完成各项规定的操作。它的特点是具备普通机械的性能之外，还具备通用机械、记忆智能的三元机械。第二类是需要人工才做的，称为操作机。它起源于原子、军事工业，先是通过操作机来完成特定的作业，后来发展到用无线电讯号操作机来进行探测月球等。工业中采用的锻造操作机也属于这一范畴。第三类是用专用机械手，主要附属于自动机床或自动线上，用以解决机床上下料和工件送。这种机械手在国外称为“Mechanical Hand”，它是为主机服务的，由主机驱动；除少数以外，工作程序一般是固定的，因此是专用的。主要特点：(1)机械手（上下料机械手、装配机械手、搬运机械手、堆垛机械手、助力机械手、真空搬运机、真空吸吊机、省力吊具、气动平衡器等）。(2)悬臂起重机（悬臂吊、电动环锤葫芦吊、气动平衡吊等）(3)导轨式搬运系统（悬挂轨道、轻型轨道、单梁起重机、双梁起重机）(4)工业机械手的应用机械手是在机械化、自动化生产过程中发展起来的一种新型装置。近年来，随着电子技术特别是电子计算机的广泛应用，机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手虽然目前还不如人手那样灵活，但它具有能不断重复工作和劳动、不知疲劳、不怕危险、抓举重物的力量比人手大等特点，因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用，例如： (1)机床加工工件的装卸，特别是在自动化车床、组合机床上使用较为普遍。 (2)在装配作业中应用广泛，在电子行业中它可以用来装配印制电路板，在机械行业中它可以用来组装零部件。 (3)可在劳动条件差，单调重复易子疲劳的工作环境工作，以代替人的劳动。 (4)可在危险场合下工作，如军工品的装卸、危险品及有害物的搬运等。 (5)宇宙及海洋的开发。 (6)军事工程及生物医学方面的研究和试验。助力机械手：又称平衡器、平衡吊、省力吊具、手动移载机等，是一种无重力化手动承载系统，一种新颖的、用于物料搬运时省力化操作的助力设备，属于一种非标设计的系列化产品。针对客户应用需求，量身定制的个案创作。一种模拟人手操作的自动机械，它可按固定程序抓取、搬运物件或操持工具完成某些特定操作。应用机械手可以代替人从事单调、重复或繁重的体力劳动，实现生产的机械化和自动化，代替人在有害环境下的手工操作，改善劳动条件，保证人身安全。20世纪40年代后期，美国在原子能实验中，首先采用机械手搬运放射性材料，人在安全室操纵机械手进行各种操作和实验。50年代以后，机械手逐步推广到工业生产部门，用于在高温、污染严重的地方取放工件和装卸材料，也作为机床的辅助装置在自动机床、自动生产线和加工中心中应用，完成上下料或从刀库中取放刀具并按固定程序更换刀具等操作。机械手主要由手部机构和运动机构组成。手部机构随使用场合和操作对象而不同，常见的有夹持、托持和吸附等类型。运动机构一般由液压、气动，电气装置驱动。机械手可独立地实现伸缩、旋转和升降等运动，一般有23个自由度。机械手广泛用于机械裂造、冶金、轻工和原子能等部门。能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手。机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置，它是在机械化、自动化生产过程中发展起来的一种新型装置。近年来，随着电子技术特别是电子计算机的广泛虚用，机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手能代替人类完成危险、重复枯燥的工作，减轻人类劳动强度，提高劳动生产力。机械手越来越广泛的得到了应用，在机械行业中它可用于零部件组装，加工工件的搬运、装卸，特别是在自动化数控机床、组合机床上使用更普遍。目前，机械手已发展成为柔性制造系统FMS和柔性制造单元FMC中一个重要组成部分。把机床设备和机械手共同构成一个柔性加工系统或柔性制造单元，它适应于中、小批量生产，可以节省庞大的工件输送装置，结构紧凑，而且适应性很强。当工件变更时，柔性生产系统很容易改变，有利于企业不断更新适销对路的品种，提高产品质量，更好地适应市场竞争的需要。而目前我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离，应用规模和产业化水平低，机械手的研究和开发直接影响到我国自动化生产水平的提高，从经济上、技术上考虑都是十分必要的。因此，进行机械手的研究设计是非常有意义的。外文原文Nc vertical milling machine cutter replacement devicedesign automatically Nc vertical milling machine is the most number of CNC milling machine,application scope and the most widely used. Small CNC milling machine typically use the workbench mobile, lift, and spindle motionless way, and ordinary vertical lift milling machine is similar; Medium nc vertical milling machine generally USES the longitudinal and transverse workbench mobile way along vertical axis, and slip board up and down movement; Large nc vertical milling machine, because want to consider to expand trip, narrow area and rigidity, often using technical problems on mobile, its spindle can frame which is fabricated according to the horizontal and vertical in frame which is fabricated according to the slip board movement, and frame which is fabricated according to the bed while moves longitudinally. From the coordinates of the machine tool CNC systems control volume, nc vertical milling machine at present three coordinates majority still. General can undertake 3 coordinates linkage processing, but also have only three coordinates of machine tools on any of the two coordinate linkage processing. In addition, there are around the spindle can X, Y, Z coordinate one or two axes in nc angular motion for four coordinates and five coordinates nc vertical milling machine. Generally speaking, the more machine control coordinates, especially the more coordinates required linkage, function of machine, processing range and optional processing object is more also. But following is more complex, the structure of the machine tool for CNC system requirements of higher, more difficult, programming of equipment is also higher. Price Nc vertical milling machine can be attached, using automatic boards of nc turntable modeling device etc, increase the vertical milling machine to expand nc machining range and processing function, and further improve the production efficiency object. The main function of CNC milling machine and machining object The function of CNC milling machineThe function of CNC milling machine is divided into general function and special functions. General function refers to all kinds of CNC milling machine has the function of common. Such as tool radius position control function, automatic compensation function, mirror processing function, fixed circular function, etc. Special function is index control milling machine in increased some special device or accessories, shrugging respectively has or some special function. Such as tool length compensation function, modeling processing function, the automatic transform workbench function, adaptive function, nc acquisition function etc.In the use of CNC milling machine machining, just make full use of various function of CNC milling machine, it can process many strength. The difficult-to-machine workpiece. CNC milling machine s main processing targets are: plane kind parts; Variable bevel kind parts; Surface class (stereo type) parts.automatically change tool device (ATC) and form Nc machine tools in order to further improve productivity, further compression not cutting time, modern machine gradually developed in a machine to finish in a pack processes or all process of processing. Nc machine tools in order to succeed in a clamping workpiece finish multiple work step, to cut auxiliary time and reduce the error due to multiple installation workpiece, usually with automatically change knife system. More on workpiece set process but the storage and replace Tool device is called automatically change Tool device (Automatic Tool Changer, ATC) ; Automatic Tool automatically Change dao (ATC) system as by stronger control system and Change knife device component. On the basis of CNC milling machine, if match again with knives and automatic tool changer, constitutes processing center (Machining center abbreviation MC) . In this kind of CNC machine, automatic cutter replacement device (ATC) is indispensable. Such as processing center machine and say more processes automatically change knife nc machine tools, it is mainly refers to have automatically change knife and automatically change the workpiece machining position of nc machine tools, can work with automatic cutter replacement device is typical of machining center machine, and the necessary conditions of process. Automatically change device to the function of machine, processing efficiency greatly. Because ordinary nc vertical milling machine is the medium and small parts of the general, its most needs a few knife processing (10), and, within the tool is increase automatically change tool device and while automatically transform spindle speed. Can reduce labor intensity, reduce cutter replacement time machine, it raised the automation degree, and also to improve the labor productivity. Therefore, nc vertical milling machine as the largest number of CNC milling machine, application scope and most extensive a, on the added can quickly and accurately change the sword automatically change tool device is very necessary.All kinds of numerically-controlled machine tool s automatically change the structure of machine tool device depends on the type, machining scope and cutlery type and quantity, etc. This device can be divided into the following several main form:1) rotary cutter cutter replacement formNc lathe use rotary cutter is a simple automatically change tool device. According to the different processing object, can be designed to sifang and hex cutter or other various forms. Rotary cutter separately on the four, six or installed by the tool, and more nc device instructions transposition change knife. Rotary cutter on the structure must have good strength and rigidity, and reasonable positioning structure, to ensure that the rotary cutter in every inversion is the highest possible after repositioning precision. Such as: CK7815 numerical controlled lathe adopts BA200L cutter, its working cycle is: the throats of nc device receives a loosen a turned to command the position of instruction requirement a clamping gave the inversion exit signal.2) change main shaft head cutter replacement formWith rotary tool in the nc machine tools, replace main shaft head for the knife is a simple change dao style. Main shaft head tong have horizontal and vertical two kinds, and common turret of inversion to replace main shaft head to realize automatic changing swords. Each spindle head with each process in advance of rotary tool needed to change cutters, when receive instruction, the main shaft head and, in turn, turn to processing position and connected to the main movementdriven corresponding rotation, and tool spindle is not in other position of spindle are processed with the main sports withdraw. Turret spindle head way of changing tools saves the main advantage is automatic loose clip, unloading dao fittings knife, clamping and tool handling a seriesof complicated to operate, thereby significantly reducing the cutter replacement time, improve the reliability of the cutter replacement, but due to structural causes and space position of spindle component of the restrictions, the number of poor and spindle rigidity may not many. Therefore turret spindle head change knife usually only applies to process less, precision less demanding nc machine tools, such as CNC milling machine.3) take knife library automatically change knife formKnife library automatically change by knife knife forms are device component library and tool exchange. At present this change in the nc machine knife method of the most widely used. Knife library of nc tool device automatically change spindle box and turret spindle head, because in the headstock compared only a spindle, so the spindle component has enough so that they can meet various stiffness of the precision machining requirements. In addition, the knife library can deposit quantity of knives, can undertake more complex components, which could evidently improve process of CNC adaptability and processing efficiency. This knife library automatically change tool device especially suitable for CNC milling machine, CNC drilling and CNC boring. The type of tool store by knife library structure forms can be divided into:dise-type knife library, chain knife library, box type knife library - box and linear; Press set at different tool store can be divided into: top buy type, side buy type, suspension and console, etc. Various types; According to exchange tool or exchange spindle, knife library can be divided into: standard knife library (abbreviation knife library) and spindle box knife library. Although knife library have various forms, but the nc machine commonly used mainly dise-type and chain two kinds. Switching device, the manipulator form is also present in various nc machine is the most used rotary arms manipulator. Other forms and swing) , which include single arm double claw manipulator single gripper rotary manipulator, double manipulator, etc.To determine thetool changing manipulatorformIn theautomatic tool changing,tool changing manipulatoris various,there are several common.His handsareturning single armmanipulator180 ofhands;1 -claw,2taper pin;the 3arm;4,5 -spring,6 -a movable pin;7 -long pin;8 -locking pin2)turning single armmanipulatorhandshandsperpendicular to each other3)handsturning single armwith both handsparallel manipulator;4)hands crosstype manipulator:Due to the NC machine toolswith different(machining center)with different relativeposition ofthe knife and thespindle.So thetool changing manipulatorused inCNC machine toolsare not the same.Pictured aboveis a schematic diagram ofthe handsare perpendicular to each otherhandsturning single armmanipulatorstructure.Advantages of thismanipulatoristo change the cutterreliable action,good fora short time,the disadvantage isthe hiltof high accuracy,complex structure,relatedprecisionon-line adjustmentrequirements,mechanical handsare nearthe processing zone.In general,themechanical hand forknifeknife seatof spindle axisandvertical axismachine tool,cutterlibrary forradialaccesstool formautomatically change the knife device,therefore,theautomatic tool changing device forXKA5032A/C vertical CNCmilling machine liftcan be used in theform ofthis kind of manipulator.cutter replacement manipulator principle of workBelow is XKA5032A/C in the numerical control vertical lift milling machine tool device automatically change in this changing tools by the working principle of manipulator.This manipulator installed on the left flank, along with spindle together spindle box sport. Manipulator mechanical arm and 45 from the inclined shell composition. The mechanical arm I shape symmetrical. Fixed in to rotate to rotate four, 45Angle with spindle into, installed in the shell 3, 5 for the arm, but by hydraulic cylinder torre (figure is not driven mark), has flexiblemanipulator, slewing, catch knife, loose the knife such action. Telescopic action: the hydraulic cylinder (shown in not marked) drive along the spindle arm brackets 5 axial movement.Rotary action: hydraulic cylinder the rack round 2 driven by gear to rotate four turn. So as to realize the arm forward and reverse 180rotation movement. Catch knife knife action: manipulator, loose for tool clamping and loosen is through hydraulic cylinder 6. Disc springs 7 and 8, lever lever 9 activity to realize. Claws 10 Disc springs realize clamping, hydraulic cylinder achieve loosen. There are two claws in activities pin 11, when clamping knives, insert handle the flange hole, and to ensure the safe and reliable.Sword of the manipulator automatically change the action sequence processFigure 4-6 0f the manipulator change cutters cutter replacement process Automatically changeThe knife knife device for choosing tools and change process is knife two parts.Choose dao, namely dao library according to choose knife command (or information) automatic will use the tool moves to change positions, complete choose knife knife knife, in the process of change, change is ready sword on the spindle is manipulator used tool remove, will choose good tool installed in spindle above all.The general process of changing tools action for:1) spindle box back to top (z coordinate zero), but also achieve spindle must stop. Namely spindle stop rotation and accurate stop in a fixed Angle, ensuring the direction of key also face the spindle is a fixed position, make the keyway handles are just end keys.2) robots catch spindle and knife knife. On the library As shown in figure 4-6 (a) below.3) card tight in spindle and send the tool loosen library4) piston rod push downstream, from the spindle and robot take knife library tool5) turn 180 0 manipulator, exchange tool position,6) will replace the tool into spindle and after knife library7) were clamping spindle and a sword on knife. Library8) manipulator loosen spindle and a sword on knife. Library9) when, after ShouSong open mechanical limit switches completed a change side of the signal, sword, can start processing spindle freedom movement or other program.In automatically change the whole process, sword of various sports all by limit switch control, only after the completion of the first movement to the next action, so as to ensure the reliability of the movement.mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary ofthe automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the Mechanical Hand, which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special.Main features:(1) mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc. ). (2) Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)(3)rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)(4)industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with thecombination of mechanization and automation. Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry.It can be used to assemble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on.(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws . handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous . repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manualoperation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures,polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands andoperation of objects of different occasions, often there are clamping . support and adsorption type of care. Movement organs are generally hydraulic pneumatic electrical device drivers. Manipulator can be achieved independently retractable . rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic ma

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