【正文】 rotation 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 process (a), (b) (c) (d) Figure 4 to 6 of the manipulator change cutters cutter replacement process Automatically change the knife knife device for choosing tools and change process is knife two parts. Choose dao, namely dao library according to choose knife mand (or information) automatic will use the tool moves to change positions, plete 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 XII handles are just end keys. 2) robots catch spindle and knife knife. On the library As shown in figure 46 (a) below. 3) card tight in spindle and send the tool loosen library 4) piston rod push downstream, from the spindle and robot take knife library tool 5) turn 180 176。 Variable bevel kind parts。把機床設(shè)備和機械手共同構(gòu)成一個柔性加工系統(tǒng)或柔性制造單元，它適應(yīng)于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置，結(jié)構(gòu)緊湊，而且適應(yīng)性很強。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險物品的主從 式操作手也常稱為機械手。機械手主要由手部機構(gòu)和運動機構(gòu)組成。 (5) 宇宙及海洋的開發(fā)。這種機械手在國外稱為“ Mechanical Hand”，它是為主機服務(wù)的，由主機驅(qū)動；除少數(shù)以外，工作程序一般是固定的，因 此是專用的。 機械手的分類和特點 機械手一般分為三類：第一類是不需要人工操作的通用機械手。 選刀即刀庫按照選刀命令（或信息）自動將要用的刀具移動到換刀位置，完成選刀過程，為下面換刀做好準(zhǔn)備，換刀即是機械手把主軸上用過的刀具取下，將選好的刀具安裝在主軸之上。 回轉(zhuǎn)動作：液壓缸 2 中 的齒條輪通過齒輪帶動回轉(zhuǎn)軸 4 轉(zhuǎn)動。 換刀機械手的工作原理 下面是以在 XKA5032A/C 數(shù)控立式升降臺銑床的自動換刀裝置中采用這種上機械手換刀的工作原理。其他形式還有擺動式單臂雙爪機械手、單臂單爪回轉(zhuǎn)式機械手、雙機械手等等。 3)帶刀庫的自動換刀形式 帶刀庫的自動換刀形式主 要是由刀庫和刀具交換裝置組成?；剞D(zhuǎn)刀架上分別安裝著四把、六把或更多的刀具，并按數(shù)控裝置的指令轉(zhuǎn)位換刀。例如加工中心機床又稱多工序自動換刀數(shù)控機床，它主要是指具有自動換刀及自動改變工件加工位置工能的數(shù)控機床，具有自動換刀裝置是加工中心機床的典II 型特征，是多工序加工的必要條件。 在使用數(shù)控銑床加工工件時，只要充分利用數(shù)控銑床的各種功能，就可以加工許多普通銑床難加工的工件。一般來說，機床控制的坐標(biāo)軸越多，特別是要求聯(lián)動的坐標(biāo)軸越多，機床的功能、加工范圍及可選擇的加工對象也越多。 從機床數(shù)控系統(tǒng)控制的坐標(biāo)數(shù)量來看，目前 3 坐 標(biāo)數(shù)控立式銑床仍占大多數(shù)。如點位控制功能、刀具半徑自動補償功能、鏡象加工功能、 固定循環(huán)功能等。自動換刀（ Automatic Tool Change 簡稱 ATC）系統(tǒng)由控制系統(tǒng)和換刀裝置組成。 各類數(shù)控機床的自動換刀裝置的結(jié)構(gòu)取決于機床的型式、工藝范圍及刀具的種類和數(shù)量等。各個主軸頭 上預(yù)先裝有各工序加工所需要的旋轉(zhuǎn)刀具，當(dāng)收到換刀指令時 ,各主軸頭依次地轉(zhuǎn)到加工位置，并接通主運動使相應(yīng)的主軸帶動刀具旋轉(zhuǎn)，而其他處于不加工位置上的主軸都與主運動脫開。 刀庫的類型按刀庫的結(jié)構(gòu)形式可分為：圓盤式刀庫、鏈?zhǔn)降稁?、箱型式刀?箱型和線型；按設(shè)置部位的不同，刀庫可以分為：頂置式、側(cè)置式、 懸掛式和落地式等多種類型；按交換刀具還是交換主軸，刀庫可分為：普通刀庫 (簡稱刀庫 )和主軸箱刀庫。 上圖是兩手互相垂直的回轉(zhuǎn)式單臂雙手機械手的結(jié)構(gòu)示意圖。固定在回轉(zhuǎn)軸 4 上，回轉(zhuǎn)軸與主軸成 45176。碟形彈簧實現(xiàn)夾緊，液壓缸實現(xiàn)松開。 3)把卡緊在主軸和發(fā)庫上的刀具松開 4)活塞桿推動機械手下行，從主軸和刀庫上取出刀具 5)機械手回轉(zhuǎn) 180176。它起源于原子、軍事工業(yè)，先是通過操作機來完成特定的作業(yè)，后來發(fā)展到用無線電訊號操作機來進(jìn)行探測月球等。 (2) 在裝配作業(yè)中應(yīng)用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機械行業(yè)中它可以用來組裝零部件。應(yīng)用機械手可以代替人從事單調(diào)﹑重復(fù)或繁重的體力勞動 ， 實現(xiàn)生產(chǎn)的機械化和自動化 ， 代替人在有害環(huán)境下的手工操作 ， 改善勞動條件 ， 保證人身安全。 能模仿人手和臂的某些動作功能，用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。機械手能代替人類完成危險、重復(fù)枯燥的工作，減輕人類勞動強度，提高勞動生產(chǎn)力。 Medium nc vertical milling machine generally USES the longitudinal and transverse workbench mobile way along vertical axis, and slip board up and down movement。 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 monly used mainly disetype 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. cutter replacement manipulator principle of work Below 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 45 176。 such as the atomic energy sector performs household hazardous materials used in the masterslave manipulator is also often referred to as mechanical hand. Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) ponents, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type, type and adsorptionbased care such as holding. Sports anizations, so that the pletion of a variety of hand rotation (swing), mobile or pound movements to achieve the required action, to change the location of objects by grasping and posture. Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, especially puter extensive use of robot development and production of hightech fields has bee a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the bination of mechanization and automation. Robot can replace humans pleted the risk of duplication