【正文】 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 of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more monly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important ponent of the FMC. The machine tool XVI equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, pact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market petition. At present, China39。 manipulator, exchange tool position, 6) will replace the tool into spindle and after knife library 7) were clamping spindle and a sword on knife. Library 8) manipulator loosen spindle and a sword on knife. Library 9) when, after ShouSong open mechanical limit switches pleted 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 pletion of the first movement to the next action, so as to ensure the reliability of the movement. Three, mechanical hand classification and characteristics Robots 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 plete 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 plete 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 of the 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 hostdriven。 Angle with spindle into, installed in the shell 3, 5 for the arm, but by hydraulic cylinder torre (figure is not driven mark), has flexible manipulator, 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 180 176。 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。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 in