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1、附件1：外文資料翻譯譯文 數控立式銑床自動換刀裝置的設計 數控立式銑床是數控銑床中數量最多的一種，應用范圍也最為廣泛。小型數控銑床一般都采用工作臺移動、升降、及主軸不動方式，與普通立式升降臺銑床相似；中型數控立式銑床一般采用縱向和橫向工作臺移動方式，且主軸沿垂直溜板上下運動；大型數控立式銑床，因要考慮到擴大行程，縮小占地面積及剛性等技術問題，往往采用龍門架移動式，其主軸可以在龍門架的橫向與垂直溜板上運動，而龍門架則沿床身作縱向運動。 從機床數控系統控制的坐標數量來看，目前3坐標數控立式銑床仍占大多數。一般可進行3坐標聯動加工，但也有部分機床只能進行3坐標中

2、的任意二個坐標聯動加工。此外，還有機床主軸可以繞X、Y、Z坐標軸中其中一個或兩個軸作數控擺角運動的4坐標和5坐標數控立式銑床。一般來說，機床控制的坐標軸越多，特別是要求聯動的坐標軸越多，機床的功能、加工范圍及可選擇的加工對象也越多。但隨之而來的是機床的結構更復雜，對數控系統的要求更高，編程的難度更大，設備的價格也更高。 數控立式銑床可以附加數控轉盤，采用自動交換臺，增加靠模裝置等來擴大數控立式銑床的功能，加工范圍和加工對象，進一步提高生產效率。 數控銑床的功能 數控銑床的功能分為一般功能和特殊功能。一般功能是指各類數控銑床普遍所具有的功

3、能。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。特殊功能是指數控銑床在增加了某些特殊裝置或附件后，分別具有或兼?zhèn)涞囊恍┨厥夤δ?。如刀具長度補償功能、靠模加工功能、自動變換工作臺功能、自適應功能、數控采集功能等。 在使用數控銑床加工工件時，只要充分利用數控銑床的各種功能，就可以加工許多普通銑床難加工的工件。數控銑床的主要加工對象有：平面類零件；變斜角類零件；曲面類（立體類）零件。 自動換刀裝置（ATC）及其形式 數控機床為了進一步提高生產率，進一步壓縮非切削時間，現代的機床逐步發(fā)展為在一臺機床上在一次裝中完成多工序

4、或全部工序的加工。數控機床為了能在工件一次裝夾中完成多個工步，以縮減輔助時間和減少多次安裝工件引起的誤差，通常帶有自動換刀系統。對工件的多工序加工而設置的存儲及更換刀具的裝置稱為自動換刀裝置(Automatic Tool Changer，ATC);自動換刀（Automatic Tool Change 簡稱ATC）系統由控制系統和換刀裝置組成。在數控銑床的基礎上，如果再配以刀具和自動換刀系統，就構成加工中心（Machining center 簡稱MC）。在這類數控機床上，自動換刀裝置（ATC）是必不可少的。例如加工中心機床又稱多工序自動換刀數控機床，它主要是指具有自動換刀及自動改變工件加工位置工

5、能的數控機床，具有自動換刀裝置是加工中心機床的典型特征，是多工序加工的必要條件。自動換裝置的功能，對整機的加工效率有很大的影響。由于普通的數控立式銑床加工的一般是中小零件，其大多需要幾把刀具加工（10把刀具以內，）故增加自動換刀裝置并同時自動變換主軸轉速?？蓽p輕勞動強度，減少換刀時間，既提高了機床的自動化程度，又提高了勞動生產率。因此，數控立式銑床作為數控銑床中數量最多、應用范圍也最廣的一種，對其附加能夠快速、準確地換刀的自動換刀裝置是非常有必要的。 各類數控機床的自動換刀裝置的結構取決于機床的型式、工藝范圍及刀具的種類和數量等。這種裝置主要可以分為以下幾種形式： 1)回轉刀架換刀形式

6、數控車床使用的回轉刀架是一種簡單的自動換刀裝置。根據不同加工對象，可以設計成四方和六角刀架或其他等多種形式?；剞D刀架上分別安裝著四把、六把或更多的刀具，并按數控裝置的指令轉位換刀?；剞D刀架在結構上必須有良好的強度和剛性，以及合理的定位結構，以保證回轉刀架在每一次轉位之后具有盡可能高的重復定位精度。如：CK7815型數控車床采用BA200L刀架，其工作循環(huán)是：刀架接收數控裝置的指令一松開一轉到指令要求的位置一夾緊一發(fā)出轉位結束的信號。 2)更換主軸頭換刀形式 在帶有旋轉刀具的數控機床中，更換主軸頭換刀是一種簡單的換刀方式。主軸頭通有臥式和立式兩種，而且常用轉塔的轉位來更換主軸頭以實現自動換刀

7、。各個主軸頭上預先裝有各工序加工所需要的旋轉刀具，當收到換刀指令時,各主軸頭依次地轉到加工位置，并接通主運動使相應的主軸帶動刀具旋轉，而其他處于不加工位置上的主軸都與主運動脫開。 轉塔主軸頭換刀方式的主要優(yōu)點是省去了自動松夾、卸刀裝刀、夾緊以及刀具搬運等一系列復雜的操作，從而顯著地減少了換刀時間，提高了換刀的可靠性，但是由于結構上的原因和空間位置的限制，主軸部件的剛性差且主軸的數目不可能很多。因此轉塔主軸頭換刀通常只適用于工序較少，精度要求不太高的數控機床，如數控銑床。 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。目前這種換刀方法在數控機床上的應用最為廣

8、泛。帶刀庫的自動換刀裝置的數控機床主軸箱和轉塔主軸頭相比較，由于主軸箱內只有一個主軸，所以主軸部件具有足夠剛度，因而能夠滿足各種精密加工的要求。另外，刀庫可以存放數量較多的刀具，可進行復雜零件的多工序加工，可明顯提高數控機床的適應性和加工效率。這種帶刀庫的自動換刀裝置特別適用于數控銑床、數控鉆床和數控鏜床。 刀庫的類型按刀庫的結構形式可分為：圓盤式刀庫、鏈式刀庫、箱型式刀庫---箱型和線型；按設置部位的不同，刀庫可以分為：頂置式、側置式、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。雖然刀庫有多種形式，但數控機床上常用的主要是圓盤式和鏈式兩種

9、。交換裝置的機械手形式也多樣，目前在數控機床上用得最多的是回轉式雙臂機械手。其他形式還有擺動式單臂雙爪機械手、單臂單爪回轉式機械手、雙機械手等等。 確定換刀機械手形式 在自動換刀數控機床中，換刀機械手的形式是多種多樣的，常見的有以下幾種。 1)兩手呈180的回轉式單臂雙手機械手； 2)兩手互相垂直的回轉式單臂雙手機械手 3)兩手平行的回轉式單臂雙手機械手； 4)雙手交叉式機械手； 由于不同的數控機床（加工中心）的刀庫與主軸的相對位置不同。所以各種數控機床所使用的換刀機械手也不盡相同。 上圖是兩手互相垂直的回轉式單臂雙手機械手的結構示意圖。

10、 這種機械手的優(yōu)點是換刀動作可靠，換好時間短，缺點是刀柄精度要求高，結構復雜，聯機調整的相關精度要求高，機械手離加工區(qū)較近。 一般來說，這種機械手用于刀庫刀座軸線與機床主軸軸線垂直，刀庫為徑向存取刀具形式的自動換刀裝置，因此，在XKA5032A/C數控立式升降銑床的自動換刀裝置中可采用這種機械手形式。 換刀機械手的工作原理 下面是以在XKA5032A/C數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。 該機械手安裝在主軸的左側面，隨同主軸箱一起運動。機械手由機械手臂與45的斜殼體組成。機械手臂1形狀對稱。固定在回轉軸4上，回

11、轉軸與主軸成45角，安裝在殼體3上，5為手臂托，可由液壓缸帶動（圖中未標出），機械手有伸縮、回轉、抓刀、松刀等動作。 伸縮動作：液壓缸（圖中未標出）帶動手臂托架5沿主軸軸向移動。 回轉動作：液壓缸2中的齒條輪通過齒輪帶動回轉軸4轉動。從而實現手臂正向和反向180的旋轉運動。 抓刀、松刀動作：機械手對刀具的夾緊和松開是通過液壓缸6。碟形彈簧7及拉桿8、杠桿9、活動爪10來實現。碟形彈簧實現夾緊，液壓缸實現松開。在活動爪中有兩個銷子11，當夾緊刀具時，插入刀柄凸緣的孔內，確保安全、可靠。 機械手的自動換刀過程的動作順序 （a）

12、 （b） （c） （d） 圖4-6 換刀機械手的換刀過程 自動換刀裝置的換刀過程由選刀和換刀兩部分組成。 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。 換刀動作的大致過程為： 1)主軸箱回到最高處（z坐標零點），同時實現“主軸準?！薄＜粗鬏S停止回轉并準確停止在一個固定不變的角度方位上，保證主軸端面的鍵也在一個固定的方位，使刀柄上的鍵槽能恰好對正端面鍵。 2)機械手抓住主軸和刀庫上的刀具。如圖4-6（a）所示。

13、 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180，交換刀具位置， 6)將更換后的刀具裝入主軸和刀庫 7)分別夾緊主軸和刀庫上的刀具 8)機械手松開主軸和刀庫上的刀具 9)當機械手松開具后，限位開關發(fā)出“換刀完畢”的信號，主軸自由，可以開始加工或其他程序動作。 在自動換刀的整個過程中，各項運動均由限位開關控制，只有前一個動作完成后，才能進行下一個動作，從而保證了運動的可靠性。 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。它是一種獨立的不附屬于某一主機的裝置。它可以根據任務的

14、需要編制程序，以完成各項規(guī)定的操作。它的特點是具備普通機械的性能之外，還具備通用機械、記憶智能的三元機械。第二類是需要人工才做的，稱為操作機。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行探測月球等。工業(yè)中采用的鍛造操作機也屬于這一范疇。第三類是用專用機械手，主要附屬于自動機床或自動線上，用以解決機床上下料和工件送。這種機械手在國外稱為“Mechanical Hand”，它是為主機服務的，由主機驅動；除少數以外，工作程序一般是固定的，因此是專用的。 主要特點： (1) 機械手（上下料機械手、裝配機械手、搬運機械手、堆垛機械手、助力機械手、真空搬運

15、機、 真空吸吊機、省力吊具、氣動平衡器等）。 (2) 懸臂起重機（懸臂吊、電動環(huán)鏈葫蘆吊、氣動平衡吊等） (3) 導軌式搬運系統（懸掛軌道、輕型軌道、單梁起重機、雙梁起重機） (4) 工業(yè)機械手的應用 機械手是在機械化、自動化生產過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術特別是電子計算機的廣泛應用，機器人的研制和生產已成為高技術領域內迅速發(fā)展起來的一門新興技術，它更加促進了機械手的發(fā)展，使得機械手能更好地實現與機械化和自動化的有機結合。 機械手雖然目前還不如人手那樣靈活，但它具有能不斷重復工作和勞動、不知疲勞、不怕危險、抓舉重物的力量比人手大等特點，因此，機械手已受到許多部

16、門的重視，并越來越廣泛地得到了應用，例如： (1) 機床加工工件的裝卸，特別是在自動化車床、組合機床上使用較為普遍。 (2) 在裝配作業(yè)中應用廣泛，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。 (3) 可在勞動條件差，單調重復易子疲勞的工作環(huán)境工作，以代替人的勞動。 (4) 可在危險場合下工作，如軍工品的裝卸、危險品及有害物的搬運等。 (5) 宇宙及海洋的開發(fā)。 (6) 軍事工程及生物醫(yī)學方面的研究和試驗。 助力機械手:又稱平衡器、平衡吊、省力吊具、手動移載機等，是一種無重力化手動承載系統，一種新穎的、用于物料搬運時省力化操作的助力設備,屬于一種非標設

17、計的系列化產品。針對客戶應用需求，量身定制的個案創(chuàng)作。 一種模擬人手操作的自動機械，它可按固定程序抓取﹑搬運物件或操持工具完成某些特定操作。應用機械手可以代替人從事單調﹑重復或繁重的體力勞動，實現生產的機械化和自動化，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。20世紀40年代后期，美國在原子能實驗中，首先采用機械手搬運放射性材料，人在安全室操縱機械手進行各種操作和實驗。50年代以后，機械手逐步推廣到工業(yè)生產部門，用于在高溫﹑污染嚴重的地方取放工件和裝卸材料，也作為機床的輔助裝置在自動機床﹑自動生產線和加工中心中應用，完成上下料或從刀庫中取放刀具并按固定程序更換刀具等操作。機械

18、手主要由手部機構和運動機構組成。手部機構隨使用場合和操作對象而不同，常見的有夾持﹑托持和吸附等類型。運動機構一般由液壓﹑氣動﹑電氣裝置驅動。機械手可獨立地實現伸縮﹑旋轉和昇降等運動，一般有2～3個自由度。機械手廣泛用于機械製造﹑冶金﹑輕工和原子能等部門。 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。它可代替人的繁重勞動以實現生產的機械化和自動化，能在有害環(huán)境下操作以保護人身安全，因而廣泛應用于機械制造、冶金、電子、輕工和原子能等部門。 機械手通常用作機床或其他機器的附加裝置，如在自動機床或自動生產線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨立

19、的控制裝置。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。 機械手主要由手部和運動機構組成。手部是用來抓持工件（或工具）的部件，根據被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結構形式，如夾持型、托持型和吸附型等。運動機構，使手部完成各種轉動（擺動）、移動或復合運動來實現規(guī)定的動作，改變被抓持物件的位置和姿勢...... 機械手是在自動化生產過程中使用的一種具有抓取和移動工件功能的自動化裝置，它是在機械化、自動化生產過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術特別是電子計算機的廣泛應用，機器人的研制和生產已成為高技術領域內迅速發(fā)展起來

20、的一門新興技術，它更加促進了機械手的發(fā)展，使得機械手能更好地實現與機械化和自動化的有機結合。機械手能代替人類完成危險、重復枯燥的工作，減輕人類勞動強度，提高勞動生產力。機械手越來越廣泛的得到了應用，在機械行業(yè)中它可用于零部件組裝 ，加工工件的搬運、裝卸，特別是在自動化數控機床、組合機床上使用更普遍。目前，機械手已發(fā)展成為柔性制造系統FMS和柔性制造單元FMC中一個重要組成部分。把機床設備和機械手共同構成一個柔性加工系統或柔性制造單元，它適應于中、小批量生產，可以節(jié)省龐大的工件輸送裝置，結構緊湊，而且適應性很強。當工件變更時，柔性生產系統很容易改變，有利于企業(yè)不斷更新適銷對路的品種，提高產品質量

21、，更好地適應市場競爭的需要。而目前我國的工業(yè)機器人技術及其工程應用的水平和國外比還有一定的距離，應用規(guī)模和產業(yè)化水平低，機械手的研究和開發(fā)直接影響到我國自動化生產水平的提高，從經濟上、技術上考慮都是十分必要的。因此，進行機械手的研究設計是非常有意義的。 附件2：外文原文 Nc vertical milling machine ? cutter replacement device design automatically Nc vertical milling machine is the most number of CNC milling machine, applica

22、tion 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 ver

23、tical 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 fabric

24、ated 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 coordin

25、ates 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.

26、 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

27、 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 efficien

28、cy object.The main function of CNC milling machine and machining object The function of CNC milling machine The 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

29、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.

30、 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 stren

31、gth.the difficult-to-machine workpiece. CNC milling machines 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, fu

32、rther 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 installat

33、ion 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

34、 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 ma

35、chine 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, an

36、d 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 automa

37、tically 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 mac

38、hine, 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 tools automatically change the structure of machine tool device depends on the type, machining scope

39、 and cutlery type and quantity, etc. This device can be divided into the following several main form: 1) rotary cutter cutter replacement form Nc lathe use rotary cutter is a simple automatically change tool device. According to the different processing object, can be designed to sifang and hex cu

40、tter 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

41、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 sign

42、al. 2) change main shaft head cutter replacement form With 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 auto

43、matic 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 movement driven corresponding rotation, and tool spindle is not in other po

44、sition 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 series of complicated to operate, thereby significantly reducing the cutter replaceme

45、nt 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

46、demanding nc machine tools, such as CNC milling machine. 3) take knife library automatically change knife form Knife 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. Knif

47、e 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 quan

48、tity 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 l

49、ibrary 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 sp

50、indle, 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 var

51、ious 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 con

52、trol 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. Th

53、e mechanical arm 1 shape symmetrical. Fixed in to rotate to rotate four, 45 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:

54、 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 rotation movement. Catch knife knife action: manipulator, lo

55、ose 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

56、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

57、. 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 install

58、ed 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,

59、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 library 4) piston rod push downstream, from the spindle and robot take knife library tool 5) turn 180 manipulato

60、r, 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 completed a "change" side of the sign

61、al, 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. Three, mec

62、hanical 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 complete

63、 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 thr

64、ough 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 of the autom

65、atic 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

66、, and therefore special. Main features: First, 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.). Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.) Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane) Four, industrial machin