畢業(yè)設(shè)計(jì)論文 外文文獻(xiàn)翻譯 數(shù)控立式銑床自動(dòng)換刀裝置的設(shè)計(jì)

附件1：外文資料翻譯譯文 數(shù)控立式銑床自動(dòng)換刀裝置的設(shè)計(jì) 數(shù)控立式銑床是數(shù)控銑床中數(shù)量最多的一種，應(yīng)用范圍也最為廣泛。小型數(shù)控銑床一般都采用工作臺(tái)移動(dòng)、升降、及主軸不動(dòng)方式，與普通立式升降臺(tái)銑床相似；中型數(shù)控立式銑床一般采用縱向和橫向工作臺(tái)移動(dòng)方式，且主軸沿垂直溜板上下運(yùn)動(dòng)；大型數(shù)控立式銑床，因要考慮到擴(kuò)大行程，縮小占地面積及剛性等技術(shù)問(wèn)題，往往采用龍門(mén)架移動(dòng)式，其主軸可以在龍門(mén)架的橫向與垂直溜板上運(yùn)動(dòng)，而龍門(mén)架則沿床身作縱向運(yùn)動(dòng)。從機(jī)床數(shù)控系統(tǒng)控制的坐標(biāo)數(shù)量來(lái)看，目前3坐標(biāo)數(shù)控立式銑床仍占大多數(shù)。一般可進(jìn)行3坐標(biāo)聯(lián)動(dòng)加工，但也有部分機(jī)床只能進(jìn)行3坐標(biāo)中的任意二個(gè)坐標(biāo)聯(lián)動(dòng)加工。此外，還有機(jī)床主軸可以繞X、Y、Z坐標(biāo)軸中其中一個(gè)或兩個(gè)軸作數(shù)控?cái)[角運(yùn)動(dòng)的4坐標(biāo)和5坐標(biāo)數(shù)控立式銑床。一般來(lái)說(shuō)，機(jī)床控制的坐標(biāo)軸越多，特別是要求聯(lián)動(dòng)的坐標(biāo)軸越多，機(jī)床的功能、加工范圍及可選擇的加工對(duì)象也越多。但隨之而來(lái)的是機(jī)床的結(jié)構(gòu)更復(fù)雜，對(duì)數(shù)控系統(tǒng)的要求更高，編程的難度更大，設(shè)備的價(jià)格也更高。數(shù)控立式銑床可以附加數(shù)控轉(zhuǎn)盤(pán)，采用自動(dòng)交換臺(tái)，增加靠模裝置等來(lái)擴(kuò)大數(shù)控立式銑床的功能，加工范圍和加工對(duì)象，進(jìn)一步提高生產(chǎn)效率。 數(shù)控銑床的功能數(shù)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(lèi)數(shù)控銑床普遍所具有的功能。如點(diǎn)位控制功能、刀具半徑自動(dòng)補(bǔ)償功能、鏡象加工功能、 固定循環(huán)功能等。特殊功能是指數(shù)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(zhǎng)度補(bǔ)償功能、靠模加工功能、自動(dòng)變換工作臺(tái)功能、自適應(yīng)功能、數(shù)控采集功能等。在使用數(shù)控銑床加工工件時(shí)，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。數(shù)控銑床的主要加工對(duì)象有：平面類(lèi)零件；變斜角類(lèi)零件；曲面類(lèi)（立體類(lèi)）零件。 自動(dòng)換刀裝置（ATC）及其形式數(shù)控機(jī)床為了進(jìn)一步提高生產(chǎn)率，進(jìn)一步壓縮非切削時(shí)間，現(xiàn)代的機(jī)床逐步發(fā)展為在一臺(tái)機(jī)床上在一次裝中完成多工序或全部工序的加工。數(shù)控機(jī)床為了能在工件一次裝夾中完成多個(gè)工步，以縮減輔助時(shí)間和減少多次安裝工件引起的誤差，通常帶有自動(dòng)換刀系統(tǒng)。對(duì)工件的多工序加工而設(shè)置的存儲(chǔ)及更換刀具的裝置稱(chēng)為自動(dòng)換刀裝置(Automatic Tool Changer，ATC);自動(dòng)換刀（Automatic Tool Change 簡(jiǎn)稱(chēng)ATC）系統(tǒng)由控制系統(tǒng)和換刀裝置組成。在數(shù)控銑床的基礎(chǔ)上，如果再配以刀具和自動(dòng)換刀系統(tǒng)，就構(gòu)成加工中心（Machining center 簡(jiǎn)稱(chēng)MC）。在這類(lèi)數(shù)控機(jī)床上，自動(dòng)換刀裝置（ATC）是必不可少的。例如加工中心機(jī)床又稱(chēng)多工序自動(dòng)換刀數(shù)控機(jī)床，它主要是指具有自動(dòng)換刀及自動(dòng)改變工件加工位置工能的數(shù)控機(jī)床，具有自動(dòng)換刀裝置是加工中心機(jī)床的典型特征，是多工序加工的必要條件。自動(dòng)換裝置的功能，對(duì)整機(jī)的加工效率有很大的影響。由于普通的數(shù)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?xún)?nèi)，）故增加自動(dòng)換刀裝置并同時(shí)自動(dòng)變換主軸轉(zhuǎn)速?？蓽p輕勞動(dòng)強(qiáng)度，減少換刀時(shí)間，既提高了機(jī)床的自動(dòng)化程度，又提高了勞動(dòng)生產(chǎn)率。因此，數(shù)控立式銑床作為數(shù)控銑床中數(shù)量最多、應(yīng)用范圍也最廣的一種，對(duì)其附加能夠快速、準(zhǔn)確地?fù)Q刀的自動(dòng)換刀裝置是非常有必要的。各類(lèi)數(shù)控機(jī)床的自動(dòng)換刀裝置的結(jié)構(gòu)取決于機(jī)床的型式、工藝范圍及刀具的種類(lèi)和數(shù)量等。這種裝置主要可以分為以下幾種形式：1)回轉(zhuǎn)刀架換刀形式數(shù)控車(chē)床使用的回轉(zhuǎn)刀架是一種簡(jiǎn)單的自動(dòng)換刀裝置。根據(jù)不同加工對(duì)象，可以設(shè)計(jì)成四方和六角刀架或其他等多種形式?；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。回轉(zhuǎn)刀架在結(jié)構(gòu)上必須有良好的強(qiáng)度和剛性，以及合理的定位結(jié)構(gòu)，以保證回轉(zhuǎn)刀架在每一次轉(zhuǎn)位之后具有盡可能高的重復(fù)定位精度。如：CK7815型數(shù)控車(chē)床采用BA200L刀架，其工作循環(huán)是：刀架接收數(shù)控裝置的指令一松開(kāi)一轉(zhuǎn)到指令要求的位置一夾緊一發(fā)出轉(zhuǎn)位結(jié)束的信號(hào)。2)更換主軸頭換刀形式在帶有旋轉(zhuǎn)刀具的數(shù)控機(jī)床中，更換主軸頭換刀是一種簡(jiǎn)單的換刀方式。主軸頭通有臥式和立式兩種，而且常用轉(zhuǎn)塔的轉(zhuǎn)位來(lái)更換主軸頭以實(shí)現(xiàn)自動(dòng)換刀。各個(gè)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(shí),各主軸頭依次地轉(zhuǎn)到加工位置，并接通主運(yùn)動(dòng)使相應(yīng)的主軸帶動(dòng)刀具旋轉(zhuǎn)，而其他處于不加工位置上的主軸都與主運(yùn)動(dòng)脫開(kāi)。轉(zhuǎn)塔主軸頭換刀方式的主要優(yōu)點(diǎn)是省去了自動(dòng)松夾、卸刀裝刀、夾緊以及刀具搬運(yùn)等一系列復(fù)雜的操作，從而顯著地減少了換刀時(shí)間，提高了換刀的可靠性，但是由于結(jié)構(gòu)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(shù)目不可能很多。因此轉(zhuǎn)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(shù)控機(jī)床，如數(shù)控銑床。3)帶刀庫(kù)的自動(dòng)換刀形式帶刀庫(kù)的自動(dòng)換刀形式主要是由刀庫(kù)和刀具交換裝置組成。目前這種換刀方法在數(shù)控機(jī)床上的應(yīng)用最為廣泛。帶刀庫(kù)的自動(dòng)換刀裝置的數(shù)控機(jī)床主軸箱和轉(zhuǎn)塔主軸頭相比較，由于主軸箱內(nèi)只有一個(gè)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(kù)可以存放數(shù)量較多的刀具，可進(jìn)行復(fù)雜零件的多工序加工，可明顯提高數(shù)控機(jī)床的適應(yīng)性和加工效率。這種帶刀庫(kù)的自動(dòng)換刀裝置特別適用于數(shù)控銑床、數(shù)控鉆床和數(shù)控鏜床。刀庫(kù)的類(lèi)型按刀庫(kù)的結(jié)構(gòu)形式可分為：圓盤(pán)式刀庫(kù)、鏈?zhǔn)降稁?kù)、箱型式刀庫(kù)-箱型和線型；按設(shè)置部位的不同，刀庫(kù)可以分為：頂置式、側(cè)置式、懸掛式和落地式等多種類(lèi)型；按交換刀具還是交換主軸，刀庫(kù)可分為：普通刀庫(kù)(簡(jiǎn)稱(chēng)刀庫(kù))和主軸箱刀庫(kù)。雖然刀庫(kù)有多種形式，但數(shù)控機(jī)床上常用的主要是圓盤(pán)式和鏈?zhǔn)絻煞N。交換裝置的機(jī)械手形式也多樣，目前在數(shù)控機(jī)床上用得最多的是回轉(zhuǎn)式雙臂機(jī)械手。其他形式還有擺動(dòng)式單臂雙爪機(jī)械手、單臂單爪回轉(zhuǎn)式機(jī)械手、雙機(jī)械手等等。 確定換刀機(jī)械手形式在自動(dòng)換刀數(shù)控機(jī)床中，換刀機(jī)械手的形式是多種多樣的，常見(jiàn)的有以下幾種。1)兩手呈180的回轉(zhuǎn)式單臂雙手機(jī)械手；2)兩手互相垂直的回轉(zhuǎn)式單臂雙手機(jī)械手3)兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手；4)雙手交叉式機(jī)械手；由于不同的數(shù)控機(jī)床（加工中心）的刀庫(kù)與主軸的相對(duì)位置不同。所以各種數(shù)控機(jī)床所使用的換刀機(jī)械手也不盡相同。上圖是兩手互相垂直的回轉(zhuǎn)式單臂雙手機(jī)械手的結(jié)構(gòu)示意圖。這種機(jī)械手的優(yōu)點(diǎn)是換刀動(dòng)作可靠，換好時(shí)間短，缺點(diǎn)是刀柄精度要求高，結(jié)構(gòu)復(fù)雜，聯(lián)機(jī)調(diào)整的相關(guān)精度要求高，機(jī)械手離加工區(qū)較近。一般來(lái)說(shuō)，這種機(jī)械手用于刀庫(kù)刀座軸線與機(jī)床主軸軸線垂直，刀庫(kù)為徑向存取刀具形式的自動(dòng)換刀裝置，因此，在XKA5032A/C數(shù)控立式升降銑床的自動(dòng)換刀裝置中可采用這種機(jī)械手形式。 換刀機(jī)械手的工作原理下面是以在XKA5032A/C數(shù)控立式升降臺(tái)銑床的自動(dòng)換刀裝置中采用這種上機(jī)械手換刀的工作原理。該機(jī)械手安裝在主軸的左側(cè)面，隨同主軸箱一起運(yùn)動(dòng)。機(jī)械手由機(jī)械手臂與45的斜殼體組成。機(jī)械手臂1形狀對(duì)稱(chēng)。固定在回轉(zhuǎn)軸4上，回轉(zhuǎn)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(dòng)（圖中未標(biāo)出），機(jī)械手有伸縮、回轉(zhuǎn)、抓刀、松刀等動(dòng)作。伸縮動(dòng)作：液壓缸（圖中未標(biāo)出）帶動(dòng)手臂托架5沿主軸軸向移動(dòng)?；剞D(zhuǎn)動(dòng)作：液壓缸2中的齒條輪通過(guò)齒輪帶動(dòng)回轉(zhuǎn)軸4轉(zhuǎn)動(dòng)。從而實(shí)現(xiàn)手臂正向和反向180的旋轉(zhuǎn)運(yùn)動(dòng)。抓刀、松刀動(dòng)作：機(jī)械手對(duì)刀具的夾緊和松開(kāi)是通過(guò)液壓缸6。碟形彈簧7及拉桿8、杠桿9、活動(dòng)爪10來(lái)實(shí)現(xiàn)。碟形彈簧實(shí)現(xiàn)夾緊，液壓缸實(shí)現(xiàn)松開(kāi)。在活動(dòng)爪中有兩個(gè)銷(xiāo)子11，當(dāng)夾緊刀具時(shí)，插入刀柄凸緣的孔內(nèi)，確保安全、可靠。 機(jī)械手的自動(dòng)換刀過(guò)程的動(dòng)作順序（a） （b） （c） （d）圖4-6 換刀機(jī)械手的換刀過(guò)程自動(dòng)換刀裝置的換刀過(guò)程由選刀和換刀兩部分組成。選刀即刀庫(kù)按照選刀命令（或信息）自動(dòng)將要用的刀具移動(dòng)到換刀位置，完成選刀過(guò)程，為下面換刀做好準(zhǔn)備，換刀即是機(jī)械手把主軸上用過(guò)的刀具取下，將選好的刀具安裝在主軸之上。換刀動(dòng)作的大致過(guò)程為：1)主軸箱回到最高處（z坐標(biāo)零點(diǎn)），同時(shí)實(shí)現(xiàn)“主軸準(zhǔn)?！薄＜粗鬏S停止回轉(zhuǎn)并準(zhǔn)確停止在一個(gè)固定不變的角度方位上，保證主軸端面的鍵也在一個(gè)固定的方位，使刀柄上的鍵槽能恰好對(duì)正端面鍵。2)機(jī)械手抓住主軸和刀庫(kù)上的刀具。如圖4-6（a）所示。3)把卡緊在主軸和發(fā)庫(kù)上的刀具松開(kāi)4)活塞桿推動(dòng)機(jī)械手下行，從主軸和刀庫(kù)上取出刀具5)機(jī)械手回轉(zhuǎn)180，交換刀具位置，6)將更換后的刀具裝入主軸和刀庫(kù)7)分別夾緊主軸和刀庫(kù)上的刀具8)機(jī)械手松開(kāi)主軸和刀庫(kù)上的刀具9)當(dāng)機(jī)械手松開(kāi)具后，限位開(kāi)關(guān)發(fā)出“換刀完畢”的信號(hào)，主軸自由，可以開(kāi)始加工或其他程序動(dòng)作。在自動(dòng)換刀的整個(gè)過(guò)程中，各項(xiàng)運(yùn)動(dòng)均由限位開(kāi)關(guān)控制，只有前一個(gè)動(dòng)作完成后，才能進(jìn)行下一個(gè)動(dòng)作，從而保證了運(yùn)動(dòng)的可靠性。 機(jī)械手的分類(lèi)和特點(diǎn)機(jī)械手一般分為三類(lèi)：第一類(lèi)是不需要人工操作的通用機(jī)械手。它是一種獨(dú)立的不附屬于某一主機(jī)的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項(xiàng)規(guī)定的操作。它的特點(diǎn)是具備普通機(jī)械的性能之外，還具備通用機(jī)械、記憶智能的三元機(jī)械。第二類(lèi)是需要人工才做的，稱(chēng)為操作機(jī)。它起源于原子、軍事工業(yè)，先是通過(guò)操作機(jī)來(lái)完成特定的作業(yè)，后來(lái)發(fā)展到用無(wú)線電訊號(hào)操作機(jī)來(lái)進(jìn)行探測(cè)月球等。工業(yè)中采用的鍛造操作機(jī)也屬于這一范疇。第三類(lèi)是用專(zhuān)用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件送。這種機(jī)械手在國(guó)外稱(chēng)為“Mechanical Hand”，它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；除少數(shù)以外，工作程序一般是固定的，因此是專(zhuān)用的。主要特點(diǎn)：(1) 機(jī)械手（上下料機(jī)械手、裝配機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī)械手、真空搬運(yùn)機(jī)、 真空吸吊機(jī)、省力吊具、氣動(dòng)平衡器等）。(2) 懸臂起重機(jī)（懸臂吊、電動(dòng)環(huán)鏈葫蘆吊、氣動(dòng)平衡吊等） (3) 導(dǎo)軌式搬運(yùn)系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機(jī)、雙梁起重機(jī)）(4) 工業(yè)機(jī)械手的應(yīng)用機(jī)械手是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來(lái)的一門(mén)新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。機(jī)械手雖然目前還不如人手那樣靈活，但它具有能不斷重復(fù)工作和勞動(dòng)、不知疲勞、不怕危險(xiǎn)、抓舉重物的力量比人手大等特點(diǎn)，因此，機(jī)械手已受到許多部門(mén)的重視，并越來(lái)越廣泛地得到了應(yīng)用，例如：(1) 機(jī)床加工工件的裝卸，特別是在自動(dòng)化車(chē)床、組合機(jī)床上使用較為普遍。(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(lái)裝配印制電路板，在機(jī)械行業(yè)中它可以用來(lái)組裝零部件。(3) 可在勞動(dòng)條件差，單調(diào)重復(fù)易子疲勞的工作環(huán)境工作，以代替人的勞動(dòng)。(4) 可在危險(xiǎn)場(chǎng)合下工作，如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)等。(5) 宇宙及海洋的開(kāi)發(fā)。(6) 軍事工程及生物醫(yī)學(xué)方面的研究和試驗(yàn)。助力機(jī)械手:又稱(chēng)平衡器、平衡吊、省力吊具、手動(dòng)移載機(jī)等，是一種無(wú)重力化手動(dòng)承載系統(tǒng)，一種新穎的、用于物料搬運(yùn)時(shí)省力化操作的助力設(shè)備,屬于一種非標(biāo)設(shè)計(jì)的系列化產(chǎn)品。針對(duì)客戶(hù)應(yīng)用需求，量身定制的個(gè)案創(chuàng)作。一種模擬人手操作的自動(dòng)機(jī)械，它可按固定程序抓取搬運(yùn)物件或操持工具完成某些特定操作。應(yīng)用機(jī)械手可以代替人從事單調(diào)重復(fù)或繁重的體力勞動(dòng)，實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，代替人在有害環(huán)境下的手工操作，改善勞動(dòng)條件，保證人身安全。20世紀(jì)40年代后期，美國(guó)在原子能實(shí)驗(yàn)中，首先采用機(jī)械手搬運(yùn)放射性材料，人在安全室操縱機(jī)械手進(jìn)行各種操作和實(shí)驗(yàn)。50年代以后，機(jī)械手逐步推廣到工業(yè)生產(chǎn)部門(mén)，用于在高溫污染嚴(yán)重的地方取放工件和裝卸材料，也作為機(jī)床的輔助裝置在自動(dòng)機(jī)床自動(dòng)生產(chǎn)線和加工中心中應(yīng)用，完成上下料或從刀庫(kù)中取放刀具并按固定程序更換刀具等操作。機(jī)械手主要由手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)組成。手部機(jī)構(gòu)隨使用場(chǎng)合和操作對(duì)象而不同，常見(jiàn)的有夾持托持和吸附等類(lèi)型。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓氣動(dòng)電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮旋轉(zhuǎn)和昇降等運(yùn)動(dòng)，一般有23個(gè)自由度。機(jī)械手廣泛用于機(jī)械製造冶金輕工和原子能等部門(mén)。能模仿人手和臂的某些動(dòng)作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門(mén)。 機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置，如在自動(dòng)機(jī)床或自動(dòng)生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒(méi)有獨(dú)立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門(mén)操持危險(xiǎn)物品的主從式操作手也常稱(chēng)為機(jī)械手。機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來(lái)抓持工件（或工具）的部件，根據(jù)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(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì).機(jī)械手是在自動(dòng)化生產(chǎn)過(guò)程中使用的一種具有抓取和移動(dòng)工件功能的自動(dòng)化裝置，它是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來(lái)的一門(mén)新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。機(jī)械手能代替人類(lèi)完成危險(xiǎn)、重復(fù)枯燥的工作，減輕人類(lèi)勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力。機(jī)械手越來(lái)越廣泛的得到了應(yīng)用，在機(jī)械行業(yè)中它可用于零部件組裝 ，加工工件的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。目前，機(jī)械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個(gè)重要組成部分。把機(jī)床設(shè)備和機(jī)械手共同構(gòu)成一個(gè)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(qiáng)。當(dāng)工件變更時(shí)，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷(xiāo)對(duì)路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。而目前我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)外比還有一定的距離，應(yīng)用規(guī)模和產(chǎn)業(yè)化水平低，機(jī)械手的研究和開(kāi)發(fā)直接影響到我國(guó)自動(dòng)化生產(chǎn)水平的提高，從經(jīng)濟(jì)上、技術(shù)上考慮都是十分必要的。因此，進(jìn)行機(jī)械手的研究設(shè)計(jì)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, 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. PriceNc 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 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, 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 tools 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 movement driven 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 series of 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. 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 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: 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, 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 processAutomatically change the 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 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.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 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 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 host-driven; exception of a few outside the working procedures are generally fixed, 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