The following takes the JCS-018A shed T center as an example to introduce the working process of the automatic tool change of the manipulator. As shown in indl 42, the structure of the tool magazine of the JcS-018A machining center is not intended. When the numerical control system issues the change J command, the DC servo motor 1 is turned on, and its motion is transmitted to the cutter head 1 4 shown in Fig. The 16 knife sleeves 13 above it rotate to complete the selection of knives. There is a roller 11 at the end of each tool holder.

When the tool to be changed is transferred to the tool changing position • the roller 11 enters the groove of the fork 7 . At the same time, the lower chamber of the cylinder 5 passes through the compressed narrow air, the piston rod 0006 drives the fork 7 to rise, and the position switch 9 is released to disconnect the relevant circuit to prevent the tool magazine, spindle, etc. from malfunctioning. During the rising process of the fork 7, the knife sleeve is driven to turn down 90 counterclockwise around the pin shaft 12. , so that the tool axis is parallel to the spindle axis.

Turn the pocket down 90. Afterwards, the shifting fork 7 E rises to the end point, press and hold the positioning Kaige 10． Send the H{ signal to make the manipulator grab the knife. The CNC machine tool can adjust the stroke of the fork through the screw 8, and the stroke of the fork determines the position of the tool axis relative to the spindle axis.

I. The action process of automatic tool change of CNC machine tools

• ①The tool magazine moves the tool to be replaced to the position to be replaced according to the tool command in the program in advance.
• ② According to the tool change command, the tool holder to be changed is turned 90 counterclockwise. , in the vertical downward position, the headstock rises to the tool change position, and the manipulator rotates 75. , the two grippers respectively grasp the tool in the spindle and the tool holder.
• ③ After the automatic tool clamping mechanism in the spindle hole is released, the manipulator moves down to pull out the tool in the spindle and the tool holder.
• ④When loosening the tool, blow out compressed air from the spindle hole, clear the spindle and the tool holder, and then the manipulator rotates 180 degrees. .
• ⑤ The manipulator moves up, inserts the new tool into the spindle, and inserts the old tool into the tool holder.
• ⑥ After the tool is loaded, the pull rod in the spindle hole moves up to clamp the tool, and the compressed air is turned off at the same time; then the manipulator rotates 75 degrees. Reset, the tool holder rotates up (clockwise) 900 to the horizontal position, and the tool change process is over.

2 CNC machine tool manipulator transmission process

Schematic diagram of the transmission structure of the manipulator of the CNC machine tool. The tool change manipulator of this machine tool is a double-arm rotary manipulator, which is the most commonly used in the T center. The pulling and inserting of the manipulator of the CNC machine tool is mostly completed by the oil cylinder. According to the structural requirements, CNC machine tools can adopt the structural form of “cylinder moving, piston fixed” or “piston moving, oil cylinder fixed”. The rotation of its arm is realized by the piston driving the rack and pinion transmission, and the stroke of the piston can ensure the different rotation angles of the mechanical arm.

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