Tool changing manipulator design

This solution is a tool change manipulator design. The manipulator is the main tool for exchanging tools in the automatic tool change device. It is responsible for sending the tools from the tool magazine to the spindle, and then returning the used tools from the spindle to the tool magazine. . The design idea is to use the movement of the manipulator to change the tool of the machining center. The rotation of the manipulator is realized by a rotary pneumatic cylinder or a rotary pneumatic cylinder, and its power is realized by the drive system. The automatic tool changer of a machining center is usually composed of a tool magazine and a manipulator. It is a symbol of the machining center and a key link to the success or failure of the machining center. Therefore, all machining center manufacturers are working hard to develop automatic tool changers with fast action and high reliability in order to achieve good results in the fierce competition. Automatic tool changers are the core content of machining centers, and each manufacturer is keeping it secret. Very little relevant information is disclosed, especially the robot part.
The knife extraction and knife insertion actions of the manipulator are mostly completed by the pneumatic cylinder or the action of the pneumatic cylinder. The entire manipulator is composed of a mechanical arm telescopic mechanism, a mechanical claw opening and closing mechanism, a rotary mechanism and a linear motion mechanism for loading and unloading tools.
Description of the tool changing action of the retractable double-arm rotary manipulator:
1. The main spindle box returns to the highest position, and the spindle stops rotating and orienting at the same time.
2. Extend the upper and lower arms at the same time and grab the spindle and the tools in the tool magazine.
3. Pull out two tools simultaneously along the direction of the tool axis.
4. Retract the upper and lower arms at the same time.
5. Rotate 180° counterclockwise to make the two tools exchange positions.
6. Extend the upper and lower arms at the same time.
7. Insert the tools into the spindle and tool magazine tool holder along the tool axis direction.
8. The manipulator releases the tool from the spindle and tool holder, and the upper and lower arms return at the same time.