数控加工中心作为制造发展进步的必然产物，在加工中应用的十分广泛。加工中

As an inevitable product of manufacturing development and progress, CNC machining centers are widely used in processing. As a CNC machine tool with the most applications, the machining center is different from the CNC milling and boring machine because it has an automatic tool changer, which can complete a variety of different processes in a single clamping. In the process of automatic tool change, the tool holder clamped on the spindle of the machine tool can be exchanged with the tool holder in the tool magazine through the tool change manipulator to realize the purpose of automatic tool change. This is currently the main method used by machining centers. Tool change method. Through this tool change method, a variety of different processes are processed in a centralized manner, thereby saving tool changing time, reducing process steps, and improving the degree of automation and processing efficiency. Through the use of UG software to construct a three-dimensional model of the workpiece to be processed, detailed process planning and analysis of the entire process flow of the processed workpiece are carried out, and the final process route is determined through the comparison of the process flow. <br>The design of this tool change manipulator is to perform automatic tool change by simulating the manual tool change action. The tool change manipulator needs to be accurate, reliable, fast and stable.

As the inevitable product of manufacturing development and progress, CNC processing center is widely used in processing. As one of the most common applications of CNC machine tools, the reason why it differs from the CNC milling machine is that it has an automatic tool exchange device, which can complete a variety of different processes in a single clamp centralized processing. And in the process of automatic knife change, through the change of knife robot so that the machine tool spindle clamped knife handle and knife holder in the tool library to carry out the purpose of automatic knife change, which is the current processing center mainly used the method of knife change. Through this method of tool change to carry out a variety of different processes of centralized processing, thereby saving tool change time, reducing process steps, improve the degree of automation and processing efficiency. By using UG software to build a three-dimensional model of the workpieces that need to be processed, the process flow of the whole processing workpiece is planned and analyzed in detail, and the final processing route is determined by the comparison of the process.<br>The design of this tool change robot, is through the simulation of the change of hands to carry out automatic knife change, the need to change the knife robot to achieve accurate, reliable, fast, stable and so on.

As the inevitable product of manufacturing development and progress, CNC machining center is widely used in machining. Machining center is a kind of CNC machine tool with the most applications. The reason why it is different from CNC milling and boring machine is that it has an automatic tool exchange device, which can complete a variety of different processes in one clamping. In the process of automatic tool change, through the tool change manipulator, the tool holder clamped on the machine tool spindle and the tool holder in the tool library can be exchanged to achieve the purpose of automatic tool change, which is the main tool change method adopted by the machining center at present. Through this tool changing method to carry out a variety of different processes of centralized processing, so as to save the tool changing time, reduce the process steps, improve the degree of automation and processing efficiency. By using UG software to build the three-dimensional model of the workpiece to be processed, the detailed process planning and analysis of the whole process flow of the workpiece are carried out, and the final processing route is determined through the comparison of the process flow.<br>The design of this tool changing manipulator is to automatically change the tool by simulating the action of manual tool changing, which requires the manipulator to achieve the characteristics of accuracy, reliability, speed and stability.<br>