摘 要：加工中心[1]是指在每一次的装卡中，可以实现自动铣削、钻孔、镗

摘 要：加工中心[1]是指在每一次的装卡中，可以实现自动铣削、钻孔、镗孔、铰孔、攻丝等多种工序的数控机床。加工中心就是自动换刀数控镗铣床。主要特点就在于它是根据工艺要求自动更换所需刀具的功能。加工中心的自动换刀系统，通常是由机械手和刀库两部分组成，它是加工中心的象征，还是加工中心决定成败的重要环节。所以各厂家都在保密加工中心的核心内容，极少的公开相关资料，尤其是机械手部分。加工中心的自动换刀形式，可分为有机械手换刀方式和无机械手换刀方式。在有机于换刀的过程中，使用一个机械手将加工完毕的刀具从主轴中拔出，与此网时，另一机械手将在刀库中待命的刀具从刀库中拔出，然后两者交换位置。完成换刀过程，无机械于族刀时，刀库中刀具存放方向与主轴平行。刀具放在主轴可到达位置换刀时，主轴箱移到刀库换刀位置上方，利用主轴工向运动将加工用毕刀具插人刀库中要求的空位处，然后刀库中待族刀具转到待命位置.主向运动将待用刀具从刀库中取出，并将刀具插人主轴。 <br>关键词：加工中心 自动换刀 机械手 控制系统

Abstract: The machining center [1] refers to a CNC machine tool that can achieve various processes such as automatic milling, drilling, boring, reaming, tapping, etc. in each clamping process. The machining center is an automatic tool changing CNC boring and milling machine. The main feature is that it automatically replaces the required tools according to process requirements. The automatic tool change system of a machining center is usually composed of two parts: a robotic arm and a tool library. It is a symbol of the machining center and an important link in determining the success or failure of the machining center. So all manufacturers are keeping the core content of the processing center confidential and rarely disclosing relevant information, especially the mechanical arm part. The automatic tool change mode of machining centers can be divided into two types: with a robotic hand tool change mode and without a robotic hand tool change mode. During the process of tool change, a robotic arm is used to pull out the processed tool from the spindle. When connected to this net, the other robotic arm pulls out the tool waiting in the tool magazine from the tool magazine, and then the two exchange positions. When the tool change process is completed and there is no mechanical tool in the family, the tool storage direction in the tool library is parallel to the spindle. When the tool is placed in a position that can be reached by the spindle for tool change, the spindle box is moved above the tool change position in the tool magazine. The spindle work direction movement is used to insert the finished machining tool into the required empty position in the tool magazine, and then the waiting tool in the tool magazine is turned to the standby position. The main direction movement takes the waiting tool out of the tool magazine and inserts the tool into the spindle.<br>Keywords: machining center automatic tool change robotic arm control system

Absrtact: Machining center [1] refers to a CNC machine tool that can realize automatic milling, drilling, boring, reaming, tapping and other processes in each card loading. The machining center is the CNC boring and milling machine with automatic tool change. The main feature is that it is the function of automatically replacing the required tools according to the process requirements. The automatic tool changing system of machining center is usually composed of manipulator and tool magazine, which is the symbol of machining center and an important link that determines the success or failure of machining center. Therefore, all manufacturers are keeping the core content of the machining center secret, and rarely disclose relevant information, especially the manipulator part. Automatic tool change in machining center can be divided into two types: one is manipulator tool change and the other is non-manipulator tool change. In the process of tool changing organically, one manipulator is used to pull the finished tool out of the spindle. When connecting with this net, another manipulator pulls the tool on standby in the tool magazine out of the tool magazine, and then they exchange positions. When the tool changing process is completed and there is no machine in the tool family, the storage direction of tools in the tool magazine is parallel to the spindle. When the tool is changed at the position where the spindle can reach, the spindle box will be moved above the tool changing position in the tool magazine, and the finished tool for processing will be inserted into the required vacancy in the tool magazine by using the spindle direction movement, and then the waiting tool in the tool magazine will be turned to the standby position. The main direction movement will take the waiting tool out of the tool magazine and insert the tool into the spindle.<br> Keywords: control system of automatic tool changing manipulator in machining cente