机器人是近几十年来我国逐渐发展起来的一种高精度、自动化用于生产制造设备。换刀机械手是自动换刀系统中重要组曾部分也是工业机械手中一个非常重要的分支。它的主要特点是可以通过事先设定好的程序高速稳定的换刀它不仅反映了人机交换结构和功能的差异也充分体现了人类智能性和适应性这种机械手具有高精度的特征同时能够在各种复杂条件下执行不同的工序因此具有广阔的市场前景。同时随着科学技术水平的进步以及材料学的突破对机床

Robots are a type of high-precision, automated production and manufacturing equipment that has gradually developed in China in recent decades. The automatic tool changing system is an important component of the automatic tool changing system and is also a very important branch of industrial robots. Its main feature is that it can quickly and stably change tools through pre-set programs. It not only reflects the differences in structure and function between humans and machines, but also fully embodies human intelligence and adaptability. This type of robot has the characteristics of high precision and can perform different processes under various complex conditions, thus having broad market prospects. At the same time, with the advancement of scientific and technological levels and breakthroughs in materials science, the precision and efficiency requirements of machine tools have increased, making traditional machine tools difficult to meet their requirements. The emergence of CNC machining control centers not only effectively reduces the labor intensity of workers, but also greatly improves people's work efficiency. In the same history, the application of robots has covered many fields, such as fluid mechanics, machinery, electro-hydraulic electronics, sensor electronics, etc., which is the intersection of horizontal and vertical. Comprehensive technology. This article develops a highly flexible and automated CNC milling machine automatic tool changing robot, which can realize tool turning, transmission and operation