Manipulator is a control object often encountered in the field of industrial automatic control. The manipulator can complete many tasks, such as moving, assembling, cutting, spraying and so on. The forms are also diverse, and there are six common types:

1. Single-arm single-claw rotary manipulator

The arm of this manipulator can be rotated at different angles for automatic tool change. There is only one clamping jaw on the arm. Whether it is on the tool magazine or on the spindle, the clamping jaw is used to load and unload the tool, so the tool change time is relatively long. long.

2. Single arm double claw swinging manipulator

There are two clamping jaws on the arm of this manipulator, and the two clamping jaws have a division of labor. One clamping jaw only performs the task of removing the "old knife" from the spindle and returning it to the tool magazine, and the other clamping jaw performs the removal from the tool magazine. The task of sending a "new knife" to the spindle requires less tool change time than the single-jaw rotary manipulator described above.

3. Single-arm double-claw rotary manipulator

The manipulator has two clamping jaws at each end of the arm. The two clamping jaws can simultaneously grasp the tools in the tool magazine and the spindle. After turning 180°, the CNC punch press tools are put back into the tool magazine and loaded into the spindle. The tool change time is shorter than the above two single-arm manipulators, which is the most commonly used form.

4. Double manipulator

This CNC turret punch manipulator is equivalent to two single-arm single-jaw manipulators, which cooperate with each other for automatic tool change. One of the manipulators removes the "old knife" from the spindle and sends it back to the magazine; the other manipulator takes the "new knife" from the magazine and loads it into the machine tool spindle.

5. Reciprocating arms with double arms

The two arms of this card can reciprocate and cross at a certain angle. One arm removes the "old knife" from the spindle and sends it back to the tool magazine, and the other arm takes the "new knife" from the magazine and installs the spindle. The whole manipulator can move linearly along a certain guide rail or rotate around a certain rotation axis, so as to realize the tool movement between the tool magazine and the spindle.

6.Clamping manipulator with double arm end faces.

This manipulator is different from the previous ones only in the clamping part. The first few manipulators rely on clamping the outer surface of the tool holder to grab the tool. This manipulator clamps the two end surfaces of the tool holder.