Tool arm type double-servo manipulator applied to tool magazine ATC

Abstract

The invention discloses a tool arm type double-servo manipulator applied to a tool magazine ATC, which comprises a manipulator support, a manipulator driving module and a tool arm type rotary manipulator, the manipulator driving module and the tool arm type rotary manipulator are mounted on the manipulator support, and the manipulator driving module comprises a U-axis servo motor and a Q-axis servo motor which are mounted on the manipulator support. An output shaft of the U-axis servo motor is in linkage with the driving mechanism shell through a lead screw mechanism, a linkage shaft is fixed to an output shaft of the Q-axis servo motor through a coupler, a sinking groove is formed in the installation end of the linkage shaft, a linkage rod is inserted into the sinking groove, and the end, located outside the sinking groove, of the linkage rod is in linkage fit with the tool arm type rotary mechanical arm. A limiting mechanism used for controlling the linkage sleeve to rotate in the circumferential direction and conducting axial limiting is arranged between the linkage sleeve and the driving mechanism shell. And a tool arm type rotary manipulator is fixed at the end part of the linkage sleeve. The tool changing action response speed is high, the positioning precision is high, tool bins of any various structures can be matched, the flexibility is good, and the application range is wide.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a tool-arm type double-servo manipulator applied to a tool magazine ATC. Background Art

[0002] Tool magazine ATC is the abbreviation of Automatic Tool Changer (ATC), which consists of two parts: a tool changing robot and a tool magazine. It is an important component of CNC machine tools. The tool changing robot usually adopts a double-arm rotary robot structure. Each arm of this robot has a claw, which can grab the tools on the tool magazine and the spindle at the same time. After rotating 180°, the two arms can return the tool to the tool magazine and load it into the spindle at the same time. This structure is the most commonly used form on machining center machine tools. At present, most of the tool changers in the domestic market are cam box structures, where the rotation of the tool arm is controlled by the cam and the linear motion is controlled by the oil cylinder. This structure has problems such as complex parts processing, slow tool change time, difficult installation and maintenance, poor flexibility in matching the tool magazine, and is difficult to manufacture. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a tool-arm type dual-servo manipulator with high speed and high precision for use in a tool magazine ATC.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a knife-arm type double-servo manipulator applied to a tool magazine ATC, comprising a manipulator bracket, a manipulator driving module installed on the manipulator bracket, and a knife-arm type rotary manipulator, wherein the manipulator driving module comprises: A U-axis servo motor is mounted on the manipulator bracket, a ball screw is coaxially fixed on the output shaft of the U-axis servo motor, a nut unit is mounted on the ball screw, a drive mechanism housing is fixed to the nut unit, and a mounting channel is provided on the drive mechanism housing, which is arranged along the axial direction of the output shaft of the U-axis servo motor and penetrates the drive mechanism housing; A Q-axis servo motor is installed on the manipulator bracket and is parallel to the output shaft of the U-axis servo motor, and a linkage shaft coaxially arranged with the output shaft is installed on the output shaft of the Q-axis servo motor through a coupling, and the end of the linkage shaft away from the Q-axis servo motor is the installation end, and the installation end of the linkage shaft passes through the installation channel and extends outside the installation channel, and a sink groove arranged along the axial direction of the linkage shaft is provided at the installation end of the linkage shaft, and a linkage rod is inserted in the sink groove, and the end of the linkage rod located outside the sink groove is linked with the knife-arm type rotary manipulator, and a linkage sleeve is provided on the outer sleeve of the linkage shaft, and the linkage sleeve is fixed to the linkage rod through a positioning pin, and a strip hole that penetrates the outer wall of the linkage shaft and extends into the sink groove is provided on the linkage shaft, and the length direction of the strip hole is consistent with the axial direction of the linkage sleeve, and a positioning hole is provided at a position corresponding to the strip hole on the linkage rod, and one end of the positioning pin is fixedly connected to the linkage sleeve, and the other end passes through the strip hole and is inserted in the positioning hole on the linkage rod, and a limiting mechanism for controlling the circumferential rotation of the linkage sleeve and axial limiting is provided between the linkage sleeve and the driving mechanism housing; The knife-arm type rotary manipulator comprises: a manipulator housing fixed to a linkage sleeve, a knife seat being provided on the manipulator housing, a locking mechanism for pressing an external knife onto the knife seat being provided at the knife seat, the locking mechanism comprising a first linear guide channel and a second linear guide channel opened in the manipulator housing, a self-locking cam being fixed on the end of the linkage rod and located outside the linkage shaft, a mounting seat being convexly provided on the self-locking cam, an inclined opening intersecting with the axial direction of the linkage rod being opened on the mounting seat, a side portion of the inclined opening being passed through the mounting seat, a driving rod being provided in the inclined opening, two ends of the driving rod respectively extending from the side portion of the inclined opening to the outside of the inclined opening, and the two ends of the driving rod being hinged with The driven rod is installed in the first guide channel, and a shift fork is also hinged in the manipulator housing. The end of the shift fork away from the hinge shaft is a movable end. The movable end of the shift fork is located on the moving trajectory of the driven rod and is controlled to swing by the end of the driven rod. A self-locking rod is installed in the second guide channel of the manipulator housing, one end of the self-locking rod is located on the swinging trajectory of the movable end of the shift fork, and is controlled by the movable end of the shift fork to move back and forth in the second guide channel, and the other end of the self-locking rod is provided with a knife claw arranged toward the knife seat and controlled by the movable end of the shift fork to approach or move away from the knife seat; a second return spring for driving the knife claw on the self-locking rod to approach the knife seat is provided in the second guide channel.

[0005] The beneficial effects of the present invention are as follows: the linkage shaft fixed by the output shaft of the Q-axis servo motor in the present invention realizes the circumferential rotation of the knife-arm type rotary manipulator, and the U-axis servo motor is used to drive the driving mechanism housing to move forward and backward, and the positioning pin fixedly connected to the driving mechanism housing will drive the linkage rod to move forward and backward, thereby realizing the self-locking cam at the front end of the linkage rod to move forward and backward, and then drive the driving rod in the mounting seat on the self-locking cam to move in the inclined opening, so that the driven rod hinged to the driving rod is relatively close to or away from the self-locking cam, and then drive the fork to swing, and drive the self-locking rod to move forward and backward, so that the end of the self-locking rod is close to or away from the tool seat, thereby realizing the action of clamping or releasing the tool located at the tool seat. In the present invention, the manipulator rotation adopts a servo motor and cooperates with the knife-arm type rotary manipulator combination, so that the working response speed is fast and the precision is high; when changing the tool, a servo motor is used, and the ball screw structure is combined to drive the linear motion, which also makes the working response speed fast and the positioning precision high. When selecting a tool in the tool magazine, the Q-axis servo drive drives the tool arm type rotary manipulator to perform a rotary motion, realizing a 180° rotary tool changing action between the tool magazine and the machine tool spindle. The unique tool grabbing and self-locking mechanism can avoid tool jamming, tool dropping and other phenomena during tool changing. The present invention can be matched with tool magazines of any variety of structures, which is flexible and widely used. The actions of this mechanism are all controlled by a servo motor, which can ensure accurate positioning, rapid response, and improve tool changing efficiency. It also has the following advantages: 1. Compared with the traditional manipulator structure, the present invention has advantages in parts processing difficulty, tool changing speed, modular matching, etc.; 2. The present invention has higher stability, low failure rate, simple transmission structure, and easy maintenance; 3. Low assembly difficulty and short installation cycle.

[0006] It is further configured that the width of the strip hole on the linkage shaft is consistent with the width of the positioning pin, so that when the linkage shaft rotates, the linkage shaft can quickly drive the positioning pin to rotate, the reaction speed is fast, and the impact on the positioning pin can be avoided.

[0007] It is further configured that: the end of the linkage rod located in the sink groove is provided with a spring groove opened along the axial direction of the linkage rod, and a compression spring is installed in the spring groove, one end of the compression spring is in conflict with the inner side of the spring groove, and the other end is in conflict with the inner side of the sink groove. The compression spring can keep the linkage rod away from the linkage shaft at all times, thereby reducing the impact force of the components driven by the U-axis servo motor when working, and improving the stability and accuracy of the work.

[0008] It is further configured that the first guide channel and the second guide channel are arranged parallel to each other in the axial direction, so that the self-locking rod can obtain the maximum displacement when moving, that is, the end of the self-locking rod can reach the maximum moving distance, so as to facilitate the clamping of tools of different sizes.

[0009] It is further configured that: the limit mechanism includes an annular protrusion convexly provided on the outer wall of the linkage sleeve and arranged along the circumference of the linkage sleeve, and the inner side of the driving mechanism housing is provided with an annular groove matching the annular protrusion and for the annular protrusion to be installed. The limit mechanism can make the linkage shaft rotate simply and quickly without affecting the driving mechanism housing driving the linkage rod to move forward and backward, and has a simple structure and rapid response.

[0010] It is further configured that: a first return spring for driving the driven rod to push the movable end of the shift fork is provided in the first guide channel, and the elastic force of the second return spring is greater than the elastic force of the first return spring. Through the action of the first return spring, the driven rod always maintains the force of pushing toward the movable end of the shift fork, so that the movable end of the shift fork can push the self-locking rod without the action of other external forces, and then the self-locking rod enters the opening of the knife claw, thereby realizing the self-locking function of the tool and improving the stability of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0012] Figure 2 It is a schematic diagram of the local structure of the U-axis servo motor and the Q-axis servo motor in the combined state in an embodiment of the present invention.

[0013] Figure 3 This is a partial cross-sectional view of an embodiment of the present invention, with the robot support omitted.

[0014] Figure 4 This is a partial cross-sectional view of the second viewing angle of the embodiment of the present invention, with the robot support omitted.

[0015] Figure 5 for Figure 4 Enlarged view of part A.

[0016] Figure 6 This is a partial cross-sectional view of the third viewing angle of the embodiment of the present invention, with the robot support omitted.

[0017] Figure 7 This is a partial cross-sectional view of the robot housing in an embodiment of the present invention, omitting the robot support.

[0018] Figure 8 It is a schematic structural diagram of a linkage sleeve according to an embodiment of the present invention.

[0019] Fig. 9 It is a schematic structural diagram of a linkage shaft according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings: like Figure 1-9As shown, this embodiment includes a manipulator bracket 1, and a manipulator driving module 3 and a knife-arm rotary manipulator 4 installed on the manipulator bracket 1. The manipulator driving module 3 includes a U-axis servo motor 21 and a Q-axis servo motor 22 installed on the manipulator bracket 1. The output shafts of the U-axis servo motor 21 and the Q-axis servo motor 22 are kept parallel. A ball screw 31 is coaxially fixed on the output shaft of the U-axis servo motor 21, and a nut unit 32 is installed on the ball screw 31. A drive mechanism housing 33 is fixed to the nut unit 32. The drive mechanism housing 33 is provided with an installation channel 331 which is axially arranged along the output shaft of the U-axis servo motor 21 and passes through the drive mechanism housing 33. A linkage shaft 35 coaxially arranged with the output shaft is installed on the output shaft of the Q-axis servo motor 22 through a coupling 34. The end mounting end 351 of the linkage shaft 35 is far away from the Q-axis servo motor 22. The mounting end 351 of the linkage shaft 35 passes through the mounting channel 331 and extends to the outside of the mounting channel 331. A recessed groove 351 (as shown in the figure) arranged along the axial direction of the linkage shaft 35 is opened at the mounting end of the linkage shaft 35. A linkage rod 36 is inserted in the recessed groove 351. The end of the linkage rod 36 located in the recessed groove 351 is provided with a spring groove 361 opened along the axial direction of the linkage rod 36. A compression spring 37 is installed in the spring groove 361. One end of the compression spring 37 is in conflict with the inner side of the spring groove 361, and the other end is in conflict with the inner side of the recessed groove 351. The end of the linkage rod 36 located outside the groove 351 of the linkage shaft 35 is linked with the knife-arm type rotary manipulator 4. The outer sleeve of the linkage shaft 35 is provided with a linkage sleeve 38 that can slide with it in the axial direction. The linkage sleeve 38 is fixed to the linkage rod 36 by a positioning pin 39. A strip hole 352 is provided on the linkage shaft 35, which passes through the outer wall of the linkage shaft 35 and extends into the groove 351. The length direction of the strip hole 352 is consistent with the axial direction of the linkage sleeve 35. A positioning hole 362 is provided at a position corresponding to the strip hole 352 on the linkage rod 36. One end of the positioning pin 39 is fixedly connected to the linkage sleeve 38, and the other end passes through the strip hole 352 and is inserted into the positioning hole 362 on the linkage rod 36. The width of the strip hole 352 on the linkage shaft 35 is consistent with the width of the positioning pin 39. A limiting mechanism for controlling the circumferential rotation of the linkage sleeve 38 and axially limiting the linkage sleeve 38 is provided between the linkage sleeve 35 and the drive mechanism housing 33. The limiting mechanism includes an annular protrusion 381 protruding from the outer wall of the linkage sleeve 38 and arranged circumferentially along the linkage sleeve 38. An annular groove 332 matching the annular protrusion 381 and for installing the annular protrusion 381 is provided on the inner side of the drive mechanism housing 33. The limiting mechanism can enable the linkage shaft 35 to rotate simply and quickly without affecting the driving mechanism housing 33 driving the linkage rod 36 to move forward and backward. It has a simple structure and quick response.

[0021] In this embodiment, the knife-arm type rotary manipulator 4 includes: a manipulator housing 41 fixed to the linkage sleeve 38, the manipulator housing 41 is in the shape of an elongated strip, an axial hole is provided on the back of the manipulator housing 41, the axial hole is located in the middle of the manipulator housing 41, the end of the linkage sleeve 38 is inserted into the axial hole, and the two are fixed to each other by a tightening sleeve. The manipulator housing 41 is in the shape of an elongated strip, the axial hole is located in the middle of the manipulator housing 41, and the parts of the manipulator housing 41 extending to both sides at the position of the axial hole are support rods 41a, and the two support rods 41a are symmetrical with the position of the axial hole as the center. A knife seat 413 is provided at the end position of each support rod 41a, and the two knife seats 413 are also symmetrical with the axial hole as the center. The structure of the knife seat 413 can be in various forms, as long as it can fit the tool gripping part. Among them, a locking mechanism 42 for pressing the external tool on the tool holder is provided at the tool holder 413, and the locking mechanism 42 includes two linear first guide channels 411 and second guide channels 412 which are arranged parallel to each other and are opened in the manipulator housing 41. A self-locking cam 421 is fixed to the end of the linkage rod 36 and located on the outer side of the linkage shaft 35. A mounting seat 422 is convexly provided at the middle part of the self-locking cam 421 and on the surface facing away from the linkage shaft 35. An inclined opening 423 intersecting the axial direction of the linkage rod 36 is opened on the mounting seat 422. The side of the inclined opening 423 passes through the mounting seat 422. There are two inclined openings 423, which are symmetrically arranged on both sides of the through hole as the center, and correspond to the positions of the two support rods 41a respectively, that is, one inclined opening 423 and one support rod 41a are located on the same side of the through hole as the center, and are located on the same plane (as shown in the figure). As shown in the figure, the two inclined openings 423 are opened in such a way that the two inclined openings 423 converge toward the axial center of the linkage rod 36 from the side where the two support rods 41a are located. A driving rod 43 is arranged in the inclined opening 423, and the two ends of the driving rod 43 extend from the side of the inclined opening 423 to the outside of the inclined opening 423, respectively. The two ends of the driving rod 43 are hinged with a driven rod 44, and the driven rod 44 is installed in the first guide channel 411. A shift fork 45 is also hinged in the manipulator housing 41, and the end of the shift fork 45 away from the hinge axis is a movable end 451, and the movable end 451 of the shift fork 45 is located on the moving track of the driven rod 44 and is controlled by the driven rod. The end portion 44 controls the swing, and a self-locking rod 46 is installed in the second guide channel 412 of the manipulator housing 41. One end of the self-locking rod 46 is located on the swing track of the movable end 451 of the fork 45, and is controlled by the movable end 451 of the fork 45 to move forward and backward in the second guide channel 412. The other end of the self-locking rod 46 is arranged toward the opening of the knife seat 413, and a knife clamping claw 47 is fixed thereon. The knife clamping claw 47 is controlled by the forward and backward movement of the self-locking rod 46, that is, it approaches or moves away from the knife seat 413. In this embodiment, the knife clamping claw 47 approaches or moves away from the knife seat 413, which means that the knife clamping claw 47 is wider than the self-locking rod 46 as shown in the figure. When the knife clamping claw 47 approaches the knife seat 413, the two clamp the knife in the middle.A second return spring 461 is provided in the second guide channel 412 for driving the knife claw 47 on the self-locking rod 46 to approach the knife seat 413. The second return spring 461 is a compression spring. That is, under normal circumstances, under the action of the second return spring 461, the knife claw 47 always maintains a tendency to approach the knife seat 413, thereby realizing the self-locking function of clamping the tool. In addition, a first return spring 441 is provided in the first guide channel 411 for driving the driven rod 44 away from the mounting seat 422. In this embodiment, the first return spring 441 is installed with reference to the installation form of the compression spring 37 in the linkage rod 36. The installation form between the two can be known in conjunction with the accompanying drawings. In addition, the combined assembly form of the first return spring 441 and the driven rod 44 can also be replaced by an existing component spring rod.

[0022] In this embodiment, as shown in the figure, the knife seat 413 is located on the inner side of the knife claw 47, where the inner side refers to the side position of the knife claw 47 close to the self-locking rod 46, and the outer side refers to the direction of the knife claw 47 facing away from the self-locking rod 46; therefore, the second return spring in the figure is a compression spring, which drives the self-locking rod 46 to always have a tendency to move toward the fork 45. In addition, this embodiment can also adopt another structural form, that is, the knife seat is located on the outer side of the knife claw 47 on the self-locking rod 46, that is, the mirror image position of the knife seat 413 with the knife claw 47 as the center in the figure, at this time, if the position of the second return spring in the figure does not change, then the second return spring is a tension spring, the function of the tension spring is to pull the knife claw 47 on the self-locking rod 46 to move toward the outside, that is, the knife claw 47 always keeps pressed toward the knife seat 413. For the present invention, the second return spring can be installed in various forms. For technical personnel in this field, as long as the knife claw 47 can always have a force to press toward the knife seat 413, it can be ensured that even without other external forces, the knife between the knife claw 47 and the knife seat 413 can always be locked under the action of the second return spring.

[0023] In this embodiment, when the knife arm type rotary manipulator 4 needs to rotate, the Q-axis servo motor 22 is controlled to work, and the output shaft of the Q-axis servo motor 22 drives the linkage shaft 35 to rotate through the coupling, and the linkage shaft 35 drives the manipulator housing 41 fixed thereto to rotate. As for clamping or releasing the tool, the U-axis servo motor 21 drives the ball screw 31 to rotate, and the nut unit 32 on the ball screw 31 moves forward and backward, and at the same time drives the driving mechanism housing 33 fixed thereto to move forward and backward, and the driving mechanism housing 33 pushes the annular protrusion 381 on the linkage sleeve 35 through the groove wall of the annular groove 332 of the limiting structure, and the linkage sleeve 35 drives the linkage rod 36 to move forward and backward through the positioning pin 39, then the self-locking cam 421 at the end of the linkage rod 36 moves forward and backward along the axial direction, that is, moving toward the outside of the sink groove 351 is forward movement (moving to the right direction in the figure), and retreating into the sink groove 351 is backward movement. As shown in the figure, when the self-locking cam 421 moves forward, that is, the mounting seat 422 moves forward (moves about 5mm), the two driving rods 43 move from the center to the outside under the guidance of the two inclined openings 423, and correspondingly, the driven rod 44 moves horizontally toward the fork 45, thereby pushing the fork 45 to swing toward the self-locking rod 46, thereby pushing the self-locking rod 46 with the knife clamping claw 47 away from the knife seat 413, thereby opening the space between the knife seat 413 and the knife clamping claw 421, that is, contacting the clamping of the tool. On the contrary, when the self-locking cam 421 moves backward, the two driving rods 43 move from the outside to the center under the guidance of the two inclined openings 423, and correspondingly, the driven rod 44 retreats from the fork 45 toward the center of the mounting seat 413, and the fork 45 releases the lock on the self-locking rod 46. At the same time, the self-locking rod 46 maintains a tendency to always press toward the knife seat 413 under the action of the second return spring, thereby realizing the self-locking function when clamping the tool.

Claims

1. A knife-arm type double-servo manipulator applied to a tool magazine ATC, comprising a manipulator bracket, a manipulator drive module installed on the manipulator bracket, and a knife-arm type rotary manipulator, characterized in that: The manipulator drive module comprises: A U-axis servo motor is mounted on the manipulator bracket, a ball screw is coaxially fixed on the output shaft of the U-axis servo motor, a nut unit is mounted on the ball screw, a drive mechanism housing is fixed to the nut unit, and a mounting channel is provided on the drive mechanism housing, which is arranged along the axial direction of the output shaft of the U-axis servo motor and penetrates the drive mechanism housing; A Q-axis servo motor is installed on the manipulator bracket and is parallel to the output shaft of the U-axis servo motor, and a linkage shaft coaxially arranged with the output shaft is installed on the output shaft of the Q-axis servo motor through a coupling, and the end of the linkage shaft away from the Q-axis servo motor is the installation end, and the installation end of the linkage shaft passes through the installation channel and extends outside the installation channel, and a sink groove arranged along the axial direction of the linkage shaft is provided at the installation end of the linkage shaft, and a linkage rod is inserted in the sink groove, and the end of the linkage rod located outside the sink groove is linked with the knife-arm type rotary manipulator, and a linkage sleeve is provided on the outer sleeve of the linkage shaft, and the linkage sleeve is fixed to the linkage rod through a positioning pin, and a strip hole that penetrates the outer wall of the linkage shaft and extends into the sink groove is provided on the linkage shaft, and the length direction of the strip hole is consistent with the axial direction of the linkage sleeve, and a positioning hole is provided at a position corresponding to the strip hole on the linkage rod, and one end of the positioning pin is fixedly connected to the linkage sleeve, and the other end passes through the strip hole and is inserted in the positioning hole on the linkage rod, and a limiting mechanism for controlling the circumferential rotation of the linkage sleeve and axial limiting is provided between the linkage sleeve and the driving mechanism housing; The knife-arm type rotary manipulator comprises: a manipulator housing fixed to a linkage sleeve, a knife seat being provided on the manipulator housing, a locking mechanism for pressing an external knife onto the knife seat being provided at the knife seat, the locking mechanism comprising a first linear guide channel and a second linear guide channel opened in the manipulator housing, a self-locking cam being fixed on the end of the linkage rod and located outside the linkage shaft, a mounting seat being convexly provided on the self-locking cam, an inclined opening intersecting with the axial direction of the linkage rod being opened on the mounting seat, a side portion of the inclined opening being passed through the mounting seat, a driving rod being provided in the inclined opening, two ends of the driving rod respectively extending from the side portion of the inclined opening to the outside of the inclined opening, and the two ends of the driving rod being hinged with The driven rod is installed in the first guide channel, and a shift fork is also hinged in the manipulator housing. The end of the shift fork away from the hinge shaft is a movable end. The movable end of the shift fork is located on the moving trajectory of the driven rod and is controlled to swing by the end of the driven rod. A self-locking rod is installed in the second guide channel of the manipulator housing, one end of the self-locking rod is located on the swinging trajectory of the movable end of the shift fork, and is controlled by the movable end of the shift fork to move back and forth in the second guide channel, and the other end of the self-locking rod is provided with a knife claw arranged toward the knife seat and controlled by the movable end of the shift fork to approach or move away from the knife seat; a second return spring for driving the knife claw on the self-locking rod to approach the knife seat is provided in the second guide channel.

2. The tool-arm type dual-servo manipulator applied to tool magazine ATC according to claim 1 is characterized in that: The width of the strip hole on the linkage shaft is consistent with the width of the positioning pin.

3. The tool-arm type dual-servo manipulator applied to tool magazine ATC according to claim 1 is characterized in that: The end of the linkage rod located in the sink groove is provided with a spring groove opened along the axial direction of the linkage rod, and a compression spring is installed in the spring groove. One end of the compression spring conflicts with the inner side of the spring groove, and the other end conflicts with the inner side of the sink groove.

4. The tool-arm type dual-servo manipulator applied to tool magazine ATC according to claim 1 is characterized in that: The limiting mechanism comprises an annular protrusion convexly provided on the outer wall of the linkage sleeve and arranged along the circumference of the linkage sleeve, and an annular groove matching the annular protrusion and for installing the annular protrusion is provided on the inner side of the driving mechanism housing.

5. The tool-arm type dual-servo manipulator applied to tool magazine ATC according to claim 1 is characterized in that: The first guide channel and the second guide channel are arranged parallel to each other in the axial direction.

6. The tool-arm type dual-servo manipulator applied to tool magazine ATC according to claim 1 is characterized in that: A first return spring for driving the driven rod to push the movable end of the shift fork is arranged in the first guide channel, and the elastic force of the second return spring is greater than the elastic force of the first return spring.

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