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

Abstract

The utility model 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 present invention relates to a manipulator, in particular to a tool-arm type double-servo manipulator applied to a tool magazine ATC. Background Art

[0002] ATC stands for Automatic Tool Changer (ATC), and is a crucial component of CNC machine tools. The tool changer typically uses a dual-arm rotary robot. Each arm of this robot has a claw that can simultaneously grasp tools from the tool magazine and the spindle. After rotating 180°, the two arms simultaneously return the tool to the magazine and load it onto the spindle. This structure is currently the most commonly used on machining centers.

[0003] Currently, most tool-changing robots on the domestic market use a cam-box structure, where the tool arm's rotation is controlled by a cam and its linear motion is controlled by a hydraulic cylinder. This structure presents problems such as complex parts processing, slow tool changes, difficult installation and maintenance, and limited flexibility in tool magazine configuration, making it difficult to manufacture in-house. Summary of the Invention

[0004] 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 tool magazine ATC.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a knife-arm type dual-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, wherein the manipulator drive module comprises:

[0006] A U-axis servo motor is mounted on the manipulator bracket, a ball screw is coaxially fixed to 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 axially along the output shaft of the U-axis servo motor and passes through the drive mechanism housing;

[0007] The 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 mounting end, and the mounting end of the linkage shaft passes through the mounting channel and extends outside the mounting channel. A sink groove is provided at the mounting end of the linkage shaft along the axial direction of the linkage shaft, and a linkage rod is inserted in the sink groove. The end of the linkage rod located outside the sink groove is linked to the knife-arm type rotary manipulator, and a linkage sleeve is provided on the outer sleeve of the linkage shaft. The linkage sleeve is fixed to the linkage rod by a positioning pin. A strip hole is provided on the linkage shaft that passes through the outer wall of the linkage shaft and extends into the sink groove. The length direction of the strip hole is consistent with the axial direction of the linkage sleeve. A positioning hole is provided at a position corresponding to the strip hole on the linkage rod. 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 into the positioning hole on the linkage rod. 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;

[0008] The knife-arm type rotary manipulator comprises: a manipulator housing fixed to a linkage sleeve, a knife seat provided on the manipulator housing, a locking mechanism for pressing an external knife onto the knife seat provided at the knife seat, the locking mechanism comprising a first linear guide channel and a second guide channel provided in the manipulator housing, a self-locking cam fixed on the end portion of the linkage rod and located outside the linkage shaft, a mounting seat convexly provided on the self-locking cam, an inclined opening intersecting the axial direction of the linkage rod is provided on the mounting seat, a side portion of the inclined opening passes through the mounting seat, a driving rod is provided in the inclined opening, two ends of the driving rod extend from the side portion of the inclined opening to the outside of the inclined opening respectively, and the two ends of the driving rod are hinged 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, and 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. 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 is provided in the second guide channel for driving the knife claw on the self-locking rod to approach the knife seat.

[0009] The beneficial effects of the present invention are as follows: in the present invention, the circumferential rotation of the knife-arm type rotary manipulator is realized by a linkage shaft fixed by the output shaft of the Q-axis servo motor, and the driving mechanism housing is driven to move forward and backward by the U-axis servo motor, and the positioning pin fixedly connected to the driving mechanism housing drives 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, thereby driving 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, thereby driving the shift fork to swing, and driving the self-locking rod to move forward and backward, realizing the end of the self-locking rod is close to or away from the tool holder, thereby realizing the action of clamping or releasing the tool located at the tool holder. In the present invention, the manipulator rotation adopts a servo motor and is combined with a 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 combined with the structure of the ball screw to drive the linear motion, which also makes the working response speed fast and the positioning precision high. When selecting a tool from the tool magazine, the Q-axis servo drive drives the tool-arm 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 the tool-changing process. The present invention can be used with tool magazines of any variety of structures. It is flexible and has a wide range of applications. The actions of this mechanism are all controlled by a servo motor, which can ensure accurate positioning, rapid response, and improved 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. The assembly difficulty is low and the installation cycle is short.

[0010] 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.

[0011] The linkage rod is further configured such that the end portion located within the recessed groove is provided with a spring groove extending axially along the linkage rod. A compression spring is mounted within the spring groove, with one end of the compression spring contacting the inner side of the spring groove and the other end contacting the inner side of the recessed groove. This compression spring allows the linkage rod to always remain away from the linkage shaft, thereby reducing the impact force on components driven by the U-axis servo motor during operation and improving operational stability and precision.

[0012] The first guide channel and the second guide channel are further 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, which is convenient for clamping tools of different sizes.

[0013] The limiting mechanism further comprises an annular protrusion protruding from the outer wall of the linkage sleeve and arranged circumferentially along the linkage sleeve, and an annular groove is provided on the inner side of the drive mechanism housing to match the annular protrusion and accommodate the annular protrusion. This limiting mechanism enables the linkage shaft to rotate quickly and easily without affecting the forward and backward movement of the linkage rod driven by the drive mechanism housing, resulting in a simple structure and rapid response.

[0014] The invention further provides that: a first return spring is disposed within the first guide channel for driving the driven rod to push the movable end of the shift fork, and the elastic force of the second return spring is greater than the elastic force of the first return spring. The first return spring ensures that the driven rod always maintains a force pushing toward the movable end of the shift fork. Even without any other external force, the movable end of the shift fork pushes the self-locking rod, allowing the self-locking rod to enter the opening of the blade claw, thereby achieving the self-locking function of the tool and improving its stability in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the structure of an embodiment of the present invention.

[0016] Figure 2 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.

[0017] Figure 3 This is a partial cross-sectional view of an embodiment of the present invention, omitting the robot support.

[0018] Figure 4 This is a partial cross-sectional view of the second viewing angle of an embodiment of the present invention, omitting the robot support.

[0019] Figure 5 for Figure 4 Magnified view of part A.

[0020] Figure 6 This is a partial cross-sectional view of the third viewing angle of an embodiment of the present invention, omitting the robot support.

[0021] Figure 7 This is a partial cross-sectional view of the manipulator housing in an embodiment of the present invention, omitting the manipulator bracket.

[0022] Figure 8 It is a structural schematic diagram of the linkage sleeve according to an embodiment of the present invention.

[0023] Figure 9 Schematic diagram of the structure of the linkage shaft according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings:

[0025] like Figure 1-9As shown, this embodiment includes a manipulator bracket 1, a manipulator drive module 3 and a knife-arm rotary manipulator 4 installed on the manipulator bracket 1, the manipulator drive 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, a nut unit 32 is installed on the ball screw 31, a drive mechanism housing 33 is fixed to the nut unit 32, and the drive mechanism housing 33 is provided with an installation channel 331 which is arranged along the axial direction of 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 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 arranged along the axial direction of the linkage shaft 35 is provided at the mounting end of the linkage shaft 35 (as shown in the figure). 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 conflicts with the inner side of the spring groove 361, and the other end conflicts 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 to the knife-arm rotary manipulator 4. The outer sleeve of the linkage shaft 35 is provided with a linkage sleeve 38 that can slide with it axially. 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 is provided between the linkage sleeve 35 and the drive mechanism housing 33 for controlling the circumferential rotation of the linkage sleeve 38 and for axial limitation. 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 is provided on the inner side of the drive mechanism housing 33, which matches the annular protrusion 381 and is provided for the installation of the annular protrusion 381. The limiting mechanism can enable the linkage shaft 35 to rotate simply and quickly without affecting the forward and backward movement of the linkage rod 36 driven by the drive mechanism housing 33. The structure is simple and the response is fast.

[0026] In this embodiment, the knife-arm rotary manipulator 4 includes: a manipulator housing 41 fixed to the linkage sleeve 38. The manipulator housing 41 is elongated, with an axial hole 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 an elongated structure, with the axial hole located in the middle of the manipulator housing 41. The parts of the manipulator housing 41 that extend to both sides of the axial hole are support rods 41a, and the two support rods 41a are symmetrical about the axial hole. A knife seat 413 is provided at the end of each support rod 41a. The two knife seats 413 are also symmetrical about the axial hole. The structure of the knife seat 413 can be various forms, as long as it can fit the tool grip. 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 a second guide channel 412 arranged parallel to each other, which 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 outside of the linkage shaft 35. A mounting seat 422 is protruded from the middle part of the self-locking cam 421 and the surface facing away from the linkage shaft 35. An inclined opening 423 is opened on the mounting seat 422, which intersects the axial direction of the linkage rod 36. 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 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 sides where the two support rods 41a are located converge toward the axial center of the linkage rod 36. A driving rod 43 is provided in the inclined opening 423. The two ends of the driving rod 43 extend from the sides of the inclined opening 423 to the outside of the inclined opening 423. The two ends of the driving rod 43 are hinged to a driven rod 44. The driven rod 44 is installed in the first guide channel 411. A shift fork 45 is also hinged in the manipulator housing 41. The end of the shift fork 45 away from the hinge axis is a movable end 451. 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 swinging movement. 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 swinging trajectory of the movable end 451 of the shift fork 45 and is controlled by the movable end 451 of the shift fork 45 to move back and forth in the second guide channel 412. The other end of the self-locking rod 46 is positioned toward the opening of the tool holder 413 and is fixed with a knife clamping claw 47. The knife clamping claw 47 is controlled by the back and forth movement of the self-locking rod 46, that is, it moves closer to or further away from the tool holder 413. In this embodiment, the approach or distance of the knife clamping claw 47 to the tool holder 413 refers to the fact that, as shown in the figure, the knife clamping claw 47 is wider than the self-locking rod 46. When the knife clamping claw 47 approaches the tool holder 413, the two clamp the tool therebetween.A second return spring 461 is installed within the second guide channel 412, which is a compression spring and is used to drive the knife-clamping claw 47 on the self-locking lever 46 toward the knife seat 413. Under normal circumstances, the second return spring 461 acts to keep the knife-clamping claw 47 in a constant state of proximity to the knife seat 413, thereby achieving a self-locking function when clamping the tool. Furthermore, a first return spring 441 is installed within the first guide channel 411, which is used to drive the driven lever 44 away from the mounting seat 422. In this embodiment, the installation of the first return spring 441 is similar to the installation of the compression spring 37 in the linkage lever 36. The difference in installation can be seen in the accompanying drawings. Alternatively, the combination of the first return spring 441 and the driven lever 44 can be replaced with an existing spring rod.

[0027] In this embodiment, as shown in the figure, the knife holder 413 is located on the inner side of the knife claw 47. Here, the inner side refers to the side 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 shift fork 45. In addition, this embodiment can also adopt another structural form, that is, the knife holder is located on the outer side of the knife claw 47 on the self-locking rod 46, that is, the knife holder 413 is in a mirror image position with the knife claw 47 as the center in the figure. In this case, if the position of the second return spring in the figure remains unchanged, 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 toward the outside, that is, the knife claw 47 always remains pressed against the knife holder 413. For the present invention, the second return spring can be installed in various forms. For those skilled in the art, as long as the knife clamping claw 47 can always have a force pressing toward the knife seat 413, it can be ensured that even without other external forces, the knife between the knife clamping claw 47 and the knife seat 413 can always be locked under the action of the second return spring.

[0028] In this embodiment, when the tool-arm rotary manipulator 4 needs to rotate, the Q-axis servo motor 22 is controlled to operate. The output shaft of the Q-axis servo motor 22 drives the linkage shaft 35 to rotate through a coupling, and the linkage shaft 35 drives the manipulator housing 41 to which it is fixed. To clamp or release the tool, the U-axis servo motor 21 drives the ball screw 31 to rotate, causing the nut unit 32 on the ball screw 31 to move back and forth, simultaneously driving the drive mechanism housing 33 to which it is fixed to move back and forth. The drive mechanism housing 33 pushes the annular protrusion 381 on the linkage sleeve 35 through the annular groove 332 of the limiting structure. The linkage sleeve 35 drives the linkage rod 36 to move back and forth through the positioning pin 39. The self-locking cam 421 at the end of the linkage rod 36 then moves back and forth axially, i.e., moving outward from the recessed groove 351 represents forward movement (rightward in the figure) and retracting into the recessed groove 351 represents rearward movement. As shown in the figure, when the self-locking cam 421 moves forward, that is, the mounting seat 422 moves forward (moving about 5mm), the two driving rods 43 move outward from the center under the guidance of the two inclined openings 423. Correspondingly, the driven rod 44 moves horizontally toward the shift fork 45, thereby pushing the shift fork 45 to swing toward the self-locking rod 46, thereby pushing the self-locking rod 46 and 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 and clamping the tool. Conversely, when the self-locking cam 421 moves backward, the two driving rods 43 move toward the center under the guidance of the two inclined openings 423. Correspondingly, the driven rod 44 retreats from the shift fork 45 toward the center of the mounting seat 413, and the shift fork 45 releases the lock on the self-locking rod 46. At the same time, the self-locking rod 46 maintains a tendency to be pressed 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 dual-servo manipulator applied to a tool magazine ATC, comprising a manipulator bracket, a manipulator drive module mounted on the manipulator bracket, and a knife-arm rotary manipulator, characterized in that: The manipulator drive module includes: A U-axis servo motor is mounted on the manipulator bracket, a ball screw is coaxially fixed to 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 axially along the output shaft of the U-axis servo motor and passes through the drive mechanism housing; The 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 mounting end, and the mounting end of the linkage shaft passes through the mounting channel and extends outside the mounting channel. A sink groove is provided at the mounting end of the linkage shaft along the axial direction of the linkage shaft, and a linkage rod is inserted in the sink groove. The end of the linkage rod located outside the sink groove is linked to the knife-arm type rotary manipulator, and a linkage sleeve is provided on the outer sleeve of the linkage shaft. The linkage sleeve is fixed to the linkage rod by a positioning pin. A strip hole is provided on the linkage shaft that passes through the outer wall of the linkage shaft and extends into the sink groove. The length direction of the strip hole is consistent with the axial direction of the linkage sleeve. A positioning hole is provided at a position corresponding to the strip hole on the linkage rod. 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 into the positioning hole on the linkage rod. 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 provided on the manipulator housing, a locking mechanism for pressing an external knife onto the knife seat provided at the knife seat, the locking mechanism comprising a first linear guide channel and a second guide channel provided in the manipulator housing, a self-locking cam fixed on the end portion of the linkage rod and located outside the linkage shaft, a mounting seat convexly provided on the self-locking cam, an inclined opening intersecting the axial direction of the linkage rod is provided on the mounting seat, a side portion of the inclined opening passes through the mounting seat, a driving rod is provided in the inclined opening, two ends of the driving rod extend from the side portion of the inclined opening to the outside of the inclined opening respectively, and the two ends of the driving rod are hinged 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, and 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. 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 is provided in the second guide channel for driving the knife claw on the self-locking rod to approach the knife seat.

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

3. The tool-arm dual-servo manipulator for tool magazine ATC according to claim 1 is characterized by: 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 dual-servo manipulator for tool magazine ATC according to claim 1 is characterized by: The limiting mechanism includes an annular protrusion protruding from the outer wall of the linkage sleeve and arranged along the circumference of the linkage sleeve. The inner side of the driving mechanism housing is provided with an annular groove matching the annular protrusion and for installing the annular protrusion.

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

6. The tool-arm dual-servo manipulator applied to the tool magazine ATC according to claim 1 is characterized by: 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.

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