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Top1. Introduction
In the United States, Japan and Germany and other developed countries, their manufacturing industry has an absolute advantage in the global structure, such as the Demag Group and the Mazak Group (Grubljesic et al., 2019). Their five-axis equipment is very popular in our country. At present, these developed countries regard machine tool transformation as a new gold industry to promote economic growth, which is a force that cannot be ignored to promote GPD bed transformation in the rapid development period. Due to the rapid development of machine tool manufacturing technology, a large number of high-tech machine tool manufacturing, machine tools are constantly updated, machine tools have become a problem that needs continuous innovation, research and solution, with the rise and fall of the machinery industry, continuous development (Ahmed & Shusen, 2019; Meziane & Taghezout, 2018). After self-transformation, CNC machine tools and production lines can be improved and market demand is high and is gradually forming a new industry. In the United States, the famous recycling companies include Belcher Engineering, Debao Service Group, the American equipment company, etc. US oil depot company established a company in China to carry out business development related to machine tool transformation (Li, Cao, Yang et al, 2018). Germany's machine tool transformation has also made gratifying achievements. More and more enterprises see this big cake and want to share it. In Germany, there are personal workshops and machinery manufacturing enterprises engaged in machine tool transformation. On the other hand, in order to fully transform scientific research strength into productivity, some universities and scientific research institutions also participate in this work (Zhang, Li, Wu et al, 2018). These efforts have received strong policy and economic support from the government, as well as special assistance from the federal and state governments. The quality and efficiency of old machine tools has improved significantly since the transformation, such as the regeneration of Nirvana, which can meet all types of production needs; and the price is very attractive. In addition, the second-hand machine tool sales service is also very perfect.
Sixty years ago, manipulators were first developed and manufactured in the United States (Kono et al., 2019). It is mainly used in various fields of automatic production, and its ultimate goal is to achieve driverless production. Industrial robot is a typical robot (Jiang et al., 2017). It can be used in all kinds of occasions, with powerful functions, and can meet the requirements of people's intelligence and adaptability. Because the manipulator has many advantages, there are two outstanding advantages. One is the accuracy and accuracy of the work. The second is efficiency. The second is the ability to finish the work. In recent years, the automation industry has sprung up like mushrooms, and the development of manipulator has been greatly improved. The application of the operator may improve the working conditions of workers involved in engineering and construction, solve the problem of the shortage of jobs in countries with a small population and can be used to build smart, unmanned laboratories (Hamidi & Jahanshahifard, 2018). There are four types of manipulator drive: hydraulic drive, pneumatic drive, electrical drive and mechanical drive (Golovin et al., 2018). Hydraulic transmission a heavy manipulator used to drive a large head. It can not only realize linear motion through hydraulic cylinder, motor and gear rack, but also rotate through rotary cylinder, motor, reducer and gear. Pneumatic transmission components include pneumatic cylinder, piston, air compressor, etc. Its advantages are easy access to air, good maintenance and low price. The disadvantage is small clamping force and large volume. At present, electric drive has not been widely used (Zhang, Wang, & Zhang, 2018). The advantages of electric drive: simple power supply, convenient maintenance, large clamping force, suitable for heavy manipulator. Mechanical transmission is mainly used in some special occasions, belonging to the category of special aircraft. Mechanical transmission generally uses a cam connection mechanism, through this mechanical structure, to perform the planned action. Mechanical transmission has many advantages, in particular: stable, safe and reliable, fast speed of action, low price, high cost efficiency, the disadvantage is not easy to adapt and adapt.