자동선반을 위한 공작물 장탈착로봇의 개발

The conventional loading process of workpieces for a CNC lathe is performaed either by human or by a general robot. It is not suitable for a general robot to load workpieces because of high price and inefficiency. Starting from the description of the environment around CNC lathes and the analysis ofloading process, we have developed the task-oriented loading manipulator. The characteristics of a loading manipulator are the following: to load/unload heavy workpieces, to decrease the whole porcess time. The air-chuck to load heavy workpiece has high clamping force and light weight. A loading manipulator has accomplished both the integration of independent automation techniques and cost-down effect of product. A loading manupulator developed in this project has been designed for general loading process. The loading manipulator is capable of carrying heavy payload with respect to weight of robot in short cycle time.