CAJ | 학술논문

根据被传送物料的形状及材质特征为其设计了合适的机械手，对物料进行抓握操作。工业机器人由物料台抓握物料后，沿着预先设定的轨迹将物料传送至立体仓库前的待入库工位，并且按照设定的操作流程自动检查并选择空库位，将物料平稳的放入仓库。结果表明，该系统提高了工作效率，减少了生产中的人力成本。
근거피전송물료적형상급재질특정위기설계료합괄적궤계수，대물료진행조악조작。공업궤기인유물료태조악물료후，연착예선설정적궤적장물료전송지입체창고전적대입고공위，병차안조설정적조작류정자동검사병선택공고위，장물료평은적방입창고。결과표명，해계통제고료공작효솔，감소료생산중적인력성본。
Based on Mitsubishi RV-3SD type six axis industrial robots as the carrier material storage system, this system can efficiently complete the automatic transmission and storage operation from the material station to the warehouse. According to the transmitted materials shape and material characteristics, this paper designs a suitable mechanical hand to grab material. After industrial robot grasps material form the material station, the material along the prespecified trajectory can be transferred to be storage station before stereoscopic warehouse, and according to set operation process automatic check and select empty library, the material is stable in storage.