diplomsko delo
Jure Prnaver (Author), Karl Gotlih (Mentor), Miran Rodič (Mentor), Timi Karner (Co-mentor)

Abstract

Cilj diplomske naloge je bila povezava varilne naprave z robotom in izvedba varjenja. Pri tem sem si pomagal s pomočjo priročnikov obeh naprav. Pri robotskem delu sem se moral seznaniti s posebnimi funkcijami, ki omogočajo nastavitve parametrov za začetek in konec varjenja. Poleg tega sem moral uporabiti tudi funkcijo za proženje digitalnega izhoda 183, da lahko začne varilna naprava delovati. Za varjenje sem napisal enostaven program, ki poleg vključenih prej omenjenih funkcij vključuje tudi točkovne gibe za premik robota do mesta varjenja in na koncu stran od njega. Kot varnostno funkcijo sem uporabil senzor sile, ki ob trku ustavi robota. Kot dodatek sem moral narediti unikatno držalo za varilno pištolo. 3D model tega sem ustvaril v programu SolidWorks, tehniško risbo pa sem poslal v laboratorij, kjer so ga izdelali. Pri varilni napravi sem najprej moral poskrbeti za povezavo za zagon varilne naprave z uporabljenim ukazom v konzoli. Ta poteka od digitalnega izhoda 183 na robotskem krmilniku do priključkov pet in devet v varilni napravi. Po uspešni povezavi je bilo potrebno izklopiti ročni vklop varjenja na gorilniku in vklopiti možnost eksternega vklopa preko zunanjega vhoda. To sem storil z uporabo funkcije F 29, katere vrednost sem nastavil na štiri. To pomeni, da v primeru nastavitve pozitivnega stanja digitalnega izhoda 183 začne varilna naprava delovati. Zadnje malenkosti pred varjenjem so bile odprtje in preverjanje plina, nastavitev toka, napetosti in povezave ozemljitvenega kabla.

Keywords

industrijski roboti;varjenje;senzor sile;diplomske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UM FS - Faculty of Mechanical Engineering
Publisher: [J. Prnaver]
UDC: 004.896:621.865.8(043.2)
COBISS: 22976534 Link will open in a new window
Views: 621
Downloads: 46
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Other data

Secondary language: English
Secondary title: Execution of welding robot kuka krc1 and welding apparatus welbee inverter p500l
Secondary abstract: While writing thesis my goal was to connect welding apparatus with the robot and execute welding. I started with reading manuals on both devices. When I was working with the robot, I had to familiarize myself with special functions, which enable parameters for the start and end of welding. Furthermore, I had to use function for triggering digital output 183, which starts up welding process. I also made a simple program for it. The program consists of the functions mentioned previously and point-to-point movements. These movements guide the welding gun to the place of welding and away from it. Force sensor was also added as a safety feature to stop movement of the robot upon collision. Lastly, I had to make a unique holder for the welding gun. The process of making it was like this: first I made a 3D model in the program SolidWorks and then I sent it to the laboratory, where they had made it. Some changes were also made for proper use of welding apparatus. First, I had to connect the robot controller with welding apparatus. The connection was between digital output 183 and connectors (five and nine) on the welding apparatus. Second, the manual button on the welding torch had to be disabled. This was done by using function F 29 and its settings put to four, which enabled start of the welding process digitally. The connection was successful and the result was that when a state of digital output 183 is true, the welding process is active. Last few things that I took care of were checking gas, setting of the current and voltage and connection of the grounding cable.
Secondary keywords: industrial robots;welding;force sensor;KUKA;Welbee P500L;
Type (COBISS): Bachelor thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za strojništvo
Pages: X, 31 f.
ID: 11207499