magistrsko delo
Stane Lokar (Author), Matjaž Mihelj (Mentor)

Abstract

Industrija vselej stremi k nenehnemu izboljševanju učinkovitosti proizvodnje. Z robotizacijo proizvodnih linij lahko dosežemo večjo fleksibilnost in proizvodne kapacitete. Vpeljava robotov v proizvodnjo pa zahteva primerno načrtovanje ostalih naprav, ki jih bo robot posluževal. Pogosti operaciji, ki ju srečamo v proizvodnji sta strega strojev in montaža, ki ju v nekaterih primerih lahko opišemo kot postopek vstavljanja čepa v luknjo. Čeprav je ta operacija na videz enostavna, pa lahko ob ozkih tolerancah in večjih obdelovancih povzroča težave. To lahko privede do trkov robota, obdelovanca in ostalih naprav, kar je posledica slabe ponovljivosti podajalne naprave, robota oziroma prijemala, podajnosti elementov, ali kombinacije vzrokov. V našem primeru smo iz podajalne naprave s prijemalom na robotu odvzeli rotor in ga vstavili v čeljust stružnice, kjer je prišlo do občasnih naključnih trkov. Cilj naloge je analiza vzrokov ter odpravljanje trkov. Z meritvami smo ugotovili, da vzrok ni enostaven, ampak je kompleksna interakcija več dejavnikov. Na osnovi rezultatov analize smo uspešno uvedli spremembe, s katerimi smo signifikantno zmanjšali frekvenco trkov.

Keywords

industrijska robotika;robotske celice;strega strojev;analiza trkov;magisteriji;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FE - Faculty of Electrical Engineering
Publisher: [S. Lokar]
UDC: 007.52:621.865.8(043.3)
COBISS: 109544195 Link will open in a new window
Views: 128
Downloads: 20
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Other data

Secondary language: English
Secondary title: Analysis and elimination of causes of collisions in an industrial robot cell
Secondary abstract: The industry is always striving to continuously improve production efficiency. With robotics production lines can achieve greater flexibility and production capacity. However, the introduction of robots into a production line requires proper design of the other machines that the robot will tend to. Common operations we encounter in production are machine servicing and assembly, which in some cases can be described as the process of peg-in-hole insertion. Although this operation appears to be simple, it can cause problems with narrow tolerances and larger workpieces. That can lead to collisions of the robot, workpiece, and other machines as a result of poor repeatability of the feeder, robot, or gripper, compliance of the elements, or a combination of multiple causes. In our case, we removed the rotor from the feeder with a gripper on the robot and inserted it into the jaw of the lathe where occasional random collisions occurred. The goal of the task is the analysis of the causes and the elimination of collisions. Through measurements, we found that the cause is not simple, but it is a complex interaction of several factors. Based on the results of the analysis, we successfully introduced changes that significantly reduced the frequency of collisions.
Secondary keywords: industrial robotics;robotic cell;machine tending;crash analysis;
Type (COBISS): Master's thesis/paper
Study programme: 1000316
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za elektrotehniko
Pages: XX, 54 str.
ID: 15437269