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Robotska celica za strego linijske sušilnice keramičnih cevi
ID KREŽE, TADEJ (Author), ID Kamnik, Roman (Mentor) More about this mentor... This link opens in a new window

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PID: 20.500.12556/rul/bb7c643b-be77-4707-8deb-c0670d20e0d6

Abstract
Robotska manipulacija je ena najbolj razširjenih aplikaciji v industrijski robotiki. Roboti se uporabljajo za prenašanje težkih bremen, paletiranje, strego. Osnovni razlogi za avtomatizacijo in robotizacijo so zniževanje stroškov, razbremenitev človeka, ter zagotavljanje zmogljivosti in kakovosti proizvodnje. S strani dolgoletne stranke je na naš naslov prišlo povpraševanje za izdelavo robotske celice za strego linijske sušilnice votlih keramičnih cevi, ki kot končni izdelek služijo za ohišje visokonapetostnih varovalk (VV). Stranka je želela avtomatsko manipulacijo cevi na izhodu sušilnice. V časovnem okviru dvanajstih sekund mora manipulator odvzeti cev iz linijske sušilnice, v cev zvrtati luknjo in jo odložiti na odložišče, iz kjer lahko operater, neovirano in brez vstopanja v nevarno delovno območje robota, cev vzame. Za manipulacijo smo izbrali šest osnega robota proizvajalca Yaskawa motoman, v celico pa poleg robotske roke namestili dve vrtalni enoti za izmenično vrtanje lukenj in rotacijsko enoto. Robotska roka z vakuumskim prijemalom odvzame cev na izhodu linijske sušilnice, jo prenese na ležišče vrtalne enote, ki vanjo zvrta luknjo. V naslednjem koraku robot iz ležišča vrtalne enote pobere obdelano cev in jo odloži na odložišče rotacijske enote, ki cev z ne-nevarno hitrostjo transportira na zunanjo stran robotske celice.Po nekaj začetnih težavah z doseganjem zahtevanega cikla, sedaj opravlja zastavljeno nalogo. V diplomskem delu je opisana uporabljena strojna in programska oprema, ki smo jo uporabili za izvedbo projekta. Predstavljene so povezave med gradniki, časovni potek in princip delovanja robotske celice.

Language:Slovenian
Keywords:robotska celica, HMI (ang. Human Machine Interface), krmilnik, senzor, robotika, manipulacija, vrtalne enote, vakuumsko prijemalo, rotacijska enota
Work type:Undergraduate thesis
Organization:FE - Faculty of Electrical Engineering
Year:2016
PID:20.500.12556/RUL-83110 This link opens in a new window
Publication date in RUL:27.05.2016
Views:1609
Downloads:693
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Secondary language

Language:English
Title:Robot cell for machine tending of linear drying oven for ceramic tubes
Abstract:
Robotic material handling is one of the most popular application in industrial robotics. Robots are used to handle heavy loads, and for palletizing and machine tending. Basic reasons for automatization and robotization are cost reduction, less hard labor for human workers, ensuring the efficiency and quality of production. One of our customers has contacted us to make a proposal for development of robotic cell for tending of linear drying oven for hollow ceramic tubes, which as final product serving as a housing for high voltage fuses (VV). Customers wish was automatic handling of tubes on the exit of linear drying oven. In time window of 12 seconds the handling system must be able to pick up the tube, drill the hole in the tube and place it in the area from where the human operator could easily and hazard free access the tube. We deicided to use six axis Yaskawa Motoman robot arm for tube handling. For hole drilling we would use two drilling units and to safely transport the tubes outside the robot cell we decided to use carousel. Attached on robot arm vacuum gripper picks the tube from the exit position of linear drying oven and transports it to the drilling unit. The drilling unit then drills a hole into the tube. In the next step the robot picks the tube from the drilling unit and carries it to carousel. Carousel then with low speed transports the tube outside the cell. After few problems with not being able to finish the cycle in presribed time window at the beggining, now the robotic cell serves it's purpose. The thesis describes hardware and software which has been used to finish the project. It describes the connections between used peripheral, time charts and basic principal of robotic cell.

Keywords:robot cell, HMI (Human Machine Interface), controller, sensor, robotics, handling, drilling units, vacuum, carousel

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