This diploma thesis presents robotic line for forming and heath treatment of leaf springs. Leaf spring is transferred through heating furnace, robot manipulator 1, straightening and centering press with robot manipulator 2 inside bending press and quenching tank that has its own material transport. At the end of the quenching tank robot manipulator 3 transfers leaf spring to tempering furnace. Specialty of this line is that it is automatic to the point that the changing of material is automatically performed in less than two minutes. Second specialty is that two leaf springs are made at the same time, which is not common for similar lines.
In detail parts of robot program for calculating robot points for manipulation inside machine are described, and an to achieve smooth movement without stopping, with all demands for changing movements regarding removing material from line. Further also one of calculations necessary for robot manipulation which is calculated from existent data on the line is described. This helps a worker to insert only minimal necessary data which describe a product and enable line to work.
One chapter describes safety of the line, mostly options of the safe robot for safety check of position of robot gripper inside the selected safety area.
At the end of the thesis there are also cycle time and time diagrams of individual machines which is followed for production of leaf springs.
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