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V tem diplomskem delu je predstavljena avtomatizacija procesa brizganja plastike. Na stroj za brizganje plastike smo montirali robotsko roko, ki iz stroja pobira kose in jih odlaga na tekoči trak. Za izvedbo tega projekta smo uporabili električni brizgalni stroj Fanuc Roboshot in 6 osno robotsko roko Fanuc LR Mate 200, ki ju podrobneje opišem v 3. poglavju. Robotsko roko upravljamo s krmilnikom R-J3iB, ki so ga v ta namen razvili pri Fanucu. Diplomsko delo opisuje predvsem komunikacijo med omenjenimi napravami in programiranje robotske roke. Komunikacija je izvedena z vmesnikom Euromap 67. S tabelo vhodov in izhodov prikažem signale, ki se pretakajo skozi posamezne priključke vtiča in vtičnice. Pri programiranju smo izhajali iz knjižic, ki jih ponuja orodje SPI Interface Software za vodenje Fanucovih robotov, ko so ti povezani s stroji za brizganje plastike. Predstavim tudi proces brizganja plastike po korakih in opišem koordinatne sisteme, v katerih se robot lahko giblje. Povod za omenjeni projekt so bile predvsem poškodbe kosov zaradi trkov, ko so ti padli iz stroja, pred samo implementacijo robota. Z avtomatizacijo procesa smo podjetju omogočili tudi, da se v prihodnosti na tem področju še razvija. Namreč, nalog in funkcij, ki jih robot lahko še opravi, je veliko. Nekaj teh navedem v zaključku te diplomske naloge. V podjetju smo s tem projektom dosegli želene rezultate. Linija je v vsakdanji rabi in se nenehno izboljšuje. V času pisanja tega diplomskega dela smo v podjetju dokončali še en podoben projekt in strmimo, da jih bomo v prihodnosti izvedli še več. This thesis describes the automation of the process of plastic injection. We mounted a robotic arm onto a plastic injection moulding machine. The arm picks up pieces from the machine and places them onto a conveyor belt. We used the Fanuc Roboshot electric injection machine and a 6-axis Fanuc LR Mate 200 robot arm, both further described in chapter 3, to carry out this process. The robot arm is controlled with a R-J3iB controller, which Fanuc developed for this purpose. The thesis mainly describes the communication between the aforementioned devices and the programming of the robotic arm. The communication is carried out with the Euromap 67 interface. We show the signals that flow through the individual pins of the plug and socket using a table of inputs and outputs. When programming, we relied on the libraries made available by SPI Interface Software for controlling Fanuc robots when they are connected to plastic injection machines. We also present the plastic injection process step by step and describe the coordinate systems, in which the robot can move. The main reason for performing this project was damage, which occurred on the pieces, due to collisions, caused by the pieces falling out of the machine. Using automation, we also enabled the company to continue developing in this area in the future. There are many tasks and functions that the robot can perform. We list some of these in the conclusion of this thesis. With this project, we achieved the desired results at the company. Production line is in everyday use and is constantly being improved. At the time of writing this thesis, we have completed another similar project at the company and we are looking forward to carrying out more of them in the future.

V tem delu je opisan proces načrtovanja programa za robotski roki proizvajalca ABB Robotics, ki delujeta znotraj indrustrijske celice in rokujeta s strojema za brizganje plastike, z ozirom na naravo končnega izdelka, ki je sestavljen iz aluminijaste osnove na katero sta zabrizgani dve vrsti polimerov. Opisana je zgradba celice in okvirno delovanje posameznih enot, glavni poudarek pa temelji na programiranju v okolju RobotStudio. Glavna problema, ki smo ju reševali, je zagotavljanje zadostne hitrosti delovanja celotnega cikla in stopnja avtonomnosti celice, ki je morala biti nad 50%. Zaradi želje po hitrem izvajanju in postavitve enot znotraj celice smo se odločili za rešitev z dvema 6 osnima robotskima rokama in dvema brizgalnima strojema. Vsak od robotov rokuje le z enim brizgalnim strojem. S tem smo omogočili izvajanje samo ene strani celice naenkrat, kar je bila ena od želja kupca. Pisanja programa smo se lotili z identifikacijo najdaljšega procesa znotraj cikla in se osredotočili na čim boljši izkoristek časa med opravljanjem tega procesa. Za časovno najzahtevnejši del se je pri tem projektu izkazala grelna enota, na kateri ogrejemo aluminijasto osnovo pred vstavitvijo v brizgalni stroj. Med čakanjem na segrevanje osnove lahko izvedemo en celoten cikel, kar smo izkoristili v končni izvedbi. Potrebna je tudi kontrola ustreznosti kosov, ki jo izvedemo s kamerami. Končna izvedba je zadovoljila zahteve kupca, vendar bi jo lahko z več sredstvi in časa nekoliko izboljšali, vendar se je to v našem primeru izkazalo kot nepotrebno. The thesis addresses the process of planning a program for two ABB Robotics robot arms, that work in an industry cycle and handle two injection moulding machines, with regard to the nature of the end product, that consists of an aluminum base and two different polymers, that are injection molded onto the base. The thesis also describes the layout and short description of machines inside the enclosure, that make the whole process possible, but the main focus is on programming in RobotStudio. The main two problems we tackle are the time constraint of one cycle and the stage of autonomy of the enclosure, which was specified at 50%. Because of the time constraint we decided to use two 6 axis robot arms and two injection moulding machines. With that decision we have each robot handle one of the injection moulding machines and we can work with only one half of the whole enclosure, which was one of our goals set by the buyers. We started planning the program with identifying the slowest process in the enclosure and focused on trying to use the time, spent by that process, to do as many other tasks as possible. The slowest part in our project was the heating unit, where we heat up the aluminum base of the part, before putting it in the injection moulding machine. While waiting for the base to heat up we can finish one cycle and finish a pair of end products. After the moulding process the products have to be checked with cameras for any faults. Our final solution solves the problems and satisfies the conditions set by the buyers. With more time and resources we could improve the solution, but in our case that was not needed.

V zaključnem delu obravnavamo integracijo cenovno dostopnega robotskega manipulatorja v delovni proces. Problem se nanaša na področje industrijske avtomatizacije in robotike. Namen dela je razviti celotno linijo za proizvodnjo drobnih lesenih izdelkov, ki temelji na robotskem manipulatorju. Slednjemu smo razvili prijemalo, ki obdelovanec prime in ga postavi na CNC rezkalnik, kjer se pritrdi s pomočjo pnevmatskega prijemala. Po končani obdelavi manipulator ponovno prime obdelovanec in ga postavi v skladišče za končane izdelke. Za večjo natančnost pri pozicioniranju manipulatorja smo na vrh orodja dodali kamero, celoten proces pa lahko spremljamo preko uporabniškega vmesnika, kjer tudi spreminjamo različne parametre. Ugotovili smo, da je uporabljeni manipulator možno vključiti v delovni proces, vendar pa je precej omejen glede dosega, natančnosti in teže, ki jo lahko prenese. This thesis focuses on integration of an affordable robotic manipulator into a work process. The problem reffers to the field of industrial automatization and robotics. The goal is to develop a line for production of small wooden products, based on a robotic manipulator. For the latter, we develoed a gripper, which grabs the piece and puts it onto a CNC router, where it is secured with a set of pneumatic cylinders. After the product is finished, manipulator grabs the piece again and puts it into the storage for finished products. For better accuracy when positioning, we added a camera to the end effector of the manipulator. For adjusting process parameters and supervising, we developed a user interface. In the end we came to a conclusion, that the particular manipulator can be used in a work process, but it has very limited performance in terms of accuracy and load it can carry.

Magistrska naloga opisuje možnosti avtomatizacije proizvodne linije sestavljanja reduktorja motornega pogona z uporabo SCARA robotske roke proizvajalca KUKA, modela KR5 R550-Z320. Namen dela je preveriti možnosti robotizacije vstavljanja zobnikov v ohišje reduktorja in tako zmanjšati proizvodni čas ter dvigniti produktivnost. Podrobno je predstavljeno robotsko prijemalo zobnikov, ki ima sposobnost pobrati vse zobnike in vstaviti sestavljen reduktor v ohišje. S programskim okoljem RobotExpert, proizvajalca SIEMENS, je predstavljen model robotske celice in simulacija sestavljanja reduktorja. The aim of the thesis is to describe the possibilities of automation the production line of the gear-box for motor drive assembly with the use of SCARA robotic arm model KR5 R550-Z320, manufactured by KUKA. The purpose of this task is to verify the possibility of robotizing the insertion of gears in the gear-box housing, thus reducing production time and increasing productivity. A robot gear grip is presented in detail, which has the ability to pick up all the gears and insert the composite gearbox into the housing. Also, with RobotExpert's software environment, manufactured by SIEMENS, a robotic cell model and simulation of the gear-box assembly are presented.

Diplomsko delo obravnava načrtovanje ter izdelavo 6 osne robotske roke in gre skozi celoten postopek od ideje in načrtovanja do prototipov ter končne verzije. Pri vsakem postopku je podrobno predstavljen želeni cilj in opis poti ter sredstev za dosego tega cilja. Predstavljena sta dva prototipa robotske roke, opisani so postopki njihove izdelave, morebitne slabosti in napake ter odpravljanje napak. Predstavljeno je orodje, ki smo ga uporabljali, načrtovanje robota, izdelava obeh prototipov, izdelava elektronskih vezij in programiranje. Prav tako so predstavljene izboljšave, ki se bodo uporabile v prihodnjih prototipih. This thesis presents the designing and building of a 6-axis robot arm and covers the whole process from the concept and designing to the building of prototypes and of the final version. Each process, its objective and the means to achieve it is described in detail. Thesis presents two prototypes of a robot arm, describes how they were built, their possible weak points and defects and the corrective measures for those defects. Furthermore, the tools used in the project, the robot arm design process and the construction of two prototypes, the manufacturing of circuit boards and programming as well as the possible improvements to be used in the future prototypes are described.

V diplomskem delu je natančno opisana avtomatizacija procesa, ki se je predhodno v celoti izvajal ročno. V osnovi se ta proces izvaja v treh delih: praznjenje orodja, čiščenje izdelkov in odlaganje le-teh na točno določeno končno pozicijo. Delo je bilo v celoti opravljeno v podjetju Tesnila GK, ki se ukvarja s proizvodnjo gumenih izdelkov. V okviru diplomske naloge so bila načrtovana in izdelana prijemala za praznjenje orodja, klešče za čiščenje gumijastih izdelkov in odlagalna miza. Dodatno je načrtovana, izdelana in preizkušena tudi programska oprema za vodenje robotske roke. Zastavljen cilj je bil dosežen, saj se proces izvaja brez posega delavca, posamezne operacije so zanesljive, končni izdelki pa so kvalitetno očiščeni. The thesis describes in detail the automation of the process, which was previously carried out manually. Basically, this process is carried out in three stages: tool emptying, cleaning products and placing them in the final predetermined position. The work was entirely carried out at the Tesnila GK company, which produces rubber products. Project was consisted of designing and construction of pneumatic grippers for unloading tools, pincers for cleaning products and product storage table. Additionally, the robot arm operation software was designed, written and finally tested on the actual robot arm. The stated objective has been achieved, since the process is carried out without intervention of workers, individual operations are reliable and the final products are well cleaned.