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Sodobna tehnologija nam omogoča izboljšave že poznanih tehnologij. Tako lahko tehnologijo izsekavanja in krivljenja materila povzpnemo na višji nivo. Največkrat pride pri tej tehnologiji do nepotrebnih stroškov ravno zaradi prepoznega odkritja napake. Lomi orodja in zagozditev materiala lahko povzročijo velike stroške popravila, če jih neodpravimo pravočasno. Zato lahko s sistemom nadzora in varovanja stiskalnic težave zmanjšamo oziroma jih odpravimo. Sistem tako omogoča spremljanje dogajanja tudi ko operater stroja ni pozoren. Sistem se lahko vgradi na katerokoli stiskalnico, kar je tudi njegova predonost. Delovanje sistema pa je potrebno prilagoditi posamezni stiskalnici, saj se med seboj razlikujejo po sili in načinu delovanja, kar vpliva na krivuljo delovanja. Sami določimo meje ob katerih naj sistem izklopi delovanje in ob katerih naj opozori operaterja Modern technology is offering us improvements of existing technologies. That is how we can raise technlogy of cutting and bending materials to another level. Most of the times unnecesery expenses in this technology are caused by to slow detection of error. Breackages of tools and stuck material can cause great expenses of repair, if we do not remove them in time. System can be build in any press, that is an advantage of this system. Operation of the system must be adjusted to induvidual press, because they are different form each other in the force and way of working, witch influences on their working curve. We select the boarders on witch system is shut down, and on witch system just gives us a warning.

V diplomski nalogi je popisan celoten sistem, ki z materialom oskrbuje brizgalni stroj. Simuliran je tok zraka in materiala skozi sistem s programom ANSYS Fluent. Narejena je morfološka matrika in s pomočjo le-te izbrana najprimernejša rešitev za ugotovitev, kdaj sveža serija materiala doseže brizgalni stroj. Rezultati so prikazani v programu CFD Post, v obliki histogramov in slik. The whole system, that provides the material to the injection moulding machine is described in the thesis. Flow of air and material is simulated with ANSYS Fluent software. Morphological matrix is made and with its help the most suitable solution is selected for finding out when a fresh batch of material gets to the injection moulding machine. Results are shown through histograms and pictures.

Diplomsko delo je namenjeno načrtovanju in zasnovi vizualizacije za proizvodno industrijsko linijo v okolju Siemens Totally Integrated Automation. V diplomskem delu predstavljamo rešitev, kako lahko s pomočjo Siemensovega krmilnika in zaslona spremljamo potek industrijske linije in morebitne napake. Spoznavali se bomo z okoljem Siemens TIA ter izdelavo »Faceplatov« in »Templatov« za lažjo izdelavo vizualizacije. The purpose of the graduation thesis is to outline the planning and the design phase for the visualization of an industrial production line using Siemens Totally Integrated Automation. The thesis proposes a solution as to how to use the Siemens controllers and display to monitor the production line and observe possible errors. We are going to familiarize ourselves with the Siemens Tia and the making of the templates and faceplates to make creating of the visualization easier.

V magistrski nalogi je predstavljena analiza kolaborativnega robota podjetja Universal Robots pri uporabi v procesnih aplikacijah. Na začetku je predstavljen robot in povezava z računalnikom, ki omogoča daljinsko vodenje in analizo gibanja. Sledi analiza različnih vrst ukazov in izločitev najustreznejših za izvedbo, s ciljem zagotavljanja osnovnih lastnosti procesnih nalog: konstantna hitrost in čim boljše sledenje želeni trajektoriji. Analiza ukazov je na koncu podkrepljena z izvedbo dveh procesnih aplikacij, s čimer dokažemo primernost robota UR3 za izvedbo procesnih nalog. Delo je bilo opravljeno v Laboratoriju za industrijsko robotiko na UM FERI. The master’s degree presents an analysis of the collaborative robot by the company Universal Robots used in process applications. In the beginning, the robot is presented in conjunction with a computer which enables motion guiding and analysis. The following is an analysis of the different types of moves and selection of the most appropriate for implementation, with a goal to enable the basic elements of the process tasks: constant speed and better tracking of desired trajectory. Finally, the analysis is supported by the execution of two process applications, demonstrating the suitability of the UR3 robot for performing process tasks. The work was done at the Industrial Robotics Laboratory at UM FERI.

V diplomskem delu je predstavljen razvoj sistema za prerisovanje slik iz kamere na industrijskega robota. Kamera, ki je priključena na osebni računalnik sliko zajame, aplikacija, ki je v ta namen zasnovana v LabView pa iz slike generira točke za premikanje industrijskega robota, ki sliko nariše. The diploma thesis presents the development of a system for acquisition the drawings and its reproduction by using a camera and an industrial robot. A camera connected to the PC captures the image, LabView application designed for data acquisition and image processing, LabView generates motion points for the industrial robot that draws the image.

Ob vseh pozitivnih lastnostih domačega 3D tiskanja je potrebno poudariti tudi negativne učinke omenjenega postopka. Material, ki se uporablja pri tiskanju, je precej drag, nekateri so tudi ekološko oporečni, zato ima lahko množična uporaba tiskalnikov negativne posledice za okolje. V magistrski nalogi smo zato najprej preučili možnost izdelave lastnega filamenta s pomočjo reciklirane plastike, s čimer bi posledično razbremenili tako okolje kakor tudi finančno stanje lastnika 3D tiskalnika. Končni produkt smo primerjali s filamentom, ki je trenutno dostopen na trgu, ter preizkusili, če ustreza minimalnemu standardu za tiskanje. By all the positive things that a 3D printer can do, we also need to consider all the negative effects, that can come with this process. The filament which is used for printing can be very expensive and unfriendly for environment, which can have big consequences on our environment if people start to 3D print on a regular base. This is why we started to study the making of our own filament for 3D printing purposes. In this way we could give our environment some kind of relief and we could also save some money. The final product was compared with the professional filament which is available on the market right now. The filament was also tested on a 3D printer, because this way the minimal requirements for 3D printing was tested.

Rezkanje je precizno odstranjevanje materiala iz surovca z uporabo rezalnega orodja. Z uporabo tri, štiri, pet ali celo šest osnimi rezkalnimi centri lahko brez omejitev izdelamo kakršenkoli izdelek, torej na trgu že imamo primerne delovne stroje, vendar lahko z veliko cenejšim robotom dosežemo uporabo pet-osne obdelave. Pri klasičnem tri-osnem obdelovanju nam robot omogoča večje območje delovanja, kot stroj, ki ga uporablja širša množica ljudi. Delovanje je dokaj preprosto, na robotsko roko imamo nameščen motor, ki za določen material primerno hitrostjo vrti delovno orodje, s katerim odstranjujemo material. Robota programiramo indirektno. Predstavili bomo postopek pridobitve g-kode, pretvorbo le-te preko programa RobotStudio v Rapid jezik, katerega razume ABB robot. Robot se pomika po prej določenih koordinatah in postopoma plast za plastjo odstranjuje material. Milling is the precise removal of material from the workpiece using a cutting tool. By using three, four, five or even six-axial milling centers, we can produce any product without limitations, therefore we already have suitable working machines on the market, however, we can achieve the use of five-axis machining with a much cheaper robot. In classic three-axis machining, the robot offers us a larger operating range than the machine used by a wider group of people. The operation is simple: the engine is attached to the robotic arm to rotate the work-tool which removes material at the speed, that is suitable for a particular material. We program the robot indirectly. We will present the process of obtaining g-code and converting it via RobotStudio to Rapid language, which is understood by the ABB robot. The robot moves along the coordinates that are determined in advance, and gradually removes the material layer after layer.

V diplomskem delu je predstavljen koncept izvedbe avtomatizacije pobiranja cevakov kamene volne z robotsko celico, katere osnovni gradnik je robot ABB IRB 4600 – 20/2.50. Gre za tako imenovano »pick and place« operacijo pobiranja izdelkov (cevakov) iz narezanih blokov in zlaganje izdelkov v transportne škatle. Pobiranje je vodeno s sistemom strojnega vida. Diplomsko delo je razdeljeno na več delov. Najprej kratek opis podjetja Isomat, d. o. o., sledi opis ročnega pobiranja. V nadaljevanju je opisan princip avtomatizacije z robotsko celico: najprej so opisani posamezni podsistemi celice, njihov namen in delovanje, nato pa še izdelava in delovanje simulacije v programu Robot Studio. This Thesis presents a concept of automation of mineral wool pipe section handling using a robot cell, which is based on the robot ABB IRB 4600 – 20/2.50. It is a »pick and place« operation in which the robot picks the pipe sections from cut blocks and puts them into transport boxes. The picking is guided with the use of a machine vision system. The thesis is divided into multiple sections. First a short presentation of the company ISOMAT d.o.o. . Then a description of the process which is to be automated. Followed by the basic description of the automated process. Then it describes the individual subsistems of the automated process, their purpose and principle of operation. In the final part it describes the making of the simulation and its operation in »RobotStudio«.

V magistrskem delu je predstavljena avtomatizacija proizvodnega procesa med DOOSAN CNC Lynx 220LM stružnico in ABB IRB 1200 robotom. Ideja je nastala zaradi želje po avtomatizirani proizvodnji. Za izdelavo simulacije modela avtomatizirane proizvodne steze se je uporabilo programsko orodje RobotStudio ABB. Treba je bilo vzpostaviti komunikacijo med DOOSAN CNC Lynx 220LM stružnico in ABB IRB 1200 robotom. To se je naredilo s pomočjo uporabe ABB IRC5 krmilnika, katerega naloga je vodenje teh dveh. ABB IRC5 krmilnik na podlagi programske kode RAPID podaja ukaze in preverja, ali so se ti izpolnili. Tako dobimo popolno avtomatizacijo proizvodne steze. The master's thesis presents the automation of the production process between the DOOSAN CNC Lynx 220LM lathe and the ABB IRB 1200 robot. The idea came from a desire to have an automated production line. RobotStudio ABB software was used to simulate the automated production model. Communication had to be established between the DOOSAN CNC Lynx 220LM lathe and the ABB IRB 1200 robot. This was done with the use of the ABB IRC5 controler, which taske is to controll both of them. The ABB IRC5 controller, based on the RAPID program code, commands and simultaneously checks, if the commands have been completed. This gives us a complete automation of the production line.

V zaključnem delu prikazujemo, kako z implementacijo poprocesorja za pretvorbe NC/ISO G-kode v translacije 3/5 osnega robota ACMA-proizvajalca ABB-model XR701 zmanjšamo strošek nakupa robota in pripadajoče programske opreme. Poprocesor z linearno algebro in razčlenjevanjem pretvori program za rezkanje kompleksnejših oblik, večjih dimenzij in pohitri nastavitev ter pretvorbo kode z uporabo uporabnikom prijaznega vmesnika izdelanega v programski opremi Visual Studio 2017 CLI (angl. Combined Language Infrastructure) in programskim jezikom C++. Na ta način privarčujemo pri nakupu licence programske opreme za pretvarjanje ISO G-kode v robotsko kodo. In the final work, it is presented how with the implementation of a postprocessor for converting NC/ISO G-code into translations for the robot ACMA manufacturer ABB model XR701, the costs of purchasing the robot and the associated software are reduced. The postprocessor with linear algebra and parsing converts the program for cutting complex shapes and bigger dimensions, speeds up the settings and conversion using a user-friendly interface created in the software Visual Studio 2017 CLI (Combined Language Infrastructure) and C++ programming language. This saves us the purchase of licensed software programs for converting ISO G-code into a robotic code.

Diplomska naloga se ukvarja s preverjanjem delovanja varnostnih funkcij kolaborativnega robota UR3e. Zato, ker kolaborativni roboti delijo svoj delovni prostor z ljudmi, je temeljito poznavanje njihovih varnostnih funkcij ključno za varno sodelovanje med operaterjem in robotom. Cilj diplomske naloge je bil posneti vplive varnostnih parametrov na delovanje robota, ter poiskati morebitna odstopanja in razloge za njihovo pojavljanje. Rezultati so pridobljeni s spreminjanjem varnostnih nastavitvah robota pri različnih simuliranih operacijah. Analiza merilnih rezultatov kaže, da dejanske vrednosti meja ciljno odstopajo od nastavljenih z namenom zvišanja stopnje varnosti. Ustreznost varnostnih parametrov smo ocenili s pomočjo tehnične specifikacije ISO/TS 15066. The thesis engages in the testing of the safety functions of the collaborative robot UR3e. Collaborative robots share their workspace with humans, so for safe collaboration between the operator and the robot,it is crucial to thoroughly know their safety functions. The goal of the thesis was to record the effects of the safety parameters on the behaviour of the robot and look for possible deviations and reasons for their occurence. The results were aquired through the changing of the safety settings in different simulated operations. The analysis of the results indicates that the effective values of limits purposely deviate from the set ones all in an effort to elevate the degree of safety. The relevance of the safety parameters was evaluated with the help od the technical specification ISO/TS 15066.

Diplomsko delo zajema predstavitev programske funkcije WorldZone v programskem okolju RobotStudio. Pri tem smo preučili osnovno zamisel programske funkcije ter si podrobno pogledali programiranje funkcije. Med samim postopkom preučevanja smo spoznali, da lahko funkcijo uporabimo v varnostne namene, ter smo jo uporabili v našem zamišljenem primeru. Prav tako smo ob programiranju robotskega programa bolj podrobno spoznali programski jezik RAPID, ter smo napisali navodila za uporabo programskega okolja RobotStudio ter navodila za programiranje RAPID-a. The Diploma thesis covers the presentation of the WorldZone software function in the RobotStudio software environment. In doing so, we examined the basic concept of a program function and looked at the programming of the function in detail. During the review process, we realized that the function could be used for security purposes, and we used it in our imaginary case. We also learned the RAPID programming language in more detail when programming the robot program and wrote instructions for using RobotStudio programming the instructions for using RobotStudio programming environment and instructions for programming the RAPID.

V diplomski nalogi smo zasnovali in izdelali servo-pnevmatski pozicionirni sistem, ki z uporabo ventila Enfiled S2 in senzorja SICK MPA omogoča natančno pozicioniranje in ustavljanje bata na poljubni točki vzdolž cilindra. Ventil za krmiljenje uporablja PD regulator. V praktičnem delu smo nabavili potrebne komponente in sistem sestavili. Za pravilno delovanje ventila je potrebno določiti parametre regulatorja, kar smo dosegli na več načinov. Sistem smo krmilili preko potenciometra, programskega vmesnika ter s pomočjo industrijskega krmilnika. Za izbran proces avtomatskega krmilja smo podali besedni opis tehnoloških zahtev, tehnološko shemo, krmilno verigo, diagram stanj in prireditveno tabelo. Nazadnje smo sistem tudi testirali, izmerili dejansko točnost pozicioniranja in jo primerjali s predpisano. In our thesis, we created a servo pneumatic positioning system, the system uses Enfield S2 valve and SICK MPA sensor. The system is capable of achieving great precision and the ability to stop the piston at any point along the cylinder. The valve uses for regulation a PD regulator. In practical part we constructed the system. To achieve optimal working of the valve, we have to set the parameters of the regulator, which we achieved in multiple ways. We operated the system with a potentiometer, user software and over PLC industrial controller. Lastly, we tested the system and measured the actual accuracy of piston positioning and compered it to the prescribed value.

V diplomskem delu je predstavljena izdelava četrte osi za CNC rezkalni stroj domače izdelave. Opisan je postopek izdelave mehanskega dela vse od načrtovanja, izbire ustreznih sestavnih delov in izdelave delavniških risb, ki so potrebne za izdelavo fizičnih komponent. Predstavljen je tudi električni del, to je vezava zaprto-zančnega koračnega motorja s krmilnikom ter nastavljanje krmilnika za pravilno delovanje. Diplomsko delo zavzema tudi postopek izdelave CAM programa v Fusion 360 za rezkanje s četrto osjo, izbira ustreznega post procesorja za generiranje G kode ter nastavitve v programu Mach3 za ustrezno delovanje oz. rezkanje. In this diploma, adding fourth axis to a homemade CNC milling machine is presented. Process of machining mechanical parts, from planning, choosing appropriate parts and making drawings for the parts is presented. Also, wiring of close-loop stepper motor and driver in the electrical part is presented. The diploma consists of the procedure of making a CAM program in Fusion 360 for milling with the fourth axis, selecting a proper post-processor for generating G-code and setting Mach3 for correct functioning.

Diplomska naloga opisuje elektrovezavo in vizualizacijo hidravlične zapornice. V nalogi so opisane vse elektro komponente sistema, krmiljenje, vizualizacija in sestavni deli hidravlične zapornice. Opisana je tudi uporaba in delovanje programov, uporabljenih za izvedbo naloge, kot tudi krmilni program in električna shema. The bachelor’s thesis describes electro-binding and visualization of hydraulic gate. The bachelor’s thesis describes also all electrical components, control, visualization and all other parts of hydraulic gate, as well as the use and operation of the programs used to perform the task, the control program and wiring diagram.

Diplomska naloga opisuje 3D modeliranje in izdelavo hidravlične zapornice, ki je v laboratoriju za mehatroniko na Univerzi v Mariboru. Opisani so sestavni deli zapornice (mehanski del, krmilna konzola, hidravlična in električna shema) in njihova izdelava ter upodabljanje s pomočjo SolidWorks programsko opremo. The bachelor’s thesis describes 3D modeling and production of a hydraulic gate in the mechatronics laboratory at the University of Maribor. The bachelor’s thesis describes all the components (mechanical parts, control console, hydraulics, and electrical diagrams) of the gate and their production, as well as rendering with the help of SolidWorks software.

V diplomski nalogi smo se ukvarjali s problemom avtomatizacije strojnega gorilnika. V podjetju Zavar izdelujejo plinsko opremo, med drugim tudi strojne gorilnike za predgrevanje ali gretje raznih obdelovancev iz različnih materialov. Predgrevanje jekla se uporablja predvsem pred varjenjem zvarjencev. Do sedaj se je problem nadzora gorenja, prižiganja in ugašanja gorilnika reševal s pomočjo analognih sistemov (termo členov). Sistem je sicer enostaven za uporabo, vendar ga ne moremo nadgraditi na novejše aplikacije, kot je na primer povezava z robotom. Težavo smo rešili tako, da smo ga avtomatizirali s pomočjo PLK krmilnika, ob upoštevanju vseh standardov in varnostnih predpisov. Naš cilj je, da napravimo popolnoma avtomatiziran strojni gorilnik z avtomatskim prižigom, kontrolo temperature, časovnim delovanjem, samodejnim izklopom, z možnostjo povezave z robotom ter ročnega ali strojnega vžiga, ob upoštevanju vseh standardov in varnostnih predpisov. In the bachelor's thesis we were dealing with the problem of automation of industrial blowpipe. Company Zavar makes gas equipment, industrial blowpipes for preheating and heating different materials. Preheating of steel is used especially before welding of workpiece. Until now the problem of burning supervision, ignition and extinguishment of industrial blowpipe was solved with analog systems (thermocouples). The system is generally easy to use, but can not be updated to newer applications such as linking it to a robot. We want to solve the problem by automating with the help of PLC controller while also abiding by all the standards and safety regulations. Our goal was to make a completely automated industrial blowpipe with automatic ignition, temperature control, timed operation, self-extinguishment, with robot communication option and manual or automatic ignition, while also abiding by all the standards and safety regulations.

Diplomska naloga vsebuje opis že izdelanega pnevmatskega manipulatorja, katerega prvotni namen je, da služi kot multi-funkcijska demonstracijska enota za prikaz uporabe pnevmatike. V sklopu diplomske naloge, je bil zasnovan postopek avtomatizacije. Izdelan je bil program za krmiljenje manipulatorja in uporabniški vmesnik za interakcijo s manipulatorjem. The Bachelor’s thesis contains a description of pre-made pneumatic manipulator, which first intentions were to be shown as a multifunctioning demonstration unit for the use of pneumatics. As part of Bachelor's thesis, an automation process was designed. A manipulator control program and user interface for interacting with the manipulator was also created.

Delovne pogoje na delovnem mestu imenujemo z eno besedo mikroklima. Z njo povzamemo skupaj temperaturo, prezračevanje, osvetlitev in druge parametre delovnega okolja, katerih vrednosti se morajo nahajati v določenih mejah, predpisanih z zakoni, za kar je zadolžen delodajalec. V zaključnem delu se bomo posvetili avtomatizaciji regulacije mikroklime v proizvodnji podjetja Emo orodjarna. Osredotočili se bomo na avtomatizacijo sistema naravnega prezračevanja in regulacije temperature ter osvetlitve delovnih prostorov. V delu je predstavljen način s katerim reguliramo parametre mikroklime, star sistem nadzora in načrtovanje ter izvedba novega krmilja. Working conditions at workplace are called with one word microclimate. With it we summarize temperature, ventilatino, lightning and other parameters of work enviroment, wich values need to be within boundaries prescribed by law, for witch the employer is responsible. In thesis we will dedicate ourselves to automize microclimate in production in firm EMO orodjarna. We shall focus on system of natural ventilation and temperature regulation and lightning of work space. In thesis we present the method of regulating parameters of microclimate, the old control system and planning and implementation of new controls.

Pri izdelavi laserskega gravirnega CNC-stroja smo se srečali s konstruiranjem in tudi izdelavo stroja. Zaradi kompleksnosti delovanja stroja je bilo treba najprej narediti virtualni model, nato pa smo lahko izdelali fizični stroj. Stroj deluje na principu gibanja mostu, zato smo potrebovali zelo toga vodila v smeri x osi, kar zahteva močnejšo in težjo konstrukcijo. Elektronika oziroma krmilni del skrbi za vodenje motorjev in upravljanje ukazov, ne smemo pa pozabiti tudi na končna stikala, ki skrbijo za varnost stroja ter delavca. Elektronika je vgrajena v ločeno omarico, saj na samem stroju ni prostora zaradi gibanja mostu stroja. Za preizkus delovanja smo uporabili vektorsko sliko oziroma napis, ki smo ga nato s programskim paketom GRBL verzije 1.1 uporabili za programiranje izdelave izdelka. This work presents the construction and manufacturing of CNC laser engraving machine. Due to the complexity, a virtual computer model of the machine was constructed. Then, an actual machine was manufactured. Because the machine works on the principle of a moving bridge, rigid guides were needed for X-axis movements, resulting in stronger and heavier construction. For machine control and program’s execution dedicated electronics were used. Also, end-switches and other safety elements were integrated into the machine. Electronics were installed into separate housing, due to the lack of space caused by machine’s bridge movement. For machine testing a vector image was used to programme the part’s engraving inside GRBL version 1.1 software package.

V okviru magistrske naloge je izdelan hidravlični sistem s položajnim in avtomatičnim vodenjem pomika batnice vertikalnega hidravličnega valja z aktivnim nastavljanjem hitrosti. Vodenje je izvedeno s pomočjo računalnika z ustreznim programskim vmesnikom in industrijskem krmilnikom . Izdelana je vizualizacija celotnega procesa katera omogoča njegov popolni nadzor. Poleg hidravličnega valja in računalnika, ključne komponente pri izvedbi sistema predstavljajo elektrohidravlični proporcionalni potni ventil in inkrementalni dajalnik. V smiselnem zaporedju je prikazana zasnova in izvedba celotnega sistema, ki vsebuje načrte električne priključitve naprav z industrijskim krmilnikom Siemens S7-1200. Celotnemu sistemu je dodan še brezstični način vodenja z mobilno aplikacijo »S7 PLC HMI«, katera uporablja Wi-Fi usmerjevalnik za komunikacijo med mobilnim telefonom in krmilnikom. Potek programiranja krmilnika je bil prilagojen vizualizacijskem okolju in mobilni aplikaciji, da se omogoči vzporedno vodenje celotnega procesa. Vertical hydraulic cylinder, controller, visualization, incremental encoder, electrohydraulic proportional travel valve, mobile application, PLC.

Osredji cilj diplomske naloge je bil izdelati sistem krmiljenja preoblikovalnega sistema s štirimi pnevmatskimi valji. Pnevmatski valji naj bi bili krmiljeni s štirimi elektro-magnetnimi potnimi ventili. Vodenje in obdelava signalov je bilo izvedeno s pomočjo programsko–virtualnega krmilnika, ki je bil povezan z obdelovalnim procesom po komunikacijskem vmesniku, ki vsebuje I/O enote. V okviru diplomske naloge smo izdelali pnevmatski sistem z vsemi komponentami. Izdelali smo tudi nosilec za komunikacijski vmesnik, ožičili komunikacijski vmesnik in povezali vse vhodne in izhodne module s procesom. V programskem okolju smo povezali programski krmilnik s komunikacijskim vmesnikom in napisali krmilni program za obdelovalni proces v programu MULTIPROG ter v programu PC WORX EXPRESS. The main goal of my thesis was the development of a guidance system for a four pneumatic cylinder machining system. Guidance of the pneumatic cylinders was to be achieved with four solenoid valves. The signals were guided and processed with the help of a program – a virtual controller, connected to the machining process via a communication interface, which included the I/O units. Within the work, done for the thesis, we constructed a pneumatic system with all the necessary components. We also made a carrier for the communication interface, wired it up, and connected all the input and output modules with the process. We connected the program controller with the communication interface and used the programming system MULTIPROG and the engineering software PC WORX EXPRESS to write a guidance system for the machining process.

V diplomskem delu je opisan projekt vodenja pnevmatskega procesa z industrijskim krmilnikom po komunikacijskem vmesniku. Obe napravi sta različnih proizvajalcev in komunicirata z uporabo Modbus TCP/IP komunikacijskega protokola, ki sloni na lokalnem ethernet omrežju. Opisane so uporabljene komponente, programska oprema, montaža in vezava. Opisan je način konfiguracije komunikacijskega vmesnika in navodila za simulacijo Modbus TCP/IP povezave z uporabo računalnika. Zapisana so natančna navodila za konfiguracijo krmilnika S7-1200 v TIA Portalu in opis krmilnega programa. This paper is describing the control of the pneumatic process with an industrial controller with a bus coupler. Both devices are made by different manufacturers and use Modbus TCP/IP communication protocol over a local ethernet network. This paper describes used components, software, assembly and wiring. It includes a description of the configuration of the bus coupler and instructions on how to test the Modbus TCP/IP connection of a device. It provides detailed instructions of controller configuration for Modbus connection in TIA Portal and a description of the user program.

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.

Magistrsko delo opisuje smernice za vgradnjo kolaborativnega robota. Področje kolaborativne robotike je novo področje študija in preiskave mejnih vrednosti še potekajo. V industriji se takšne aplikacije redko pojavijo, saj je to področje še nedorečeno. Trenutna odkritja in smernice so opisane v tehnični specifikaciji ISO/TS 15066:2016. Pomembne informacije iz tehnične specifikacije ISO/TS 15066:2016 so predstavljene v magistrski nalogi. Opisana je nastavitev varnostnih parametrov na robotu FANUC in Universal Robots. Na podlagi informacij tehnične specifikacije je prikazan primer določitve ustrezne sile in hitrosti kolaborativnega robota v kolaborativnem prostoru. The master's thesis describes the guidelines for the installation of a collaborative robot. The field of collaborative robotics is a new field of study, and investigations into limit values are still ongoing. In the industry, such applications rarely occur, as this area is still undetermined. Current discoveries and guidelines are described in the technical specification ISO / TS 15066: 2016. Relevant information from the technical specification ISO / TS 15066: 2016 is presented in the master's thesis. The setting of the security parameters for the FANUC and Universal Robots robot is described. Based on the technical specification information, an example is shown how to determine the appropriate forces and speeds of a collaborative robot in a collaborative space.

V času med industrijskimi revolucijami se veliko podjetij odloča za naslednji korak v avtomatizaciji proizvodnih procesov na reven povezljivosti, ki ponuja večjo produktivnost, kakovost in fleksibilnost. Ker je ta preskok velikokrat težko predstavljiv, je cilj magistrskega dela na teoretični osnovi in na primerih že utečene prakse pokazati potrebne korake oz. ključne spremembe za doseganje želenih rezultatov v čim krajšem času in ob čim hitrejši povrnitvi vloženih sredstev za izvedbo prestopa v industrijo 4.0 in s tem tovarno prihodnosti. At the edge between two industrial revolutions, many companies are deciding to make the next step in automating their production processes, to the level of connectivity, which offers more productivity with better product quality and flexibility to produce more individual products. But since this step is frequently hard to imagine, for companies, the target of that work is to present, the theoretical basis on proven practical industrial processes. What are the needed steps to achieve desired results, in shortest time and at quickest possible return of investment in to the industry 4.0 or future factory.

V nalogi so predstavljeni principi zasnove prilagodljivih robotskih sistemov. Opisani so posamezni sektorji, v vsakem pa je podrobneje prikazano, na kaj moramo biti pozorni, če želimo doseči prilagodljivost sistema. Opisani so idejni načini in nekatere izmed možnosti, katerim je med snovanjem nekega sistema smiselno dodati nekoliko večji poudarek. V nalogi je predstavljeno tudi, kako bi lahko tovrstni sistemi vplivali na tovarne prihodnosti in kako takšni sistemi vplivajo na kvaliteto izdelave. The paper presents principles for the design of flexible robotic systems. Each sector is described individually, each sector shows in more detailed look were we need to be careful and also were we need to pay moreattention if we want to achieve high flexibility of our system. Some ideas are described, some of the plausible options are presented, to which it is worthwhile to add a slightly greater emphasis when you design a system. The paper also presents how such systems could influence future factories and how such systems affect the quality of production.

Diplomska naloga opisuje avtomatizacijo obdelovalnega procesa MOFA. V diplomski nalogi so opisani sestavni deli obdelovalnega procesa in krmiljenja. Obdelovalni proces je sestavljen iz sklopa treh tekočih trakov in obdelovalnega stroja. Krmilni program je sestavljen v programu Tia portal, ki je nato simuliran s programom PLCSIM. Vizualizacija virtualnega zaslona je narejena s programom EasyBuilder pro. The bachelor´s thesis describes automation of the machining process MOFA. It additionally provides a description of the requirements for the machining process and control of it. Controling is built in Tia portal which is then simulated in PLCSIM. Visualization of the virtual display is built in EasyBuilder pro.

V diplomskem delu je opisan postopek zbiranja idej ter snovanja robotskega prijemala za manipulacijo plošč. Plošče se uporabljajo za izdelavo mobilnih hišk. Namen prijemala je prenašati različne dimenzije plošč z odvzemnega mesta na obdelovalno mizo ter čistilno napravo ter na koncu na odlagalno mesto. Prijemalo je sestavljeno iz aluminijastih profilov ter sklopov in komponent, ki so opisane v samem delu. This assignment is describing a process, the collection of ideas and the design of a robotic gripper for manipulation of plates. Panels are used for making mobile homes. The purpose of the gripper is to transfer the various dimensions of the plates from the extraction site to the working table and the cleaning device, and finally to the storage site. The gripper is made of aluminum profiles, and the assemblies and components are described in the section itself.

Pomembno področje razvoja v robotiki so novi pristopi k učenju robotov, ki bi njihovo uporabo približali ljudem brez strokovnega znanja iz robotike. V Projektnem delu je predstavljen princip vodenja robotske roke na podlagi kretenj rok uporabnika. Za zajem kretenj rok smo izbrali senzorski zapestnici Myo Armband, ki nam nudita meritve pospeška, kotne hitrosti in smeri magnetnega polja, iz katerih algoritem senzorske fuzije izračuna orientacijo v prostoru. V projektu smo predstavili možno teoretično razlago algoritma združevanja meritev za pridobivanje orientacije. Na podlagi informacije o orientaciji obeh zapestnic smo razvili kinematični model človeške roke in ga simulirali v simulacijskem programu V-REP. Algoritem vodenja s pomočjo kretenj in kinematičnega modela človeške roke smo preizkušali na simulaciji robotske roke Kinova Mico. Rezultate simulacije vodenja robotske roke s kretnjami smo predstavili v obliki videa. In this project we present a method for intuitive control of a collaborative robotic arm using hand and arm gestures performed by the user. The proposed system uses two Myo Armband units to capture the motion of the arm and a personal computer to process the measurements and simulate the motion of the Kinova Mico manipulator in the V-REP simulation environment. Arm motion is captured by recording orientation of both Myo Armband units. A mathematical model of the human arm is built in order to compute the target position for the robot to reach. The resulting simulation is presented in video form as well.

Magistrsko delo predstavlja izboljšavo procesa robljenja kap visokonapetostnih varovalk v proizvodnji varovalk. Varovalke so pomemben člen v elektrotehniki, saj ščitijo tokokrog pred preobremenitvami. Predstavljene so visokonapetostne varovalke in njihove lastnosti, ki so pomembne za proces robljenja. Model konstrukcije naprave je vodilo za izbiro in modeliranje novega pogonskega sklopa. S pomočjo programske opreme Matlab Simulink je zgrajen model procesa in posnet simulacijski odziv. Zadnji del magistrskega dela opisuje potek avtomatizacije novo zgrajene naprave. Opisane so uporabljene komponente, programska oprema, programiranje in programska struktura. Nova naprava je bila predana v proizvodni obrat. Master’s thesis represents an improvement of caps folding process on high-voltage fuses in fuse manufacture. Fuses are important components in electrical engineering, as they protect the electrical circuits from overloads. High-voltage fuses and their properties, which are important for the folding process, are presented. The design of the device is guide for selecting and modeling a new drive assembly. Using the Matlab Simulink software, a process model is built and a simulation response is recorded. The last part of the master's thesis describes the procedure of automation. The components, software, programming and program structure are described. New device was transferred to the production plant.

Magistrsko delo obravnava celovito avtomatizacijo montažnega stroja za natikanje protiprašnih obročev na homokinetične zglobe, ki je bil zaradi nestabilnega delovanja odstranjen iz proizvodne linije. V začetni fazi dela je opisan celoten stroj, ki smo ga avtomatizirali. V magistrskem delu smo izvedli predelavo stroja z namenom izboljšanja njegove funkcionalnosti. Analizirali smo trenutno stanje stroja ter na podlagi rezultatov izbrali ustrezne komponente, ki bodo uporabljene pri obnovi stroja. Skozi nalogo so opisani potek avtomatizacije stroja od začetne konfiguracije izbranih komponent dalje, parametrizacija servo pogona, kreiranje uporabniškega vmesnika ter struktura napisanega programa. Zadano nalogo avtomatizacije stroja smo uspešno izvedli, saj je stroj uspešno izvedel svojo nalogo na testnih kosih. Iz vidika avtomatizacije je stroj pripravljen za ponovno implementacijo v proizvodno linijo. The master's thesis presents complete automation of the assembly machine for attaching dust shield onto homokinetic joints. The machine was previously removed from the production line because of the unstable operation. In the first part of the thesis the entire machine that we afterwards automated is described. In the main part of the thesis the machine reconstruction is presented. The aim of the reconstruction was the improvement of its functionality. We analysed the current state of the machine and on the basis of the results we chose the appropriate components to be changed. In the thesis the procedure of the machine automation is described. The description includes base configuration of the chosen components, parametrization of the servo drive, creation of the user interface and the structure of written program. The automation was successfully completed, because the machine managed to assemble the test parts. From the automation aspect the machine was ready for re-implementation into the production line after the reconstruction.

V laboratoriju za industrijsko robotiko je bil izdelan nov učni laboratorijski ravninski dvoosni robotski mehanizem z namenom izboljšave že obstoječega, ki se uporablja za učni proces. Izvedena je bila analiza mehanskega dela robota, implementacija gibalnih enačb, sestava krmilnega sistema, snovanje krmilnega programa in programa za uporabniški vmesnik. Z eksperimentalnim delom so bile potrjene osnovne zahteve o transparentni in didaktični uporabi s poudarkom na razumevanju in varnosti programske ter mehanske opreme. Rezultat dela je spremljanje in vodenje robota preko uporabniškega vmesnika ter ustrezno vodljiv robot v smislu krmilnega sistema s kasnejšo možnostjo nadgradnje. In the laboratory for industrial robotics, a new educational laboratory planar two-axis robotic mechanism was created with the aim of improving the already existing one used for the learning process. An analysis of the mechanical part of the robot, the implementation of motion equations, the composition of the control system, the design of the control program and the user interface program were performed. By experimental work, the basic requirements for transparent and didactic use were confirmed, with an emphasis on the understanding and safety of software and mechanical equipment. The result of the work is monitoring and controlling the robot via the user interface and an appropriately guided robot in terms of a control system with a later option of upgrading.

Diplomsko delo zajema načrtovanje in izdelavo robotskega mehanizma namenjenega uporabi v eksperimentalne namene. V sklopu dela so predstavljene inženirske metode, kot so: analiza mehanizma s klasično mehaniko, simulacija dinamičnega modela, 3D modeliranje ter izdelava na obdelovalnem stroju. Utemeljena je zgradba sestavnih sklopov in izbira standardnih ter pogonskih elementov. Na koncu pa so predstavljeni rezultati, ki obsegajo opis lastnosti mehanizma, ter natančnosti izdelave. Končni izdelek je pokazal, da je dobro zasnovan, vendar je še prostor za izboljšave predvsem pri metodi izdelave. This diploma thesis covers the planning and production of the robotic mechanism, intended for use in education for experimental purposes. The thesis presents engineering methods utilized in the design process of robotic mechanism like analysis of mechanism with classical mechanics, simulation of dynamic models, 3D modelling in CAD and manufacturing on a 3 axis CNC machine. Individual mechanical machined parts that build up mechanism components (e.g. rotational axis), selection of standard machine elements and selection of electrical drive motors are all described. The concluding chapter presents results, which encompass description of mechanical properties and accuracy of machined parts. Final product has a good design but there are still thing to improve, especially in machining methods.

V diplomski nalogi je predstavljena idejna zasnova proizvodne linije, ki jo sestavlja namenska elektronika, s pomočjo robotskega manipulatorja ABB IRB 120. S pomočjo simulacije v programskem okolju RobotStudio je prikazano delovanje robotske celice. V programu Solidworks pa je prikazana celotna proizvodna linija, prav tako pa so opisani sklopi linije za sestavljanje elektronskih komponent. Podan je stroškovni preračun za realizacijo robotske celice. Rezultat je vizualni prikaz celotne linije v programu Solidworks in simulacija robotskega manipulatorja v programu RobotStudio. Sestavljanje namenske elektronske komponente je s tem avtomatizirano, in bi s tem nadomestilo vsa ročna dela do izgotovljenega končnega produkta, ki je pripravljen za izvoz. The thesis presents a conceptual design of a production line. The production line is used for assembling custom electronics by using the robotic manipulator ABB IRB 120. The simulation of the robotic manipulator is shown in the program environment RobotStudio. The whole production line is displayed in Solidworks. The stations of the production line are described for assembling the custom electronics. The cost calculation for the realization of the robotic cell is given. With the help of modern CAD programs, the whole production line is displayed and the simulation of action is shown in RobotStudio. The assembly of the custom electronics with the robot is now automated and is replacing all manual work for finishing the final product which is ready for export.

Namen diplomskega dela je razviti sistem varčevanja z električno energijo v programskem okolju TIA portal za Siemensov krmilnik. Krmiljenje tega sistema mora biti dostopno preko zaslona na dotik in preko internetne povezave. V prvem delu diplomskega dela je na kratko predstavljeno programsko okolje TIA portal, kjer je program kreiran, Siemens krmilnik preko katerega deluje sistem in vse ostale komponente, ki so za delovanje sistema uporabljene. Drugi del diplomske naloge je osredotočen na programiranje, zgradbo, delovanje želenega programa in povezavo z internetnim strežnikom. The aim of this task is to develop how to save electric energy in software environment TIA portal for Siemens ‘s controller. Controlling this system must be accessible over touch screen as well as over internet connection. In First part of the thesis is in generally presented the software environment TIA in which was the program created, Siemens controller trough which the system works and all the other components, which are used to operate the system. The second part of the thesis is focused on programming, composition, operation of the desired program and connection to the internet server.

Diplomsko delo se nanaša postopek prvega zagona lesnoobdelovalnega stroja, ki ga proizvaja podjetje Ledinek d.o.o. Natančneje bo diplomsko delo obravnavalo pripravo frekvenčnih pretvornikov in zagon stroja, ki ga je potrebno izvesti fizično na stroju na podlagi predhodno zasnovanega programa. Obravnavan bo stroj Superplan z oznako 6VR+4F-S200, ki zajema šest obdelovalnih valjev ter štiri fazne valje, ki lesu dodajo končno obliko. Pred pričetkom zaganjanja je potrebno pravilno pripraviti frekvenčne pretvornike, ki krmilijo elektro motorje. To bomo naredili s pomočjo programskega orodja Lenze easy starter. Za diagnostiko programa se bo uporabljal program podjetja Siemens, ki je zasnovan posebej za namen avtomatizacije proizvodnih procesov in se imenuje TIA portal. Končni produkt ob katerem lahko programer zaključi svoje delo na stroju je pravilno skobljan les, ki ima temu primerno obdelano površino in v mejah tolerance izmerjene dimenzije. The thesis refers to the process of the first start – up of woodworking machine produced by company Ledinek d.o.o. More specifically, the thesis will deal with commissioning of frequency controllers and start – up of the machine, which must be performed physically on the machine based on a pre – designed program. The Superplan machine with the code 6VR+4F-S200 will be considered, which contains six working rollers and four phase rollers, which gives the final shape to the wood. Before start – up, the frequency controllers that control the electric motors must be properly prepared. We will do this with the help of the Easy – starter Lenze software. For the program diagnostics, the Siemens program, which is designed for automation of production processes and is called the TIA portal, will be used. The final product at which the programmer can complete his work on the machine is properly planed wood, which has a properly treated surface within the tolerance limits of the measured dimensions.

3D tiskanje je tehnologija izdelave fizičnih izdelkov s pomočjo FDM (fused deposition modeling) tehnologije. Objekt, ki ga lahko narišemo na računalniku, lahko izdelamo na določenem stroju. Obstajajo že konvecionalne izvedbe 3D tiskalnika, ampak njihova najslabša lastnost je delovno območje. Z uporabo industrijskih robotov, ki imajo ponovljivost 0,02 mm, se delovno območje zelo poveča, na ta način pa nismo več omejeni pri izbiri velikosti izdelka in izbiri materiala zaradi možnosti montaže večjih šob za tiskanje. Princip delovanja je dokaj enostaven, šoba se segreje na tališče plastike, nato koračni motor potiska plastiko skozi šobo, potem se robot premika po določenim koordinatami, na ta način pa se plastika postopoma hladi in izdelek gradi. 3D printing is technology for making physical objetcs using FDM (fused deposition modeling) technology. Object which we draw on a PC can easily be printed with 3D print on specific machines. There are already available variations of 3D printers on the market, but one of their greatest weaknesses is working area. With the use of industrial robots with pose accuracy of 0.02 mm we can make working area a lot larger, that way we eliminate the problem with too big models and types of material which we want to print, due possibility to put larger noozle on the top of the robot. Working principle is quite simple, noozle is heated up to plastic's melting point, then stepper motor squeezes plastic fillament through the noozle, and then noozle is moving so that it leaves hardened plastic behind making a 3D model.

Napredek človeškega razvoja v današnjem času temelji na razvoju postopkov, ki olajšajo potrebno delo za opravljanje nalog, ob tem pa je to delo potrebno opraviti v čim krajšem času z dosegom potrebne kvalitete. Diplomsko delo temelji na opisu razvoja programskega algoritma lesnoobdelovalnega skobeljnika, ki dosega zgoraj navedene determinante razvoja lesnoobdelovalne industrije. Omenjen strojni sistem, SUPERPLAN 6VR+4F-S200, je sestava strojnih elementov in električnih komponent, katere krmilimo oziroma reguliramo s pomočjo programirljivih logičnih krmilnikov (PLK). Omenjen krmilnik izhaja iz Siemensove serije krmilnikov ET 200SP, katerega programiramo s pomočjo programskega okolja, prej omenjenega podjetja Siemens, TIA Portal V14. V nalogi smo izdelali programsko strukturo, ki povezuje mehanske in električne komponente v avtomatiziran lesnoobdelovalni sistem gnan s pomočjo asinhronskih elektromotorjev, ki jih krmilimo oziroma reguliramo s pomočjo absolutnih merilnih letev za pomik ali inkrementalnih merilnikov zasuka. The advancement of technology is based on the development of processes that facilitate the work for certain tasks. At the same time, the work has to be done in the shortest possible time and with good quality. This diploma thesis is based on the design and implementation of the program algorithm for an industrial planing machine, which achieves the above mentioned determinants of development in the wood industry. The planer, SUPERPLAN 6VR + 4F-S200, is a combination of mechanical elements and electrical components regulated or controlled by Programmable Logic Controllers (PLC Controllers). The controller originates from the Siemens ET 200SP series, and was programmed with the software TIA Portal V14. All elements of the woodworking machine, from mechanical and electrical components to the algorithm on the controller, structure an autonomous system that is safe, accurate and effective in its work.

Pri načrtovanju procesa mehanske obdelave z odrezovanjem je eden ključnih vplivnih faktorjev obraba orodja, ki nastane kot posledica delovanja različnih sil med procesom obdelave. V skladu z modernizacijo sodobne proizvodnje magistrsko delo vključuje razvoj optične merilne celice za nadzor in meritev rezalnega orodja. Le-ta pa zajema načrtovanje, konstruiranje in izdelavo merilne celice, ki omogoča pritrditev kamere in njen premik v x in y smeri, ter ustrezno vpetje orodja. Vključuje tudi implementacijo algoritma za zajem slike s kamere ter njeno obdelavo z detekcijo robov, pretvorbo koordinatnega sistema kamere v koordinatni sistem orodja ter pretvorbo slikovnih pik v milimetre. Končni izhodni parameter meritve je vrednost x in y komponente konice rezalnega robu. When we are planning a machining process, tool wear is one of the key influential factors. It occurs because of the various forces at work during the machining process. In accordance with the modernization of present-day production, this master's thesis includes the development of an optical measurement cell for controlling and measuring the wear of the cutting tool. This demands the planning, construction, and preparation of a measurement cell that enables the camera to be attached, the x and y values to be modified, and the tool to be adequately fitted. It also entails the implementation of an algorithm for acquiring an image from the camera, processing the image by means of edge detection, converting the camera’s coordinate system into the coordinate system of the tool, and converting pixels to millimeters. The final output parameter of the measurement are the x and y values the tip’s cutting edge.

Diplomsko delo se osredotoča na problematiko ročnega rezanja talnih oblog s pomočjo tapetniškega noža. Zaradi želje po hitrejši proizvodnji, večji ponovljivosti in večji natančnosti, obenem pa tudi zmanjšanju obremenitve delavcev pri tem delu ter preprečitvi poškodb smo se v podjetju Arcont d.d. odločili za avtomatizacijo rezanja talnih oblog. Za računalniško modeliranje smo uporabili programski paket SolidWorks, s pomočjo katerega smo načrtovali in izdelali približni model končnega stroja. V nadaljevanju je bilo potrebno razviti ustrezno električno vezje za doseganje želene avtomatizacije in upoštevanje varnosti pri delovanju stroja. Na koncu je bilo potrebno celoten projekt tudi realizirati. Rezultat je stroj, ki je avtomatiziral postopek ročnega rezanja talnih oblog. Ta rešitev je izboljšala delovne pogoje delavcev in pripomogla k večji produktivnosti. The thesis focuses on the problem of manual cutting of floor coverings with the aid of a upholstery knife. Due to the desire for faster production, higher repeatability and greater accuracy, while at the same time reducing the burden on workers in this work and preventing injuries, we at Arcont d.d. decided to automate the cutting of floor coverings. For computer modeling we used the SolidWorks software package with the help of which we designed and produced an approximate model of the final machine. In the following, it was necessary to develop an appropriate electrical circuit for achieving the desired automation and taking into account the safety of the machine. In the end, it was necessary to realize the whole project as well. The result is a machine that automated the process of manual cutting of floor coverings. This solution has improved the working conditions of workers, while at the same time it has helped to increase productivity.

V diplomskem delu je predstavljena izvedba projekta izdelave avtomatizirane naprave za doziranje in nameščanje pokrovov na plastično embalažo po naročilu. Projekt obsega celotno izdelavo, od same ideje do končnega izdelka. Predstavljeno je načrtovanje mehanskega dela v SolidWorksu, načrtovanje električnega dela v Eplanu, krmiljenje s programirljivim logičnim krmilnim (PLK) sistemom in izdelava avtomatizirane naprave. Podani so opisi končnega testiranja ter vsi problemi, ki so se pojavili. This diploma thesis deals with the implementation of a project for the production of an automated device for dispensing and installing covers on plastic packaging by order. The project covers the whole production, from the very idea to the final product. In this thesis, I present the design of mechanical work in SolidWorks, electrical work planning in Eplan, controlling with programmable logic controller (PLC) system and production of an automated device. Final test descriptions are given, as well as the problems that I have encountered.

V diplomskem delu je predstavljena idejna zasnova učnega centra Lunta, razdeljena na več posameznih celic z možnostjo raznolikega izobraževanja na področju avtomatizacije in robotizacije. Glede na geometrijo prostora smo skupaj s podjetjem določili razpored robotskih celic ter postavitev komponent (robotov, transportnih sistemov in krmiljenja). Robotske celice so bile naprej zasnovane v 3D-modelirniku SolidWorks, nato pa je bila narejena animacija v programskem okolju RobotStudio. In the diploma thesis the conceptual design of the Lunta Learning Center is presented, which is divided into several individual cells, with the possibility of diversified education in the field of automation and robotization. Together with the company we determined the layout of the robot cells and the layout of the components (robots, transport systems and controls) depending on the geometry of the space. Robotic cells were further designed in the SolidWorks 3D model software environment, and the animation was carried out in the RobotStudio software environment.

V diplomskem delu je predstavljen potek avtomatizacije procesa. Proces je bil predstavljen na delovnem mestu »Reparatura«. Na njem je paleta krožila po vnaprej določenih tehnoloških zahtevah. Za snovanje programa sem uporabil SIEMENS-ovo programsko okolje TIA portal, ki je v nadaljevanju opisan. Poleg transporta palet je delovno mesto vsebovalo še RFID sistem in čitalca črtne kode. Konfiguracija obeh elementov v program je opisana v jedru. Celoten proces je bil izveden na krmilniku S7-315 2PN/DP. In the diploma work, I have described a course of automatisation of a particular process. This process has been presented at a work station called "Reparatura". On it, the pallet was circling on beforehand specified technological instructions. In making of the programme, SIEMENS programming environment TIA portal, which is described in detail later in the work, was used. Aside from transport of pallets, the work station also included RFID system and a barcode scanner. Configuration of both is described in the body of my diploma work. The process was executed on the controller S7-315 2PN/DP.

V magistrskem delu je predstavljeno načrtovanje in izdelava robotizirane obdelovalne celice. Opisana sta stružnica in robot, njuno delovanje, transportni trak, ter delovanje celice. Celica je načrtovana z uporabo standardnih in nestandardnih strojnih elementov. Nestandardni strojni elementi so konstruirani s pomočjo programskega paketa CATIA in Mastercam. Predstavljena je izdelava transportnega traku za surovce in obdelovance. Avtomatizacija strege obdelovancev se je izkazala kot uspešna investicija v proizvodnji. Količina proizvedenih kosov na časovno enoto se je povečala. Zaposleni so se razbremenili z monotonim delom. Prihranek je na času in denarju, ter povečala se je dodana vrednost. The thesis presents the design and manufacture of a production cell. Described are the lathe and robot, their function, conveyor belt and function of the production cell. The cell consists of standard and non-standard machine elements. The nonstandard machine elements were designed by using CATIA and Mastercam software package. The thesis also presents the manufacture of the conveyor belt for the stock and finished parts. The automation of machine tending in production has proved to be a successful investment. The amount of produced pieces per time has increased. The employees are relieved of monotonous work. The savings are in time and money. In addition, the added value has increased.

V zaključnem delu je s praktičnega vidika predstavljen potek avtomatizacije ter analiza delovanja naprave za sestavljanje in pakiranje dvodelnih fasadnih sider. Potreba po napravi se je pojavila v podjetju, ki je začelo s proizvodnjo omenjenega produkta, zaradi neekonomičnosti ročnega sestavljanja in pakiranja. Opisana je mehanska zgradba naprave ter delovanje posameznih sklopov in njihova funkcija v procesu sestavljanja. Na enak način so predstavljene uporabljene komponente elektro-pnevmatskega krmilja in njihove specifike ter način in posebnosti programiranja krmilnika in uporabniškega vmesnika. V zadnjem delu je poenostavljeno prikazan ekonomski vpliv naprave na poslovanje podjetja, analiza časa cikla ter možnosti izboljšav na napravi v prihodnje Master's thesis shows practical point of view for whole process of automatization and analysis of insulation anchor assembling and packing machine. Need for such machine came from company that started producing mentioned product because of economic reasons regarding assembly and packing. Described is mechanical part of machine, function of each subassembly and its role in process of anchor assembly. In the same way are described components of electro-pneumatic control system and their specific properties as well as methods for control system and user interface programming. In last part there is also a simplified calculation of economic effect of machine for the company using it, analysis of machine cycle time and improvement proposals for future.

Magistrsko delo je smiselno razdeljeno na dva dela: modeliranje socialnega robota in načrtovanje osnovnega programskega paketa, ki smo ga definirali v prvem delu. Modeliranja sistema smo se lotili z uveljavljenimi orodji programskega inženirstva. Dokument zahtev je sestavljen iz zapisa zahtev, identifikacije in analize zahtev, specifikacij, modeliranja sistema s pomočjo grafičnih orodij in validacije zahtev. Zahteve socialne robotike oz. socialnega robota so zapisane s pomočjo sociološkega vidika socialne robotike. Identifikacija in analiza sta pravzaprav tekstovno modeliranje, med katerim smo definirali orodja in pristope implementacije. S pomočjo uveljavljenih grafičnih orodij smo zagotovili lažjo interpretacijo statičnega in dinamičnega obnašanja sistema, z validacijo pa smo ugotovili, ali smo modelirali pravi sistem. V drugem delu smo se lotili načrtovanja osnovnega programskega paketa, ki nam kasneje omogoča lažji razvoj inteligentnih funkcij. Gre za skupek programskih modulov, ki zagotavljajo osnovne motorične in kognitivne sposobnosti robota. Master thesis is divided in two parts: social robot modeling and primary software package design, which was designed in the first part. In first part system modeling was carried out with established software engineering tools. Requirements document consist of requirements, identification and analysis of requirements, specifications, modeling of the system with graphical tools and requirements validation. Social robot requirements were composed with help of sociological aspect of social robotics. Identification and requirements analysis are actually textual modeling, in which tools and implementation approaches were defined. With help of established graphic tools, static and dynamic behavior of the system is presented. By validation, whether the right system was modeled is determined. In second part primary software packaged is designed. Primary software package is set of software modules and functions that provide the basic motor and cognitive abilities of the robots and later serves as platform for developing intelligent functions.

V tem diplomskem delu bomo predstavili MKE-simulacije mehanskih obremenitev elementov vzmetnega mehanizma s programom Solidworks. MKE-simulacija je metoda za analizo lastnosti neke geometrije in odziva te na neko obremenitev. Te simulacije bomo kreirali za tri elemente vzmetnega mehanizma, ki je v našem primeru tečaj zamrzovalne skrinje. Ti elementi so izpostavljeni različnim vrstam obremenitev in imajo različne zahteve. S pomočjo simulacij po MKE-metodi bomo presodili, ali so elementi primerno dimenzionirani na podlagi primerjalne napetosti po von Misesu. Najpodrobneje bomo predstavili nastavitvi mreže in robnih pogojev, saj najbolj izrazito vplivata na pravilnost rezultatov. Prav tako bomo predstavili simulacije elementov vzmetnega mehanizma s statičnimi in nelinearnimi analizami in njihove nastavitve. Predstavili bomo rezultate teh simulacij, ki potrjujejo primernost dimenzioniranja elementov vzmetnega mehanizma. Ugotovili bomo, da lahko Solidworksov simulacijski paket uporabimo za veliko število primerov, vendar ne moremo simulirati nekaterih zahtevnejših pojavov). This thesis will present FEA simulations of mechanical loads on the elements of a spring mechanism using Solidworks. FEA simulations are a method for analyzing the properties of a geometric shape and the response of this geometric shape to a load. These simulations will be created for three elements of the spring mechanism, which is a spring-loaded hinge of a freezer. These elements are exposed to different kinds of loads and have different requirements. Using FEA simulations, it will be determined if the elements are properly dimensioned according to the von Mises stress criterion. The thesis will focus on the parameters used for meshing and creating fixtures, as these two parameters have the greatest effect on the final results. It will also present the simulations of the spring mechanism elements with static and non-linear analyses, and their parameters. It will present the results of these simulations which confirm that the elements are properly dimensioned. It will be established that the simulation package included in Solidworks can be used in many cases, however there are some complex effects which cannot be simulated.

V diplomski nalogi sem predstavil svoj projekt integracije twin-turbo sistema v turbodizelski motor. Namen naloge je bil vgraditi razmeroma novejši način polnjenja zraka v starejši avtomobil. Gre za predelavo, ki je na trgu predelave dizelskih motorjev še razmeroma redka, pa naj govorimo o cestnih ali dirkalnih projektih. Rezultat predelave je pogonski agregat, ki med vožnjo nudi dovolj moči v čim večjem področju vrtljajev motorja. Med izdelavo naloge sem spoznal, da le predelava sistema za dovajanje zraka v motor ne zadostuje, vendar sem prišel do končnega izdelka uspešno, v obliki avtomobila, ki je primeren za vsakdanjo rabo in hkrati nudi dovolj moči tako za vsakdanje užitke kakor tudi za določene dirkaške namene. V diplomski nalogi sem predstavil svoj projekt integracije twin-turbo sistema v turbodizelski motor. Namen naloge je bil vgraditi razmeroma novejši način polnjenja zraka v starejši avtomobil. Gre za predelavo, ki je na trgu predelave dizelskih motorjev še razmeroma redka, pa naj govorimo o cestnih ali dirkalnih projektih. Rezultat predelave je pogonski agregat, ki med vožnjo nudi dovolj moči v čim večjem področju vrtljajev motorja. Med izdelavo naloge sem spoznal, da le predelava sistema za dovajanje zraka v motor ne zadostuje, vendar sem prišel do končnega izdelka uspešno, v obliki avtomobila, ki je primeren za vsakdanjo rabo in hkrati nudi dovolj moči tako za vsakdanje užitke kakor tudi za določene dirkaške namene.

Diplomsko delo razvojnega tipa je usmerjeno v premišljeno izbiro komponent in opreme, konstruiranje posameznih podsistemov ter fizično realizacijo projekta avtomatizirane kontrole kuhališč na proizvodni liniji, podane s strani naročnika: Gorenje d. d., Program kuhalnih aparatov. Opisana so teoretična izhodišča, potrebna za razumevanje izvajanja kontrole varnosti in funkcionalnosti indukcijskih kuhališč. Namen diplomskega dela pa je ustvariti celovito napravo za izvajanje varnostnih in funkcionalnih preizkusov po vseh standardih in zakonodajah, ki bo delovala varno in učinkovito ter s tem pripomogla k varnejšemu končnemu izdelku ter lažjemu izvajanju testov na proizvodni liniji. The developement type of the diploma thesis is oriented in a well thought out selection of components and equipment , the construction of the individual subsystems and the physical realisation of the project of the automated control of cooking plates on the production line, given by the client: Gorenje d. d., The Programme of Cooking Appliances. There are some theoretical basics described, that are necessary for understanding the implementation of safety inspection and functionality of induction cooking plates. The purpose of the thesis is to create a comprehensive device for the implementation of safety and functional tests, following all the standards and legislations, that will work safely and efficiently, and thereby contribute to a safer end product and an easier implementation of the tests on the production line.