Robotisation of mechanical processing

Fleksibilni proizvodni sistemi (FPS) omogočajo proizvodnjo različnih kosov v manjših serijah. Kompleksnejši so avtomatizirani in računalniško nadzorovani. Za mehansko obdelovalne FPS-je je značilna uporaba CNC-obdelovalnih centrov. Robot na mestu primarnega obdelovalnega stroja pomeni nov vidik pri načrtovanju FPS-ja. Testirali smo dva različna robotska sistema. Dvorobotski sistem, katerega del je pozicionirni in obdelovalni robot, smo programirali v Robotstudiu. Ta sistem ne omogoča izdelovanja orodnih poti, iz površin CAD-geometrije, za CNC-rezkanje. Obdelovalni proces z 12 prostostnimi stopnjami smo vodili preko krmilnega modula, ki zagotavlja usklajeno in sinhronizirano gibanje obeh robotov. Drugi sistem vsebuje enorobotsko celico z obdelovalno mizo. Pri tem smo uporabili visoko napredno CAM-tehnologijo, ki zelo poenostavi programiranje obdelovalnih poti orodja. Določitev ostalih tehnoloških parametrov je bila enostavna. Vanje spadajo: nedelovni gibi, vstop in izstop orodja iz obdelovanca idr. Verifikacija in simulacija orodnih poti omogočata vizualizacijo poteka obdelave do končnega izdelka. Po obeh sistemih smo izdelali zgornji pokrov violine in s primerjavo ugotovili, da je kljub podobnim mehanskim lastnostim vseh robotov, primernejša uporaba enorobotskega sistema. Pokazalo se je, da je mogoče doseči najboljšo izkoriščenost mehanskih lastnosti strojev in naprav z uporabo ustrezne programske opreme.Flexible manufacturing systems (FMS) enable production of various products in smaller series. Fully automated and computer controled production process is integrated for more complex FMS \u27s. Usualy, CNC machining centers are used as a machining tools within FMS. Introducing an industrial robot as a primary machining tool into FMS \u27s is considerably a new way of a system design approach. The application is demonstrated on the example of upper cover of a violin. Two different robotic systems were tested. Two-robotic system has positioning and machining robot programmed by Robotstudio graphical interface which does not support of making toolpaths out of surfaces from a CAD model for CNC milling. A single control module is processing 2 robots with 12 degrees of freedom to obtain fully coordinated and syncronized movements of two robots. The other system is a single robot cell with machining table. We applied highly advanced CAM technology for programming to simplify the whole process. Other technological parameters are easy to set - such as non cutting moves, engaging to and retracting from material, etc. Also verification and simulation of toolpath processing is taking place for better visualization of the final product. We produced upper violin cover by both systems to show, that not only highly advanced industrial robots with similar mechanical characteristics are enough, to achieve the desired machining quality. A proper use of right software for programming is necessary, to utilize all advanced characteristics, of any mechanical equipment, to obtain most efficient final product. In our case a single-robotic system gave us better final result