Pre-assembly machine with two SCARA robots

V tem magistrskem delu je predstavljen stroj za predmontažo. Stroj sestavlja popolnoma avtomatizirano izdelek iz štirih osnovnih kosov. Končni izdelki, ki jih izdela stroj za predmontažo, se med sabo razlikujejo dimenzijsko, zato je bila zahtevana izdelava receptov za poljubno število različnih izdelkov. Predpisana sta bila cikel stroja in zahtevana končna kontrola izdelka. V prvem poglavju je predstavljeno trenutno stanje avtomatizacije in robotizacije v svetu. Sledi predstavitev dela in ciljev magistrske naloge. V drugem poglavju je predstavljena idejna zasnova delovanja celice, ki vključuje mehaniko stroja, elektriko in elektroniko, izbor robotskih mehanizmov ter zasnovo programa. Predstavljene so uporabljene komponente in pojasnjeni razlogi za njihovo ustreznost oz. izbor. Na koncu poglavja je predstavljena tudi programska oprema, ki smo jo potrebovali pri delu. Tretje poglavje predstavlja vso potrebno konfiguracijo robotov, krmilnika in drugih naprav za uspešno medsebojno komunikacijo in zahtevano delovanje. V nadaljevanju je predstavljena idejna zasnova programa in izpeljane programske rešitve. Obrazložene so tudi težave, ki so se pri tem pojavile, in njihove rešitve. Predstavljena je izvedba receptov ter delovanje diagnostike in logiranja. V zadnjem, četrtem poglavju so predstavljeni rezultati delovanja stroja. V tem delu obravnavamo dosežen čas cikla in kvaliteto izdelkov ter predstavimo možnosti za izboljšavo.In this master\u27s thesis, a pre-assembly machine is presented. The machine assembles in a full automat manes product from four basic pieces. The final products of the pre-assembly machine differ in dimensions from each other, so it was required to make recipes for an arbitrary number of different products. The machine cycle and the required final product control were prescribed in advance. The first chapter outlines the current state of automation and robotisation in the world, which is followed by a presentation of the work and objectives of this master\u27s thesis. The second chapter presents the conceptual design of cell function, including machine mechanics, electricity and electronics, the selection of robotic mechanisms and program design. The used components are presented and the reasons for their suitability are explained. At the end of the chapter, the software needed for work is also presented. The third chapter presents the entire configuration of robots, controller and other devices necessary for successful mutual communication and the required operation. Then, the conceptual design of the program and the derived software solutions are presented. The problems that arose and their solutions are also explained, which is followed by the presentation of the implementation of recipes, the operation of diagnostics and logging. The last, fourth chapter presents the results of machine operation. We discuss the achieved cycle time and product quality and we present the possibilities for improvement