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U ovom diplomskom radu obrađena je konceptualna ideja skidanje srha pomoću kolaborativnog robota. Srh je prisutan nakon velikog broja primarnih postupaka proizvodnje, poput lijevanja, kovanja i štancanja. Skidanje srha ne zahtjeva velike obradne snage, pa investiranje u zaseban CNC sustav obrade često nije isplativ. Lakše dostupni (i jeftiniji) kolaborativni roboti pružaju mogućnost 5-osne obrade. U sklopu ovog rada, za primjer obrade uzima se aluminijski naplatak. Za potrebu ovog rada prema materijalu obrade projektirana je obradna glava koja ima mogućnost 5-osne obrade naplatka. Odabran je rezni alat, proračunat pogon i osmišljen cjelokupan elektronički dio koji upravlja obradom. Konstruirana su kompaktna kućišta koja štite i povezuju sve komponente potrebne za obradu. Temeljem toga izrađen je nefunkcionalni prototip modeliranog uređaja metodama aditivne proizvodnje. Za potrebe virtualne simulacije izrađen je 3D model dobivenog naplatka, iz kojega je izvučena putanja alata. Pomoću softverskog paketa Fusion 360 izrađen je program za 5-osnu strojnu obradu. Taj program pretvoren je u putanju unutar virtualnog okruženja RoboDK. Unutar RoboDK softvera izrađena je potpuna robotska stanica koja sliči stvarnom radnom prostoru UR5 robota. Pronađena je odgovarajuća konfiguracija robota, položaja naplatka i CAM postavke programa u kojima UR5 robot može izvršiti obradu skidanjem čestica. Generiran je program za CB2 kontroler stvarnog UR5 robota, na kojemu je simulirana obrada pomoću nefunkcionalnog prototipa obradnog vretena. In this diploma paper we deal with the conceptual idea of deburring using collaborative robots. Sharp edges are present after numerous primary production processes, such as casting, forging, and stamping. Deburring does not require a lot of machining power, so investing in a separate CNC machining system is often not viable. Easily available collaborative robots provide the ability for 5-axis machining. In this paper, an aluminum alloy wheel is taken as an example of machining. A machining spindle was designed that has the possibility of 5-axis machining of the wheel material. Based on the alloy material, a cutting tool was selected, and an electric motor drive was calculated. Entire electronic section that controls the machining spindle was developed. Compact housings has been constructed that protects and connects all components necessary for machining operation. Based on this, a non-functional prototype of the modeled device was produced using FDM methods. For the purposes of virtual machining simulation, a 3D model of the wheel was created, from which the tool path was extracted. A program for 5-axis machining was created using the Fusion 360 software package. Generated program is converted into a tool path within the RoboDK virtual environment. Within the RoboDK software, a full robot station is created that replicates in the real workspace of the UR5 robot. An appropriate configuration of the UR5 robot, wheel position and CAM settings within the program was found in which a robot can perform machining processing. A program was generated for the CB2 controller of an actual UR5 robot, on which machining was simulated using a non-functional machining spindle prototype. |
