Uporaba industrijskega robota v kolaborativnem načinu za vijačenje in montažo žarometov - Čoš, Beno (B. Čoš, 2023)
Diplomska naloga opisuje konstrukcijo in izgradnjo avtomatske naprave za vijačenje. V teoretičnem delu naloge so predstavljene kategorije sodelujočih robotskih sistemov in varnostna izhodišča, ki so upoštevana v sami aplikaciji. Predstavljeni so še ostali glavni sestavni deli robotske celice, kot so PLK, vijačnik, podajalnik vijakov, svetlobna zavesa, pnevmatski elementi in konstrukcija naprave. V nadaljevanju so predstavljeni gradniki robotskega programa, opisani različni ukazi za premikanje robota, grafično določanje TCP v programu RobotStudio, uporaba in prednosti delovnih koordinatnih sistemov in način izmenjave podatkov s PLK-jem. Podrobno je opisan robotski varnostni krmilnik, način določitve varnostnih območij in uporabljene varnostne funkcije, ki zagotavljajo varno delovanje naprave. Sledi predstavitev celotne sekvence izdelane vijačne naprave. In this thesis the design and construction of an automated device for screw tightening is presented. The safety viewpoints, embedded into the implementation, are presented in the theoretical part of the thesis, as well as the description of the remaining main components of the robotic cell – the PLC, the screwdriver, screws feeder, safety light curtain, pneumatic components and the design of the device. This is followed by the detailed description of the robot programming, graphical definition of TCP, major benefits of using workobjects, and data exchange with the PLC. Programming of the robot's safety controller and the used safety functions which ensure safe operation of the device are described in detail. At the end the entire sequence of the device's operation is presented.