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Title:Načrtovanje virtualne in realne robotske celice za navarjanje z ATIG postopkom z robotom ACMA XR701
Authors:ID Leskovar, Jure (Author)
ID Vuherer, Tomaž (Mentor) More about this mentor... New window
ID Gotlih, Karl (Comentor)
Files:.pdf MAG_Leskovar_Jure_2015.pdf (8,06 MB)
MD5: BEDB891C5F959826C1EC44FDD805878B
 
Language:Slovenian
Work type:Master's thesis/paper
Typology:2.09 - Master's Thesis
Organization:FS - Faculty of Mechanical Engineering
Abstract:Magistrsko delo obsega najprej akcije, ki so potrebne za vzpostavitev robota ACMA XR701 za potrebe navarjanja. Najprej je bilo potrebno skonstruirati držalo varilnega gorilnika in pripravo za formiranje korena zvarnih spojev (zaščito korena). Slednja omogoča tudi zvezno nastavitev po višini, kar omogoča nastavljanje dolžine obloka pri navarjanju. Sledilo je ročno programiranje robota od točke do točke za potrebe navarjanja. Prav tako se je robot programiral v virtualnem krmilniku in od tu se je program prenesel na realnega robota v robotski celici. Tukaj je bilo potrebno odpraviti veliko problemov, saj za ta robot ne obstaja komercialni virtualni krmilnik. V ta namen je bil predhodno izdelan lasten virtualni krmilnik s pomočjo 3D skeniranja robota in vstavljanja kinematičnega modela robota [8] [3]. Ta krmilnik pa je za potrebe navarjanja imel nekaj pomanjkljivosti. Večina teh je s tem magistrskim delom odpravljenih. V nadaljevanju se je primerjalo klasično TIG navarjanje z ATIG navarjanjem na avstenitnem nerjavnem jeklu (304). Pri ATIG navarjanju se uporablja aktivni prašek, ki se nanese na površino pred navarjanjem, s tem se poveča globina navarjanja. V tej raziskavi sta bila uporabljena dva različna praška BC-31 (zelen) in QuickTIG (bel). Pri navarjanju se je izvedlo več navarov z različno jakostjo varilnega toka. Iz njih so bili izdelani makro obrusi, kjer se je izmerila geometrija navarov, trdota,  ferit in analizirala mikrostruktura. Rezultati so pokazali določene razlike med obema ATIG postopkoma navarjanja in določene prednosti ATIG postopka navarjanja pred klasičnim TIG navarjanjem. Velik vpliv na rezultate ima vnos toplote pri navarjanju oziroma jakost varilnega toka.
Keywords:ACMA XR701, Robot Studio, navar, brušenje, poliranje, jedkanje.
Place of publishing:Maribor
Publisher:[J. Leskovar]
Year of publishing:2015
PID:20.500.12556/DKUM-54660 New window
UDC:007.52:621.791(043.2)
COBISS.SI-ID:19118870 New window
NUK URN:URN:SI:UM:DK:E63DDIXR
Publication date in DKUM:02.10.2015
Views:1911
Downloads:187
Metadata:XML DC-XML DC-RDF
Categories:KTFMB - FS
:
LESKOVAR, Jure, 2015, Načrtovanje virtualne in realne robotske celice za navarjanje z ATIG postopkom z robotom ACMA XR701 [online]. Master’s thesis. Maribor : J. Leskovar. [Accessed 17 April 2025]. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=54660
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Secondary language

Language:English
Title:Designing of virtual and real robotic cell for cladding by ATIG process with ACMA XR701
Abstract:Master thesis firstly embraces actions, needed to restore the robot ACMA XR701 for the purpose of cladding. At first the robot gripper and a device for root forming of a weld (protection of weld root) had to be constructed. This device also allows fine continuous height setting, where the arc length is possible to adjust during cladding. What followed was hand mode point to point programming of the robot for the purpose of cladding. The robot was also programmed in a virtual controller and then this program was transferred to the real robot in the robotic cell. Here a lot of problems had to be solved, because commercial controller for this robot is not available or it does not exist. Especially for this purpose a proper virtual controller was previously made by 3D scanning the robot followed by inserting its kinematic model into virtual robot [8] [3]. This controller had a few disadvantages for the purpose of cladding. Most of them are solved in this master thesis. Then a comparison of the classic TIG cladding with the ATIG cladding on an austenitic stainless steel (304) was performed. An active powder is used at the ATIG cladding process, which need to be put on the surface before cladding. By doing this, the depth of cladding is increased. Two different active powders were used BC-31 (green) and QuickTIG (white) in this research. Numerous clads were made by different height of the welding current. Polished macro sections were made from these clads where the geometry, hardness and containment of  ferrite were measured and whole microstructures were analysed. The results showed some differences between both ATIG cladding procedures, as well as some advantages of ATIG cladding procedures against the classic TIG cladding. The heat input or the height of the current during cladding has significant influence into results.
Keywords:ACMA XR701, Robot Studio, clad, grinding, polishing, etching.


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