The main task of this master thesis is design of robotic deburring workcell. The thesis informs about basic requests of object deburring using industrial robots. From layout variants, the one most suitable is picked. Chosen variant contains proper clamping solution as well as deburring tool and safety requirements. The concept design of robotic deburring cell in 3D visualization is the result of this diploma thesis.

This master thesis deals with the efficiency improvement proposal of the deburring technology of the edge of the holes intersection inside of the given part. In the introductory chapter it deals with the introduction of Česká zbrojovka a.s. company, where the creation of this thesis took place. The definition of the fire guns, some of the special products of the CZUB a.s. company and the description of the given part are following. The third chapter contains the description of the current manufacturing process. In the second part the proposals of the possible technologies are listed along with their current state. In the end a technical-economic evaluation is accomplished.

<p>Volvo Aeros flygmotortillverkning i Trollhättan har infört ett antal nya detaljvarianter i produktionen. Detta har medfört att den robotcell som är avsedd att utföra en avgradningsoperation är i behov av uppdatering av både hårdvara och mjukvara. Denna rapport följer framtagningen av fixturkoncept som möjliggör att robotcellen kan användas även till de nya detaljerna. De förslag som arbetats fram sträcker sig från enklast möjliga till mer avancerade och nytänkande funktioner. Samtliga funktioner och koncept har genomgått gallringar i ett flertal steg. Förslagen har slutligen kombinerats och poängbedömts med konceptgenereringsverktyg till grund.</p><p>Efter en objektiv poängbedömning av sex olika koncept baserad på concept scoring visar sig två huvudgrupper med tre koncept i varje. Den ena gruppen bygger på en mer avancerad konstruktion med behov av två rotationsaxlar. Dessa medför ett flertal fördelar gällande effektivitet, men även påtagliga nackdelar vad gäller ekonomiska aspekter och idrifttagandetid. Den andra gruppen av koncept baseras mer på det befintliga fixturkonceptet. Detta medför fördelar gällande idrifttagandetid och kostnader.</p><p>Ett huvudkoncept som efter poängbedömningen visat sig mest lämpligt presenteras mer ingående och slutligen förs en diskussion gällande resultatets utfall samt rekommendationer till fortsatt arbete.</p> / <p>Volvo Aero’s aircraft engine manufacturing in Trollhättan has introduced a number of detail models into the production. As a consequence the robot cell dedicated to executing a deburring operation is in need of upgrading of both hardware and software. This report follows the development of fixture concepts that enables the robot cell to be used also for the new details. The proposals that have been developed range from the simplest to more advanced including novel functions. All the functions and concepts have gone through selection in multiple steps. The suggestions have finally been combined and evaluated with concept generation tools.</p><p>After an objective selection based on the concept scoring of six different concepts, the result can be divided into two main groups, each consisting of three concepts. The first group is a more advanced design with a need of two axes of rotation. These three concepts have several advantages when it comes to efficiency, but also obvious disadvantages when it comes to economy and production time. The second group of concepts is based on the fixture existing today. These three concepts are advantageous concerning production time and cost.</p><p>After the scoring process one main concept, judged to be the most suitable is presented more thoroughly. Finally the results as well as recommendations for continued work are discussed.</p>

Volvo Aeros flygmotortillverkning i Trollhättan har infört ett antal nya detaljvarianter i produktionen. Detta har medfört att den robotcell som är avsedd att utföra en avgradningsoperation är i behov av uppdatering av både hårdvara och mjukvara. Denna rapport följer framtagningen av fixturkoncept som möjliggör att robotcellen kan användas även till de nya detaljerna. De förslag som arbetats fram sträcker sig från enklast möjliga till mer avancerade och nytänkande funktioner. Samtliga funktioner och koncept har genomgått gallringar i ett flertal steg. Förslagen har slutligen kombinerats och poängbedömts med konceptgenereringsverktyg till grund. Efter en objektiv poängbedömning av sex olika koncept baserad på concept scoring visar sig två huvudgrupper med tre koncept i varje. Den ena gruppen bygger på en mer avancerad konstruktion med behov av två rotationsaxlar. Dessa medför ett flertal fördelar gällande effektivitet, men även påtagliga nackdelar vad gäller ekonomiska aspekter och idrifttagandetid. Den andra gruppen av koncept baseras mer på det befintliga fixturkonceptet. Detta medför fördelar gällande idrifttagandetid och kostnader. Ett huvudkoncept som efter poängbedömningen visat sig mest lämpligt presenteras mer ingående och slutligen förs en diskussion gällande resultatets utfall samt rekommendationer till fortsatt arbete. / Volvo Aero’s aircraft engine manufacturing in Trollhättan has introduced a number of detail models into the production. As a consequence the robot cell dedicated to executing a deburring operation is in need of upgrading of both hardware and software. This report follows the development of fixture concepts that enables the robot cell to be used also for the new details. The proposals that have been developed range from the simplest to more advanced including novel functions. All the functions and concepts have gone through selection in multiple steps. The suggestions have finally been combined and evaluated with concept generation tools. After an objective selection based on the concept scoring of six different concepts, the result can be divided into two main groups, each consisting of three concepts. The first group is a more advanced design with a need of two axes of rotation. These three concepts have several advantages when it comes to efficiency, but also obvious disadvantages when it comes to economy and production time. The second group of concepts is based on the fixture existing today. These three concepts are advantageous concerning production time and cost. After the scoring process one main concept, judged to be the most suitable is presented more thoroughly. Finally the results as well as recommendations for continued work are discussed.

The aim of this thesis is design of deburring machine, focusing on the headstock, capable of aligning the front side and chamfering at the round bars. At the beginning is a short research design nodes, used in the construction of machine tools. As part of the work was done and the measurement of cutting forces to determine the load while standing. Work also includes a series of calculations to justify the use of selected components. The outcome of the work is also a 3D model.

En av de mest oönskade bieffekterna vid metallbearbetning är att det blidas grader. Grader kan definieras som plastiskt deformerat material som bildas på en produkts kanter och hörn. De uppstår oftast vid skär- och skjuvande operationer och kan bero på många olika faktorer. Verktygshastighet, skärpa på verktyget och materialvariationer för att nämna några. Dessa grader kan påverka en produkts egenskaper negativt i många avseenden. Att avlägsna dessa grader är både kostsamt, tidskrävande och ett slitsamt monotont arbete. Side Systems AB i Oviken tillverkar ventilblock i aluminium 2007/2033, Automatstål 11SMnPb30 och Segjärn 500–7 och lägger i dagsläget stora resurser på att avlägsna grader. Därför finns en efterfrågan från företaget i att minska denna kostnad och undersöka om det med en vakuumgradningsmaskin EDS-900 går att avlägsna grader på ett effektivt sätt. En bieffekt av vakuumgradning kan vara att Ra-värdet förändras. I detta projekt undersöktes hur olika medier (granulat) hanterade uppgiften att avlägsna grader och hur de förändrade ytjämnheten. Detta utfördes genom mätningar av Ra före och efter gradningsprocessen och genom visuell undersökning av grader i färdigbehandlade produkter. Detta gjordes på ett urval av olika medier och material för att påvisa hur de faktorerna påverkar den slutgiltiga produkten och dess ytjämnhet. Denna undersökning visade att granulat med glaskulor med storlek 90–150 μm påverkade ytjämnheten för aluminium 2007, Automatstål 11SMnPb30 så att Ra-värdet låg under det av Side Systems ställda gränsvärde på 1,6. För segjärn 500–7 uppfyllde inga granulat de ställda kraven. Resultatet av denna undersökning visar även att granulat med glaskulor och storleken 90–150 µm avlägsnar grader på ventilblock tillverkade i aluminium 2007. För resultat på automatstål 11SMnPb30 och segjärn 500–7 behövs vidare studier. Som slutsats kan arbetet användas som underlag för inköp. / One of the most undesirable side effects in metal processing is the formation of burrs. Burrs can be defined as plastic deformations that occur on the edges and corners of a product. They are most commonly generated during cutting and shearing operations and can be attributed to various factors, such as tool speed, sharpness, and material variations, among others. These burrs can have negative implications on the properties of a product in multiple ways. The removal of these burrs is both costly and time-consuming, requiring tedious and labor-intensive work. Side Systems AB in Oviken manufactures valve blocks using Aluminum 2007/2033, Automaton Steel 11SMnPb30, and Cast Iron 500–7 and currently invests significant resources in burr removal. Therefore, there is a request from the company to reduce this cost and investigate whether it is possible to effectively remove burrs using a vacuum deburring machine EDS-900. One side effect of vacuum deburring may be a change in the Ra value. This project aimed to examine how different media (granules) handled the task of removing burrs and how they affected the surface finish. This was achieved through measurements of Ra before and after the deburring process and through visual inspection of burrs in finished products. This was carried out on a selection of different media and materials to demonstrate how these factors impact the final product and its surface finish. This study revealed that granules with glass beads sized 90–150 μm had an impact on the surface smoothness of Aluminum 2007 and Automaton Steel 11SMnPb30, resulting in Ra values below the threshold set by Side Systems at 1.6. For Cast Iron 500–7, none of the tested granules met the specified requirements. However, it should be noted that the aforementioned granules were not examined specifically on cast Iron in this study. This investigation demonstrated that granules with glass beads sized 90–150 µm affected the surface smoothness of Aluminum 2007 and Automaton Steel 11SMnPb30, resulting in Ra values below the specified threshold of 1.6 set by Side Systems. However, none of the tested granules met the requirements for Cast Iron 500–7. The results of this investigation also indicated that granules with glass beads, sized 90–150 µm, effectively remove burrs on valve blocks manufactured in Aluminum 2007. Further studies are required to assess the results for Automaton Steel 11SMnPb30 and Cast Iron 500–7. The conclusion of the work can be used as a basis for procurement. / <p>Betygsdatum 2023-06-28</p>

The goal of this final thesis is to evaluate the performance of chosen CAM software in robotic deburring of cast parts while using external tool. For this purpose, an analysis of program’s functions was carried out and toolpath-making strategies were compared. The most appropriate strategy for mentioned technology was chosen based on this analysis. The generation of a toolpath was described on the example of real part from automotive industry. In order to simulate real machining process, a model of workspace was created, proper tool with spindle was selected and a method of clamping the workpiece was designed. A postprocessor was created, and so was the robot program, after successful simulation, as a foundation for possible practical test. PowerMill software proved to be not very suitable for this kind of machining application, mainly because of high amount of time consumed during the whole process. So the original idea of replacing classical on-line programming with this software is not advised.

This diploma thesis deals with the design of a robotic workplace for deburring of a given part. The robot's task is to remove the machined part from the production machine, create a blank workpiece ready for machining, and finally deburr the the machined part. There are several proposals for the layout of the robotic cell, as well as the design of the end effector, the input tray for semi-finished products and a stand with tools for deburring. Subsequently, a simulation model of the designed robotic cell is created in the Siemens Process Simulate software. Using RSC modules, the exact resulting cell clock is determined. The whole process of creating a simulation model is detaily described. At the end of this thesis is an economic evaluation of the proposed solution.

The aim of the thesis is conceptual design of robotic workplace with its subsequent simulation. The current workplace for manufacturing and deburring parts for automotive industry is operated manually. The plan is overall automation and replacement of operators by robots. The thesis deals with the concept of layout of elements in the cell, and the procedure of their selection or design. Process simulation is performed in the Process Simulate software from Siemens. For the purposes of the work is used RCS module, which on the basis of dynamic conditions can calculate the cycle of production very close to the reality. The production cycle is compared to the current workplace. The work also deals with the economic evaluation of the proposed workplace.

The task of this master thesis is to design a robotic workcell for an automation of the production machine operation followed by robotic deburring of the parts within external pneumatic tools. There is chosen the most suitable concept of the workplace layout of its included sub-components based on the input parameters. The first part is dedicated to design or select sub-components of the workcell as input magazine, robots, end effectors, deburring station etc. Afterwards, there is created a simulation model of the workcell in Process Simulate software for the verification of demanded cycle times and workcell functionality. The final design has to meet safety standards and technical and economical evaluation is permormed at the end of the thesis.