Detta projekt har utförts på monteringslinan i Volvo Construction Equipment (VCE), Hallsberg. Där har man en robotcell som arbetar i samspel med limstationerna 17&18. Utav 4 hyttfamiljer limmas och monteras glasrutor till 3 av hyttfamiljerna manuellt. Robotcellen limmar glasrutorna för 1 hyttfamilj som har 2 typer av hytter, med en cykeltid på 8,4–9,5 min. Då takttiden ligger på 7,5 min/hytt för resten av linan anses limstationerna vara en trång sektor enligt VCE. Med en ökad framtida produktvariation och ett ökat kundbehov anser VCE att den trånga sektorn har förutsättningarna för att bli en framtida flaskhals då takttiden ska ner till 7,2 min/hytt till år 2020. Med hjälp av Leanprinciper och Sex Sigma verktyg har projektutförarna avhandlat frågeställningen "Hur kan robotcellen effektiviseras med avseende på cykeltid och framtida produktvariation?". Genom en framtagning av en nulägesanalys med hjälp av tidmätningar, intervjuer och teoriinsamling kunde sedan en värdeflödeskarta skapas. Genom rotorsaksanalyser på icke-värdeskapande men nödvändiga aktiviteter kunde ett förbättringsförslag presenteras med en uppskattad cykeltid på mindre än 7–7,6 min. Detta med hjälp av en hanteringsrobot och en limrobot som har separata aktiviteter som är parallella, istället för att ha en robot som har samtliga aktiviteter som i nuläget. Projektutförarna rekommenderar att VCE för arbetet vidare genom att- ta reda på hur lång tid det tar för en automatiserad limning av glasrutor till samtliga hyttyper, - undersöka hur snabbt hanteringsroboten behöver arbeta i förhållande till limroboten för att tillfredsställa behovet av glasrutor för limroboten, - undersöka hur kasserade glasrutor från robotcellerna påverkar monteringsflödet samt - undersöka utvecklingsmöjligheter för att effektivisera den enda värdeskapande aktiviteten för limroboten med avseende på cykeltid. / This project has been carried out on the assembly line in Volvo Construction Equipment (VCE), Hallsberg. A robotic cell is located in the assembly line and works in conjunction with the glue stations 17 & 18. Out of 4 cab families, windows are glued and mounted to 3 of the cab families manually. The robotic cell glues the windows for 1 cab family that has 2 types of cabs, with a cycle time of 8.4-9.5 min. Since the takt time is 7.5 min/cab in the other sections of the assembly line, the glue stations are considered a narrow sector according to VCE. With increased future product variability and increased customer demand, VCE considers that the narrow sector has the prerequisites for becoming a future bottleneck, as the takt time will drop to 7.2 min/cab to 2020. With the help of Lean principles and Six Sigma tools, project executives have dealt with the question "How can the robotic cell be made more efficient with respect to cycle time and future product variability?”. Through a current state analysis by means of time measurements, interviews and theory collection, a value-flow chart could then be created. By root cause analysis on non-value-adding but necessary activities an improvement proposal could be presented with an estimated cycle time of less than 7-7.6 min. The thesis workers propose that VCE goes ahead by- finding out how long an automated gluing of windows take (for all cabs),- examining how fast the handling robot needs to work in relation to the glue robot (to satisfy the need for windows for the glue robot),- examining how discarded windows from the robotic cells affect the assembly flow, and- investigating the opportunities to streamline the only value-creating activity for the glue robot with regards to cycle time.

La première partie de ce travail concerne la production cyclique pour l'optimisation du taux de production dans les flowshops robotisés, où un robot est chargé du transport des pièces. Les cellules robotisées peuvent être disposées de façon linéaire ou circulaire. Les principaux résultats théoriques concernant la disposition linéaire ne peuvent être étendus à la configuration circulaire. En particulier, trouver le meilleur cycle de production de une pièce (1-cycle) est un problème polynomial dans le cas des cellules linéaires additives, mais NP-difficile pour la configuration correspondante circulaire.Nous nous concentrons principalement sur le cas des cellules circulaires équilibrées, où le temps d'usinage est identique sur toutes les machines. Après avoir présentés des outils pour l'analyse cyclique dans les cellules circulaires, nous établissons des propriétés nécessaires des 1-cycles performants, ce qui permet de conclure sur le problème du meilleur 1-cycle jusqu'à 8 machines. Toutefois, nous fournissons un contre-exemple pour 6 machines à la conjecture classique des 1-cycles, toujours ouverte dans cette configuration.Ensuite, nous étudions la structure des 1-cycles performants pour des cellules circulaires équilibrées arbitrairement grandes. Nous définissons et étudions les propriétés d'une nouvelle famille de cycles basée sur cette structure et formulons une conjecture sur sa dominance sur les 1-cycles qui conduirait à un algorithme polynomial pour le problème du meilleur 1-cycle dans ce cas. Cette structure permet de déterminer le meilleur 1-cycle jusqu'à 11 machines.Dans la deuxième partie, nous présentons le travail réalisé sur un problème industriel proposé par la SNCF dans le cadre du challenge ROADEF/EURO. Nous proposons un algorithme glouton pour ce problème combinant divers aspects de la gestion des trains au sein d'une gare. / The first part of this work deals with cyclic production for throughput optimization in robotic flow-shops, where a robot is in charge of the material handling of parts. Robotic cells may have a linear or a circular layout. Most theoretical results for the linear layout do not hold for the circular layout. In particular, the problem of finding the best one part production cycle (1-cycle), which is a polynomial problem for linear additive cells, has been proved NP-hard for the corresponding circular configuration.We mainly focus on a special case of circular balanced cells, where the processing times are identical for all machines. After presenting tools for cyclic analysis in circular cells, we study necessary properties of efficient 1-cycles. These results allow to conclude on the best one part production cycle for any parameters in circular balanced cells up to 8 machines. However, we provide a counter-example to the classical 1-cycle conjecture, still open for this configuration.Then, we study the structure of efficient one part production cycles in arbitrarily large circular balanced cells. We introduce and study a new family of cycles based on this structure, and formulate a conjecture on its dominance over one part-production cycles, which would lead to a polynomial algorithm for finding the best 1-cycle for circular balanced cells. This structure allows to settle the best one part production cycle for cells with up to 11 machines.In a second part, we present work on an industrial problem of railway stock scheduling proposed by the French railway company in the context of the ROADEF/EURO competition. We propose a greedy algorithm for this problem combining the various aspects of trains handling inside a station.

Kollaborative Robotik wird in der Regel als eine, den Anwender entlastende, Komponente in einem Mensch-Maschine-Szenario verstanden. Dabei wird in einer bisher nicht automatisierten Arbeitsumgebung eine Teilautomatisierung nachgerüstet. Für die Entwicklung derartiger Systeme ist neben dem Anwender und seinen Anforderungen auch eine hohe Passfähigkeit zu unterschiedlichen Bestandssystemen ausschlaggebend. Dieses Paper dokumentiert interdisziplinäre Zusammenarbeit zwischen Industrie, angewandter Forschung und Technischem Design, um Kernanforderungen an Automatisierungslösungen für bestehende Werkzeugmaschinen zusammenzutragen. In einem industriellen Automatisierungsszenario entstand eine mobile Roboterzelle mit einem hängenden Roboter sowie einem Palettenspeicher zur Maschinenbeschickung. Vor- und Nachbearbeitungen sind in einheitlichen Fähigkeitsmodulen gekapselt. Maschine und Bauteile werden über ein intelligentes Bildverarbeitungssystem lokalisiert. Diese Referenzierung ermöglicht nach einmaligem Teachen das Nachführen der Roboterbewegungen bei einer Neukonfiguration. Ergänzt wird die Lösung durch ein schutzzaunloses Sicherheitskonzept und eine bedienerführende Benutzeroberfläche zur Fähigkeitskomposition. Mit der Automatisierungslösung können mittelständische Unternehmen bei Personalengpässen die Produktivität aufrechterhalten und Mitarbeiter von monotonen Tätigkeiten entlasten.

This diploma thesis describes design of interconnections and program modules for robotic cell control for parts creation. Research of this work is focused on industrial comunication protocols. The next part analyzes separate parts of the cell and their ways of connection. Futhermore, control structures of the cell are proposed and after comparison of them SCADA system structure was chosen. Project of connecting separate devices is done in Wonderware Systém Platform. The next step describes procedure of interconection of parts of the cell with each other. Then was designed visualization to operate robotic cell and to illustrate its state. Whole visualization was created using Wonderware InTouch program. In conclusion thesis is reviewed.

The diploma thesis dealswith a design of a robotic cell for depalletization and the establishment of a rail into a production station. Pieces are weighed into the depalletizing unit in a shape-adapted crates otherwise known as blisters. Each blister contains five to eight pieces(depending on the type of a rail) and anti-corrosion paper. After removing the paper and the piece from the blister, an identification code is stamped on the piece. Then the finished piece travels to the next station. The aim of this thesis is to design arobotic cell that can handle all operations in a given cycle time and to create a simulation model in Siemens Process Simulate program to verify the cell functionality.

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.

This master’s thesis deals with the design of a robotic cell for the automation of woodworking machine tending. The task of the robot is to manipulate with the specified laminated chipboards of various sizes, before and after machining. The boards are brought to the cell on pallets in three possible placement variants. After a brief research part, conceptual designs of cell layout were created. The optimal and further elaborated design came as a result of selected evaluation criteria. The next part of the thesis consists of designs and selection processes of individual components. These were later used to create a simulation model in Tecnomatix Process Simulate software (Siemens), that helped to verify the functionality of the cell layout, design the control logic and acquire the time of the manipulation cycle used for informative calculation of annual production. In the end, the final design was evaluated from an economic point of view with an emphasis on the return of the initial investment.

This diploma thesis is focused on the design of a robotic workstation for laser marking of aluminium hinges for the automotive industry. Robots remove wheel hinges from palettes at the end of a preassembly line, mark them a sort them. At first, selected marking technologies used in the automotive industry are introduced. Afterwards, a few robot and process simulation software are described. Subsequently, several layout variants are created as viable options for process handling and the chosen variant is designed in detail. Using RobotStudio software, a simulation of the robotic marking cell is made for process verification. Finally, a technical - economic evaluation is performed.

The aim of this thesis is to design a robotic cell with two welding robots and rotary table in two designs and to compare different types of control. These designed alternatives evaluate possibly using of its parts. These designed variants compare physically and financially.

No description available.