Kartezyen koordinatlı kaynak robotu
Cartesian coordinate arc welding robot
Yazar: MAHMUT MERT EĞİLMEZ
Danışman: DOÇ. DR. İSMAİL YÜKSEK
Yıldız Teknik Üniversitesi / Fen Bilimleri Enstitüsü / Makine Mühendisliği Ana Bilim Dalı
Derece: Yüksek Lisans, 2005
Konu: Elektrik ve Elektronik Mühendisliği = Electrical and Electronics Engineering ; Makine Mühendisliği = Mechanical Engineering

Özet:
ÖZET*ÂQÂPÂ]GH KHPHQ KHU |OoHNWHNL ÂUHWLFLOHU GDKD HNRQRPLN KDWDVÃ] YH GD\DQÃNOÃ VLVWHPOHULWHUFLK HWPHNWHGLU Ã¸PDODWWDNL ND\QDN LÃºOHPOHULQL J|] |QÂQH DODFDN ROXUVDN URERWLN ND\QDNVLVWHPOHUL \XNDUÃGD VD\GÃÃ·ÃPÃ] |]HOOLNOHULQ \DQÃQGD HOOH \DSÃODQ ND\QDNWDQ KHP GDKD KÃ]OÃhem de daha standart sonuçlar elde edebilmektedir.%X oDOÃÃºPDGD ELOJLVD\DU NRQWUROOÂ ELU NDUWH]\HQ NRRUGLQDWOÃ ND\QDN URERWX WDVDUODQPÃÃº YHKD\DWD JHoLULOPLÃºWLU ho HNVHQOL ND\QDN URERWXQXQ LVNHOHWL DOÂPLQ\XP SURILOOHUGHQROXÃºWXUXOPXÃºWXU .D\QDN WRUFXQXQ LÃº SDUoDVÃQD RODQ \ÂNVHNOLÃ·LQL YH DoÃVÃQÃ D\DUOD\DELOPHNLoLQ ELU WRUo WXWXFX LPDO HGLOPLÃºWLU 6LVWHPGH DGHW DGÃP VWHS PRWRUX NXOODQÃOPÃÃºWÃU YHkaynak torcu bu motorlarla X ve Y eksenleri boyunca hareket ettirilmektedir. Robotu pc ileNRQWURO HWPHN LoLQ 9LVXDO %DVLF LOH \D]ÃODQ |]HO ELU SURJUDP \DUGÃPÃ\OD NRQWURO VLQ\DOOHUL3FQLQSDUDOHOSRUWXÂ]HULQGHQNRQWUROÂQLWHVLQGHNLNRQWURONDUWÃQDJ|QGHULOLU.RQWURONDUWÃGDstep motor sürücü kartlara ve kaynak torcunu tetikleyen devreye bu sinyalleri iletmekte,URERWXQLVWHQHQSDUDPHWUHOHUOHND\QDN\DSPDVÃQÃVDÃ·ODPDNWDGÃU.DUWH]\HQ NRRUGLQDWOÃ ND\QDN URERWX LOH \DSÃODQ X\JXODPD |UQHNOHUL YH X\JXODPDODUÃQ WHVWVRQXoODUÃ LOH URERWXQ HOOH \DSÃODQ JD]DOWÃ DUN ND\QDÃ·ÃQGDQ RSWLPXP NDEXO HGLOHQ ND\QDNKÃ]ODUÃQGD GDKD EDÃºDUÃOÃ VRQXoODU DODELOGLÃ·L J|VWHULOPLÃºWLU *HOLÃºWLULOPH\H DoÃN ELU SURMH RODQND\QDNURERWXoDOÃÃºPDVÃLoLQLOHULGH\DSÃOPDVÃPXKWHPHOL\LOHÃºWLUPHOHUGHQGHV|]HGLOPLÃºWLUAnahtar kelimeler: *D]DOWÃ 0,*0$* ND\QDN URERWX NDUWH]\HQ NRRRUGLQDWOÃ ND\QDNURERWXURERWND\QDÃ·ÃDGÃPVWHSPRWRUOXNDUWH]\HQURERW

Abstract:
ABSTRACTToday, most of the manufacturers for all scales choose more economic, precise and durablesystems. If we consider welding process we'll see that, besides having the features mentionedabove, robotic welding systems can come up with more standart and faster results thanmanual arc welding.In this project a computer controlled cartesian coordinate arc welding robot is designed andbuilt. Cartesian robot?s, which has 3 axes, main frame is built from aluminum profiles. Foradjusting the angle of the welding torch and the distance between the workpiece and weldingtorch, a torch holder is designed. There are 2 stepper motors used which move welding torchalong X and Y axises. For controlling the robot via pc, a special computer programme writtenin Visual Basic is used. This programme sends signals through the parallel port of the pc tothe control card which controls stepper motor drivers and welding torch triggering circuit.This signal flow makes welding available in desired parameters.Test samples and results have shown that the cartesian coordinate arc welding robot can weldmore accurate than a manual arc welder does, in known optimum welding speeds. Possiblefuture improvements of the arc welding robot are also mentioned in the project.Keywords: MIG/MAG welding robot, cartesian coordinate arc welding robot, robot welding,cartesian robot with stepper motors.