COBOTs. What is it? Pilz Belgium CVBA Trainingen Gent, October 2016

Transcription

1 WELCOME

2 COBOTs. What is it? Pilz Belgium CVBA Trainingen Gent, October 2016

3 } Robot applications Number of robots per industry segment 3

4 } Introduction to Robot Safety How Robot Safety is Viewed in the Media 4

5 } What is a Cobot? 5

6 ISO series and TS } ISO /-2 Harmonised standards on industrial robots } TS Technical specification specifically for cobots.

7 } What is a collaborative operation? state in which a purposely designed robot system and an operator work within a collaborative workspace [SOURCE: ISO :2011, 3.4, modified] Figure 1 Example of a collaboratve workspace 7

8 Contact of a human with a robot } Quasi-static contact? Contact between an operator and part of a robot system where the operator body part can be clamped between a moving part of a robot system and another fixed or moving part of the robot cell } Transient contact / Dynamic contact? Contact between an operator and part of a robot system where the operator body part is not clamped and can recoil or retract from the moving part of the robot system 8

9 There are 4 methods' of HRC Safe rated Stop Speed & Separation Monitoring Hand Guiding Power & Force Limitation 9

10 Method 1 : safety-rated monitored stop } Robot stops (SOS-function), if the personnel enters the common collaboration space and continue once the personnel has left the collaboration space again } From the time in which the robot is in state of a safety-related stop, a direct collaboration between humans and robot is possible (e.g. Assembly of the endeffector with the work piece) } No automatic restart in the detection area } Safety requirements : Performance level d, CAT 3 (EN ISO ) Stop category 0 to 2 possible Safety distance must be respected (ISO 13855) 10

11 Method 2 - Hand guiding: } when the robot reaches the hand-over position, a safety-rated monitored stop is issued } Robot movement by hand-guiding by a 3-stage enabling device close to the TCP (only 1 person can operate) } Safety requirements : Performance level d, CAT 3 (EN ISO ) Stop category 0 to 2 possible Safety distance must be respected (ISO 13855) Safe stop (method 1) Safe reduced speed (EN ISO mm/s) - a risk assessment shall be used to determine the safety-rated monitored speed limit... Others possible 11

12 } Collaborative robots Method 3 speed and separation monitoring : } Description Robot and human move simultaneously in collaboration space The distance between human and robot is monitored using safety technology The speed of the robot varies depending on the distance between human and robot The collision will be avoided by stop of the robot shortly before } Safety requirements : Performance level d, CAT 3 (EN ISO ) Stop category 0 to 2 possible Safety distance must be respected (ISO 13855) Safe reduced speed (EN ISO ) safety-rated soft axis and space limiting (ISO :2011, ). 12

13 Additional } Figure 3 Graphical representation of the contributions to the protective separation distance between an operator and a Training robot Pilz BE 10/

14 Method 4 power and force limiting } Description Physical contact between human and robot is possible (intentional or unintentional) Risk reduction through inherently safe design Risk reduction through robot safety functions } Safety requirements : Performance level d, CAT 3 (EN ISO ) Stop category 0 to 2 possible } Robot safety functions Safe stop (method 1) Safe reduced speed (EN ISO ) Safe limited power and force Others possible 14

15 Figure 4 Graphical representation of acceptable and unacceptable forces or pressures 15

16 16

17 Combination of method 2 and 4 : Hand guiding with power and force limiting } Enabling device could be no longer necessary } Robot stop when person enters the collaboration space could be no longer necessary } To increase productivity 17

18 How do humans and robots interact } Coexistence Human and robot have own independent workspaces } Sequential cooperation Human and robot work successively on the same workpiece No simultaneous activity inside collaboration space } Parallel cooperation Human and robot work simultaneously on the same workspiece Simultaneous activity inside collaboration space Collisions are not as intended } Collaboration Human and robot produce something together Simultaneous activity inside collaboration space Collisions are possible 18

19 Forms of HRC 1 9

20 Forms of HRC < -- > Methods 2 0

21 Safety is not achieved over night

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