Smart Safe Reaction Human Robot Collaboration Tomas Prchal

Transcription

1 Smart Safe Reaction Human Robot Collaboration Tomas Prchal Global Technology Manager, Metal and Robotics

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3 Science-Fiction Today People have been talking about HRC for a long time Human and robot playing cards Human and robot playing basketball The robot operates on an astronaut LEONI ORION Precision patient positioning system Synchronicity with six degrees of freedom

4 HRC SITUATION AND MOTIVATION

5 HRC today Solution for heavy duty and light construction robots Standard robots Conventional safety architecture Long reaction times Different bus systems Different programming and parameterization tools Complex service situation Light construction robots Very limited parameters for Load Power Working cycles

6 HRC Motivation Why to use HRC? Motivation of end users Increase productivity Reduce the dangerous areas Improve production quality Conditions Approved by the (German) professional association Suitable process where manual support is necessary Assembly Best Fit Operation"

7 Collaboration with heavy load robots Basis of realization: Internationally valid norms and standards Forms of collaboration according to ISO Safety-rated monitored stop 2. Hand guiding Safe prevention of collision. Especially suitable for robots with high payloads Safe collision 3. Speed and distance monitoring 4. Power and force limiting by inherent design or control Principles: Robot stands still, when a worker approaches Protection against unexpected restart Monitored safety distance and speed Principle: Robot movement Is safe for the worker

8 SafeROBOTICS Safety fuctions for robotics

9 SafeROBOTICS Activation of object (flange, joint, monitoring point, TCP) Activation of wire frame model for each object Activation of safety areas Work Space, Safe Space, Functional Space Optional can be activated a safe distance for each object SafeSpace SafeSpace aktiv SafeSpace inactive

10 SafeROBOTICS Open for Serial kinematics Flange 11 Joints 10 Monitoring Points 16 TCPs 20 Spaces (Protected areas) Automatic import of safety data and parameters from simulation tools

11 HRC Demo Cell at EngRoTec COOPERATION PROJECT B&R COMAU ENGROTEC

12 A major player in the manufacturing of High Quality Industrial Robots Wide range of Standard Products and fully Integrated Solutions 40 years experience in Robotics

13 About EngRoTec System integrator specialst for robotics Expert for Robot simulation and risk analysis Vision systems and picture processing Inline measuring EngRoTec in numbers Employees: 170 Turnover: 16 mi Locations: Hünfeld, DE (HQ) 9 offices in DE, CZ, US, PL

14 Conventional Solution of HRC Laser scanner Cell control Standard Robot

15 HRC EngRoTec B&R - COMAU Laser scanner Cell control Standard Robot

16 HRC EngRoTec: next potential for optimization Laser scanner Next advantages: Parametrizing Engineering Diagnose Reaction time

17 EngRoTec HRC cell EngRoTec HRC Cell

18 HRC demo cell Risk analysis HRC demo cell Where to install the safety equipment? How to configure the safety equipment? How to configure the SLP areas? How to configure the SLS areas? Where to set the monitoring points?

19 HRC demo cell Risk analysis Safety Layout with scanners each with a protective field Collaboration area Installation of the trunk lid Collaboration area Mounting the hinges Prohibited area

20 Safety area configuration (done in Delmia V5) Scanner / parallel approach

21 Define and verify the protected areas for the SLP function. HRC demo cell Risk analysis Safe Space 13 Safe Space 11 Safety Layout Protected Areas Safe Space 14 Safe Space 12

22 HRC demo cell Risk analysis Define and verify the protected areas for the SLP function. Safety Layout Protected Areas

23 Safety functions: Verification Summary Prior to the realization phase, simulation is the medium that can verify the geometric aspects of the safety devices and their integration into the process. After implementation, it is the platform for documentation.

24 Smart Safe Reaction 10 ms 40 ms Worst Case Responsetime

25 Effect of reaction time Conventional HRC approach HRC cell: EngRoTec B&R COMAU Ideal all sensors on opensafety t 1.1 Laserscanner 90 ms 90 ms 20 ms t 1.2 Profinet Not present Not present t 1.2 Safety CPU 40 ms 40 ms 210 ms Not present t 1.2 Robot cont. Not present t 2 Braking ramps 210 ms 190 ms 190 ms Total 510 ms 320 ms 250 ms

26 Effect of reaction time Footprint Distances are reduced by up to 66 cm Less / smaller cabinet(s) Cell is reduced by up to 18 m2 Productivity Working tact increased by 7 % Ergonomics The relevant worker pathways are reduced by up to 40% Engineering The synchronization between the robot and cell controller is completely unnecessary

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