ISO15066-协作机器人设计标准

See discussions, stats, and author profiles for this publication at: 15066 - Collaborative Robots - Present StatusCONFERENCE PAPER · MARCH 2015READS1,1011 AUTHOR:Bjoern MatthiasABB62 PUBLICATIONS 370 CITATIONS SEE PROFILEAvailable from: Bjoern MatthiasRetrieved on: 06 March 2016ISO/TS15066-CollaborativeRobotsBjörnMatthias–ABBCorporateResearch–2015-03-11PresentStatus©ABBGroupMarch30,2015|Slide2ISO/TS15066–PresentStatusISOprojectoverviewISOprojecttimelineCollaborativeoperationCollaborativeworkspaceTypesofcollaborativeoperationSafety-ratedmonitoredstopHandguidingSpeedandseparationmonitoringMinimumseparationdistancePowerandforcelimitingBiomechanicallimitsOverview©ABBGroupMarch30,2015|Slide3ISO/TS15066–PresentStatusMotivationandPurposeEnduserswaitingforstandardsdocumentbeforewillingtoimplementapplicationsComplexnatureofprotectionschemesthatarelessestablishedthanconventionalguardingandESPE’s(electro-sensitiveprotectiveequipment,e.g.lightcurtains,laserscanners)MeetthedevelopinginterestincollaborativerobotswithspecificguidanceObjectiveGenerateaTS(technicalspecification)document,validfor3yearsAfter3years,reviewoptionsConfirmfor3moreyears(ifstilldeemedunsuitableforastandard)IntegratedintoISO10218-2(thisisthepreferredoutcome)Discard(ifitturnsouttobewithoutpracticalrelevance)ResponsibleinternationalworkinggroupISO/TC184(Automationsystems)/SC2(Robotsandroboticdevices)/WG3(Industrialsafety)Convenor:PatDavison,RoboticIndustriesAssociation(USA)RemainingworkbeforefirstpublicationReviewandprocessremainingtechnicalandeditorialcommentsfromWG3membersISOProjectOverview©ABBGroupMarch30,2015|Slide4ISO/TS15066–PresentStatusProjectstart:2012Projectend:2015-12-05FuturemeetingscheduleSC2/WG340thMeeting:2015June15-17,atDaimler,Sindelfingen,GermanyTC184/SC222ndPlenaryMeeting:2015June18-19,atBGHM,Stuttgart,GermanySC2/WG341stMeeting:2015December7-9,inYokohama,JapanFirstpublicationofISO/TS15066:2015-12-05ISOProjectTimeline201020112012201320142015InitialdiscussionsbasedonBGIAdocument(Germany)FormalstartofISOprojectPublicationoffirsteditionCDballotofISOmemberstatestoconfirmprojectPreparatorydiscussionsDocumentdraftingandreviewingConcurrentresearchworkonbiomechanicalcriteriaat:•DGUV/IFA(formerlyBGIA)•UniversityofMainz,OccupationalMedicine•FraunhoferIFF,Magdeburg©ABBGroupMarch30,2015|Slide5ISO/TS15066–PresentStatusISO10218-1:2011,clause3.4collaborativeoperationstateinwhichpurposelydesignedrobotsworkindirectcooperationwithahumanwithinadefinedworkspaceCollaborativeOperation–Definition(ISO10218-2:2011,Fig.2)©ABBGroupMarch30,2015|Slide6ISO/TS15066–PresentStatusISO10218-1:2011,clause3.5collaborativeworkspaceworkspacewithinthesafeguardedspacewheretherobotandahumancanperformtaskssimultaneouslyduringproductionoperationCollaborativeWorkSpace–DefinitionCollaborativeworkspace©ABBGroupMarch30,2015|Slide7(Perimetersafeguarding)HierarchyofSpacesISO10218-1:2011andISO10218-2:2011©ABBGroupMarch30,2015|Slide8(Perimetersafeguarding)HierarchyofSpacesISO10218-1:2011andISO10218-2:2011©ABBGroupMarch30,2015|Slide9TypesofCollaborativeOperationAccordingtoISO10218,ISO/TS15066ISO10218-1,clauseTypeofcollaborativeoperationMainmeansofriskreductionPictogram(ISO10218-2)5.10.2Safety-ratedmonitoredstop(Example:manualloading-station)Norobotmotionwhenoperatorisincollaborativeworkspace5.10.3Handguiding(Example:operationasassistdevice)Robotmotiononlythroughdirectinputofoperator5.10.4Speedandseparationmonitoring(Example:replenishingpartscontainers)Robotmotiononlywhenseparationdistanceaboveminimumseparationdistance5.10.5Powerandforcelimitingbyinherentdesignorcontrol(Example:ABBDual-ArmConceptRobotcollaborativeassemblyrobot)Incontactevents,robotcanonlyimpartlimitedstaticanddynamicsforces©ABBGroupMarch30,2015|Slide10ISO/TS15066–PresentStatusClausesinstandardsandTSISO10218-1,clause5.10.2ISO10218-2,clause5.11.5.2ISO/TS15066,clause5.5.1RiskreductionEnsurerobotstandstillwheneveraworkerisincollaborativeworkspaceAchievedbySupervisedstandstill-Category2stop(IEC60204-1)Category0stopincaseoffault(IEC60204-1)TypicalapplicationsLoading/unloadingend-effectorErgonomicadaptationSafety-RatedMonitoredStop©ABBGroupMarch30,2015|Slide11ISO/TS15066–PresentStatusClausesinstandardsandTSISO10218-1,clause5.10.3ISO10218-2,clause5.11.5.3ISO/TS15066,clause5.5.2RiskreductionProvideworkerwithdirectcontroloverrobotmotionatalltimesincollaborativeworkspaceAchievedbyControlsclosetoend-effectorInputmeansformotioncommandsEmergencystopEnablingdeviceTypicalapplicationsLiftassistErgonomicadaptationLoadpositioningHandGuiding©ABBGroupMarch30,2015|Slide12ISO/TS15066–PresentStatusClausesinstandardsandTSISO10218-1,clause5.10.4ISO10218-2,clause5.11.5.4ISO/TS15066,clause5.5.3RiskreductionMaintainsufficientdistancebetweenworkerandrobotincollaborativeworkspaceAchievedbySupervisionofdistance,speedProtectivestopifminimumseparationdistanceorspeedlimitisviolatedConsiderbrakingdistanceinminimumseparati