Security space
Industrial robot systems are known to have a wide range of motion space, especially when dealing with large workpieces.
In order to adapt to the maximum range of motion of the robot system, the mechanical guards around the system need to expand the scope of protection to ensure that the robot does not interfere with the perimeter protection when performing tasks.
Obviously, a protective structure designed with this concept may result in extreme waste of resources. If we can apply reasonable motion limits that meet operational needs, we can not only effectively improve utilization, but also add a safety barrier to operators.
Industrial robots have a wide range of motion
Establishment of a limited space
The limited space of the robot system is mainly based on the mechanical protection of the surrounding.
The space design for mechanical protection after considering the position and layout of the robot and assessing the danger inside the protective space in advance is a relatively recommended procedure. In the design process, in addition to considering the robot itself, factors such as the end effector, the fixture and the movement of the workpiece must be considered.
The limited space is matched to the operating space as much as possible to maximize utilization.
Establish a limited space for the robot
Method of limiting movement
There are two main types of restrictions on robot movement: mechanical and non-mechanical limits.
·Mechanical hard limit
Mechanical hard limits are used to physically constrain the robot beyond the specified limits. Since this type of limit will make physical contact with the robot, special care must be taken: using such a limit, it should be ensured that there will be no physical deformation in the limit after the collision.
High-strength fence as a hard limit
·Safety soft limit of shaft and space
This is a non-mechanical soft limit that is built into the software to determine the robot's motion limit. The axis limit can constrain the trajectory of the robot; the space limit determines the geometry of the proprietary area.
Since this type of limit is set by the software, the authority to modify the parameters should also be strictly protected by the password.
Security boundary setting in software
· External limit device combined with sensor
Another non-mechanical limit is through the use of external sensors, such as a safety proximity switch, a non-contact code switch, or even a virtual light barrier, when these external sensors receive an over-limit logic response. Actively activate the robot's safety stop signal.
The above two non-mechanical limit devices are controlled in principle by the logic system, so the robot's stop response distance needs to be additionally considered.
Use a sensor to set up a virtual barrier
As a robotic safety application specialist, Pilz offers robotic safety courses including EN ISO 10218 and RIA15.06 standards.
Through this course, participants will learn and understand the basics of robot system safety requirements, while learning how to achieve safety while achieving high availability and productivity.
The course will also provide an in-depth explanation of how to conduct a risk assessment when using a robotic system.
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