2024搬運機器人安全可靠部署與應(yīng)用實施要求

Transferrobots—Safeandre1iabledeploymentandapplicationimplementation 本標(biāo)準(zhǔn)規(guī)定了搬運機器人安全可靠部署與應(yīng)用實施的步驟和細則，從而增加了GB11291標(biāo)準(zhǔn)的可GB/T5226.1-20191GB11291.1-20111GB11291.2-20132GB/T12644-2001GB14048（所有部分）GB/T15706.1-2012GB/T16856-2015機械安全風(fēng)險評估實施指南和方法舉例GB/T12642-2013工業(yè)機器人性能規(guī)范及其試驗方法GB/T12643-2013GB/T12644-2001工業(yè)機器人特性表示GB/T20867-2007GB/Z19397-2003JB/T8896-1999GB/T19876-2012GB/T8196-2018JB/T5063-2014搬運機器人通用技術(shù)條件[來源：GB/T12643-2013注1：[來源：GB/T12643-2013industrial注1：——控制器，含示教盒和某些通信接口（硬件和軟件）注2：[來源：GB/T12643-2013robotsystem，industrialrobot[來源：GB/T12643-20132.14和position-motionrangeofindividual注：failurereliablemission[來源：GB11291-2011平均故障間隔時間（MTBF）meantimebetween平均故障間隔時間（MTBF）的驗證區(qū)間（θL，θU）demonstratedMTBFMTBF觀測值（點估計值）（^）observedMTBF（^）MTBF檢驗下限（θ1）lowertest可接收的最低MTBF值。若設(shè)備的MTBF的真值不大于檢驗下限θ1MTBF檢驗上限（θ0）uppertest生產(chǎn)方風(fēng)險（α）producer’s使用方風(fēng)險（β）consumer’s鑒別比（d）discriminationMTBF的檢驗上限θ0與檢驗下限θ1的比值。d=θ0/θ1注：relevanttestnumberofequivalentaccelerationactivation注：激活能以eV/Kc）d）a）c）10kg～50kg；e）100kg。c）GB11291-2011第4）——組裝（）——S1S2。A1，如果幾乎無避開危險的機A2。25012S2E2A2A1E1A2A1S1E2A2A1E1A2A13具有危險消除或危險置換的性能具有監(jiān)控的單通道安全控制系統(tǒng)R4的措施進行安全防護。R3R4條款的安全防護來降低R2R3R4條款的安全防護來降低風(fēng)險。33.23.31評價能否避開、4R3R4時，說R3R4時，則應(yīng)選擇附加的安全R3R4。4E2A2S2S1A1S2S1E1A2S2S1A1S2S1GB/T191-2008GB/T4768-2008、GB/T4879-1999、GB/T5048-1999的規(guī)定。0℃~40℃80%Rh。其周圍環(huán)境應(yīng)無5cm。10~15cm的空間，桶裝溶劑橫放地上時．必須用橡膠輪胎作墊。保護桶壁、人身，避免產(chǎn)生火花。（I）、射頻干擾（I）和振動等是可用于保證操作員在工作站不會暴露于危險中（GB11291.2-20135.45.10的要求）。（如飛出GB/T16895.22-2004536.4。GT1576.12012“消除或（）”—”到固定式或活動式防護裝置的最小距離應(yīng)根據(jù)GB/T23821-2009護裝置時，應(yīng)根據(jù)GB/T23821-2009確定最小安全距離。傳感保護設(shè)備)的保護裝置，它們的最小安全距離應(yīng)根據(jù)GB/T19876-2012的相關(guān)要求確定。GB/T23821-2009來確定：從防護裝置底面到相鄰站立面的開口和防護裝置中的任何開口的9.2.3。示教時，機器人的運動速度應(yīng)低于250mm/s，具體的速度選擇應(yīng)考慮萬一發(fā)生危險，示教人員程序驗證必須在機器人運動速度低于250mm/s—運行裝置或使能裝置外，還應(yīng)滿足10.1編程時的安全防護要求。當(dāng)要求在機器人的運行速度超過250mm/s250mm/sMTBF檢驗下限值（θ1）MTBF10%20臺。12。（）ArrhenusA1

AF1

E—激活能，單位為電子伏特K—玻爾茲曼常數(shù)（8.617385×10-（??）??（??）??。AF=?? ??——2.5

AF3

? n—2~33；Arrhenius模型。AF=?? ??—??—GB/T37718-20196.8節(jié)公式計算基本軌跡運行時間與加速軌跡試驗時間之比。

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×0 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cfg-GLOBALVARrobtargetp15_10=p:{{605.3553391,3.70E+01,344.6446609},{0.092900307,0.721667736,0.680363428,0.087583202}}{cfg-1,0,0,1}{EJGLOBALVARrobtargetp16_10=p:{{534.6446609,46.18802154,415.3553391},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp17_10=p:{{605.3553391,55.42562584,344.6446609},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp18_10=p:{{534.6446609,64.66323015,415.3553391},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp19_10=p:{{605.3553391,7.39E+01,344.6446609},{0.092900307,0.721667736,0.680363428,0.087583202}}{cfg-1,0,0,1}{EJGLOBALVARrobtargetp20_10=p:{{534.6446609,83.13843876,415.3553391},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp21_10=p:{{605.3553391,9.24E+01,344.6446609},{0.092900307,0.721667736,0.680363428,0.087583202}}{cfg-1,0,0,1}{EJGLOBALVARspeedspeedhigh=v:{100,4000,200,0,0}GLOBALVARspeedspeedmedium=v:{100,2000,200,0,0}GLOBALVARinti=0GLOBALVARintr=GLOBALVARintXoffs=0GLOBALVARintYoffs=0GLOBALVARintZoffs=LOCALVARspeedv20=GLOBALVARclockclock1GLOBALVARdoubledouble0=0.0GLOBALPROCmain() GLOBALPROCMoveAbsJj1,speedmedium,fine,tool01MoveAbsJj2,speedmedium,fine,tool01MoveAbsJMoveAbsJj2,speedmedium,fine,tool01MoveAbsJj3,speedmedium,fine,tool01MoveAbsJj4,speedmedium,fine,tool01MoveAbsJj5,speedmedium,fine,tool01MoveAbsJj4,speedmedium,fine,tool01MoveAbsJMoveAbsJj6,speedmedium,fine,tool01MoveAbsJj7,speedmedium,fine,tool01MoveAbsJj6,speedmedium,fine,tool01MoveAbsJj7,speedmedium,fine,tool01MoveAbsJj8,speedmedium,fine,tool01MoveAbsJj9,speedmedium,fine,tool01MoveAbsJj8,speedmedium,fine,tool01MoveAbsJj9,speedmedium,fine,tool01MoveAbsJj10,speedmedium,fine,tool01MoveAbsJj11,speedmedium,fine,tool01MoveAbsJj10,speedmedium,fine,tool01MoveAbsJ

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