2024搬运机器人安全可靠部署与应用实施要求

Transferrobots—Safeandre1iabledeploymentandapplicationimplementation 本标准规定了搬运机器人安全可靠部署与应用实施的步骤和细则，从而增加了GB11291标准的可GB/T5226.1-20191GB11291.1-20111GB11291.2-20132GB/T12644-2001GB14048（所有部分）GB/T15706.1-2012GB/T16856-2015机械安全风险评估实施指南和方法举例GB/T12642-2013工业机器人性能规范及其试验方法GB/T12643-2013GB/T12644-2001工业机器人特性表示GB/T20867-2007GB/Z19397-2003JB/T8896-1999GB/T19876-2012GB/T8196-2018JB/T5063-2014搬运机器人通用技术条件[来源：GB/T12643-2013注1：[来源：GB/T12643-2013industrial注1：——控制器，含示教盒和某些通信接口（硬件和软件）注2：[来源：GB/T12643-2013robotsystem，industrialrobot[来源：GB/T12643-20132.14和position-motionrangeofindividual注：failurereliablemission[来源：GB11291-2011平均故障间隔时间（MTBF）meantimebetween平均故障间隔时间（MTBF）的验证区间（θL，θU）demonstratedMTBFMTBF观测值（点估计值）（^）observedMTBF（^）MTBF检验下限（θ1）lowertest可接收的最低MTBF值。若设备的MTBF的真值不大于检验下限θ1MTBF检验上限（θ0）uppertest生产方风险（α）producer’s使用方风险（β）consumer’s鉴别比（d）discriminationMTBF的检验上限θ0与检验下限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）——组装（）——S1S2。A1，如果几乎无避开危险的机A2。25012S2E2A2A1E1A2A1S1E2A2A1E1A2A13具有危险消除或危险置换的性能具有监控的单通道安全控制系统R4的措施进行安全防护。R3R4条款的安全防护来降低R2R3R4条款的安全防护来降低风险。33.23.31评价能否避开、4R3R4时，说R3R4时，则应选择附加的安全R3R4。4E2A2S2S1A1S2S1E1A2S2S1A1S2S1GB/T191-2008GB/T4768-2008、GB/T4879-1999、GB/T5048-1999的规定。0℃~40℃80%Rh。其周围环境应无5cm。10~15cm的空间，桶装溶剂横放地上时．必须用橡胶轮胎作垫。保护桶壁、人身，避免产生火花。（I）、射频干扰（I）和振动等是可用于保证操作员在工作站不会暴露于危险中（GB11291.2-20135.45.10的要求）。（如飞出GB/T16895.22-2004536.4。GT1576.12012“消除或（）”—”到固定式或活动式防护装置的最小距离应根据GB/T23821-2009护装置时，应根据GB/T23821-2009确定最小安全距离。传感保护设备)的保护装置，它们的最小安全距离应根据GB/T19876-2012的相关要求确定。GB/T23821-2009来确定：从防护装置底面到相邻站立面的开口和防护装置中的任何开口的9.2.3。示教时，机器人的运动速度应低于250mm/s，具体的速度选择应考虑万一发生危险，示教人员程序验证必须在机器人运动速度低于250mm/s—运行装置或使能装置外，还应满足10.1编程时的安全防护要求。当要求在机器人的运行速度超过250mm/s250mm/sMTBF检验下限值（θ1）MTBF10%20台。12。（）ArrhenusA1

AF1

E—激活能，单位为电子伏特K—玻尔兹曼常数（8.617385×10-（𝑒）𝑒（𝑒）𝑒。AF=𝑒 𝑒——2.5

AF3

− n—2~33；Arrhenius模型。AF=𝑒 𝑒—𝑠—GB/T37718-20196.8节公式计算基本轨迹运行时间与加速轨迹试验时间之比。

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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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