2024焊接机器人安全可靠部署与应用实施要求

We1dingrobots—Safeandre1iabledeploymentandapplicationimplementation 本标准规定了焊接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/T8196-2018GB/T14283-2008GB/T15579-2013弧焊设备1GB15578-2008[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we1ding[来源：GB11291-2011maximum由制造厂所定义的机器人（3.2）[来源：GB/T12643-2013restricted[来源：GB/T12643-2013operatingspace，operational[来源：GB/T12643-2013safeguarded[来源：GB/T12643-2013limiting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）c）h）GB11291-2011第4设计、开发、制造（包括人类工效学考虑）——如在设计时，未考虑对人员的防护；末端夹持组装（包括工件搬运、夹持和切削加工）——是应用和使用中产生危险的一种潜在因素，一般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。4E2A2S2S1A1S2S1E1A2S2S1A1S2S1GB15579的安全要求。()GB15578-2008（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（）”—”防护装置的最小(安全)距离：固定式或活动式防护装置应符合GB/T8196-2018的要求。任何危险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。程序验证必须在机器人运动速度低于250mm/s时进行，除机器人的运动控制仅使用握持—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/s时，校验人员在安全防护空间内检查已编程的作业任250mm/sMTBF检验下限值（θ1）MTBF10%20台。12。温度应力：应根据工业机器人的工作环境条件来确定温度应力。确定温度应力时，应至少考虑（）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。

=

×0 试验前检查：试验前对所有待测工业机器人样品进行功能和性能测试，性能测试按照GB/T MODULE 8}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 7}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 0}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 8}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} }{cfg0,-1,0,0}{EJ }{cfg-1,-1,0,1}{EJ -1,-1,0,1}{EJ 4}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} }{cfg0,0,0,0}{EJ {cfg0,-1,0,0}{EJ {cfg-1,0,-1,0}{EJ }{cfg0,-1,0,0}{EJ 0}}{cfg1,0,0,1}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 0}}{cfg1,0,0,1}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 4}}{cfg-1,-1,0,1}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 8}}{cfg-1,1,-2,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ {cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ {cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ {cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ }{cfg-1,0,-1,0}{EJ {cfg-1,0,-1,0}{EJ {cfg-1,0,-1,0}{EJ {cfg-1,0,-1,0}{EJ {cfg-1,1,-1,0}{EJ {cfg-1,1,-1,0}{EJ {cfg-1,1,-1,0}{EJ 4}}{cfg-1,1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 4}}{cfg-1,1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 7}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 7}}{cfg-1,1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 0}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 0}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 7}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 7}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 87}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 89}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 83}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 85}}{cfg-1,1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 1}}{cfg-1,-1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 7}}{cfg-1,-1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} }{cfg-1,0,-1,0}{EJ 4}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} }{cfg-1,0,-1,0}{EJ 5}}{cfg-1,-1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 0}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 2}}{cfg-1,-1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 2}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 5}}{cfg-1,-1,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} 5}}{cfg-1,0,-1,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} }{cfg-1,0,-1,0}{EJ {cfg0,0,0,0}{EJ 6}}{cfg0,-1,0,0}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000} }{cfg0,-1,0,0}{EJ }{cfg-1,-1,0,0}{EJ }{cfg-1,-1,0,1}{EJ 2}}{cfg-1,-1,0,1}{EJ0.000000000,0.000000000,0.000000000,0.000000000,0.000000000,0.000000000}

{cfg0,0,0,1}{EJ -1,-1,0,1}{EJ

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-1,-1,0,1}{EJ -1,-1,0,1}{EJ -1,0,-1,1}{EJ -1,0,-1,1}{EJ -1,0,-1,1}{EJ -1,-1,-1,1}{EJ -1,-1,0,1}{EJ }{cfg-1,-1,-1,0}{EJ {cfg-1,0,-1,0}{EJ }{cfg-1,-1,0,0}{EJ }{cfg-1,-1,-1,0}{EJ }{cfg-1,-1,-1,0}{EJ {cfg-1,-1,-1,0}{EJ {cfg0,-1,0,0}{EJ

{cfg0,-1,0,0}{EJ

{cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ }{cfg0,0,-1,0}{EJ {cfg0,0,-1,0}{EJ }{cfg0,0,0,0}{EJ }{cfg0,-1,0,0}{EJ }{cfg0,-1,0,0}{EJ }{cfg0,-1,0,0}{EJ }{cfg0,-1,0,0}{EJ }{cfg0,-1,-1,0}{EJ }{cfg0,-1,-1,0}{EJ }{cfg0,-1,-1,0}{EJ }{cfg0,0,-1,0}{EJ }{cfg0,-1,-1,0}{EJ }{cfg0,-1,-1,0}{EJ }{cfg0,-1,-1,0}{EJ GLOBALVARrobtargetpos_p1=p:{{662.3760431,-92.37604307,287.6239569},{0.092900307, GLOBALVARrobtargetpos_p2=p:{{662.3760431,92.37604307,287.6239569},{0.092900307, GLOBALVARrobtargetpos_p3=p:{{477.6239569,92.37604307,472.3760431},{0.092900307, GLOBALVARrobtargetpos_p4=p:{{477.6239569,-92.37604307,472.3760431},{0.092900307, GLOBALVARrobtargetpos_p5=p:{{570,8.53E-14,380},{0.092900307,0.721667736,0.680363428, GLOBALVARrobtargetp1_2=p:{{620,8.53E-14,380},{0.092900307,0.721667736,0.680363428, GLOBALVARrobtargetp2_2=p:{{570,8.53E-14,380},{0.092900307,0.721667736,0.680363428, GLOBALVARrobtargetp3_2=p:{{570,5.00E+01,380},{0.092900307,0.721667736,0.680363428, GLOBALVARrobtargetp4_2=p:{{570,8.53E-14,380},{0.092900307,0.721667736,6.80E-01 GLOBALVARrobtargetp5_2=p:{{570,8.53E-14,430},{0.092900307,0.721667736,0.680363428, GLOBALVARrobtargetp6_2=p:{{570,8.53E-14,380},{0.092900307,0.721667736,0.680363428, GLOBALVARrobtargetp7_2=p:{{506.4914704,-92.37604307,472.3760431},{0.092900307, GLOBALVARrobtargetp8_2=p:{{477.6239569,-92.37604307,472.3760431},{0.092900307, GLOBALVARrobtargetp9_2=p:{{477.6239569,-63.50852961,472.3760431},{0.092900307, GLOBALVARrobtargetp10_2=p:{{477.6239569,-92.37604307,472.3760431},{0.092900307, GLOBALVARrobtargetp11_2=p:{{477.6239569,-92.37604307,443.5085296},{0.092900307, GLOBALVARrobtargetp12_2=p:{{477.6239569,-92.37604307,472.3760431},{0.092900307, GLOBALVARrobtargetp13_2=p:{{633.5085296,92.37604307,287.6239569},{0.092900307, GLOBALVARrobtargetp14_2=p:{{662.3760431,92.37604307,287.6239569},{0.092900307, 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GLOBALVARspeedspeedhigh=v:{100,4000,200,0,0}GLOBALVARspeedspeedmedium=v:{100,2000,200,0,0}GLOBALVARinti=0GLOBALVARintr=GLOBALVARintXoffs=0GLOBALVARintYoffs=0GLOBALVARintZoffs=LOCALVARspeedv20=GLOBALVARclockclock1GLOBALVARdoubledouble0=0.0GLOBALPROC GLOBALPROCMoveAbsJj1,speedmedium,fine,tool01MoveAbsJj2,speedmedium,fine,tool01MoveAbsJj3,speedmedium,fine,tool01MoveAbsJj2,speedmedium,fine,tool01MoveAbsJj3,speedmedium,fine,tool01MoveAbsJj4,speedmedium,fine,tool01MoveAbsJj5,speedmedium,fine,tool01MoveAbsJj4,speedmedium,fine,tool01MoveAbsJj5,speedmedium,fine,tool01MoveAbsJj6,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,tool01MoveAbsJj11,speedmedium,fine,tool01MoveAbsJj12,speedmedium,fine,tool01MoveAbsJj13,speedmedium,fine,tool01MoveAbsJj12,speedmedium,fine,tool01MoveAbsJ

//6//6//6//6//5//5//5//5//4//4//4//4//3//3//3//3//2//2//2//2//1//1//1//1 1-2MoveAbsJj1,speedhigh,fine,tool01MoveAbsJj2,speedhigh,fine,tool01MoveAbsJj3,speedhigh,fine,tool01MoveAbsJj2,speedhigh,fine,tool01MoveAbsJj3,speedhigh,fine,tool01MoveAbsJj4,speedhigh,fine,tool01MoveAbsJj5,speedhigh,fine,tool01MoveAbsJj4,speedhigh,fine,tool01MoveAbsJj5,speedhigh,fine,tool01MoveAbsJj6,speedhigh,fine,tool01MoveAbsJ