2024喷涂机器人安全可靠部署与应用实施要求

本标准规定了喷涂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/T8196-2018GB6514-2008GB/T26153.1-20101GB/T26153.3-20153GB/T19823-2020[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flexiblemanufacturingsystemofoff-lineprogrammingroboticsprayroboticsprayingsystemofoff-line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/K喷涂系统宜采用GB/T26153.1-2010中4.3.2规定的加工流程，如图11应符合GB/T26153.1-2010中4.5除应符合GB/T26153.1-2010中4.6符合GB/T26153.1-2010中4.7符合GB/T26153.1-2010中4.8符合GB/T26153.1-2010中4.9符合GB/T26153.1-2010中4.10符合GB/T26153.1-2010中4.11符合GB/T26153.1-2010中4.12符合GB/T26153.1-2010中4.13离线编程式机器人喷涂系统的应用过程宜参照GB/T26153.l-2010中4.4.2规定的实施流程，具体到图2GB11291-2011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。4E2A2S2S1A1S2S1E1A2S2S1A1S2S1（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。

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×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 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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,tool01MoveAbsJ

//6//6//6//6//5//5//5//5//4//4//4//4//3//3//3//3//2//2//2//2//1//1//1MoveAbsJ //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,tool01MoveAbsJj7,speedhigh,fine,tool01MoveAbsJj6,speedhigh,fine,tool01MoveAbsJj7,speedhigh,fine,tool01MoveAbsJj8,speedhigh,fine,tool01MoveAbsJj9,speedhigh,fine,tool01MoveAbsJj8,speedhigh,fine,tool01MoveAbsJj9,speedhigh,fine,tool01MoveAbsJj10,speedhigh,fine,tool01MoveAbsJj11,speedhigh,fine,tool01MoveAbsJj10,speedhigh,fine,tool01MoveAbsJj11,speedhigh,fine,tool01MoveAbsJj12,speedhigh,fine,tool01MoveAbsJj13,speedhigh,fine,tool01MoveAbsJj12,speedhigh,fine,tool01MoveAbsJj13,speedhigh,fine,tool01MoveAbsJj1,speedhigh,fine,tool01

//6//6//6//6//5//5//5//5//4//4//4//4//3//3//3//3//2//2//2//2//1//1//1//1GLOBALPROCMoveAbsJ MoveLp1,speedhigh,fine,tool01

wait3MoveLp2,speedhigh,fine,tool01//2-2MoveLp11,speedmedium,fine,tool01 MoveLp11,speedmedium,fine,tool01 MoveAbsJj1,speedhigh,fine,tool01MoveAbsJj21,speedhigh,fine,tool01MoveAbsJMoveAbsJj23,speedhigh,fine,tool01MoveAbsJj24,speedhigh,fine,tool01MoveAbsJj25,speedhigh,fine,tool01MoveAbsJMoveAbsJj1,speedhigh,fine,tool01GLOBALPROCMoveAbsJj1,speedmedium,fine,tool01MoveAbsJj1,speedhigh,fine,tool0GLOBALPROCMoveAbsJ//100mm//200mm

//300mmMoveJp121,speedmedium,z20,tool01 MoveLp122,speedmedium,z20,tool01 MoveLp124,speedmedium,z20,tool01 MoveJp125,speedmedium,z20,tool01 MoveJp126,speedmedium,z20,tool01MoveJ//400mmMoveJp131,speedmedium,z20,tool01MoveJp131,speedmedium,z20,tool01//1MoveJp140,speedmedium,z20,tool01//2//3//4MoveJp153,speedmedium,z20,tool01

//5//6//7//8//9//10

//100mmMoveJp101,speedhigh,z20,tool01MoveLp102,speedhigh,z20,tool01MoveLp103,speedhigh,z20,tool01//200mm//300mmMoveLp121,speedhigh,z20,tool01MoveLp122,speedhigh,z20,tool01MoveLp123,speedhigh,z20,tool01MoveLp124,speedhigh,z20,tool01MoveLp125,speedhigh,z20,tool01//400mmMoveJp131,speedhigh,z20,tool01MoveLp132,speedhigh,z20,tool01MoveLp133,speedhigh,z20,tool01MoveJp131,speedhigh,z20,tool01//1MoveJp140,speedhigh,z200,tool01MoveLp141,speedhigh,z200,tool01MoveLp142,speedhigh,z200,tool01//2MoveLp145,speedhigh,z200,tool01MoveLp146,speedhigh,z200,tool01//3MoveLp148,speedhigh,z200,tool01MoveLp149,speedhigh,z200,tool01MoveLp150,speedhigh,z200,tool01//4MoveLp152,speedh