Human-machine cooperation In the same collaborative space, the robot and the operator are allowed to move in space at the same time. However, in order to ensure the safety of the operator, it is necessary to detect the distance between the person and the robot through safety technology. Depending on the distance between the person and the robot, the system produces a corresponding change by controlling the speed of the robot, eventually stopping the robot before the collision occurs. When the operator leaves, the robotic system can manually or automatically restore the original motion path as needed while maintaining a minimum distance interval. Such speed and separation monitoring are considered to be one of the four human-machine collaboration security applications in ISO/TS 15066. Speed ​​and separation monitoring diagram Speed ​​and separation monitoring examples In order to visualize the monitoring of speed and separation, Pilz has built a SafetyEye-based monitoring system to demonstrate this type of application. In this application, the following scenarios and processes are demonstrated: When the operator enters the collaboration area, the safety system immediately detects the operator's entry, at which point the robot begins to decelerate and eventually the robot eventually stops. Upon completion of the operation, the operator triggers a button to reset manually. In general, as long as the security function cannot be blocked, the system reset can be performed automatically without pressing a button. Safety separation distance Since this application allows the robot and the operator to move in space simultaneously in the same collaborative space, the moving speed of the robot and the operator and the corresponding minimum guard separation distance should be defined by the system. Refer to ISO 13855 for safety device positioning related to the approach speed of the human body. The formula for calculating the minimum distance is: S = (K ×T )+ C among them: S = minimum distance (mm) K = parameter derived from the approach speed of the human body (mm/s) T = total system stop performance (s) C = intrusion distance (mm) Man-machine speed curve In the application of human-machine cooperation, the human-machine is allowed to be in the same space at the same time, so the safe separation distance needs to additionally consider the relative speed between the robot and the personnel. In the above man-machine speed graph, the system has a response delay between issuing a stop command and receiving a command from the robot; at the same time, the robot starts to decelerate to stop and also has a considerable time interval. Therefore, the response time and stopping distance (sr, ss) of the robot system and the positional uncertainty (zd, zr) of the operator and the robot system should be evaluated. gree , https://www.greegroups.com
