ISO TS 15066-2016 Robots and robotic devices - Collaborative robots《机器人和机器人装置 协作机器人》.pdf

1、 ISO 2016 Robots and robotic devices Collaborative robots Robots et dispositifs robotiques Robots coopratifs TECHNICAL SPECIFICATION ISO/TS 15066 Reference number ISO/TS 15066:2016(E) First edition 2016-02-15 ISO/TS 15066:2016(E)ii ISO 2016 All rights reserved COPYRIGHT PROTECTED DOCUMENT ISO 2016,

2、Published in Switzerland All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Pe

3、rmission can be requested from either ISO at the address below or ISOs member body in the country of the requester. ISO copyright office Ch. de Blandonnet 8 CP 401 CH-1214 Vernier, Geneva, Switzerland Tel. +41 22 749 01 11 Fax +41 22 749 09 47 copyrightiso.org www.iso.org ISO/TS 15066:2016(E)Forewor

4、d iv Introduction v 1 Scope . 1 2 Normative references 1 3 T erms and definitions . 1 4 Collaborative industrial robot system design 2 4.1 General . 2 4.2 Collaborative application design . 3 4.3 Hazard identification and risk assessment 4 4.3.1 General 4 4.3.2 Hazard identification 4 4.3.3 Task ide

5、ntification 5 4.3.4 Hazard elimination and risk reduction 5 5 Requirements for collaborative robot system applications 6 5.1 General . 6 5.2 Safety-related control system performance 6 5.3 Design of the collaborative workspace 6 5.4 Design of the collaborative robot operation 6 5.4.1 General 6 5.4.2

6、 Protective measures . . 6 5.4.3 Stopping functions . 6 5.4.4 Transitions between non-collaborative operation and collaborative operation 7 5.4.5 Enabling device requirements . 7 5.5 Collaborative operations 7 5.5.1 General 7 5.5.2 Safety-rated monitored stop 8 5.5.3 Hand guiding . 9 5.5.4 Speed and

7、 separation monitoring 10 5.5.5 Power and force limiting 15 6 V erification and v alidation .19 7 Information for use .19 7.1 General 19 7.2 Information specific to collaborative robot operations 19 7.3 Description of the collaborative robot system19 7.4 Description of the workplace application.19 7

8、.5 Description of the work task 20 7.6 Information specific to power and force limiting applications 20 Annex A (informative) Limits for quasi-static and transient contact 21 Bibliography .33 ISO 2016 All rights reserved iii Contents Page ISO/TS 15066:2016(E) Foreword ISO (the International Organiza

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15、ee responsible for this document is Technical Committee ISO/TC 299, Robots and robotic devices. This Technical Specification is relevant only in conjunction with the safety requirements for collaborative industrial robot operation described in ISO 10218-1 and ISO 10218-2.iv ISO 2016 All rights reser

16、ved ISO/TS 15066:2016(E) Introduction The objective of collaborative robots is to combine the repetitive performance of robots with the individual skills and ability of people. People have an excellent capability for solving imprecise exercises; robots exhibit precision, power and endurance. To achi

17、eve safety, robotic applications traditionally exclude operator access to the operations area while the robot is active. Therefore, a variety of operations requiring human intervention often cannot be automated using robot systems. This Technical Specification provides guidance for collaborative rob

18、ot operation where a robot system and people share the same workspace. In such operations, the integrity of the safety-related control system is of major importance, particularly when process parameters such as speed and force are being controlled. A comprehensive risk assessment is required to asse

19、ss not only the robot system itself, but also the environment in which it is placed, i.e. the workplace. When implementing applications in which people and robot systems collaborate, ergonomic advantages can also result, e.g. improvements of worker posture. This Technical Specification supplements a

20、nd supports the industrial robot safety standards ISO 10218-1 and ISO 10218-2, and provides additional guidance on the identified operational functions for collaborative robots. The collaborative operations described in this Technical Specification are dependent upon the use of robots meeting the re

21、quirements of ISO 10218-1 and their integration meeting the requirements of ISO 10218-2. NOTE Collaborative operation is a developing field. The values for power and force limiting stated in this Technical Specification are expected to evolve in future editions. ISO 2016 All rights reserved v Robots

22、 and robotic devices Collaborative robots 1 Scope This Technical Specification specifies safety requirements for collaborative industrial robot systems and the work environment, and supplements the requirements and guidance on collaborative industrial robot operation given in ISO 10218-1 and ISO 102

23、18-2. This Technical Specification applies to industrial robot systems as described in ISO 10218-1 and ISO 10218-2. It does not apply to non-industrial robots, although the safety principles presented can be useful to other areas of robotics. NOTE This Technical Specification does not apply to colla

24、borative applications designed prior to its publication. 2 Normative references The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the lates

25、t edition of the referenced document (including any amendments) applies. ISO 10218-1:2011, Robots and robotic devices Safety requirements for industrial robots Part 1: Robots ISO 10218-2:2011, Robots and robotic devices Safety requirements for industrial robots Part 2: Robot systems and integration

26、ISO 12100, Safety of machinery General principles for design Risk assessment and risk reduction ISO 13850, Safety of machinery Emergency stop function Principles for design ISO 13855, Safety of machinery Positioning of safeguards with respect to the approach speeds of parts of the human body IEC 602

27、04-1, Safety of machinery Electrical equipment of machines Part 1: General requirements 3 T erms a nd definiti ons For the purposes of this document, the terms and definitions given in ISO 10218-1, ISO 10218-2 and ISO 12100 and the following apply. 3.1 collaborative operation state in which a purpos

28、ely designed robot system and an operator work within a collaborative workspace SOURCE: ISO 10218-1:2011, 3.4, modified 3.2 power mechanical power mechanical rate of doing work, or the amount of energy consumed per unit time Note 1 to entry: Power does not pertain to the electrical power rating on a

29、n electronic device, such as a motor. TECHNICAL SPECIFICATION ISO/TS 15066:2016(E) ISO 2016 All rights reserved 1 ISO/TS 15066:2016(E) 3.3 collaborative workspace space within the operating space where the robot system (including the workpiece) and a human can perform tasks concurrently during produ

30、ction operation Note 1 to entry: See Figure 1. SOURCE: ISO 10218-1:2011, 3.5, modified 3.4 quasi-static contact contact between an operator and part of a robot system, where the operator body part can be clamped between a moving part of a robot system and another fixed or moving part of the robot ce

31、ll 3.5 transient contact contact between an operator and part of a robot system, where the operator body part is not clamped and can recoil or retract from the moving part of the robot system 3.6 protective separation distance shortest permissible distance between any moving hazardous part of the ro

32、bot system and any human in the collaborative workspace Note 1 to entry: This value can be fixed or variable. 3.7 body model representation of the human body consisting of individual body segments characterized by biomechanical properties 4 Collaborative industrial robot system design 4.1 General IS

33、O 10218-2:2011 describes safety requirements for the integration of industrial robots and robot systems, including collaborative robot systems. The operational characteristics of collaborative robot systems are significantly different from those of traditional robot system installations and other ma

34、chines and equipment. In collaborative robot operations, operators can work in close proximity to the robot system while power to the robots actuators is available, and physical contact between an operator and the robot system can occur within a collaborative workspace. See Figure 1.2 ISO 2016 All r

35、ights reserved ISO/TS 15066:2016(E) Key 1 operating space 2 collaborative workspace Figure 1 Example of a collaborative workspace Any collaborative robot system design requires protective measures to ensure the operators safety at all times during collaborative robot operation. A risk assessment is

36、necessary to identify the hazards and estimate the risks associated with a collaborative robot system application so that proper risk reduction measures can be selected. 4.2 Collaborative application design A key process in the design of the collaborative robot system and the associated cell layout

37、is the elimination of hazards and reduction of risks, and can include or influence the design of the working environment. The following factors shall be taken into consideration: a) the established limits (three dimensional) of the collaborative workspace; b) collaborative workspace, access and clea

38、rance: 1) delineation of the restricted space and collaborative workspaces; 2) influences on the collaborative workspace (e.g. material storage, work flow requirements, obstacles); 3) the need for clearances around obstacles such as fixtures, equipment and building supports; 4) accessibility for ope

39、rators; 5) the intended and reasonably foreseeable contact(s) between portions of the robot system and an operator; 6) access routes (e.g. paths taken by operators, material movement to the collaborative workspace); 7) hazards associated with slips, trips and falls (e.g. cable trays, cables, uneven

40、surfaces, carts); c) ergonomics and human interface with equipment: 1) clarity of controls; 2) possible stress, fatigue, or lack of concentration arising from the collaborative operation; 3) error or misuse (intentional or unintentional) by operator; 4) possible reflex behaviour of operator to opera

41、tion of the robot system and related equipment; 5) required training level and skills of the operator; ISO 2016 All rights reserved 3 ISO/TS 15066:2016(E) 6) acceptable biomechanical limits under intended operation and reasonably foreseeable misuse; 7) potential consequences of single or repetitive

42、contacts; d) use limits: 1) description of the tasks including the required training and skills of an operator; 2) identification of persons (groups) with access to the collaborative robot system; 3) potential intended and unintended contact situations; 4) restriction of access to authorized operato

43、rs only; e) transitions (time limits): 1) starting and ending of collaborative operation; 2) transitions from collaborative operations to other types of operation. 4.3 Hazar d identificati on and risk assessment 4.3.1 General The integrator shall conduct a risk assessment for the collaborative opera

44、tion as described in ISO 10218-2:2011, 4.3. Special consideration concerning potential intended or reasonably foreseeable unintended contact situations between an operator and the robot system, as well as the expected accessibility of an operator to interact in the collaborative workspace, shall be

45、taken into account. The user should participate in the risk assessment and design of the workspace. The integrator is responsible for coordinating this participation and for selecting the appropriate robot system components based on the requirements of the application. 4.3.2 Hazar d identification T

46、he list of significant hazards for robot and robot systems contained in ISO 10218-2:2011, Annex A, is the result of hazard identification carried out as described in ISO 12100. Additional hazards (e.g. fumes, gases, chemicals and hot materials) can be created by the specific collaborative applicatio

47、ns (e.g. welding, assembly, grinding, or milling). These hazards shall be addressed on an individual basis through a risk assessment for the specific collaborative application. The hazard identification process shall consider the following as a minimum: a) robot related hazards, including: 1) robot

48、characteristics (e.g. load, speed, force, momentum, torque, power, geometry, surface shape and material); 2) quasi-static contact conditions in the robot; 3) operator location with respect to proximity of the robot (e.g. working under the robot) ; b) hazards related to the robot system, including: 1

49、) end-effector and workpiece hazards, including lack of ergonomic design, sharp edges, loss of workpiece, protrusions, working with tool changer; 2) operator motion and location with respect to positioning of parts, orientation of structures (e.g. fixtures, building supports, walls) and location of hazards on fixtures; 3) fixture design, clamp placement and operation, other related hazards;4 ISO 2016 All rights reserved ISO/TS 15066:2016(E) 4) a determination as to whether contact would be transient or quasi-static, and