KS B ISO 10218-2-2012 Robots and robotic devices－Safety requirements for industrial robots－Part 2：Robot systems and integration《机器人和机器人设备 工业机器人的安全要求 第2部分 机械系统和集成》.pdf

1、 KSKSKSKSKSKSKSK KSKSKS KSKSK KSKS KSK KS KS B ISO 10218 2 2： KS B ISO 10218 2:2012 2012 3 29 http:/www.kats.go.krKS B ISO 10218 2:2012 : ( ) ( ) ( ) : () ( ) : (http:/www.standard.go.kr) ： ：2012 3 29 2012-0138 ： ： ( 02-509-7274) (http:/www.kats.go.kr). 10 5 , . KS B ISO 10218 2:2012 i ii 1 1 2 1 3

2、.2 4 4 4.1 .4 4.2 (layout) 4 4.3 (risk assessment)6 4.4 (hazard identification) .7 4.5 (hazard elimination and risk reduction) .7 5 8 5.1 .8 5.2 ( / ) (safety-related control system performance).8 5.3 (design and installation)9 5.4 (limiting robot motion)13 5.5 (layout).15 5.6 (robot system operatio

3、nal mode application) 17 5.7 (pendants) 20 5.8 (maintenance and repair) 21 5.9 (Integrated Manufacturing System, IMS) .23 5.10 (safeguarding) .24 5.11 (collaborative robots operation).32 5.12 (commissioning of robot systems)35 6 36 6.1 .36 6.2 (verification and validation methods) .36 6.3 (required

4、verification and validation)37 6.4 (verification and validation of protective measures)37 7 .38 7.1 .38 7.2 (instruction handbook) 38 7.3 (marking) .42 A( ) 43 B( ) 47 C( ) .48 D( ) 51 E( ) 52 F( ) .54 G( ) .57 71KS B ISO 10218 2:2012 ii 2011 1 ISO 10218 2, Robots and robotic devices Safety requirem

5、ents for industrial robots Part 2： Robot systems and integration , . KS B ISO 10218 2:2012 2： Robots and robotic devices Safety requirements for industrial robots Part 2： Robot systems and integration 1 KS B ISO 10218 1 . . a) , , , , , b) , , , , c) , . (Integrated Manufacturing System, IMS) . , ,

6、, . . 2 . . ( ) . KS B ISO 4413, KS B ISO 4414, KS B ISO 9946, KS B ISO 10218 1, 1： KS B ISO 11161, KS B ISO 13849 1, 1： KS B ISO 13850, ： KS B ISO 13854, ： KS B ISO 13855, KS B ISO 14118, ： KS B ISO 10218 2:2012 2 KS B ISO 14119, KS B ISO 14120, KS B ISO 14122( ), ： KS C IEC 60204 1, 1： KS C IEC 61

7、496 1, 1： ISO 8995 1, Lighting of work places Part 1： Indoor ISO 12100, Safety of machinery General principles for design Risk assessment and risk reduction ISO 13856( ), Safety of machinery Pressure-sensitive protective devices ISO 13857, Safety of machinery Safety distances to prevent danger zones

8、 being reached by the upper limbs and lower limbs IEC 61800 5-2, Adjustable speed electrical power drive systems Part 5-2： Safety requirementsFunctional IEC/TS 62046:2008, Safety of machinery Application of protective equipment to detect the presence of persons IEC 62061:2005, Safety of machinery Fu

9、nctional safety of safety related electrical, electronic and programmable control systems 3 , ISO 12100 KS B ISO10218 1 . 3.1 (application) ( , , , , ). , . 3.2 (collaborative robot) 3.3 (collaborative workspace) (safeguarded space) , 3.4 (control station) , (control panel ) (control pendant) . 3.5

10、(distance guard) , . , . KS B ISO 10218 2:2012 3 3.6 (integration) ( , ) ( ) . 3.7 (integrator) , , , , (IMS) , , , , . 3.8 (integrated manufacturing system, IMS) , , ( , IMS ) . KS B ISO11161, 3.1 3.9 (industrial robot cell) 3.10 (industrial robot line) 3.11 (safe state) 3.12 (simultaneous motion)

11、, . 3.13 (space) 3 3.13.1 (operating space, operational space) , ISO 8373, 4.8.3 3.13.2 (restricted space) , (limiting devices) KS B ISO 10218 2:2012 4 KS B ISO 8373, 4.8.2 3.13.3 (safeguarded space) 3.14 (validation) 3.15 (verification) 4 4.1 4.1.1 . , a) . b) . c) . d) . 4.1.2 . . a) b) . c) ( , )

12、 4.1.3 . a) b) c) (intervention) 4.1.4 , . , , , , , . 4.2 (layout) . KS B ISO 10218 2:2012 5 . a) (3 ) 1) 2) ( ) b) , (clearance) 1) , , 2) ( , , ) 3) ( , , , , , ) 4) , , , 5) , , . 6) (cable tray) c) . . , (enabling devices) . . 1) 2) 3) ISO 12100 4.11.9 . d) (ergonomics) 1) (visibility) 2) (clar

13、ity) 3) 4) 5) (workpiece) 6) (misuse) 7) e) 1) 2) f) / g) h) (zoning) ( , ) i) j) . KS B ISO 10218 2:2012 6 4.3 (risk assessment) 4.3.1 , . . ( , , , , , , ) . , . , . . (4.3.2 ) (4.4 ) (risk estimation) (risk evaluation) 4.3.2 ISO 12100, KS B ISO 11161 C . , . a) (use limits) 1) , 2) 3) 4) , C . 5)

14、 6) KS B ISO 10218 1 7) 8) ( ) b) (space limits)(5.5 ) 1) 2) 3) 4) (KS B ISO 11161) 5) (5.5.2 ) 6) 7) KS B ISO 10218 2:2012 7 c) (time limits) 1) ( , ) 2) (flow charts) (timing) 3) d) (other limits) 1) ( , , , ) 2) 3) 4) 5) , . 4.4 (hazard identification) 4.4.1 A ISO 12100 . ( , , , ) ( , , , ) . .

15、4.4.2 (task identification) . . ( ) . ( , , ) . . a) b) (loading) c) (verification) d) e) ( , , ) f) g) (： , , , ) h) ( , , ) i) j) 4.5 (hazard elimination and risk reduction) KS B ISO 10218 2:2012 8 . . a) b) . c) , , 5. A ISO 12100 . 5. . , . 5 5.1 . , ( , ) ISO 12100 . . 1 , . 2 (verification) 6.

16、 . 5.2 ( / ) (safety-related control system performance) 5.2.1 ( , , ) 5.2.3 , 5.2.2 . . 1 SRP/CS( ) . , . KS B ISO 13849 1 (Performance Levels, PL) (category) IEC 62061 (Safety Integrity Levels, SIL) (fault tolerance) . . . . 2 KS B ISO 13849 1 IEC 62061 ISO/TR 23849 . ( , KS B ISO 10218 2:2012 9 “

17、 ”). , . KS C IEC 60204 1 0 1 . 5.2.2 (performance requirements) KS B ISO 13849 1 3 (PL) “d” , IEC 62061 (SIL) 2 1, 20 (y) . . a) . b) , . c) , . d) . KS B ISO 13849 1 3 . . . 5.2.3 (other control system performance criteria) 5.2.2 . , . 5.3 (design and installation) 5.3.1 (environmental conditions) , . . . 5.3.2 (location of controls) ( , , ) . . KS B ISO 10218 2:2012 10 5.3.3 (actuating controls) KS C IEC 60204 1 . KS B ISO 10218 1 5.3 . . 5.3.4 (Power requirements) ( , , , , ) . KS C IEC 60204 1 . KS B ISO 4413 , KS B ISO 4414 . 5.3.5 (equipotential bonding/grounding requirements) KS C