2024噴涂機器人安全可靠部署與應用實施要求

本標準規(guī)定了噴涂機器人安全可靠部署與應用實施的步驟和細則，從而增加了GB11291標準的可GB/T5226.1-20191GB11291.1-20111GB11291.2-20132GB/T12644-2001GB14048（所有部分）GB/T15706.1-2012GB/T16856-2015機械安全風險評估實施指南和方法舉例GB/T12642-2013工業(yè)機器人性能規(guī)范及其試驗方法GB/T12643-2013GB/T12644-2001工業(yè)機器人特性表示GB/T20867-2007GB/Z19397-2003JB/T8896-1999GB/T19876-2012GB/T8196-2018GB6514-2008GB/T26153.1-20101GB/T26153.3-20153GB/T19823-2020[來源：GB/T12643-2013注1：[來源：GB/T12643-2013industrial注1：——控制器，含示教盒和某些通信接口（硬件和軟件）注2：[來源：GB/T12643-2013robotsystem，industrialrobot[來源：GB/T12643-20132.14和flexiblemanufacturingsystemofoff-lineprogrammingroboticsprayroboticsprayingsystemofoff-line注：failurereliablemission[來源：GB11291-2011平均故障間隔時間（MTBF）meantimebetween平均故障間隔時間（MTBF）的驗證區(qū)間（θL，θU）demonstratedMTBFMTBF觀測值（點估計值）（^）observedMTBF（^）MTBF檢驗下限（θ1）lowertest可接收的最低MTBF值。若設備的MTBF的真值不大于檢驗下限θ1MTBF檢驗上限（θ0）uppertest生產(chǎn)方風險（α）producer’s使用方風險（β）consumer’s鑒別比（d）discriminationMTBF的檢驗上限θ0與檢驗下限θ1的比值。d=θ0/θ1注：relevanttestnumberofequivalentaccelerationactivation注：激活能以eV/K噴涂系統(tǒng)宜采用GB/T26153.1-2010中4.3.2規(guī)定的加工流程，如圖11應符合GB/T26153.1-2010中4.5除應符合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離線編程式機器人噴涂系統(tǒng)的應用過程宜參照GB/T26153.l-2010中4.4.2規(guī)定的實施流程，具體到圖2GB11291-2011第4設計、開發(fā)、制造（包括人類工效學考慮）——如在設計時，未考慮對人員的防護；末端夾持組裝（包括工件搬運、夾持和切削加工）——是應用和使用中產(chǎn)生危險的一種潛在因素，一般S1S2。A1，如果幾乎無避開危險的機A2。25012S2E2A2A1E1A2A1S1E2A2A1E1A2A13具有危險消除或危險置換的性能具有監(jiān)控的單通道安全控制系統(tǒng)R4的措施進行安全防護。R3R4條款的安全防護來降低R2R3R4條款的安全防護來降低風險。33.23.31評價能否避開、4R3R4時，說R3R4時，則應選擇附加的安全R3R4。4E2A2S2S1A1S2S1E1A2S2S1A1S2S1（I）、射頻干擾（I）和振動等是可用于保證操作員在工作站不會暴露于危險中（GB11291.2-20135.45.10的要求）。）（如飛出GB/T16895.22-2004536.4。GT1576.12012“消除或（）”—”防護裝置的最小(安全)距離：固定式或活動式防護裝置應符合GB/T8196-2018的要求。任何危險到固定式或活動式防護裝置的最小距離應根據(jù)GB/T23821-2009護裝置時，應根據(jù)GB/T23821-2009確定最小安全距離。傳感保護設備)的保護裝置，它們的最小安全距離應根據(jù)GB/T19876-2012的相關要求確定。GB/T23821-2009來確定：從防護裝置底面到相鄰站立面的開口和防護裝置中的任何開口的9.2.3。程序驗證必須在機器人運動速度低于250mm/s時進行，除機器人的運動控制僅使用握持—運行裝置或使能裝置外，還應滿足10.1編程時的安全防護要求。當要求在機器人的運行速度超過250mm/s時，校驗人員在安全防護空間內(nèi)檢查已編程的作業(yè)任250mm/sMTBF檢驗下限值（θ1）MTBF10%20臺。12。溫度應力：應根據(jù)工業(yè)機器人的工作環(huán)境條件來確定溫度應力。確定溫度應力時，應至少考慮（）ArrhenusA1

AF1

E—激活能，單位為電子伏特K—玻爾茲曼常數(shù)（8.617385×10-（??）??（??）??。AF=?? ??——2.5

AF3

? n—2~33；Arrhenius模型。AF=?? ??—??—GB/T37718-20196.8節(jié)公式計算基本軌跡運行時間與加速軌跡試驗時間之比。

=

×0 試驗前檢查：試驗前對所有待測工業(yè)機器人樣品進行功能和性能測試，性能測試按照GB/T 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.6446609},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp14_10=p:{{534.6446609,27.71281292,415.3553391},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp15_10=p:{{605.3553391,3.70E+01,344.6446609},{0.092900307,0.721667736,0.680363428,0.087583202}}{cfg-1,0,0,1}{EJGLOBALVARrobtargetp16_10=p:{{534.6446609,46.18802154,415.3553391},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp17_10=p:{{605.3553391,55.42562584,344.6446609},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp18_10=p:{{534.6446609,64.66323015,415.3553391},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp19_10=p:{{605.3553391,7.39E+01,344.6446609},{0.092900307,0.721667736,0.680363428,0.087583202}}{cfg-1,0,0,1}{EJGLOBALVARrobtargetp20_10=p:{{534.6446609,83.13843876,415.3553391},{0.0929003070.721667736,0.680363428,0.087583202}}{cfg-GLOBALVARrobtargetp21_10=p:{{605.3553391,9.24E+01,344.6446609},{0.092900307,0.721667736,0.680363428,0.087583202}}{cfg-1,0,0,1}{EJGLOBALVARspeedspeedhigh=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,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