Cov qauv kev nyab xeeb rau Robotic Palletizing Cells nyob rau hauv ntim cov nroj tsuag: Lub teeb kab hlau rhuav, laj kab, thiab kev soj ntsuam kev pheej hmoo

Executive Summary:Ua kom muaj kev nyab xeeb ntawm kev ua haujlwm hauv cov chaw ntim khoom siv lub tshuab yuav tsum muaj kev nruj, ntau- txheej txheej rau kev tswj kev phom sij. Ua raws li kev lag luam palletizing neeg hlau lossis cobot system xav kom ua raws li cov qauv thoob ntiaj teb, suav nrog ISO 12100, ISO10218-1/2, ISO/TS 15066, thiab ISO 13849-1. Kev tiv thaiv kev ruaj ntseg ua tiav ua ke ua ke lub cev sib cuam tshuam ib puag ncig fencing, optical sensing technologies xws li kev nyab xeeb lub teeb curtains thiab laser scanners, thiab advanced Safety PLC tswj logic. Los ntawm kev ua raws li kev soj ntsuam kev pheej hmoo, xam qhov kev nyab xeeb ntawm kev nyab xeeb, thiab teeb tsa lub ntsej muag ntse thiab ua haujlwm tsis zoo, cov chaw ntim khoom tuaj yeem tswj tau cov kab siab dhau los thaum ua tiav qhov chaw ua haujlwm tsis zoo thiab ua raws li CE thiab OSHA tag nrho.

Ua ntej yuav txhim kho cov neeg hlau palletizer, pab pawg engineering yuav tsum ua tib zoo soj ntsuam kev pheej hmoo raws li ISO 12100, uas tswj hwm kev nyab xeeb ntawm cov tshuab los ntawm cov ntsiab lus dav dav rau kev tsim, kev ntsuas kev pheej hmoo, thiab txo kev pheej hmoo. Kev soj ntsuam kev pheej hmoo yog ib qho txheej txheem rov qab siv thoob plaws hauv kev tsim, kev sib koom ua ke, thiab kev ua haujlwm.

Cov kauj ruam ntsuam xyuas kev pheej hmoo tseem ceeb

• Hazard Identification:Txheeb xyuas qhov muaj peev xwm siv tshuab, hluav taws xob, thiab kev ua haujlwm txaus ntshai thoob plaws txhua hom kev ua haujlwm, suav nrog kev ua haujlwm tsis siv neeg, phau ntawv qhia, kev saib xyuas, thiab kev tshem tawm jam.

• Risk kwv yees:Kev ntsuas qhov hnyav ntawm qhov muaj peev xwm raug mob, qhov zaus lossis lub sijhawm ntawm qhov raug, thiab qhov tshwm sim ntawm kev zam kev raug mob.

• Txo kev pheej hmoo (Qhov Peb -Txoj Kev:Siv cov qauv tsim muaj kev nyab xeeb los tshem tawm cov npoo ntse lossis txwv cov neeg hlau ceev, sib koom ua ke kev tiv thaiv kev tiv thaiv zoo li lub laj kab lub cev thiab cov ntaub thaiv lub teeb, thiab muab cov cim ceeb toom meej thiab cov txheej txheem kev cob qhia tus neeg ua haujlwm.

Ntiaj teb no Standards Overview

ISO 12100 Kev Tswj Xyuas:Tsom ntsoov rau txoj kev ntsuas kev pheej hmoo dav dav thiab cov qauv kev pheej hmoo txo ​​qis rau cov tshuab, ntsuas los ntawm kev kwv yees qhov kev pheej hmoo matrix.

ISO 10218-1/2:Teem kom muaj kev nyab xeeb yuav tsum tau thiab cov qauv tsim ntawm tes rau kev lag luam robots, tshuab neeg hlau, thiab kev sib koom ua ke.

ISO / TS 15066:Muab cov kev taw qhia tshwj xeeb rau kev sib koom tes neeg hlau ua haujlwm thiab lub zog thiab kev txwv quab yuam raws li biomechanical siab pib.

TS EN ISO 13849-1:Qhia txog kev nyab xeeb-Txoj kev muaj feem cuam tshuam ntawm cov txheej txheem tswj kev tsim thiab siv tau, txhais cov qib Kev Ua Haujlwm xws li PLd lossis PLe.

IEC 62061 Daim Ntawv Pov Thawj:Kev tswj hwm kev nyab xeeb ntawm hluav taws xob thiab hluav taws xob kev nyab xeeb- ntsig txog kev tswj hwm cov tshuab, txhais los ntawm Kev Nyab Xeeb Kev Nyab Xeeb Qib SIL2 lossis SIL3.

Lub cev perimeter fencing muab thawj qhov nyuaj rau kev tiv thaiv tib neeg tsis tau tso cai nkag mus rau hauv lub hnab ntawv phom sij ntawm kev lag luam palletizing neeg hlau caj npab.

Perimeter Fence Design Requirements

• Yam tsawg kawg nkaus qhov siab:Ua raws li ISO 13857, cov laj kab tiv thaiv nyuaj yuav tsum sawv ntawm qhov siab yam tsawg kawg nkaus ntawm 2,000 millimeters saum toj no hauv pem teb kom tiv thaiv cov neeg ua haujlwm los ntawm kev nkag mus rau hauv thaj chaw muaj kev phom sij.

• Av Clearance:Hauv qab mesh thav duab yuav tsum muaj kev tshem tawm hauv av ntawm 150 mus rau 200 millimeters los tiv thaiv cov neeg ua haujlwm los ntawm kev nkag hauv qab thaum tso cai yooj yim ntxuav thiab ntxuav hauv pem teb.

• Mesh Aperture Loj:Mesh qhib yuav tsum tiv thaiv tus ntiv tes lossis txhais tes kom tsis txhob muaj teeb meem ntawm cov qauv. Txheem 50 los ntawm 50 millimeter hlau mesh yuav tsum muaj kev nyab xeeb yam tsawg kawg nkaus ntawm 200 millimeters los ntawm ib qho kev txav mus los.

Cell Access thiab Interlock Sequence

Thaum lub sijhawm ua haujlwm tus qauv, tus neeg hlau ntawm tes raug kaw tag nrho. Thaum tus neeg teb xov tooj thov nkag los ntawm HMI console, lub kaw lus tswj tau pib tswj kom nrawm nrawm. Thaum lub kaw lus ua rau muaj kev nyab xeeb Torque Off xeev thiab txheeb xyuas xoom cov lus tsa suab, qhov cuam tshuam -tus yuam sij lossis solenoid interlock tso tawm lub rooj vag nkag, tso cai rau kev nyab xeeb ntawm phau ntawv nkag mus rau hauv lub cell.

Txhua lub qhov rooj nkag tau ua rau hauv lub cev ib puag ncig lub laj kab yuav tsum haum nrog ob lub -channel kev ruaj ntseg interlock keyboards featuring tus neeg saib xyuas xauv. Solenoid-locking kev nyab xeeb hloov ua kom lub qhov rooj nkag mus kom txog thaum tus neeg hlau tau mus txog qhov chaw nres tsheb. Trapped-Lub kaw lus tseem ceeb cuam tshuam xav kom cov neeg ua haujlwm tshem tawm lub cev kev nyab xeeb ntawm lub rooj vag console ua ntej qhib lub qhov rooj, thiab nqa tus yuam sij no mus rau hauv lub cell tiv thaiv cov neeg thib peb los ntawm kev kaw lub qhov rooj thiab rov pib pib dua- hom thaum cov neeg ua haujlwm nyob hauv.

Thaum lub cev muaj kev cuam tshuam yuav txwv tsis pub pallet nkag los yog tawm cov kab thauj mus los, cov khoom siv kho qhov muag pom tau - cov khoom siv ntsuas pom muaj cov khoom siv hluav taws xob zoo- cov khoom tiv thaiv rhiab heev.

Kev nyab xeeb lub teeb kab hlau rhuav (Hom 4, PL e)

Kev nyab xeeb lub teeb curtains project ib array ntawm infrared beams hla kev nkag tau qhib. Kev cuam tshuam ntawm ib qho nqaj xa tawm tam sim ntawd nres rau Kev Nyab Xeeb PLC. Kev tiv thaiv ntiv tes siv 14- millimeter daws teeb meem thiab tau teeb tsa ze ze cov ntsiab lus phom sij xws li kawg- ntawm - caj npab cuab yeej grippers. Kev tiv thaiv tes siv 30-millimeter daws teeb meem raws li tus qauv teeb tsa nyob ib puag ncig conveyors. Kev kuaj xyuas lub cev thiab kev tswj xyuas kab sib chaws siv 300 txog 500 millimeter daws teeb meem ntau kab teeb rau kev tiv thaiv ib puag ncig.

Kev Nyab Xeeb Laser Scanners (Kev Tiv Thaiv Thaj Chaw)

Kev nyab xeeb laser scanners siv sij hawm- ntawm- Davhlau laser reflection los saib xyuas 2D pem teb thaj chaw nyob ib ncig ntawm lub palletizing neeg hlau system. Lawv tso cai rau dynamic zone switching. Raws li tus neeg teb xov tooj mus txog thaj tsam ceeb toom, lub tshuab scanner ua rau lub tswb nrov thiab teeb liab rau tus neeg hlau maub los kom qeeb kom muaj kev nyab xeeb txo qis. Yog tias tus neeg teb xov tooj tau nqis los ze rau hauv thaj chaw tiv thaiv sab hauv, lub tshuab scanner ua tiav tam sim ntawd qeb 0 lossis qeb 1 kev nyab xeeb nres.

Muab cov ntaub thaiv kev nyab xeeb dhau los ze rau ntawm kev lag luam palletizing neeg hlau caj npab tsim kom muaj kev nyab xeeb hnyav, vim tias tus neeg teb xov tooj tuaj yeem ncav cuag thaj chaw muaj kev phom sij ua ntej tus neeg hlau caj npab tuaj yeem nres.

Qhov kev nyab xeeb yam tsawg kawg nkaus yog xam raws li ISO 13855 siv tus qauv qauv. Qhov kev ncua deb yuav tsum sib npaug ntawm tib neeg mus kom ze qhov ceev sib npaug los ntawm tag nrho cov system nres lub sijhawm, ntxiv rau qhov kev nkag mus ntxiv raws li qhov kev daws teeb meem sensor. Tib neeg txoj kev ceev yog feem ntau teem rau 1,600 millimeters ib ob rau lub cev nkag los yog 2,000 millimeters ib ob rau tes taw. Tag nrho cov txheej txheem nres lub sijhawm ua haujlwm sib xyaw ua ke cov sijhawm teb ntawm cov khoom siv kho qhov muag, Kev Nyab Xeeb Kev Nyab Xeeb PLC kev ua haujlwm, thiab cov neeg hlau maub los actuator nres mechanism. Qhov kev nkag mus ntxiv nyob deb li deb npaum li cas ib txhais tes lossis lub cev tuaj yeem tawg los ntawm cov kab teeb ci ua ntej pom tshwm sim.

Nyob rau hauv ib qho kev siv scenario, yog hais tias tib neeg mus kom ze ceev ceev yog 1,600 millimeters ib ob, tag nrho cov ua ke system nres lub sij hawm teb yog 0.35 vib nas this, thiab qhov tob nkag mus rau ib tug lub cev nrhiav kom tau kab sib chaws yog 850 millimeters, lub xam multiplies 1,600 los ntawm 0.35 mus yield 560 millimeters. Ntxiv qhov 850 millimeter nkag mus rau qhov yuav tsum tau muaj kev nyab xeeb yam tsawg kawg nkaus ntawm 1,410 millimeters. Yog li ntawd, lub teeb ntaub yuav tsum tau mounted tsawg kawg yog 1,410 millimeters deb ntawm lub ze tshaj plaws neeg hlau cheb kab phom sij.

Cov kab ntim khoom siv lub tshuab yuav tsum tso cai rau cov pallets ua tiav lossis cov pallets khoob kom dhau los ntawm qhov chaw qhib ib puag ncig yam tsis muaj kev cuam tshuam tsis raug thaum muaj xwm txheej ceev, thaum tseem tshawb pom tib neeg nkag.

Txoj Kev Muting Function (Temporal Bypass)

Muting yog ib txoj kev hla mus rau lub sijhawm uas cuam tshuam lub teeb pom kev ib ntus thaum cov khoom nkag los yog tawm siv daim duab - qhov muag logic. Lub kaw lus cia siab rau tus ntoo khaub lig- qauv (X-Muting) lossis parallel (L-Muting) photoelectric sensors kom paub txog cov duab tshwj xeeb thiab ceev ntawm lub pallet tawm. Qhov txiaj ntsig tseem ceeb ntawm kev hloov pauv yog tso cai rau kev hloov pauv tsis tu ncua ntawm tag nrho cov pallet loads tawm ntawm lub xov tooj ntawm tes, tab sis nws qhov kev txwv tseem ceeb yog xav tau lub sij hawm nruj kom tiv thaiv tib neeg los ntawm kev taug qab ze ntawm lub pallet.

Txoj Haujlwm Tsis Muaj Haujlwm (Spatial Disablement)

Blanking yog ib qho kev tsis taus ntawm qhov chaw nyob qhov twg cov kab hluav taws xob tshwj xeeb ntawm lub teeb kab hlau rhuav tau raug cuam tshuam qhov twg cov khoom ruaj khov dhau los ntawm qhov chaw kho qhov muag. Tsau blanking txuas ntxiv ignores ruaj khov kev txhawb nqa lossis cov menyuam txaj thav ntawv. Floating blanking tsis quav ntsej cov khoom txav ntawm qhov loj me thaum tswj kev tiv thaiv kab teeb saum toj thiab hauv qab ntawm cov khoom. Qhov kev txwv tseem ceeb ntawm qhov blanking yog qhov kev daws teeb meem zoo ntawm lub sensor poob, yuav tsum tau rov xam qhov kev nyab xeeb yam tsawg kawg nkaus.

Txuas cov cuab yeej kev nyab xeeb rau tus qauv, tsis yog - PLCs kev nyab xeeb yog qhov ua txhaum cai loj heev. Niaj hnub nimno palletizing neeg hlau tshuab tswj kev ua haujlwm kev nyab xeeb tswj architectures tau ntawv pov thawj hauv qabTS EN ISO 13849-1.

Qhov kev ua tau zoo yuav tsum tau txiav txim siab los ntawm kev ntsuas qhov hnyav ntawm kev raug mob, qhov zaus ntawm qhov raug, thiab qhov ua tau kom tsis txhob raug mob. Vim yog cov loads siab xws li 20 mus rau 300 kilograms thiab siab caj npab txav ceev, neeg hlau palletizing hlwb yuav luag universally mandate PLd los yog PLe nyob rau hauv qeb 3 los yog Qeb 4 architectures.

Hauv Pawg 3 lossis Qib 4 kev tswj hwm kev nyab xeeb, dual -channel cov tswv yim tawm tswv yim los ntawm cov ntaub thaiv lub teeb, kev cuam tshuam ntawm lub rooj vag, thiab cov khawm nres thaum muaj xwm ceev tau pub ncaj qha rau hauv Kev Nyab Xeeb PLC lossis kev tswj xyuas kev nyab xeeb. Tus tswj kev nyab xeeb ua rau tsis muaj kev nyab xeeb hla- saib xyuas thiab rov ua dua cov logic. Nws mam li xa dual -channel tso zis tawm tswv yim rau kev nyab xeeb actuators, xws li dual lub ntsiab contactors los yog tus neeg hlau maub los lub Safe Torque Off input.

Cov haujlwm tseem ceeb ntawm kev nyab xeeb hauv Robot Controllers

• Safe Torque Off (STO):Txiav lub hwj chim rau cov neeg hlau motors yam tsis tau kaw cov tswj hluav taws xob, tiv thaiv cov khoom siv hluav taws xob tsis xav txog.

• Safe Operational Stop (SOS):Saib xyuas neeg hlau sib koom encoders kom ntseeg tau tias txhais caj npab tseem nyob ruaj khov thaum tuav tag nrho lub cev muaj zog tuav lub zog.

• Muaj kev nyab xeeb-Kev nrawm nrawm (SLS):Txwv qhov siab tshaj plaws Tool Center Point ceev thaum lub sij hawm qhia hom los yog txo - ceev ceev kev khiav hauj lwm, feem ntau mus rau 250 millimeters ib ob los yog tsawg dua.

Kev xaiv ntawm kev sib koom tes neeg hlau palletizer thiab ib txwm muaj siab -ceev kev lag luam caj npab hauv paus hloov pauv cov kev cai ntawm kev nyab xeeb ntawm tes.

Kev sib koom tes Palletizer (Cobot)

• Primary Safety Mechanism:Fais fab thiab Force Limiting (PFL) los ntawm kev sib koom ua ke torque sensors.

• Standards Focus:Kev tswj hwm feem ntau yog ISO / TS 15066 thiab ISO 10218-1.

• Pinch Point thiab EOAT Kev Nyab Xeeb:Siv cov mos-padded grippers thiab quab yuam- txwv nres.

• Kev khiav hauj lwm ceev & footprint:Txwv tsis pub qis qis qis dua 1.0 meter ib thib ob thaum lub sijhawm sib koom ua ke, muab cov hneev taw ultra-compact uas feem ntau yuav tsum muaj tsawg lossis tsis muaj kev tiv thaiv.

• Payload Peev Xwm:Feem ntau yog los ntawm 8 mus rau 25 kilograms.

Industrial Robotic Cell

• Primary Safety Mechanism:Lub cev interlocked perimeter laj kab thiab active teeb curtains.

• Standards Focus:Tswj los ntawm ISO 10218-1/2 thiab ISO 13849-1.

• Pinch Point thiab EOAT Kev Nyab Xeeb:Ua haujlwm mechanical guarded grippers nrog siab clamping quab yuam.

• Kev khiav hauj lwm ceev & footprint:Ua haujlwm ntawm qhov tsis muaj kev txwv tag nrho nrawm dua 2.5 meters ib ob, yuav tsum tau hneev taw loj rau lub hnab ntawv fenced tag nrho.

• Payload Peev Xwm:Qhov nruab nrab ntawm 50 kilograms mus rau ntau tshaj 800 kilograms.

Lub cobot tsuas yog muaj kev nyab xeeb raws li nws cov cuab yeej thiab kev them nyiaj. Yog hais tias ib tug cobot tuav ib tug ntse -edged corrugated tais los yog hnyav ntoo pallet, ib qho kev cuam tshuam tseem tuaj yeem ua rau mob hnyav. Daim ntawv pov thawj ISO 12100 qhov kev pheej hmoo tseem yuav tsum tau ua txawm tias muaj laj kab -cov hlwb tsawg dua.

Txawm tias muaj ntawv pov thawj kev ruaj ntseg kho vajtse, kev teeb tsa tsis raug lossis kev teeb tsa tsis zoo ua rau lub xov tooj ntawm tes mus ncig thiab tsis xav tau downtime.

Common Safety System Diagnostics

• Intermittent Light Curtain Tripping:Feem ntau tshwm sim los ntawm kev vibration los ntawm cov conveyors nyob ze ua rau kev hloov kho qhov muag. Txhawm rau daws qhov no, ntxiv dag zog rau mounting posts nrog tiv thaiv -vibration dampening daim hlau thiab rov- kho qhov muag axis siv cov cuab yeej laser.

• Muting Fault Thaum Pallet Tawm:Muaj tshwm sim thaum muting sensors tau qhib tawm ntawm qhov sib lawv liag los yog vim cov duab pallet tsis zoo. Kho qhov no los ntawm kev ntxuav lub ntsej muag photoelectric lens thiab rov ua dua X-muting sensor hla cov ces kaum thiab PLC timer windows.

• Kev Nyab Xeeb PLC Hla -Circuit Faults:Qhia txog qhov luv luv ntawm ob -channel kev ruaj ntseg input channels. Tshawb xyuas cov kab txuas txuas txuas txuas rau cov xov hlau pinched thiab hloov cov kab hluav taws xob uas puas lawm nrog kev tiv thaiv kev sib tw -pair cables.

• Robot Refuses Auto-Pib Tom Qab Kaw Qhov Rooj:Feem ntau tshwm sim vim tias tus tswj kev nyab xeeb yuav tsum tau rov pib dua phau ntawv ua ntej rov pib pib dua -mode logic. Paub meej tias tus neeg teb xov tooj tau ua tiav phau ntawv pib dua khawm ib ntus los ntawm sab nraud ntawm lub xov tooj thiab txheeb xyuas tus neeg saib xyuas - xauv qhov xwm txheej solenoid ntawm HMI.

• Laser Scanner False Stops los ntawm plua plav:Ua los ntawm cov plua plav tsub zuj zuj ntawm optical lens qhov rais ua rau qhov kev ncua deb. So lub qhov rais scanner siv los tiv thaiv - cov ntaub so zoo li qub thiab kho cov tshuab scanner contour teb kam rau ua hauv software.

Ua ntej xa ib lub tshuab palletizing ntawm tes rau cov neeg ua haujlwm tsim khoom, cov kws ua haujlwm kev nyab xeeb yuav tsum ua kom tiav thiab kos npe rau ntawm daim ntawv teev npe kev nyab xeeb kev nyab xeeb:

• E-Stop Circuit Testing:Nias txhua lub khawm Emergency Stop ntawm HMI, qhia pendant, thiab laj kab ncej ntawm tus kheej kom paub meej tias muaj kev nyab xeeb tam sim ntawd Torque Off.

• Kev Nyab Xeeb Interlock Functionality:Xyuas kom tseeb tias qhib lub laj kab lub qhov rooj tam sim ntawd nres cov neeg hlau txav thiab tiv thaiv lub rooj vag thaum lub sijhawm ua haujlwm.

• Lub Teeb Kab Hlau Nres Nres Nrho Qhov Ntsuas:Ua cov kev ntsuam xyuas lub cev los ntawm kev siv lub sijhawm nres - lub sijhawm ntsuas lub sijhawm kom paub tseeb tias lub cev nyob deb tau raws li lossis tshaj li qhov ntsuas ISO 13855 yam tsawg kawg nkaus.

• Muting Logic Failure Testing:Intentionally rhuav lub teeb kab teeb kab teeb tawm ntawm qhov tsim nyog muting ib ntus kom paub meej tias lub kaw lus ua rau muaj kev nyab xeeb nyuaj.

• Manual Reset Location Check:Xyuas kom tag nrho cov kev tuav pov hwm kev nyab xeeb pib dua khawm nyob rau sab nraud ntawm qhov chaw muaj kev phom sij, nrog rau tag nrho, tsis muaj kev cuam tshuam ntawm tag nrho cov xov tooj sab hauv.

• Kos npe thiab pom kev ceeb toom soj ntsuam:Xyuas kom tseeb tias qhov siab - cov ntawv cim hluav taws xob, cov cim ceeb toom kev txav mus los ntawm cov neeg hlau, thiab cov teeb pom kev zoo ntawm lub teeb pom kev tau pom meej thiab ua haujlwm tau zoo.

Tsim kom muaj kev ua tau zoo, siab - tso zis muaj palletizing neeg hlau ntawm tes yuav tsum muaj kev sib npaug ntawm kev ua haujlwm nrog kev txo qis kev pheej hmoo.

Ua ntej, ua qhov ISO 12100 Risk Assessment ntxov thaum lub sij hawm engineering layout theem kom tsis txhob raug nqi lig -theem cell redesigns. Qhov thib ob, muab lub cev lub cev tiv thaiv ib puag ncig nrog cov ntawv pov thawj Hom 4 kev nyab xeeb lub teeb curtains thiab kev nyab xeeb laser scanners kom ruaj ntseg cov ntsiab lus nkag thiab tawm. Thib peb, ib txwm suav qhov kev nyab xeeb yam tsawg kawg nkaus raws li ISO 13855 kom ntseeg tau tias kev ua haujlwm tsis raug cuam tshuam rau tib neeg txoj kev nrawm. Thaum kawg, siv Qeb 3 lossis 4 PLd/PLe dual-channel kev nyab xeeb tswj kev tsim qauv ntawm kev ruaj ntseg PLCs.

Los ntawm kev tsim kom muaj kev ruaj ntseg, ntau- txheej txheej kev nyab xeeb, cov chaw ntim khoom tuaj yeem tiv thaiv cov neeg ua haujlwm, hla kev tswj xyuas kev ua raws cai yam tsis muaj kev ncua, thiab ua tiav tsis muaj kev cuam tshuam ntev - lub sijhawm ntau lawm.