GB 11291.2-2013Robots and robotic devices -- Safety requirements for industrial robots -- Part 2: Robot systems and integration (English PDF)

Foreword

All technical content in this section is mandatory.

GB 11291 "Safety requirements for robots and robotic equipment Industrial robots" is divided into two parts.

--- Part 1. Robot;

--- Part 2. Robot systems and integration.

This is Part 2 GB 11291's.

This section drafted in accordance with GB/T 1.1-2009 given rules.

This section uses the translation method identical with the international standard ISO 10218-2.2011 "robot industrial robots and robotic equipment safety

Full requirements - Part 2. Robot systems and integration "(in English).

Consistency correspondence between this part of international documents and normative references of our files are as follows.

GB/T 3766-2001 Hydraulic System General technical conditions (ISO 4413.1998, EQV)

GB 5226.1-2008 Safety of machinery electrical equipment Part 1. General requirements (IEC 60204-1.2005, IDT)

GB/T 7932-2003 Pneumatic system General technical conditions (ISO 4414.1998, IDT)

GB/T 8196-2003 mechanical safety devices fixed and movable guards design and manufacture of general requirements (ISO

14120.2002, MOD)

GB 11291.1-2011 industrial environments - Safety requirements - Part 1 robot. Robot (ISO 10218-1.2006, IDT)

GB/T 12644-2001 industrial robot of characteristics (ISO 9946.1999, EQV)

GB/T 15706-2012 Safety of machinery - General principles for design risk assessment and risk reduction (ISO 12100.2010, IDT)

GB 16655-2008 Safety of machinery - Integrated manufacturing systems Basic requirements (ISO 11161.2007, IDT)

GB 16754-2008 Safety of machinery - Emergency stop design principles (ISO 13850.2006, IDT)

GB/T 16855.1-2008 Safety of machinery - Safety-related control system components - Part 1. General principles for design (ISO 13849-1.

2006, IDT)

GB/T 17454 (all parts), Safety of machinery - Pressure sensitive protective devices [ISO 13856 (all parts)]

GB 17888 (all parts), Safety of machinery fixed facilities [ISO 14122 (all parts)]

GB/T 18831-2010 mechanical interlock design belt guard and selection principles (ISO 14119.1998,

MOD)

GB/T 19436.1-2004 Safety of machinery electrically sensitive protective equipment - Part 1. General requirements and tests (IEC 61496-1.

1997, IDT)

GB/T 19670-2005 Safety of machinery - Prevention of unexpected start (ISO 14118.2000, MOD)

GB/T 19876-2012 Safety of machinery and parts of the body close to the speed of the positioning of protective equipment (ISO 13855.2010,

IDT)

GB 23821-2009 Safety of machinery - Safety distances to prevent danger zones being reached on the lower limbs (ISO 13857.2008, IDT)

GB 28526-2012 machinery safety-related electrical safety safety function electrical, electronic and programmable electronic control systems (IEC

62061.2005, IDT)

This part of the technical content and composition structure and ISO 10218-2.2011 "Safety for a robot equipped with a robot industrial robot

Seeking Part 2. Robot systems and integration "(in English) is consistent only where needed, made the following editorial changes.

--- Uppercase acronym in English formerly known as reservations;

--- Deletion of the original text does not meet the standard of written words.

This part is proposed by China Machinery Industry Federation.

This part of the automation systems and integration by the National Standardization Technical Committee (SAC/TC159) centralized.

This section is drafted. Beijing Machinery Industry Automation Research Institute, Beijing University of Aeronautics and Astronautics, Shenyang New Song Robot & Automation shares have

Limited.

Introduction

GB 11291 to develop this part is to identify the integration and installation of industrial robot systems in industrial robot cells and production lines when

The existence of a specific danger.

For specific robot system, the danger is the frequent occurrence of a single form. Number and type of risk is directly related to automation

Nature and complexity of the installation process. The robot type to use, the purpose of the use of the robot, the robot installation, programming, operation and maintenance

Different ways of protection, due to risks associated with the risk of these are different.

In order to understand the requirements of this section GB 11291, and with a word syntax to distinguish absolute requirements and recommended practices or recommended action

action. With "shall" must be identified GB 11291 requirements of this section. These requirements must be completed, unless there is an alternative explanation or wind

Risk assessment identified a suitable replacement. With "appropriate" recommendations to identify possible solutions recommended action taken or required, but there may be other

Alternatively, the recommended actions are not absolute.

Since the industrial robot applications with variable properties, danger, GB 11291's headquarters into the robot integration and installation to ensure safety

Provide guidance. Because of security used by an industrial robot design on a particular robot system, although equally important, its purpose is to supplement

Robotic systems and provide guidance unit in the design, construction and use of information. The system requirements for robot parts visible

GB 11291.1.

Provide safe robotic systems or units depend on the "stakeholders" cooperation --- "stakeholders" refers to the shared responsibility to raise

For safe working environment for the ultimate purpose entities. Stakeholders can identify manufacturers, suppliers, integrators and users (responsible for using the machine

Robots entity), but all in a safe (robot) machine for the common goal. GB 11291's requirements in this section may be assigned to a

Stakeholders, but at the same request, the case will be many types of stakeholder responsibilities overlap occurs. Use this part of GB 11291, the

Note to the reader, even if not specifically raised in the "assigned" stakeholder task, all identified requirements applicable to these phases

Interested parties.

This part is Part 1 covers only robotics GB 11291 and the perfect complement. GB 11291 This section adds

GB/T 15706 and GB 16655 For additional information about compliance. International standards in the form of Class C standard to identify and respond to industrial robots integrated,

Installation-specific risk exists and the requirements of industrial robots. New technical requirements include (but are not limited to). GB 11291.1 in

Safety control system performance, the robot stop function enabled device, program verification, untethered teaching box specification, norms, and collaborative robot

The new security requirements designed to update aspects of implementation instructions.

This part of GB 11291 and GB 11291.1 composed of robots and robotic equipment series. Other criteria relates to an integrated machine

Robots system, the coordinate system and axis motion, general characteristics, performance specifications and test methods, vocabulary and mechanical interface. It should be noted that these standard

Quasi only inter-related, and other relevant international standards.

For ease of reading this part of GB 11291, "robot" and "robot system" refers to the definition in section 1 GB 11291 in

"Industrial robot" and "industrial robot systems."

Figure 1 depicts the relationship between the standard range of machinery used in the robot system. Part of the GB 111 291 covered only robot

Content, GB 11291 and this section covers the system unit. Robot unit may include other machines that have their own class C standard

Quasi, the robot system may be part of GB 16655 covers integrated manufacturing system, GB 16655, in turn, can also refer to other relevant

Class B and Class C standard.

Figure 1 showing the relationship between each standard

Security robots and robotic equipment Industrial robots

Requirements Part 2. Robot systems and integration

1 Scope

GB 11291 of the provisions of this part of industrial robots, industrial robots and industrial robot cell integrated system safety requirements, industrial

Industrial robots and robotic systems are already defined in GB 11291.1. Integration include the following.

Design a) industrial robot system or cell, manufacture, installation, operation, maintenance and decommissioning;

Design b) industrial robot system or cell, manufacture, installation, operation, maintenance, and information necessary scrapped;

c) industrial robot system or piece of equipment units.

This section describes the basic dangerous and hazardous conditions associated with these systems, and proposed to eliminate these dangers and be sufficiently reduced and the relevant

Risk requirements. Although the noise is set to be a major hazardous industrial robots, but this section will not be considered. This section also provides

The industrial robot system as part of an integrated manufacturing system's requirements. This section does not specifically related to the dangers of the process

(Such as laser radiation, pop pieces, welding fumes). Other criteria apply to these processes in danger.

2 Normative references

The following documents for the application of this document is essential. For dated references, only the dated version suitable for use herein

Member. For undated references, the latest edition (including any amendments) applies to this document.

GB/T 16855.1-2008 Safety of machinery - Safety-related control system components - Part 1. General principles for design (ISO 13849-1.

2006, IDT)

GB 28526-2012 machinery safety-related electrical safety safety function electrical, electronic and programmable electronic control systems (IEC

62061.2005, IDT)

ISO 4413 Hydraulic System General technical conditions (Hydraulicfluidpower-Generalrulesandsafety

requirementsforsystemsandtheircomponents)

ISO 4414 pneumatic systems General technical conditions (Pneumaticfluidpower-Generalrulesandsafety

requirementsforsystemsandtheircomponents)

Lighting - Part 1 ISO 8995-1 workplace. Indoor (Lightingofworkplaces-Part 1. Indoor)

ISO 9946 industrial robot of characteristics (Manipulatingindustrialrobots-Presentationofcharacteris-

tics)

ISO 10218-1 Robots for industrial environments - Safety requirements - Part 1. Robot (Robotsandroboticdevices-

Safetyrequirements-Part 1. Industrialrobots)

ISO 11161 Safety of machinery - Integrated manufacturing systems basic requirements (Safetyof machinery-Integrated

manufacturingsystems-Basicrequirements)

ISO 12100 Safety of machinery - General principles for design risk assessment and risk reduction (Safetyofmachinery-General

principlesfordesign-Riskassessmentandriskreduction)

ISO 13850 Safety of machinery - Emergency stop design principles (Safetyofmachinery-Emergencystop-Principlesfor

design)

ISO 13854 Safety of machinery to avoid crushing of parts of the human body minimum spacing (Safetyofmachinery-Minimumgapsto

avoidcrushingofpartsofthehumanbody)

ISO 13855 Safety of machinery and parts of the body close to the speed of the positioning of protective equipment (Safetyofmachinery-Positio-

ningofsafeguardswithrespecttotheapproachspeedsofpartsofthehumanbody)

ISO 13856 (all parts), Safety of machinery - Pressure sensitive protective devices (Safetyofmachinery-Pressure-sensitivepro-

tectivedevices)

ISO 13857 Safety of machinery - Safety distances to prevent danger zones being reached on the lower limbs (Safetyofmachinery-Safety

distancestopreventhazardzonesbeingreachedbyupperandlowerlimbs)

ISO 14118 Safety of machinery - Prevention of unexpected start (Safetyofmachinery-Preventionofunexpectedstart-up)

ISO 14119 mechanical interlocking device is designed belt guard and selection principles (Safetyofmachinery-Inter-

lockingdevicesassociatedwithguards-Principlesfordesignandselection)

ISO 14120 Safety of machinery guards fixed and movable guards General requirements for the design and manufacture (Safetyofma-

chinery-Guards-Generalrequirementsforthedesignandconstructionoffixedandmovableguards)

ISO 14122 (all parts), Safety of machinery fixed facilities (Safetyofmachinery-Permanent

meansofaccesstomachinery)

IEC 60204-1 Safety of machinery electrical equipment Part 1. General requirements (Safetyofmachinery-

Electricalequipmentofmachines-Part 1. Generalrequirements)

IEC 61496-1 Safety of machinery electrically sensitive protective equipment - Part 1. General requirements and tests (Safetyofmachinery-Elec-

tro-sensitiveprotectiveequipment-Part 1. Generalrequirementsandtests)

IEC 61800-5-2 Adjustable speed electrical power drive systems - Part 5-2. Functional safety requirements (Adjustablespeedelectrical

powerdrivesystems-Part 5-2. Safetyrequirements-Functional)

IEC /T S62046 application of mechanical safety protective equipment to detect the human body (Safetyofmachinery-Applicationof

protectiveequipmenttodetectthepresenceofpersons)

3 Terms and Definitions

The following terms and definitions apply to this document.

3.1

Application application

The intended use of the robot system, ie processing robot system, tasks, and the intended purpose.

Examples. spot welding, painting, assembly, palletizing.

3.2

Cooperating robots colaborativerobot

Collaborative work space in a predetermined (3.3), is open for direct human interaction and design robots.

3.3

Collaborative workspace colaborativeworkspace

In the security space, robots and people can perform tasks at the same workspace in production activities.

3.4

Station controlstation

Robot system components, including one or more control means for activating or stopping the system or system component functions.

Note. The control station can be stationary (eg Control Panel) or mobile (eg control teach pendant).

3.5

Distance protection distanceguard

Protection is not completely surrounds the danger zone, but by virtue of its size and its distance from the danger zone to prevent or reduce to enter.

Example. perimeter fence or tunnel guard facilities.

3.6

Integration integration

The robots and other machines or other equipment (including other robots) combined to be capable of performing useful work parts production machines

system.

NOTE. This machine is constructed including the installation requirements of the system.

3.7

Integrator integrator

Design, deliver, manufacture or entity assembly robot systems, integrated manufacturing system, the entity in charge of security policies, including protection devices, control

Interconnect system interface and control system.

NOTE. Integration may be a manufacturer, assembler, engineering company or user.

3.8

Integrated Manufacturing Systems integratedmanufacturingsystem; IMS

To manufacture, processing, packing, or moving parts or components, connected by a material handling system, by a controller (ie IMS Controller)

Interconnection, the use of a group of machines working in a synergistic manner.

[GB 16655-2008, Definition 3.1]

3.9

Industrial robot cell industrialrobotcel

Robot system comprising one or more related machinery and equipment as well as related security space and protection equipment.

3.10

Industrial robot production line industrialrobotline

Consists of performing the same or different functions of multiple robot cells and related equipment in separate or attached security space.

3.11

Security status safestate

Machine or piece of equipment there is no imminent danger of the state.

3.12

Linkage simultaneousmotion

Under the control of a single control station, two or more simultaneous movement of the robot. They can be implemented using common mathematical relationship or coordination

Synchronize.

3.13

Space space

Three-dimensional volume.

3.13.1

Operating space operatingspace, operationalspace

When implementing all movement by the task program instructions, the actual use of that part of the confined space (3.13.2).

[GB/T 12643-2013, the definition 4.8.3]

3.13.2

Limited space restrictedspace

By the limit means maximum space limitations in non-overhang.

[GB/T 12643-2013, the definition 4.8.2]

3.13.3

Security Space safeguardedspace

Perimeter security guard determined by the space.

3.14

Confirm validation

By testing and provision of objective evidence, the special requirements for a specific intended use required to have been met.

3.15

Verify verification

By testing and provision of objective evidence, that specified requirements have been fulfilled.

4 Hazard identification and risk assessment