협업로봇자동화셀의이해와 LBR sensitive 로봇의활용

Transcription

1 협업로봇자동화셀의이해와 LBR sensitive 로봇의활용 기업명 : 발표자 : 쿠카로보틱스코리아 박용우차장 1

2 LBR iiwa is changing the world of robotics. With a sensitive touch.

3 Assembly focus: today tomorrow Industrial robot cell Robot-based assembly Moderately flexible and large footprint Significant engineering and programming expense Fixed automation Little flexibility Expensive customised solutions Extensive engineering Manual labour Very flexible High labour costs Small footprint No protection necessary New application possibilities due to expanded performance capabilities Integrated software simplifies programming and start-up

4 Current Production Standard Manual Production Full Automation Degree of Automation

5 Future Factory/Production Manual Production HRC Area Full Automation Degree of Automation 1) Human-Robot-Collaboration

6 What must be taken into account when installing an HRC cell? The current standard EN ISO :2011 states that the robot is only one component in a robot system and as such is not sufficient for safe collaborative operation. An application involving collaborative operation must be investigated and defined in the risk assessment. Additional information is contained in ISO/TS Currently in force as a recommendation (technical specification) Weaker than a standard, but possibly becoming a standard in the future Conclusion: No human-robot collaboration is possible without a risk assessment. The overall cell must always be considered, not just the robot (application, clamps, gripper system, robot).

7 Body model and force limits TS Body model TS Limits TS Maximaldruck (Schmerz-sc Verletzungsschwelle Körperregion Körperstelle hwelle) in N/cm2 Kraft in N 1 Stirn/Schädel Stirnmitte Stirn/Schädel Schläfenknochen ndom Gesicht Kaumuskel ndom Nacken Halsmuskel ndom Nacken Dornfortsatz 7. Halswirbel Rücken/Schultern Schultergelenk Rücken/Schultern Dornfortsatz 5. Lendenwirbel Brust Brustbein Brust Brustmuskel Bauch Bauchmuskel ndom Becken Beckenknochen ndom Oberarm/Ellenbogen Deltamuskel ndom Oberarm/Ellenbogen Oberarmknochen ndom Oberarm/Ellenbogen Armnerv ndom Unterarm/Handgelenk Speichenknochen ndom Unterarm/Handgelenk Unterarmmuskel ndom Hand/Finger Zeigefingerbeere dom Hand/Finger Zeigefingerbeere ndom Hand/Finger Zeigefingerendgelenk dom Hand/Finger Zeigefingerendgelenk ndom Hand/Finger Daumenballen ndom Hand/Finger Handinnenfläche dom Hand/Finger Handinnenfläche ndom Hand/Finger Handrücken dom Hand/Finger Handrücken ndom Oberschenkel/Knie Oberschenkel ndom Oberschenkel/Knie Kniescheibe ndom Unteres Bein Schienbein ndom Unteres Bein Wadenmuskel ndom

8 협업로봇및협업로봇자동화셀? 협업로봇이란충돌을감지하면안전하게기능을멈출수있는로봇을말함. 충돌의강도는모터의출력과속도와관련 ( 모터출력이셀수록, 속도가빠를수록충돌강도가세짐 ). 따라서, 모든협업로봇은모터출력의제한이있기때문에허용되는가반중량의제약이있음. KUKA 의 LBR iiwa 로봇은 1. 충돌감지는내장된 Torque Sensor 가인지 2. Torque Sensor 의신호는 2 중화로되어있어, 안전하게멈춤 ( 비상정지스위치와동일개념 ) 3. 7kg, 14kg 2 가지모델이있음. 협업로봇자동화셀구성은당연히협업로봇으로인증받은로봇을사용하여야함. 로봇 TCP 에어떤툴을사용하는가와공정장비의내용에따라셀의안전성이달라지기때문에, 전체셀에대한 Risk Assessment 를받아야함. 아직한국은협업로봇자동화셀에대한 Risk Assessment 를해본경험이없음. 따라서, End user, System Integrator 가협력하여 Risk Assessment 를받아야현장에적용가능 Link

9 일반산업용 6 축다관절로봇 Vs. LBR iiwa(7 축 ) 단순로봇비교일반산업용로봇 6kg LBR iiwa 7kg 반복정밀도 0.03mm 0.1mm 작업반경 900 mm 800 mm Linear 속도 2m/s 1m/s 금액저가고가 조립공정 Cell 비교일반산업용로봇 6kg LBR iiwa 7kg 로봇 Ѵ Ѵ Safety Fence Ѵ X Torque sensor Ѵ X( 자체보유 ) Vision Camera Ѵ( 정밀할수록고가 ) Δ ( 필요시, 저사양 ok) Alignment system Ѵ( 정밀할수록고가 ) Δ ( 필요시, 저사양 ok) Operation Pannel Ѵ Δ ( 필요시, 단순 ) Robot Programming 비전, 토크등여러요소와협력을해야하기때문에, 시간이많이소요됨. 로봇에토크센서가통합되어있어작업소요시간이상대적으로짧음. Maintenance point Robot, Torque, Vision, Sensors Consolidate to Robot

10 1600mm Monitoring Area 1 Monitoring Area mm 1600m m LBR iiwa HRC Space comparison LBR iiwa to KR AGILUS 일반다관절 6 축로봇 Vs. LBR iiwa 7 축로봇 Cell with Agilus Robot 12 m² Cell with LBR iiwa 3 m² Permanent Monitoring Area Rack table 1 Rack table 2 Rack table 1 Rack table 2 LBR iiwa KR Agilus Mobiler Transportwagen mit AGILUS 1750mm Light barrier 1745mm 4150mm

11 Why we develop the LBR iiwa? Why How What Why: How: To create the possibility to automate sensitive tasks To enable totally new assembly concepts To make the collaboration between humans and rob ots possible To relieve the workers at ergonomic bad workplaces The give the possibility to produce in high-wage co untries High-Tech robot with integrated torque sensors Steamlined lightweight construction Powerfull operating system What: LBR iiwa - An intelligent assistant for future oriented production concepts

12 LBR iiwa LBR iiwa. LBR stands for Leichtbauroboter (German for lightweight robot), iiwa for intelligent industrial work assistant.

13 Product Overview KUKA Sunrise LBR iiwa KUKA Sunrise Cabinet KUKA Sunrise.OS LBR iiwa 7 R800 KUKA Sunrise.Workbench LBR iiwa 14 R820

14 Product overview LBR iiwa, 7 kg und 14 kg Lightweight construction using aluminum design Torque sensors in fail safe technology Drive-electronics placed inside the mechanics Automated mastering LBR iiwa LBR iiwa 7 R800 LBR iiwa 14 R820 Rated payload 7 kg 14 kg Number of axes 7 7 Mounting flange A7 DIN ISO A50 DIN ISO A50 Mounting position User-defined User-defined Protection level IP 54 IP 54 Pose repeatability ±0,1 mm ±0,15 mm Torque accuracy (per axis of maximum torque) ±2 % ±2 % Weight 23,9 kg 29,9kg

15 Product overview KUKA Sunrise Cabinet Based on KUKA KR C4 compact technology High-speed servo control Integrated and configurable software safety controller Compact design (19") smartpad with new, innovative user interface Supports all common field bus systems KUKA Sunrise Cabinet Processor Hard drive Interfaces Quadcore-Prozessor HDD, SSD optional USB, EtherNet, DVI-I Protection level IP 20 Dimensions (DxWxH) Weight Supply voltage 500 mm x 483 mm x 190 mm 23 kg AC 110 V 230 V

16 Product overview KUKA Sunrise.OS The KUKA Sunrise.OS (Operating System) is the new operating system for the LBR iiwa KUKA Sunrise.OS the technological platform for innovative robotics: Multi-kinematics Human-robot collaboration Integration of sensors Object-oriented programming

17 The features Compliance mode The human acts, the LBR iiwa reacts The robot s behavior can be easily programmed via the software Flexible adaption of the robot s characteristics to the individual task Tasks are solved by the means of compliance rather than programmed positioning Programmable compliance Programmable reference

18 The features Teaching by demonstration The human teaches, the LBR iiwa understands. Torque sensors in each axis enable programming by intuitive manual guidance Reduced time for programming Easy and fast capturing of positions Programming of paths by demonstration Combination of automation and operator-guided motion Teaching by demonstration

19 The features Bionic motions using 7 axis LBR iiwa is designed like the human arm It is particularly easy to be integrated in the application because of its small workspace requirements and its lightweight structure Optimised positioning of the robot kinematic Kinematic redundancy Quantec hand assembly

20 The features Sensitive assembly processes LBR iiwa offers and integrates the sensitivity for new assembly processes Simple programming for joining processes LBR iiwa integrates the compliance in the structure instead Reduction of costs and cycle time in engineering, manufacturing and commissioning Applications with integrated tactile search without vision systems Allows imprecise feeding of components Imprecise feeding of components Assembly in compliance mode

21 Daimler: rear axle transmission assembly

22 Daimler: rear axle transmission assembly

23 The features - Safety The human needs protection, the LBR iiwa provides protection Simplified integration into existing system concepts Its sensors allow direct and safe interaction with the human body New possibilities for cell concepts without fences or optical safeguards LBR iiwa offers a configurable safety controller for HRC applications according to valid norms Sensitive Collision-Detection

24 Other References LBR feature movie clip Robot as work assistant 3 rd Hand : Teaching by demonstration. Features official : Drawing picture : Manufacturing Parts Assembly : KUKA system solutions Exibition : Industry4.0-Smart Factory Mobile Solution :

25 LBR iiwa the features [+] Mobility Teaching by demonstration [+] [+] Safety Controller for sensor-based robotics [+] [+] Sensitivity Bionic motions using 7 axes [+] [+] Sensitive assembly processes Compliance mode [+]

26 The features - Mobility Due to the low weight the robot is easy to relocate and highly versatile Transportable without additional equipment Low space requirements Optional battery operation and installation on mobile platforms for flexible applications

27 The END