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    24 views28 pages

    OSHA Industrial Robot Systems and Industrial Robot System Safety

    Uploaded by

    Faqrie Azizi

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
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    @ vs oemaruenrortsson Occupational Safety and Health Adi OSHA Technical Manual (OTM) Section IV: Chapter 4 Industrial Robot Systems and Industrial Robot System Safety ‘Table of Contents: | ntroduction |. Basic Components of industrial Robot Systems, ‘A. Manipulator 8. Control System Teach Pendant .EndEffector I, Structure of industrial Robot | actlculaled Robots 8, Selective Compliance Articulated Robot Arms C.Cantesian Robots 'V Collaborative, Non-Collaborat've and Mobile Industrial Robot Anolications ‘Collaborative industrial Robot Apalications 8. Non-Collaborative Industrial Zabot Applications .lndustrial Mobile Robots \V.azards Associated with Industil Robot Applications Accidents: Past Studie VL Safety Considerations for Employers and Workers A Safety Considerations for Robot Manufacturers 8, Safety Considerations for Robot System Integrators Safety Considerations for Robot System Operators and Maintenance Workers . Safety Considerations during Planning ofthe Rabot Apalication General Safety Requirements F. Additional Safety Requicements for Collaborative Rabot Systems, Vi. isk Assessments RAs) 1. Robot Application RA General Process 2. Robot Application RA Additional Requirements 3, BA Implementation Validation, and Review “Il Rik Reduction Measures |. Non-Collaborative Robot Application Risk Reduction 8. Collaborative Robot Application Risk Reduction 1%. Applicable OSHA and industry Standards Regarding Industrial Rahat System Safety |A.OSHA Standards 8B. ANSI, ANSU/RIA and RIA Standards 180 Standards . AWS Standards X. Considerations for Evaluating Robotic Safety Systems x1 References List of appendices ‘Appendix 1 Glossary for industrial Robot Systems and Applications Appendix? Brample ga L Introduction ‘This OSHA Technical Manual chapter is wsltten te provide technical information to help to prepare OSHA compliance oficers and others, who may be performing inspections and investigations at facilities with robot systems, This chapters intended as a guide to robot systems found in industrial applications. Industrial robots are used in place of @ worker to perform dangerous o repetitive tasks with ahigh degree of accuracy.+An industrial robot system includes not only the industrial robot but also the end-effector attached tothe robot manipulator; computers, processors, and programs (i. the control system}; power sources; sensors; and, sequencing or monitoring communication interfaces (Le, inputjoutput devices). See the Basic Components of Industrial Robot Systems section ofthis chapter for more information about these parts. See Agpendit 1 Glossary for Robots and Industrial Robot Systems for common acronyms and definitions used in the robotics industry Industral robot systems have many different uses such as for materials handling, assembly operations, arc and resistance welding, machine-tool loading and unloading functions, painting, spraying, inspecting, testing, packaging abeling. The development and use of robot systems in industry continues to advance with more anc more companies finging more and more uses. Advances in artificial inteligence2 have also boosted the abilities and uses of robot systems, especially in industrial applications. ‘The International Federation of Robotics (IF) estimates that as ofthe end of 2018, there were more than million robots in workplaces ‘worléwide (more than 40,000 installed in 2018 inthe United States alone), and the numbers continue to increase yearly (with an anticipated growth of 12 percent per year through 2022} As robot systems appear In more workplaces, more workers are exposed to them, including in industries that historically have not useé robot systems, but where technological advancements have introduced such systems (@.8, restaurantsfood service, agriculture, and delivery services) ‘This chapter is not an all-inclusive document, Robot systems other than those discussed inthis chapter may be found during inspections. In those cases, and when questions aise, consult withthe area office, regional office or national office fr asistance. The OSHA Health Response Team (HRT) at Directorate of Technical Support and Emergency Management's Salt Lake Technical Center's also avalable as needed, II, Basic Components of Industrial Robot Systems. Industrial robot systems have four major components ‘A. Manipulator B. Contrl system, or robot controller includes interfaces for communication and inputjoutput(/0); power is supplied tothe controller] .Teach pendant . When an end-effector (such as gripper, et) is added tothe industrial robot, the result isan industrial robot system (Figure N+), : ‘ome Figure 1-1. Industrial Robot System: Major Components (Source: OSHA/MIOSH/RIAAliznce) ‘The industrial robot system is then typically integrated with addtional equipment, such as conveyors, elevators, worktables (with clamps ~ Jn) and ‘manual or automated), process equipment (e.g, welding, cutting, assembly, inspe application, x machines to comprise an industrial robot The robots physical structure is essentially the manipulator. This manipulator is comprised of a structural frame with provisions for supporting mechanical linkage and joints, guides, actuators (linear or rotary), control valves, sensors, and communications within the ‘manipulator. The physical dimensions, reach, and payload (weight cartying ability) depend on robot model and application The application requirements determine the needed specifications. These specications can introduce hazards to workers who may be integrating operating, andor maintaining the robot application. See the Hazards Associated with Industria Robot Applications section of this chapter for more about these hazards, B. Control System Industral robot control systems, or robot controllers, consist of several pars, including a power source, sensors, input signals from the sensors toa computer or microprocessor (wired or wireless), programming functions, and output command signals back from the computer ‘or microprocessor to the manipulator andjorend-

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