In order to be able to make it run without disturbing the surrounding protection, we need to reasonably set up the mechanical protection devices around the system.
Safe and secure space
If we are just blindly seeking a large space, a large scope, and obvious when planning, the protective structure planned with such a concept may cause an extreme waste of resources. If we can apply reasonable motion limits that meet the needs of the operation, we can not only effectively improve the utilization rate, but also add a safety barrier for the operator.
Establishment of limited space
The limited space of the robot system is mainly based on the mechanical protection of the periphery. It is a more advocative process to consider the orientation and layout of the robot and evaluate the risks inside the protective space in advance before carrying out the space planning for mechanical protection. In the planning process, in addition to the Kawasaki robot itself, it is necessary to consider factors such as the movement of the end actuator, fixture, and workpiece. The limited space is matched with the operation space as much as possible to maximize the utilization rate.
Ways to limit movement
There are two main categories of restricting the movement of robots: mechanical and non-mechanical limiting.
(1) Mechanical limit
Mechanical hard limits are used to physically bind the robot beyond the specified boundaries. Because this type of limit is in physical contact with the robot, special attention needs to be paid to the use of such a limit to ensure that the limit part does not deform physically after the collision.
(2) Non-mechanical limit: the safe soft limit of the shaft and space
This is a non-mechanical soft limit in which the built-in software confirms the robot's motion limit. The axis limit can bind the trajectory of the robot; The spatial limit allows you to confirm a few shapes of the proprietary area.
Since this type of limit is set by the software, the permission to correct the parameters should also be strictly protected by a password.
(3) Non-mechanical limiting: an external limiting device combined with a sensor
Another type of non-mechanical limit is the use of external sensors, such as safe proximity switches, non-contact coded switches, and even safety light curtains, to form a virtual barrier that actively activates the robot's safe stop signal when these external sensors receive a logical response to an overrun.
The above two non-mechanical limiting devices, because they are controlled by a logic system in principle, need to consider the stop response interval of the robot
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