ABB 57310255-AC DSRF 170 设备框架

　　RIA 15.06-2012 安全标准定义了四种协作机器人（cobot）操作方法，每种方法在制造操作中都有自己的位置。在这四个中，手引导似乎得到的关注最少。在安全标准中，第 5.10 节（协作操作要求）定义了使机器人在协作操作中发挥作用的必要条件，即符合以下一项或多项要求：

　　5.10.2 安全等级监控停止

　　5.10.3 手动引导

　　5.10.4 速度和间隔监控

　　5.10.5 固有设计或控制的功率和力限制

　　手动引导简单地说明设备（例如，手动引导手柄）将位于末端执行器或机器人工具附近，并且将具有紧急停止和启用装置（就像你想像的那样活人开关见示教器）。许多自动化用户将手动引导简单地视为“引导引导”，即在操作中自由移动机器人以示教点或路径的能力。这是一个普遍的观点，但在大量可以通过手动指导改进的应用程序中，引导式教学只是冰山一角。

　　另一种常见的观点是，由于没有很多大型协作机器人可用，手动引导应用程序仅限于更长的范围或更重的有效载荷。虽然大多数功率和力限制协作机器人确实可能无法处理非常大的应用程序，但重要的是要了解大多数机器人可以用于协作应用程序。

　　协作机器人或协作操作的核心是协作——与他人共同工作。与机器人协作通常被认为是与机器人携手完成一项任务。手引导的核心是操作者用手移动或引导机器人——一种协作真正含义的协作操作形式。

　　请记住，最有效地使用协作机器人是通过让操作员和机器人在必要时进行交互并让每个人在自己的工作空间中完成单独的任务来实现的。与他人共享工作站时并没有太大的不同。在集成工具以协助操作员时，设备应提高效率并减少压力或应变。如果您不断接近或围绕您的伴侣移动，无论是人还是机器人，整个过程的效率都会降低。仔细观察整个任务以及您尝试实现的解决方案，以找出最适合协作机器人的方案。

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　　There are four methods for collaborative robot (cobot) operation defined in the RIA 15.06-2012 safety standard and each has its own place in manufacturing operations. Of the four, hand guiding seems to get the least amount of attention. In the safety standard, section 5.10 (Collaborative Operation Requirements) defines the requisites necessary for having robots function in collaborative operation as complying with one or more of the following:

　　5.10.2 Safety-rated monitored stop

　　5.10.3 Hand guiding

　　5.10.4 Speed and separation monitoring

　　5.10.5 Power and force limiting by inherent design or control

　　Hand guiding simply states that the equipment — for example, a hand guiding handle — will be located close to the end-effector or robot tool and will have both an emergency stop and an enabling device (think live-man switch like what you’d see on a teach pendant). Many automation users view hand guidance simply as “lead through teach,” which is the ability to move the robot freely to teach points or paths in the operation. This is a common opinion but lead through teaching is just the tip of the iceberg in the vast number of applications that may be improved with hand guidance.

　　Another common view is that hand guidance applications are limited for longer reach or heavier payloads because there are not many large cobots available. While it’s true that most power and force-limiting collaborative robots may not be able to handle the very large applications, it’s important to understand that most robots can be used for a collaborative application.

　　At the core of collaborative robots or collaborative operation is collaboration — to work jointly with others. Collaboration with a robot is frequently thought of as working hand-in-hand with the robot to complete a task. At the core, hand guiding is an operator moving or leading the robot by hand — a form of collaborative operation most closely aligned with the true meaning of collaboration.

　　Keep in mind that the most efficient use of collaborative robots is achieved by having the operator and robot interact when necessary and leave each to complete individual tasks in their own workspace. It’s not much different when sharing a workstation with another person. When integrating tools to assist operators, the devices should increase efficiency and decrease stress or strain. If you are constantly reaching or moving around your partner, whether it be a person or a robot, the entire process would be less efficient. It is better to look closely at the task as a whole and the solution you are trying to achieve to figure out the best fit for a collaborative robot.