Grippers in Human Robot Collaboration. Markus Walderich Group Manager Automation SCHUNK
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1 Grippers in Human Robot Collaboration Markus Walderich Group Manager Automation SCHUNK
2 Agenda Human/Robot Collaboration Introduction I Possibilities of plant design Standardization 4 kinds of collaboration HRC and end effectors I Outlook
3 HRC - Introduction 3
4 Possibilities of Plant Design
5 Possibilities of Plant Design
6 Possibilities of Plant Design
7 Human/Robot Collaboration
8 Human/Robot Collaboration
9 Standardization in Robotics
10 What is Human/Robot Collaboration? What is HRC? Human/Robot Collaboration Explanation: Describes the interaction between operators [humans] and robots, mainly without the use of protective fences. Regardless of the kind of collaboration, protecting humans is always the primary focus. In order to ensure safety at all times, collaboration is regulated by standards and certifications.
11 Grippers in HRC - What does that mean? 1. Grippers never lose a workpieces 2. Grippers always detect human contact 3. Grippers never cause injuries when gripping
12 Standards in Robotics
13 Big Picture C-Standards in Robotics ISO ISO ISO TR ISO TR
14 4 Kinds of Collaboration 14
15 4 Kinds of HRC Hand Guiding Robots & grippers are controlled by hand Inherent safety Drive only reaches the power permitted Kinds of collaboration Power & Force Limitation Additional Safety measures Drive is regulated by functional safety at the force permitted Safety related stop Safety gripper, protective fences are opened, gripper stays supplied with current Speed & Separation monitoring Speed is determined by the distance to humans
16 4 Kinds of HRC Hand Guiding Robots & grippers are controlled by hand Inherent safety Drive only reaches the power permitted Kinds of collaboration Power & Force Limitation Additional Safety measures Drive is regulated by functional safety at the force permitted Safety related stop Safety gripper, protective fences are opened, gripper stays supplied with current Speed & Separation monitoring Speed is determined by the distance to humans
17 Hand Guiding
18 4 Kinds of HRC Hand Guiding Robots & grippers are controlled by hand Inherent safety Drive only reaches the power permitted Kinds of collaboration Power & Force Limitation Additional Safety measures Drive is regulated by functional safety at the force permitted Safety related stop Safety gripper, protective fences are opened, gripper stays supplied with current Speed & Separation monitoring Speed is determined by the distance to humans
19 Inherently Safe Pneumatic or electric grippers can be used Limited force and no sharp corners and pinch points
20 4 Kinds of HRC Hand Guiding Robots & grippers are controlled by hand Inherent safety Drive only reaches the power permitted Kinds of collaboration Power & Force Limitation Additional Safety measures Drive is regulated by functional safety at the force permitted Safety related stop Safety gripper, protective fences are opened, gripper stays supplied with current Speed & Separation monitoring Speed is determined by the distance to humans
21 Additional Safety Measures Requirement for future HRC grippers Gripper has to differentiate between workpiece and other objects e.g. human hand No product on the market yet
22 4 Kinds of HRC Hand Guiding Robots & grippers are controlled by hand Inherent safety Drive only reaches the power permitted Kinds of collaboration Power & Force Limitation Additional Safety measures Drive is regulated by functional safety at the force permitted Safety related stop Safety gripper, protective fences are opened, gripper stays supplied with current Speed & Separation monitoring Speed is determined by the distance to humans
23 Safety Related Stop Position monitoring and maintaining of grip force after safety related stop by use of redundant sensors and control
24 4 Kinds of HRC Hand Guiding Robots & grippers are controlled by hand Inherent safety Drive only reaches the power permitted Kinds of collaboration Power & Force Limitation Additional Safety measures Drive is regulated by functional safety at the force permitted Safety related stop Safety gripper, protective fences are opened, gripper stays supplied with current Speed & Separation monitoring Speed is determined by the distance to humans
25 Safety Related Stop
26 HRC End Effectors Outlook 26
27 What Defines a Power- & Force Limited Gripper? In implementing these principles, SCHUNK focuses on interactive perfection between the various technologies and components
28 Technology Carrier Possible technologies for future HRC grippers
29 Contact Markus Walderich Group Manager Automation SCHUNK 211 Kitty Hawk Drive Morrisville, NC, United States Telephone: (919)
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