기업명 :

발표자 :

협업 로봇 자동화 셀의 이해와 LBR sensitive로봇의 활용

쿠카 로보틱스 코리아

박용우 차장

1

LBR iiwa is changing

the world of robotics.

With a sensitive touch.

▪ Very flexible

▪ High labour costs

▪ Little flexibility

▪ Expensive customised

solutions

▪ Extensive engineering

▪ Small footprint

▪ No protection necessary

▪ New application possibilities due to expanded

performance capabilities

▪ Integrated software simplifies programming

and start-up

Fixed automation

Manual labour

Industrial robot cell Robot-based assembly

▪ Moderately flexible and

large footprint

▪ Significant engineering and

programming expense

Assembly focus: today → tomorrow

Current Production Standard

Manual

Production

Full

Automation

Degree of Automation

Degree of Automation

Manual

ProductionHRC Area

Full

Automation

Future Factory/Production

1) Human-Robot-Collaboration

• The current standard EN ISO 10218-1:2011 states that the robot is only one componentin 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 15066.

– 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).

What must be taken into account when installing an HRC cell?

Body model and force limits TS 15066Body model TS 15066 Limits TS 15066

Körperregion KörperstelleMaximaldruck (Schmerz-schwelle) in N/cm2

VerletzungsschwelleKraft in N

1Stirn/Schädel Stirnmitte 114 130

2Stirn/Schädel Schläfenknochen ndom 85 130

3Gesicht Kaumuskel ndom 100 65

4Nacken Halsmuskel ndom 108 145

5Nacken Dornfortsatz 7. Halswirbel 149 145

6Rücken/Schultern Schultergelenk 99 210

7Rücken/Schultern Dornfortsatz 5. Lendenwirbel 133 210

8Brust Brustbein 99 140

9Brust Brustmuskel 89 140

10Bauch Bauchmuskel ndom 119 110

11Becken Beckenknochen ndom 181 180

12Oberarm/Ellenbogen Deltamuskel ndom 137 150

13Oberarm/Ellenbogen Oberarmknochen ndom 178 150

16Oberarm/Ellenbogen Armnerv ndom 122 150

14Unterarm/Handgelenk Speichenknochen ndom 158 160

15Unterarm/Handgelenk Unterarmmuskel ndom 134 160

17Hand/Finger Zeigefingerbeere dom 163 135

18Hand/Finger Zeigefingerbeere ndom 159 135

19Hand/Finger Zeigefingerendgelenk dom 208 135

20Hand/Finger Zeigefingerendgelenk ndom 176 135

21Hand/Finger Daumenballen ndom 144 135

22Hand/Finger Handinnenfläche dom 171 135

23Hand/Finger Handinnenfläche ndom 183 135

24Hand/Finger Handrücken dom 166 135

25Hand/Finger Handrücken ndom 156 135

26Oberschenkel/Knie Oberschenkel ndom 133 220

27Oberschenkel/Knie Kniescheibe ndom 194 220

28Unteres Bein Schienbein ndom 168 125

29Unteres Bein Wadenmuskel ndom 128 125

• 협업로봇이란 충돌을 감지하면 안전하게 기능을 멈출 수 있는 로봇을 말함.

• 충돌의 강도는 모터의 출력과 속도와 관련(모터 출력이 셀수록, 속도가 빠를수록 충돌 강도가 세짐).

• 따라서, 모든 협업 로봇은 모터 출력의 제한이 있기때문에 허용되는 가반 중량의 제약이 있음.

• KUKA의 LBR iiwa로봇은

1. 충돌감지는 내장된 Torque Sensor가 인지

2. Torque Sensor의 신호는 2중화로 되어 있어, 안전하게 멈춤(비상정지스위치와 동일 개념)

3. 7kg, 14kg 2가지 모델이 있음.

• 협업 로봇 자동화 셀 구성은 당연히 협업로봇으로 인증 받은 로봇을 사용하여야 함.

• 로봇 TCP에 어떤 툴을 사용하는 가와 공정 장비의 내용에 따라 셀의 안전성이 달라지기 때문에,

전체 셀에 대한 Risk Assessment를 받아야 함.

• 아직 한국은 협업 로봇 자동화 셀에 대한 Risk Assessment를 해본 경험이 없음.

• 따라서, End user, System Integrator가 협력하여 Risk Assessment를 받아야 현장에 적용 가능

• Link

협업 로봇 및 협업 로봇 자동화 셀?

일반 산업용 6축 다관절 로봇 Vs. LBR iiwa(7축)

단순 로봇 비교 일반 산업용 로봇 6kg LBR iiwa 7kg

반복정밀도 0.03mm 0.1mm

작업 반경 900 mm 800 mm

Linear 속도 2m/s 1m/s

금액 저가 고가

조립 공정 Cell 비교 일반 산업용 로봇 6kg LBR iiwa 7kg

로봇 Ѵ Ѵ

Safety Fence Ѵ X

Torque sensor Ѵ X(자체 보유)

Vision Camera Ѵ(정밀할수록 고가) Δ (필요시, 저사양 ok)

Alignment system Ѵ(정밀할수록 고가) Δ (필요시, 저사양 ok)

Operation Pannel Ѵ Δ (필요시, 단순)

Robot Programming비전, 토크등 여러 요소와 협력을해야 하기 때문에, 시간이 많이 소요됨.

로봇에 토크센서가 통합되어있어 작업 소요 시간이 상대적으로 짧음.

Maintenance point Robot, Torque, Vision, Sensors… Consolidate to Robot

일반 다관절 6축 로봇 Vs. LBR iiwa 7축 로봇

1745mm

1600m

m

Mobiler Transport-wagen mit AGILUS M

onitoring A

rea 2

Permanent Monitoring Area

4150mm

2850m

m

Monitoring A

rea 1

Light barrier

Rack table2

Rack table1

• Cell with Agilus Robot 12 m²

KR Agilus

• Cell with LBR iiwa 3 m²

1750mm

1600m

m

Rack table2

Rack table1

LBR iiwa

LBR iiwa | HRC Space comparison – LBR iiwa to KR AGILUS

Why we develop the LBR iiwa?

• Why:

– To create the possibility to automate sensitive tasks

– To enable totally new assembly concepts

– To make the collaboration between humans and robots possible

– To relieve the workers at ergonomic bad workplaces

– The give the possibility to produce in high-wage countries

• How:

– High-Tech robot with integrated torque sensors

– Steamlined lightweight construction

– Powerfull operating system

• What:

– LBR iiwa - An intelligent assistant for future oriented production concepts

Why

How

What

LBR iiwa

LBR iiwa.

LBR stands for “Leichtbauroboter”

iiwa for “intelligent industrial

(German for lightweight robot),

work assistant“.

Product Overview

KUKA Sunrise

KUKA Sunrise Cabinet

KUKA Sunrise.OS

KUKA Sunrise.Workbench

LBR iiwa

LBR iiwa 7 R800

LBR iiwa 14 R820

• Lightweight construction using aluminum design

• Torque sensors in fail safe technology

• Drive-electronics placed inside the mechanics

• Automated mastering

Product overview – LBR iiwa, 7 kg und 14 kg

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 9409-1-A50 DIN ISO 9409-1-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

• 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

Product overview – KUKA Sunrise Cabinet

KUKA Sunrise Cabinet

Processor Quadcore-Prozessor

Hard drive HDD, SSD optional

Interfaces USB, EtherNet, DVI-I

Protection level IP 20

Dimensions (DxWxH) 500 mm x 483 mm x 190 mm

Weight 23 kg

Supply voltage AC 110 V – 230 V

• 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

Product overview – KUKA Sunrise.OS

• 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

The features – Compliance mode

Programmable referenceProgrammable compliance

• 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

The features – Teaching by demonstration

Teaching by demonstration

• 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

The features – Bionic motions using 7 axis

Kinematic redundancy Quantec hand assembly

• 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

The features – Sensitive assembly processes

Imprecise feeding of components Assembly in compliance mode

Daimler: rear axle transmission assembly

Daimler: rear axle transmission assembly

• 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

The features - Safety

Sensitive Collision-Detection

• LBR feature movie clip

https://www.youtube.com/playlist?list=PLcmh-lxe_PW6hpoFKVUZiTjtVlKi37W79

• Robot as work assistant

3rd Hand : http://www.youtube.com/watch?v=tCss_TjSs7Y

• Teaching by demonstration.

Features official : http://www.youtube.com/watch?v=r7gU74Yv9Es

Drawing picture : http://www.youtube.com/watch?v=kUxJEYeCRQg

• Manufacturing

Parts Assembly : http://www.youtube.com/watch?v=FRdpT1Vq09s&feature=youtu.be

• KUKA system solutions

Exibition : http://www.youtube.com/playlist?list=PLT2zYltbm9jnc6k3CMQHUrqoHQvCoLtxC

• Industry4.0-Smart Factory

Mobile Solution : https://youtu.be/9WNE3JAcO6U

Other References

LBR iiwa – the features

Teaching by demonstration [+]

Bionic motions using 7 axes [+]

Controller for sensor-based robotics [+]

Compliance mode [+]

[+] Safety

[+] Sensitive assembly processes

[+] Sensitivity

[+] 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

The features - Mobility

The END