Н. В. Моина ю. Б. Генина т. В. Шульженко чтение английской научнотехнической литературы
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Hazards of Robots to HumansFrom safety considerations, it is necessary to operate the robot properly and use it automatically in conjunction with other peripheral equipment. Studies in Sweden and Japan indicate that many robot accidents do not occur under normal operating conditions but, instead during programming, program touch-up or refinement, maintenance, repair, testing, setup, or adjustment. During many of these operations the operator, programmer, or corrective maintenance worker may temporarily be within the robot's working envelope where unintended operations could result in injuries. Typical accidents have included the following: 1. A robot's arm functioned erratically during a programming sequence and struck the operator. 2. A materials handling robot operator entered a robot's work envelope during operations and was pinned between the back end of the robot and a safety pole. 3. A fellow employee accidentally tripped the power switch while a maintenance worker was servicing an assembly robot. The robot's arm struck the maintenance worker's hand. Additional hazards can also result from the malfunction of, or errors in, interfacing or programming of other process or peripheral equipment. The operating changes with the process being performed or the breakdown of conveyors, clamping mechanisms, or process sensors could cause the robot to react differently. Crushing and Trapping Accidents. A worker's limb or other body part can be trapped between a robot's arm and other peripheral equipment, or the individual may be physically driven into and crushed by other peripheral equipment. Mechanical Part Accidents. The breakdown of the robot's drive components, tooling or end-effector, peripheral equipment, or its power source is a mechanical accident. The release of parts, failure of gripper mechanism, or the failure of end-effector power tools (e. g., grinding wheels, buffing wheels, deburring tools, power screwdrivers, and nut runners) are a few types of mechanical failures. Other accidents can result from working with robots. Equipment that supplies robot power and control represents potential electrical and pressurized fluid hazards. Ruptured hydraulic lines could create dangerous high-pressure cutting streams or whipping hose hazards. Environmental accidents from arc flash, metal spatter, dust, electromagnetic, or radio-frequency interference can also occur. In addition, equipment and power cables on the floor present tripping hazards. The expected hazards of machine to humans can be expected with several additional variations, as follows. Human Errors.Inherent prior programming, interfacing activated peripheral equipment, or connecting live input-output sensors to the microprocessor or a peripheral can cause dangerous, unpredicted movement or action by the robot from human error. The incorrect activation of the "teach pendant" or control panel is a frequent human error. The greatest problem, however, is over familiarity with the robot's redundant motionsso that an individual places himself in a hazardous position while programming the robot or performing maintenance on it. Control Errors. Intrinsic faults within the control system of the robot, errors in software, electromagnetic interference, and radio frequency interference are control errors. In addition, these errors can occur due to faults in the hydraulic, pneumatic, or electrical subcontrols associated with the robot or robot system. . Entry into a robot's safeguarded area is hazardous because the person involved may not be familiar with the safeguards in place or their activation status. Mechanical Failures. Operating programs may not account for cumulative mechanical part failure, and faulty or unexpected operation may occur. Environmental Sources. Electromagnetic or radio-frequency interference (transient signals) should be considered to exert an undesirable influence on robotic operation and increase the potential for injury to any person working in the area. Solutions to environmental hazards should be documented prior to equipment start-up. Power Systems.Pneumatic, hydraulic, or electrical power sources that have malfunctioning control or transmission elements in the robot power system can disrupt electrical signals to the control and/or power-supply lines. Fire risks are increased by electrical overloads or by use of flammable hydraulic oil. Electrical shock and release of stored energy from accumulating devices also can be hazardous to personnel. Improper Installation. The design, requirements, and layout of equipment, utilities, and facilities of a robot or robot system, if inadequately done, can lead to inherent hazards. |