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GB/T 39006-2020: PDF in English (GBT 39006-2020)

GB/T 39006-2020
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
Requirements and Test Methods of Special Climate
Conditions Reliability for Industrial Robots
ISSUED ON: SEPTEMBER 29, 2020
IMPLEMENTED ON: APRIL 1, 2021
Issued by: State Administration for Market Regulation;
Standardization Administration of the People’s Republic of China.
Table of Contents
Foreword ... 3
1 Scope ... 4
2 Normative References ... 4
3 Terms and Definitions ... 5
4 Classification of Working Environment ... 7
5 Special Climate Conditions Reliability Requirements ... 7
6 Test Methods of Special Climate Conditions Reliability ... 9
7 Test Report ... 16
Bibliography ... 17
Requirements and Test Methods of Special Climate
Conditions Reliability for Industrial Robots
1 Scope
This Standard specifies the requirements and test methods of special climate conditions (such
as: high temperature, low temperature, high humidity and salt mist, etc.) reliability for industrial
robots.
This Standard is applicable to industrial robots and their parts.
2 Normative References
The following documents are indispensable to the application of this document. In terms of
references with a specified date, only versions with a specified date are applicable to this
document. In terms of references without a specified date, the latest version (including all the
modifications) is applicable to this document.
GB/T 2423.1-2008 Environmental Testing for Electric and Electronic Products - Part 2: Test
Methods - Tests A: Cold
GB/T 2423.2-2008 Environmental Testing for Electric and Electronic Products - Part 2: Test
Methods - Tests B: Dry Heat
GB/T 2423.3 Environmental Testing - Part 2: Testing Method - Test Cab: Damp Heat, Steady
State
GB/T 2423.4-2008 Environmental Testing for Electric and Electronic Products - Part 2: Test
Method - Test Db: Damp Heat, Cyclic (12 h + 12 h cycle)
GB/T 2423.17-2008 Environmental Testing for Electric and Electronic Products - Part 2: Test
Methods - Test Ka: Salt Mist
GB/T 2423.18 Environmental Testing - Part 2: Testing Methods - Test Kb: Salt Mist, Cyclic
(sodium chloride solution)
GB/T 2423.21 Environmental Testing for Electric and Electronic Products - Part 2: Test
Methods - Test M: Low Air Pressure
GB/T 2423.22-2012 Environmental Testing - Part 2: Testing Methods - Test N: Change of
Temperature
GB/T 2423.27 Environmental Testing for Electric and Electronic Products - Part 2: Tests
Methods - Test Z/AMD: Combined Sequential Cold, Low Air Pressure and Damp Heat Test
GB/T 2423.37 Environmental Testing for Electric and Electronic Products - Part 2: Test
Methods - Test L: Dust and Sand
GB/T 2423.38 Environmental Testing for Electric and Electronic Products - Part 2: Test
Methods - Test R: Water Test Method and Guidance
JB/T 8896-1999 Industrial Robot - Acceptance Rules
3 Terms and Definitions
The following terms and definitions are applicable to this document.
3.1 industrial robot
Industrial robot refers to an automatically controlled, reprogrammable and multipurpose
manipulator capable of programming three or more axes.
NOTE 1: industrial robot can be stationary or mobile. It is used in industrial automation.
NOTE 2: industrial robot includes:
---manipulator, including actuator;
---controller, including teaching box and some communication interfaces (hardware and
software);
---some integrated additional axes.
NOTE 3: GB/T 12643-2013, Definition 2.9 is modified.
3.2 testing conditioning
Testing conditioning refers to the exposure of test sample to the test environment to determine
the effect of the environmental conditions on the test sample.
[GB/T 2422-2012, Definition 4.2]
3.3 environmental conditions
Environmental conditions refer to the external physical, chemical and biological conditions, to
which, a product is subjected within a specified period of time.
[GB/T 2422-2012, Definition 4.3]
3.4 environmental parameters
Environmental parameters refer to one or multiple physical, chemical or biological properties
describing an environmental factor.
[GB/T 2422-2012, Definition 4.4]
3.5 pre-conditioning
Pre-conditioning refers to the treatment of the test sample before the testing conditioning in
order to eliminate or partially offset the various effects previously experienced by the test
sample.
[GB/T 2422-2012, Definition 4.6]
3.6 temperature stability
Temperature stability refers to the state where the difference between the temperature of each
part of the test sample and its final temperature is within 3 C.
NOTE: the final temperature is the average temperature of the test chamber where the test sample
is placed at that time.
3.7 severity
Severity refers to a set of parameter values for which a test sample is subjected to testing
conditioning.
[GB/T 2422-2012, Definition 4.9]
3.8 recovery
Recovery refers to the treatment performed to stabilize the performance of the test sample after
the testing conditioning and before the testing.
[GB/T 2422-2012, Definition 4.7]
3.9 manipulator
Manipulator refers to a multi-degree-of-freedom machine composed of some mutually
articulated or relatively sliding components used to grasp and / or move objects.
NOTE 1: the manipulator can be controlled by an operator, a programmable controller or some
logic systems (such as: cam gear and circuit).
NOTE 2: the manipulator does not include the end effector.
[GB/T 12643-2013, Definition 2.1]
3.10 control system
Control system refers to a system with logic control and power functions, which can control
requirements, see 5.2 ~ 5.6. For test methods, see Chapter 6. In accordance with the usage
scenarios and purposes of the robots, the manufacturer may formulate requirements (including
regulations on appearance, functions and abnormal performance) as appropriate.
5.2 Reliability Requirements under Temperature and Humidity Environment
The general requirements for the temperature and humidity environmental reliability of
industrial robots during the life cycle are as follows:
a) Under the influence of low temperature environment (including storage or operation),
industrial robots shall not generate abnormal appearance, function and performance
caused by material embrittlement and device failure.
b) Under the influence of high temperature environment (including storage or operation),
industrial robots shall not generate abnormal appearance, function and performance
caused by material aging and device failure.
c) Under the influence of temperature variation environment, industrial robots shall not
generate abnormal appearance, function and performance caused by structural
deformation and device failure.
d) Under the influence of damp heat environment, industrial robots shall not generate
abnormal appearance, function and performance caused by electrochemical corrosion,
electrical short circuit and lubricant performance degradation.
5.3 Reliability Requirements under Salt Mist Environment
Under the influence of salt mist, industrial robots shall not generate abnormal appearance,
function and performance caused by corrosion damage.
5.4 Reliability Requirements under Dust and Sand Environment
Under the influence of dust and sand environment, industrial robots shall not generate abnormal
appearance, function and performance caused by the entry of solid foreign objects.
5.5 Reliability Requirements under Water Mist Environment
Under the influence of water mist environment, industrial robots shall not generate abnormal
appearance, function and performance caused by the entry of water mist.
5.6 Reliability Requirements under Low-pressure Environment
Under the influence of low-pressure environment, industrial robots shall not generate abnormal
appearance, function and performance caused by seal expansion or compression.
6 Test Methods of Special Climate Conditions Reliability
6.1 Overview
Before the climate environment test, the industrial robot needs to be subjected to pre-
conditioning, that is, the industrial robot needs to be stored for at least 24 h under the following
standard conditions before the test:
a) Temperature: 15 C ~ 35 C;
b) Relative humidity: 20% ~ 80%;
c) Air pressure: the air pressure of the test site.
Before and after the climate environment test, the industrial robot shall be subjected to
appearance inspection and functional inspection. Unless it is otherwise specified by relevant
products, the functional inspection items include button function and display device inspection,
interlocking function inspection, axis action inspection and command action inspection. See
5.3.1 ~ 5.3.4 in JB/T 8896-1999 for specific test methods.
Unless it is otherwise specified by the manufacturer, the pre-test and post-test of the industrial
robot shall be carried out under standard conditions.
6.2 Test Working Status
After the power is turned on, the industrial robot executes the specified action in accordance
with the program setting of operating action provided by the manufacturer.
6.3 Constant-temperature Test
6.3.1 Low-temperature test
6.3.1.1 Low-temperature storage
Unless it is otherwise specified by the technical conditions of industrial robots, in accordance
with Test Ab of GB/T 2423.1-2008, carry out the test at 40 C. Place the industrial robot into
the test chamber, then, set the test chamber to 40 C and start the test chamber. During the test,
when the test temperature is lower than 30 C, the relative humidity shall not exceed 50%.
When the temperature in the test chamber reaches 40 C, start timing, and the industrial robot
is continuously exposed to this condition for 24 h. After the test, after the temperature in the
test chamber returns to room temperature, take out the industrial robot.
Throughout the test, the industrial robot is in an uncharged storage state. After the industrial
robot recovers to the standard conditions (see 6.1), carry out the verification test.
In order to prevent the industrial robot from icing and condensation during the test, it is allowed
6.5 Damp Heat Test
6.5.1 Steady-state damp heat test
In accordance with GB/T 2423.3, carry out the test. Put the industrial robot into the test chamber.
When the conditions in the test chamber reach the specified test conditions, start timing. The
industrial robot is in the working status.
The damp heat test on the industrial robot adopts the following parameters:
---test temperature: 40 C;
---relative humidity: (85  3)%;
---recommended duration: 2 d, 4 d, 10 d.
In accordance with the actual use, select the appropriate test duration. If it is necessary to use
other test parameters, it shall be indicated in the test report and the reasons shall be explained.
After the testing conditioning, the industrial robot shall have a period of recovery time, so that
it is in the same conditions as the initial testing.
6.5.2 Cyclic damp heat test
In accordance with Test Db of GB/T 2423.4-2008, carry out the test. The time of one damp heat
cycle is 24 h (as shown in Figure 2). During the test, the industrial robot is in storage state.
The cyclic damp heat test shall refer to the following parameters:
---the upper limit temperature of the test: Tmax;
---the lower limit temperature of the test: 25 C;
---recommended duration: 2 d, 6 d.
For industrial robots used under Category I environment, throughout the test, the relative
humidity shall not be lower than 85%.
For industrial robots used under Category II and Category III environment, throughout the test,
the relative humidity shall not be lower than 90% for the initial 15 min, and not lower than 95%
for the rest of the time.
In accordance with the actual use, select the appropriate test duration. If it is necessary to adopt
other test parameters, it shall be indicated in the test report and the reasons shall be explained.
After the testing conditioning, the industrial robot shall have a period of recovery time, so that
it is in the same conditions as the initial testing.
of the salt solution is (5  1) % and the temperature is (35  2) C, the pH value of the solution
shall be 6.5 ~ 7.2. On the premise of ensuring the concentration of sodium chloride,
hydrochloric acid or sodium hydroxide can be used to adjust the pH value.
All exposure areas shall maintain the salt mist conditions. Use a vessel with an area of 80 cm2
to continuously collect atomized deposition at any point in the exposure area for 16 h, and the
average hourly collection volume shall be 1.0 mL ~ 2.0 mL.
At least two collection vessels shall be used, and the location of the vessels shall not be blocked
by the industrial robot, so as to avoid collecting the condensed solution on the industrial robot.
This Standard specifies the following parameters for the salt mist test of industrial robots used
outdoors:
---test temperature: (35  2) C;
---recommended test time: 48 h, 72 h, 96 h, 168 h, 336 h.
In accordance with the actual use, select the appropriate test duration. If it is necessary to adopt
other test parameters, it shall be indicated in the test result report and the reasons shall be
explained.
After the testing conditioning, the industrial robot shall have a period of recovery time, so that
it is in the same conditions as the initial testing.
6.6.2 Cyclic salt mist test
In accordance with the actual use, select the appropriate severity. If it is necessary to adopt other
test parameters, it shall be indicated in the test result report and the reasons shall be explained.
In accordance with GB/T 2423.18, carry out the test. Put the industrial robot into the test
chamber; set the test chamber to the conditions specified by the selected severity, then, start the
test chamber. When the environment of the test chamber reaches the specified requirements,
start timing. The severity of the cyclic salt mist test is as follows:
---Severity (1): four spray cycles, 2 h for each cycle, 7 d damp heat storage cycle after each
spray cycle, and the damp heat test conditions are: temperature (40  2) C and relative
humidity (93  3) %;
---Severity (2): three spray cycles, 2 h for each cycle, 20 h ~ 22 h damp heat storage cycle
after each spray cycle, and the damp heat test conditions are: temperature (40  2) C
and relative humidity (93  3) %;
---Severity (3): four spray cycles, 2 h for each cycle, 20 h ~ 22 h damp heat storage cycle
after each spray cycle, and the damp heat test conditions are: temperature (40  2) C
and relative humidity (93  3) %, then, carry out a storage period of 3 d at a temperature
of (23  2) C and a relative humidity of 40% ~ 50%;
---Severity (4): the test cycle specified by two severities (3);
---Severity (5): the test cycle specified by four severities (3);
---Severity (6): the test cycle specified by eight severities (3).
After the testing conditioning, the industrial robot shall have a period of recovery time, so that
it is in the same conditions as the initial testing.
6.7 Dust and Sand Test
In accordance with GB/T 2423.37, carry out the test. The selection of dust and sand protection
test level for industrial robots shall satisfy the level declared by the manufacturer.
6.8 Water Test
In accordance with GB/T 2423.38, carry out the test. The selection of water protection test level
for industrial robots shall satisfy the level declared by the manufacturer.
6.9 Low Air Pressure Test
In accordance with GB/T 2423.21 and GB/T 2423.27, carry out the test. The industrial robot
sample is in the live test working status. Put the industrial robot into the test chamber. When
the conditions in the test chamber reach the specified test conditions, maintain for 30 min, then,
power on and start the operation of the industrial robot.
The test temperature, test air pressure and test time of the low air pressure test for industrial
robots are shown in Table 2. The specific parameters are determined in accordance with the
altitude and service environment of the industrial robots.
In accordance with the actual use, select the appropriate test duration. If it is necessary to adopt
other test parameters, it shall be indicated in the test report and the reasons shall be explained.
After the testing conditioning, the industrial robot shall have a period of recovery time, so that
it is in the same conditions as the initial testing.
......
 
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.