GB/T 39785-2021 PDF English
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GB/T 39785-2021: Service robot - Mechanical safety assessment and test method---This is an excerpt. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.), auto-downloaded/delivered in 9 seconds, can be purchased online: https://www.ChineseStandard.net/PDF.aspx/GBT39785-2021
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
Service robot - Mechanical safety assessment and test
method
Issued on. MARCH 09, 2021
Implemented on. AUGUST 01, 2021
Issued by. National Health Commission of PRC;
State Administration for Market Regulation.
Table of Contents
Foreword... 3
Introduction... 4
1 Scope... 5
2 Normative references... 5
3 Terms and definitions... 6
4 Test conditions... 7
5 Machinery safety assessment and testing methods... 8
6 Marking and description... 34
7 Documentation requirements... 35
Appendix A (Normative) Determination of accessible parts... 37
Appendix B (Normative) Risk assessment to determine the PLr of relevant
safety component... 44
Appendix C (Normative) Static and dynamic stability test of service robot... 47
Appendix D (Normative) Ways to prevent service robots from sliding on test
platform... 49
Appendix E (Normative) Evaluation of dynamic response of service robot to test
operation... 50
Appendix F (Informative) Hazard source... 51
References... 53
1 Scope
This standard specifies terms and definitions, test conditions, mechanical safety
assessment and test methods, markings, instructions, document requirements
related to mechanical safety of service robots.
This standard applies to all types of service robots, which mainly include
personal/household service robots and public service robots.
Special robots can refer to this standard.
Note. In the case of presence of relevant standards on special product's mechanical
safety, the product standard takes precedence over this standard.
2 Normative references
The following documents are essential to the application of this document. For
the dated documents, only the versions with the dates indicated are applicable
to this document; for the undated documents, only the latest version (including
all the amendments) is applicable to this standard.
GB 6675.2-2014 Safety of toys - Part 2.Mechanical and physical properties
GB/T 12643-2013 Robots and robotic devices - Vocabulary
GB/T 16855.1-2018 Safety of machinery - Safety-related parts of control
systems - Part 1.General principles for design
GB/T 16855.2-2015 Safety of machinery - Safety-related parts of control
systems - Part 2.Validation
GB/T 18029.13-2008 Wheelchair - Part 13.Determination of friction of test
surface
GB/T 23821-2009 Safety of machinery - Safety distances to prevent hazard
zones being reached by upper and lower limbs
GB/T 36008-2018 Robots and robotic devices - Collaborative robots
GB/T 36530-2018 Robots and robotic devices - Safety requirements for
personal care robots
3 Terms and definitions
The terms and definitions as defined in GB/T 12643-2013, as well as the
following terms and definitions apply to this document. For ease of use, some
terms and definitions in GB/T 12643-2013 and GB/T 37283-2019 are listed
repeatedly below.
3.1
Service robot
Robots that, in addition to industrial automation applications, can accomplish
useful tasks for humans or equipment.
3.2
Personal/household service robot
A service robot, that is used in a home environment or similar environment,
to meet the needs of users' lives.
3.3
Public service robot
Service robots, which are used for public or commercial tasks.
Examples. hotel service robots, banking service robots, venue service robots,
catering service robots.
4 Test conditions
4.1 Test sample
Service robots mainly include personal/household service robots AND public
service robots.
4.2 Working conditions for test
4.2.1 Operating conditions
The installed software shall not be modified or changed during a set of tests.
The safety facilities on the test site shall be in normal working condition.
4.2.2 Environmental conditions
Unless otherwise specified, the tests are carried out under the following
conditions.
4.2.3 Lighting conditions
Unless otherwise specified, the test shall be carried out under the following
lighting conditions.
4.2.4 Ground conditions
All tests in this standard shall be carried out under the ground conditions, which
are specified by the manufacturer. If the manufacturer specifies multiple ground
materials, the tests shall be carried out under different conditions.
5 Machinery safety assessment and testing methods
5.1 Inspection method
The following (but not limited to) inspection methods can meet the requirements
of this standard.
5.2 Verification of structural design
5.2.1 Verification of edge and corner
5.2.1.1 Test procedure
If the function of the service robot requires touchable edges and corners,
whether they are qualification or not, is determined through actual tests.
If the function of the service robot does not require touchable edges and corners,
whether they are qualification or not, is determined through the related tests in
Appendix A.
5.2.1.2 Qualification criteria
If the function of the service robot requires touchable edges and corners, THEN.
5.2.2 Verification of handle and manual control device
5.2.2.1 Test procedure
Through visual inspection, actual test and the following axial force, which is
applied to the handle, knob or joystick, for 1 min, to try to remove these parts
to, thereby determining whether it is qualified.
5.2.3 Gap
5.2.3.1 Test procedure
Select the test method according to the product structure, as shown in Appendix
A.
5.2.4 Position limit
5.2.4.1 Test procedure
Through visual inspection and measurement, the service robot runs to the
maximum or minimum stroke position, at rated load and maximum speed,
without any braking measures.
5.2.5 Evacuate after failure
5.3 Verification of protection of dangerous moving parts
5.3.1 Test procedure
The accessibility of moving parts is checked by visual inspection. If necessary,
make verification in accordance with the test method in Appendix A.
Note 1.If function of the robot requires a level 2 mechanical energy source (MS2)
moving parts, that are accessible to general personnel, or a level 3 mechanical energy
source (MS3) moving parts, that are accessible to general personnel or trained
personnel, THEN.
5.3.2 Qualification criteria
Instructive safety protection shall be provided, to reduce the possibility of
unintentional contact with moving parts.
The elements of indicative safety protection shall include the following.
5.4 Verification of safety functions
5.4.1 Required safety performance level
5.4.1.1 Method for determining safety performance level
If protective measures are implemented through safety functions, they shall
meet the requirements of this article. For the performance level (PLr) required
for the control system functions (electrical, hydraulic, pneumatic and software)
of the service robot, it shall be determined according to Table 1.The verification
and validation shall comply with GB/T 16855.2-2015.
5.4.1.2 The required performance level (PLr) of the safety-related
components of the control system of typical service robot
For the safety-related components of the control system of a typical service
robot, the minimum required performance level (PLr) is as shown in Table 1.
Mobile service robots (wheeled, footed, crawler, etc.).
5.4.2 Verification of avoiding dangerous collisions
5.4.2.1 Test procedure
Under normal working conditions, the service robot moves from the initial
position to the target position, at a rated speed under a rated load, as shown in
Figure 1.
5.4.3.2 Verification of protective stop
5.4.3.2.1 Test procedure
The service robot has one or more protective stop functions. Under normal
working conditions, it simulates a condition that can trigger a protective stop
every time, to observe whether the service robot enters the protective stop state.
Determine the classification of the stop function through risk assessment.
5.4.3.2.2 Qualification criteria
This type of stop function controls the guaranteed danger through the following
methods.
5.4.4 Verification of operating space restrictions
5.4.4.1 Overview
Operating space restrictions shall ensure that, the service robot does not pose
a danger to people, domestic animals and other safety-related objects in and
near the operating space, meanwhile ensure the safety of users, who continue
to use the service robot, as reasonably practicable as possible.
5.4.4.2 Test procedure
6 Marking and description
6.1 Requirements for information description
6.1.1 Requirements for nameplate
The service robot shall have clear and durable markings, so that people can
clearly see it after the service robot is installed. The nameplate shall be fixed
on the enclosure, which is adjacent to each incoming power supply, providing
the following information.
6.1.2 Markings of dangerous moving parts
Refer to 5.3.2 for the description of the markings of hazardous moving parts.
6.1.3 Other markings
For the various hazards of the service robot, it shall, through risk assessment,
determine whether it is necessary to stick markings to the corresponding
location where the hazard occurs OR to a conspicuous location nearby. The
style of the markings shall comply with ISO 7010.
6.2 Durability of marking
Any marking required by Chapter 6 shall be durable and eye-catching. When
considering the durability of the marking, it shall take into consideration of the
effect on the marking during normal use.
7 Documentation requirements
7.1 Instruction manual
Information related to machinery safety shall be in the user manual or other
written instructions (such as the instructions on the packaging).
7.2 Documents in packing box
The following documents (can be combined for printing) shall be included in the
packaging box of the service robot.
......
Source: Above contents are excerpted from the full-copy PDF -- translated/reviewed by: www.ChineseStandard.net / Wayne Zheng et al.
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