GB/T 40575-2021 PDF English
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GB/T 40575-2021: Guidelines of energy efficiency evaluation for industrial robots---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/GBT40575-2021
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
Guidelines of energy efficiency evaluation for
industrial robots
ISSUED ON: OCTOBER 11, 2021
IMPLEMENTED ON: MAY 01, 2022
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 ... 4
4 Energy efficiency evaluation process for industrial robots... 6
5 Test methods for energy efficiency of industrial robots ... 8
6 Energy efficiency evaluation indicators for industrial robots ... 14
7 Preparation of evaluation report ... 18
Annex A (informative) Examples of energy efficiency evaluation of industrial
robots ... 19
Guidelines of energy efficiency evaluation for
industrial robots
1 Scope
This Standard specifies terms and definitions, energy efficiency evaluation
process, energy efficiency testing methods, energy efficiency evaluation
indicators, energy efficiency analysis and preparation of evaluation reports for
energy efficiency evaluation for industrial robots.
This Standard is applicable to energy efficiency evaluation for industrial robot
body, excluding end effector energy efficiency.
NOTE: The end effector refers to the welding gun, spray gun, and cutting spindle installed
on the mechanical interface of the robot.
2 Normative references
The following referenced documents are indispensable for the application of
this document. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any
amendments) applies.
GB/T 12642-2013, Industrial robots - Performance criteria and related test
methods
GB/T 12643-2013, Robots and robotic devices - Vocabulary
GB/T 12644-2001, Industrial robots - Presentation of characteristics
3 Terms and definitions
For the purposes of this document, the terms and definitions defined in GB/T
12643-2013 as well as the followings apply.
3.1 industrial robot
an automatic control, reprogrammable, multi-purpose operating machine,
which can program three and more than three axes; it can be fixed or mobile; it
is used in industrial automation
cycles of an industrial robot under unloaded conditions
3.11 average power with rated load
the average value of the total power of all electrical devices in one or several
cycles of the industrial robot under the rated load condition
3.12 total energy consumption without load
the total energy consumed by the industrial robot under unloaded conditions
3.13 body energy consumption
the energy consumed by the robot body of an industrial robot under unloaded
conditions
3.14 total energy consumption with rated load
the total energy consumed by the robot body and the rated load of the industrial
robot under the rated load condition
3.15 energy consumption with rated load
the energy consumed by the industrial robot at the rated load under the rated
load condition
3.16 body energy efficiency
the ratio of the energy consumption of the industrial robot under unloaded
conditions to the total energy consumption of the unloaded operation
3.17 energy efficiency with rated load
the ratio of the energy consumption of the robot's rated load to the total energy
consumption of the rated load of the industrial robot under the rated load
condition
3.18 energy efficiency evaluation for industrial robots
analysis and quantitative expression of the energy efficiency of industrial robots
NOTE: Including the determination of energy efficiency indicators, the acquisition of energy
data and the calculation of energy efficiency indicators.
4 Energy efficiency evaluation process for industrial
d) Access power detection equipment;
e) According to 5.6~5.8, carry out the power-on state test, unloaded
operation test and rated load operation test of the industrial robot. Obtain
the power-on curve, unloaded operation power curve, and average power
with rated load curve of the industrial robot when it is powered on;
f) According to formula (1) ~ formula (3), calculate the power data of industrial
robot power-on average power, average power without load, and average
power with rated load;
g) On the basis of the power data, according to the formula (4) ~ formula (7),
calculate the total energy consumption without load, the body energy
consumption, the total energy consumption with rated load and the energy
consumption with rated load of the industrial robot;
h) Based on the energy consumption data, according to formula (8) and
formula (9), calculate the body energy efficiency and energy efficiency
with rated load of the industrial robot;
i) Focus on indicators such as power-on average power, average power
without load, average power with rated load, body energy efficiency and
energy efficiency with rated load to analyze the energy efficiency level of
the industrial robot;
j) Prepare an energy efficiency evaluation report for the industrial robot.
See Annex A for an example of energy efficiency evaluation of the industrial
robot.
5 Test methods for energy efficiency of industrial
robots
5.1 General requirements
5.1.1 Units
For the voltage, energy, power, time, length, speed involved in the test, the unit
shall adopt the International System of Units (SI).
5.1.2 Power detection equipment
Before testing, the power testing equipment shall be calibrated. Indicate the
error of the power detection equipment in the evaluation report.
5.1.3 Test temperature
The ambient temperature of the test shall be kept within the range of (20±2)°C.
The use of other ambient temperatures shall be indicated and explained in the
evaluation report.
In order to make the robot and the test equipment in a thermally stable state
before the experiment, they shall be placed in the test environment for a long
enough time (preferably one day and night). It shall also prevent ventilation and
external heat radiation (such as sunlight, heaters).
5.1.4 Operating conditions
The normal operating conditions in the test shall be specified by the industrial
robot manufacturer. Normal operating conditions include power requirements,
maximum single-axis speed requirements, load limits and so on.
5.2 Warming up requirements
Industrial robots shall be warmed up before energy efficiency test. The
operation of the warming up shall meet the requirements in GB/T 12642-2013.
5.3 Rated load of mechanical interface
The rated load operation test shall be carried out under 100% rated load
condition, that is, the mass, the position of the center of gravity and the moment
of inertia specified by the manufacturer. The position of the center of gravity of
the rated load shall comply with the load center of gravity offset parameters
given in Annex A of GB/T 12644-2001.
5.4 Device connection
The power detection equipment shall be connected to the main power supply
of the industrial robot according to the product manual.
5.5 Cyclic exercise test requirements
5.5.1 Test path requirements
The shape of the test path is a curve on the test plane, which is composed of
multiple straight lines and is located in the test cube. The largest cube with side
lengths of 250mm, 400mm, 630mm, and 1000mm shall be used. The test path
is shown in Figure 2.
the movement speed and cycle times specified in 5.5.3. Write cyclic motion
program.
For a six-degree-of-freedom industrial robot, a fixed posture shall be maintained
during movement. For industrial robots with less than six degrees of freedom,
it is advisable to use as few gesture commands as possible during the
movement. In the test report, the number, position and programming method
(teaching programming, manual data input or offline programming) of the
command poses shall be stated.
5.5.3 Cyclic motion test speed and frequency
The cyclic motion test shall be carried out at 100%, 50% and 10% of the rated
trajectory speed specified by the manufacturer. In each trajectory segment, the
industrial robot can reach the specified speed within 50% of the line segment
length, and the cyclic test is effective. In the unloaded operation test and the
rated loaded operation test, the number of cycles shall be 10 times at different
operating speeds. The cyclic movement mode and time are the same.
5.6 Power-on state test steps
Use power detection equipment to test the energy consumption of industrial
robots when they are powered on. The specific steps are as follows:
a) Turn on the main power of the industrial robot;
b) After waiting for the reading of the power detection device to stabilize, turn
off the main power supply of the industrial robot.
5.7 Unloaded operation test steps
Use power detection equipment to test the energy consumption of industrial
robots under unloaded operation state. The specific steps are as follows:
a) Turn on the main power of the industrial robot;
b) Enable the industrial robot motor;
c) Run the cyclic motion program according to the requirements of 5.5. Carry
out unloaded cyclic movement;
d) Cancel the enabling of the industrial robot motor;
e) Turn off the main power supply of the industrial robot.
The duration of each step in the test process shall be long enough. Wait for the
reading of the power detection device to stabilize before proceeding to the next
step.
Annex A
(informative)
Examples of energy efficiency evaluation of industrial robots
The example of the energy efficiency evaluation steps of the industrial robot is
as follows:
1. Determine the cyclic motion trajectory and write the cyclic motion
program
The maximum working radius of the industrial robot is 1550 mm. However, due
to the singularity of the workspace, the test cube with a side length of 1000mm
cannot be selected. Therefore, a test cube with a side length of 630mm is
selected. Determine the test path according to the position and side length of
the test cube. Use offline programming to write cyclic motion programs.
Download to industrial robot controller.
2. Measure the determined load center of gravity offset parameters and
energy efficiency test environment temperature
Record the rated load of the industrial robot. According to the specifications in
Annex A of GB/T 12643-2013, determine the load center of gravity offset
parameters. Measure and record the environmental temperature of the energy
efficiency test.
3. Warming up operation
Turn on the main power. Enable the robot motor. Warm up the engine for 8h
according to the requirements of 7.6 in GB/T 12642-2013. Measure whether it
meets the thermal engine requirements of 7.6 in GB/T 12642. Turn off the main
power.
4. Access power detection equipment
Choose a power analyzer. According to the power analyzer product manual,
connect the power analyzer to the main power supply of the industrial robot.
5 Obtain power curve
1) Power-on state test. Turn on the main power of the industrial robot. Turn
off the main power of the industrial robot after 100s. Record the power
curve of the power-on test through the power analyzer.
2) Unloaded operation test. Turn on the main power of the industrial robot.
Enable the motor of the industrial robot. Run the cyclic motion program of
the industrial robot. After the operation is completed, disable the industrial
robot motor. Turn off the main power of the industrial robot. Record the
unloaded operation power curve through the power analyzer.
3) Rated loaded operation test. Install the rated load on the mechanical
interface of the industrial robot. Turn on the main power of the industrial
robot. Enable the motor of the industrial robot. Run the cyclic motion
program of the industrial robot. After the operation is completed, disable
the motor of the industrial robot. Turn off the main power of the industrial
robot. Record the rated loaded operation power curve through the power
analyzer.
6 Calculate power data
Calculate the power-on average power =39.7W. According to the unloaded
operation power curve, calculate the unloaded operation average power
=453.5W. According to the power curve of loaded rated operation, calculate the
rated loaded operation average power =487.0W.
7 Calculate energy consumption data
Calculate the total energy consumption without load EU=44150.0J, the body
energy consumption of the industrial robot EB=40140.6J. According to the rated
loaded operation power, calculate the total energy consumption with rated load
ELS=47407.0J and the energy consumption with rated load ELS=3257.0J.
8 Calculate energy efficiency data
According to the energy consumption data, the body energy efficiency ηB=90.92%
and the energy efficiency with rated load ηL=6.87% are calculated, respectively.
9 Preparation of energy efficiency evaluation report
Prepare energy efficiency evaluation report based on test and calculation
results. The format of the energy efficiency evaluation report of the industrial
robot is as follows:
Energy efficiency evaluation report of the industrial robot
1) Industrial robot information
Manufacturer: ________________ Model: _________________
Manufacturing time: ____________ Software version number: _______
......
Source: Above contents are excerpted from the full-copy PDF -- translated/reviewed by: www.ChineseStandard.net / Wayne Zheng et al.
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