GB/T 38560-2020_English: PDF (GB/T38560-2020)
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Interface of universal driver module for industrial robots
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GB/T 38560-2020
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Standard ID | GB/T 38560-2020 (GB/T38560-2020) | Description (Translated English) | Interface of universal driver module for industrial robots | Sector / Industry | National Standard (Recommended) | Classification of Chinese Standard | J28 | Classification of International Standard | 25.040.30 | Word Count Estimation | 10,118 | Date of Issue | 2020-03-06 | Date of Implementation | 2020-10-01 | Quoted Standard | GB/T 5226.1-2019; GB/T 15706-2012; GB/T 16855.1-2018; IEC 61076-1-2006; IEC 62061 | Drafting Organization | AUBO (Beijing) Intelligent Technology Co., Ltd., Beihang University, Capital Normal University, Shenzhen Jiyang Intelligent Technology Co., Ltd., Changzhou Yiertai Intelligent Transmission Technology Co., Ltd., Suzhou Zhongde Ruibo Intelligent Technology Co., Ltd., Bozhong Seiko Technology Co., Ltd., Tsinghua University, Qingneng Dechuang Electric Technology (Beijing) Co., Ltd., Anhui Peitian Robot Technology Co., Ltd., Changchun Yuheng Optical Co., Ltd., Beijing Machinery Industry Automation Research Institute Co., Ltd. | Administrative Organization | National Automation System and Integration Standardization Technical Committee (SAC/TC 159) | Proposing organization | China Machinery Industry Federation | Issuing agency(ies) | State Administration for Market Regulation, National Standardization Administration | Summary | This standard specifies the design principles and modular structure design requirements for general drive modules for industrial robots. This standard applies to the design and development of general drive modules for modular industrial robots. |
GB/T 38560-2020
Interface of universal driver module for industrial robots
ICS 25.040.30
J28
National Standards of People's Republic of China
Universal drive module interface for industrial robots
2020-03-06 released
2020-10-01 implementation
State Administration for Market Regulation
Issued by the National Standardization Management Committee
Table of contents
Foreword Ⅰ
Introduction Ⅱ
1 Scope 1
2 Normative references 1
3 Terms and definitions 1
4 Design principles of universal drive module 2
5 Universal drive modular structure 2
5.1 Overview 2
5.2 Mechanical interface 2
5.3 Electrical interface 3
5.4 Communication protocol interface 3
5.5 Module safety requirements 3
Appendix A (informative appendix) Example of integrated universal drive module 4
Appendix B (informative appendix) Requirements for parameters related to the mechanical interface of the drive module 6
Reference 7
Preface
This standard was drafted in accordance with the rules given in GB/T 1.1-2009.
This standard was proposed by China Machinery Industry Federation.
This standard is under the jurisdiction of the National Automation System and Integration Standardization Technical Committee (SAC/TC159).
Drafting organizations of this standard. AUBO (Beijing) Intelligent Technology Co., Ltd., Beijing University of Aeronautics and Astronautics, Capital Normal University, Shenzhen Jiyang Intelligent
Technology Co., Ltd., Changzhou Yiertai Intelligent Transmission Technology Co., Ltd., Suzhou Zhongde Ruibo Intelligent Technology Co., Ltd., Bozhong Precision Technology Co., Ltd.
Co., Ltd., Tsinghua University, Qingneng Dechuang Electric Technology (Beijing) Co., Ltd., Anhui Peitian Robot Technology Co., Ltd., Changchun Yuhengguang
Science Co., Ltd., Beijing Machinery Industry Automation Research Institute Co., Ltd.
The main drafters of this standard. Shao Zhenzhou, Wei Hongxing, Hu Lei, Li Yongdong, Lou Wei, Li Yu, Yang Shuping, Zhu Hongwei, Guan Yong, Tan Jindong, Shi Zhiping,
Wang Rui, Zou Yibo, Wang Jian, Cao Jun, Xiao Xi, Zhang Junfeng, Wang Zehan, Yang Shang, Huang Yongheng.
introduction
With the development of mechatronics technology, industrial products are developing in the direction of intelligence, systemization, miniaturization and modularization. especially
In the field of industrial robots, modularization, lightweight and multi-axis have become its development trend. For traditional industrial robots, due to its structure
The type is relatively fixed, the structural form of each degree of freedom is different, it is not replaceable, the composition method is relatively simple, and it is affected by its own structure.
The limitation of this determines the simplification of its functions and cannot adapt to complex and changeable environments and tasks.
Although the domestic robotics field has made great progress, it still has a long way to go compared with the international advanced level, such as foreign
Most of the mobile robot arms adopt the design idea of modular joints, which has huge advantages in joint replacement and troubleshooting.
This guiding ideology is still lacking in the design of the robotic arm.
Therefore, establish a universal drive module interface standard for industrial robots, and use the universal drive module interface to achieve rapid replacement and failure.
Break through the modular design technology of robots, form key robot components with independent intellectual property rights, and effectively reduce robot production.
The difficulty of product development, and the accumulation and precipitation of key technologies, can support the development of my country’s industrial robot technology and industry, and promote the development of machinery
Popularization and application of human technology.
Universal drive module interface for industrial robots
1 Scope
This standard specifies the design principles and modular structure design requirements of general drive modules for industrial robots.
This standard applies to the design and development of general drive modules for modular industrial robots.
2 Normative references
The following documents are indispensable for the application of this document. For dated reference documents, only the dated version applies to this article
Pieces. For undated references, the latest version (including all amendments) applies to this document.
GB/T 5226.1-2019 Electrical safety of machinery Electrical equipment of machinery Part 1.General technical conditions
GB/T 15706-2012 General Principles of Mechanical Safety Design Risk Assessment and Risk Reduction
GB/T 16855.1-2018 Safety-related components of machinery safety control system Part 1.Design general
IEC 61076-1.2006 Product Requirements for Connectors for Electronic Equipment Part 1.General Specification (Connectorsforelectronic
equipment-Productrequirments-Part 1.Generalspecification)
IEC 62061 Safety of machinery and functional safety of safety-related electrical, electronic and programmable electronic control systems (Safetyof
machinery-Functionalsafetyofsafety-relatedelectrical,electronicandprogrammableelectroniccon-
trolsystems)
3 Terms and definitions
The following terms and definitions apply to this document.
3.1
Industrialrobot
Automatic control, repeatable programming, multi-purpose operating machine, can program three or more axes. It can be fixed or
Mobile. Used in industrial automation.
[GB/T 12643-2013, definition 2.9]
3.2
Drivermodule
In industrial robots, they are composed of servo motors, reducers, brakes, position feedback encoders, servo drives, etc., with independent functions.
Powerful drive unit.
3.3
Communicationbus
The bus used for communication between drive modules and between drive modules and controllers.
3.4
Integrated uniform
Integrate power supply and communication bus in the drive module and unify the external interface.
3.5
Reconfigurable reconfiguration
According to the requirements of different given tasks, industrial robots can be constructed with different configuration designs and functions based on universal drive modules.
4 Design principles of universal drive module
The universal drive module should follow the design principles of uniform interface, high reliability and high safety, and meet the requirements of rapid replacement and interoperability.
begging. As shown in Figure 1, each drive module provides a unified mechanical, electrical and communication interface, and it is bidirectional. Both ends of the module can be connected to other modules.
,..
a) The design of the supporting mechanism, motor and transmission device of the drive module should realize the compact structure, convenient assembly and
Reconfigurable, and for servo motors, reducers, brakes, high-precision position feedback digital potentiometers, control circuits and other components
Optimized design of parts;
b) When designing a multi-degree-of-freedom (including 1 degree of freedom) mechanical arm, a plug-and-play connection mechanism should be used to achieve electrical and mechanical rapid
Connect, and support rapid replacement when the module function is abnormal to ensure the rapid repair of the structure and function;
c) When designing the drive module, in order to simplify parameter settings, ID, calibration and registration information should be preset internally;
d) The disassembly and assembly of the drive module should ensure that its power supply, communication and safety are not damaged, and avoid causing module malfunction, failure or unrest
Full behavior;
e) The design of the system hardware platform should adopt miniaturization and integration technology under the premise of taking into account heat dissipation and reliability.
5 Universal drive modular structure
5.1 Overview
Each universal drive module should contain a complete mechanical structure and control circuit, and can achieve mechanical and electrical plug and play.
The internal memory of each servo drive module should save configuration, calibration, location and other information to ensure its pluggability and quick replacement.
The design of the integrated universal drive module mainly includes the housing and supporting structure, servo motor, position sensor, electronic brake or mechanical brake
Car/brake, servo driver (to achieve servo control, built-in current sensor, realize current loop control algorithm, with overheating, overcurrent, overvoltage/under
Voltage protection function, and connect out the communication interface or high-speed field bus, such as CAN, RS232 and EtherCAT, etc.) and deceleration mechanism. With
See Appendix A for body examples.
5.2 Mechanical interface
The universal drive module should have a unified mechanical interface to facilitate the connection between drive modules and the interconnection of drive modules and connectors, and
Ensure that the physical connection between the modules, the interface connection corresponding to the data and the power supply are not easily damaged during the assembly and disassembly process, and avoid the use of the drive module.
Performance and safety risks arise during the application process. Refer to Appendix B for the relevant parameter requirements of the mechanical interface of the drive module.
In order to ensure the effectiveness of the connection and function between the modules, the mechanical interface of the universal drive module should follow the following principles.
a) Use appropriate mechanical design methods, such as limit switches or mechanical limit interfaces, to ensure the alignment and positioning of the universal drive modules
Position, and the strength of the connection under static and dynamic motion conditions;
b) Ensure that the electrical and power connections between modules are not easily damaged;
c) Appropriate use of coaxial and/or conical structural design to minimize angular and radial movement errors and prevent damage to the connection point;
d) The mechanical interface should adopt a ring structure, and provide a certain distribution of connection points to ensure the accuracy of the drive module connection.
Other electrical and mechanical connections shall meet the requirements of IEC 61076-1.2006.
In addition, according to the application scenario of the robot, the material of the universal drive module should have specific properties, including strength, toughness, quality, and shape
And thermoelectric parameters. Material selection should follow the following principles.
a) The materials used must not cause chemical pollution to the surrounding environment;
b) The materials used should be fireproof to avoid fire, and the specific requirements should comply with IEC 61076-1.2006;
c) The materials used should have a certain degree of fatigue resistance in a specific operating environment;
d) When selecting materials, consider the possibility of the servo drive module caused by falling, stretching and squeezing during the operation of the robot
damage.
5.3 Electrical interface
The electrical interface of the universal drive module should include power supply and sensor interface, etc., under the premise of ensuring the function of the drive module, try to simplify the electrical
Connect to the greatest extent to prevent damage to the line caused by robot movement and reduce potential safety hazards. In addition, the electrical interface between different modules should be easy to
The connection can be completed manually without any tools, which is convenient for robot integration and module replacement.
According to actual application requirements, the universal drive module power supply can be DC 12V~48V, 100V~240V single-phase or three-phase AC, etc.
The electrical mode, serial mode, is convenient for the expansion and maintenance of the universal drive module. Related cables should be routed in hollow holes to avoid power
Or the communication line is exposed outside the drive module and interferes with other peripherals during operation. Also consider EMC and EMI issues, and
Use appropriate measuring equipment to ensure that there is no mutual interference between power lines and communication signal lines. EMC and EMI specific requirements should meet
GB/T 5226.1-2019 and IEC 61076-1.2006.
In addition to the above-mentioned power and communication electrical interfaces, the drive module should be equipped with position, acceleration, current and temperature detection sensors for the module
Control and status observation. The motor current sensor should determine the values according to the joint model.
Electrical connectors should consider the durability of mechanical operations, as well as electrical performance indicators such as insulation and voltage resistance. As industrial machine
The differences in the working environment of robots should consider the parameters such as temperature resistance, humidity resistance, salt spray resistance, vibration resistance and impact resistance of the connector. Specific requirements should meet
GB/T 5226.1-2019 and IEC 61076-1.2006.
5.4 Communication protocol interface
The communication interface can support one or more international general standard bus protocols, and RS232, CAN, dual CAN, EtherCAT general
It also provides API support and open communication protocol, which is convenient for users to develop independently.
5.5 Module safety requirements
Each universal drive module requires a risk assessment to confirm possible design errors and defects, as well as possible hazards. For mechanical safety
For specific information and guidance on risk assessment and reduction, see GB/T 15706-2012.See GB/T 16855.1-2018 for risk assessment of control functions
And IEC 62061.Electrical safety should meet the requirements of GB/T 5226.1-2019.
Another key part of module security is functional verification and validation. The drive module should be tested to verify and confirm whether it meets
Safety requirements. It is advisable to use a combination of simulation, test cases and formal verification to fully verify the drive module to ensure its safety.
Fullness.
Appendix B
(Informative appendix)
Drive module mechanical interface related parameter requirements
Under the maximum rated load, the maximum geometric deformation of a single drive module cannot exceed 0.1mm. Under the maximum rated torque condition, the maximum rotation
The transformation deformation is less than 0.01rad.
In order to ensure the physical connection of the drive module, the alignment, positioning and locking of the drive module should be considered in the design. Lateral rotation and diameter after connection
The error of the moving direction should be controlled within the range of less than 0.5° and 10mm.
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