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GB/T 40013-2021: Service robot - Electrical safety requirements and test methods
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Service robot - Electrical safety requirements and test methods
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GB/T 40013-2021
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Basic data | Standard ID | GB/T 40013-2021 (GB/T40013-2021) | | Description (Translated English) | Service robot - Electrical safety requirements and test methods | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | J28 | | Word Count Estimation | 22,226 | | Issuing agency(ies) | State Administration for Market Regulation, China National Standardization Administration | GB/T 40013-2021: Service robot - Electrical safety requirements and test methods---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
Service robot-Electrical safety requirements and test methods
ICS 25.040.30
J28
National Standards of People's Republic of China
Electrical safety requirements and test methods for service robots
Released on 2021-04-30
2021-11-01 implementation
State Administration of Market Supervision and Administration
Issued by the National Standardization Management Committee
Table of contents
Foreword Ⅲ
Introduction Ⅳ
1 Scope 1
2 Normative references 1
3 Terms and definitions 1
4 Electrical safety requirements 2
5 General conditions of the test 7
6 Test method 8
7 Marking and description 9
Appendix A (Normative Appendix) Abnormal working condition test and single fault condition test 13
Reference 17
Electrical safety requirements and test methods for service robots
1 Scope
This standard specifies terms and definitions related to electrical safety of service robots, electrical safety requirements, general test conditions, test methods,
Logo and description.
This standard applies to all types of service robots, mainly including personal/home service robots and public service robots.
Special robots can refer to this standard.
Note. In the case of related special product electrical safety standards, the product standard takes precedence over this standard.
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 reference documents, the latest version (including all amendments) is applicable to this document.
GB/T 4208-2017 Enclosure protection grade (IP code)
GB 4706.1-2005 Safety of household and similar electrical appliances Part 1.General requirements
GB 4706.18-2014 Special requirements for safe battery chargers for household and similar electrical appliances
GB 4943.1-2011 Information Technology Equipment Safety Part 1.General Requirements
GB/T 5013.1-2008 Rubber insulated cables with rated voltages of 450/750V and below Part 1.General requirements
GB/T 5023.1-2008 Polyvinyl chloride insulated cables with rated voltages of 450/750V and below Part 1.General requirements
GB/T 5226.1-2019 Electrical safety of machinery Electrical equipment of machinery Part 1.General technical conditions
GB/T 5465.2-2008 Graphical symbols for electrical equipment Part 2.Graphical symbols
GB/T 6346.14-2015 Fixed capacitors for electronic equipment-Part 14.Sectional specification for suppression of electromagnetic interference from power supplies
Capacitor
GB 7247.1-2012 Safety of Laser Products Part 1.Equipment Classification and Requirements
GB/T 9364.1-2015 Small fuses Part 1.Definition of small fuses and general requirements for small fuses
GB/T 12350-2009 Safety requirements for small power motors
GB/T 14536.1-2008 Household and similar electric automatic controllers Part 1.General requirements
GB/T 16935.1-2008 Insulation coordination of equipment in low-voltage systems Part 1.Principles, requirements and tests
GB 31241-2014 Safety requirements for lithium-ion batteries and battery packs for portable electronic products
GB/T 36276-2018 Lithium-ion battery for power storage
IEC 62368-1.2018 Audio, Video, Information Technology and Communication Technology Equipment Part 1.Safety Requirements (Audio/video,
informationandcommunicationtechnologyequipment-Part 1.Safetyrequirements)
3 Terms and definitions
The following terms and definitions defined in GB 4943.1-2011 and GB 4706.1-2005 apply to this document.
Use appropriate opening shape measures on the robot to prevent excessive bending of the power cord. Wire protective cover should pass GB 4706.1-2005
The test in 25.14 or the test method in 6.2 is used to check whether it meets the requirements.
4.2.3.4 Terminals connected to the external protective grounding system
The terminal connected to the external protective grounding system shall meet the requirements of 5.2 in GB/T 5226.1-2019.
4.2.4 Lidar
The lidar of the robot should meet the radiation limit and labeling requirements of Class 1 laser products in GB 7247.1-2012.
4.2.5 Motor
The motor of the robot should comply with relevant standards such as GB/T 12350-2009.If there is no applicable standard for the robot's motor, then
The motor should meet the requirements of abnormal working conditions in 4.3.11.
4.2.6 Overcurrent protection components
If the overcurrent protection component of the robot is replaceable, the marking should meet the relevant requirements of 7.16 in GB 4706.1-2005.in case
The overcurrent protection adopts the miniature fuse that accords with GB/T 9364.1-2015, it should meet the requirements of 19.12 in GB 4706.1-2005.
4.2.7 Devices for disconnecting electrical equipment
The device of the disconnecting device of the robot shall meet the relevant requirements of 5.5 in GB/T 5226.1-2019.
4.2.8 Battery (pack) and its application
The robot battery (pack) and its application should meet the requirements of GB 31241-2014, GB/T 36276-2018 and other requirements.
4.3 Electrical safety requirements of the whole machine
4.3.1 Input current
The maximum input current must not exceed 10% of the rated current. See 6.3 for the test method.
4.3.2 Protection against access to live parts
The protection of the robot for accessible live parts shall comply with its applicable standard requirements, such as chapter 8 in GB 4706.1-2005,
Requirements of 2.1, 2.2 and their alternative standards in GB 4943.1-2011.
4.3.3 Wet heat treatment
The wet heat treatment of the robot should meet the requirements of its applicable standards, such as Chapter 15 in GB 4706.1-2005 and GB 4943.1-2011
2.9.2 and the requirements of alternative standards.
4.3.4 Electrical clearance, creepage distance and insulation penetration distance input current
The electrical clearance, creepage distance and insulation penetration distance of the robot should meet the requirements of 2.10 in GB 4943.1-2011 and its alternative standards
Claim.
4.3.5 Touch current
The contact current of the robot should meet the requirements of its applicable standards, such as 13.2 in GB 4706.1-2005, 5.1 in GB 4943.1-2011
And its alternative standards.
The robot, installation, manual and technical specifications should be checked to determine the abnormal working conditions that are reasonably expected to occur.
In addition to the abnormal working conditions specified in A.1, the following examples of minimum abnormal working conditions should also be considered as applicable.
---Paper handling robot. make it jam;
---For robots with control keys that are accessible to ordinary personnel. adjust each control key individually and collectively to form the best
Bad working conditions;
---For robots with moving parts that can be reached by ordinary personnel. the moving parts are stuck;
---For robots with storage media. use incorrect media, media with incorrect dimensions, and media with incorrect quality;
---For robots with liquid or liquid cartridges that can be added, or with replenishable substances. it is possible for liquid or substances to spill into the robot
The location reached.
Before introducing any of the above-mentioned abnormal working conditions, the robot should work under normal working conditions.
During the test of abnormal working conditions that do not result in a single fault condition, all safety protections should remain effective. Normal working bar
After the installation, all safety protections shall meet the applicable requirements.
If abnormal working conditions result in a single fault condition, the provisions of 4.3.12 shall be used.
4.3.12 Simulated single fault condition
When a simulated single fault condition is applied, if parts, supplied materials, and storage media may have an impact on the test results, the
Place them in place.
When introducing fault conditions, they should be applied in sequence, one at a time. Various faults directly caused by a single fault condition are considered to be the single
Part of the fault condition.
The robot structure, circuit diagram, and component specifications, including functional insulation, should be checked to determine what is reasonably foreseeable and may cause damage.
Those single fault conditions of the following results.
---May bypass safety protection; or
---Cause additional safety protection actions; or
---Affect the safety of the robot in other ways.
The following single failure conditions should be considered.
--- Abnormal working conditions that lead to a single fault condition. For example, general personnel cause the external output terminal to be overloaded, or general personnel
Incorrect adjustment of the selector switch;
---Basic safety protection fails or additional safety protection fails;
---In addition to the IC current limiter that complies with G.9 in IEC 62368-1.2018, short-circuit any two leads of the component and disconnect the component
Any one lead of the component is open circuit, and the analog component fails; and
--- When there is a requirement in B.4.4 of IEC 62368-1.2018, the functional insulation is invalidated.
During and after the single fault condition test, the hazards involved in this standard should not occur.
After a single fault condition is applied to the insulation that may affect the insulation used as a safety protection, the insulation shall withstand the electric strength test of the relevant insulation.
4.3.13 Structure
4.3.13.1 IP rating
If the robot is marked with the first characteristic number of the IP code, it should meet the relevant requirements of GB/T 4208-2017.
4.3.13.2 Residual charge
The structure of the robot that is connected to the power supply through a plug should be able to make it in normal use.
There is a risk of electric shock due to overcharged capacitors with a rated capacity of more than 0.1μF. See 6.5 for the test method.
Note. There are different requirements for the safety voltage of service robots, such as 22.5 in GB 4706.1-2005 and 2.2.2 in GB 4943.1-2011.
4.3.13.3 Sealing performance
The structure of the robot should be such that its electrical insulation is not affected by water that may condense on cold surfaces or from containers, hoses, joints, and robots.
The influence of liquid that can leak from similar parts. If the hose is broken, or the seal is leaking, and the robot has a Class II structure, the electrical insulation should not be
Affected. See 6.6 for the test method.
4.3.13.4 Mutual contact between internal substances
The structure of the robot should be such that components such as insulation, internal wiring, windings, commutators, and slip rings will not interact with oil, grease or the like.
In contact with substances, unless these substances have sufficient insulating properties, so as not to damage the degree of compliance with this standard.
4.3.13.5 Corrosion
If rust can cause hazards to current-carrying parts and other metal parts, these parts should be able to withstand under normal use
corrosion.
Note 1.For this requirement, it is considered that stainless steel and similar corrosion-resistant alloys and electroplated steel plates meet the requirements.
After the test required by 4.3.11, verify whether the relevant parts show signs of corrosion to determine whether they are qualified.
Note 2.Pay attention to the compatibility and thermal influence of the terminal materials.
4.3.13.6 Conductive liquid
Conductive liquids that are easily touched or may become easily touched in normal use should not be in contact with live parts. Electrodes should not be used to add
Hot liquid.
For Class II structures, conductive liquids that are easily touched or may become easily touched in normal use should not be insulated with basic or reinforced insulation
contact.
For Class II structures, the liquid in contact with live parts should not be in contact with the reinforced insulation.
Note. Liquids in contact with accessible metal parts that are not grounded are considered accessible.
4.3.13.7 Water pressure
Robots intended to be connected to a water source should be able to withstand the water pressure in normal use.
In normal use, robots with liquid or gas or robots with steam generators are adequate to deal with the danger of excessive pressure
Safety protection measures.
No parts should leak, including any water inlet hoses.
See 6.7 for the test method.
4.3.14 Charging docking
In the charging and docking test, during 100 times of switching on and off, no arc or spark should be generated, nor should it cause other fire hazards.
The possibility of danger, such as the burning and melting of insulating layers or materials, and the switch should still have mechanical and electrical functions.
5 General conditions of the test
5.1 Test sample
Service robots mainly include personal/home service robots and public service robots.
If the inspection of the service robot and the circuit shows that the circuit, components or parts are tested separately outside the service robot.
If the result can represent the result of the test of the complete service robot, such test can be used to replace the test of the complete service robot. Such as
If this kind of test shows that the complete service robot may not meet the requirements, the test should be repeated on the service robot.
If a certain test specified in this standard may be destructive, it is allowed to use a model prototype that can represent the conditions being evaluated.
Note. Due to the various resources involved in the test, in order to reduce waste, the parties concerned should jointly agree on the test program, test samples and test sequence.
5.2 Basic requirements
5.2.1 Test sequence
The test should be carried out in the following order.
---Determine the applicable standards;
---Pre-selection of components or materials;
---Individual testing of components or parts;
---The robot is not energized test;
---Live test.
• Under normal working conditions;
• Under abnormal working conditions;
• Under conditions that may damage the sample.
5.2.2 Power supply voltage
The design of the robot should be such that it is safe to work under any power supply voltage that is intended to be connected.
Compliance is checked by checking and performing relevant tests under the power supply voltage specified in the corresponding sub-clauses of this standard. If split
If the power supply voltage is not specified in the paragraph, the rated voltage value or any voltage value in the rated voltage range should be used.
5.2.3 Equivalent materials
If this standard requires a specific level of insulation, a higher level of insulation is allowed. Similarly, if this standard requires specific combustion, etc.
Grade materials allow the use of better grade materials.
5.2.4 Test environment
Unless otherwise specified, the tests are carried out under the following conditions.
---Temperature. 15℃~35℃;
---Relative humidity. 25%~75%;
---Atmospheric pressure. 86kPa~106kPa.
5.2.5 Test conditions
The safety facilities on the test site should be in normal working condition.
6 Test method
6.1 Fixing of the connection terminal of the network power supply
After passing the inspection and clamping or unclamping the wire terminal of the specified maximum cross-sectional area 10 times, the creepage distance and electrical clearance are measured,
To check whether it meets the requirements.
6.2 Wire protection cover
The wire protection cover shall be inspected according to all the following tests.
---A robot equipped with a wire protective sleeve or opening, when the wire is not affected by stress, the axis of the wire protective sleeve is at the wire outlet
The horizontal upturn is 45°. Then, tie an object with a mass equal to 10D2g on the free end of the wire. D is the round power soft power
The outer diameter of the wire, or the smaller diameter of the flat flexible wire, in millimeters (mm).
--- If the wire protective sheath is sensitive to temperature, the test is carried out at a temperature of 23 ℃ ± 2 ℃.
---The flat wire should be bent on the plane of least resistance.
---After the mass of 10D2g has just been attached, if the radius of curvature of any position of the wire is less than 1.5D, the wire protective cover is considered to be unsuitable
qualified.
6.3 Input current
When the robot has more than one rated voltage, the input current should be measured at each rated voltage; if the robot has one
For one or more rated voltage ranges, the input current should be measured at each end voltage within each rated voltage range.
For battery-powered robots, the test should be carried out in the charging state. The test time should include the low battery protection specified by the manufacturer.
Protect state to full power state. For the robot powered by the grid power supply, the test is carried out under the power-on and normal load conditions.
If the rated current is marked as a single value, the higher input current measured in the relevant voltage range should be used for judgment. in case
What is marked is two input current values, separated by a short line, and the two values measured within the relevant voltage range should be used for judgment. In each case
When the input current is stable, take a reading. If the current changes during the normal working cycle, it should be
During the time, read the steady-state current according to the average indication of the current measured on the ammeter that records the effective value.
6.4 Surface temperature test of accessible parts
The surface temperature of the accessible part of the service robot should be measured with a thermocouple after the heating test.
A fever test is carried out under the most unfavorable circumstances. If the most unfavorable situation cannot be determined, the test can be carried out in one of the following ways.
---Intermittent operation, its "on" and "off" cycles run continuously according to the rated "on" and "off" cycles until it reaches a thermal equilibrium state;
---Continuous operation, according to the rated power operation, the hourly temperature increase is not more than 2 ℃ or continuous work for 2.5h.
Note. The most unfavorable situation is determined in consultation with the manufacturer.
6.5 Residual charge
The robot is powered by the rated voltage, and then any one of its switches is placed in the "off" position, and the robot is disconnected from the power supply. After disconnection
At 1s, use an instrument that will not significantly affect the measured value to measure whether the voltage between the pins of the plug exceeds the specified in 4.3.13.2
Voltage.
6.6 Sealing performance
Using a syringe to drop a colored aqueous solution into the robot may cause liquid leakage and affect electrical insulation. Robot during testing
Should be in working state or stopped state, whichever is the more unfavorable state.
After the test, there is no trace of liquid in the winding or insulation that can cause the creepage distance to be reduced below the value specified in 4.3.4.
6.7 Water pressure
The robot's water supply source should maintain a static pressure, which is 2 times the maximum water inlet pressure or 1.2MPa, whichever is greater, and the duration is
5min, check whether the water inlet hose and other parts leak.
7 Logo and description
7.1 Hazard identification
It cannot be clearly indicated that the housing of the electric robot that can cause electric shock and heat risk should be marked with GB/T 5465.2-2008
The 5036 graphic symbol.
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