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GB/T 39785-2021: Service robot - Mechanical safety assessment and test method Delivery: 9 seconds. True-PDF full-copy in English & invoice will be downloaded + auto-delivered via email. See step-by-step procedure Status: Valid
Similar standardsGB/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/GBT39785-2021GB 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 ContentsForeword... 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... 531 ScopeThis 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 referencesThe 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 robots3 Terms and definitionsThe 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 conditions4.1 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 methods5.1 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 procedure6 Marking and description6.1 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 requirements7.1 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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