GB/T 37284-2019 English PDF (GBT37284-2019)

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GB/T 37284-2019: Service robot machine -- Electromagnetic compatibility -- Generic standards -- Emission requirements and limits
GB/T 37284-2019
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 33.100
L 06
Service robot machine - Electromagnetic compatibility
- Generic standards - Emission requirements and
limits
ISSUED ON: MARCH 25, 2019
IMPLEMENTED ON: OCTOBER 01, 2019
Issued by: State Administration for Market Regulation;
Standardization Administration of the PRC.
Table of Contents
Foreword ... 4 
1 Scope ... 5 
2 Normative references ... 5 
3 Terms and definitions ... 7 
4 General conditions ... 11 
4.1 Overview ... 11 
4.2 Test environment ... 12 
4.3 Test site and equipment ... 12 
4.4 Test methods ... 12 
5 General requirements of test ... 13 
5.1 Overview ... 13 
5.2 Auxiliary equipment and load ... 14 
6 Test arrangement ... 14 
6.1 Overview ... 14 
6.2 Test arrangement of fixed service robot ... 14 
6.3 Test arrangement of mobile service robot ... 21 
7 Harmonics, voltage fluctuations and flicker ... 23 
7.1 Harmonic current ... 23 
7.2 Voltage fluctuations and flicker ... 23 
8 Disturbance limit grading ... 23 
9 Conducted disturbance limits ... 23 
9.1 Overview ... 23 
9.2 Conducted disturbance limits of power terminal ... 24 
9.3 Conducted common mode disturbance limits of telecommunications port ... 24 
10 Radiated disturbance limits ... 25 
10.1 Limits below 1 GHz ... 25 
10.2 Limits above 1 GHz ... 25 
11 Measurement uncertainties ... 26 
12 Result report ... 27 
Appendix A (Normative) EMC requirements for clean robot and air purification
robot ... 29 
Bibliography ... 34 
Service robot machine - Electromagnetic compatibility
- Generic standards - Emission requirements and
limits
1 Scope
This Standard specifies procedures for measuring the level of electromagnetic
disturbance generated by a service robot, and specifies the disturbance limits,
measurement methods, operating conditions, and processing of the results.
This Standard is applicable to all types of service robots with working
frequencies from 0 Hz~400 GHz, mainly including personal/household service
robots and public service robots. There is no need to measure the frequency
bands without specified limits.
The special robot can refer to the use of this Standard.
Note: In the case of relevant special product electromagnetic compatibility emission
standards, product standards take precedence over this Standard.
2 Normative references
The following documents are indispensable for the application of this document.
For the dated references, only the editions with the dates indicated are
applicable to this document. For the undated references, the latest edition
(including all the amendments) are applicable to this document.
GB 4343.1 Electromagnetic compatibility requirements for household
appliances, electric tools and similar apparatus - Part 1: Emission
GB/T 4365-2003 Electrotechnical terminology - Electromagnetic
compatibility
GB/T 6113.101 Specification for radio disturbance and immunity measuring
apparatus and methods of measurement - Part 1-1: Radio disturbance and
immunity measuring apparatus - Measuring equipment
GB/T 6113.102 Specification for radio disturbance and immunity measuring
apparatus and methods - Part 1-2: Radio disturbance and immunity
measuring apparatus - Coupling devices for conducted disturbance
measurements
GB/T 6113.104 Radio disturbance and immunity measuring apparatus and
methods - Part 1-4: Radio disturbance and immunity measuring apparatus -
Radiated disturbance measuring antenna and test site
GB/T 6113.201-2017 Specification for radio disturbance and immunity
measuring apparatus and methods - Part 2-1: Methods of measurement of
disturbances and immunity - Conducted disturbance measurements
GB/T 6113.202 Specification for radio disturbance and immunity measuring
apparatus and methods - Part 2-2: Methods of measurement of disturbances
and immunity - Measurement of disturbance power
GB/T 6113.203 Specification for radio disturbance and immunity measuring
apparatus and methods of measurement - Part 2-3: Methods of
measurement of radio disturbance and immunity - Radiated disturbance
measurements
GB/T 6113.402 Specification for radio disturbance and immunity measuring
apparatus and methods - Part 4-2: Uncertainties, statistics and limit
modelling - Measurement instrumentation uncertainty
GB/T 9254-2008 Information technology equipment - Radio disturbance
characteristics - Limits and methods of measurement
GB/T 12643-2013 Robots and robotic devices - Vocabulary
GB/T 17624.1 Electromagnetic compatibility - General - Application and
interpretation of fundamental definitions and terms
GB 17625.1 Electromagnetic compatibility - Limits - Limits for harmonic
current emissions (equipment input current ≤16 A per phase)
GB/T 17625.2 Electromagnetic compatibility (EMC) - Limits - Limitation of
voltage changes, voltage fluctuations and flicker in public low-voltage supply
systems, for equipment with rated current ≤16 A per phase and not subject
to conditional connection
GB/T 17625.7 Electromagnetic compatibility - Limits - Limitation of voltage
changes, voltage fluctuations and flicker in public low-voltage supply
systems for equipment with rated current ≤ 75 A and subject to conditional
connection
GB/T 17625.8 Electromagnetic compatibility - Limits - Limits for harmonic
currents produced by equipment connected to public low-voltage systems
3.5 Special robot; professional service robot
The robot which is used in a professional field and is generally operated or used
by specially trained personnel, to assist and/or replace a person to perform a
task.
Note: Special robots refer to robots other than industrial robots, public service robots, and
personal service robots. It generally refers to professional service robot.
3.6 Mobile platform
An assembly of all components which enable the mobile robot to move.
Note: The mobile platform contains a chassis for supporting the load.
[GB/T 12643-2013, definition 3.18]
3.7 Mobile service robot
A service robot based on its own control and movement.
Note 1: The mobile service robot can be a mobile platform with or without a manipulator.
Note 2: Modify GB/T 12643-2013, definition 2.13.
3.8 Clean robot
An apparatus which can independently seek or operate according to a
predetermined path within a certain area and uses a program to achieve a
specified cleaning function.
Note: Such as sweeping robot, window-cleaning robot.
3.9 Air purification robot
An apparatus which can independently seek or operate according to a
predetermined path without human intervention within a certain area and has a
certain ability to remove one or more pollutants such as solid pollutants,
gaseous pollutants, and microorganisms in indoor air.
3.10 Electromagnetic disturbance
Any electromagnetic phenomenon which may degrade the performance of a
device, equipment or system, or adversely affect living or inert matter.
Note: An electromagnetic disturbance may be an electromagnetic noise, an unwanted
signal or a change in the propagation medium itself.
The operating mode and other operating conditions of the EUT.
[GB/T 9254-2008, definition 3.9]
3.16 Artificial network; AN
The reference load specified to simulate the impedance presented to the EUT
by an actual network (such as an extended power circuit or communication line),
across which the radio frequency disturbance voltage can be...