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GB/T 37669-2019 English PDF (GBT37669-2019)

GB/T 37669-2019 English PDF (GBT37669-2019)

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GB/T 37669-2019: Automated guided vehicle (AGV) safety protection requirements in the application of dangerous production atmosphere

This Standard specifies safety specifications for the application of automated guided vehicles (AGV) and their systems in hazardous production environments, including technical requirements, safe use management requirements, test methods, inspection rules, signs, signs and instructions, transportation and storage.
GB/T 37669-2019
NATIONAL STANDARD OF THE
PEOPLE REPUBLIC OF CHINA
ICS 25.040.40
J 28
Automated guided vehicle (AGV) safety protection
requirements in the application of dangerous production
atmosphere
ISSUED ON: AUGUST 30, 2019
IMPLEMENTED ON: MARCH 01, 2020
Issued by: State Administration for Market Regulation;
Standardization Administration of the People's Republic of China.
Table of Contents
Foreword ... 4
1 Scope ... 5
2 Normative references ... 5
3 Terms and definitions... 6
4 Hazard identification ... 7
5 General requirements ... 8
5.1 Common requirements ... 8
5.2 Use environment requirements ... 8
5.3 Driving ground requirements ... 9
6 Technical requirements ... 9
6.1 Basic performance requirements ... 9
6.2 Protection level ... 9
6.3 Machinery system safety specifications ... 9
6.4 Electrical system safety specifications ... 11
6.5 Electromagnetic radiation safety specifications ... 11
6.6 Optical radiation safety specifications ... 12
6.7 Power supply safety specifications ... 13
6.8 Charging safety specifications for batteries ... 13
6.9 Electrostatic safety specifications ... 14
6.10 Wireless communication security specification ... 14
6.11 Safety specification for host control system ... 15
6.12 Emergency stop and safety surveillance detection ... 17
7 Safe use management requirements ... 17
7.1 General ... 17
7.2 General requirements ... 17
7.3 Inspection requirements ... 18
7.4 Cleanup requirements ... 18
7.5 Maintenance requirements ... 19
7.6 Personnel requirements ... 20
8 Test methods ... 21
8.1 Basic performance test ... 21
8.2 Protection performance test ... 21
8.3 Machinery system transfer process safety test ... 21
8.4 Safety performance test ... 21
9 Inspection rules ... 24
9.1 General ... 24
9.2 Exit-factory inspection ... 24
9.3 Type inspection ... 25
10 Signs, signage and instructions ... 25
10.1 Signs and signage ... 25
10.2 Instructions for use ... 26
11 Transportation and storage ... 26
11.1 Transportation ... 26
11.2 Storage ... 26
Automated guided vehicle (AGV) safety protection
requirements in the application of dangerous production
atmosphere
1 Scope
This Standard specifies safety specifications for the application of automated guided vehicles (AGV) and their systems in hazardous production environments, including technical requirements, safe use management requirements, test methods, inspection rules, signs, signs and instructions, transportation and storage.
This Standard is applicable to AGVs in zones 1, 2 and 21 and 22 in explosive environments.
This Standard does not apply to underground coal mines, AGVs in equipment class II zone 0, and equipment class III AGVs in zone 20. It is inapplicable to flammable gas and steam places containing carbon disulfide, carbon monoxide and acetaldehyde. 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 3836 (all parts), Explosive atmospheres [IEC 60079 (all parts)]
GB 3836.1-2010, Explosive atmospheres - Part 1: Equipment - General
requirements (IEC 60079-0:2007, MOD)
GB/T 3836.15-2017, Explosive atmospheres - Part 15: Electrical installations design, selection and erection (IEC 60079-14:2007, MOD)
GB/T 3836.16-2017, Explosive atmospheres - Part 16: Electrical installations inspection and maintenance (IEC 60079-17:2007, IDT)
GB/T 3836.22-2017, Explosive atmospheres - Part 22: Protection of equipment and transmission system using optical radiation (IEC 60079-28:2006, MOD)
GB/T 4208-2017, Degrees of protection provided by enclosure (IP code) (IEC 60529:2013, IDT)
GB/T 12476 (all parts), Electrical apparatus for use in the presence of combustible dust
GB 12476.1-2013, Electrical Apparatus for Use in the Presence of Combustible Dust - Part 1: General Requirements (IEC 61241-0:2004, MOD)
GB/T 19854-2018, General rules of explosion-proof techniques of industrial trucks for explosive atmospheres
GB/T 20438.1-2017, Functional safety of electrical/electronic/programmable electronic safety-related systems - Part 1: General requirements (English Version) (IEC 61508-1:2010, IDT)
GB/T 20438.3-2017, Functional safety of electrical/electronic/programmable electronic safety-related systems - Part 3: Software requirements (IEC 61508-3:2010, IDT)
GB/T 20721-2006, General specifications of automatic guided vehicles
GB 25286 (all parts), Non-electrical equipment for potentially explosive atmospheres
GB/T 30029-2013, Automated guided vehicle (AGV) - General rule of design GB/T 31485-2015, Safety requirements and test methods for traction battery of electric vehicle
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply. 3.1 dangerous production atmosphere
a dangerous production environment that explosion and fire may occur
3.2 machinery system
generic term for devices used for AGV to complete specified actions, power transmission, motion and support connection, and so on
NOTE: It includes but not limited to support system, walking system, drive system, carrying system, housing.
3.3 electrical system
generic term for devices used for AGV power supply, drive control and information display, and so on
attention shall be paid to the following possible risks:
a) Unreliable fixation of the product during the transfer process, and a drop occurs; b) Collision with persons, objects and other vehicles during transit;
c) During the transfer process, the load on the AGV has an abnormality such as jamming;
d) Relative motion friction and collision between the AGV components generate sparks that become the ignition source;
e) Electrical systems generate sparks and hot surfaces become ignition sources; f) Electromagnetic radiation generated by AGV drive motors and controllers and electromagnetic waves used for wireless communication cause electromagnetic interference to products and the environment;
g) Light-emitting sensors and communication devices, long-term emission produces local temperature rise, which is dangerous to products and the environment; h) Accumulation and elimination of static electricity during the movement of the AGV is not timely.
5 General requirements
5.1 Common requirements
AGVs used in hazardous production environments and their installation shall meet the requirements of GB/T 3836, GB/T 12476, GB 25286, GB/T 19854-2018. The following are supplementary requirements.
5.2 Use environment requirements
The use environment shall comply with the provisions of 4.1.2 in GB/T 20721-2006: a) Use site: indoor or outdoor;
b) Ambient temperature: -20???~40???;
c) Pressure: 80kPa~110kPa;
d) Standard oxygen content in the air (volume fraction): 21%;
e) Relative humidity: 10%~90%.
5.3 Driving ground requirements
The use site shall comply with the provisions in 4.1.1 of GB/T 20721-2006. The ground shall avoid iron filings, oil, corrosive liquids and other substances that may have potential safety hazards.
6 Technical requirements
6.1 Basic performance requirements
The basic performance of automated guided vehicles shall meet the requirements of Chapter 4 in GB/T 20721-2006.
6.2 Protection level
The protection level (IP) of the explosion-proof enclosure of AGV and each functional component depends on its intended use and the type of environment in which it is designed. It shall meet the following requirements:
a) If the AGV is used in a gas/steam environment, the enclosure protection level shall meet the requirements of the corresponding explosion-proof type. The enclosure protection level shall not be lower than IP54;
b) If the AGV is used in a combustible dust environment, the protection level of the explosion-proof enclosure used in zone 21 and in the conductive dust
environment in zone 22 shall not be lower than IP6X. The protection level of explosion-proof enclosures used in zone 22 (except for conductive dust
environments) shall not be lower than IP5X.
6.3 Machinery system safety specifications
6.3.1 Safety specification for machinery system transfer process
6.3.1.1 In the process of AGV transporting materials and products, it shall ensure that the product and the bearing device on the vehicle body do not have relative displacement under any working conditions such as sudden start, sudden stop, sudden turn, collision, through its own friction force or special fixing device. 6.3.1.2 Mechanical protection devices shall be installed. It is guaranteed that in the event of accidental collision, materials and products will not be subjected to direct collision.
enclosure.
6.3.2.7 Speed reducer
The reducer for transmission shall be sealed and fully lubricated.
6.3.2.8 Brake
The materials used for friction parts of friction brakes shall be non-metallic and cast iron, or materials with the same friction characteristics as non-metallic and cast iron. Light metal alloys shall not be used.
6.3.2.9 AGV structure
The structure of the AGV and its functional components shall minimize the accumulation of dust and be easy to clean.
6.4 Electrical system safety specifications
6.4.1 The electrical equipment used on the AGV shall meet the requirements of GB/T 3836 and/or GB/T 12476. Electrical equipment shall obtain the corresponding explosion-proof certificate.
6.4.2 The electrical installation shall meet the relevant requirements of GB/T 3836.15- 2017.
6.4.3 The electrical system shall be provided with overload protection device. The maximum current value set by the overload protection device shall not be greater than the maximum safe load current value that the system circuit and cable can bear. Overcurrent relays shall be used, or current monitoring shall be used. When the current of the electrical circuit reaches the set maximum current value, it will automatically stop.
6.5 Electromagnetic radiation safety specifications
6.5.1 Safety specifications for electromagnetic radiation to products
The electromagnetic radiation and wireless communication electromagnetic waves generated by the AGV drive motor, controller and navigation device shall meet the electromagnetic radiation sensitivity requirements of the product itself. 6.5.2 Safety specifications for electromagnetic radiation to hazardous production environments
The electromagnetic radiation energy level of the AGV used in the hazardous production environment shall not exceed the value specified in Table 1. The threshold power of continuous emission with radio frequency of 9kHz~60GHz and pulse NOTE: The radiation source with pulse interval less than 5s is regarded as a continuous wave source. The output parameters of lasers or other continuous wave sources for EPL Class Dc electrical equipment shall not exceed the following values:
- CW laser or other CW source: 10mW/mm2 or 35mW;
- Pulsed laser or pulsed light source: 0.5mJ/mm2.
The output parameters of lasers or other continuous wave sources for EPL Ga, Gb, Gc electrical equipment shall meet the requirements in GB/T 3836.22-2017.
6.7 Power supply safety specifications
6.7.1 Grid power requirements
For AGVs that are directly powered by the power grid, the power distribution system must meet the requirements of GB/T 3836.15-2017.
6.7.2 Power requirements for batteries
The explosion-proof structure, performance and marking of the batteries used by AGV shall meet the requirements of GB/T 3836 and/or GB/T 12476 and GB/T 19854-2018. The batteries installed in an AGV used in a hazardous production environment can only consist of several single cells connected in series.
Only single cell types with known characteristics in single cell standards published by China or IEC shall be used. Lithium batteries used in explosionproof AGVs shall meet the requirements of GB/T 31485-2015. For specific requirements, please refer to 23.3 in GB 3836.1-2010.
All cells in batteries shall have the same electrochemical system, cell structure and rated capacity, and be manufactured by the same manufacturer.
All batteries shall be set up and operated within the allowable limits specified by the battery manufacturer.
6.8 Charging safety specifications for batteries
6.8.1 It shall not be charged in an explosive atmosphere. Charging shall be performed in a safe area isolated from explosive atmospheres.
6.8.2 The charging site shall be equipped with equipment for flushing or neutralizing spilled electrolyte, fire-fighting facilities, measures to prevent vehicle damage to the charging device, or appropriate ventilation facilities to dissipate the gas discharged from the battery.
6.8.3 Fireworks are strictly prohibited in the charging area.
6.8.4 Only trained and approved personnel are permitted to charge and perform battery maintenance.
6.9 Electrostatic safety specifications
6.9.1 The electrostatic safety includes the electrostatic safety of the AGV itself and the electrostatic safety of the products placed on the AGV. The product shall be grounded in real time through the conductor on the AGV or a dedicated grounding device. The grounding resistance shall meet the electrostatic safety requirements of the product itself.
6.9.2 The AGV body shall be equipotentially connected to all conductive parts that may be dangerously charged. It is grounded through a grounding device.
6.9.3 Non-metallic parts on the AGV shall be designed so that there is no ignition hazard due to electrostatic charge during normal use, maintenance and cleaning. The electrostatic protection requirements shall be met by reasonable selection of materials (such as anti-static rubber) or by limiting the surface area of non-metallic parts of the housing. Specifically, it shall meet the requirements specified in GB 3836.1-2010, GB 12476.1-2013, and GB/T 19854-2018.
6.10 Wireless communication security specification
6.10.1 Physical security specifications
Wireless communication equipment adopts unified voltage power supply. It shall not exceed 24V at the most.
Due to the large voltage fluctuation range of the AGV power supply battery, the DC power supply for the wireless device cannot be directly obtained from the power battery. It shall be converted into a stable 12V or 24V voltage through a regulated power supply before it can be connected to a wireless device.
The wireless device power supply shall be controlled by the AGV switch. It is not allowed to power on the wireless device during non-working hours and unattended hours of the application site.
The AGV equipment compartment requires the enclosure to be closed. It is strictly forbidden to open the AGV cabin without permission to operate wireless devices. 6.10.2 Encryption specification
The wireless communication system used in important information security application scenarios shall use the state-owned encryption algorithm certified by the national The host control system can monitor the remaining power of the AGV. When the power is insufficient, the host control system shall go to the non-explosion-proof area isolation room for charging according to the predetermined trajectory when the AGV completes a single cycle task. Use backup AGVs or other spare AGVs to take over their tasks. The backup vehicle shall be ready to be in place before the low-battery AGV completes a single cycle of tasks.
6.11.4 Task change
The host control system shall monitor the AGV in the handling work in real time during the execution of the handling task. Once an unexpected situation occurs that causes the AGV to stop, the host control system shall adjust the strategy in time to repair, for example, enabling the standby AGV or calling the idle AGV.
6.11.5 Traffic management
6.11.5.1 Path assignment
Allocate the path reasonably. Avoid the phenomenon of AGV "collision" at intersections and turns. The regulated area can cover the operating environment. 6.11.5.2 Blockage
When the AGV is blocked, the host control system shall immediately give a warning and stop the subsequent transportation tasks until the blockage returns to normal. 6.11.5.3 Deadlock
When the AGV is deadlocked, the host control system shall immediately give a warning and stop the subsequent transportation tasks until the deadlock returns to normal. 6.11.6 Monitor
6.11.6.1 General
Visually display the real-time status of the entire system operation to the operator. It shall have the functions of fault diagnosis, task monitoring, vehicle monitoring, graphic monitoring and operation log. Professionals shall monitor the monitoring interface information.
6.11.6.2 Troubleshooting
When the AGV fails, the host control system shall stop the faulty AGV. Record failure time, location and other information.
6.11.6.3 Monitoring window
The monitoring of the interface tasks, graphics, and operation logs of the host control system shall be on the top. The monitoring window shall not be closed except under

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