GB/T 39785-2021 English PDF (GBT39785-2021)

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GB/T 39785-2021: Service robot -- Mechanical safety assessment and test method
GB/T 39785-2021
GB
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 Contents
Foreword ... 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 ... 53 
Service robot - Mechanical safety assessment and test
method
1 Scope
This 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 references
The 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
knowledge or skills, nor requiring special training or qualifications.
[GB/T 37283-2019, definition 3.3]
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.
Note: Public service robots are usually operated by appropriately trained personnel.
[GB/T 37283-2019, definition 3.4]
4 Test conditions
4.1 Test sample
Service robots mainly include personal/household service robots AND public
service robots.
The service robot shall be assembled and operated, in accordance with the
manufacturer's instructions. All necessary preparations (such as functional
tests, etc.) shall be completed before the test. Before the test, it shall record the
condition information and usage history of the tested sample.
Note: Condition information may include model/name, software version, accessories
(if any).
All tests shall be performed on the same service robot AND its accessories (if
any). For the tests, which are performed to simulate the stress that the service
robot may be subjected to, during normal use, it may cause damage to the
service robot; thereby, it requires additional replaceable parts AND recording
the replaced parts.
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
- C: Measurement (comparing the measured actual value with the required
limit);
- D: Observe during operation [under normal or abnormal conditions of the
service robot, use the inspection method A during operation to check (such
as carrying out under rated load)];
- E: Analyze related design drawings [structural analysis or roughly browse
circuit diagram design (including electrical, pneumatic, hydraulic, etc.) and
related instructions].
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.
For service robots that may be used by children, in addition to the above
procedures, it shall also carry out the relevant tests of 5.8 and 5.9 in GB 6675.2-
2014.
Note: See A, B, D of 5.1 for inspection methods.
5.2.1.2 Qualification criteria
If the function of the service robot requires touchable edges and corners, THEN:
a) They do not cause injury but may be painful; or
b) They may cause injury.
Note 1: "Do not cause injury" means that, based on experience and/or basic
safety standards, it does not require emergency treatment by doctor or hospital.
Note 2: "May cause injury" means that, based on experience and/or basic safety
standards, a doctor or hospital may be required to provide emergency treatment.
If the function of the service robot requires that, there are edges and corners
that do not cause injury but may cause pain and may cause injury, THEN:
a) Any possible exposure shall not be life-threatening; and
Measure the safety distance of dangerous moving parts.
Note: See A, B, C, D of 5.1 for inspection methods.
5.2.3.2 Qualification criteria
Adequate protective measures shall be provided around the gap, to ensure that
external objects cannot touch the internal circuit or conductive parts.
The safety distance from hazardous moving parts shall meet the requirements
of GB/T 23821-2009.
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.
Note: For inspection methods, see A, B, D, E of 5.1.
5.2.4.2 Qualification criteria
For the use and operation of the service robot, the range of motion shall not
exceed the safe range.
Mechanical limit devices (such as mechanical stops) shall not cause
unacceptable risks after a collision; meanwhile it can be restored to their original
form. For the electromechanical limit device (such as proximity switch), its
control circuit shall meet the electrical performance requirements. The service
robot's control and task program shall not change the settings of the
electromechanical limit device.
The soft limit range shall be smaller than the hard limit range. If the soft limit
can be set, THEN, the soft limit setting shall be restricted by personnel
authorizat...