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GB/T 40576-2021 English PDF (GBT40576-2021)

GB/T 40576-2021 English PDF (GBT40576-2021)

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GB/T 40576-2021: Evaluation methodology for operation efficiency of industrial robots
This Standard specifies the methods for energy consumption test and operation efficiency evaluation of industrial robots in manufacturing environment. This Standard is applicable to robot user’s evaluation of the efficiency of industrial robot’s operation process, so as to realize the energy consumption management and control during the operation of the industrial robots.
GB/T 40576-2021
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
Evaluation Methodology for Operation Efficiency of
Industrial Robots
ISSUED ON: OCTOBER 11, 2021
IMPLEMENTED ON: MAY 1, 2022
Issued by: State Administration for Market Regulation;
Standardization Administration of the People’s Republic of China.
Table of Contents
Foreword ... 3
1 Scope ... 4
2 Normative References ... 4
3 Terms and Definitions ... 4
4 Operation Efficiency Evaluation Process ... 5
5 Method for Standard Cycle Operation Test ... 7
6 Method for Actual Condition Operation Test ... 9
7 Operation Efficiency Evaluation Indicators ... 12
8 Preparation of Evaluation Report ... 14
Appendix A (informative) Methods for Operation Efficiency Optimization of Industrial Robots ... 15
Appendix B (informative) An Example of Operation Efficiency Evaluation of Industrial Robot ... 17
Evaluation Methodology for Operation Efficiency of
Industrial Robots
1 Scope
This Standard specifies the methods for energy consumption test and operation efficiency evaluation of industrial robots in manufacturing environment.
This Standard is applicable to robot user’s evaluation of the efficiency of industrial robot’s operation process, so as to realize the energy consumption management and control during the operation of the industrial robots.
2 Normative References
The following documents are indispensable to the application of this document. In terms of references with a specified date, only versions with a specified date are applicable to this document. In terms of references without a specified date, the latest version (including all the modifications) is applicable to this document.
GB/T 12643-2013 Robots and Robotic Devices - Vocabulary
GB/T 40575 Guidelines of Energy Efficiency Evaluation for Industrial Robots 3 Terms and Definitions
What is defined in GB/T 12643-2013 and GB/T 40575, and the following terms and definitions are applicable to this document.
3.1 Step
Step refers to the part of the process that is continuously completed under the condition that the machined surface (or the connection surface during assembly, the work piece during handling) and the machining tools (or assembly, handling) remain unchanged.
NOTE: Definition 3.4.3 of GB/T 4863-2008 is modified.
3.2 Task of an Industrial Robot
Task of an industrial robot refers to the sum of the actions of a series of steps during the completion of a specific operation by an industrial robot.
3.3 Standard Cycle
Standard cycle refers to the process of an industrial robot completing a qualified task under standard working conditions.
3.4 Assistant Energy Consumption
Assistant energy consumption refers to the energy consumed in the assistant time during the operation of an industrial robot.
3.5 Fault Status Energy Consumption
Fault status energy consumption refers to the energy consumed under fault status during the operation of an industrial robot.
3.6 Nominal Energy Consumption in Operation
Nominal energy consumption in operation refers to the average value of energy consumed by repeated completion of multiple standard cycles.
3.7 Energy Efficiency Ratio in Operation
Energy efficiency ratio in operation refers to the ratio of the nominal energy consumption to the average value of actual energy consumption in operation for the completion of a qualified task. 3.8 Assistant Energy Consumption Ratio in Operation
Assistant energy consumption ratio in operation refers to the ratio of assistant energy consumption to the total energy consumption.
3.9 Fault Status Energy Consumption Ratio in Operation
Fault status energy consumption ratio in operation refers to the ratio of fault status energy consumption to the total energy consumption.
4 Operation Efficiency Evaluation Process
The operation efficiency evaluation process of the industrial robots is shown in Figure 1: d) In accordance with Formula (1) ~ Formula (4), respectively calculate the total energy consumption of standard cycle operation, the total energy consumption of actual condition operation, the assistant energy consumption and the fault status energy consumption, etc.;
e) On the basis of energy consumption data, in accordance with Formula (5) ~ Formula (8), respectively calculate the evaluation indicators, such as: nominal energy consumption in operation, assistant energy consumption ratio in operation, fault status energy consumption ratio in operation and energy efficiency ratio in operation; analysis the operation efficiency level of the industrial robots;
f) Put forward suggestions for the optimization of the operation efficiency of the industrial robots. See the optimization method in Appendix A;
g) Write a report on operation efficiency evaluation of the industrial robots. An example of the operation efficiency evaluation of the industrial robots is shown in Appendix B.
5 Method for Standard Cycle Operation Test
5.1 Test Requirement
The power detection equipment, test temperature, operating conditions and warm-up requirements involved in the test shall comply with the stipulations of Chapter 5 in GB/T . 5.2 Test Steps
Through the following steps, carry out the standard cycle operation test on the industrial robots: a) Install an end effector of the industrial robot and set the standard production conditions;
b) Perform a warm-up operation on the industrial robot;
c) Connect the power detection equipment to the main power supply of the industrial robot;
d) Turn on the main power of the industrial robot and enable each motor of the industrial robot;
e) Execute the operation program of the industrial robot;
f) Cancel the enabling of each motor of the industrial robot and turn off the main power supply of the industrial robot.
5.3 Result Recording
n---the number of steps involved in the standard cycle;
tis---the start time of the ith step, expressed in (s);
tie---the end time of the ith step, expressed in (s).
6 Method for Actual Condition Operation Test
6.1 Test Requirement
The power detection equipment and operating conditions involved in the test shall comply with the stipulations of Chapter 5 in GB/T .
6.2 Test Steps
Through the following steps, carry out the actual condition operation test on the industrial robots:
a) Select the institutional hours or shifts for the test;
b) Connect the industrial robot to the operation station;
c) Install the end effector of the industrial robot;
d) Connect the power detection equipment to the main power supply of the industrial robot;
e) Turn on the main power supply of the industrial robot and enable each motor of the industrial robot;
f) Execute the operation program of the industrial robot;
g) Cancel the enabling of each motor of the industrial robot and turn off the main power supply of the industrial robot.
The operation program of the industrial robot in the actual condition operation test shall be the same as that of the industrial robot in the standard cycle operation test. 6.3 Result Recording
Through the power detection equipment, measure the power change of the industrial robot with the time during the actual condition operation test process. In addition, through the power curve of the actual condition operation test, record the test results. Figure 3 shows an example of the record of the actual condition operation test result.
operation of the industrial robot is calculated through Formula (2):
Where,
ET---the total energy consumption of the actual condition operation of the industrial robot, expressed in (J);
PA---the instantaneous power of the industrial robot, expressed in (W); ts---the start time of the actual condition operation test, expressed in (s); te---the end time of the actual condition operation test, expressed in (s). 6.4.2 Assistant energy consumption
In the actual condition operation test, the assistant energy consumption of the actual condition operation of the industrial robot is calculated through Formula (3):
Where,
EA---the assistant energy consumption of the industrial robot, expressed in (J); na---the number of assistant times involved in the actual condition operation test; tais---the start time of the ith assistant time, expressed in (s);
taie---the end time of the ith assistant time, expressed in (s).
6.4.3 Fault status energy consumption
In the actual condition operation test, fault statuses, such as: abnormal function, end effector damage, auxiliary device failure of the industrial robot, may occur. The fault status energy consumption of the actual condition operation of the industrial robot is calculated through Formula (4):
Where,
EF---the fault status energy consumption of the industrial robot, expressed in (J); during the operation of the industrial robot. Under the same nominal energy consumption in operation, the larger the energy efficiency ratio in operation, the higher the operation efficiency of the industrial robot.
8 Preparation of Evaluation Report
The industrial robot operation efficiency evaluation report shall include the following content: ---the user, operation task and process type;
---the manufacturer, model, manufacturing time and software version No. of the industrial robot;
---the manufacturer, model and manufacturing time of the end effector;
---the person responsible for operation efficiency evaluation, the task trajectory and the programming method;
---the type, model, manufacturer and precision of the power detection equipment; ---the test time, test site, ambient temperature, warm-up time and standard cycle operation test power curve of the standard cycle operation test;
---the test start time, test end time, test site, ambient temperature, total energy consumption under actual working conditions, assistant energy consumption, fault status energy consumption, number of tasks completed, percent of pass and actual condition operation test power curve of the actual condition operation test;
---the nominal energy consumption in operation, energy efficiency ratio in operation, assistant energy consumption ratio in operation and fault status energy consumption ratio in operation;
---suggestions for operation efficiency optimization.
Appendix A
(informative)
Methods for Operation Efficiency Optimization of Industrial Robots
A.1 Optimization of Process Scheme
Process scheme affects the nominal energy consumption in operation, which in turn, affects the operation efficiency of the industrial robots. When the nominal energy consumption in operation is relatively large, in accordance with the actual situation, the following optimization methods should be adopted, or a combination and integration of the following methods should be adopted:
a) Optimization of operation trajectory: optimize the operation trajectory of the industrial robot; reasonably plan its motion path and operation speed. Select an appropriate space motion curve; avoid excessively frequent acceleration and deceleration; enhance the smoothness of the trajectory; reduce the nominal energy consumption in operation of the industrial robot; improve the operation efficiency. b) Optimization of matching attribute: when the industrial robot is at the rated load, it can not only thoroughly satisfy the performance requirements, but also, the utilization rate of the motor capacity is extremely high. Under this circumstance, the energy utilization rate of the industrial robot is relatively high, and the application of large- load robots in light-weight occasions shall be avoided.
c) Optimization of process parameters: process parameters affect the load of the industrial robot, and further affect the energy consumption in operation of the industrial robot. Through the optimization of process parameters, improve the operation efficiency of the industrial robot.
A.2 Optimization of Working Conditions and Quality
The operating conditions and processing quality of industrial robots will affect the energy efficiency ratio in operation, which in turn, affects the operation efficiency of the industrial robots. When the energy efficiency ratio in operation is relatively small, in accordance with the actual situation, the following optimization methods should be adopted, or a combination and integration of the following methods should be adopted:
a) Optimization of assistant time: when the assistant energy consumption ratio in operation is relatively large, shorten the assistant time of links like clamping and detection during the operation of the industrial robot; reduce the assistant energy consumption and realize the improvement of the energy efficiency in operation; b) Optimization of reliability: when the fault status energy consumption ratio in operation is relatively large, it is advisable to reduce the failure rate of the industrial
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