GB/T 36530-2018Robots and robotic devices -- Safety requirements for personal care robots (English PDF)

Foreword

This standard was drafted in accordance with the rules given in GB/T 1.1-2009.

This standard adopts the translation method equivalent to ISO 13482.2014 "Robot and robot equipment personal assistant robot safety

begging".

The documents of our country that have a consistent correspondence with the international documents referenced in this standard are as follows.

GB 2893.1-2002 Graphical symbols - Safety colours and safety signs - Part 1 . Design principles for safety and safety markings

(ISO 3864-1.2002, MOD);

GB/T 3766-2015 General rules and safety requirements for hydraulic drive systems and their components (ISO 4413.2010, MOD);

GB/T 3768-2017 Acoustic sound pressure method for the determination of noise source sound power level and sound energy level using the envelope measurement surface above the reflective surface

Simple method (ISO 3746.2010, IDT);

GB/T 4208-2017 enclosure protection class (IP code) (IEC 60529..2013, IDT);

GB/T 7932-2017 General rules and safety requirements for pneumatic systems and their components (ISO 4414.2010, IDT);

GB/T 8196-2003 General requirements for the design and manufacture of fixed and movable protective devices for mechanical safety devices

(ISO 14120.2002, MOD);

GB/T 13441 (all parts) Mechanical vibration and impact Human body exposure to whole body vibration evaluation [ISO 2631 (all parts)

Minute)];

GB/T 14574-2000 Identification and verification of noise emission values for acoustic machines and equipment (eqv ISO 4871.1996);

GB/T 16754-2008 Mechanical safety emergency stop design principle (ISO 13850.2006, IDT);

GB/T 17045-2008 General part of electric shock protection devices and equipment (IEC 61140.2001, IDT);

GB/T 17454 (all parts) mechanical safety pressure sensitive protection device [ISO 13856 (all parts)];

GB/T 18717 (all parts) Ergonomic design for mechanical safety [ISO 15534 (all parts)];

GB/T 18831-2010 Principles for the design and selection of interlocks for mechanical safety belt guards (ISO 14119.1998,

MOD);

GB/T 19436 (all parts) Mechanical and electrical safety electro-sensitive protective equipment [IEC 61496 (all parts)];

GB/T 19670-2005 Mechanical safety to prevent accidental start-up (ISO 14118.2000, MOD);

GB/T 19876-2012 Positioning of safety devices related to mechanical safety and approach speed of human body parts (ISO 13855.

2010, IDT);

GB/T 23821-2009 Mechanical safety to prevent the upper and lower limbs from reaching the safe distance of the danger zone (ISO 13857.2008, IDT).

This standard was proposed by the China Machinery Industry Federation.

This standard is under the jurisdiction of the National Automation System and Integration Standardization Technical Committee (SAC/TC159).

This standard was drafted. Beijing Machinery Industry Automation Research Institute, Na Enbo (Tianjin) Technology Co., Ltd., Jiangsu Cobos Robotics Unit

Co., Ltd., Zibo (Jiangsu) Robot Co., Ltd., Zhongde Yunge Robot (Suzhou) Co., Ltd., Harbin Institute of Technology, Shanghai Transportation

the University.

1 Scope

This standard specifies the requirements and guidelines for the intrinsic safety design, protection measures and usage information of personal assistant robots. This standard is special

For the following three types of personal assistant robots.

---Mobile servant robot;

---Body assisted robots;

--- Manned robot.

These robots typically perform tasks to improve the quality of life of a predetermined user regardless of the age or ability of the user. This standard describes the

Use the dangers of these robots and propose to eliminate and reduce them to acceptable levels. This standard deals with human-computer physical contact applications.

This standard covers the major hazard types and hazardous treatments for each type of personal assistant robot.

This standard also applies to robotic devices in personal assistant applications and as a personal assistant robot.

This standard is limited to ground robots.

This standard does not apply to.

---Robots with a walking speed greater than 20km/h;

---Robot toy;

---Underwater robots and flying robots;

---Industrial robot, please refer to GB 11291;

--- Robots used as medical devices;

--- Military or police use robots.

Note. The safety principles established in this standard can be applied to the above robots.

The scope of use of this standard is mainly for the reasonable installation and maintenance of personal assistant robots, and for the intended use and other reasonable

Under the foreseeable conditions, there is a risk associated with the personal assistant, including the risk of domestic animals or property, as appropriate (defined as "safety related pairs"

Like").

This standard does not apply to robots manufactured prior to the standard release.

This standard covers all major hazards, hazardous conditions or hazardous events described in Appendix A. Please note that when this standard is published, the impact is dangerous.

Risks (such as collisions) do not have internationally recognized detailed data (such as pain or injury limits).

2 Normative references

The following documents are indispensable for the application of this document. For dated references, only dated versions apply to this article.

Pieces. For undated references, the latest edition (including all amendments) applies to this document.

GB/T 12643-2013 Vocabulary for robots and robotics (ISO 8373.2012, IDT)

GB/T 15706-2012 Mechanical Safety Design General Risk Assessment and Risk Reduction (ISO 12100.2010, IDT)

ISO 2631 (all parts) Mechanical vibration and impact Human body exposure to whole body vibration evaluation (Mechanicalvibrationand

shock-Evaluationofhumanexposuretowhole-bodyvibration)

ISO 3746 Acoustic Sound Pressure Method for the Determination of Noise Sources Sound Power Levels A simple method for measuring the surface above the envelope surface (Acous-

tics-Determinationofsoundpowerlevelsandsoundenergylevelsofnoisesourcesusingsoundpres-

sure-Surveymethodusinganenvelopingmeasurementsurfaceoverareflectingplane)

ISO 3864-1 Graphical symbols - Safety colours and safety signs - Part 1. Design principles for safety and safety markings

(Graphicalsymbols-Safetycoloursandsafetysigns-Part 1.Designprinciplesforsafetysignsand

Safetymarkings)

General rules and safety requirements for ISO 4413 hydraulic drive systems and their components (Hydraulicfluidpower-General

Rulesandsafetyrequirementsforsystemsandtheircomponents)

ISO 4414 Pneumatics for general rules and safety requirements for systems and their components (Pneumaticfluidpower-Generalrules

Andsafetyrequirementsforsystemsandtheircomponents)

ISO 4871 Identification and verification of noise emission values for acoustic machines and equipment (Acoustics-Declarationandverification

Ofnoiseemissionvaluesofmachineryandequipment)

Graphical symbol registration symbol for ISO 7000 devices (Graphicalsymbolsforuseonequipment-Registered

Symbols)

ISO 7010 Graphic Symbol Safety Color and Safety Sign Registered Safety Sign (Graphicalsymbols-Safetycolours

andsafetysigns-Registeredsafetysigns)

ISO 11202 Noise emitted by acoustic machines and equipment Approximate environmental corrections are transmitted at the working location and at other specified locations

Sound pressure level measurement (Acoustics-Noiseemittedbymachineryandequipment-Determinationofemission

Soundpressurelevelsataworkstationandatotherspecifiedpositionsapplyingapproximateenviron-

Mentalcorrections)

Safety of mechanical safety control systems - Part 1 . General principles of design (Safetyofmachinery-

Safety-relatedpartsofcontrolsystems-Part 1.Generalprinciplesfordesign)

ISO 13850 Mechanical Safety Emergency Stop Design Principle (Safetyofmachinery-Emergencystop-Principlesfor

Design)

ISO 13854 mechanical safety to avoid the minimum distance between the various parts of the human body (Safetyofmachinery-Minimumgapsto

Avoidcrushingofpartsofthehumanbody)

ISO 138551) Mechanical safety and positioning of safety guards relating to the approach speed of body parts (Safetyof

machinery-Positioningofsafeguardswithrespecttotheapproachspeedsofpartsofthehumanbody)

ISO 13856 (all parts) Mechanical safety pressure sensitive protection device (Safetyofmachinery-Pressure-sensitivepro-

Tectivedevices)

ISO 13857 Mechanical safety prevents the upper and lower limbs from reaching the safe distance of the danger zone (Safetyofmachinery-Safety

Distancestopreventhazardzonesbeingreachedbyupperandlowerlimbs)

ISO 14118 Mechanical safety against accidental start-up (Safetyofmachinery-Prevention ofunexpectedstart-up)

ISO 14119 Mechanical belt guards for interlocking device design and selection principles (Safetyofmachinery-

Interlockingdevicesassociatedwithguards-Principlesfordesignandselection)

ISO 14120 Mechanical safety devices - General requirements for the design and manufacture of fixed and movable guards (Safetyofma-

chinery-Guards-Generalrequirementsforthedesignandconstructionoffixedandmovableguards)

ISO 15534 (all parts) Ergonomic design for the safety of the mechanical design (Ergonomicdesignforthesafetyofma-

Chinry)1)

1) If used, the relevance and applicability of quantitative data to the intended users of the robot, especially the elderly and children, should be considered.

IEC 60204-1.2009 Mechanical electrical safety machinery and electrical equipment - Part 1. General requirements (Safetyofmachinery-

Electricalequipmentofmachines-Part 1.Generalrequirements)

Safety of household and similar electrical appliances - Part 1. General requirements (Household and analogue

appliances-Safety-Part 1.Generalrequirements)

Safety of household and similar electrical appliances - Part 2-29 Particular requirements for battery chargers

(Householdandsimilarelectricalappliances-Safety-Part 2-29. Particularrequirementsforbattery

Chargers)

IEC 60417-1 Graphical symbols for electrical equipment - Part 1. Overview and application (Graphicalsymbolsforuseonequip-

ment-Part 1.Overviewandapplication)

IEC 60529 enclosure protection rating (IP code) [Degreesofprotectionprovidedbyenclosures(IPCode)]

IEC 60825-1 Safety of laser products - Part 1. Equipment classification, requirements (Safetyoflaserproducts-Part 1.

Equipmentclassificationandrequirements)

General part of IEC 61140 electric shock protection devices and equipment (Protectionagainstelectricshock-Commonas-

Pectsforinstalationandequipment)

IEC 61496 (all parts) Mechanical and electrical safety electro-sensitive protective equipment (Electricalsafetyofmachinery-Electro-

Sensitiveprotectiveequipment)

IEC 62061.2012 Functional safety of electrical, electronic and programmable electronic control systems for mechanical electrical safety and safety (Elec-

tricalsafetyofmachinery-Functionalsafetyofsafety-relatedelectrical,electronicandprogrammable

Electroniccontrolsystems)

Photobiologicalsafetyoflampsandlampsystems for IEC 62471 lamps and lamp systems

3 Terms and definitions

The following terms and definitions as defined in GB/T 15706-2012 and GB/T 12643-2013 apply to this document.

3.1

Autonomy

Based on current state and perceived information, the ability to perform scheduled tasks without intervention.

[GB/T 12643-2013, definition 2.2]

3.2

Robot robot

Has two or more programmable axes, and a degree of autonomy (3.1) that can be moved within its environment to perform the booking

The executive agency of the mission.

[Rewrite GB/T 12643-2013, definition 2.6]

3.3

Robotic device roboticdevice

Features of industrial robots or service robots (3.4), but lacks the number of programmable axes or the degree of autonomy (3.1)

Agency.

[Rewrite GB/T 12643-2013, definition 2.8]

3.4

Service robot servicerobot

In addition to industrial automation applications, robots that perform useful tasks for humans or equipment (3.2).

[Rewrite GB/T 12643-2013, definition 2.10]

3.5

Mobile robot mobilerobot

Self-controlled, mobile robot (3.2).

[Rewrite GB/T 12643-2013, definition 2.13]

3.6

Dangerous hazard

Potential source of harm.

[Rewrite GB/T 15706-2012, definition 3.6]

3.7

Risk risk

The combination of the probability of injury and the severity of the injury.

[GB/T 15706-2012, definition 3.12]

3.8

Risk assessment riskassessment

Including the entire process of risk analysis and risk assessment.

[Rewrite GB/T 15706-2012, definition 3.17]

3.9

Safe state safestate

The Personal Assistant Robot (3.13) does not have an imminent danger (3.6) status.

[Rewrite ISO 10218-2.2011, definition 3.11]

3.10

Control system related safety components safety-relatedpartofacontrolsystem

A component of the control system that responds to the safety input signal and generates a safety output signal.

[Rewrite ISO 13489-1.2011, definition 3.1.1]

3.11

Verification verification

A determination that the requirements for a personal assistant robot have been met by providing objective evidence.

[Rewrite ISO 9000.2005, definition 3.8.4]

3.12

Confirmation of validation

A determination that the specific intended use or application requirements of the personal assistant robot (3.13) have been met by providing objective evidence.

[Rewrite ISO 9000.2005, definition 3.8.5]

3.13

Personal assistant robot personalcarerobot

Service robots (3.4) that perform activities to improve the quality of human life, excluding medical applications.

Note 1. There may be physical contact with the user during the execution of the task (3.19.1).

Note 2. Typical personal assistant robots include. mobile servant robot (3.14), body assisted robot (3.15) and manned robot (3.16).

3.14

Mobile servant robot mobileservantrobot

A personal assistant robot (3.13) capable of performing a service task by interacting with a person, such as carrying an object or exchanging information.

3.15

Body assisted robot physicalassistantrobot

A personal assistant robot (3.13) that provides physical assistance to the user to perform the required tasks, assisting or enhancing the user's personal abilities.

3.15.1

Constrained body assisted robot restrainttypephysicalassistantrobot

A body assisted robot that is fixed to the human body during use.

Example. Includes a wearable suit or a non-medical body assisted exoskeleton.

3.15.2

Unconstrained body assisted robot restraint-freetypephysicalassistantrobot

The body assisted robot that does not need to be fixed to the human body when in use.

Note. Users who are free to hold or release the robot are allowed to control/stop body assistance, such as power assist or power travel assist.

3.16

Manned robot personcarrierrobot

A personal assistant robot (3.13) that can transport people to a predetermined destination.

Note 1. The manned robot can have a cabin and can be equipped with a seat or standing support (or similar device).

Note 2. In addition to transporting personnel, other objects such as pets and belongings may be included.

3.17

Protective stop protectivestop

Interruption of operations that allow for an orderly stop of motion for safety purposes.

3.18.1

Maximum space maximumspace

The manufacturer-defined robot (3.2) moves the part plus the space that the manipulator and payload can pass.

Note 1. For mobile platforms, this space can be defined as the physical limit when the robot moves.

Note 2. See Figure 1.

3.18.2

Restricted space

The maximum space (3.18.1) limited by the limit device is the part of the robot (3.2) that cannot be exceeded.

Note 1. For mobile robots (3.5), this space can be defined by specific markings on walls and floors or by robot or facility internal roadmaps.

The limit (3.27) (maximum space) is defined.

Note 2. See Figure 1.

[Rewrite GB/T 12643-2013, 4.8.2]

3.18.3

Monitoring space monitoredspace

The space observed by the sensor of the Personal Assistant Robot (3.13), where the safety-related object can be detected (3.21.1).

Note 1. The monitoring space can exceed the maximum space (3.18.1) and can be defined as a collection of robotic motion sensors and fixed sensing inside and outside the largest space.

Note 2. This space can be static or dynamic, depending on the personal assistant robot itself and its application.

Note 3. See Figure 1.

3.18.4

Security space safeguardedspace

The space where the personal assistant robot (3.13) starts to perform safety-related functions when it finds safety-related objects (3.21.1).

Note 1. Safety related functions include trajectory change, speed reduction, protective stop, force limit, etc.

Note 2. Appendix C provides more details on the possible implementation of the algorithm for speed reduction.

Note 3. Space can be static or dynamic, depending on the personal assistant robot itself, the application and its (dynamic) shape.

Note 4. See Figure 1.

3.18.5

Protective stop space protectivestopspace

The Personal Assistant Robot (3.13) will perform a protective stop (3.17) space when the security-related object (3.21.1) enters.

Example. An example of the operating space of some different personal assistant robots is given in Appendix B.

Note 1. Space can be static or dynamic, depending on the personal assistant robot itself, the application and its (dynamic) shape.

Note 2. See Figure 1.

3.19.1

Contact contact

The distance between the robot (3.2) and its external environment is zero.

3.19.2

Non-contact sensing non-contactsensing

No need to touch the detection or measurement capabilities of objects (including people) in the environment.

3.19.3

Contact sensing contactsensing

Need to be exposed to the detection or measurement capabilities of objects (including people) in the environment.

3.19.4

Unintended contact unintendedcontact

The personal assistant robot (3.13) has unplanned contact with the object when performing the scheduled task.

3.19.5

Allow access to alowedcontact

Any contact the personal assistant robot (3.13) allowed by the manufacturer.

3.20

Relative speed relativespeed

The difference between the velocity vector of the robot (3.2) and the object being contacted (including the person).

Note. The speed of the robot refers to the vector sum of the robot body and the moving parts.

3.21.1

Security related object safety-relatedobject

Make people free from harm, domestic animals or property.

Note. Protected domestic animals (especially pets) and property types depend on the intended use of the personal assistant robot.

3.21.2

Safety related obstacles safety-relatedobstacle

Objects, obstacles or ground conditions that can cause injury if they come into contact with or collide with the robot (3.2).

3.21.3

Safety related speed limit safety-relatedspeedlimit

The upper speed limit means that the specific point of the personal assistant robot (3.13) can be reached without any unacceptable wind.