GB/T 39785-2021Service robot—Mechanical safety assessment and test method (English PDF)

3.1 Service robot

Robots that, in addition to industrial automation applications, can accomplish useful tasks for humans or equipment.

3.2 Personal/household service robot

A service robot, that is used in a home environment or similar environment, to meet the needs of users' lives.

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.

4.1 Test sample

Service robots mainly include personal/household service robots AND public service robots.

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

Unless otherwise specified, the tests are carried out under the following conditions.

4.2.3 Lighting conditions

Unless otherwise specified, the test shall be carried out under the following lighting conditions.

4.2.4 Ground conditions

All tests in this standard shall be carried out under the ground conditions, which are specified by the manufacturer. If the manufacturer specifies multiple ground materials, the tests shall be carried out under different conditions.

5.1 Inspection method

The following (but not limited to) inspection methods can meet the requirements of this standard.

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.

5.2.1.2 Qualification criteria

If the function of the service robot requires touchable edges and corners, THEN.

5.2.2 Verification of handle and manual control device

5.2.2.1 Test procedure

Through visual inspection, actual test and the following axial force, which is applied to the handle, knob or joystick, for 1 min, to try to remove these parts to, thereby determining whether it is qualified.

5.2.3 Gap

5.2.3.1 Test procedure

Select the test method according to the product structure, as shown in Appendix A.

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.

5.3 Verification of protection of dangerous moving parts

5.3.1 Test procedure

The accessibility of moving parts is checked by visual inspection. If necessary, make verification in accordance with the test method in Appendix A.

Note 1.If function of the robot requires a level 2 mechanical energy source (MS2) moving parts, that are accessible to general personnel, or a level 3 mechanical energy source (MS3) moving parts, that are accessible to general personnel or trained personnel, THEN.

5.3.2 Qualification criteria

Instructive safety protection shall be provided, to reduce the possibility of unintentional contact with moving parts. The elements of indicative safety protection shall include the following.

5.4 Verification of safety functions

5.4.1 Required safety performance level

5.4.1.1 Method for determining safety performance level

If protective measures are implemented through safety functions, they shall meet the requirements of this article. For the performance level (PLr) required for the control system functions (electrical, hydraulic, pneumatic and software) of the service robot, it shall be determined according to Table 1.The verification and validation shall comply with GB/T 16855.2-2015.

5.4.1.2 The required performance level (PLr) of the safety-related

components of the control system of typical service robot For the safety-related components of the control system of a typical service robot, the minimum required performance level (PLr) is as shown in Table 1. Mobile service robots (wheeled, footed, crawler, etc.).

5.4.2 Verification of avoiding dangerous collisions

5.4.2.1 Test procedure

Under normal working conditions, the service robot moves from the initial position to the target position, at a rated speed under a rated load, as shown in Figure 1.

5.4.3.2 Verification of protective stop

5.4.3.2.1 Test procedure

The service robot has one or more protective stop functions. Under normal working conditions, it simulates a condition that can trigger a protective stop every time, to observe whether the service robot enters the protective stop state. Determine the classification of the stop function through risk assessment.

5.4.3.2.2 Qualification criteria

This type of stop function controls the guaranteed danger through the following methods.

5.4.4 Verification of operating space restrictions

5.4.4.1 Overview

Operating space restrictions shall ensure that, the service robot does not pose a danger to people, domestic animals and other safety-related objects in and near the operating space, meanwhile ensure the safety of users, who continue to use the service robot, as reasonably practicable as possible.

6.1 Requirements for information description

6.1.1 Requirements for nameplate

The service robot shall have clear and durable markings, so that people can clearly see it after the service robot is installed. The nameplate shall be fixed on the enclosure, which is adjacent to each incoming power supply, providing the following information.

6.1.2 Markings of dangerous moving parts

Refer to 5.3.2 for the description of the markings of hazardous moving parts.

6.1.3 Other markings

For the various hazards of the service robot, it shall, through risk assessment, determine whether it is necessary to stick markings to the corresponding location where the hazard occurs OR to a conspicuous location nearby. The style of the markings shall comply with ISO 7010.

6.2 Durability of marking

Any marking required by Chapter 6 shall be durable and eye-catching. When considering the durability of the marking, it shall take into consideration of the effect on the marking during normal use.

7.1 Instruction manual

Information related to machinery safety shall be in the user manual or other written instructions (such as the instructions on the packaging).

7.2 Documents in packing box

The following documents (can be combined for printing) shall be included in the packaging box of the service robot.