GB/T 40013-2021Service robot—Electrical safety requirements and test methods (English PDF)

4.2.3.4 Terminals connected to the external protective grounding system

The terminal connected to the external protective grounding system shall meet the requirements of 5.2 in GB/T 5226.1-2019.

4.2.4 Lidar

The lidar of the robot should meet the radiation limit and labeling requirements of Class 1 laser products in GB 7247.1-2012.

4.2.5 Motor

The motor of the robot should comply with relevant standards such as GB/T 12350-2009. If there is no applicable standard for the robot's motor, then The motor should meet the requirements of abnormal working conditions in 4.3.11.

4.2.6 Overcurrent protection components

If the overcurrent protection component of the robot is replaceable, the marking should meet the relevant requirements of 7.16 in GB 4706.1-2005.in case The overcurrent protection adopts the miniature fuse that accords with GB/T 9364.1-2015, it should meet the requirements of 19.12 in GB 4706.1-2005.

4.2.7 Devices for disconnecting electrical equipment

The device of the disconnecting device of the robot shall meet the relevant requirements of 5.5 in GB/T 5226.1-2019.

4.2.8 Battery (pack) and its application

The robot battery (pack) and its application should meet the requirements of GB 31241-2014, GB/T 36276-2018 and other requirements.

4.3 Electrical safety requirements of the whole machine

4.3.1 Input current

The maximum input current must not exceed 10% of the rated current. See 6.3 for the test method.

4.3.2 Protection against access to live parts

The protection of the robot for accessible live parts shall comply with its applicable standard requirements, such as chapter 8 in GB 4706.1-2005, Requirements of 2.1, 2.2 and their alternative standards in GB 4943.1-2011.

4.3.3 Wet heat treatment

The wet heat treatment of the robot should meet the requirements of its applicable standards, such as Chapter 15 in GB 4706.1-2005 and GB 4943.1-2011 2.9.2 and the requirements of alternative standards.

4.3.4 Electrical clearance, creepage distance and insulation penetration distance input current

The electrical clearance, creepage distance and insulation penetration distance of the robot should meet the requirements of 2.10 in GB 4943.1-2011 and its alternative standards Claim.

4.3.5 Touch current

The contact current of the robot should meet the requirements of its applicable standards, such as 13.2 in GB 4706.1-2005, 5.1 in GB 4943.1-2011 And its alternative standards.

4.3.12 Simulated single fault condition

When a simulated single fault condition is applied, if parts, supplied materials, and storage media may have an impact on the test results, the Place them in place.

When introducing fault conditions, they should be applied in sequence, one at a time. Various faults directly caused by a single fault condition are considered to be the single Part of the fault condition.

The robot structure, circuit diagram, and component specifications, including functional insulation, should be checked to determine what is reasonably foreseeable and may cause damage. Those single fault conditions of the following results.

---May bypass safety protection; or

---Cause additional safety protection actions; or

---Affect the safety of the robot in other ways.

The following single failure conditions should be considered.

--- Abnormal working conditions that lead to a single fault condition. For example, general personnel cause the external output terminal to be overloaded, or general personnel Incorrect adjustment of the selector switch;

---Basic safety protection fails or additional safety protection fails;

---In addition to the IC current limiter that complies with G.9 in IEC 62368-1:2018, short-circuit any two leads of the component and disconnect the component Any one lead of the component is open circuit, and the analog component fails; and

--- When there is a requirement in B.4.4 of IEC 62368-1:2018, the functional insulation is invalidated.

During and after the single fault condition test, the hazards involved in this standard should not occur.

After a single fault condition is applied to the insulation that may affect the insulation used as a safety protection, the insulation shall withstand the electric strength test of the relevant insulation.

4.3.13 Structure

4.3.13.1 IP rating

If the robot is marked with the first characteristic number of the IP code, it should meet the relevant requirements of GB/T 4208-2017.

4.3.13.2 Residual charge

The structure of the robot that is connected to the power supply through a plug should be able to make it in normal use.

There is a risk of electric shock due to overcharged capacitors with a rated capacity of more than 0.1µF. See 6.5 for the test method.

Note: There are different requirements for the safety voltage of service robots, such as 22.5 in GB 4706.1-2005 and 2.2.2 in GB 4943.1-2011.

4.3.13.3 Sealing performance

The structure of the robot should be such that its electrical insulation is not affected by water that may condense on cold surfaces or from containers, hoses, joints, and robots.

The influence of liquid that can leak from similar parts. If the hose is broken, or the seal is leaking, and the robot has a Class II structure, the electrical insulation should not be Affected. See 6.6 for the test method.

4.3.13.4 Mutual contact between internal substances

The structure of the robot should be such that components such as insulation, internal wiring, windings, commutators, and slip rings will not interact with oil, grease or the like.

In contact with substances, unless these substances have sufficient insulating properties, so as not to damage the degree of compliance with this standard.

4.3.13.5 Corrosion

If rust can cause hazards to current-carrying parts and other metal parts, these parts should be able to withstand under normal use corrosion.

Note 1. For this requirement, it is considered that stainless steel and similar corrosion-resistant alloys and electroplated steel plates meet the requirements.

After the test required by 4.3.11, verify whether the relevant parts show signs of corrosion to determine whether they are qualified.

Note 2. Pay attention to the compatibility and thermal influence of the terminal materials.

4.3.13.6 Conductive liquid

Conductive liquids that are easily touched or may become easily touched in normal use should not be in contact with live parts. Electrodes should not be used to add Hot liquid.

For Class II structures, conductive liquids that are easily touched or may become easily touched in normal use should not be insulated with basic or reinforced insulation contact.

For Class II structures, the liquid in contact with live parts should not be in contact with the reinforced insulation.

Note: Liquids in contact with accessible metal parts that are not grounded are considered accessible.

4.3.13.7 Water pressure

Robots intended to be connected to a water source should be able to withstand the water pressure in normal use.

In normal use, robots with liquid or gas or robots with steam generators are adequate to deal with the danger of excessive pressure Safety protection measures. No parts should leak, including any water inlet hoses. See 6.7 for the test method.

4.3.14 Charging docking

In the charging and docking test, during 100 times of switching on and off, no arc or spark should be generated, nor should it cause other fire hazards.

The possibility of danger, such as the burning and melting of insulating layers or materials, and the switch should still have mechanical and electrical functions.

5.1 Test sample

Service robots mainly include personal/home service robots and public service robots.

If the inspection of the service robot and the circuit shows that the circuit, components or parts are tested separately outside the service robot.

If the result can represent the result of the test of the complete service robot, such test can be used to replace the test of the complete service robot. Such as If this kind of test shows that the complete service robot may not meet the requirements, the test should be repeated on the service robot.

If a certain test specified in this standard may be destructive, it is allowed to use a model prototype that can represent the conditions being evaluated.

Note: Due to the various resources involved in the test, in order to reduce waste, the parties concerned should jointly agree on the test program, test samples and test sequence.

5.2 Basic requirements

5.2.1 Test sequence

The test should be carried out in the following order.

---Determine the applicable standards;

---Pre-selection of components or materials;

---Individual testing of components or parts;

---The robot is not energized test;

---Live test.

- Under normal working conditions;

- Under abnormal working conditions;

- Under conditions that may damage the sample.

5.2.2 Power supply voltage

The design of the robot should be such that it is safe to work under any power supply voltage that is intended to be connected.

Compliance is checked by checking and performing relevant tests under the power supply voltage specified in the corresponding sub-clauses of this standard. If split If the power supply voltage is not specified in the paragraph, the rated voltage value or any voltage value in the rated voltage range should be used.

5.2.3 Equivalent materials

If this standard requires a specific level of insulation, a higher level of insulation is allowed. Similarly, if this standard requires specific combustion, etc. Grade materials allow the use of better grade materials.

5.2.4 Test environment

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

---Temperature. 15°C~35°C;

---Relative humidity. 25%~75%;

---Atmospheric pressure. 86kPa~106kPa.

5.2.5 Test conditions

The safety facilities on the test site should be in normal working condition.

6.1 Fixing of the connection terminal of the network power supply

After passing the inspection and clamping or unclamping the wire terminal of the specified maximum cross-sectional area 10 times, the creepage distance and electrical clearance are measured, To check whether it meets the requirements.

6.2 Wire protection cover

The wire protection cover shall be inspected according to all the following tests.

---A robot equipped with a wire protective sleeve or opening, when the wire is not affected by stress, the axis of the wire protective sleeve is at the wire outlet The horizontal upturn is 45°. Then, tie an object with a mass equal to 10D2g on the free end of the wire. D is the round power soft power The outer diameter of the wire, or the smaller diameter of the flat flexible wire, in millimeters (mm).

--- If the wire protective sheath is sensitive to temperature, the test is carried out at a temperature of 23 °C ± 2 °C.

---The flat wire should be bent on the plane of least resistance.

---After the mass of 10D2g has just been attached, if the radius of curvature of any position of the wire is less than 1.5D, the wire protective cover is considered to be unsuitable qualified.

6.3 Input current

When the robot has more than one rated voltage, the input current should be measured at each rated voltage; if the robot has one For one or more rated voltage ranges, the input current should be measured at each end voltage within each rated voltage range.

For battery-powered robots, the test should be carried out in the charging state. The test time should include the low battery protection specified by the manufacturer.

Protect state to full power state. For the robot powered by the grid power supply, the test is carried out under the power-on and normal load conditions.

If the rated current is marked as a single value, the higher input current measured in the relevant voltage range should be used for judgment. in case What is marked is two input current values, separated by a short line, and the two values measured within the relevant voltage range should be used for judgment. In each case When the input current is stable, take a reading. If the current changes during the normal working cycle, it should be During the time, read the steady-state current according to the average indication of the current measured on the ammeter that records the effective value.

6.4 Surface temperature test of accessible parts

The surface temperature of the accessible part of the service robot should be measured with a thermocouple after the heating test.

A fever test is carried out under the most unfavorable circumstances. If the most unfavorable situation cannot be determined, the test can be carried out in one of the following ways.

---Intermittent operation, its "on" and "off" cycles run continuously according to the rated "on" and "off" cycles until it reaches a thermal equilibrium state;

---Continuous operation, according to the rated power operation, the hourly temperature increase is not more than 2 °C or continuous work for 2.5h.

Note: The most unfavorable situation is determined in consultation with the manufacturer.

6.5 Residual charge

The robot is powered by the rated voltage, and then any one of its switches is placed in the "off" position, and the robot is disconnected from the power supply. After disconnection At 1s, use an instrument that will not significantly affect the measured value to measure whether the voltage between the pins of the plug exceeds the specified in 4.3.13.2 Voltage.

6.6 Sealing performance

Using a syringe to drop a colored aqueous solution into the robot may cause liquid leakage and affect electrical insulation. Robot during testing Should be in working state or stopped state, whichever is the more unfavorable state.

After the test, there is no trace of liquid in the winding or insulation that can cause the creepage distance to be reduced below the value specified in 4.3.4.

6.7 Water pressure

The robot's water supply source should maintain a static pressure, which is 2 times the maximum water inlet pressure or 1.2MPa, whichever is greater, and the duration is 5min, check whether the water inlet hose and other parts leak.

7.1 Hazard identification

It cannot be clearly indicated that the housing of the electric robot that can cause electric shock and heat risk should be marked with GB/T 5465.2-2008 The 5036 graphic symbol.