Some standard content:
Mechanical Industry Standard of the People's Republic of China
Arc Welding Robots
General Technical Conditions
Subject Content and Scope of Application
This standard specifies the technical requirements, test methods and inspection rules for arc welding robots. This standard applies to arc welding robots for general gas shielded welding. Cited standards
GB4768
GB4879
GB4943
GB5048
GB6833
GB8118
Packaging storage and transportation pictorial signs
Technical requirements for mildew-proof packaging
Rust-proof packaging
Safety of data processing equipment
Moisture-proof packaging
Electromagnetic compatibility test specification for electronic measuring instrumentsGeneral technical conditions for arc welding machines
GB11291
Safety specification for industrial robots
GB/T12642
GB/T12645
ZBJ50002
ZBJ28001
ZBJ64003
ZB J64004
Industrial robot performance specification
Industrial robot performance test method
Machine tool digital control system: general technical conditions Industrial robot acceptance rules
Arc welding rectifier
MIG/MAG arc welding machine
ZBJ64009
TIG welding machine technical conditions
3 Product classification
3.1 According to the coordinate type, it is divided into:
a. Rectangular coordinate arc welding robot:
b. Cylindrical coordinate arc welding robot;
c. Spherical coordinate arc welding robot;
d. Articulated arc welding robot.
3.2 According to the arc welding process, it is divided into:
a. Convex arc welding robot,
b. Non-convex arc welding robot.
4 Performance
JB/T 5065-91
4.1 The performance indicators of welding robots (hereinafter referred to as robots) shall be specified in the product standards and shall include the following items; a. Coordinate type;
Approved by the Ministry of Machinery and Electronics Industry of the People's Republic of China on June 11, 1991 190
Implementation on July 1, 1992
b. Number of axes;
c. Rated load:
d. Motion range of each axis;
e. Working space:
f. Maximum single-axis speed:
JB/T5 065—91
g, working speed range (the highest and lowest speed range allowed when welding directly); h. trajectory speed fluctuation;
i, posture repeatability;
J. trajectory repeatability;
k. corner deviation;
1. program storage capacity:
m. basic action control mode;
n. input and output interface;
0. programming mode;
P, power source parameters and power consumption;
9. overall dimensions and weight.
4.2 The main technical performance and parameters of the welding equipment matched with the robot shall meet the requirements of the robot welding process and the provisions of GB8118ZBJ64003, ZBJ64004 and ZBJ64009. 5 Technical requirements
5.1. General requirements
5.1.1 The robot shall be manufactured in accordance with the design drawings and process documents approved by the prescribed procedures. 5.1.2 The materials used to manufacture the robot and the purchased components and parts shall be re-inspected by the inspection department when entering the factory and shall comply with the relevant standards. 5.2 Appearance and structure
5.2.1 The robot structure shall be reasonably arranged, easy to operate, beautiful in appearance and easy to maintain. 5.2.2 In the robot complete set, all tight parts shall not be loose; the moving parts shall be in good lubrication and cooling condition. 5.2.3 The text, symbols and signs shall be clear and correct. The axis number and its movement direction shall be marked at each axis joint. 5.2.4 The robot surface shall not have cracks, obvious dents and deformation; the paint film and coating shall be uniform, without defects such as blistering, scratches, shedding and wear; metal parts shall not have rust and other mechanical damage. 5.2.5 The welding tool holder shall be equipped with a protective mechanism. 5.3 Function
5.3.1 The switches, buttons, displays, alarms and interlocking devices should function normally. 5.3.2 The movement of each axis of the manipulator should be smooth and normal. 5.3.3 In various operation modes, the instructions and actions should be coordinated and consistent. 5.4 Safety
5.4.1 Basic requirements
The safety of the robot should comply with the provisions of GB11291. 5.4.2 Grounding
The robot manipulator, control device and power source must have a grounding point. For grounding points that cannot be clearly indicated, an obvious grounding symbol shall be marked near them.
The resistance between the grounding point and the metal parts in the robot that may be energized due to insulation damage shall not exceed 0.1. 5.4.3 Insulation resistance
The insulation resistance between the power AC power supply circuit of the robot control device and the shell shall be not less than 10Mα. The insulation resistance value in arc welding equipment 19]
shall comply with the provisions of Article 5.9 of GB8118.
5.4.4 Dielectric strength
JB/T5065-91
Robot power AC The power supply circuit and the adjacent non-charged conductor should be able to withstand the AC (50Hz) voltage effective value of 1500V for 1min of dielectric strength test without breakdown, flashover and arcing. 5.5 Noise
The noise generated by the robot when running without load should not be greater than 80dB (A) 5.6 Continuous operation
The robot should work normally when running continuously for 120h under rated load and working speed. 5.7 Process operation
The robot should work normally after teaching programming and process operation according to arc welding process requirements. 5.8 Power adaptability|| tt||When the voltage of the power grid fluctuates, at 10% to 15% of the rated voltage and the frequency is 50Hz±1Hz, the robot should work normally. The speed fluctuation of the wire feeding mechanism and the fluctuation value of the welding working voltage should be specified in the standard of the robot welding equipment. 5.9 Electromagnetic compatibility
5.9.1 Radiation sensitivity
The robot should work normally when it is interfered with by radio frequency. The specific value is specified by the product standard. 5.9.2 Magnetic field sensitivity
The robot should work normally when it is interfered with by a strong magnetic field. The magnetic field strength is specified by the product standard. 5.10 Environmental Environmental conditions
5.10.1 Environmental climate adaptability
The robot should be able to maintain normal operation when used, transported and stored under the environmental conditions in Table 1. Other items are specified by the product standards. Table 1
Environmental conditions
Environmental temperature
Relative humidity
Atmospheric pressure
5.10.2 Vibration resistance
Working conditions
0~40℃
40%~90%
86~106kPa
Storage and transportation conditions
40~+55 ℃
93% (40C)
The robot's operating machine and control device should work normally when subjected to vibration with a frequency of 5 to 55Hz and an amplitude of 0.15mm. 5.11 Transportability
The robot should remain normal after being packaged and transported as required. 5.12 Reliability
The reliability of the robot is measured by the mean time between failures (MTBF) and the mean time to repair (MTTR). The specific values should be specified in the product standard. --Generally, the MTBF is not less than 2000h. The MTTR is not more than 30min. 5.13 Completeness
5.13.1 The robot should include a complete set of equipment such as an operating machine, a control device, a power source device, and a connecting cable. 5.13.2 When the robot leaves the factory, it should be equipped with accessories for normal production use, spare parts for maintenance, and special tools. 5.13.3 When the robot leaves the factory, the characteristic data sheet, technical manual or operation, installation, maintenance manual and other technical documents and product certificate shall be provided.
6 Test method
6.1 Test conditions
See Article 5.1 of ZBJ28001.
6.2 Appearance and structure
JB/T5065—91
Inspect according to Article 5.2 of ZBJ28001 and it shall meet the requirements. 6.3 Functional inspection
See Article 5.3 of ZBJ28001.
6.4 Performance test
6.4.1 Measurement of displacement of each axis
See Article 5.4.1 of ZBJ28001.
6.4.2 Workspace measurement
See Article 5.4.2 of ZBJ28001.
6.4.3 Maximum single-axis speed measurement
See GB/T12645, Section 8.1.
6.4.4 Working speed range measurement
See GB/T12645, Section 8.2 test method, test 10 times at the minimum and maximum working speed values, and use the average value of 10 times to obtain its working speed range.
6.4.5 Track speed fluctuation measurement
Teach the robot to make the center of the robot mechanical interface automatically run along the posture points P,~P in the workspace, run 10 times at rated load and 100%, 50% of the maximum working speed and minimum working speed, and measure its fluctuation range. Its fluctuation value should meet the requirements of the product standard. (See GB/T12642, Section 6.5). 6.4.6 Posture repeatability measurement
See GB/T12645, Section 9.1.
6.4.7 Trajectory repeatability measurement
See Article 10.1 of GB/T12645.
6.4.8 Corner deviation measurement
See Article 10.2 of GB/T12645.
6.5 Electrical safety test
6.5.1 Ground resistance measurement
See Article 2.2.5 of GB4943.
6.5.2 Insulation resistance measurement
See Article 3.4 of ZBJ50002.
6.5.3 Electric strength test
See Article 3.5 of ZBJ50002.
6.6 Noise test
See Article 5.7 of ZBJ28001.
6.7 Continuous operation test
See Article 5.6 of ZBJ28001.
6.8 Process operation test
Under normal process conditions, for workpieces with circular and rectangular welds, the robot is taught and programmed according to the arc welding process requirements, and the robot is started for automatic operation, and the operation should be normal. 6.9 Power adaptability test
See Article 5.8 of ZBJ28001.
6.10 Electromagnetic sensitivity test
6.10.1 Radiation sensitivity test
Carry out according to the test equipment and methods specified in GB6833.5. During the test, the operation should be normal. 193
6.10.2 Magnetic field sensitivity test
JB/T5065-91
Carry out according to the test equipment and methods specified in GB6833.2. During the test, the operation should be normal. 6.11 Environmental climate adaptability test
See Article 5.10 of ZBJ28001.
6.12 Vibration test
See Article 5.11 of ZBJ28001.
6.13 Transportation test
See Article 5.12 of ZBJ28001.
6.14 Reliability test
Specified by product standards.
7 Inspection rules
See Chapter 3 of ZBJ28001.
8 Inspection items
See Table 2.
Inspection items
Appearance and structure
Motion range of each axis
Working space
Maximum single axis speed
Working speed range
Trajectory speed fluctuation
Position repeatability
Trajectory repeatability
Corner error
Grounding resistance
Insulation resistance
Electrical strength
Continuous operation
Process operation
Power supply adaptability
Radiation sensitivity
Magnetic field sensitivity
Environmental climate adaptability
Sensitivity
Technical requirements
Article 5.10.1
5.10 .2 Article
Test method
Article 6.10.1
Article 6.10.2
Export inspection
Type inspection
Inspection items
Transport resistance
Power consumption
Note: "〇\" indicates the inspection item.
9 Marking, packaging, transportation and storage
9.1 Marking
JB/T5065-91
Continued Table 2
Technical requirements
9.1.1 The robot product should be equipped with a label, which should include the following contents: a. Product name;
b. Product model:
c. Power source parameters and power consumption;
d, overall dimensions and weight;
e. Production number:
f. Name of manufacturing unit;
g: Year and month of manufacture.
9.1.2 Packaging mark
The outer surface of the packaging box shall be marked with a graphic mark in accordance with the provisions of GB191. 9.2 Packaging
9.2.1 Before packaging the robot, the movable arm of the manipulator must be firmly fixed. 9.2.2 The base of the manipulator and other devices must be firmly fixed to the bottom plate of the packaging box. 9.2.3
The control device should be packaged separately.
The packaging materials should comply with the provisions of GB4768, GB4879 and GB5048. 9.2.4
If there are other special packaging requirements, they should be specified in the product standards. 9.2.5
The following documents should be included in the packaging box:
Characteristic data sheet and product certificate; a.
b. Instruction manual and installation diagram;
c. Random spare parts, accessories and their lists;
d. Packing list and other relevant technical information. 9.3 Transportation
During transportation and loading and unloading, the packaging box should be kept in an upright position and should not be stacked. 9.4 Storage
Inspection method
Factory inspection
Type inspection
The ambient temperature of the warehouse where robot products are stored for a long time is 0~40℃ and the relative humidity is not more than 80%. The surrounding environment should be free of corrosive and flammable gases, strong mechanical vibration, impact and strong magnetic field. The storage period and maintenance requirements are specified by the product standard. Additional notes:
This standard is proposed and managed by the National Technical Committee for Standardization of Industrial Automation Systems. This standard was drafted by the Beijing Institute of Automation of the Mechanical Industry of the Ministry of Machinery and Electronics Industry and Harbin Institute of Technology.10.
6.12 Vibration test
See Article 5.11 of ZBJ28001.
6.13 Transport test
See Article 5.12 of ZBJ28001.
6.14 Reliability test
Specified by product standards.
7 Inspection rules
See Chapter 3 of ZBJ28001.
8 Inspection items
See Table 2.
Inspection items
Appearance and structure
Motion range of each axis
Working space
Maximum single axis speed
Working speed range
Trajectory speed fluctuation
Position repeatability
Trajectory repeatability
Corner error
Grounding resistance
Insulation resistance
Electrical strength
Continuous operation
Process operation
Power supply adaptability
Radiation sensitivity
Magnetic field sensitivity
Environmental climate adaptability
Sensitivity
Technical requirements
Article 5.10.1
5.10 .2 Article
Test method
Article 6.10.1
Article 6.10.2
Export inspection
Type inspection
Inspection items
Transport resistance
Power consumption
Note: "〇\" indicates the inspection item.
9 Marking, packaging, transportation and storage
9.1 Marking
JB/T5065-91
Continued Table 2
Technical requirements
9.1.1 The robot product should be equipped with a label, which should include the following contents: a. Product name;
b. Product model:
c. Power source parameters and power consumption;
d, overall dimensions and weight;
e. Production number:
f. Name of manufacturing unit;
g: Year and month of manufacture.
9.1.2 Packaging mark
The outer surface of the packaging box shall be marked with a graphic mark in accordance with the provisions of GB191. 9.2 Packaging
9.2.1 Before packaging the robot, the movable arm of the manipulator must be firmly fixed. 9.2.2 The base of the manipulator and other devices must be firmly fixed to the bottom plate of the packaging box. 9.2.3
The control device should be packaged separately.
The packaging materials should comply with the provisions of GB4768, GB4879 and GB5048. 9.2.4
If there are other special packaging requirements, they should be specified in the product standards. 9.2.5
The following documents should be included in the packaging box:
Characteristic data sheet and product certificate; a.
b. Instruction manual and installation diagram;
c. Random spare parts, accessories and their lists;
d. Packing list and other relevant technical information. 9.3 Transportation
During transportation and loading and unloading, the packaging box should be kept in an upright position and should not be stacked. 9.4 Storage
Inspection method
Factory inspection
Type inspection
The ambient temperature of the warehouse where robot products are stored for a long time is 0~40℃ and the relative humidity is not more than 80%. The surrounding environment should be free of corrosive and flammable gases, strong mechanical vibration, impact and strong magnetic field. The storage period and maintenance requirements are specified by the product standard. Additional notes:
This standard is proposed and managed by the National Technical Committee for Standardization of Industrial Automation Systems. This standard was drafted by the Beijing Institute of Automation of the Mechanical Industry of the Ministry of Machinery and Electronics Industry and Harbin Institute of Technology.10.
6.12 Vibration test
See Article 5.11 of ZBJ28001.
6.13 Transport test
See Article 5.12 of ZBJ28001.
6.14 Reliability test
Specified by product standards.
7 Inspection rules
See Chapter 3 of ZBJ28001.
8 Inspection items
See Table 2.
Inspection items
Appearance and structure
Motion range of each axis
Working space
Maximum single axis speed
Working speed range
Trajectory speed fluctuation
Position repeatability
Trajectory repeatability
Corner error
Grounding resistance
Insulation resistance
Electrical strength
Continuous operation
Process operation
Power supply adaptability
Radiation sensitivity
Magnetic field sensitivity
Environmental climate adaptability
Sensitivity
Technical requirements
Article 5.10.1
5.10 .2 Article
Test method
Article 6.10.1
Article 6.10.2
Export inspection
Type inspection
Inspection items
Transport resistance
Power consumption
Note: "〇\" indicates the inspection item.
9 Marking, packaging, transportation and storage
9.1 Marking
JB/T5065-91
Continued Table 2
Technical requirements
9.1.1 The robot product should be equipped with a label, which should include the following contents: a. Product name;
b. Product model:
c. Power source parameters and power consumption;
d, overall dimensions and weight;
e. Production number:
f. Name of manufacturing unit;
g: Year and month of manufacture. bZxz.net
9.1.2 Packaging mark
The outer surface of the packaging box shall be marked with a graphic mark in accordance with the provisions of GB191. 9.2 Packaging
9.2.1 Before packaging the robot, the movable arm of the manipulator must be firmly fixed. 9.2.2 The base of the manipulator and other devices must be firmly fixed to the bottom plate of the packaging box. 9.2.3
The control device should be packaged separately.
The packaging materials should comply with the provisions of GB4768, GB4879 and GB5048. 9.2.4
If there are other special packaging requirements, they should be specified in the product standards. 9.2.5
The following documents should be included in the packaging box:
Characteristic data sheet and product certificate; a.
b. Instruction manual and installation diagram;
c. Random spare parts, accessories and their lists;
d. Packing list and other relevant technical information. 9.3 Transportation
During transportation and loading and unloading, the packaging box should be kept in an upright position and should not be stacked. 9.4 Storage
Inspection method
Factory inspection
Type inspection
The ambient temperature of the warehouse where robot products are stored for a long time is 0~40℃ and the relative humidity is not more than 80%. The surrounding environment should be free of corrosive and flammable gases, strong mechanical vibration, impact and strong magnetic field. The storage period and maintenance requirements are specified by the product standard. Additional notes:
This standard is proposed and managed by the National Technical Committee for Standardization of Industrial Automation Systems. This standard was drafted by the Beijing Institute of Automation of the Mechanical Industry of the Ministry of Machinery and Electronics Industry and Harbin Institute of Technology.
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