Some standard content:
IC515.040.30
Machinery Industry Standard of the People's Republic of China
JB/T9182-1999
General specifications of spray-painting robot
General specifications of spray-painting robot1999-06-28 Issued
National Machinery Industry Bureau
2000-01-01 Implemented
JB9382-1999
This standard is a revision of ZBJ28002-90 "General Technical Specifications of Spray-Painting Robot". Compared with ZBJ28D02-90, the main technical content changes of this standard are as follows: In the "Applicable Standard", "GB4943, GB6833" is replaced by "GB/T5226.1-1996", ZBJ5000 2\; The reference standard in "Performance" was modified according to QB/T12643; The title and content of the "Complete" clause in "Technical Requirements" were modified according to GB/T5226.1; The referenced standards in "Test Methods" and "Inspection Plan" were edited according to the revised standard; "User Acceptance" was added to Table 2 of "Inspection Items", and its acceptance items are numbered 2, 4, 6, 8, 9. The implementation date of this standard is 7B12002--90. This standard was proposed and managed by the National Industrial Automation System Standardization Technical Committee. The drafting units of this standard are: Beijing Machinery Automation Research Institute, 811 Factory of China Aerospace Industry Corporation. The main contributors to this standard are: Hu Jingbao, Xing Liangfeng, and Bang Shufen. ■Scope
Chinese People's Republic of China Machinery Industry Standard
General specificatinns of spray-painilng robot
This standard specifies the technical requirements, test methods and inspection rules of spray-painilng robot. The technical standard applies to all kinds of spray-painting robots, and spray-painting robots are also used for reference. 2 Referenced standards
JBT9182-1999
ZB128002—SU
The following provisions are included in the standard and constitute the provisions of this standard through reference in this standard: When this standard is published: The versions shown are all valid. All standards are subject to revision. Parties using this standard should discuss the feasibility of using the latest editions of the following standards: GB191—1990
GB/T3766—153
GB 3826.11983
GBT4768—[995
GET 4879—1985
GB;T 5048—[985
GR.T 522h.I—1996
GB 6514:1995
GD11291—[997
GB/T 12642—1999
GB 12643—1997
GB:] [2644—[990
GB/T12645—[990
JB/T BB96—1999
3 Product classification
According to the driving mode, it can be divided into
Packaging storage and transportation pictorial marking
General technical requirements for liquid system
General requirements for explosive electrical equipment for explosive atmospheres Packaging technical requirements
Rust-proof packaging
Moisture-proof packaging
Industrial mechanical and electrical equipment Part 1: General technical conditions Safety regulations for painting operations Safety regulations for painting processes and ventilation and purification Safety specifications for industrial robots
Performance specifications for industrial robots
Industrial robot collection
Industrial robot characteristic representation
Industrial robot performance test method
Industrial robot acceptance rules
! Liquid spray ball robot,
b! Electric spray robot.
4 Performance
The performance indicators of spray painting robots (hereinafter referred to as robots) shall be specified in the product standards, and shall at least include the following items:) Pad type:
b) Number of axes;
National Machinery Industry Circle 1999-06-28 Approved 2000-01-01 Implementation
c) Rated load;
d) Range of auxiliary motion
) Maximum single axis speed,
f) Path speed;
g) Working space;
h) 1. Pose repeatability:
1. Path repeatability;
Basic motion control sequence:
k) 1. Piece storage capacity;
【） Input and output connection:
） Programming method;
】 Overall dimensions and weight;
0】 Average power consumption.
5 Technical requirements
5.1 Requirements
JB/T9182—1999
5.[.1 The explosion-proof design of the robot shall comply with the provisions of GB3836.1. 5.1.2 The robot shall be manufactured according to the design drawings and process documents approved by the specified process. 5.1.3 The materials and components used to manufacture the robot shall be reliable and meet the relevant standards: 5.2 Appearance and structure
5.2 The robot structure shall be reasonably arranged, easy to operate, beautiful in shape, and easy to maintain. 5.2.2 The fixed parts of the robot shall not be loose, and the moving parts shall be in good lubrication and cooling condition. 5.2.3 The text, symbols and signs describing the functions shall be clear and correct. The direction of movement of each joint shall be marked. 5.1.4 There shall be no obvious dents, cracks and deformation on the surface of the robot; the paint film and plating shall be uniform; there shall be no defects such as blistering, trauma, and shedding; the metal parts shall be free of rust and other mechanical damage. 5.3 Function
5.3.1 The switches, buttons, indicators, and locking devices of the robot shall function normally. 5.3.z The movement of each axis of the robot manipulator should be smooth and positive. 5.3.3 In the operation mode, the command and action should be consistent. 5.4 Correction system
For robots driven by hydraulic pressure, the pressure system should comply with the provisions of 0B/T3766, and the pressure fluctuation value of the pressure source shall be specified by the product standard. 5.5 Safety
5.5.1 Basic requirements
The robot group should comply with the safety provisions of GB/T 11291. 5.5.2 Protection
The electrical components installed in the robot in an environment such as paint should comply with the provisions of GB/T 3836.1. 5.5.3 Grounding resistance and continuity of protective grounding circuit 2
JB/T9182-1599
The robot's actuator, control device, power supply and control equipment must be grounded. For grounding points that cannot be clearly indicated, an obvious grounding symbol "J" shall be marked near them. The reverse connection circuit of the protection circuit shall comply with the provisions of GB/T5226.1. 5.5.4 Insulation direct resistance
When 500Vd.c. is applied between the robot power AC power circuit and the protective grounding circuit, the measured insulation resistance shall not be less than 1M.
5.5.5 Dielectric strength
The robot power AC power circuit and the protective grounding circuit shall be able to withstand the larger of AC 50·Hz, the rated voltage of the electrical equipment connected to the two networks, or 1000V. 5.6 Continuous operation The robot can operate normally for 120h under rated load and working speed. 5.7 Noise The noise generated by the robot when it is moving step by step in the non-spraying state should not be greater than [A]. 5.8 Light source adaptability When supplied with battery power, the switching frequency is 50Hz.±1Hz within the range of +10% and .5% of the rated voltage, and the frequency is 50Hz.±1Hz, the robot should operate normally. 5.9 Electrical micro-penetration When the robot is subjected to radiation interference and strong magnetic field interference, the specific interpretation number is specified in the product label and shall comply with the requirements of 5226.1 of the CD door.
5.10 Environmental conditions
5.10.1 Environmental climate suitability
The robot should be able to maintain the correct set when used, transported and stored under the specified environmental conditions. The items and their respective product standards are specified in the product standards.
Working conditions
Environmental conditions
Atmospheric force
5.10.2 Oil mist
10 -35%
40%~80%
86--10k6 Pa
40% -~90%
1. When the robot's working environment meets the requirements of GB6514, it should work normally.3 Vibration resistance
Shape and flow resistance
-40--+55t
593% (40)
When the robot's operating mechanism and control device are subjected to vibration with a frequency of 5-55Hz and an amplitude of 0.15mm, 1. they should work normally. 5. 11 Transport resistance
The robot should work normally after being packaged and transported as required. 3
5.12 Reliability
JB/T 91821999
The reliability of the robot is measured by the mean time between failures (MTBF) and the mean time to recovery (MTTR). The specific values are specified in the product standards. Generally, MTBP is not less than 2000h and MTTR is not more than 30min. 5. 13 Components
5.3.1 The robot shall include components such as operating machine, control device, power source device, etc., and can also provide auxiliary equipment such as spraying equipment for users to choose:
5.13.2 When the robot leaves the factory, it shall be equipped with accessories for normal production use and spare parts and tools for maintenance. 5.13.3 When the robot leaves the factory, it shall provide technical documents such as industrial robot characteristic data, instruction manual or operation, installation and maintenance manual, as well as certificate of conformity.
6 Test methods
6.1 Test items
See JE/T 8896
6.1 Appearance and structure inspection
See JE/T 8896,
6.3 Function inspection
6.4 Transformer system inspection
When the robot is running, check the seals and joints. There shall be no oil stagnation. 6. 5 Performance inspection
6.5.1 Measurement of the motion range of each axis
See JB/T8896
6.5.2.T, spatial measurement
See JB/T8896,
6. 5.3 Suspended single axis speed measurement
GB/T 12645
6. 5. 4 Path speed measurement
See GBT12645,
6.5.5 Posture repeatability measurement
See GBT12645
6.5.6 Path repeatability measurement
See GB/112645.
6 Electrical safety inspection
6.6. Explosion-proof test
See product standard.
6.6.2 Continuity of protective grounding circuit
See GBT 5226].
6.6.3 Insulation resistance inspection
See GB/T 5226.1
6.6.4 Withstand voltage test
See GH/5226.1.
6.Continuous operation test
See /18896.
6.8 Production test
See JBT8896.
6.9 Power adaptability test
6.10 Electromagnetic compatibility test
JBT9182-1999
Perform according to the provisions of GB/T5226.I. During the test, 1. the work should be carried out properly. 6.11 Weather adaptability test
JD-T 8896.
6.12 Vibration test
6.13 Transport test
See JB/T8896.
6.14 Reliability test
Determined by production standards,
Test specifications
According to JB/T8896
Test items
Test structure
Appearance and structure
Liquid repelling system
Axle movement range
T: Working space
Quantity axis deviation
Road color construction
Position repeatability
Path weight resistance
Technical requirements
Test method
Test below
Type test
User acceptance
Test items
Preventability
Continuity of protective earthing fault
Current voltage through tunnel
Strong sequencebzxz.net
Continuous operation
Power supply overflow capacity
Electric energy tolerance
Gas compliance
Three-dimensional
Consumption, cost
: "O\ is the test item.
9 Marking, packaging, operation and storage
9." Marking
JB.T9182—1999
Table 2 (Yuan)
Technical requirements
Chengling method
9.1.1 The robot product should be equipped with a label, which should at least indicate the following:) Name of production station:
6) Product model:
c) Power source parameters:
d) Overall dimensions and weight:
c) Production batch number:
E) Name and address of the manufacturing unit
g) Year and month of production.
9..2 The outer surface of the packaging box should be marked with signs in accordance with the provisions of GB191. 9.2 Packaging
9.2.1 Before packing the robot, the operator, control device and power source must be placed on the bottom plate or beam of the packing box. All components must be relatively fixed. 9.2.3 Packaging requirements shall be in accordance with the provisions of GB/T4768, GB/T4879 and GBT5048. Other special packaging requirements shall be specified in the product standards.
9.2.4 The following documents shall be included in the packing box:
a) Characteristic data sheet and certificate of conformity;
b) Operation, installation, maintenance instructions and installation drawings;
c) Spare parts, accessories and lists;
d) Packing list and other relevant technical information. 9.3 When transporting goods, the packaging boxes should be kept in an upright position during loading and unloading, and should not be stacked. 9.4 Storage
For long-term storage of robot products, the ambient temperature is 0-407, the relative humidity is not more than 1%, and the surrounding environment is free of flammable gas and strong mechanical vibration, impact and strong magnetic field. The storage limit and maintenance requirements are specified in the product standards.1.
6.Continuous operation test
See JB/T8896.
6.8Production test
See JBT8896.
6.9Power adaptability test
6.10Electromagnetic compatibility test
JBT9182-1999
Perform according to the provisions of GB/T5226.I. During the test, 1.The work should be carried out in a positive way. 6.11Day weather adaptability test
JD-T 8896.
6.12Vibration test
6.13Transportation test
See JB/T8896.
6.14 Reliability test
Defined by production standards,
Test specifications
According to JB/T8896
Test items
Test equipment
Appearance and structure
Liquid repelling system
Axis motion range
T: Working space
Quantity axis deviation
Road color construction
Position repeatability
Path reproducibility
Technical requirements
Test method||tt| |The following tests are carried out
Type test
User acceptance
Test items
Preventiveness
Continuity of protective earthing fault
Current sequence through tunnel
Continuous operation
Power supply overflow capacity
Electric energy tolerance
Gas compliance
Three-dimensional
Consumption, cost
: "O\ is the test item.
9 Marking, packaging, operation and storage
9." Marking
JB.T9182—1999
Table 2 (Yuan)
Technical requirements
Chengling method
9.1.1 The robot product should be equipped with a label, which should at least indicate the following:) Name of production station:
6) Product model:
c) Power source parameters:
d) Overall dimensions and weight:
c) Production batch number:
E) Name and address of the manufacturing unit
g) Year and month of production.
9..2 The outer surface of the packaging box should be marked with signs in accordance with the provisions of GB191. 9.2 Packaging
9.2.1 Before packing the robot, the operator, control device and power source must be placed on the bottom plate or beam of the packing box. All components must be relatively fixed. 9.2.3 Packaging requirements shall be in accordance with the provisions of GB/T4768, GB/T4879 and GBT5048. Other special packaging requirements shall be specified in the product standards.
9.2.4 The following documents shall be included in the packing box:
a) Characteristic data sheet and certificate of conformity;
b) Operation, installation, maintenance instructions and installation drawings;
c) Spare parts, accessories and lists;
d) Packing list and other relevant technical information. 9.3 When transporting goods, the packaging boxes should be kept in an upright position during loading and unloading, and should not be stacked. 9.4 Storage
For long-term storage of robot products, the ambient temperature is 0-407, the relative humidity is not more than 1%, and the surrounding environment is free of flammable gas and strong mechanical vibration, impact and strong magnetic field. The storage limit and maintenance requirements are specified in the product standards.1.
6.Continuous operation test
See JB/T8896.
6.8Production test
See JBT8896.
6.9Power adaptability test
6.10Electromagnetic compatibility test
JBT9182-1999
Perform according to the provisions of GB/T5226.I. During the test, 1.The work should be carried out in a positive way. 6.11Day weather adaptability test
JD-T 8896.
6.12Vibration test
6.13Transportation test
See JB/T8896.
6.14 Reliability test
Defined by production standards,
Test specifications
According to JB/T8896
Test items
Test equipment
Appearance and structure
Liquid repelling system
Axis motion range
T: Working space
Quantity axis deviation
Road color construction
Position repeatability
Path reproducibility
Technical requirements
Test method||tt| |The following tests are carried out
Type test
User acceptance
Test items
Preventiveness
Continuity of protective earthing fault
Current sequence through tunnel
Continuous operation
Power supply overflow capacity
Electric energy tolerance
Gas compliance
Three-dimensional
Consumption, cost
: "O\ is the test item.
9 Marking, packaging, operation and storage
9." Marking
JB.T9182—1999
Table 2 (Yuan)
Technical requirements
Chengling method
9.1.1 The robot product should be equipped with a label, which should at least indicate the following:) Name of production station:
6) Product model:
c) Power source parameters:
d) Overall dimensions and weight:
c) Production batch number:
E) Name and address of the manufacturing unit
g) Year and month of production.
9..2 The outer surface of the packaging box should be marked with signs in accordance with the provisions of GB191. 9.2 Packaging
9.2.1 Before packing the robot, the operator, control device and power source must be placed on the bottom plate or beam of the packing box. All components must be relatively fixed. 9.2.3 Packaging requirements shall be in accordance with the provisions of GB/T4768, GB/T4879 and GBT5048. Other special packaging requirements shall be specified in the product standards.
9.2.4 The following documents shall be included in the packing box:
a) Characteristic data sheet and certificate of conformity;
b) Operation, installation, maintenance instructions and installation drawings;
c) Spare parts, accessories and lists;
d) Packing list and other relevant technical information. 9.3 When transporting goods, the packaging boxes should be kept in an upright position during loading and unloading, and should not be stacked. 9.4 Storage
For long-term storage of robot products, the ambient temperature is 0-407, the relative humidity is not more than 1%, and the surrounding environment is free of flammable gas and strong mechanical vibration, impact and strong magnetic field. The storage limit and maintenance requirements are specified in the product standards.
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