Some standard content:
Mechanical Industry Standard of the People's Republic of China
Assembly Robot
General Technical Conditions
Subject Content and Scope of Application
This standard specifies the technical requirements, test methods and inspection rules for assembly robots. This standard applies to general assembly robots. 2 Referenced Standards
GB4768
GB4879
GB4943
Packaging Storage and Transportation Pictorial Marking
Technical Requirements for Anti-mildew Packaging
Rust-proof Packaging
Safety of Data Processing Equipment
GB5048
GB6833
GB11291
Moisture-proof Packaging
Electromagnetic Compatibility Test Specification for Electronic Measuring Instruments Safety Specification for Industrial Robots
Industrial Robot performance test method
GB/T12645
ZBJ50002
ZBJ28001
3 Product classification
General technical conditions for machine tool digital control systems Industrial robot acceptance rules
3.1 According to the coordinate type:
a. Rectangular coordinate assembly robot;
b. Cylindrical coordinate assembly robot;
c. Spherical coordinate assembly robot;
d. Articulated assembly robot.
3.2 According to load capacity:
a. Light assembly robot ≤1kg;
b. Small assembly robot>110kg
c. Medium assembly robot>10～30kg;
d. Large assembly robot>30kg.
3.3 According to posture accuracy:
a. Precision assembly robot ≤0.1mm;
b. Ordinary assembly robot>0.1mm.
3.4 According to working environment:
a. General environment assembly robot;
b. Special environment assembly robot.
The Ministry of Machinery and Electronics Industry of the People's Republic of China approved JB/T5064-91 on June 11, 1991
Implementation on July 1, 1992
4 Performance
JB/T5064-91
The performance indicators of assembly robots (hereinafter referred to as robots) should be specified in the product standards, including the following items: a. Coordinate type;
b. Number of axes;
c. Rated load;
d. Motion range of each axis;
e. Working space:
f. Maximum single-axis speed:
g. Maximum combined speed;
h. Posture accuracy and repeatability;
1. Posture stabilization time and posture overshoot;j. Posture characteristic drift;
k. Minimum positioning time;
1. Static compliance;
m. Cycle time;
n. Program storage capacity;
0. Basic motion control method:
p. Programming method;
9. Interpolation method:
r. Detection function;
s. Input and output interface;
|t. Power source parameters and power consumption;
u. Overall dimensions and weight.
5 Technical requirements
5.1 General requirements
5.1.1 The robot shall be manufactured according to 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 must be re-inspected by the inspection department when entering the factory and must comply with the relevant standards. 5.1.3 When the robot is equipped with a gripper, its performance must comply with the product standards. 5.2 Appearance and structure
5.2.1 The robot structure should be reasonably laid out, easy to operate, beautiful in appearance, and easy to maintain. 5.2.2 In the robot complete set, all fastening parts should not be loose. The moving parts should be in good lubrication and cooling condition. 5.2.3 The text, symbols, and signs should be clear and correct. The axis number and its movement direction should be marked at each axis joint. 5.2.4 The robot surface should not have cracks, obvious dents and deformation; the paint film and coating should be uniform, without defects such as blistering, scratches, shedding and wear: metal parts should not have rust and other mechanical damage. 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. 184
5.4.2 Grounding
JB/T5064-91
The robot manipulator, control device, and power source must all have a grounding point. The grounding point that cannot be clearly indicated should be marked with a clear grounding symbol "工" near it.
The resistance between the grounding point and the metal parts in the robot that may be energized due to insulation damage shall not exceed 0.12. 5.4.3 Insulation resistance
The insulation resistance between the AC power circuit of the robot control device and the shell should be no less than 10MQ, 5.4.4 Dielectric strength
The AC power circuit of the robot power and the adjacent non-energized conductor should be able to withstand the effective value of the AC (50Hz) voltage! 50V continuous 1min dielectric strength test. No 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 runs continuously for 120h under rated load and working speed. It should work normally. 5.7 Technical operation
According to the requirements of automatic assembly process, the robot is taught programming and technical operation is carried out, and it should work normally. 5.8 Power adaptability
When the power supply network voltage fluctuates, the robot should work normally at 10%, 15% of the rated voltage and the frequency is 50Hz ± 1 Hz. 5.9 Electromagnetic compatibility
5.9.1 Radiation sensitivity
The robot should work normally when it is interfered by radiation. The specific value is specified by the product standard. 5.9.2 Magnetic field sensitivity
The robot should work normally when it is interfered by strong magnetic field. The magnetic field strength is specified by the product standard. 5.10 Environmental and 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 condensation
Atmospheric pressure
0~40℃
Working conditions
≤90%(40 C)
Note: For robots in special environments, the environmental conditions are specified by the product standards. 5.11 Vibration resistance
10~30 C
≤80%(40 C)
86～106kPa
Storage and transportation conditions
-40~+55
Customer 93%(4(
When the robot's operating machine and control device are subjected to vibration with a frequency of 5～55Hz and an amplitude of 0.15mm, 1. The operation should be non-rigid. 5.12 Transportability
After the robot is packaged and transported as required, it should remain normal. 5.13 Reliability
The reliability of the robot should be The robot should be 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. 5.14 Completeness
5.14.1 The robot should include a complete set of equipment such as a manipulator, a control device, a power source device, and connecting pipelines, as well as supporting devices such as grippers that can be selected by the manufacturer.
JB/T5064—91||tt| |5.14.2 When the robot leaves the factory, it shall be equipped with accessories for normal production use, spare parts for maintenance and special tools. 5.14.3 When the robot leaves the factory, it shall be provided with characteristic data sheets, technical specifications or technical documents such as operation, installation and maintenance instructions, and product certificates.
6 Test methods
6.1 Test conditions
See Article 5.1 of ZBJ28001.
6.2 Appearance and structure
According to 2B J28001 Article 5.2 to check, should meet the requirements. 6.3 Functional inspection
See ZBJ28001 Article 5.3. Other requirements are checked according to the provisions of the product standard. 6.4 Performance test
6.4.1 Measurement of displacement of each axis
See ZBJ28001 Article 5.4.1.
6.4.2 Measurement of working space
See ZBJ28001 Article 5.4.2.
6.4.3 Maximum single-axis speed measurement
See GB/T12645 Article 8.1.
6.4.4 Maximum composite speed measurement
See GB/T12645 Article 8.2.
6.4.5 Posture accuracy and repeatability measurement
See GB/T12645 Article 9.1.
6.4.6 Posture stabilization time and posture overshoot measurement
See GB/T12645 Article 9.4.
6.4.7 Posture accuracy drift measurement
See GB/T12645 Article 9.5.
6.4.8 Minimum positioning time measurement
See GB/T12645 Article 11.1.
6.4.9 Static compliance measurement
See GB/T12645, Section 11.2.
6.4.10 Cycle time
Under the conditions of rated load and maximum speed, the robot moves from point A to point D and returns from point D to point A (according to ABCD--DCBA) for cyclic operation. Use an instrument to measure the time required for 10 consecutive cyclic actions and calculate the average value. Repeat 3 times, and the result should meet the product standard. (The specific dimensions of L and H are specified by the product standard.) 186
6.5 Safety test
6.5.1 Ground resistance measurement
See GB4943, Section 2.2.5.
6.5.2 Insulation resistance measurement
See Article 3.4 of ZBJ50002,
6.5.3 Dielectric 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
JB/T5064—91
Under normal process conditions, teach and program the robot according to the requirements of automatic assembly, and start the robot for automatic operation, and the work 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
Perform the test equipment and methods specified in GB6833.5. During the test, the operation should be normal. 6.10.2 Magnetic field sensitivity test
Perform 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 the product standard.
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
Maximum combined speed
Position accuracy and repeatability
JB/T 5064 - 91
Technical requirements
4f Article
Posture stabilization time and posture overshoot
Posture characteristic drift
Minimum positioning time
Static compliance
Cycle time
Grounding resistance
Insulation resistance
Electrical strength
Continuous operation
Process operation
Power supply adaptability
Radiation sensitivity
Micro-field sensitivity
Environmental climate adaptability
Enzymatic vibration
Transport resistance
Reliability
Power consumption
Note: "○\ is the inspection item.||tt ||9 Marking, packaging, transportation and storage
9.1 Marking
9.1.1 The robot product should be equipped with a label. The label should include the following content: a. Product name;
b. Product model:
e. Power source parameters and power consumption;
d. Overall dimensions and weight;
e. Production number;
f. Name of the manufacturing unit;
Inspection method
6.4.10
6.10.1
6.10.2
Factory inspection
Type inspection
g. Year and month of manufacture.
9.1.2 Packaging mark
JB/T5064-91
The outer surface of the packaging box shall be marked with a graphic mark in accordance with GB191. 9.2 Packaging
9.2.1 Before packaging the robot, the movable arm of the manipulator must be securely fixed. 9.2.2 The base of the manipulator and other devices must be securely fixed to the bottom plate of the packaging box. 9.2.3 The control device should be packaged separately.
9.2.4 The packaging materials shall comply with the provisions of GB4768, GB4879, and GB5048. 9.2.5 If there are other special packaging requirements, they should be specified in the product standards. 9.2.6 The following documents should be included in the packaging box:
a. Characteristic data sheet and product certificate; 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 bZxz.net
The ambient temperature of the warehouse for long-term storage of robot products 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 Industrial Automation System Standardization Technical Committee. This standard is drafted by the Beijing Institute of Mechanical Industry Automation of the Ministry of Machinery and Electronics Industry. 1892 The test equipment and methods specified in the test shall be carried out. During the test, the operation shall 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 the product standard.
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
Maximum combined speed
Position accuracy and repeatability
JB/T 5064 - 91
Technical requirements
4f Article
Posture stabilization time and posture overshoot
Posture characteristic drift
Minimum positioning time
Static compliance
Cycle time
Grounding resistance
Insulation resistance
Electrical strength
Continuous operation
Process operation
Power supply adaptability
Radiation sensitivity
Micro-field sensitivity
Environmental climate adaptability
Enzymatic vibration
Transport resistance
Reliability
Power consumption
Note: "○\ is the inspection item.||tt ||9 Marking, packaging, transportation and storage
9.1 Marking
9.1.1 The robot product should be equipped with a label. The label should include the following content: a. Product name;
b. Product model:
e. Power source parameters and power consumption;
d. Overall dimensions and weight;
e. Production number;
f. Name of the manufacturing unit;
Inspection method
6.4.10
6.10.1
6.10.2
Factory inspection
Type inspection
g. Year and month of manufacture.
9.1.2 Packaging mark
JB/T5064-91
The outer surface of the packaging box shall be marked with a graphic mark in accordance with GB191. 9.2 Packaging
9.2.1 Before packaging the robot, the movable arm of the manipulator must be securely fixed. 9.2.2 The base of the manipulator and other devices must be securely fixed to the bottom plate of the packaging box. 9.2.3 The control device should be packaged separately.
9.2.4 The packaging materials shall comply with the provisions of GB4768, GB4879, and GB5048. 9.2.5 If there are other special packaging requirements, they should be specified in the product standards. 9.2.6 The following documents should be included in the packaging box:
a. Characteristic data sheet and product certificate; 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
The ambient temperature of the warehouse for long-term storage of robot products 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 Industrial Automation System Standardization Technical Committee. This standard is drafted by the Beijing Institute of Mechanical Industry Automation of the Ministry of Machinery and Electronics Industry. 1892 The test equipment and methods specified in the test shall be carried out. During the test, the operation shall 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 the product standard.
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
Maximum combined speed
Position accuracy and repeatability
JB/T 5064 - 91
Technical requirements
4f Article
Posture stabilization time and posture overshoot
Posture characteristic drift
Minimum positioning time
Static compliance
Cycle time
Grounding resistance
Insulation resistance
Electrical strength
Continuous operation
Process operation
Power supply adaptability
Radiation sensitivity
Micro-field sensitivity
Environmental climate adaptability
Enzymatic vibration
Transport resistance
Reliability
Power consumption
Note: "○\ is the inspection item.||tt ||9 Marking, packaging, transportation and storage
9.1 Marking
9.1.1 The robot product should be equipped with a label. The label should include the following content: a. Product name;
b. Product model:
e. Power source parameters and power consumption;
d. Overall dimensions and weight;
e. Production number;
f. Name of the manufacturing unit;
Inspection method
6.4.10
6.10.1
6.10.2
Factory inspection
Type inspection
g. Year and month of manufacture.
9.1.2 Packaging mark
JB/T5064-91
The outer surface of the packaging box shall be marked with a graphic mark in accordance with GB191. 9.2 Packaging
9.2.1 Before packaging the robot, the movable arm of the manipulator must be securely fixed. 9.2.2 The base of the manipulator and other devices must be securely fixed to the bottom plate of the packaging box. 9.2.3 The control device should be packaged separately.
9.2.4 The packaging materials shall comply with the provisions of GB4768, GB4879, and GB5048. 9.2.5 If there are other special packaging requirements, they should be specified in the product standards. 9.2.6 The following documents should be included in the packaging box:
a. Characteristic data sheet and product certificate; 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
The ambient temperature of the warehouse for long-term storage of robot products 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 Industrial Automation System Standardization Technical Committee. This standard is drafted by the Beijing Institute of Mechanical Industry Automation of the Ministry of Machinery and Electronics Industry. 189
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