GB/T 20867.1-2024機(jī)器人安全要求應(yīng)用規(guī)范第1部分：工業(yè)機(jī)器人

ICS25.040.30

CCSJ28

中華人民共和國(guó)國(guó)家標(biāo)準(zhǔn)

GB/T20867.1—2024

代替GB/T20867—2007

機(jī)器人安全要求應(yīng)用規(guī)范

第1部分：工業(yè)機(jī)器人

Robotics—Applicationspecificationforsafetyrequirements—

Part1：Industrialrobot

2024?08?23發(fā)布2025?03?01實(shí)施

國(guó)家市場(chǎng)監(jiān)督管理總局

國(guó)家標(biāo)準(zhǔn)化管理委員會(huì)發(fā)布

GB/T20867.1—2024

目次

前言··························································································································Ⅲ

引言··························································································································Ⅴ

1范圍·······················································································································1

2規(guī)范性引用文件········································································································1

3術(shù)語和定義··············································································································1

4風(fēng)險(xiǎn)評(píng)估與風(fēng)險(xiǎn)減小··································································································2

4.1一般要求···········································································································2

4.2危險(xiǎn)識(shí)別···········································································································2

4.3風(fēng)險(xiǎn)估計(jì)···········································································································2

4.4風(fēng)險(xiǎn)評(píng)價(jià)···········································································································3

4.5風(fēng)險(xiǎn)減小···········································································································3

5設(shè)計(jì)要求及保護(hù)措施··································································································3

5.1通則·················································································································3

5.2通用要求···········································································································3

5.3致動(dòng)控制···········································································································5

5.4與安全相關(guān)的控制系統(tǒng)性能···················································································5

5.5停止功能···········································································································5

5.6降速控制···········································································································6

5.7操作方式···········································································································6

5.8示教控制···········································································································6

5.9同時(shí)運(yùn)動(dòng)控制·····································································································7

5.10協(xié)同操作要求····································································································7

5.11奇異性保護(hù)·······································································································9

5.12單軸限位··········································································································9

5.13無驅(qū)動(dòng)源運(yùn)動(dòng)····································································································9

5.14起重措施··········································································································9

5.15電連接器········································································································10

6安裝、試運(yùn)行和功能測(cè)試····························································································10

6.1安裝················································································································10

6.2試運(yùn)行和功能測(cè)試······························································································10

7編程·····················································································································11

7.1一般要求··········································································································11

7.2編程前·············································································································11

Ⅰ

GB/T20867.1—2024

7.3編程中·············································································································11

7.4返回自動(dòng)操作····································································································12

7.5編程數(shù)據(jù)··········································································································12

7.6程序驗(yàn)證（程序校驗(yàn)）···························································································12

8使用和維護(hù)············································································································12

8.1一般要求··········································································································12

8.2自動(dòng)操作··········································································································12

8.3故障查找··········································································································12

8.4維護(hù)················································································································13

9使用信息···············································································································13

9.1使用說明書·······································································································13

9.2培訓(xùn)················································································································13

附錄A（資料性）機(jī)器人風(fēng)險(xiǎn)評(píng)估示例············································································15

附錄B（資料性）典型工業(yè)機(jī)器人危險(xiǎn)列表······································································19

參考文獻(xiàn)····················································································································21

Ⅱ

GB/T20867.1—2024

前言

本文件按照GB/T1.1—2020《標(biāo)準(zhǔn)化工作導(dǎo)則第1部分：標(biāo)準(zhǔn)化文件的結(jié)構(gòu)和起草規(guī)則》的規(guī)

定起草。

本文件是GB/T20867《機(jī)器人安全要求應(yīng)用規(guī)范》的第1部分。GB/T20867已經(jīng)發(fā)布了以下

部分：

——第1部分：工業(yè)機(jī)器人。

本文件代替GB/T20867—2007《工業(yè)機(jī)器人安全實(shí)施規(guī)范》，與GB/T20867—2007相比，除結(jié)

構(gòu)調(diào)整和編輯性改動(dòng)外，主要技術(shù)變化如下：

——更改了范圍（見第1章，2007年版的第1章）；

——增加了“術(shù)語和定義”（見第3章）；

——更改了“安全分析”為“危險(xiǎn)識(shí)別及風(fēng)險(xiǎn)評(píng)估”（見第4章，2007年版的第3章）；

——?jiǎng)h除了“基本設(shè)計(jì)要求”（2007年版的第4章）；

——更改了“機(jī)器人設(shè)計(jì)和制造”為“設(shè)計(jì)要求及保護(hù)措施”（見第5章，2007年版的第5章）；

——?jiǎng)h除了“機(jī)器人系統(tǒng)的安全防護(hù)和設(shè)計(jì)”（2007年版的第10章）；

——更改了“安裝、試運(yùn)行和功能測(cè)試”（見第6章，2007年版的第8章）；

——增加了“編程”（見第7章）；

——更改了“使用和維護(hù)”（見第8章，2007年版的第7章）；

——更改了“使用信息”（見第9章，2007年版的第9章和第10章）；

——增加了“機(jī)器人風(fēng)險(xiǎn)評(píng)估示例”（見附錄A）；

——增加了“典型工業(yè)機(jī)器人危險(xiǎn)列表”（見附錄B）。

請(qǐng)注意本文件的某些內(nèi)容可能涉及專利。本文件的發(fā)布機(jī)構(gòu)不承擔(dān)識(shí)別專利的責(zé)任。

本文件由中國(guó)機(jī)械工業(yè)聯(lián)合會(huì)提出。

本文件由全國(guó)機(jī)器人標(biāo)準(zhǔn)化技術(shù)委員會(huì)（SAC/TC591）歸口。

本文件起草單位：北京機(jī)械工業(yè)自動(dòng)化研究所有限公司、立宏安全設(shè)備工程（上海）有限公司、中國(guó)

科學(xué)院沈陽自動(dòng)化研究所、重慶凱瑞機(jī)器人技術(shù)有限公司、德凱質(zhì)量認(rèn)證（上海）有限公司、杭州?？禉C(jī)

器人股份有限公司、遨博（北京）智能科技股份有限公司、法奧意威（蘇州）機(jī)器人系統(tǒng)有限公司、埃夫特

智能裝備股份有限公司、珞石（山東）智能科技有限公司、沈陽新松機(jī)器人自動(dòng)化股份有限公司、機(jī)科發(fā)

展科技股份有限公司、東莞市大研自動(dòng)化設(shè)備有限公司、重慶魯班機(jī)器人技術(shù)研究院有限公司、重慶凱

瑞認(rèn)證服務(wù)有限公司、河北工業(yè)大學(xué)、北京航空航天大學(xué)、深圳市越疆科技股份有限公司、江蘇匯博機(jī)

器人技術(shù)股份有限公司、中國(guó)軟件評(píng)測(cè)中心（工業(yè)和信息化部軟件與集成電路促進(jìn)中心）、蘇州大學(xué)、

中國(guó)科學(xué)院重慶綠色智能技術(shù)研究院、中汽檢測(cè)技術(shù)有限公司、樂聚（深圳）機(jī)器人技術(shù)有限公司、上海

沃迪智能裝備股份有限公司、深圳市灣測(cè)技術(shù)有限公司、蘇州艾利特機(jī)器人有限公司、深圳云天勵(lì)飛技

術(shù)股份有限公司、中國(guó)計(jì)量大學(xué)、重慶大學(xué)、北京鹍鵬科創(chuàng)科技發(fā)展有限公司、中關(guān)村機(jī)器人產(chǎn)業(yè)創(chuàng)新

發(fā)展有限公司、創(chuàng)客天下（北京）科技發(fā)展有限公司。

本文件主要起草人：楊書評(píng)、侯紅英、王恒之、李本旺、韓志雄、李志海、孫元棟、宋仲康、管越、姚庭、

阮偉偉、唐燕生、張鋒、張勝、肖大放、張馳、王松、孫添飛、王嘉、魏洪興、陶永、王茂林、劉培超、王振華、

陳淥萍、陳國(guó)棟、何國(guó)田、曹懿莎、冷曉琨、朱志昆、曹偉、童上高、陳卓賢、姜宇、劉穎、唐聰、袁杰、楊金、

Ⅲ

GB/T20867.1—2024

陳輝、雷建勇、孫愷、孫振江、牟宏磊、劉晶晶、蒙洋、王爍石。

本文件及其所代替文件的歷次版本發(fā)布情況為：

——2007年首次發(fā)布為GB/T20867—2007；

——本次為第一次修訂。

Ⅳ

GB/T20867.1—2024

引言

本文件是GB11291.1—2011的配套文件，目的是增加GB11291.1—2011的可操作性，便于工程

技術(shù)人員、管理人員及用戶更準(zhǔn)確、全面的使用和實(shí)施安全標(biāo)準(zhǔn)。

GB/T20867《機(jī)器人安全要求應(yīng)用規(guī)范》擬由兩個(gè)部分組成。

——第1部分：工業(yè)機(jī)器人。目的是增加GB11291.1—2011的可操作性。

——第2部分：工業(yè)機(jī)器人系統(tǒng)與集成。目的是增加GB11291.2—2013的可操作性。

Ⅴ

GB/T20867.1—2024

機(jī)器人安全要求應(yīng)用規(guī)范

第1部分：工業(yè)機(jī)器人

1范圍

本文件規(guī)定了工業(yè)機(jī)器人安全標(biāo)準(zhǔn)GB11291.1—2011應(yīng)用實(shí)施的步驟和細(xì)則。

本文件適用于工業(yè)機(jī)器人（以下簡(jiǎn)稱“機(jī)器人”）的設(shè)計(jì)、生產(chǎn)、銷售、管理和使用。

2規(guī)范性引用文件

下列文件中的內(nèi)容通過文中的規(guī)范性引用而構(gòu)成本文件必不可少的條款。其中，注