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EMI Testing of Service Robots

Release time:

2023-10-07 15:51

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　　1, the foreword

The rapid development of artificial intelligence has made the robot industry a hot spot in recent years. The electromagnetic compatibility (EMC) of robots is one of the important product compliance issues, but before 2019, there was no test standard for the robotics industry, and the testing requirements for robots were vague. The IEC subcommittee CISPR published in 2021 the guidance on this issue, CISPR/1412/INF, prepared by CISPR/S AHG 3. The guide provides some basic information about robots, some guidance on various types of robots, and some suggestions for EMC testing of robots.

The standards committees of IEC and ISO are working on EMC requirements for robots. CISPR 11, CISPR 14-1, CISPR 14-2, IEC 61000-6-2, IEC 61000-6-4 are mentioned in the CISPR Guide.

On March 25, 2019, the National Standards Management Committee of China issued GB/T 37283 "General Standard Immunity Requirements and Limits for Electromagnetic Compatibility of Service Robots" and GB/T 37284 "General Standard Emission Requirements and Limits for Electromagnetic Compatibility of Service Robots", And officially implemented on October 1, 2019. GB/T 37283 and GB/T 37284 are applicable to all types of service robots, including personal/home service robots and public service robots. Special robots can refer to this standard.

On December 10, 2019, the National Standards Administration of China issued GB/T 38336 "Test Methods and Limits for Electromagnetic Compatibility Emission of Industrial, Scientific and Medical Robots" and GB/T 38326 "Test Methods and Limits for Electromagnetic Compatibility of Industrial, Scientific and Medical Robots". GB/T 38336 and GB/T 38326 standards are applicable to engineering and medical robots, including but not limited to welding robots, handling robots, processing robots, assembly robots, clean robots, medical robots, teaching and experimental robots, etc. The standards are not applicable to unmanned aerial vehicles, toys, entertainment robots, etc.

　　2, Terminology

Robot

An actuator with two or more programmable axes and a degree of autonomous capability that can move within its environment to perform the intended task.

Note 1: The robot includes the control system and the control system interface.

Note 2: According to the intended use, robots can be classified as industrial robots and service robots.

Service robot service robot

In addition to industrial automation applications, robots that can perform useful tasks for humans or equipment.

NOTE 1 Industrial automation applications include, but are not limited to, manufacturing, inspection, packaging and assembly.

Note 2: The joint robot used in the production line is an industrial robot, while the similar joint robot used for feeding is a service robot.

Personal/home service robot personal/household service robot

A service robot used in a home environment or similar environment to meet the needs of the user's life.

Note: The operation and use of this robot usually does not require professional knowledge or skills, and does not require special training or qualifications.

Public service robot service robot

Commercial robots that provide general services to humans in public places in the fields of accommodation, catering, finance, cleaning, logistics, education, culture and entertainment.

Clean Robot

In a certain area, can find or run according to the established path, the use of procedures to achieve the specified cleaning function of the appliance.

Note: such as sweeping robot, window cleaning robot.

　　3, general conditions

1) Working status

The service robot shall be correctly installed (electrical and mechanical installation) and fully operational (start-up and functional test) in accordance with the typical operating conditions specified by the manufacturer.

Within the frequency band under consideration, the service robot shall perform measurements in an operating state that produces maximum emissions, e.g. based on limited pre-testing and normal use conditions. Under typical use and actual installation conditions, the configuration of the test sample was changed to obtain maximum emission.

2) Test configuration

The service robot shall be measured in the typical configuration specified by the manufacturer. During the test, the service robot shall be configured with as many representative functions as possible (such as motion function, communication function, human-computer interaction function, perception function, recognition function, etc.). If some typical functions cannot be configured at the same time, the test shall be carried out separately.

　　4, fixed service robot test layout

Service robots shall be divided into desktop service robots and floor service robots for layout according to actual usage.

1) Arrangement of conducted disturbance test

In order to measure conducted disturbances, the service robot is connected to the power supply and any other extension network through one or more ANs as follows (usually, a V-shaped artificial power network is used for the power port, see Figure 1). Whether grounded or not, the desktop service robot shall be placed as follows:

a. The bottom or back of the service robot should be placed at a maneuverable distance of 40 cm from the reference ground plane. The ground plane is usually a wall or floor of a shielded room, but it can also be a flat metal plate of at least 2 m x 2 m:

Note 1: The actual arrangement can be realized as follows:

The service robot is placed on an insulating material test bench at least 80 cm high, which is 40 cm away from any wall surface of the shielding room; or the service robot is placed on a 40 cm high insulating material test bench, so that the bottom of the service robot is 40 cm higher than the ground plane.

B. The distance between all other conductive planes of the service robot and the reference grounding plate shall be greater than 40cm;

c. The cable connection of the service robot is shown in Figure 1;

d, as shown in Figure 1, those artificial power networks are placed on the floor in such a way that one side of the artificial network housing is 40 cm away from the vertical reference ground plane and other metal parts. The V-type artificial power supply network and the Y-type impedance stabilization network are shown in Figure 1 and Figure 2.

Fig. 1 Test arrangement for measurement of power line conducted disturbance of desktop service robot

Figure 2 Configuration of the service robot and the AMN

The floor-standing service robot shall be placed on the ground, and the points in contact with the ground shall not only be consistent with the normal use, but also comply with the above-mentioned provisions on layout. A grounded metal plate shall be used, and the service robot shall not have metallic contact with the metal plate, but the conductor used for grounding of the service robot itself can be connected to this metal plate. The metal plate can be used as a reference ground plane, and its boundary should be at least 50 cm beyond the boundary of the service robot, and the area should be at least 2 m x 2 m. The example of the test layout is shown in Figure 3.

1. Extra-long cables should be bundled or shortened to an appropriate length at their center.

2. Service robots and cables should be insulated from the ground plane (thickness 10 cm ~ 15cm)

3. The service robot is connected to an AMN, which can be placed on the ground plane or directly below the ground plane.

4. Cable length and distance tolerance as close as possible to the actual application.

Fig.3 Test layout of floor-type service robot

1. Interconnection cables less than 40 from the grounding plane should be folded back and forth into bundles with a length of 30 m ~ 40cm, tied up and dropped to the middle of the grounding plane and the desktop.

2. The extra-long power cord should be bundled or shortened to an appropriate length

3. The service robot is connected to an AMN, which can also be connected to the vertical reference plane. All other equipment should be supplied by the second AMN. To reach a distance of 0.8 m, the AMN may need to be moved to the edge.

4. The service robot and cable should be insulated from the ground plane (thickness 10 cm ~ 15cm)

5. The I/O cable connecting the floor-standing service robot hangs down to the ground plane, and the extra long part is tied up. Cables that do not reach the length of the ground plane shall be dropped to the height of the vehicle connector or 40 cm above the ground, whichever is lower.

6. The cable length and distance tolerance are as close as possible to the actual application

Fig.4 Test arrangement example of combined service robot

2) Radiation disturbance test arrangement

1 Test arrangement of desktop service robot

Robots used as desktop service robots should be placed on non-metallic tables. The size of the desktop is usually 1.5 m x 1.0 m; however, the actual size depends on the horizontal size of the service robot.

The tested service robot system (including the service robot and the peripherals, auxiliary equipment or devices connected to the service robot) shall be arranged according to the normal use. If not under normal use, the distance between adjacent units shall be 0.1 m in the test arrangement.

Cables between units shall be dropped from the back edge of the test table. If the distance between the sagging cable and the horizontal ground plate is less than 0.4 m, the extra long part of the cable shall be folded back and forth in its center and bound in a figure-eight shape into a harness not exceeding 0.4 m so that it is at least 0.4 m above the horizontal reference ground plate. Cables shall be arranged according to normal use. If the main input cable is less than 0.8 m (including the power supply line in the main plug), the main input cable shall be lengthened so that the external power supply unit can also be placed on the table. The extended cable should have the same characteristics as the main input cable (including the number of conductors and whether it is grounded). It shall be considered as part of the main cable. In the above case, the cable arrangement between the service robot and the auxiliary electrical equipment should be the same as the cable arrangement between the service robots.

2 The test layout of the landing service robot.

The service robot shall be placed on a horizontal reference grounding plate, with the orientation consistent with the normal use, and the insulation distance between its metal body/object and the reference grounding plate shall not exceed 0.15 m.

The cable of the service robot shall be insulated from the horizontal grounding reference plane (the insulation distance shall not exceed 0.15 m). If the service robot needs a special grounding connection, a special connection point shall be provided and the point shall be lapped to the horizontal grounding plate.

The unit cables (between units of the service robot or between the service robot and auxiliary equipment) shall be lowered to the horizontal reference grounding plate, but remain insulated from it. The extra-long part of the cable should be bundled into a 8-shaped harness of no more than 0.4 m in its center, and it can also be routed in an S-type. If the cables between the units are not long enough to fall to the horizontal reference grounding plate, but the distance from the plate is less than 0.4 m, the extra long part shall be bundled into a harness not exceeding 0.4 m in the center of the cable. The harness is located either 0.4 m above the horizontal reference ground plate or at the height of the cable entry or cable connection point.

3 Test layout of combined service robot

The extra-long part of the cable between the desktop and floor-mounted combined service robots should be folded into a harness not exceeding 0.4 m. The position of the harness is either 0.4 m above the horizontal reference ground plate, or at the entrance of the cable or the connection point of the cable (if the distance between the entrance or connection point and the horizontal reference ground plate is less than 0.4 m).

　　5, mobile service robot test layout

The working state of the mobile service robot is divided into charging mode, working mode and backcharging search mode, and the arrangement of charging mode and backcharging search mode is consistent with Table 1. In the working mode, only the radiation disturbance is measured, and the arrangement is shown in Fig. 5.

Figure 5 a) Layout of the desktop mobile service robot

Note: 1. The service robot is placed in the middle of the table and flush with the back edge of the table.

2. The service robot auxiliary equipment is placed on the side of the service robot and at least 0.1 m from the side of the service robot.

3. The service robot is placed on an insulated wooden board and supported. The thickness of the insulated wooden board at least makes the service robot suspended and stable

Figure 5b) Layout of floor-mounted mobile service robot

Note: The service robot is placed on the insulating board and supported. The thickness of the insulating board is at least so that the service robot is suspended and stable.

　　6, harmonic current

The harmonic current emission of service robots with input current not greater than 16 A shall meet the requirements of GB 17625.1

The harmonic current emission of service robots with input current greater than 16 A shall meet the requirements of GB/T 17625.8

　　7, voltage fluctuations and flicker

The voltage fluctuation and flicker limits of service robots with rated current not greater than 16 A shall meet the requirements of GB/T 17625.2

The voltage fluctuation and flicker limits of service robots with rated current greater than 16 A shall meet the requirements of GB/T 17625.7

　　8, conclusion.

This paper discusses the EMI test method of service robot based on GB/T 37284-2019. On the whole, the test integration of service robots adopts the requirements of home appliance test standards and general standards.

a) Stationary service robot:

All items shall be tested in working mode. Measurements shall be made under normal operating conditions to simulate fixed service machines

People work normally, if there are auxiliary equipment to provide services. It should be included in the test. During the test, the charging cable or charger should refer

The actual use of the test requires consideration of access.

B) Mobile service robot:

The test shall be carried out in the charging mode, working mode and recharging search mode respectively. The test items are as follows:

Charging mode (body ten charger): harmonic current, voltage fluctuation and flicker, conducted disturbance and radiation disturbance:

Working mode (body): radiation disturbance;

Recharge search mode (body ten charger): harmonic current, voltage fluctuation and flicker, conduction disturbance and radiation disturbance

Due to the limitation of the author's ability, there are inevitably some mistakes in the article. Welcome to discuss with us in the century.

If you need to know more about electromagnetic compatibility testing instruments, you can visit the company's website http://www.emc-mall.com/查看。

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