ICS25.040.30

CCSJ28

中華人民共和國國家標準

GB/T20867.1—2024

代替GB/T20867—2007

機器人安全要求應用規范

第1部分：工業機器人

Robotics—Applicationspecificationforsafetyrequirements—

Part1：Industrialrobot

2024?08?23發布2025?03?01實施

國家市場監督管理總局

國家標準化管理委員會發布

GB/T20867.1—2024

目次

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

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

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

2規范性引用文件········································································································1

3術語和定義··············································································································1

4風險評估與風險減小··································································································2

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

4.2危險識別···········································································································2

4.3風險估計···········································································································2

4.4風險評價···········································································································3

4.5風險減小···········································································································3

5設計要求及保護措施··································································································3

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

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

5.3致動控制···········································································································5

5.4與安全相關的控制系統性能···················································································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同時運動控制·····································································································7

5.10協同操作要求····································································································7

5.11奇異性保護·······································································································9

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

5.13無驅動源運動····································································································9

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

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

6安裝、試運行和功能測試····························································································10

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

6.2試運行和功能測試······························································································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返回自動操作····································································································12

7.5編程數據··········································································································12

7.6程序驗證（程序校驗）···························································································12

8使用和維護············································································································12

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

8.2自動操作··········································································································12

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

8.4維護················································································································13

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

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

9.2培訓················································································································13

附錄A（資料性）機器人風險評估示例············································································15

附錄B（資料性）典型工業機器人危險列表······································································19

參考文獻····················································································································21

Ⅱ

GB/T20867.1—2024

前言

本文件按照GB/T1.1—2020《標準化工作導則第1部分：標準化文件的結構和起草規則》的規

定起草。

本文件是GB/T20867《機器人安全要求應用規范》的第1部分。GB/T20867已經發布了以下

部分：

——第1部分：工業機器人。

本文件代替GB/T20867—2007《工業機器人安全實施規范》，與GB/T20867—2007相比，除結

構調整和編輯性改動外，主要技術變化如下：

——更改了范圍（見第1章，2007年版的第1章）；

——增加了“術語和定義”（見第3章）；

——更改了“安全分析”為“危險識別及風險評估”（見第4章，2007年版的第3章）；

——刪除了“基本設計要求”（2007年版的第4章）；

——更改了“機器人設計和制造”為“設計要求及保護措施”（見第5章，2007年版的第5章）；

——刪除了“機器人系統的安全防護和設計”（2007年版的第10章）；

——更改了“安裝、試運行和功能測試”（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”（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“機器人風險評估示例”（見附錄A）；

——增加了“典型工業機器人危險列表”（見附錄B）。

請注意本文件的某些內容可能涉及專利。本文件的發布機構不承擔識別專利的責任。

本文件由中國機械工業聯合會提出。

本文件由全國機器人標準化技術委員會（SAC/TC591）歸口。

本文件起草單位：北京機械工業自動化研究所有限公司、立宏安全設備工程（上海）有限公司、中國

科學院沈陽自動化研究所、重慶凱瑞機器人技術有限公司、德凱質量認證（上海）有限公司、杭州海康機

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）機器人系統有限公司、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、沈陽新松機器人自動化股份有限公司、機科發

展科技股份有限公司、東莞市大研自動化設備有限公司、重慶魯班機器人技術研究院有限公司、重慶凱

瑞認證服務有限公司、河北工業大學、北京航空航天大學、深圳市越疆科技股份有限公司、江蘇匯博機

器人技術股份有限公司、中國軟件評測中心（工業和信息化部軟件與集成電路促進中心）、蘇州大學、

中國科學院重慶綠色智能技術研究院、中汽檢測技術有限公司、樂聚（深圳）機器人技術有限公司、上海

沃迪智能裝備股份有限公司、深圳市灣測技術有限公司、蘇州艾利特機器人有限公司、深圳云天勵飛技

術股份有限公司、中國計量大學、重慶大學、北京鹍鵬科創科技發展有限公司、中關村機器人產業創新

發展有限公司、創客天下（北京）科技發展有限公司。

本文件主要起草人：楊書評、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、陳國棟、何國田、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布情況為：

——2007年首次發布為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

技術人員、管理人員及用戶更準確、全面的使用和實施安全標準。

GB/T20867《機器人安全要求應用規范》擬由兩個部分組成。

——第1部分：工業機器人。目的是增加GB11291.1—2011的可操作性。

——第2部分：工業機器人系統與集成。目的是增加GB11291.2—2013的可操作性。

Ⅴ

GB/T20867.1—2024

機器人安全要求應用規范

第1部分：工業機器人

1范圍

本文件規定了工業機器人安全標準GB11291.1—2011應用實施的步驟和細則。

本文件適用于工業機器人（以下簡稱“機器人”）的設計、生產、銷售、管理和使用。

2規范性引用文件

下列文件中的內容通過文中的規范性引用而構成本文件必不可少的條款。其中，注