GB/T 20867.1-2024 机器人 安全要求应用规范 第1部分：工业机器人

ICS25.040.30

CCSJ28

中华人民共和国国家标准

GB/T20867.1—2024

代替GB/T20867—2007

机器人安全要求应用规范

第1部分：工业机器人

Robotics—Applicationspecificationforsafetyrequirements—

Part1：Industrialrobot

2024⁃08⁃23发布2025⁃03⁃01实施

国家市场监督管理总局

国家标准化管理委员会发布

GB/T20867.1—2024

目次

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

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

1范围·······················································································································1

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

3术语和定义··············································································································1

4风险评估与风险减小··································································································2

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

4.2危险识别···········································································································2

4.3风险估计···········································································································2

4.4风险评价···········································································································3

4.5风险减小···········································································································3

5设计要求及保护措施··································································································3

5.1通则·················································································································3

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

5.3致动控制···········································································································5

5.4与安全相关的控制系统性能···················································································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同时运动控制·····································································································7

5.10协同操作要求····································································································7

5.11奇异性保护·······································································································9

5.12单轴限位··········································································································9

5.13无驱动源运动····································································································9

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

5.15电连接器········································································································10

6安装、试运行和功能测试····························································································10

6.1安装················································································································10

6.2试运行和功能测试······························································································10

7编程·····················································································································11

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

7.2编程前·············································································································11

Ⅰ

GB/T20867.1—2024

7.3编程中·············································································································11

7.4返回自动操作····································································································12

7.5编程数据··········································································································12

7.6程序验证（程序校验）···························································································12

8使用和维护············································································································12

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

8.2自动操作··········································································································12

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

8.4维护················································································································13

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

9.1使用说明书·······································································································13

9.2培训················································································································13

附录A（资料性）机器人风险评估示例············································································15

附录B（资料性）典型工业机器人危险列表······································································19

参考文献····················································································································21

Ⅱ

GB/T20867.1—2024

前言

本文件按照GB/T1.1—2020《标准化工作导则第1部分：标准化文件的结构和起草规则》的规

定起草。

本文件是GB/T20867《机器人安全要求应用规范》的第1部分。GB/T20867已经发布了以下

部分：

——第1部分：工业机器人。

本文件代替GB/T20867—2007《工业机器人安全实施规范》，与GB/T20867—2007相比，除结

构调整和编辑性改动外，主要技术变化如下：

——更改了范围（见第1章，2007年版的第1章）；

——增加了“术语和定义”（见第3章）；

——更改了“安全分析”为“危险识别及风险评估”（见第4章，2007年版的第3章）；

——删除了“基本设计要求”（2007年版的第4章）；

——更改了“机器人设计和制造”为“设计要求及保护措施”（见第5章，2007年版的第5章）；

——删除了“机器人系统的安全防护和设计”（2007年版的第10章）；

——更改了“安装、试运行和功能测试”（见第6章，2007年版的第8章）；

——增加了“编程”（见第7章）；

——更改了“使用和维护”（见第8章，2007年版的第7章）；

——更改了“使用信息”（见第9章，2007年版的第9章和第10章）；

——增加了“机器人风险评估示例”（见附录A）；

——增加了“典型工业机器人危险列表”（见附录B）。

请注意本文件的某些内容可能涉及专利。本文件的发布机构不承担识别专利的责任。

本文件由中国机械工业联合会提出。

本文件由全国机器人标准化技术委员会（SAC/TC591）归口。

本文件起草单位：北京机械工业自动化研究所有限公司、立宏安全设备工程（上海）有限公司、中国

科学院沈阳自动化研究所、重庆凯瑞机器人技术有限公司、德凯质量认证（上海）有限公司、杭州海康机

器人股份有限公司、遨博（北京）智能科技股份有限公司、法奥意威（苏州）机器人系统有限公司、埃夫特

智能装备股份有限公司、珞石（山东）智能科技有限公司、沈阳新松机器人自动化股份有限公司、机科发

展科技股份有限公司、东莞市大研自动化设备有限公司、重庆鲁班机器人技术研究院有限公司、重庆凯

瑞认证服务有限公司、河北工业大学、北京航空航天大学、深圳市越疆科技股份有限公司、江苏汇博机

器人技术股份有限公司、中国软件评测中心（工业和信息化部软件与集成电路促进中心）、苏州大学、

中国科学院重庆绿色智能技术研究院、中汽检测技术有限公司、乐聚（深圳）机器人技术有限公司、上海

沃迪智能装备股份有限公司、深圳市湾测技术有限公司、苏州艾利特机器人有限公司、深圳云天励飞技

术股份有限公司、中国计量大学、重庆大学、北京鹍鹏科创科技发展有限公司、中关村机器人产业创新

发展有限公司、创客天下（北京）科技发展有限公司。

本文件主要起草人：杨书评、侯红英、王恒之、李本旺、韩志雄、李志海、孙元栋、宋仲康、管越、姚庭、

阮伟伟、唐燕生、张锋、张胜、肖大放、张驰、王松、孙添飞、王嘉、魏洪兴、陶永、王茂林、刘培超、王振华、

陈渌萍、陈国栋、何国田、曹懿莎、冷晓琨、朱志昆、曹伟、童上高、陈卓贤、姜宇、刘颖、唐聪、袁杰、杨金、

Ⅲ

GB/T20867.1—2024

陈辉、雷建勇、孙恺、孙振江、牟宏磊、刘晶晶、蒙洋、王烁石。

本文件及其所代替文件的历次版本发布情况为：

——2007年首次发布为GB/T20867—2007；

——本次为第一次修订。

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

技术人员、管理人员及用户更准确、全面的使用和实施安全标准。

GB/T20867《机器人安全要求应用规范》拟由两个部分组成。

——第1部分：工业机器人。目的是增加GB11291.1—2011的可操作性。

——第2部分：工业机器人系统与集成。目的是增加GB11291.2—2013的可操作性。

Ⅴ

GB/T20867.1—2024

机器人安全要求应用规范

第1部分：工业机器人

1范围

本文件规定了工业机器人安全标准GB11291.1—2011应用实施的步骤和细则。

本文件适用于工业机器人（以下简称“机器人”）的设计、生产、销售、管理和使用。

2规范性引用文件

下列文件中的内容通过文中的规范性引用而构成本文件必不可少的条款。其中，注日期的引用文

件，仅该日期对应的版本适用于本文件；不注日期的引用文件，其最新版本（包括所有的修改单）适用于

本文件。

GB/T5226.1机械电气安全机械电气设备第1部分：通用技术条件

GB11291.1—2011工业环境用机器人安全要求第1部分：机器人

GB/T12265机械安全防止人体部位挤压的最小间距

GB/T12644工业机器人特性表示

GB/T12668.502—2013调速电气传动系统第5⁃2部分：安全要求功能

GB/T15706—2012机械安全设计通则风险评估与风险减小

GB/T16855.1—2018机械安全控制系统安全相关部件第1部分：设计通则

GB/T17799.2电磁兼容通用标准第2部分：工业环境中的抗扰度标准

GB/T17799.4电磁兼容通用标准第4部分：工业环境中的发射

GB28526机械电气安全安全相关电气、电子和可编程电子控制系统的功能安全

GB/T36008—2018机器人与机器人装备协作机器人

GB/T42598机械安全使用说明书起草通则

3术语和定义

GB11291.1—2011

界定的以及下列术语和定义适用于本文件。

3.1

风险评估riskassessment

包括风险分析和风险评价在内的全过程。

[来源：GB/T15706—2012，3.17]

3.2

协同操作collaborativeoperation

专门设计的机器人在规定的工作空间内直接与人一同工作的状态。

[来源：GB11291.1—2011，3.4]

3.3

安全空间safeguardedspace

由周边安全防护装置确定的空间。

1

GB/T20867.1—2024

[来源：GB11291.1—2011，3.25.4]

4风险评估与风险减小

4.1一般要求

应按照GB/T15706—2012的要求对机器人全生命周期过程中的设置、调试、示教、操作和维护等

进行风险评估，并采取必要的风险减小措施。机器人风险评估示例见附录A。

注：GB/T15706—2012附录B给出了机器常见的危险、危险状态和危险事件示例。

4.2危险识别

任何机器人都应进行危险识别，危险识别是风险评估中最重要的步骤。只有危险被识别后，才能

采取风险减小对应的措施。

危险识别的目的是形成一份危险、危险状态和/或危险事件的列表，该列表能够描述危险状态可能

在何时以何种方式导致伤害的事故场景。

典型工业机器人危险列表见附录B。

4.3风险估计

4.3.1通则

识别出的机器人危险应进行风险估计。风险估计的目的是确定每个危险状态的最高风险，通常以

等级、指数或者分数表示估计风险的大小。风险估计应通过伤害的严重程度和该伤害发生的概率这两

个风险要素，对每种危险的风险进行估计。

注：GB/T15706―2012中5.5.2描述了所有风险要素。

4.3.2风险要素——伤害的严重程度

每个危险事件可能造成几种不同严重程度的伤害。评估一系列具有代表性严重程度的风险并考

虑能够实际发生的最严重（可信的最坏情况）的伤害有助于确定伤害的严重程度。

伤害的严重程度的估计应符合GB/T15706—2012中5.5.2.2的规定。

示例：伤害的严重程度可分为：

——灾难性

导致死亡或永久残废的伤害或疾病（不能返回工作）；

——严重的

导致人体严重虚弱的伤害或疾病（能回到某些岗位工作）；

——中等的

要求救护的显著伤害或疾病（能够回到相同岗位上工作）；

——轻微的

至多需要急救的轻伤或没有受伤（损失少量或不损失工作时间）。

4.3.3风险要素——伤害发生的概率

风险估计的所有方法都需要通过考虑下列情况，估计伤害发生的概率：

a）人员在危险中的暴露程度（见GB/T15706―2012中5.5.2.3.1）；

b）危险事件发生的概率（见GB/T15706―2012中5.5.2.3.2）；

c）在技术和人员方面避免或限制伤害的可能性（见GB/T15706―2012中5.5.2.3.3）。

2

GB/T20867.1—2024

4.3.4风险估计工具

为了支持风险评估过程，可从GB/T16856—2015中给出的风险评估工具中选用一种工具或方法：

a）风险矩阵法；

b）风险图法；

c）数值评分法。

另