DIN ISO 29262-2013 Production equipment for microsystems - Interface between end effector and handling system (ISO 29262 2011)《微型系统生产设备 终端执行器和处理系统间接口(ISO 29262-2011)》.pdf

1、March 2013Translation by DIN-Sprachendienst.English price group 12No part of this translation may be reproduced without prior permission ofDIN Deutsches Institut fr Normung e. V., Berlin. Beuth Verlag GmbH, 10772 Berlin, Germany,has the exclusive right of sale for German Standards (DIN-Normen).ICS 2

2、5.040.30!$v“1948398www.din.deDDIN ISO 29262Production equipment for microsystems Interface between end effector and handling system (ISO 29262:2011),English translation of DIN ISO 29262:2013-03Fertigungsmittel fr Mikrosysteme Schnittstelle zwischen Endeffektor und Handhabungsgert (ISO 29262:2011),En

3、glische bersetzung von DIN ISO 29262:2013-03quipement de production pour systmes microtechniques Interface entre outil et dispositif de manipulation (ISO 29262:2011),Traduction anglaise de DIN ISO 29262:2013-03SupersedesDIN 32565:2007-10www.beuth.deIn case of doubt, the German-language original shal

4、l be considered authoritative.Document comprises 22 pages02.13 A comma is used as the decimal marker. Contents Page National foreword .3 National Annex NA (informative) Bibliography .4 Introduction .5 1 Scope .6 2 Normative references .6 3 Terms and definitions 7 4 General 8 5 Interface definitions

5、.9 5.1 Coordinate system .9 5.2 Layer 1 Mechanical interface 9 5.3 Layer 2 Service interface 13 5.4 Layer 3 Bus interface part 16 5.5 Tolerances 19 5.6 Load-bearing capacities . 19 5.7 Designation 20 Annex A (normative) Tests procedure for fixation interface, pR. . 21 Bibliography . 22 DIN ISO 29262

6、:2013-03 2National foreword This standard (ISO 29262:2011) has been prepared by Technical Committee ISO/TC 39/WG 16 “Production equipment for microsystems” (Sekretariat: DIN, Germany) The responsible German body involved in its preparation was the Normenausschuss Feinmechanik und Optik (Optics and P

7、recision Mechanics Standards Committee), Working Committee NA 027-03-03 AA Fertigungs-mittel fr Mikrosysteme. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. DIN and/or DKE shall not be held responsible for identifying any or all

8、such patent rights. The DIN Standards corresponding to the International Standards referred to in this document are as follows: ISO 286-1 DIN EN ISO 286-1 ISO 286-2 DIN EN ISO 286-2 ISO 1101 DIN EN ISO 1101 ISO 3650 DIN EN ISO 3650 ISO 9409-1 DIN EN ISO 9409-1 ISO 9409-2 DIN EN ISO 9409-2 ISO 9787 D

9、IN EN ISO 9787 ISO 18265 DIN EN ISO 18265 IEC 61131-2 DIN EN 61131-2, VDE 0411-500 IEC 61140 DIN EN 61140, VDE 0140-1 IEC 61158 (all parts) DIN EN 61158 (all parts) IEC 61784 (all parts) DIN EN 61784 (all parts) Amendments This standard differs from DIN 32565:2007-10 as follows: a) specifications re

10、lating to the head plate have been added; b) in Subclause 5.2, a groove has been added for the pre-alignment of head and adaptor plate; c) the subdivision of the interface definitions has been reduced from 4 layers to 3 layers d) in Subclause 5.4, specifications relating to the bus interface part ha

11、ve been added; e) Annex A “Tests procedure for fixation interface” has been added; f) ISO 29262:2011 has been incorporated in this document. Previous editions DIN 32565: 2007-10 DIN ISO 29262:2013-03 3National Annex NA (informative) Bibliography DIN EN 61131-2 (VDE 0411-500), Programmable controller

12、s Part 2: Equipment requirements and tests DIN EN 61140, VDE 0140-1, Protection against electric shock Common aspects for installation and equip-ment DIN EN 61158 (all parts), Industrial communication networks Fieldbus specifications DIN EN 61784 (all parts), Industrial communication networks Profil

13、es DIN EN ISO 286-1, Geometrical product specification (GPS) ISO code system for tolerances on linear sizes Part 1: Basis of tolerances, deviations and fits DIN EN ISO 286-2, Geometrical product specifications (GPS) ISO code system for tolerances on linear sizes Part 2: Tables of standard tolerance

14、classes and limit deviations for holes and shafts DIN EN ISO 1101, Geometrical Product Specifications (GPS) Geometrical tolerancing Tolerances of form, orientation, location and run-out DIN EN ISO 8734, Parallel pins of hardened and martensitic stainless steel (Dowel pins) DIN EN ISO 9409-1, Manipul

15、ating industrial robots Mechanical interfaces Part 1: Plates DIN EN ISO 9409-2, Manipulating industrial robots Mechanical interfaces Part 2: Shafts DIN EN ISO 9787, Manipulating industrial robots Coordinate systems and motion nomenclatures DIN EN ISO 18265, Metallic materials Conversion of hardness

16、values DIN ISO 29262:2013-03 4Introduction This International Standard specifies requirements for an interface between end effector and handling systems, or between functional modules in production equipment for microsystems. In production equipment for precision and microsystem technology, it is ne

17、cessary for tools and end effectors to be replaced frequently because of small production runs. Interfaces for macroscopic handling systems, standardized according to ISO 9409-1 or ISO 9409-2 for instance, cannot be considered because of the small dimensions of the parts processed and, thus they are

18、 unsuitable for use as interface for end effectors and tools in micro and precision mechanics. This International Standard defines, in addition to the mechanical interface, the position and specification of the feedthroughs for fluidic and electrical coupling elements. An extra feature of this Inter

19、national Standard that differs from other standards in use is a central opening to permit the observation of the production or assembly process. DIN ISO 29262:2013-03 5Production equipment for microsystems Interface between end effector and handling system 1 Scope This International Standard specifi

20、es provisions for the interface between end effector and handling systems in production equipment for microsystems. It specifies principal deviations, tolerances and designations for manually and automatically changeable end effectors. The aim is to specify the end effector interface in three levels

21、 with an increasing degree of specification. 2 Normative references The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any am

22、endments) applies. ISO 286-1, Geometrical product specifications (GPS) ISO code system for tolerances on linear sizes Part 1: Basis of tolerances, deviations and fits ISO 286-2, Geometrical product specifications (GPS) ISO code system for tolerances on linear sizes Part 2: Tables of standard toleran

23、ce classes and limit deviations for holes and shafts ISO 1101, Geometrical Product Specifications (GPS) Geometrical tolerancing Tolerances of form, orientation, location and run-out ISO 3650, Geometrical Product Specifications (GPS) Length standards Gauge blocks ISO 8734:1997, Parallel pins, of hard

24、ened steel and martensitic stainless steel (Dowel pins) ISO 9409-1, Manipulating industrial robots Mechanical interfaces Part 1: Plates ISO 9409-2, Manipulating industrial robots Mechanical interfaces Part 2: Shafts ISO 9787, Manipulating industrial robots Coordinate systems and motion nomenclatures

25、 ISO 18265, Metallic materials Conversion of hardness values ISO/IEC 11801:2002, Information technology Generic cabling for customer premises ISO/IEC 24702, Information technology Generic cabling Industrial premises ISO/IEC 24740, Information technology Responsive Link (RL) IEC 61131-2, Programmable

26、 controllers Part 2: Equipment requirements and tests IEC 61158 (all parts), Industrial communication networks Fieldbus specifications IEC 61784 (all parts), Industrial communication networks Profiles DIN ISO 29262:2013-03 6IEC 62026-2, Low-voltage switchgear and controlgear Controller-device interf

27、aces (CDIs) Part 2: Actuator sensor interface (AS-i) EN 50295, Low-voltage switchgear and controlgear Controller and device interface systems Actuator Sensor interface (AS-i) ANSI/TIA/EIA-568-B.2-2001, Commercial Building Telecommunications Cabling Standard Part 2: Balanced Twisted-Pair Cabling Comp

28、onents DIN 2269, Verification of geometrical parameters Cylindrical measuring pin1)DIN 32564-1, Production equipment for micro-systems Terms and definitions Part 1: General terms of micro-system technology1)IEEE 802.3, IEEE Standard for Information technology Telecommunications and information excha

29、nge between systems Local and metropolitan area networks Specific requirements Part 3: Carrier Sense Multiple Access with Collision Detection (CSMA/CD) Access Method and Physical Layer Specifications IEEE 1394, IEEE Standard for a High Performance Serial Bus 3 Terms and definitions For the purposes

30、of this document, the terms and definitions given in DIN 32564-1 and the following apply. NOTE As DIN 32564-1 is available in German only, it is intended to include the necessary definitions in a future edition. 3.1 end effector interface interface between end effector and handling system NOTE This

31、consists of a head plate and an adaptor plate. 3.2 adaptor plate part on the end effector side of an end effector interface See Figure 1. 3.3 head plate part on the handling system side of an end effector interface See Figure 1. 1) Available in German only. DIN ISO 29262:2013-03 7Key 1 head plate 2

32、adaptor plate aHandling system side. bReference plane. cEnd effector side. Figure 1 Terms relating to the end effector interface 4 General An end effector interface consists of a handling system side part (head plate) and an end effector side part (adaptor plate). Within the framework of this Intern

33、ational Standard, both the adaptor plate and the head plate of the interface are described. The method of locking (manual or automatic) is left to the discretion of the user. The interface specification is subdivided into the following three successive layers with increasing degrees of specification

34、. a) Layer 1 specifies the mechanical interface part. This includes the position, size and shape of the openings of the adaptor and head plate for the fixation of the end effector. b) Layer 2 specifies the service interface part. This includes an additional standard configuration of the feedthroughs

35、 with electrical and fluidic coupling elements. c) Layer 3 specifies the bus interface part. This includes the technical specification of the coupling elements (voltage, pressure, etc.) and an additional technical specification (electrical port assignments) for the use of industrial fieldbus interfa

36、ces. The definition of the interface includes five sizes. The nominal size is the outer diameter of the interface in millimetres. DIN ISO 29262:2013-03 8Dimensions in millimetres Figure 2 Nominal sizes 15 mm to 35 mm 5 Interface definitions 5.1 Coordinate system The description is based on the coord

37、inate system in accordance with ISO 9787, as shown in Figure 1. The point of origin of the coordinate system of the mechanical interface is the intersection of the centre-line of the adaptor plate with the reference plane A. The +Zm-axis points away from the origin towards the end effector. The twis

38、t lock (cylinder bolt, see 5.2) is located on the +Xm-axis. 5.2 Layer 1 Mechanical interface Layer 1 specifies position, size and shape of the openings of the adaptor and head plate for fixation. Figure 3 shows the arrangement determining the position of the angles for mounting and clamping elements

39、. In the event that adaptor plate and end effector are made in one piece, the mounting elements can be omitted. DIN ISO 29262:2013-03 9Dimensions in millimetres Key 1 twist lock slot; depth 1,1 mm 2 space for mounting elements 3 space for clamping elements NOTE This is an example of nominal size 20

40、(see Tables 1 and 2). Figure 3 Head plate Arrangement determining the position of the angles of the holes for mounting and clamping elements Table 1 Dimensions of fixation and angular positions of the holes for mounting elements Dimensions in millimetres Nominal size, dA15 20 25 30 35 Pitch circle d

41、iameter, dTK10 15 20 25 30 Maximum diameter of centre hole in adaptor plate, dM0,102+0,107+0,1012+0,1017+0,1022+Nominal diameter of clearance hole in head plate, dZ5 10 15 20 25 Twist lock, long slot (cylinder pin), /v 0/1 Mounting elements, B /vB B90/2 180 60/3 120 45/4 90 36/5 72 30/6 60 Lock agai

42、nst rotation, Rot112,5 195 146,25 117 97,5 Roller test dimension (for measurement, see Annex A), pR7,67 0,01 12,67 0,01 17,67 0,01 22,67 0,01 27,67 0,01 NOTE 1 For the arrangement determining the position of the angles, see Figure 3. NOTE 2 = starting angle/ = number of repetitions. DIN ISO 29262:20

43、13-03 10The external diameter of the minimal cylindrical envelope is an optional dimension and is used to define the nominal size of the interface. As preferred sizes, the nominal sizes 20 and 30 shall be selected. The clearance hole in the pitch circle at the centre of the interface allows for a vi

44、sual inspection/observation of the assembly process through the axis of the tool exchange system. The diameter shall be chosen with reference to Table 1. The holes for mounting elements, in reference to their position tolerances, may be produced in three levels of product grade (coarse, medium and f

45、ine) in accordance with Table 2. The form and position tolerances shall be in accordance with ISO 1101. Table 2 Levels of product grade Part Dimension Coarse Medium Fine t1(see Figure 5, position tolerance) t3(see Figure 4) 0,02 mm 0,01 mm 0,005 mm t5(upper deviation dz) 0,006 0,004 0,002 Adaptor pl

46、ate t6(lower deviation dz) 0,019 0,013 0,008 t1(see Figure 3, position tolerance) 0,02 mm 0,01 mm 0,005 mm t4 (see Figure 3) H7 H6 H5 t7(upper deviation, see Figure 3) 0,023 0,019 0,016 Head plate t8(lower deviation, see Figure 3) 0,010 0,010 0,010 The geometry of the fixation consists of the planar

47、 reference plane A and the cylindrical cone having a lead-in chamfer and an orientation to clamp the adaptor plate to the head plate by means of a clamping mechanism. The profile of the cone is identical for all sizes of the interface; the diameter is the only variant (see Table 1). The cone and the

48、 contact area serve to fix the position of the adaptor plate relative to the head plate. A cylinder pin (geometry in accordance with ISO 8734:1997 - 2 6) serves as a twist lock to fix the orientation of the adaptor plate around the Z-axis. The cylinder pin is located on the pitch circle on the adapt

49、or plate. The pin is placed in such a way that its chamfered end protrudes by 0,9 mm to 1,0 mm over reference plane A (see Figure 5). The cone shall have a groove for the pre-alignment of head and adaptor plate during the coupling process (see Figure 5), before the twist lock pin engages in the final p