1、BRITISH STANDARD BS EN ISO 11593:1998 Manipulating industrial robots Automatic end effectorsystems Vocabularyand presentation of characteristics The European Standard EN ISO11593:1997 has the status of a British Standard ICS01.040.25; 25.040.30BSENISO11593:1998 This British Standard, having been pre
2、pared under the directionof the DISC Board, waspublished under the authorityof the Standards Boardand comes into effect on 15 March1998 BSI04-1999 ISBN 0 580 29340 8 National foreword This British Standard is the English language version of EN ISO11593:1997. It is identical with ISO11593:1996. The U
3、K participation in its preparation was entrusted to Technical Committee AMT/-/3, Numerical control and robotics, which has the responsibility to: aid enquirers to understand the text; present to the responsible international/European committee any enquiries on the interpretation, or proposals for ch
4、ange, and keep the UKinterests informed; monitor related international and European developments and promulgate them in the UK. A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references Attention is drawn to the fact that CEN and CENELEC stan
5、dards normally include an annex which lists normative references to international publications with their corresponding European publications. The BritishStandards which implement these international or European publications may be found in the BSI Standards Catalogue under the section entitled “Int
6、ernational Standards Correspondence Index”, or by using the “Find” facility of the BSI Standards Electronic Catalogue. A British Standard does not purport to include all the necessary provisions of a contract. Users of British Standards are responsible for their correct application. Compliance with
7、a British Standard does not of itself confer immunity from legal obligations. Summary of pages This document comprises a front cover, an inside front cover, pages i and ii, theEN ISO title page, page 2, the ISO title page, pagesii toiv, pages1 to16, an inside back cover and a back cover. This standa
8、rd has been updated (see copyright date) and may have had amendments incorporated. This will be indicated in the amendment table on the inside front cover. Amendments issued since publication Amd. No. Date CommentsBSENISO11593:1998 BSI 04-1999 i Contents Page National foreword Inside front cover For
9、eword 2 Foreword iii Text of ISO11593 1ii blankEUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO11593 October1997 ICS01.040.25; 25.040.30 Descriptors: See ISO document English version Manipulating industrial robots Automatic end effector exchange systems Vocabulary and presentation of charact
10、eristics (ISO11593:1996) Robots manipulateurs industriels Systmes de changement automatique de terminal Vocabulaire et prsentation des caractristiques (ISO11593:1996) Industrieroboter Automatische Wechselsysteme fr Endeffektoren Begriffe und Darstellung charakteristischer Eigenschaften (ISO11593:199
11、6) This European Standard was approved by CEN on18 September1997. CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical
12、references concerning such national standards may be obtained on application to the Central Secretariat or to any CEN member. This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CEN memb
13、er into its own language and notified to the Central Secretariat has the same status as the official versions. CEN members are the national standards bodies of Austria, Belgium, CzechRepublic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portug
14、al, Spain, Sweden, Switzerland and United Kingdom. CEN European Committee for Standardization Comit Europen de Normalisation Europisches Komitee fr Normung Central Secretariat: rue de Stassart 36, B-1050 Brussels 1997 CEN All rights of exploitation in any form and by any means reserved worldwide for
15、 CEN national Members. Ref. No. EN ISO11593:1997 EENISO11593:1997 BSI 04-1999 2 Foreword The text of the International Standard from Technical Committee ISO/TC184 “Industrial automation systems and integration” of the International Organization for Standardization (ISO) has been taken over as an Eur
16、opean Standard by Technical Committee CEN/TC310 “Advanced Manufacturing Technologies”, the secretariat of which is held by BSI. This European Standard shall be given the status of a national standard, either by publication of an identical text or by endorsement, at the latest by April1998, and confl
17、icting national standards shall be withdrawn at the latest by April1998. According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, CzechRepublic, Denmark, Finland, France, German
18、y, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United Kingdom. Endorsement notice The text of the International Standard ISO11593:1996 has been approved by CEN as a European Standard without any modification. NOTENormative references
19、 to International Standards are listed inAnnex ZA (normative).ENISO11593:1997 ii BSI 04-1999 Contents Page Foreword iii Introduction 1 1 Scope 1 2 Normative references 1 3 Terms and definitions 1 3.1 External shape and main dimensions of the exchange system 2 3.2 Positioning and orientation in coupl
20、ing procedures 3 3.3 Coupling and releasing forces 9 3.4 Load characteristics 9 3.5 Magazine interface of the tool mounted part 10 3.6 Tool exchange time 11 Alphabetical index 13 Annex A (informative) Format for the presentation of automatic end effector exchange systems characteristics 14 Annex ZA
21、(normative) Normative references to international publications with their relevant European publications Inside back cover Descriptors: Automation, automation engineering, manipulators, industrial robots, characteristics, presentation, vocabulary.ENISO11593:1997 BSI 04-1999 iii Foreword ISO (the Int
22、ernational Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which a technical committee ha
23、s been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical
24、standardization. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least75% of the member bodies casting a vote. International Standard ISO11593 was prepared by Technical
25、Committee ISO/TC184, Industrial automation systems and integration, Subcommittee SC2, Robots for manufacturing environment. Annex A of this International Standard is for information only.iv blankENISO11593:1997 BSI 04-1999 1 Introduction ISO11593 is one of a series of standards dealing with the requ
26、irements of manipulating industrial robots. Other documents cover such topics as terminology, general characteristics, coordinate systems, performance criteria and related test methods, safety, robot programming languages, and robot companion standards to MMS. It is noted that these standards are in
27、terrelated and also related to other International Standards. Automatic exchange systems for end effectors increase in importance for handling devices. This International Standard contains the vocabulary and presentation of characteristics, e.g.forces, moments (torques), and exchange times, for end
28、effector exchange systems. This International Standard does not contain any details for the development and design of these systems. 1 Scope This International Standard defines terms relevant to automatic end effector exchange systems used for manipulating industrial robots operated in a manufacturi
29、ng environment. The terms are presented by their symbol, unit, definition and description. The definition includes applicable references to existing standards. Annex A provides a format for the presentation of automatic end effector exchange systems characteristics. 2 Normative references The follow
30、ing standards contain provisions which, through reference in this text, constitute provisions of this International Standard. At the time of publication, the editions indicated were valid. All standards are subject to revision, and parties to agreements based on this International Standard are encou
31、raged to investigate the possibility of applying the most recent editions of the standards indicated below. Members of IEC and ISO maintain registers of currently valid International Standards. ISO8373:1994, Manipulating industrial robots Vocabulary. ISO9409-1:1996, Manipulating industrial robots Me
32、chanical interfaces Part1: Plates (form A). ISO9409-2:1996, Manipulating industrial robots Mechanical interfaces Part2: Shafts (form A). ISO9787:1990, Manipulating industrial robots Coordinate systems and motions. 3 Terms and definitions For the purposes of this International Standard, the definitio
33、ns given in ISO8373 apply.ENISO11593:1997 2 BSI 04-1999 No. Term Symbol Unit Definition and description 3.1 External shape and main dimensions of the exchange system 3.1.1 structural shape Overall dimensions of device: D mm external diameter (for circular shape) A mm width (for other) B mm depth L r
34、 mm length of the individual robot-mounted part L t mm length of the individual tool-mounted part 3.1.2 face-to-face dimension Distance measured from the robot interface to the tool interface: L total % mm length of the coupled systems; L cr % mm coupling length of the robot part; L ct % mm coupling
35、 length of the tool part. The tolerance of the length L crand L cthas a significant effect on the pose accuracy of the complete system when using different tools. 3.1.3 centre of gravity in the coupled system L g mm Distance of the centre of gravity in the coupled system from the reference plane of
36、the mechanical interface of the robot. 3.1.4 moment of inertia of the coupled system I kgm 2 Moment of inertia of the coupled system about the Z maxis. 3.1.5 mass m r kg Mass of the robot part. m t kg Mass of the tool part. ENISO11593:1997 BSI 04-1999 3 No. Term Symbol Unit Definition and descriptio
37、n 3.1.6 interface for robot side and tool side Description and marking for robot part and tool part according to ISO 9409-1 and ISO 9409-2. 3.1.7 cable routing Position and dimension of routing and tracking of cable for robot part and tool part in one drawing. 3.2 Positioning and orientation in coup
38、ling procedures 3.2.1 coupling direction The coupling direction is the direction in which the robot-mounted and/or the tool-mounted part are moved to each other. Kinds of coupling direction: On axial coupling direction the motion of coupling runs vertical to the level of separation of the interface.
39、 On lateral coupling direction the motion of coupling runs parallel to the level of separation of the interface.ENISO11593:1997 4 BSI 04-1999 No. Term Symbol Unit Definition and description 3.2.2 length of the approach distance L a mm The length of the approach distance shows the total distance of o
40、peration of the robot-mounted (and/or tool-mounted) part in coupling direction until the complete coupling of both parts. The approach distance results from the total of the following single coupling distances: L a1 mm distance of operation for precentring; L a2 mm distance of operation for centring
41、; L a3 mm distance of operation thereafter until the complete coupling L a= L a1 + L a2 + L a3 . On axial coupling direction the approach distance runs vertical to the reference plane, on lateral coupling direction it runs parallel to the reference plane. Example for axial coupling direction:ENISO11
42、593:1997 BSI 04-1999 5 No. Term Symbol Unit Definition and description 3.2.3 start position X s mm The start position represents the position of the robot-mounted part of the exchange device in relation to the tool-mounted part shortly before the coupling process begins. If the start position is rel
43、ated to a typical kind of arrangement, the start position can be defined in the cartesian coordinate system X 1 , Y 1 , Z 1of the robot (according to ISO9787) as X s , Y s , Z s . Y s mm Z s mm Example for axial coupling direction:ENISO11593:1997 6 BSI 04-1999 No. Term Symbol Unit Definition and des
44、cription 3.2.4 position tolerance in the start position s f mm mm To permit the assembly of both parts of the exchange system, the start position must be fixed with a defined accuracy. The position tolerance in the start position is fixed by the attained pose within a cylindrical space. The command
45、start position represents the centre of thus tolerancing space, which is marked by the diameter s in circular direction and the height f in axial direction. Example for axial coupling direction:ENISO11593:1997 BSI 04-1999 7 No. Term Symbol Unit Definition and description 3.2.5 orientation tolerance
46、in the start position The orientation tolerance must be fixed with a precise accuracy. All values concerning the orientation tolerance are related to the mechanical interface coordinate system X m , Y m , Z m . The command value for the orientation is given by the alignment X m , Y m , Z m , A, B, C
47、. NOTEThe orientation tolerance is defined from the two measures “limit value of the misalignment” and “limit value of distortion”. 3.2.6 limit value of the misalignment 0,5 rad or degree The limited deviations of the attained pose from the command pose according to the X mand Y maxis (rotations and
48、 respectively) can normally be regarded as identical and are represented as limit values of the misalignment 0,5 and 0,5 respectively (see the figure in3.2.5). 0,5 rad or degree 3.2.7 limit value of the distortion 0,5 rad or degree The deviation of the attained pose from the command pose according t
49、o the Z maxis is represented as limit value of the distortion 0,5 (see the figure in3.2.5). 3.2.8 tolerance of the coupling path The deviation of the coupling path shall be within the approved position tolerance in the start position.ENISO11593:1997 8 BSI 04-1999 No. Term Symbol Unit Definition and description 3.2.9 coupling repeatability The coupling repeatability defines the deviation between the robot part and the tool part in case of multiple coupling operations. Reference point is the centre
