1、BRITISH STANDARD BS EN ISO 9409-2:2003 Manipulating industrial robots Mechanical interfaces Part 2: Shafts The European Standard EN ISO 9409-2:2003 has the status of a British Standard ICS 25.040.30 BS EN ISO 9409-2:2003 This British Standard was published under the authority of the Standards Policy
2、 and Strategy Committee on 23 November 2004 BSI 23 November 2004 ISBN 0 580 44849 5 National foreword This British Standard is the official English language version of EN ISO 9409-2:2003. It is identical with ISO 9409-2:2002. It supersedes BS EN ISO 9409-2:1997 which is withdrawn. The UK participati
3、on in its preparation was entrusted to Technical Committee AMT/4, Product data exchange, which has the responsibility to: A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references The British Standards which implement international or Europea
4、n publications referred to in this document may be found in the BSI Catalogue under the section entitled “International Standards Correspondence Index”, or by using the “Search” facility of the BSI Electronic Catalogue or of British Standards Online. This publication does not purport to include all
5、the necessary provisions of a contract. Users are responsible for its correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. aid enquirers to understand the text; present to the responsible international/European committee any enquiries on
6、the interpretation, or proposals for change, and keep the UK interests informed; monitor related international and European developments and promulgate them in the UK. Summary of pages This document comprises a front cover, an inside front cover, the EN ISO title page, the EN ISO foreword page, the
7、ISO title page, pages ii to iv, pages 1 to 8, an inside back cover and a back cover. The BSI copyright notice displayed in this document indicates when the document was last issued. Amendments issued since publication Amd. No. Date CommentsEUROPEANSTANDARD NORMEEUROPENNE EUROPISCHENORM ENISO94092 Ju
8、ly2003 ICS25.040.30 SupersedesENISO94092:1996 Englishversion ManipulatingindustrialrobotsMechanicalinterfacesPart2: Shafts(ISO94092:2002) RobotsmanipulateursindustrielsInterfacesmcaniques Partie2:Interfacesqueue(ISO94092:2002) IndustrieroboterMechanischeSchnittstellenTeil2: Shafte(ISO94092:2002) Thi
9、sEuropeanStandardwasapprovedbyCENon27December2002. CENmembersareboundtocomplywiththeCEN/CENELECInternalRegulationswhichstipulatetheconditionsforgivingthisEurope an Standardthestatusofanationalstandardwithoutanyalteration.Uptodatelistsandbibliographicalreferencesconcernings uchnational standardsmaybe
10、obtainedonapplicationtotheManagementCentreortoanyCENmember. ThisEuropeanStandardexistsinthreeofficialversions(English,French,German).Aversioninanyotherlanguagemadebytra nslation undertheresponsibilityofaCENmemberintoitsownlanguageandnotifiedtotheManagementCentrehasthesamestatusasthe official version
11、s. CENmembersarethenationalstandardsbodiesofAustria,Belgium,CzechRepublic,Denmark,Finland,France,Germany,Greece, Hungary,Iceland,Ireland,Italy,Luxembourg,Malta,Netherlands,Norway,Portugal,Slovakia,Spain,Sweden,SwitzerlandandUn ited Kingdom. EUROPEANCOMMITTEEFORSTANDARDIZATION COMITEUROPENDENORMALISA
12、TION EUROPISCHESKOMITEEFRNORMUNG ManagementCentre:ruedeStassart,36B1050Brussels 2003CEN Allrightsofexploitationinanyformandbyanymeansreserved worldwideforCENnationalMembers. Ref.No.ENISO94092:2003EINESO4990:22(300E) 2 Foreword ThetextofISO94092:2002hasbeenpreparedbyTechnicalCommitteeISO/TC184 “Indus
13、trialautomationsystemsandintegration“oftheInternationalOrganizationfor Standardization(ISO)andhasbeentakenoverasENISO94092:2003byTechnical CommitteeCEN/TC310“AdvancedManufacturingTechnologies“,thesecretariatofwhichis heldbyBSI. ThisEuropeanStandardshallbegiventhestatusofanationalstandard,eitherbypub
14、lication ofanidenticaltextorbyendorsement,atthelatestbyJanuary2004,andconflictingnational standardsshallbewithdrawnatthelatestbyJanuary2004. ThisdocumentsupersedesENISO94092:1996. AccordingtotheCEN/CENELECInternalRegulations,thenationalstandardsorganizationsof thefollowingcountriesareboundtoimplemen
15、tthisEuropeanStandard:Austria,Belgium, CzechRepublic,Denmark,Finland,France,Germany,Greece,Hungary,Iceland,Ireland, Italy,Luxembourg,Malta,Netherlands,Norway,Portugal,Slovakia,Spain,Sweden, SwitzerlandandtheUnitedKingdom. NOTEFROMCMC TheforewordissusceptibletobeamendedonreceptionoftheGerman language
16、version.Theconfirmedoramendedforeword,andwhenappropriate,thenormative annexZAforthereferencestointernationalpublicationswiththeirrelevantEuropean publicationswillbecirculatedwiththeGermanversion. Endorsementnotice ThetextofISO94092:2002hasbeenapprovedbyCENasENISO94092:2003withoutany modifications. E
17、NISO94092:2004 Reference number ISO 9409-2:2002(E) OSI 2002INTERNATIONAL STANDARD ISO 9409-2 Second edition 2002-11-01 Manipulating industrial robots Mechanical interfaces Part 2: Shafts Robots manipulateurs industriels Interfaces mcaniques Partie 2: Interfaces queue ENISO94092:2004IS-9049 O2:(2002)
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22、tnuoo yrf ttseuqer ehe.r ISO cirypothg fofice saCe tsopale 65 eneG 1121-HC 02 av leT. 4 + 10 947 22 1 11 xaF0 947 22 14 + 9 74 E-mail coirypthgiso.c h Web ww.wiso.ch Printi denS witlrez dnaii ISO 2002 Allr ithgsr esedevrENISO94092:2004ISO 9409-2:2002(E) I SO 2002 All irthgs ersedevr iiiForeword ISO
23、(the International 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 comm
24、ittee has 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 electrote
25、chnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 3. The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circulated to the memb
26、er bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. Attention is drawn to the possibility that some of the elements of this part of ISO 9409 may be the subject of patent rights. ISO shall not be held responsible for i
27、dentifying any or all such patent rights. ISO 9409-2 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturing environment. This second edition cancels and replaces the first edition (ISO 9409-2:1996), of which it const
28、itutes a minor revision. Clause 7 has been revised. ISO 9409 consists of the following parts, under the general title Manipulating industrial robots Mechanical interfaces: Part 1: Plates Part 2: Shafts ENISO94092:2004ISO 9409-2:2002(E) iv I SO 2002 All irthgs ersedevrIntroduction This part of ISO 94
29、09 is part of a series of International Standards dealing with manipulating industrial robots. Other International Standards cover such topics as safety, general characteristics, coordinate systems, performance criteria and related test methods, terminology, and robot programming. It is noted that t
30、hese standards are interrelated and also related to other International Standards. Manipulating industrial robots are steadily growing in importance in industrial automation. Depending on the type of application, they may require removable end effectors such as grippers or tools which are attached t
31、o the mechanical interface. ENISO94092:2004INTENRATIONAL TSANDADR IS-9049 O2:(2002)E ISO 2002 All rights reserved 1Manipulating industrial robots Mechanical interfaces Part 2: Shafts 1 Scope This part of ISO 9409 defines the main dimensions, designation and marking for a shaft with cylindrical proje
32、ction as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors. This part of ISO 9409 does not contain any correlation of load-carrying ranges. The mechanical interfaces specified in this part of ISO 9409 will also find applicati
33、on in simple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and-place or master-slave units. 2 Normative references The following normative documents contain provisions which, through reference in this text, constitute provisions of this part
34、 of ISO 9409. For dated references, subsequent amendments to, or revisions of, any of these publications do not apply. However, parties to agreements based on this part of ISO 9409 are encouraged to investigate the possibility of applying the most recent editions of the normative documents indicated
35、 below. For undated references, the latest edition of the normative document referred to applies. Members of ISO and IEC maintain registers of currently valid International Standards. ISO 286-1:1988, ISO system of limits and fits Part 1: Bases of tolerances, deviations and fits ISO 286-2:1988, ISO s
36、ystem of limits and fits Part 2: Tables of standard tolerance grades and limit deviations for holes and shafts ISO 1101: 1) , Geometrical Product Specifications (GPS) Geometrical tolerancing Tolerances of form, orientation, location and run-out ISO 8373:1994, Manipulating industrial robots Vocabular
37、y ISO 9409-1:1996, Manipulating industrial robots Mechanical interfaces Part 1: Plates (form A) ISO 9787:1999, Manipulating industrial robots Coordinate systems and motion nomenclatures 3 Terms and definitions For the purposes of this part of ISO 9409, the terms and definitions given in ISO 8373 app
38、ly. 1) To be published. (Revision of ISO 1101:1983) ENISO94092:2004IS-9049 O2:(2002)E 2 I SO 2002 All irthgs ersedevr4 Dimensions 4.1 General It is recommended that the dimensions for a shaft with cylindrical projection as mechanical interface be specified in accordance with Figure 1 and Table 1 (Ty
39、pe 1, without a slot for end effector orientation) or Figure 2 and Table 2 (Type 2, with a slot for end effector orientation). It is recommended that series 1 dimensions be used. The supplementary series 2 shall be used only in special applications where series 1 dimensions are not suitable for the
40、intended use. The reference plane is defined as shown in Figures 1 and 2. The end effectors are positioned against the reference plane (see the note in clause 5). 4.2 Coordinate system The origin of the mechanical interface coordinate system as defined in ISO 9787 is the intersecting point of the ce
41、ntre axis of the shaft and the reference plane. The +Z maxis points away from the origin towards the end of the shaft. The flat surface and the slot (optional) is aligned to the +X maxis as shown in Figures 1 and 2. The flat surface is a place where a set screw is seated to fix an end effector. The
42、slot is used for mating a pin mounted on an end effector to maintain end-effector orientation (see clause 5). 4.3 Tolerances The mechanical interface dimensions shall be toleranced in accordance with ISO 286. Geometric tolerances shall be interpreted in accordance with ISO 1101. The shaft diameter,
43、d 1 , shall be the datum for all geometrical tolerances (see Figures 1 and 2). 4.4 Load-carrying capacity and shaft material The mechanical interface of the shaft specified in this part of ISO 9409 is suitable for robots of relatively small load capacity and for applications where end effectors are
44、expected to move with narrow clearance between peripherals. The use of a plate as mechanical interface (ISO 9409-1) is recommended when a shaft is not sufficient for bearing expected loads. 5 End effector requirements The dimensions and related tolerances of the mating surface of the end effector sh
45、all be compatible with those specified in this part of ISO 9409. The slot on the interface, b l 5(optional; see Figure 2 and Table 2), is intended for mating a location pin mounted on an end effector to maintain end effector orientation. A parallel (cylindrical) pin is recommended for this purpose.
46、The pin axis shall be aligned to the +X maxis. The shaft, d 1 l 1 , shall be of sufficient length and strength to bear an end effector coupled with friction, for example an end effector attached by clamping. The threaded hole on the shaft end can be used to fix end effectors. NOTE The shaft end shou
47、ld not be used as a dimensional reference; the end effectors should be positioned against the reference plane. ENISO94092:2004IS-9049 O2:(2002)E I SO 2002 All irthgs ersedevr 36 Recommended practices Provisions for routing service lines A threaded hole can be made as a through hole for cabling or piping, or for exhausting surrounding air. If the shaft is provided with a hollow centre, the through hole shall have a diameter, d 4 , equal to or less than the pilot hole diameter of the threaded hole, d 3 . 7 Designation code The designation of the mechanical interface whose dimensions are
