1、raising standards worldwideNO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBSI Standards PublicationBS ISO 29262:2011Production equipment formicrosystems Interfacebetween end effector andhandling systemBS ISO 29262:2011 BRITISH STANDARDNational forewordThis British Standard is
2、the UK implementation of ISO 29262:2011.The UK participation in its preparation was entrusted to TechnicalCommittee MTE/1, Machine tools.A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprov
3、isions of a contract. Users are responsible for its correctapplication. BSI 2011ISBN 978 0 580 65266 0ICS 25.040.99Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on
4、31 March 2011.Amendments issued since publicationDate Text affectedBS ISO 29262:2011Reference numberISO 29262:2011(E)ISO 2011INTERNATIONAL STANDARD ISO29262First edition2011-03-01Production equipment for microsystems Interface between end effector and handling system quipement de production pour sys
5、tmes microtechniques Interface entre outil et dispositif de manipulation BS ISO 29262:2011ISO 29262:2011(E) PDF disclaimer This PDF file may contain embedded typefaces. In accordance with Adobes licensing policy, this file may be printed or viewed but shall not be edited unless the typefaces which a
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10、Published in Switzerland ii ISO 2011 All rights reservedBS ISO 29262:2011ISO 29262:2011(E) ISO 2011 All rights reserved iiiContents Page Foreword iv Introduction.v 1 Scope1 2 Normative references1 3 Terms and definitions .2 4 General .3 5 Interface definitions 4 5.1 Coordinate system 4 5.2 Layer 1 M
11、echanical interface.4 5.3 Layer 2 Service interface .8 5.4 Layer 3 Bus interface part11 5.5 Tolerances14 5.6 Load-bearing capacities .14 5.7 Designation 15 Annex A (normative) Tests procedure for fixation interface, pR.16 Bibliography17 BS ISO 29262:2011ISO 29262:2011(E) iv ISO 2011 All rights reser
12、vedForeword ISO (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
13、a technical committee 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 matt
14、ers of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circul
15、ated to the member 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 document may be the subject of patent rights. ISO shall not be held responsib
16、le for identifying any or all such patent rights. ISO 29262 was prepared by Technical Committee ISO/TC 39, Machine tools. BS ISO 29262:2011ISO 29262:2011(E) ISO 2011 All rights reserved vIntroduction This International Standard specifies requirements for an interface between end effector and handlin
17、g systems, or between functional modules in production equipment for microsystems. In production equipment for precision and microsystem technology, it is necessary for tools and end effectors to be replaced frequently because of small production runs. Interfaces for macroscopic handling systems, st
18、andardized 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 unsuitable for use as interface for end effectors and tools in micro and precision mechanics. This International Standard defines, in addition
19、 to the mechanical interface, the position and specification of the feedthroughs for fluidic and electrical coupling elements. An extra feature of this International Standard that differs from other standards in use is a central opening to permit the observation of the production or assembly process
20、. BS ISO 29262:2011BS ISO 29262:2011INTERNATIONAL STANDARD ISO 29262:2011(E) ISO 2011 All rights reserved 1Production equipment for microsystems Interface between end effector and handling system 1 Scope This International Standard specifies provisions for the interface between end effector and hand
21、ling 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 with an increasing degree of specification. 2 Normative refe
22、rences 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 amendments) applies. ISO 286-1, Geometrical product specificati
23、ons (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 tolerance classes and limit deviations for holes and shafts ISO 1101
24、, 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 hardened steel and martensitic stainless steel (Dowel pins) ISO 9
25、409-1, 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 ISO 18265, Metallic materials Conversion of hardness values
26、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 controllers Part 2: Equipment requirements and tests IEC 611
27、58 (all parts), Industrial communication networks Fieldbus specifications IEC 61784 (all parts), Industrial communication networks Profiles BS ISO 29262:2011ISO 29262:2011(E) 2 ISO 2011 All rights reservedIEC 62026-2, Low-voltage switchgear and controlgear Controller-device interfaces (CDIs) Part 2:
28、 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 Components DIN 2269, Ve
29、rification 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 exchange between systems
30、 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 of this document, t
31、he 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 consists of a head
32、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. BS ISO 29262:2011ISO 29262:2011(E) ISO 2011 All rights reserv
33、ed 3Key 1 head plate 2 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 f
34、ramework of this International 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 d
35、egrees of specification. 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 configurat
36、ion of the feedthroughs 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 indu
37、strial fieldbus interfaces. The definition of the interface includes five sizes. The nominal size is the outer diameter of the interface in millimetres. BS ISO 29262:2011ISO 29262:2011(E) 4 ISO 2011 All rights reservedDimensions in millimetres Figure 2 Nominal sizes 15 mm to 35 mm 5 Interface defini
38、tions 5.1 Coordinate system The description is based on the coordinate 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-ax
39、is points away from the origin towards the end effector. The twist 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 determin
40、ing the position of the angles for mounting and clamping elements. In the event that adaptor plate and end effector are made in one piece, the mounting elements can be omitted. BS ISO 29262:2011ISO 29262:2011(E) ISO 2011 All rights reserved 5Dimensions in millimetres Key 1 twist lock slot; depth 1,1
41、 mm 2 space for mounting elements 3 space for clamping elements NOTE This is an example of nominal size 20 (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
42、 of the holes for mounting elements Dimensions in millimetres Nominal size, dA15 20 25 30 35 Pitch circle diameter, 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, lon
43、g 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 against 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 t
44、he position of the angles, see Figure 3. NOTE 2 = starting angle/ = number of repetitions. BS ISO 29262:2011ISO 29262:2011(E) 6 ISO 2011 All rights reservedThe external diameter of the minimal cylindrical envelope is an optional dimension and is used to define the nominal size of the interface. As p
45、referred 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 visual inspection/observation of the assembly process through the axis of the tool exchange system. The diameter shall be chosen with reference to Table 1
46、. The holes for mounting elements, in reference to their position tolerances, may be produced in three levels of product grade (coarse, medium and fine) 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 C
47、oarse 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 plate 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
48、, 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 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 clamp
49、ing 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 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
