1、STD-BSI BS EN IS0 11593-ENGL 1998 = 1b24bb7 ObA7b54 5T2 BRITISH STANDARD Manipulating industrial robots - Automatic end effector systems - Vocabulary and presentation of characteristics The European Standard EN IS0 11593 : 1997 has the status of a British Standard ICs 01.040.25; 25.040.30 NO COPYING
2、 WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAW BS EN IS0 11593 : 1998 STD-BSI BS EN IS0 L1593-ENGL 1978 W LbZqbbS Ob87655 937 W BS EN IS0 11693 : 1998 National foreword This British Standard is the English language version of EN IS0 11593 : 1997. It is identical with IS0 11593 : 1996.
3、The TJK participation in its preparation was entrusted to Technical Committee AMT/-B, Numerical control and robotics, which has the responsibility to: - aid enquirem to understand the te* - present to the responsible international/European committee any enquiries on the interpretation, or proposals
4、for change, and keep the UK interests 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 CEN
5、ELEC standards nody include an annex which lists normative references to international publications with their corresponding European publications. The British Standards which implement these intedonal or European publications may be found in the BSI Standards Catalogue under the section entitled In
6、tedonal 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 a Brit
7、ish Standard does not of itself confer immunity from legal obligations. Summary of pages This document comprises a front cover, an inside front cover, the EN IS0 title page, the EN IS0 foreword page, the IS0 title page, pages ii to iv, pages 1 to 18, the annex ZA page and a back cover. This British
8、Standard, having been prepared under the direction of the DISC Board, was published under the authority of the Standards Board and comes into effect on 15 March 1998 Amendments issued since publication I Te*affected AmdNo. Date 0 BSI 1998 ISBN O 680 29340 8 STDSBSI BS EN IS0 LL573-ENGL 1978 = Lb24bb
9、7 ObA9b5b 375 W EUROPEAN STANDARD NORME EUROPEENNE EUROPISCHE NORM EN IS0 11593 October 1997 ICs 01.040.25; 25.040.30 Descriptors: See IS0 document English version Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics (IS0 1 1593: 1
10、996) Robots manipulateurs industriels - Systmes de changement automatique de terminal - Vocabulaire et presentation des caractbristiques (IS0 115931996) Industrierobder - Automatische Wechselsysteme fr Endeffektoren - Begriffe und Darstellung charakteristischer Eigenschaften (IS0 11 5931 996) This E
11、uropean Standard was approved by CEN on 18 September 1997. CEN members are bound to comply with the CENICENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Upto-date lists and bibliographical referenc
12、es concerning such national standards may be obtained on application tolhe Central Secreiariat 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 lhe responsibility of a CEN member into i
13、ts 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, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg. Netherlands. Norway, Portugal, Spai
14、n, Sweden, Switzerland and United Kingdom. EUROPEAN COMMllTEE FOR STANDARDIZATION EUROPISCHES KOMITEE FUR NORMUNG COMITG EUROPEEN DE NORMALISATION Central Secretariat: rue de Stassart. 36 8-1050 Brussels Q 1997 CEN All rights of exploitation in any form and by any means reserved worldwide for CEN na
15、tional Members. Ref. No. EN IC0 115931997 E - STD-BSI BS EN IS0 L1573-ENGL 1778 lbZqbb7 Ob87b57 201 EN IS0 11593 : 1997 Foreword The text of the International Standard from Technid Committee ISO/TC 184 “Industrial automation systems and integration” of the International Organization for Standardizat
16、ion (ISO) has been taken over as an European Standad by Technical Committee CENRC 3 1 O “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 endorsemen
17、t, at the latest by April 1998, and conflicting nationai standards shall be withdrawn at the latest by April 1998. Acmrding to the CENICENELEC internal Regulations, the national standars organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Czech R
18、epublic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United Kingdom. Endorsement notice The text of the International Standard IS0 11593: 1996 has been approved by CEN as a European Standaxd without
19、 any modification. NOTE: Normative references to International Standards are listed in annex ZA (normative). STD.BS BS EN IS0 11593-ENGL 1798 Zb24bb7 Ub9b58 148 EN IS0 11593 : 1997 I NT E R NAT I O N AL STANDARD IS0 11593 First edition 1996-08-01 Manipulating industrial robots - Automatic end effect
20、or exchange systems - Vocabulary and presentation of characteristics Robots manipulateurs industriels - Systmes de changement automatique de terminal - Vocabulaire et prsentation des caractristiques Reference number IS0 1 1593:1996(E) STD-BSI BS EN IS0 lL573-ENGL 1778 lbZLibb7 Ob87b57 084 EN IS0 115
21、93 : 1997 Contents Page 1 Scope 1 2 Normative references . 1 3 Terms and definitions 1 3.1 system 2 3.2 Positioning and orientation in coupling 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
22、. 11 External shape and main dimensions of the exchange Aphabaiclil index 13 Annex A Format for the presentation of automatic end effector exchange systems characteristics 14 Dascriptors: automation, automation engineering, manipulators, industrial robots, characteristics, presentation, vocabulary.
23、STD-BSI BS EN IS0 LL573-ENGL L778 m Lb2Libb9 Ob89bb0 8Tb m EN IS0 11693 : 1997 Foreword IS0 (the International Organization for Standardization) is a worldwide fed- eration of national standards bodies (IS0 member bodies). The work of preparing International Standards is normally carried out through
24、 IS0 technical committees. Each member body interested in a subject for which 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. IS0 collaborate
25、s closely with the International Electrotechnical Commission (I EC) on all matters of electrotechnical 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 l
26、east 75 % of the member bodies casting a vote. International Standard IS0 1 1593 was prepared by Technical Committee ISO/TC 184, industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturing environment. Annex A of this International Standard is for information only. . I
27、ll STD-BSI BS EN IS0 LL573-ENGL 1998 Lb29bbS ObASbbl 732 EN IS0 11593 : 1997 Introduction IS0 1 1593 is one of a series of standards dealing with the requirements of manipulating industrial robots. Other documents cover such topics as terminology, general characteristics, coordinate systems, perform
28、ance cri- teria and related test methods, safety, robot programming languages, and robot companion standards to MMS. It is noted that these standards are interrelated and also related to other International Standards. Automatic exchange systems for end effectors increase in importance for handling d
29、evices. This International Standard contains the vocabulary and presentation of characteristics, e.g. forces, moments (torques), and ex- change times, for end effector exchange systems. This International Stan- dard does not contain any details for the development and design of these systems. iv STD
30、-BSI BS EN IS0 11593-ENGL 1998 LbZLibb7 Ob87bb2 b77 EN IS0 11593 : 1997 Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics 1 Scope This International Standard defines terms relevant to automatic end effector exchange systems used
31、 for manipulat- ing industrial robots operated in a manufacturing environment. The terms are presented by their symbol, unit, definition and description. The definition includes applicable refer- ences to existing standards. Annex A provides a format for the presentation of automatic end effector ex
32、change systems characteristics, 2 Normative references The following standards contain provisions which, through reference in this text, constitute provisions of this Inter- national Standard. At the time of publication, the editions indicated were valid. All standards are subject to revision, and p
33、arties to agreements based on this International Standard are encouraged to investigate the possibility of ap- plying the most recent editions of the standards indicated below. Members of IEC and IS0 maintain registers of currently valid International Standards. IS0 8373: 1994, Manipulating industri
34、al robots - Vocabulary. IS0 9409-1 :1996, Manipulating industrial robots - Mechanical interfaces - Part 7: Plates (form A). IS0 9409-2:1996, Manipulating industrial robots - Mechanical interfaces - Part 2: Shafts (form A). IS0 9787: 1990, Manipulating industrial robots - Coordinate systems and motio
35、ns. 3 Terms and definitions For the purposes of this International Standard, the definitions given in IS0 8373 apply. 1 - STD-BSI BS EN IS0 11593-ENGL 1998 m Ib24bb9 Ob87bb3 505 = EN IS0 11693 : 1997 No. I Term I Symbol I Unit I Definition and description f 3.1 External shape and main dimensions of
36、the exchai 3.1.1 3.1.2 3.1.3 3.1.4 3.1.5 3.1.6 structural shape face-to-face dimension centre of gravity in the coupled system moment of inertia of the coupled system mass interface for robot side and tool side D A B Lr Lt Ls I mr mt mm mm mm mm mm mm mm mm mm kg-mz le system TOOL Overall dimensions
37、 of device: external diameter (for circular shape) width (forother) depth length of the individual robot-mounted part length of the individual tool-mounted part Distance measured from the robot interface to the tool interface: length of the coupled systems; coupling length of the robot part; couplin
38、g length of the tool part. The tolerance of the length I distance of operation for centring; distance of operation thereafter until the complete coupling La = La1 + La2 + Lag. On axial coupling direction the approach distance runs vertical to the reference plane, on lateral coupling direction it run
39、s parallel to the reference plane. Example for axial coupling direction: Coupling direction part 1 Tool part 4 No. 3.2.3 STD-BSI BS EN IS0 1L573-ENGL 1998 D Lb24bb7 Ob89bbb 214 EN IS0 11593 : 1997 Term start position Symbol XS YS ZS Unit mm mm mm Definition and description The start position represe
40、nts the position of the robot-mounted part of the exchange device in re lation to the tool-mounted part shortly before th coupling process begins. If the start position is re lated to a typical kind of arrangement, the stad position can be defined in the Cartesian coordinate system XI, YI, Z1 of the
41、 robot (according tc IS0 9787) as X, Ys, 2,. Example for axial coupling direction: Start position (Xs. Y, .z,) 5 STD-BSI BS EN IS0 11593-ENGL 1778 1b24bb7 Ob89bb7 150 No. Term 3.2.4 position tolerance in the start position . EN IS0 11593 : 1997 Symbol f S Unit I Definition and descrbtion mm mm To pe
42、rmit the assembly of both parts of the ex- change 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 start position represents the centre of thus tolerancing space, which
43、 is marked by the diameter s in circular direction and the height f in axial direction. Example for axial coupling direction: actual X, actual Xr target Yr target OSAS i - OSAS I! 1 i ir target t Z, actual 6 STD-BSI BS EN IS0 L1573-ENGL 1998 m Lb24bb7 Ub89bb8 O97 m - The deviation of the attained po
44、se from the com mand pose according to the Z, axis is representec as limit value of the distortion f0,5 ybee the figurc in 3.2.5). The deviation of the coupling path shall be within the approved position tolerance in the start pos- ition. EN IS0 11593 : 1997 No. Term Symbol Unit 3.2.5 orientation to
45、lerance in Definition and description The orientation tolerance must be fixed with a pre- cise accuracy. All values concerning the orientation tolerance are related to the mechanical interface coordinate system Xm, Ym, Z,. The command value for the orientation is given by the alignment X, Ym, Zm, A,
46、 B, C. 3.2.6 limit value of the mis- alignment f 0,5 a * 0,5 Start position 3.2.7 3.2.8 NOTE -The orientation tolerance is defined from the two measures ”limit value of the misalignment” ant “limit value of distortion”. limit value of the dis- tortion f0.5 y tolerance of the cou- pling path rad or d
47、egree rad or degree The limited deviations of the attained pose from thc command pose according to the Xm and Ym ax: (rotations I a and i respectively) can normally bc regarded as identical and are represented as limf values of the misalignment f 0,5 a and f 0,5 p re spectively (see the figure in 3.
48、2.5). rad or degree 7 STD-BSI BS EN IS0 11573-ENGL 1798 m 1b24bbS Ob7bb7 T23 = EN IS0 11593 : 1997 No. 3.2.9 Term coupling repeatability Symbol st h Qti t Yt Unit mm mm rad or degree rad or degree Definition and description The coupling repeatability defines the deviation be- tween the robot part an
49、d the tool part in case of multiple coupling operations. Reference point is the centre of the interface on the robot part (according to IS0 9409-1 and IS0 9409-2) in the mechanical in- terface coordinate system Xm, Ym, Zm and on the tool part in the coordinate system Xt, Yt, Fax: 0181 996 7001. In response to orders for intemalional standards, it is BSI policy to supply the BSI implementation of those that have been published as British Standards, unless otherwise requested Information on standards BSI prov
