1、BRITISH STANDARD BS EN ISO 14539:2001 Manipulating industrial robots Object handling with grasp-type grippers Vocabulary and presentation of characteristics The European Standard EN ISO 14539:2001 has the status of a British Standard ICS 01.040.25; 25.040.30 BS EN ISO 14539:2001 This British Standar
2、d, having been prepared under the direction of the DISC Board, was published under the authority of the Standards Policy and Strategy Committee on 8 November 2002 BSI 8 November 2002 ISBN 0 580 40693 8 National foreword This British Standard is the official English language version of EN ISO 14539:2
3、001. It is identical with ISO 14539:2000. The UK participation 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 Th
4、e British Standards which implement international or European 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 Standar
5、ds Online. This publication does not purport to include all 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 re
6、sponsible international/European committee any enquiries on 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
7、cover, the EN ISO title page, the EN ISO foreword page, the ISO title page, pages ii to viii, pages 1 to 32, the Annex ZA page and a back cover. The BSI copyright date displayed in this document indicates when the document was last issued. Amendments issued since publication Amd. No. Date CommentsEU
8、ROPEANSTANDARD NORMEEUROPENNE EUROPISCHENORM ENISO14539 December2001 ICS01.040.25;25.040.30 Englishversion ManipulatingindustrialrobotsObjecthandlingwithgrasptype grippersVocabularyandpresentationofcharacteristics(ISO 14539:2000) RobotsmanipulateursindustrielsManipulationdesobjets parprhenseurspince
9、Vocabulaireetprsentationdes caractristiques(ISO14539:2000) IndustrieroboterWerkstckhandhabungmitFingergreifern WrterbuchundDarstellungvonCharakteristika(ISO 14539:2000) ThisEuropeanStandardwasapprovedbyCENon16November2001. CENmembersareboundtocomplywiththeCEN/CENELECInternalRegulationswhichstipulate
10、theconditionsforgivingthisEurope an Standardthestatusofanationalstandardwithoutanyalteration.Uptodatelistsandbibliographicalreferencesconcernings uchnational standardsmaybeobtainedonapplicationtotheManagementCentreortoanyCENmember. ThisEuropeanStandardexistsinthreeofficialversions(English,French,Ger
11、man).Aversioninanyotherlanguagemadebytra nslation undertheresponsibilityofaCENmemberintoitsownlanguageandnotifiedtotheManagementCentrehasthesamestatusasthe official versions. CENmembersarethenationalstandardsbodiesofAustria,Belgium,CzechRepublic,Denmark,Finland,France,Germany,Greece, Iceland,Ireland
12、,Italy,Luxembourg,Netherlands,Norway,Portugal,Spain,Sweden,SwitzerlandandUnitedKingdom. EUROPEANCOMMITTEEFORSTANDARDIZATION COMITEUROPENDENORMALISATION EUROPISCHESKOMITEEFRNORMUNG ManagementCentre:ruedeStassart,36B1050Brussels 2001CEN Allrightsofexploitationinanyformandbyanymeansreserved worldwidefo
13、rCENnationalMembers. Ref.No.ENISO14539:2001ECORRECTED20020925 Foreword ThetextofISO14539:2000hasbeenpreparedbyTechnicalCommitteeISO/TC184 “Industrialautomationsystemsandintegration”oftheInternationalOrganizationfor Standardization(ISO)andhasbeentakenoverasENISO14539:2001byTechnical CommitteeCEN/TC31
14、0“AdvancedManufacturingTechnologies“,thesecretariatofwhichis heldbyBSI. ThisEuropeanStandardshallbegiventhestatusofanationalstandard,eitherbypublication ofanidenticaltextorbyendorsement,atthelatestbyJune2002,andconflictingnational standardsshallbewithdrawnatthelatestbyJune2002. AccordingtotheCEN/CEN
15、ELECInternalRegulations,thenationalstandardsorganizationsof thefollowingcountriesareboundtoimplementthisEuropeanStandard:Austria,Belgium, CzechRepublic,Denmark,Finland,France,Germany,Greece,Iceland,Ireland,Italy, Luxembourg,Netherlands,Norway,Portugal,Spain,Sweden,SwitzerlandandtheUnited Kingdom. En
16、dorsementnotice ThetextofISO14539:2000hasbeenapprovedbyCENasENISO14539:2001withoutany modifications. NOTENormativereferencestoInternationalStandardsarelistedinAnnexZA(normative). ENISO14539:2001Reference number Numro de rfrence ISO 14539:2000(E/F) INTERNATIONAL STANDARD NORME INTERNATIONALE ISO 1453
17、9 First edition Premire dition 2000-11-01 Manipulating industrial robots Object handling with grasp-type grippers Vocabulary and presentation of characteristics Robots manipulateurs industriels Manipulation des objets par prhenseurs pince Vocabulaire et prsentation des caractristiques ENISO14539:200
18、1ii ENISO14539:2001 iii Contents Page Forewordv Introduction.vii 1 Scope 1 2 Terms and definitions .1 3 Vocabulary of object handling .2 3.1 Type of handling 2 3.2 Grasps.5 3.3 Coordinate systems in object handling 8 3.4 Sensing in object handling .10 4 Vocabulary of grasp-type grippers 11 4.1 Type
19、of end effectors 11 4.2 Elements and mechanisms of grasp-type grippers .12 4.3 Type of grasp-type grippers .14 4.4 Type of fingers .15 4.5 Finger control.16 4.6 Clamping elements18 4.7 Robot interfaces.19 4.8 Safety in grasps and grasping .19 Annex A (normative) Formats for the presentation of gripp
20、er characteristics 21 Alphabetical index 30 ENISO14539:2001iv Sommaire Page Avant-proposvi Introduction viii 1 Domaine dapplication.1 2T e r m e s e t d finitions.1 3 Vocabulaire de la manipulation dobjet .2 3.1 Type de manipulation2 3.2 Prises 5 3.3 Systmes de coordonnes lors de la manipulation dob
21、jets 8 3.4 Contrle lors de la manipulation dobjets .10 4 Vocabulaire des prhenseurs pince .11 4.1 Types de terminaux .11 4.2 lments et mcanismes des prhenseurs pince.12 4.3 Types de prhenseurs pince .14 4.4 Types de doigts15 4.5 Commande des doigts 16 4.6 lments de serrage18 4.7 Interfaces robot19 4
22、.8 Scurit pour les prises et actions de prhension 19 Annexe A (normative) Fiches techniques pour la prsentation des caractristiques des prhenseurs21 Index alphabtique .31 ENISO14539:2001 v Foreword ISO (the International Organization for Standardization) is a worldwide federation of national standar
23、ds 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 has been established has the right to be represented on that committee. International organi
24、zations, 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 standardization. International Standards are drafted in accordance with the rules given in
25、 the ISO/IEC Directives, Part 3. 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 least 75 % of the member bodies casting a vote. Attention is drawn to the possibility th
26、at some of the elements of this International Standard may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. International Standard ISO 14539 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration,
27、 Subcommittee SC 2, Robots for manufacturing environment. Annex A of this International Standard is for information only. ENISO14539:2001vi Avant-propos LISO (Organisation internationale de normalisation) est une fdration mondiale dorganismes nationaux de normalisation (comits membres de lISO). Llab
28、oration des Normes internationales est en gnral confiea u x comits techniques de lISO. Chaque comit membre intress par une t u d eal ed r o i td ef a i r ep a r t i ed uc o m i t technique cr cet effet. Les organisations internationales, gouvernementales et non gouvernementales, en liaison avec lISO
29、, participent galement aux travaux. LISO collabore troitement avec la Commission lectrotechnique internationale (CEI) en ce qui concerne la normalisation lectrotechnique. Les Normes internationales sont rdiges conformment aux rgles donnes dans les Directives ISO/CEI, Partie 3. Les projets de Normes
30、internationales adopts par les comits techniques sont soumis aux comits membres pour vote. Leur publication comme Normes internationales requiert lapprobation de 75 % au moins des comits membres votants. Lattention est appele sur le fait que certains des lm e n t sd el ap r sente Norme international
31、e peuvent faire lobjet de droits de proprit intellectuelle ou de droits analogues. LISO ne saurait tre tenue pour responsable de ne pas avoir identifi de tels droits de proprit et averti de leur existence. La Norme internationale ISO 14539 a t labore par le comit technique ISO/TC 184, Systmes dautom
32、atisation industrielle et intgration, sous-comit SC 2, Robots pour environnement de fabrication. Lannexe A de la prsente Norme internationale est donne uniquement titre dinformation. ENISO14539:2001 vii Introduction ISO 14539 is one of a series of standards dealing with the requirements of manipulat
33、ing industrial robots. Other documents cover such topics as terminology, general characteristics, coordinate systems, performance criteria and related test methods, safety, mechanical interfaces and graphical user interfaces for programming. It is noted that these standards are interrelated and also
34、 related to other International Standards. Object handling with manipulating industrial robots is steadily diversifying as robots proliferate in automated manufacturing. This standard provides the vocabulary for understanding and planning of object handling and presentation of characteristics of gra
35、sp-type grippers. Successful object handling is achieved with the cooperation of both robots and end effectors. In some cases robot arms/wrists play major roles in positioning objects. In some other cases, however, end effectors with adaptively controlled fingers can perform flexible object handling
36、. ENISO14539:2001viii Introduction LISO 14539 fait partie dune srie de Normes internationales traitant des robots manipulateurs industriels. Dautres documents couvrent des sujets tels que terminologie, caractristiques gnrales, systmes de coordonnes, critres de performance et mthodes dessai correspon
37、dantes, scurit, interfaces mcaniques et interfaces graphiques utilisateur pour la programmation. Il convient de noter que ces normes sont en relation les unes avec l e sa ut re se tgalement avec dautres Normes internationales. La manipulation des objets avec des robots manipulateurs industriels volu
38、e continuellement, les robots se multipliant en fabrication automatise. La prsente norme donne le vocabulaire pour une meilleure comprhension et organisation de la manipulation dobjet et de la prsentation des caractristiques des prhenseurs pince. Une manipulation dobjet russie est possible grce la c
39、oopration des robots et des terminaux. Dans certains cas, les bras/poignets du robot jouent un rle majeur dans le positionnement des objets. Dans certains autres cas toutefois, les terminaux doigts commande adaptative peuvent manipuler les objets de manire flexible. ENISO14539:2001 1 Manipulating in
40、dustrial robots Object handling with grasp-type grippers Vocabulary and presentation of characteristics Robots manipulateurs industriels Manipulation des objets par prhenseurs pince Vocabulaire et prsentation des caractristiques 1 Scope 1 Domaine dapplication This International Standard focuses on t
41、he function- alities of end effectors and concentrates on grasp- type grippers as defined in 4.1.2.1. La prsente Norme internationale se concentre sur la fonctionnalit des terminaux et traite des prhenseurs pince tels que dfinis en 4.1.2.1. This International Standard provides terms to describe obje
42、ct handling and terms of functions, structures, and elements of grasp-type grippers. La prsente Norme internationale donne des termes pour dcrire la manipulation dobjet et des termes concernant les fonctions, structures et lments des prhenseurs pince. Annex A, which is informative, provides formats
43、for presenting characteristics of grasp-type grippers. This part can be used in the following ways: Lannexe A, qui est informative, donne des fiches pour la prsentation des caractristiques des prhen- seurs pince. Cette partie peut tre utilise des ma- nires suivantes. a) End effector manufacturers ca
44、n present the characteristics of their products to robot users. a) Les fabricants de terminaux peuvent prsenter les caractristiques de leurs produits aux utilisa- teurs de robots. b) Robot users can specify the requirements of end effectors they need. b) Les utilisateurs de robots peuvent spcifier l
45、es prescriptions des terminaux dont ils ont besoin. c) Robot users can describe the characteristics of the objects to be handled and of handling the objects in their specific robot applications. c) Les utilisateurs de robots peuvent dcrire les ca- ractristiques des objets manipuler et de la manipula
46、tion des objets dans leurs applications robotiques spcifiques. This International Standard is also applicable to sim- ple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and-place or master-slave units. La prsente Norme internationale peut gal
47、ement tre utilise dans des systmes de manipulation simples qui ne rpondent pas la dfinition de robots mani- pulateurs industriels, tels quunits de chargement- dchargement ou unitsma tre-esclave. 2 Normative references 2 Rfrences normatives The following normative documents contain provisions which, through reference in this text, constitute provi- sions of this International Standard. For dated refer- ences, subsequent amendments to, or revisions of, any of these publications do not
