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1、BRITISH STANDARD BS EN ISO 11593:1998 Manipulating industrial robots Automatic end effector systems Vocabulary and presentation of characteristics The European Standard EN ISO 11593:1997 has the status of a British Standard ICS 01.040.25; 25.040.30 Licensed Copy: sheffieldun sheffieldun, na, Wed Nov
2、 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS EN ISO 11593:1998 This British 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 BSI 04-1999 ISBN 0 580 29340 8 National fore
3、word This British Standard is the English language version of EN ISO 11593:1997. It is identical with ISO 11593:1996. The UK 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
4、 text; present to the responsible 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. A list of organizations represented on this comm
5、ittee can be obtained on request to its secretary. Cross-references Attention is drawn to the fact that CEN and CENELEC standards normally include an annex which lists normative references to international publications with their corresponding European publications. The British Standards which imple
6、ment these international or European publications may be found in the BSI Standards Catalogue under the section entitled “International 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 n
7、ecessary provisions of a contract. Users of British Standards are responsible for their correct application. Compliance with 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, th
8、e EN ISO title page, page 2, the ISO title page, pages ii to iv, pages 1 to 16, an inside back cover and a back cover. This standard 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 iss
9、ued since publication Amd. No.DateComments Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS EN ISO 11593:1998 BSI 04-1999i Contents Page National forewordInside front cover Foreword2 Forewordiii Text of ISO 115931 Licensed Copy: sheffieldu
10、n sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ii blank Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 11593 October 1997 ICS 01.040.25; 25.040.30 D
11、escriptors: See ISO document English version Manipulating industrial robots Automatic end effector exchange systems Vocabulary and presentation of characteristics (ISO 11593:1996) Robots manipulateurs industriels Systmes de changement automatique de terminal Vocabulaire et prsentation des caractrist
12、iques (ISO 11593:1996) Industrieroboter Automatische Wechselsysteme fr Endeffektoren Begriffe und Darstellung charakteristischer Eigenschaften (ISO 11593:1996) This European Standard was approved by CEN on 18 September 1997. CEN members are bound to comply with the CEN/CENELEC Internal Regulations w
13、hich stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the Central Secretariat or to any CEN member. This European S
14、tandard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CEN member into its own language and notified to the Central Secretariat has the same status as the official versions. CEN members are the national s
15、tandards bodies of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom. CEN European Committee for Standardization Comit Europen de Normalisation Europisches Kom
16、itee 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 CEN national Members. Ref. No. EN ISO 11593:1997 E Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontro
17、lled Copy, (c) BSI EN ISO 11593:1997 BSI 04-1999 2 Foreword The text of the International Standard from Technical Committee ISO/TC 184 “Industrial automation systems and integration” of the International Organization for Standardization (ISO) has been taken over as an European Standard by Technical
18、Committee CEN/TC 310 “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 April 1998, and conflicting national standards
19、shall be withdrawn at the latest by April 1998. According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Irel
20、and, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United Kingdom. Endorsement notice The text of the International Standard ISO 11593:1996 has been approved by CEN as a European Standard without any modification. NOTENormative references to International Stand
21、ards are listed in Annex ZA (normative). Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 11593:1997 ii BSI 04-1999 Contents Pag
22、e Forewordiii Introduction1 1Scope1 2Normative references1 3Terms and definitions1 3.1External shape and main dimensions of the exchange system2 3.2Positioning and orientation in coupling procedures3 3.3Coupling and releasing forces9 3.4Load characteristics9 3.5Magazine interface of the tool mounted
23、 part10 3.6Tool exchange time11 Alphabetical index13 Annex A (informative) Format for the presentation of automatic end effector exchange systems characteristics14 Annex ZA (normative) Normative references to international publications with their relevant European publicationsInside back cover Descr
24、iptors: Automation, automation engineering, manipulators, industrial robots, characteristics, presentation, vocabulary. Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 11593:1997 BSI 04-1999iii Foreword ISO (the International Organiza
25、tion 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 has been established
26、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 standardization. Dr
27、aft 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. International Standard ISO 11593 was prepared by Technical Committee ISO/TC
28、 184, Industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturing environment. Annex A of this International Standard is for information only. Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI iv blank Licensed C
29、opy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 11593:1997 BSI 04-19991 Introduction ISO 11593 is one of a series of standards dealing with the requirements of manipulating industrial robots. Other documents cover such topics as terminology, ge
30、neral 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 interrelated and also related to other International Standards. Automatic exchange systems for end
31、 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 effector exchange systems. This International Standard does not contain any details for the dev
32、elopment 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 manufacturing environment. The terms are presented by their symbol, unit, definition and description. The
33、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 following standards contain provisions which, through reference in this text, constitute provisions o
34、f 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 encouraged to investigate the possibility of applying the most recent editions of the standards indi
35、cated below. Members of IEC and ISO maintain registers of currently valid International Standards. ISO 8373:1994, Manipulating industrial robots Vocabulary. ISO 9409-1:1996, Manipulating industrial robots Mechanical interfaces Part 1: Plates (form A). ISO 9409-2:1996, Manipulating industrial robots
36、Mechanical interfaces Part 2: Shafts (form A). ISO 9787:1990, Manipulating industrial robots Coordinate systems and motions. 3 Terms and definitions For the purposes of this International Standard, the definitions given in ISO 8373 apply. Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:
37、49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 11593:1997 2 BSI 04-1999 No.TermSymbolUnitDefinition and description 3.1 External shape and main dimensions of the exchange system 3.1.1structural shapeOverall dimensions of device: Dmmexternal diameter (for circular shape) Ammwidth (for other) Bm
38、mdepth Lrmmlength of the individual robot-mounted part Ltmmlength of the individual tool-mounted part 3.1.2face-to-face dimensionDistance measured from the robot interface to the tool interface: Ltotal %mmlength of the coupled systems; Lcr %mmcoupling length of the robot part; Lct %mmcoupling length
39、 of the tool part. The tolerance of the length Lcr and Lct has a significant effect on the pose accuracy of the complete system when using different tools. 3.1.3centre of gravity in the coupled system LgmmDistance of the centre of gravity in the coupled system from the reference plane of the mechani
40、cal interface of the robot. 3.1.4moment of inertia of the coupled system I kgm2 Moment of inertia of the coupled system about the Zm axis. 3.1.5massmrkgMass of the robot part. mtkgMass of the tool part. Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy
41、, (c) BSI EN ISO 11593:1997 BSI 04-19993 No.TermSymbolUnitDefinition and description 3.1.6interface for robot side and tool side Description and marking for robot part and tool part according to ISO 9409-1 and ISO 9409-2. 3.1.7cable routingPosition and dimension of routing and tracking of cable for
42、robot part and tool part in one drawing. 3.2 Positioning and orientation in coupling procedures 3.2.1coupling directionThe 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
43、 motion of coupling runs vertical to the level of separation of the interface. On lateral coupling direction the motion of coupling runs parallel to the level of separation of the interface. Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN
44、 ISO 11593:1997 4 BSI 04-1999 No.TermSymbolUnitDefinition and description 3.2.2length of the approach distance LammThe length of the approach distance shows the total distance of operation of the robot-mounted (and/or tool-mounted) part in coupling direction until the complete coupling of both parts
45、. The approach distance results from the total of the following single coupling distances: La1mmdistance of operation for precentring; La2mmdistance of operation for centring; La3mmdistance of operation thereafter until the complete coupling La = La1+ La2+ La3. On axial coupling direction the approa
46、ch distance runs vertical to the reference plane, on lateral coupling direction it runs parallel to the reference plane. Example for axial coupling direction: Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 11593:1997 BSI 04-19995 No.
47、TermSymbolUnitDefinition and description 3.2.3start positionXsmmThe 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 related to a typical kind of arrangeme
48、nt, the start position can be defined in the cartesian coordinate system X1, Y1, Z1 of the robot (according to ISO 9787) as Xs, Ys, Zs. Ysmm Zsmm Example for axial coupling direction: Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:36:49 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 11
49、593:1997 6 BSI 04-1999 No.TermSymbolUnitDefinition and description 3.2.4position 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 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
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