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1、BRITISH STANDARD BS EN ISO 9409-1:1997 Manipulating industrial robots Mechanical interfaces Part 1: Plates (form A) (ISO 9409-1:1996) The European Standard EN ISO 9409-1:1996 has the status of a British Standard ICS 25.040.30 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00
2、2006, Uncontrolled Copy, (c) BSI BS EN ISO 9409-1:1997 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 June 1997 BSI 02-1999 ISBN 0 580 27549 3 National foreword This British Stand
3、ard is the English language version of EN ISO 9409-1:1996. It is identical with ISO 9409-1:1996. It supersedes BS 7228-5.1:1989 which is withdrawn. The UK participation in its preparation was entrusted to Committee AMT/-, AMT Assembly, 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 Annex ZA lists normative references to international publications with their corresponding European publications. The British Standards which implement these international or European publications
6、 referred to in this document may be found in the BSI Standards Catalogue under the section entitled “International Standards Correspondence Index”, or using the “Find” facility of the BSI Standards Electronic Catalogue. A British Standard does not purport to include all the necessary provisions of
7、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, the EN title page, page 2
8、, the ISO title page, page ii, pages 1 to 4 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 issued since publication Amd. No.DateComments Licensed Copy:
9、 sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS EN ISO 9409-1:1997 BSI 02-1999i Contents Page National forewordInside front cover Foreword2 Forewordiii Text of ISO 9409-11 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006,
10、Uncontrolled Copy, (c) BSI ii blank Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 9409-1 December 1996 ICS 25.040Supersedes EN 29409-1:1992 Descriptors: See ISO document English vers
11、ion Manipulating industrial robots Mechanical interfaces Part 1: Plates (form A) (ISO 9409-1:1996) Robots manipulateurs industriels Interfaces mcaniques Partie 1: Interfaces plateau (forme A) (ISO 9409-1:1996) Industrieroboter Mechanische Schnittstellen Teil 1: Platten (Form A) (ISO 9409-1:1996) Thi
12、s European Standard was approved by CEN on 1996-12-05. CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references
13、concerning such national standards may be obtained on application to the Central Secretariat or to any CEN member. The European Standards exist 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
14、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, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerl
15、and and United Kingdom. CEN European Committee for Standardization Comit Europen de Normalisation Europisches Komitee fr Normung Central Secretariat: rue de Stassart 36, B-1050 Brussels 1996 Copyright reserved to CEN members Ref. No. EN ISO 9409-1:1996 E Licensed Copy: sheffieldun sheffieldun, na, S
16、un Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-1:1996 BSI 02-1999 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 take
17、n over as an European Standard by Technical Committee CEN/TC TC 310 “Advanced Manufacturing Technologies”, the secretariat of which is held by BSI. This European Standard replaces EN 29409-1:1992. This European Standard shall be given the status of a national standard, either by publication of an id
18、entical text or by endorsement, at the latest by June 1997, and conflicting national standards shall be withdrawn at the latest by June 1997. According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standa
19、rd: Austria, Belgium, 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 ISO 9409-1:1996 has been approved by CEN as a European Sta
20、ndard without any modification. NOTENormative references to International Standards are listed in Annex ZA (normative). Contents Page Forewordiii Introduction1 1Scope1 2Normative references1 3Definitions1 4Dimensions1 5Designation code2 6Marking2 Annex ZA (normative) Normative references to internat
21、ional publications with their relevant European publications4 Figure 1 Basic layout of the circular mechanical interface2 Table 1 Preferred series 1 and supplementary series 2 of the circular mechanical interface3 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncont
22、rolled Copy, (c) BSI Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-1:1996 ii BSI 02-1999 Foreword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodie
23、s). 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 organizations, governmental and n
24、on-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. Draft International Standards adopted by the technical committees are circulated to the member bodie
25、s for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. International Standard ISO 9409-1 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturing
26、environment. This second edition cancels and replaces the first edition (ISO 9409-1:1988) of which it constitutes a technical revision. ISO 9409 consists of the following parts, under the general title Manipulating industrial robots Mechanical interfaces: Part 1: Plates (form A); Part 2: Shafts (for
27、m A). Descriptors: Automation, automation engineering, manipulators, industrial robots, interfaces, plates, dimensions, designation, marking. Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-1:1996 BSI 02-19991 Introduction This p
28、art of ISO 9409 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, performance criteria and related test methods, safety, robot programming languages, and robo
29、t companion standard to MMS. It is noted that these 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
30、 such as grippers or tools which are attached to the mechanical interface. 1 Scope This part of ISO 9409 defines the main dimensions, designation and marking for a circular plate as mechanical interface (form A). It is intended to ensure the exchangeability and orientation of hand-mounted end effect
31、ors. This part of ISO 9409 does not define other requirements of the end effector coupling device. This part of ISO 9409 does not contain any correlation of load-carrying ranges. The mechanical interface specified in this part of ISO 9409 will also find applications in simple handling systems which
32、are not covered by the definition of manipulating industrial robots, such as pick and place or master-slave units. 2 Normative references The following standards contain provisions which, through reference in this text, constitute provisions of this part of ISO 9409. At the time of publication, the
33、editions indicated were valid. All standards are subject to revision, and parties to agreements based on this part of ISO 9409 are encouraged to investigate the possibility of applying the most recent editions of the standards indicated below. Members of IEC and ISO maintain registers of currently v
34、alid International Standards. ISO 261:1), ISO general-purpose metric screw threads General plan. ISO 286-1:1988, ISO system of limits and fits Part 1: Bases of tolerances, deviations and fits. ISO 286-2:1988, ISO system of limits and fits Part 2: Tables of standard tolerance grades and limit deviati
35、ons for holes and shafts. ISO 1101:2), Technical drawings Geometrical tolerancing Tolerancing of form, orientation, location and run-out Generalities, definitions, symbols, indications on drawings. ISO 8373:1994, Manipulating industrial robots Vocabulary. ISO 9787:1990, Manipulating industrial robot
36、s Coordinate systems and motions. 3 Definitions For the purposes of this part of ISO 9409, the definitions given in ISO 8373 apply. 4 Dimensions 4.1 General Is it recommended that the dimensions for the mechanical interface be specified in accordance with Table 1, series 1. The supplementary series
37、2 shall be used only in special cases where the graduation of series 1 is not sufficient for the intended use. Only one centring diameter is required. d3 is preferred. The use of d2 is application dependent. The hole, d5, is intended to have a location pin fitted, which is application dependent. The
38、 location pin may have different shapes, e.g. cylindrical or diamond. Any over-dimension shall be excluded by the selection of the location pin. The location pin hole centre shall be aligned with the +Xm axis vector of the mechanical interface coordinate system (see ISO 9787). Detailed dimensions (e
39、.g. undercuts), not stated here, are to be selected appropriately. 4.2 Tolerances The mechanical interface dimensions shall be toleranced in accordance with ISO 286. Geometric tolerances shall be interpreted in accordance with ISO 1101. The counterbore diameter, d3, and the guide pin hole, d5, shall
40、 be datum references for all geometric tolerances, as shown in Figure 1. 4.3 Thread form Threaded holes shall be in accordance with ISO 261. 4.4 Provision for routing service lines The flange may be constructed with a hollow centre. This centre hole shall have a diameter d6 equal to or less than d3.
41、 1) To be published. (Revision of ISO 261:1973) 2) To be published. (Revision of ISO 1101:1983) Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-1:1996 2 BSI 02-1999 4.5 End effector requirements The dimensions and related toleran
42、ces of the mating surface of the end effector shall be compatible with the dimensions and tolerances specified in this part of ISO 9409. 5 Designation code The designation of the mechanical interface whose dimensions are in accordance with this part of ISO 9409, shall be as follows: EXAMPLE A mechan
43、ical interface of a pitch circle diameter, d1= 40 mm, shall be designated as follows: ISO 9409-1 - A 40 6 Marking When plate mechanical interface and related end effectors made in accordance with this part of ISO 9409 are marked, they shall be permanently stamped with the designation code (see claus
44、e 5). Figure 1 Basic layout of the circular mechanical interface Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-1:1996 BSI 02-19993 Table 1 Preferred series 1 and supplementary series 2 of the circular mechanical interface Pitch
45、 circle diameter, d1 d2d3d4d5t1t2t3t4t5t6 Number of holes Series 1 Series 2 h8H7H7min.min.min. 253416M44 6 4 4 See note 1 0,1 0,5 4 31,54020M555 405025 M666 6 1 min. 506331,5 638040 8010050 M888 0,15 6 10012563 12516080 M1010 8 10 8 160200100 200250125 M1212120,2 250315160 NOTE 1The minimum depth of
46、 the threaded holes, t4, is dependent on the material of the end effector coupling devices. NOTE 2Parameter d6: see 4.4. Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-1:1996 4 BSI 02-1999 Annex ZA (normative) Normative referenc
47、es to international publications with their relevant European publications This European standard incorporates by dated or undated reference, provisions from other publications. These normative references are cited at the appropriate places in the text and the publications are listed hereafter. For
48、dated references, subsequent amendments to or revisions of any of these publications apply to this European Standard only when incorporated in it by amendment or revision. For undated references the latest edition of the publication referred to applies. PublicationYearTitleENYear ISO 286-11988ISO sy
49、stem of limits and fits Part 1: Bases of tolerances, deviations and fits EN 20286-11993 ISO 286-21988ISO system of limits and fits Part 2: Tables of standard tolerance grades and limit deviations for holes and shafts EN 20286-21993 ISO 83731994Manipulating industrial robots VocabularyEN ISO 83731996 ISO 97871990Manipulating industrial robots Coordinate systems and motions EN 297871992 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:10 GMT+00:00 2006, Uncontrolled Copy, (c) BSI blank Licensed