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1、BRITISH STANDARD BS EN ISO 9409-2:1997 Manipulating industrial robots Mechanical interfaces Part 2: Shafts (form A) (ISO 9409-2:1996) The European Standard EN ISO 9409-2:1996 has the status of a British Standard ICS 25.040.30 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00
2、2006, Uncontrolled Copy, (c) BSI BS EN ISO 9409-2:1997 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 27550 7 National foreword This British Stand
3、ard is the English language version of EN ISO 9409-2:1996. It is identical with ISO 9409-2:1996. The UK participation in its preparation was entrusted to Technical Committee AMT/-, AMT Assembly, which has the responsibility to: aid enquirers to understand the text; present to the responsible interna
4、tional/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 committee can be obtained on request to its s
5、ecretary. 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 referred to in this document may be foun
6、d 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 a contract. Users of British Standards ar
7、e 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 ISO title page, page 2, the ISO title page, page ii, pages
8、1 to 5 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: sheffieldun sheffieldun, na, Sun Nov
9、 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS EN ISO 9409-2:1997 BSI 02-1999i Contents Page National forewordInside front cover Foreword2 Forewordii Text of ISO 9409-21 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ii blank Li
10、censed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 9409-2 December 1996 ICS 25.040 Descriptors: See ISO document English version Manipulating industrial robots Mechanical interfaces Part 2:
11、 Shafts (form A) (ISO 9409-2:1996) Robots manipulateurs industriels Interfaces mcaniques Partie 2: Interfaces queue (forme A) (ISO 9409-2:1996) Industrieroboter Mechanische Schnittstellen Teil 2: Shafte (Form A) (ISO 9409:2-1996) This European Standard was approved by CEN on 1996-12-05. CEN members
12、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 concerning such national standards may be obtained on application t
13、o 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 own language and notified to the Central Secretariat has the same s
14、tatus 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, Switzerland and United Kingdom. CEN European Committee for Standardization
15、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 9409-2:1996 E Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN IS
16、O 9409-2:1996 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 taken over as an European Standard by Technical Committee CEN/TC 310 “A
17、dvanced Manufacturing Technologies”, the secretariat of which is held by BSI. Annex A is for information only. 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 June 1997, and conflicting national s
18、tandards 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 Standard: Austria, Belgium, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Ita
19、ly, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United Kingdom. Endorsement notice The text of the International Standard ISO 9409-2:1996 has been approved by CEN as a European Standard without any modification. NOTENormative references to International Standards ar
20、e listed in Annex ZA (normative). Contents Page Foreword2 Introduction1 1Scope1 2Normative references1 3Definitions1 4Dimensions1 4.1General1 4.2Coordinate system1 4.3Tolerances1 4.4Load-carrying capacity and shaft material2 5End effector requirements2 6Recommended practices2 6.1Provision for routin
21、g service lines2 7Designation code2 8Marking2 Annex A (informative) Bibliography5 Annex ZA (normative) Normative references to international publications with their relevant European publications5 Figure 1 Basic layout of the shaft mechanical interface Type 13 Figure 2 Basic layout of the shaft mech
22、anical interface Type 24 Table 1 Preferred series 1 and supplementary series 2 of the shaft mechanical interface Type 13 Table 2 Preferred series 1 and supplementary series 2 of the shaft mechanical interface Type 24 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Unc
23、ontrolled Copy, (c) BSI Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-2:1996 ii BSI 02-1999 Foreword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bo
24、dies). 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 an
25、d 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. Draft International Standards adopted by the technical committees are circulated to the member bo
26、dies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. International Standard ISO 9409-2 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturi
27、ng environment. ISO 9409 consists of the following parts, under the general title Manipulating industrial robots Mechanical interfaces: Part 1: Plates (form A); Part 2: Shafts (form A). Annex A of this part of ISO 9409 is for information only. Descriptors: Automation, automation engineering, manipul
28、ators, industrial robots, interfaces, shafts (rotating), dimensions, designation, marking. Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-2:1996 BSI 02-19991 Introduction This part of ISO 9409 is one of a series of standards dea
29、ling 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 robot companion standard to MMS. It is noted that these
30、 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 such as grippers or tools which are attached to th
31、e mechanical interface. 1 Scope This part of ISO 9409 defines the main dimensions, designation and marking for shaft mechanical interfaces with cylindrical projections (form A). It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors. This part of ISO 9
32、409 does not contain any correlation of load-carrying ranges. The mechanical interfaces specified in this part of ISO 9409 will also find application in simple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and-place or master-slave units. 2
33、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 editions indicated were valid. All standards are subject to revision, and parties to agreements based on this part of
34、 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 valid International Standards. ISO 286-1:1988, ISO system of limits and fits Part 1: Bases of tolerances, deviations a
35、nd fits. ISO 286-2:1988, ISO system of limits and fits Part 2: Tables of standard tolerance grades and limit deviations for holes and shafts. ISO 1101:1), Technical drawings Geometrical tolerancing Tolerancing of form, orientation, location and run-out Generalities, definitions, symbols, indications
36、 on drawings. ISO 8373:1994, Manipulating industrial robots Vocabulary. ISO 9409-1:1995, Manipulating industrial robots Mechanical interfaces Part 1: Plates (form A). ISO 9787:1990, Manipulating industrial robots Coordinate systems and motions. 3 Definitions For the purposes of this part of ISO 9409
37、, the definitions given in ISO 8373 apply. 4 Dimensions 4.1 General Is it recommended that the dimensions for shaft mechanical interfaces with cylindrical projections be specified in accordance with Figure 1 and Table 1 (Type 1, without a slot for end effector orientation) or Figure 2 and Table 2 (T
38、ype 2, with a slot for end effector orientation). It is recommended that series 1 dimensions be used. The supplementary series 2 shall be used only in special applications where series 1 dimensions are not suitable for the intended use. The reference plane is defined as shown in Figure 1 and Figure
39、2. The end effectors are positioned against the reference plane. (See the note to clause 5.) 4.2 Coordinate system The origin of the mechanical interface coordinate system as defined in ISO 9787 is the intersecting point of the centre axis of the shaft and the reference plane. The + Zm axis points a
40、way from the origin towards the end of the shaft. The flat surface and the slot (optional) is aligned to the + Xm axis as shown in Figure 1 and Figure 2. The flat surface is a place where a set screw is seated to fix an end effector. The slot is used for mating a pin mounted on an end effector to ma
41、intain end-effector orientation. (See clause 5.) 4.3 Tolerances The shaft mechanical interface dimensions shall be toleranced in accordance with ISO 286. Geometric tolerances shall be interpreted in accordance with ISO 1101. The shaft diameter, d1, shall be the datum for all geometrical tolerances (
42、see Figure 1 and Figure 2). 1) To be published. (Revision of ISO 1101:1983) Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-2:1996 2 BSI 02-1999 4.4 Load-carrying capacity and shaft material The shaft mechanical interfaces specif
43、ied in this part of ISO 9409 are suitable for robots of relatively small load capacity and for applications where end effectors are expected to move with narrow clearance between peripherals. The use of plate mechanical interfaces (ISO 9409-1) is recommended when shaft mechanical interfaces are not
44、sufficient for bearing expected loads. 5 End effector requirements The dimensions and related tolerances of the mating surface of the end effector shall be compatible with those specified in this part of ISO 9409. The slot on the interface, b l5 (optional, see Figure 2 and Table 2), is intended for
45、mating a location pin mounted on an end effector to maintain end-effector orientation. A parallel (cylindrical) pin is recommended for this purpose. The pin axis shall be aligned to the + Xm axis. The shaft, d1 l1, shall be of sufficient length and strength to bear an end effector coupled with frict
46、ion, for example an end effector attached by clamping. The threaded hole on the shaft end can be used to fix end effectors. NOTE 1The shaft end should not be used as a dimensional reference; the end effectors should be positioned against the reference plane. 6 Recommended practices 6.1 Provision for
47、 routing service lines A threaded hole can be made as a through hole for cabling or piping, or for exhausting surrounding air. The flange may be constructed with a hollow centre. This through hole shall have a diameter, d4, equal to or less than the pilot hole diameter of the threaded hole, d3. 7 De
48、signation code The designation of the shaft mechanical interface whose dimensions are in accordance with this part of ISO 9409 shall be as follows: EXAMPLE A mechanical interface of a shaft diameter, d1= 10 mm, shall be designated as follows: ISO 9409-2 A 10 8 Marking When shaft mechanical interface
49、s 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 clause 7). Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:51:27 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9409-2:1996 BSI 02-19993 Table 1 Preferred series 1 and supplementary series 2 of the shaft mechanical interface Type 1 Figure 1 Basic layout of the shaft mechanical interface Type 1 Shaft diameterReference plane diameter Shaft lengt