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1、BRITISH STANDARD BS EN ISO 9409-1:2004 Manipulating industrial robots Mechanical interfaces Part 1: Plates The European Standard EN ISO 9409-1:2004 has the status of a British Standard ICS 25.040.30 ? Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy,
2、(c) BSI BS EN ISO 9409-1:2004 This British Standard was published under the authority of the Standards Policy and Strategy Committee on 14 May 2004 BSI 14 May 2004 ISBN 0 580 43769 8 National foreword This British Standard is the official English language version of EN ISO 9409-1:2004. It is identic
3、al with ISO 9409-1:2004. It supersedes BS EN ISO 9409-1:1997 which is withdrawn. 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 reques
4、t to its secretary. Cross-references The 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 Ele
5、ctronic Catalogue or of British Standards 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
6、 understand the 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. Summary of pages This document co
7、mprises a front cover, an inside front cover, the EN ISO title page, the EN ISO foreword page, the ISO title page, pages ii to iv, pages 1 to 6, an inside back cover and a back cover. The BSI copyright notice displayed in this document indicates when the document was last issued. Amendments issued s
8、ince publication Amd. No. DateComments Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 9409-1 March 2004 ICS 25.040.30Supersedes EN ISO 9409-1:1996 English version Manipulating industr
9、ial robots - Mechanical interfaces - Part 1: Plates (ISO 9409-1:2004) Robots manipulateurs industriels - Interfaces mcaniques - Partie 1: Interfaces plateau (ISO 9409-1:2004) Industrieroboter - Mechanische Schnittstellen - Teil 1: Platten (ISO 9409-1:2004) This European Standard was approved by CEN
10、on 2 February 2004. 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 concerning such national standards
11、may be obtained on application to the Management Centre 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 the responsibility of a CEN member into its own language and notified to the Man
12、agement Centre has the same status as the official versions. CEN members are the national standards bodies of Austria, Belgium, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Pol
13、and, Portugal, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom. EUROPEAN COMMITTEE FOR STANDARDIZATION COMIT EUROPEN DE NORMALISATION EUROPISCHES KOMITEE FR NORMUNG Management Centre: rue de Stassart, 36 B-1050 Brussels 2004 CENAll rights of exploitation in any form and by any mean
14、s reserved worldwide for CEN national Members. Ref. No. EN ISO 9409-1:2004 E Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Foreword This document (EN ISO 9409-1:2004) has been prepared by Technical Committee ISO/TC 184 “Industrial automati
15、on systems and integration“ in collaboration with Technical 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 t
16、he latest by September 2004, and conflicting national standards shall be withdrawn at the latest by September 2004. This document supersedes EN ISO 9409-1:1996. According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement t
17、his European Standard: Austria, Belgium, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom. Endor
18、sement notice The text of ISO 9409-1:2004 has been approved by CEN as EN ISO 9409-1:2004 without any modifications. EN ISO 94091:2004 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Reference number ISO 9409-1:2004(E) INTERNATIONAL STANDARD
19、ISO 9409-1 Third edition 2004-03-01 Manipulating industrial robots Mechanical interfaces Part 1: Plates Robots manipulateurs industriels Interfaces mcaniques Partie 1: Interfaces plateau EN ISO 94091:2004 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Co
20、py, (c) BSI ii EN ISO 94091:2004 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Foreword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of prepar
21、ing 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 non-governmental, in li
22、aison 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 the ISO/IEC Directives, Part 2. The main task of
23、 technical committees is to prepare International Standards. 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
24、 drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. ISO 9409-1 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Subcomm
25、ittee SC 2, Robots for industrial environments. This third edition cancels and replaces the second edition (ISO 9409-1:1996) and the Technical Corrigendum ISO 9409-1:1996/Cor.1:1998, of which it constitutes a technical revision. Clause 5 and Figure 1 have been revised, Figures 2 and 3 have been adde
26、d, and Table 1 has been revised. ISO 9409 consists of the following parts, under the general title Manipulating industrial robots Mechanical interfaces: Part 1: Plates Part 2: Shafts EN ISO 94091:2004 iii Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Co
27、py, (c) BSI Introduction This part of ISO 9409 is part of a series of International Standards dealing with manipulating industrial robots. Other International Standards cover such topics as safety, general characteristics, coordinate systems, performance criteria and related test methods, terminolog
28、y, and robot programming. 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 su
29、ch as grippers or tools which are attached to the mechanical interface. EN ISO 94091:2004 iv Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Manipulating industrial robots Mechanical interfaces Part 1: Plates 1 Scope This part of ISO 9409 de
30、fines the main dimensions, designation and marking for a circular plate as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors. This part of ISO 9409 does not define other requirements of the end effector coupling device. This
31、part of ISO 9409 does not contain any correlation of load-carrying ranges, as it is expected that the appropriate interface is selected depending on the application and the load-carrying capacity of the robot. The mechanical interfaces specified in this part of ISO 9409 will also find application in
32、 simple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and-place or master-slave units. 2 Normative references The following referenced documents are indispensable for the application of this document. For dated references, only the edition c
33、ited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. ISO 261:1998, 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, I
34、SO system of limits and fits Part 2: Tables of standard tolerance grades and limit deviations for holes and shafts ISO 1101:1983, Technical drawings Geometrical tolerancing Tolerancing of form, orientation, location and run-out Generalities, definitions, symbols, indications on drawings ISO 8373:199
35、4, Manipulating industrial robots Vocabulary ISO 9787:1999, Manipulating industrial robots Coordinate systems and motion nomenclatures 3 Terms and definitions For the purposes of this document, the terms and definitions given in ISO 8373 apply. EN ISO 94091:2004 1 Licensed Copy: sheffieldun sheffiel
36、dun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI 4 Dimensions 4.1 General It is recommended that the dimensions for the mechanical interface be specified in accordance with Table 1, series 1. The supplementary series 2 shall be used only in special cases where the graduation o
37、f series 1 is not sufficient for the intended use. Only one centering 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 location pin may have different shapes, e.g. cylindrical o
38、r 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.g. undercuts), not stated here, are to be selected appropr
39、iately. 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 plane A, counterbore diameter, d3, and the guide pin hole, d5, shall be the datums for all geometrical tolerances, as
40、shown in Figures 1 to 3. 4.3 Threaded holes The thread shall be in accordance with ISO 261. 4.4 Provision for routing service lines If the plate is provided with a hollow centre, the centre hole shall have a diameter, d6, equal to or less than d3. 4.5 End effector requirements The dimensions and rel
41、ated tolerances 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: EXAMP
42、LE A mechanical interface of a pitch circle diameter, d1 = 160 mm, and six M10 holes, shall be designated as follows: ISO 9409-11606M10 EN ISO 94091:2004 2 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI 6 Marking When the plate and related
43、end effectors made in accordance with this part of ISO 9409 are marked, they shall be permanently marked with the designation code (see Clause 5). Figure 1 Design according to Table 1, positions 1 to 9, 11, and 13 EN ISO 94091:2004 3 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GM
44、T+00:00 2006, Uncontrolled Copy, (c) BSI Figure 2 Design according to Table 1, position 10 EN ISO 94091:2004 4 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Figure 3 Design according to Table 1, position 12 EN ISO 94091:2004 5 Licensed Cop
45、y: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Table 1 Preferred series 1 and supplementary series 2 of the circular mechanical interface Position Pitch circle diameter, d1 d2 d3 d4 d5 d6 t1 t2 t3 t4 t5 t6 Number of holes Series 1 Series 2 h8 H7 H7 min
46、. min. min. min. N 1 25 34 16 M4 4 4 2 31,5 40 20 M5 5 5 4 0,5 3 40 50 25 4 50 63 31,5 5 63 80 40 M6 6 6 0,2 4 6 80 100 50 7 100 125 63 M8 8 6 8 6 8 125 160 80 9 160 200 100 M10 10 10 6 10 160 200 100 11 11 200 250 125 M12 See NOTE 6 12 200 250 125 M16 22 12 13 250 250 315 160 M12 12 See 4.4 8 12 8
47、See NOTE 0,4 1 6 NOTE The minimum depth of the threaded holes, t4, is dependent on the material of the end effector coupling devices EN ISO 94091:2004 6 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI blank Licensed Copy: sheffieldun sheffie
48、ldun, na, Sun Nov 19 08:50:47 GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS EN ISO 9409-1:2004 BSI 389 Chiswick High Road London W4 4AL BSI British Standards Institution BSI is the independent national body responsible for preparing British Standards. It presents the UK view on standards in Europe a
49、nd at the international level. It is incorporated by Royal Charter. Revisions British Standards are updated by amendment or revision. Users of British Standards should make sure that they possess the latest amendments or editions. It is the constant aim of BSI to improve the quality of our products and services. We would be grateful if anyone finding an inaccuracy or ambiguity while using this British Standard would inform the Secretary of the