IS 13547-1 (2010): MANIPULATING INDUSTRIAL ROBOTS … · 2018. 11. 14. · IS 13547 (Part 1) : 2010. 6 Marking When the plate and related end effectors made in accordance with this

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IS 13547-1 (2010): MANIPULATING INDUSTRIAL ROBOTS—MECHANICAL INTERFACES - PLATES [PGD 18: Industrial andProduction Automation Systems and Robotics]

IS 13547 (Part 1) : 2010

ISO 9409-1 : 2004

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Indian Standard

MANIPULATING INDUSTRIAL ROBOTS —MECHANICAL INTERFACES

PART 1 PLATES

( Second Revision )

ICS 25.040.30

© BIS 2010

B U R E A U O F I N D I A N S T A N D A R D SMANAK BHAVAN, 9 BAHADUR SHAH ZAFAR MARG

NEW DELHI 110002

December 2010 Price Group 3

Industrial and Production Automation Systems and Robotics Sectional Committee, PGD 18

NATIONAL FOREWORD

This Indian Standard (Part 1) (Second Revision) which is identical with ISO 9409-1 : 2004 ‘Manipulatingindustrial robots — Mechanical interfaces — Part 1: Plates’ issued by the International Organization forStandardization (ISO) was adopted by the Bureau of Indian Standards on the recommendation of the Industrialand Production Automation Systems and Robotics Sectional Committee and approval of the Production andGeneral Engineering Division Council.

This standard was originally published in 1993 and was subsequently revised in 2003 based onISO 9409-1 : 1996 ‘Manipulating industrial robots — Mechanical interfaces — Part 1: Plates (form A)’. Thissecond revision has been harmonized with ISO 9409-1 : 2004 by adoption to make pace with the latestdevelopments taken place at international level. This standard consists of two parts. The other part is asunder:

Part 2 Shafts

The text of ISO Standard has been approved as suitable for publication as an Indian Standard withoutdeviations. Certain terminology and conventions are, however, not identical to those used in Indian Standards.Attention is particularly drawn to the following:

a) Wherever the words ‘International Standard’ appear referring to this standard, they should be read as‘Indian Standard’.

b) Comma (,) has been used as a decimal marker while in Indian Standards, the current practice is touse a point (.) as the decimal marker.

In this adopted standard, reference appears to certain International Standards for which Indian Standardsalso exist. The corresponding Indian Standards which are to be substituted in their respective places arelisted below along with their degree of equivalence for the editions indicated:

International Standard

ISO 261 : 1998 ISO general purposemetric screw threads — General plan

ISO 286 -1 : 1988 ISO system oflimits and fits — Part 1: Bases oftolerances, deviations and fits

ISO 286 -2 : 1988 ISO system oflimits and fits — Part 2: Tables ofstandard tolerance grades and limitdeviations for holes and shafts

ISO 1101 : 19831) Technical drawings— Geometrical tolerancing —Tolerancing of form, orientation,location and run-out — Generalities,definitions, symbols, indications ondrawings

Corresponding Indian Standard

IS 4218 (Part 2) : 2001 ISO generalpurpose metric screw threads:Part 2 General plan (second revision)

IS 919 (Part 1) : 1993 ISO system oflimits and fits: Par t 1 Bases oftolerances, deviations and fits (second

revision)

IS 919 (Part 2) : 1993 ISO system oflimits and fits: Part 2 Tables of standardtolerance grades and limit deviations forholes and shafts (first revision)

IS 8000 (Part 1) : 1985 Geometricaltolerancing on technical drawings:Part 1 Tolerancing of form, orientation,location and run-out, and appropriategeometrical definitions (first revision)

Degree of Equivalence

Identical

do

do

do

(Continued on third cover)1) Since revised in 2004.

1 Scope

This part of ISO 9409 defines 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 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 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 cited 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, ISO 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 8373:1994, 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.

( Second Revision )

PART 1 PLATES

MECHANICAL INTERFACES

MANIPULATING INDUSTRIAL ROBOTS —

Indian Standard

IS 13547 (Part 1) : 2010

ISO 9409-1 : 2004

1

2

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 of 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 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.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 plane A, counterbore diameter, d3, and the guide pin hole, d5, shall be the datums for all geometrical tolerances, as 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 related 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:

EXAMPLE A mechanical interface of a pitch circle diameter, d1 = 160 mm, and six M10 holes, shall be designated as follows:

ISO 9409-1–160–6–M10

ISO 9409-1 : 2004

IS 13547 (Part 1) : 2010

6 Marking

When the plate and related 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

IS 13547 (Part 1) : 2010

ISO 9409-1 : 2004

3

4

Figure 2 — Design according to Table 1, position 10

IS 13547 (Part 1) : 2010

ISO 9409-1 : 2004

Figure 3 — Design according to Table 1, position 12

IS 13547 (Part 1) : 2010

ISO 9409-1 : 2004

5

6

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. 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

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

IS 13547 (Part 1) : 2010

ISO 9409-1 : 2004

International Standard Corresponding Indian Standard Degree of Equivalence

IdenticalISO 8373 : 1994 Manipulating industrialrobots — Vocabulary

IS 14662 : 1999 Manipulating Industrialrobots — Vocabulary

The technical committee has reviewed the provision of the following International Standard referred in thisadopted standard and has decided that it is acceptable for use in conjunction with this standard:

International Standard Title

ISO 9787 : 1999 Manipulating industrial robots — Coordinate systems and motion nomenclatures

For the purpose of deciding whether a particular requirement of this standard is complied with, the finalvalue, observed or calculated, expressing the result of a test or analysis, shall be rounded off inaccordance with IS 2 : 1960 ‘Rules for rounding off numerical values (revised)’. The number of significantplaces retained in the rounded off value should be the same as that of the specified value in thisstandard.

(Continued from second cover)

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Review of Indian Standards

Amendments are issued to standards as the need arises on the basis of comments. Standards arealso reviewed periodically; a standard alongwith amendments is reaffirmed when such review indicatesthat no changes are needed; if the review indicates that changes are needed, it is taken up for revision.Users of Indian Standards should ascertain that they are in possession of the latest amendments oredition by referring to the latest issue of ‘BIS Catalogue’ and ‘Standards: Monthly Additions’.

This Indian Standard has been developed from Doc No.: PGD 18 (1119).

Amendments Issued Since Publication

Amend No. Date of Issue Text Affected

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