ISO 11593:2022

INTERNATIONAL ISO
STANDARD 11593
Second edition
2022-02
Robots for industrial environments —
Automatic end effector exchange
systems — Vocabulary
Robots manipulateurs industriels — Systèmes de changement
automatique de terminal — Vocabulaire
Reference number
© ISO 2022
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ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
3.1 General terms and definitions . 1
3.2 Terms related to the external shape and main dimensions of the exchange system . 2
3.3 Terms related to positioning and orientation in coupling . 3
3.4 Terms related to coupling and releasing forces . 5
3.5 Terms related to mass and inertia of the coupled system . 6
3.6 Terms related to tolerances and uncertainty . 7
3.7 Terms related to magazine interfaces of the tool-mounted part .12
3.8 Terms related to tool exchange timing . 14
4 Symbols .17
4.1 Coupling parameters . 17
4.2 Forces . 17
4.3 Mass . 18
4.4 Mechanical interface frame . 18
4.5 Tool frame . 18
4.6 Motion start. 18
4.7 Motion timing . 18
Bibliography .19
iii
Foreword
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This document was prepared by Technical Committee ISO/TC 299, Robotics.
This second edition cancels and replaces the first edition (ISO 11593:1996), which has been technically
revised.
The main changes are as follows:
— references, terminology and drawings have been updated;
— the Scope and the Introduction have been updated;
— reference documents have been moved from the Normative references clause to the Bibliography;
— the document has been restructured and Annex A has been removed.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
iv
Introduction
This document is one of a family of standards dealing with the requirements of components of robot
systems for industrial environments.
This document contains the vocabulary for end-effector exchange systems. This document does not
contain any details for the development and design of these systems.
For the terms related to coupling and releasing forces (see 3.4), all permissible maximum values for the
load characteristics are valid for the sum of both static and dynamic loads and all load characteristics
are stated for the reference plane.
For the terms related to magazine interfaces of the tool-mounted part (see 3.7), the performance criteria
should be used in the same sense as those used in the terms related to the external shape and main
dimensions of the exchange system (see 3.2). The defined coordinate system is still valid even if the
direction of insert movement into the magazine is different from the coupling direction at the exchange
of the tool. They differ in their value and their direction as well as in the force of coupling work which is
required to assemble or release the tool part from the robot part of the interface.
v
INTERNATIONAL STANDARD ISO 11593:2022(E)
Robots for industrial environments — Automatic end
effector exchange systems — Vocabulary
1 Scope
This document defines terms relevant to automatic end-effector exchange systems used as a part of
robot systems in accordance with ISO 10218-2.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1 General terms and definitions
3.1.1
automatic end-effector exchange system
coupling device between the mechanical interface and the end-effector enabling automatic exchange of
end-effectors, made up of a robot-mounted part (3.1.2) and one or more tool-mounted parts (3.1.3)
Note 1 to entry: Also referred to as tool changer, quick-change device, automatic tool changer, robotic tool
changer or robot coupler.
3.1.2
robot-mounted part
part of an automatic end-effector exchange system (3.1.1) that is attached to the mechanical interface of
a manipulator
Note 1 to entry: Also referred to as master or robot side.
3.1.3
tool-mounted part
part of an automatic end-effector exchange system (3.1.1) that is attached to the end-effector
Note 1 to entry: Also referred to as slave or tool side.
3.1.4
couple, verb
join the robot-mounted part (3.1.2) to the tool-mounted part (3.1.3)
3.1.5
uncouple, verb
release the tool-mounted part (3.1.3) from the robot-mounted part (3.1.2)
3.1.6
lock, verb
actuate the locking elements to secure the tool-mounted part (3.1.3) to the robot-mounted part (3.1.2)
3.1.7
unlock, verb
actuate the locking elements to allow the uncoupling of the robot-mounted part (3.1.2) from the tool-
mounted part (3.1.3)
3.1.8
dock, verb
couple (3.1.4) and lock (3.1.6) the robot-mounted part (3.1.2) to the tool-mounted part (3.1.3) when the
tool-mounted part is held in the magazine (3.1.10)
3.1.9
undock, verb
unlock (3.1.7) and uncouple (3.1.5) the tool-mounted part (3.1.3) from the robot-mounted part (3.1.2)
when the tool-mounted part is held in the magazine (3.1.10)
3.1.10
magazine
storage means of end-effectors that are docked (3.1.8) and undocked (3.1.9) from the associated robot-
mounted parts (3.1.2)
Note 1 to entry: Also referred to as tool stand, tool storage rack or nest.
3.1.11
interface for robot side and tool side
description and marking for robot part and tool part in accordance with ISO 9409-1:2004, Clause 6, and
ISO 9409-2:2002, Clause 8
3.1.12
cable routing
position and dimension of routing and tracking of cable for robot part and tool part in one drawing
3.2 Terms related to the external shape and main dimensions of the exchange system
3.2.1
structural shape
overall dimensions of device comprising external diameter (or width), depth, length of the individual
robot-mounted part (3.1.2), and length of the individual tool-mounted part (3.1.3)
Note 1 to entry: See Figure 1.
a) exchange systems coupled b) exchange systems uncoupled
Key
1 tool-mounted part D external diameter (circular shape) (mm)
2 robot-mounted part A width (for other) (mm)
3 surface B depth (for other) (mm)
4 total length of the coupling (when coupled) L length from the robot mounting flange to the coupling
flange (mm)
L length of the robot-mounted part (mm)
r
L length of the tool-mounted part (mm)
t
Figure 1 — External shape and main dimensions of the exchange system when coupled and
uncoupled
3.2.2
face-to-face dimension
distance measured from the robot interface to the tool interface
Note 1 to entry: See Figure 1 a), item 4.
Note 2 to entry: The tolerance of the coupling length of the robot part (L ) and the coupling length of the tool
cr
part (L ) has a significant effect on the pose accuracy of the complete system when using different tools. The
ct
length of the coupled system is calculated as L ± Δ.
total
3.3 Terms related to positioning and orientation in coupling
3.3.1
coupling direction
direction in which the robot-mounted part (3.1.2) and/or the tool-mounted part (3.1.3) are moved to
each other
Note 1 to entry: See Figure 2.
Note 2 to entry: Couplings may be either lateral or axial:
— lateral coupling direction [see Figure 2 a)]: the motion of coupling runs parallel to the level of separation of
the interface;
— axial coupling direction [see Figure 2 b)]: the motion of coupling runs vertical to the level of separation of the
interface.
a) Lateral positioning and orientation in cou- b) Axial positioning and orientation in coupling
pling
Key
1 coupling direction 3 level of separation
2 tool-mounted part 4 robot-mounted part
Figure 2 — Positioning and orientation in coupling
3.3.2
length of the approach distance
L
a
total distance of operation of the robot-mounted part (3.1.2) and/or the tool-mounted part (3.1.3) in the
coupling direction (3.3.1) until the complete coupling of both parts
Note 1 to entry: L is expressed in millimetres.
a
Note 2 to entry: L = L + L + L
a a1 a2 a3
Note 3 to entry: For axial coupling direction, the approach distance runs vertical to the reference plane (3.6.7). On
lateral coupling direction, it runs parallel to the reference plane.
Note 4 to entry: See Figure 3.
Key
1 coupling direction L length of the approach distance (mm)
a
2 tool-mounted part L distance of operation for precentring (mm)
a1
3 robot-mounted part L distance of operation for centring (mm)
a2
L distance of operation thereafter until the complete
a3
coupling (mm)
Figure 3 — Axial coupling direction
3.3.3
start position
location of the robot-mounted part (3.1.2) of the exchange device in relation to the tool-mounted part
(3.1.3) shortly before the coupling process begins
Note 1 to entry: The start position can be defined in the Cartesian coordinate system as (X , Y , Z ).
s s s
Note 2 to entry: See Figure 4.
Key
1 start position (X , Y , Z ) X Cartesian coordinate X axis
s s s 1
X start X axis coordinate Y Cartesian coordinate X axis
s 1
Y start Y axis coordinate Z Cartesian coordinate X axis
s 1
Z start Z axis coordinate
s
Figure 4 — Demonstration of axial coupling direction
3.4 Terms related to coupling and releasing forces
3.4.1
coupling force
F
c
force to be applied by the robot in order to couple (3.1.4) the robot-mounted part (3.1.2) of the exchange
system with the tool-mounted part (3.1.3)
Note 1 to entry: F is expressed in Newtons.
c
Note 2 to entry: During this process, the tool-mounted part is considered to be held in the tool magazine
(3.1.10). The coupling force includes all external forces required to couple all mechanical, electrical, hydraulic or
pneumatic connectors.
3.4.2
releasing force
F
e
force to be applied by the robot in order to release the robot-mounted part (3.1.2) of the exchange system
from the tool-mounted part (3.1.3)
Note 1 to entry: F is expre
...