Overview
ISO 11593:2022 is an international standard that defines the vocabulary related to automatic end-effector exchange systems used in industrial robotic environments. It serves as a comprehensive reference for terms and definitions essential to understanding and implementing tool-changing systems in robot applications, in accordance with ISO 10218-2. The document ensures consistency and clarity in communication among manufacturers, integrators, and users of industrial robot systems involving automatic tool changers.
This second edition of ISO 11593 updates terminology, references, and structural elements to reflect modern industrial robotic applications. By standardizing the vocabulary, ISO 11593 promotes interoperability and enhances the efficiency of robotics automation involving end-effector swaps.
Key Topics
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Automatic End-Effector Exchange System
Defined as a coupling device between the robot-mounted part and one or more tool-mounted parts, enabling automatic exchange of end effectors-also called tool changers or robotic tool couplers.
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Robot-Mounted and Tool-Mounted Parts
The robot-mounted part attaches directly to the mechanical interface of the robot, while the tool-mounted parts attach to each end effector. This distinction is crucial for designing and maintaining quick-change capabilities.
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Coupling and Uncoupling Processes
Terms such as "couple," "uncouple," "lock," "unlock," "dock," and "undock" describe specific actions involved in attaching and detaching tools from robots or tool magazines.
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Physical Dimensions and Shapes
The standard specifies terminology related to external shapes, main dimensions (e.g., diameters, depths, and lengths), and the face-to-face distance of exchange systems, ensuring precise mechanical compatibility.
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Positioning and Orientation
Concepts like coupling direction (axial or lateral), length of approach distance, and start position are detailed to support accurate and reliable tool exchanges.
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Forces and Loads
Definitions cover coupling force, releasing force, maximum bending moments, torsional moments, tensile and compressive forces, and lateral forces-all vital parameters for system safety and performance.
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Mass and Inertia
The document also defines terms related to mass properties, including the center of gravity and moment of inertia of the coupled system, which affect robot dynamics and control.
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Tolerances and Uncertainty
Position tolerance, pose accuracy, and uncertainties in the start position and coupling are included to guide precision requirements for reliable tool exchange.
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Magazine Interfaces and Tool Exchange Timing
Vocabulary includes terms related to the storage and handling of end effectors in magazines (such as tool stands or nests) and the timing considerations for exchanges.
Applications
ISO 11593:2022 is essential for industries utilizing industrial robots that require swift and reliable changing of tools or end effectors. Key applications include:
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Automated Manufacturing
Enables seamless switching between different tools or grippers in assembly lines, increasing flexibility and reducing downtime.
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Robotic Machining and Welding
Facilitates rapid tool changes, ensuring robots can perform multiple operations with high precision using specialized ends.
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Material Handling and Packaging
Supports the use of interchangeable end effectors for varied product types, sizes, or packaging requirements.
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Robotics Integration and Maintenance
Provides a common vocabulary that improves communication during system integration, diagnostics, and servicing.
The standard’s detailed terminology ensures manufacturers and system integrators can design compatible automatic tool changers that safely meet performance and dimensional criteria, streamlining robotic deployments across sectors.
Related Standards
ISO 11593:2022 complements other standards in the robotics domain, including:
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ISO 10218-2: Safety requirements for industrial robot systems, under which automatic end-effector exchange systems operate.
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ISO 9409-1:2004 and ISO 9409-2:2002: Define interface descriptions and markings for the robot side and tool side mechanical interfaces referenced within ISO 11593.
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ISO/IEC Directives, Part 1 and 2: Provide guidance on the development and maintenance of international standards, including editorial rules followed in ISO 11593.
Together, these standards ensure coherent and comprehensive guidance for robotic manufacturers and users, supporting the evolution of automated production environments with reliable and standardized tooling exchange mechanisms.
Keywords: ISO 11593, industrial robots, automatic end-effector exchange, robot tool changer vocabulary, robotic tool coupler, tool-mounted part, robot-mounted part, coupling force, release force, robot tool exchange, industrial automation standards