Tool Changers - RAD-RA

ToolChangers

Phone 937-667-5705 ROBOTIC ACCESSORIES FAX: 937-667-7602Page 3

Tool Changer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page 4

Mounting the Tool Changer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page 17

Selecting a Tool Changer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page 17

Ordering Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page 18

Sensor Interface Plate System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page 19

✔ Extremely High Repeatability✔ High Rigidity✔ Superior Fail-Safe Locking

Mechanism✔ Excellent Reliability

6555 State Route 202 • Tipp City, Ohio 45371937-667-5705 • FAX: 937-667-7602


Robotic AccessoriesTool Changer

Operating PrincipleThe tool changer uses a pneumatic piston,located in the master plate, to force steel ballsinto engagement with the lock ring on the toolplate. Double tapers in the piston insure

concentricity repeatability while protecting thetool from disengagement in the event lockingpressure is lost. Pressure must be applied to theunlocking port to release the tool plate.

Features

• Unmatched Repeatability–The uniquedouble-taper locking piston in combinationwith the two locating pins providesunmatched repeatability. Million-cycletesting, at rated loads, shows that the typicalrepeatability is much better than theguaranteed values shown in thespecifications.

• High Rigidity–The tool changer has a largemoment capacity due to the locking piston’shigh coupling strength and large diameter.Because the coupled tool changer does notrock during high-inertia moves, lockingfailure and repeatability problems areprevented.

• Excellent Reliability–The patented double-taper locking mechanism actually self-compensates for wear. The pneumatic portsuse uniquely designed, long-life rubberbushings which prevent any loss of airpressure. Spring probe electrical pins on theMaster Plate insure contact with fixed pinsin the Tool Plate. Simply put, this ToolChanger is built to last.

• Superior Fail-Safe Locking Mechanism–The new patented locking mechanism locks

the Master Plate to the Tool Plate andremains locked even if pressure isaccidentally removed. The built-in fail-safefeature eliminates the need for a spring.

• No-Touch LockingTM TechnologyThe tool changer can lock successfully witha gap between the master and tool plates.

SECONDARY TAPER

CYLINDRICALLAND

LOCKINGRING

BALL

INITIAL TAPERTOOLPLATELOCKING

RING

PISTON

15-DEGREE SECOND TAPER

45-DEGREE TAPER

CYLINDRICALSURFACE

Design ofLocking Mechanism


Specifications

Additional Specifications

1. The Z-axis force must be less than thecoupling force to achieve the specifiedrepeatability.

2. The Master Plate can only be decoupled ifair pressure is applied to the Unlock port,even if Z-axis force exceeds the couplingforce.

3. Extra electrical contact option and extrapneumatic line option cannot be providedtogether.

4. Special Tool Changer models and optionsare available. Call for details.

5. Interface plates are available for any robotmodel.

• Available in Ten Sizes–The Tool Changeraccommodates payloads ranging from 5 to455 kg. Standard models include as many as74 electrical lines and 14 pneumatic ports.

• 3 year warranty–Based on years ofobservation and analysis by our customers inthe field, and extensive laboratory testing.

• Long-life bushings for pneumatic pass-through.

• Small size and weight to payload ratio.

• All locking parts are made of Rc58 stainlesssteel.

• Maximum pressure of 100 psi (7 bar).

Tool Changer Model NumberSpecification TC-5 TC-11 TC-20 TC-21 TC-40 TC-41 TC-60 TC-71 TC-100 TC-150 TC-300Description Page 6 Page 7 Page 8 Page 9 Page 10 Page 11 Page 12 Page 13 Page 14 Page 15 Page 16

Static MomentCapacity (X& Y) 110 220 500 500 1390 1390 1740 3500 6940 10400 29100(English, lb-in)

Static MomentCapacity (X& Y) 12.5 25 56.5 56.5 157 157 197 395 784 1175 3289(Metric, N-m)

Static MomentCapacity (Z) 150 300 690 690 1910 1910 2600 3500 6940 9000 25000(English, lb-in)

Static MomentCapacity (Z) 17 34 78 78 216 216 294 395 784 1017 2825(Metric, N-m)

Pneumatic (6) M5 (6) M5 (12) M5(8)† (8)† (6) 3/8 NPT (8)† (8)† (8)† (10)† (10)†

Pass-Through or or or1/8 NPT 1/8 NPT (4) 1/8 NPT 1/8 NPT 1/4 NPT 3/8 NPT 3/8 NPT 3/8 BSPT

(Qty) Size #10-32 #10-32 #10-32

Pneumatic Lock & M5 or M5 or M5 or M5 or 1/8 1/8 1/8 1/8 1/8 1/8 1/4Unlock Port Size #10-32 #10-32 #10-32 #10-32 NPT NPT NPT NPT NPT NPT BSPT

†Additional pneumatic pass-through ports are available for these models.All models can handle a dynamic moment 3X higher than the static moment capacity. Moment tests show failure point at 12 times X & Y static moment specifications.


MODEL TC-5Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . . . 8/18Static Moment X & Y Resistance†–Nm/lb-in . . . . . . . 12.5/110Static Moment Z Resistance†–Nm/lb-in. . . . . . . . . . . . 17/150Positional Repeatability X, Y & Z–mm/in . . . . . . 0.010/0.0004Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . 0.36/0.8Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . . . 690/155

Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . . 49/1.9Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . 48.5/1.9Pneumatic Port Type–Pass Through (6) . . . . . . M5 or #10-32Pneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . . . . . M5Min./Max. Allowable Distance Between

Plates before Locking-mm/in . . . . . . . . . 1.5-3.0/0.06-0.12

†Can handle a dynamic moment 3 times higher than the static moment capacity. Moment tests show failure point at 12 times static momentspecifications.

Special Feature: Master forces separation of tool to prevent sticking while unlocking–a common problem when working with light payloads.

Options

ElectricalOption # Pins Rating Description Comments

E10 10 3A/150V Solder connection, miniature size Gold-plated contact pins



B15 15 3A/50V High density D-sub connector Gold-plated contact pins

SIP N/A N/A Lock/unlock sensing See page 19


MODEL TC-11Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . . 16/35Static Moment X & Y Resistance†–Nm/lb-in . . . . . . . . 25/220Static Moment Z Resistance†–Nm/lb-in. . . . . . . . . . . . 34/300Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . 0.33/0.7Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . . 1068/240

Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . . 50/1.9Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . 39.1/1.5Pneumatic Port Type–Pass Through (6) . . . . . . M5 or #10-32Pneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . . . . . M5Max. Allowable Distance Between

Plates before Locking-mm/in . . . . . . . . . . . . . . . . 3.0/0.12


Options


A15 15 3A/50V High-density D-sub connector Gold-plated contact pins





MODEL TC-20Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . . 25/55Static Moment X & Y Resistance†–Nm/lb-in . . . . . . . 56.5/500Static Moment Z Resistance†–Nm/lb-in. . . . . . . . . . . . 78/690Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . 0.85/1.9Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . . 2314/520

Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . . 90/3.5Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . 45.4/1.8Pneumatic Port Type–Pass Through (12) . . . . . M5 or #10-32Pneumatic Port–“Lock” & “Unlock” . . . . . . . . . . M5 or #10-32Max. Allowable Distance Between



Options


D15 15 3A/150V D-sub connector, miniature size Gold-plated contact pins

K19 19 3A/50V MS miniature quick-disconnect connector Sealed, no-touch master pins




MODEL TC-21Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . . 25/55Static Moment X & Y Resistance†–Nm/lb-in . . . . . . . 56.5/500Static Moment Z Resistance†–Nm/lb-in. . . . . . . . . . . . 78/690Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . 0.85/1.9Locking Force @ 80 psi (5.5 bar)–kg/lb . . . . . . . . . . 2314/520

Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . . 95/3.7Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . 45.4/1.8Pneumatic Port Type–Pass Through (8) . . . . . . . . . . 1/8 NPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . M5 or #10-32Max. Allowable Distance Between



Special Feature: Large 1/8 NPT ports in a small, lightweight package.

Options


D15 15 3A/150V D-sub connector, miniature size Gold-plated contact pins





MODEL TC-40Payload Capacity–kg/lbs . . . . . . . . . . . . . . . . . . . . . . . 50/110Static Moment X & Y Resistance†–Nm/lb-in . . . . . . 157/1390Static Moment Z Resistance†–Nm/lb-in . . . . . . . . . . 216/1910Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . . 1.8/3.9Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . 4540/1020

Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . 115/4.5Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . . . 57/2.2Pneumatic Port Type–Pass Through (8) . . . . . . . . . . 1/8 NPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . 1/8 NPTMax. Allowable Distance Between

Plates before Locking-mm/in . . . . . . . . . . . . . . . . 5.0/0.20†Can handle a dynamic moment 3 times higher than the static moment capacity. Moment tests show failure point at 12 times static momentspecifications.

Options


MT8 8 20A/500V MS cylindrical, threaded connector Sealed, no-touch master pinsS19/S26 19/26 5A/250V MS miniature quick-disconnect connector Fluid resistant, untouchable master pinsR19/R26 19/26 5A/250V MS miniature quick-disconnect connector Fluid resistant, untouchable master pins

J16 16 5A/250V MS miniature quick-disconnect connector Serrated rhodium-plated contact pinsT19 19 5A/250V MS cylindrical, threaded connector Fluid resistant, untouchable master pins

F02/F04 — — (2) or (4) 3/8 G/NPT self-sealing ports For fluid or pneumatic pass-throughP18 — — Additional (4) 1/8 NPT pneumatic ports Provides a total of 12 pneumatic portsP14 — — Additional (2) 1/4 NPT pneumatic ports Provides a total of 10 pneumatic portsV34 — — 3/4 G vacuum port Vacuum onlySIP — — Lock/unlock sensing See page 19


MODEL TC-41Payload Capacity–kg/lbs . . . . . . . . . . . . . . . . . . . . . . . 50/110Static Moment X & Y Resistance†–Nm/lb-in . . . . . . 157/1390Static Moment Z Resistance†–Nm/lb-in . . . . . . . . . . 216/1910Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . . 2.2/4.8Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . 4540/1020Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . 130/5.12

Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . . 57/2.25Pneumatic Port Type–Pass Through (6) . . . . . . . . . . 3/8 NPT

(4) . . . . . . . . . . 1/8 NPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . 1/8 NPTMax. Allowable Distance Between



Special Feature: Large 3/8 NPT ports.

Options




F02/F04 — — (2) or (4) 3/8 G/NPT self-sealing ports For fluid or pneumatic pass-throughP18 — — Additional (4) 1/8 NPT pneumatic ports Provides a total of 14 pneumatic portsP14 — — Additional (2) 1/4 NPT pneumatic ports Provides a total of 12 pneumatic portsV34 — — 3/4 G vacuum port Vacuum onlySIP — — Lock/unlock sensing See page 19


MODEL TC-60Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . 75/165Static Moment X & Y Resistance†–Nm/lb-in . . . . . . 197/1740Static Moment Z Resistance†–Nm/lb-in . . . . . . . . . . 294/2600Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . 2.06/4.5Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . 7387/1660

Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . 130/5.1Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . . . 50/1.9Pneumatic Port Type–Pass Through (8) . . . . . . . . . . 1/8 NPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . 1/8 NPTMax. Allowable Distance Between



Options


D15 15 3A/50V D-sub connector Gold plated contact pins



P18 — — Additional (4) 1/8 NPT pneumatic ports Provides a total of 12 pneumatic ports

SIP — — Lock/unlock sensing See page 19


MODEL TC-71Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . 79/175Static Moment X, Y & Z Resistance†–Nm/lb-in . . . . 395/3500Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . . 3.1/6.7Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . 8075/1815Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . 150/5.9

Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . . . 65/2.6Pneumatic Port Type–Pass Through (8) . . . . . . . . . . 1/4 NPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . 1/8 NPTMax. Allowable Distance Between



Options




F02/F04 — — (2) or (4) 3/8 G/NPT self-sealing ports For fluid or pneumatic pass-throughP14 — — Additional (2) 1/4 NPT pneumatic ports Provides a total of 10 pneumatic portsP18 — — Additional (4) 1/8 NPT pneumatic ports Provides a total of 12 pneumatic portsP38 — — Additional (4) 3/8 NPT pneumatic ports Provides a total of 12 pneumatic portsV34 — — 3/4 G vacuum port Vacuum onlySIP — — Lock/unlock sensing See page 19


MODEL TC-100Payload Capacity–kg/lbs . . . . . . . . . . . . . . . . . . . . . . 150/330Static Moment X,Y & Z Resistance†–Nm/lb-in . . . . . 784/6940Positional Repeatability X, Y & Z–mm/in . . . . . . 0.015/0.0006Weight when Coupled–kg/lb. . . . . . . . . . . . . . . . . . . . . 5.8/13Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . 12149/2730Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . 177/6.9

Height when Coupled–mm/in . . . . . . . . . . . . . . . . . . 79.5/3.1Pneumatic Port Type–Pass Through (8) . . . . . . . . . . 3/8 NPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . 1/8 NPTMax. Allowable Distance Between



Options






MODEL TC-150Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . . . 200/440Static Moment X and Y Resistance†–Nm/lb-in . . . . . 1175/10400Static Moment Z Resistance†–Nm/lb-in . . . . . . . . . . . 1017/9000Positional Repeatability X, Y & Z–mm/in . . . . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . . . . 8.7/19.1Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . . . 16109/3620

Diameter when Coupled–mm/in. . . . . . . . . . . . . . . . . . . . 200/7.9Height when Coupled–mm/in. . . . . . . . . . . . . . . . . . . . . . . 90/3.5Pneumatic Port Type–Pass Through (10) . . . . . . . . . . . . 3/8 NPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . . . . 1/8 NPTMax. Allowable Distance Between

Plates before Locking-mm/in . . . . . . . . . . . . . . . . . . . 7.0/0.28


Options






MODEL TC-300Payload Capacity–kg/lbs. . . . . . . . . . . . . . . . . . . . . . . . . 455/1003Static Moment X and Y Resistance†–Nm/lb-in . . . . . . 3289/29100Static Moment Z Resistance†–Nm/lb-in . . . . . . . . . . . 2825/25000Positional Repeatability X, Y & Z–mm/in. . . . . . . . . . 0.015/0.0006Weight when Coupled–kg/lb . . . . . . . . . . . . . . . . . . . . . . 20.1/44.2Locking Force @ 80 psi (5.5 bar)–N/lb . . . . . . . . . . . . 35333/7940

Diameter when Coupled–mm/in . . . . . . . . . . . . . . . . . . . 259/10.2Height when Coupled–mm/in. . . . . . . . . . . . . . . . . . . . . . . 116/4.6Pneumatic Port Type–Pass Through (10). . . . . . . . . . . . 3/8 BSPTPneumatic Port–“Lock” & “Unlock” . . . . . . . . . . . . . . . . . 1/4 BSPTMax. Allowable Distance Between

Plates before Locking-mm/in . . . . . . . . . . . . . . . . . . . 10.0/0.40†Can handle a dynamic moment 3 times higher than the static moment capacity. Moment tests show failure point at 12 times static momentspecifications.

Special Features: Standard electrical module has five pins that may be used for tool ID. The master connector contains the signals for thedetection sensor. The detection sensor detects when the tool plate is within 1.5mm of the master plate, signaling ready to lock.

Self-sealing pneumatic ports on the master side seal when the master and tool separate.

Options






Mounting the Tool Changer

How to Select a Robotic Tool Changer

The Master Plate is attached to the robot flangeusing an interface plate (furnished by the user).Screws and O-ring are provided for the MasterPlate (a cover plate is provided). A boss anddowel pin hole are provided on the Master Platefor high accuracy location.

The Tool Plate is attached to the tool (end-effector) using an interface plate (furnished bythe user). Use screws that match the tappedholes in the Tool Plate. A boss and dowel pinhole are provided on the Tool Plate for highaccuracy location.

Sizing–If your moment is low or moderate,select a Tool Changer model with a payloadrating similar to the robot it will be mountedon. If your moment is high, or if you prefer touse a TC model better suited to the application,you can use a more exact method.

More Exact Method–Moment capacity is acritical factor in selecting the proper ToolChanger model. Use the following toapproximate your worst-case moment.

a) Find the approximate center-of-gravity(CG) of your heaviest end-effector.

b) Calculate the distance (D) from the CG tothe bottom of the Tool Plate.

c) Calculate the weight (W) of the heaviestend-effector.

d) Multiply (W) times (D) to get anapproximate static moment (M) (or amoment based on one G of acceleration).

e) Select a Tool Changer with a momentcapacity equal to or greater than (M).

Robots may produce moments two to threetimes higher than (M) due to their potentiallyhigh acceleration. The Tool Changer modelswith moment capacity of (M) are designed tohandle dynamic moments that are three timeshigher than (M).

Pneumatic and Electrical–Determine thenumber and size of pneumatic ports andelectrical contacts needed. Larger ToolChanger models have larger and morenumerous pneumatic ports and electricalcontacts.

Temperature and Chemicals–The ToolChanger uses nitrile bushings to pass air to theTool Plate, and Buna-N o-rings to seal thepneumatic locking mechanism. Not only arethese rubber materials able to survive mostchemicals, they are able to withstand

ROBOT ARM

ROBOT ARMADAPTOR PLATE(USER SUPPLIED)

MASTER PLATE

TOOL PLATE

INTERFACE PLATE(USER SUPPLIED)

TOOL(END-EFFECTOR)


40 M— H10— P14—

PlateSpecification

M = MasterT = Tool

Model Number

5, 11, 20, 21, 40, 41 60, 71, 100, 150, 300

ElectricalModule Option

A15, D15, E10, E20, E30,H10, J16, K19, K26,

R19/R26, S19/S26, T19,

Special PneumaticPort Options

F02, F04, P14, P18, P38

Ordering Data

temperatures ranging from -20°F to 150°F.Please contact us for additional information ifyou have questions regarding temperatures orchemicals within your particular environment.

Precision Applications–Check the repeata-bility specifications when dealing withapplications that require high repeatability.

REMEMBER

A tool changer affects your robot’smoment capacity, payload, size, andrepeatability. For a given payload, theTool Changer is designed to exceed therobot’s specifications.


Sensor Interface Plate SystemThe Sensor Interface Plate (SIP) system hasbeen designed to provide lock and unlocksensing inside the Robot Interface plate. TheSIP consists of lock and unlock sensors,sensing peg, sensing plate and interface plate.

Figures 1 through 4 show how the SIP works.The SIP Plate serves as the robot interface inModels TC-40 and higher. Please consult theSales Department for TC-21 and lower inter-face plate.

Sensor Interface Plate Sensor Interface PistonPlate

Master Plate Sensor Peg

Figure 1

Side view of Master Plate withSensor Interface Plate (SIP)system.

Figure 2

Section view of Figure 1 showingposition of SIP system whenlocked without Tool Plate. Neitherthe lock nor unlock sensors areactivated.

Figure 4

Close-up of SIP in unlockposition. Unlock sensor activatedby sensor peg. Lock sensor is notactivated.

Figure 3

Close-up of SIP in lock positionwith the Tool Plate. Lock sensoractivated by sensor peg.

Unlock Sensor Lock Sensor

CATREV4

E-mail us at: [email protected] • Visit us at: www.robotic-accessories.com

6555 State Route 202 • Tipp City, Ohio 45371937-667-5705 • FAX: 937-667-7602

Documents

Tool Changers - RAD-RA