Modular. Robust. Flexible. SWS Quick-change system

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1 SWS Modular. Robust. Flexble. SWS Quck-change system Pneumatc tool changng system wth patented lockng system. Feld of Applcaton C an be used wherever short changeover tmes between a handlng devce and a tool (pallets, grpper) are requred Advantages Your beneft Many szes for almost every robot sze: there s always the matchng unt for your applcaton Patented fal-safe lockng mechansm for safe connecton between quck-change master and quck-change adapter Manual emergency unlockng possble no counter-forces from sprngs All functonal components made from hardened steel for a greater change system load bearng capacty Wde range of electrc, pneumatc, and flud modules for manfold energy transmsson possbltes Integrated pneumatc feed-through for safe energy supply of the handlng modules and tools Possblty of transmsson of flud systems wth selfsealng couplngs possble Adapter codng va electrc module possble Sutable storage racks for all szes of standardzed storage modules ISO flange pattern for easy assembly wth most types of robots wthout needng addtonal adapter plates Szes Quantty: 15 Handlng weght kg Moment load M x Nm Moment load M z Nm 42

SWS Functonal Descrpton Due to the automatc

electrcally drven tools, weldng guns ) the

The SWS quck- system conssts of a SWK quck-

The SWK, mounted onto the robot, couples

A pneumatcally drven lockng pston, wth ts

SWS 1 Sensor montorng of the lockng devce

the lockng condton 2Housng Weght-optmzed

alloy 3Drve Pneumatc, effcent, and easy to

and unlockng, self-lockng n locked poston 5

2 SWS Functonal Descrpton Due to the automatc change of the robot tool (e.g. grpper, pallets, sucton cups, pneumatc or electrcally drven tools, weldng guns ) the flexblty of your robot ncreases. The SWS quck-change system conssts of a SWK quck-change master and a SWA quck-change adapter. The SWK, mounted onto the robot, couples wth the SWA mounted onto the tool. A pneumatcally drven lockng pston, wth ts patented desgn, ensures that the connecton s secure. After couplng, pneumatc and electrc feed-throughs automatcally supply your robot tool. SWS 1 Sensor montorng of the lockng devce Optonal, for process relable montorng of the lockng condton 2Housng Weght-optmzed through applcaton of hgh-strength alumnum alloy 3Drve Pneumatc, effcent, and easy to handle 4Lockng mechansm Force -free lockng and unlockng, self-lockng n locked poston 5 Ar feed-through No nterferng contours due to the ntegraton nto the housng. Also sutable for vacuum. CAD data, operatng manuals and other current product documents are avalable at 43

lockng ball poston n Ready-to-Lock poston

3 SWS Detaled Functonal Descrpton Quck-change system n unlocked poston 1Adapter plate 2Quck-change master SWK 3Electrcal module, robot-sde 4Lockng mechansm 5Lockng rng 6SWA quck-change adapter 7Electrcal module, tool-sde Secton vew n Ready-to-Lock poston 1Pston 2Quck-change master SWK 3Lockng pston 4No-Touch-Lockng 5Lockng rng 6SWA quck-change adapter Detaled vew of the lockng ball poston n Ready-to-Lock poston 1 Lockng balls are on the 1 st taper of the cam. The master and adapter do not need to be touchng to lock. Secton vew of the quck-change system n locked poston 1 Actuaton of the pston forces the balls out and nto the hardened steel rng, pullng the adapter to the master. 44

SWS Close-up of lockng ball n locked poston 1 Lockng balls on the 2 nd taper of the cam create extremely hgh lockng forces.

from the master plate unless unlock ar pressure s appled.

Close-up of lockng ball whle n fal-safe poston 1 In the case of pressure loss the lockng balls are held n place va the

The master and adapter can only be separated by pneumatc actuaton of the pston.

Force -free lockng and unlockng, self-lockng n locked poston 3Housng Weght-optmzed through applcaton of hgh-strength alumnum

4 SWS Close-up of lockng ball n locked poston 1 Lockng balls on the 2 nd taper of the cam create extremely hgh lockng forces. 2Fal-Safe reverse taper 3 1 st taper Secton vew of the quck-change system n fal-safe poston 1 The tool plate wll not release from the master plate unless unlock ar pressure s appled. Separaton of master and adapter n fal-safe poston s only possble by pneumatc actuaton of the pston. Close-up of lockng ball whle n fal-safe poston 1 In the case of pressure loss the lockng balls are held n place va the cylndrcal part of the lockng pston. The pston seal frcton prevents the pston from movng due to ts own weght or vbratons. The master and adapter can only be separated by pneumatc actuaton of the pston. 2Fal-Safe reverse taper 3 1 st taper Sectonal dagram SWS-001 1Drve Pneumatc, effcent, and easy to handle 2Lockng mechansm Force -free lockng and unlockng, self-lockng n locked poston 3Housng Weght-optmzed through applcaton of hgh-strength alumnum alloy 4Centerng and mountng possbltes by usng a standardzed ISO 9409 nterface for robots 5 Electrc feed-throughs No nterferng contours, due to the ntegraton nto the housng. 6Ar feed-through No nterferng contours due to the ntegraton nto the housng. Also sutable for vacuum. 45

SWS General Notes to the Seres Actuaton: pneumatc, wth fltered compressed ar as per DIN ISO 8573-1: 7 4 4 Operatng prncple: Lockng balls actuated by pstons Energy feed- through: Varable va attachment

5 SWS General Notes to the Seres Actuaton: pneumatc, wth fltered compressed ar as per DIN ISO : Operatng prncple: Lockng balls actuated by pstons Energy feed- through: Varable va attachment modules, dependng on the type Housng: The housng s made of hgh-tensle, hardcoated alumnum alloy. The functonal parts are made of hardened steel. Scope of delvery: Operatng and mantenance nstructons, manufacturer s declaraton Warranty: 24 months (detals, general terms and condtons and operaton manuals can be downloaded at www. schunk. com) Harsh envronmental condtons: Please note that use n harsh envronmental condtons (e.g. n the coolant area, cast and grndng dust) can consderably reduce the servce lfetme of the unts, and may vod the warranty. However, n many cases we can fnd a soluton. Please contact us. Handlng weght: the weght of the total load attached to the flange. The desgn must take nto account the permssble forces and moments. Please note that the lfe span wll be reduced f the maxmum handlng weght s exceeded. Applcaton example Inserton tool for assembly of small to medum-szed workpeces. The tool can be used n both, clean and drty envronments. Due to ts quck-change system, many tools can alternatvely be fxed to the robot flange. 1 SWS q uck-change system 2 Electrc feed-through 3 TCU-Z t olerance compensaton unt 4 PZN-plus 3-fnger centrc grpper 46

Optonal Electrcal ModuleCable Connector Pneumatc Optonal Modules SWM Storage Rack Extenson Cable Adapter Plates Inductve Proxmty Swtches Dust Cover

found on the followng products pages or at www. schunk. com.

6 SWS SCHUNK offers more... The followng components make the SWS even more productve the perfect complement for hghest functonalty, flexblty, and process relablty. Optonal Electrcal ModuleCable Connector Pneumatc Optonal Modules SWM Storage Rack Extenson Cable Adapter Plates Inductve Proxmty Swtches Dust Cover PGN-plus Unversal Grpper OPR Collson and Overload Sensor FDB-AC Deburrng Spndles AGE Compensaton Unt Further nformaton regardng the products can be found on the followng products pages or at www. schunk. com. Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal Informaton No-Touch-Lockng : Lockng wthout touchng. Ensures that the SWS s securely locked even when the SWK and SWA do not contact. Patented fal-safe lockng mechansm: Large pston dameter and outward ball travel ncrease moment load. All lockng parts are made of Rc 58 stanless steel. 47

7 SWS Selecton of a SWS Quck-change System 1. Determnng the Sze Quck Method: When low or medum forces and moments act upon the SCHUNK quck-change system, you should choose a quckchange system wth a payload that s comparable to that of your robot. If hgh moments and forces act upon the SCHUNK quckchange system, please use the followng method, whch s more precse. More Precse Method: The forces and moments are a crtcal factor n choosng a sutable quck-change system. Proceed as follows to estmate the most unfavorable moment: Calculate for the approxmate center of gravty (COG) of the heavest end effector that wll be used. Calculate the dstance (D) from the COG to the bottom of the tool plate. Calculate the mass (m) of the heavest end effector. Multply m, D and gravty (9,81 m/s 2 ) to determne the approxmate statc moment (M) (or a moment based on 1 g acceleraton). Choose a quck-change system wth a moment load that s equal to or greater than M. Due to ther potentally hgh acceleratons, robots can generate moments that are two to three tmes hgher than M. The quckchange systems are desgned for absorbng dynamc moments that are three tmes hgher than ther statc moments. 2. Pneumatc and electrcal System Determne the number of requred pneumatc connectons and electrcal contacts. Larger quck-change systems feature a hgher number of pneumatc connectons and electrcal contacts. 3. Temperature and Chemcals SCHUNK quck-change systems use ntrle seals for the pneumatc supply to the tool plate. O-rngs seal the pneumatc lockng mechansm. These O-rngs are resstant to most chemcal nfluences and also wthstand temperatures rangng from -25 to 65 C. Please contact your SCHUNK representatve f you need nformaton on temperatures or chemcal nfluences n partcular envronments. 4. Precson Applcatons Always comply wth the specfcatons f you work wth applcatons that requre hgh repeat accuracy. SWS Szes Desgnaton Recommended Dynamc moment [Nm] Statc moment [Nm] Pneumatc Ar connectons handlng weght [kg] M x and M y M z M x and M y M z feed-throughs locked and unlocked SWS x M5 M5 SWS x M5 M5 SWS x M5 M5 SWS x M5 M5 SWS x G1/8" M5 SWS x G1/8" G1/8" SWS-040Q x G1/8" G1/8" SWS x G3/8"; 4 x G1/8" G1/8" SWS x G1/8" G1/8" SWS x G1/4" G1/8" SWS x G3/8" G1/8" SWS x G3/8" G1/8" SWS x G3/8 ; 4 x G1/2 G1/8" SWS SWS x G3/8"w G1/4" SWS SWS SWS

8 SWS Sample Order SWS 001 / 005 / 011 / 020 /... / 300 Desgnaton SW Page K = Master (robot sde) A = Adapter (tool sde) Sze 001 / 005 / 011 / 020 / / 300 Optonal modules Rxx, Sxx, Gxx, Kxx = Electro modules Pxx = Pneumatc module (anodzed alumnum housng, not sutable for lquds) Vxx = Vacuum module Fxx = Flud modules (stanless steel, self-sealng) 000 = Opton not used SW K R19 - G19 Sample Order SWS 011H / 020H / 021H / 040Q / 076 / 110 / 160 Desgnaton SW Page K = Master (robot sde) A = Adapter (tool sde) Sze 011H / 020H / 021H / 040Q / 110 / 160 Optonal modules Rxx, Sxx, Gxx, Kxx = Electro modules Pxx = Pneumatc module (anodzed alumnum housng, not sutable for lquds) Vxx = Vacuum module Fxx = Flud modules (stanless steel, self-sealng) 000 = Opton not used Proxmty swtch montorng SM = Inductve proxmty swtch PNP (SWK-110, SWK-160) SG = Inductve proxmty swtch PNP (for SWK-040Q, SWK-076) SQ = Inductve proxmty swtch PNP (for SWK-011H, SWK-020H, SWK-021H) 0 = No proxmty swtch Addtonal varants avalable on request SW K R19 - G19 - SM 49

SWS 071 Forces and moments M x max. 1185 Nm M y max. 1185 Nm M z max. 834 Nm Ths s the max.

Techncal data Descrpton SWK-071-000-000 SWA-071-000-000 Quck-change master Quck-change adapter

accuracy [mm] 0.015 0.015 Mass [kg] 1.8 1.3 max.

9 SWS 071 Forces and moments M x max Nm M y max Nm M z max. 834 Nm Ths s the max. sum of all forces and moments (from acceleraton or deceleraton, process forces or moments, emergency stop stuatons, etc.) whch are permtted to act on the tool change system whle stll ensurng proper functonng. Techncal data Descrpton SWK SWA Quck-change master Quck-change adapter Recommended handlng weght [kg] Pston stroke montorng optonal Lockng force [N] 8100 Repeat accuracy [mm] Mass [kg] max. lockng dstance [mm] 3 3 Ar connecton thread Pneumatc feed-through 8x G1/4 8x G1/4 Man connecton lock / unlock G1/8 max. permssble XY offset [mm] ±2 ±2 max. permssble angular offset [ ] ±1 ±1 mn. / max. ambent temperature [ C] 5/60 5/60 mn. / max. operatng pressure [bar] 4.5/ /

10 SWS 071 Man vew The drawng shows the basc desgn of the quck-change system and does not take nto consderaton the dmensons of any optons descrbed below. The robot-sde plate mounted on the SWK s a cover for the pston chamber. It s essental that t s supported by the adapter plate. See the further product nformaton for a note on how to desgn ths adapter plate. A, a Ar connecton locked B, b Ar connecton unlocked 1 Robot sde connecton 2 Tool sde connecton 5 Through-hole for connecton wth screws AS Mountng surface for optons BN Bolt crcle BO Pneumatc feed-through IO Ft for a centerng pn IP Fttng for centerng 109

11 SWS 071 Adapter plate ISO-A100-R Adapter plate ISO-A100-SIP-R 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn IP Fttng for centerng 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn IP Fttng for centerng Robot sde adapter plate Robot sde adapter plate Descrpton ID Robot-sde A-SWK-071-ISO-A Descrpton ID Robot-sde A-SWK-071-ISO-A100-SIP Adapter plate for quck-change master wthout pston stroke control Adapter plate for quck-change master wth pston stroke control Adapter plate ISO-A80-R Adapter plate ISO-A80-SIP-R 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn IP Fttng for centerng 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn IP Fttng for centerng Robot sde adapter plate Robot sde adapter plate Descrpton ID Robot-sde A-SWK-071-ISO-A Descrpton ID Robot-sde A-SWK-071-ISO-A80-SIP Adapter plate for quck-change master wthout pston stroke control Adapter plate for quck-change master wth pston stroke control 110

12 SWS 071 Optonal electrcal modules IT E-module wth metrc threads, robot-sde IK E-module wth ml-spec. threads, tool-sde IL E-module wth ml-spec. threads, robot-sde IM E-module wth ml-spec. threads, tool-sde Modules for transmsson of electrcal sgnals from the robot through the tool changer to the tools. Descrpton ID No. Pns Elec. Ratng Robot-sde SWO-RF19-K V AC/3 A Tool-sde SWO-RF10-A V AC/3 A SWO-RF14-A V AC/3 A SWO-RF19-A V AC/3 A The modules lsted above show only a small selecton of the many electrcal opton possbltes. SCHUNK offers a wde range of electrcal feed modules for every applcaton. For further optons and techncal data, please see chapter SWO-E Electrcal Opton or contact us at any tme. 111

13 SWS 071 Cable connector / cable extenson IT Connecton plug / socket straght IK Connecton plug / socket at an angle IL Connecton plug / socket straght wth extenson cable IM Connecton plug / socket at an angle wth extenson cable Other cable lengths on request. Cable connector for SWO-RF19 / GF19 / SF19 / KF19 / RF14 / GF14 / KF14 / RF10 / KF10 Descrpton ID Cable outlet Length Robot-sde Cable connector wth cable KV-5-SWK-19F m KV-10-SWK-19F m KV-5-SWK-19F m KV-10-SWK-19F m Tool-sde Cable connector wth cable KV-3-SWA-19F m KV-3-SWA-19F m For other cable connectons / extensons, see chapter Optons or vst www. schunk. com 112

14 SWS 071 Optonal pneumatc / fludc modules SWM-M modular storage rack IT Self-sealng flud module, robot-sde IK Self-sealng flud module, tool-sde IL Pneumatc module, robot-sde IM Pneumatc module, tool-sde Modules for transmsson of ar and fluds from the robot, through the tool changer to the tools. Descrpton ID No. of flud Connecton feed-throughs Robot-sde SWO-FG2-K G3/8 SWO-FG4-K G3/8 SWO-P05-K M5 SWO-P14-K G1/4 SWO-P186-K G1/8 Tool-sde SWO-FG2-A G3/8 SWO-FG4-A G3/8 SWO-P05-A M5 SWO-P14-A G1/4 SWO-P186-A G1/8 IT Baseplate wth uprght profle IK Horzontal profle IL Storage module IM SWS quck-change system IN Intermedate plate IO Parallel grpper The modular storage rack s desgned for the specfc sze quck change module. The modular desgn of the storage rack allows for a standard soluton customzed to your applcaton. Dependng on the number of tools, the storage postons and the sze of the tools a customzed storage rack can be created for your applcaton. For more nformaton please see chapter SWM Storage Rack. For other pneumatc and flud modules, see chapter Optons or vst www. schunk. com 113

15 SWS 071 SWD-071 dust cover Pston stroke control IT SWD protecton cover IK SWA quck-change adapter IL Optonal electrcal module The protecton cover protects the quck-change adapter n the storage rack aganst dust and chps. The cover has an ntegrated clp mechansm whch s actuated by lockng / unlockng the changng master, allowng the robot to remove the cover from one adapter and place t on another adapter. The drawng shows the mnmum heght of the adapter plate that s necessary when nstallng a pston stroke control. Descrpton ID Pston stroke control SWK-071-SIP Descrpton ID Dust cover SWD-071-R

16 SWS 071 Pston stroke control Adapter plate desgn Descrpton ID Often combned Inductve proxmty swtches IN 80-S-M IN 80-S-M INK 80-S Cable extensons KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP Clp CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M IT Recommended adapter plate depth IP Fttng for centerng Recommended adapter desgn. An adapter s necessary n order to seal the pston chamber. Two sensors (closer/no) are requred for each unt, plus extenson cables as an opton. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. 115

Modular. Robust. Flexible. SWS Quick-change system

Modular. Robust. Flexible. SWS Quick-change system Modular. Robust. Flexble. SWS Quck-change system Pneumatc tool changng system wth patented lockng system. Feld of Applcaton C an be used wherever short changeover tmes between a handlng devce and a tool