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 1.4.. 450 kg Moment load M x 2.8.. 9870 Nm Moment load M z 3.45.. 8460 Nm 42
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 www.schunk.com 43
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
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
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 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
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 +49-7133-103-2696 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
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-001 1.4 2.8 3.45 0.983 1.15 4 x M5 M5 SWS-005 8 37.2 50.7 12.4 16.9 6 x M5 M5 SWS-011 16 74.7 101.7 24.9 33.9 6 x M5 M5 SWS-020 25 169.5 234 56.5 78 12 x M5 M5 SWS-021 25 169.5 234 56.5 78 8 x G1/8" M5 SWS-027 38 254.1 298.2 84.7 99.4 8 x G1/8" G1/8" SWS-040Q 50 678 678 226 226 8 x G1/8" G1/8" SWS-041 50 471 648 157 216 6 x G3/8"; 4 x G1/8" G1/8" SWS-060 75 591 882 197 294 8 x G1/8" G1/8" SWS-071 79 1185 1185 395 395 8 x G1/4" G1/8" SWS-076 100 1626 2103 542 701 5 x G3/8" G1/8" SWS-110 150 2352 2352 784 784 8 x G3/8" G1/8" SWS-160 300 7170 3800 2390 1267 5 x G3/8 ; 4 x G1/2 G1/8" SWS-210 300 8130 6780 2710 2260 SWS-300 450 9870 8460 3290 2820 10 x G3/8"w G1/4" SWS-310 510 9870 9480 3290 3160 SWS-510 700 14580 10500 4860 3500 SWS-1210 1350 16260 16260 5420 5420 48
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 - 040 - 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 - 110 - R19 - G19 - SM 49
011 Forces and moments M x max. 75 Nm M y max. 75 Nm M z max. 102 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 Unt SWK-011-000-000 SWK-011-H-000-000-SQ SWA-011-000-000 Quck-change master Quck-change master for hollow wrst robot Quck-change adapter Recommended handlng weght [kg] 16 16 16 Pston stroke montorng optonal ntegrated Lockng force [N] 1100 1100 1100 Repeat accuracy [mm] 0.015 0.015 0.015 Mass [kg] 0.13 0.29 0.09 max. lockng dstance [mm] 3 3 3 Ar connecton thread Pneumatc feed-through 6x M5 6x M5 6x M5 Man connecton lock / unlock M5 M5 max. permssble XY offset [mm] ±1 ±1 ±1 max. permssble angular offset [ ] ±2 ±2 ±2 mn. / max. ambent temperature [ C] 5/60 5/60 5/60 mn. / max. operatng pressure [bar] 4.5/6.9 4.5/6.9 4.5/6.9 58
011 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 59
011 Man vew SWK-011-H Adapter plate ISO-A31.5-R A, a Ar connecton locked B, b Ar connecton unlocked AS Mountng surface for optons BO Pneumatc feed-through DK Optonal proxmty swtch EM Montorng poston unlocked EN Montorng poston locked Va axal ar connectons t s deal for hollow wrst robots. 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter Robot sde adapter plate IO Ft for a centerng pn Descrpton ID Robot-sde A-SWK-011-ISO-A31.5 0302221 Adapter plate for quck-change master wthout pston stroke control Does not work wth SWK-011-H Adapter plate ISO-A31.5-SIP-R Adapter plate ISO-A40-R 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn Robot sde adapter plate Robot sde adapter plate Descrpton ID Robot-sde A-SWK-011-ISO-A31.5-SIP 0302226 Descrpton ID Robot-sde A-SWK-011-ISO-A40 0302222 Adapter plate for quck-change master wth pston stroke control Does not work wth SWK-011-H Adapter plate for quck-change master wthout pston stroke control Does not work wth SWK-011-H 60
011 Adapter plate ISO-A40-SIP-R Adapter plate ISO-A50-R 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter IO Ft for a centerng pn Robot sde adapter plate Robot sde adapter plate Descrpton ID Robot-sde A-SWK-011-ISO-A40-SIP 0302227 Adapter plate for quck-change master wth pston stroke control Does not work wth SWK-011-H Descrpton ID Robot-sde A-SWK-011-ISO-A50 0302223 Adapter plate for quck-change master wthout pston stroke control Does not work wth SWK-011-H Adapter plate ISO-A50-SIP-R Adapter plate desgn 1 Robot sde connecton 2 Tool sde connecton CM DIN ISO-9409 bolt-hole crcle dameter Robot sde adapter plate Descrpton ID Robot-sde A-SWK-011-ISO-A50-SIP 0302228 IO Ft for a centerng pn IT Recommended adapter plate depth Recommended adapter desgn. An adapter s necessary n order to seal the pston chamber. Adapter plate for quck-change master wth pston stroke control Does not work wth SWK-011-H 61
011 Optonal electrcal modules Pston stroke control IT E..., robot-sde IK E..., tool-sde IL A.../B... robot-sde IM A.../B... 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-A15-K 9936357 15 50 V AC/3 A SWO-E10-010-K 9935801 10 50 V AC/3 A SWO-E20-K 9936525 20 50 V AC/3 A Tool-sde SWO-A15-A 9936356 15 50 V AC/3 A SWO-E10-010-A 9935802 10 50 V AC/3 A SWO-E20-A 9936526 20 50 V AC/3 A The drawng shows the mnmum heght of the adapter plate that s requred when nstallng a pston stroke control. Descrpton ID Pston stroke control SWK-011-SIP 0302318 SWM-S modular storage rack For other modules and techncal data, see chapter Optons or vst www.schunk.com Cable connector IT Storage plate IK Intermedate plate blank IL Workpece stop IM SWA quck-change adapter IN Fxng block IO 3-poston adapter IP Vertcal profle IT D-sub connectng plug Descrpton ID Straght cable connector, robot-sde KAS-A15-K-0 0301264 Straght cable connector, tool-sde KAS-A15-A-0 0301265 IK D-sub connector 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. 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. 62
011 Pston stroke control Pston stroke control for SWK-011-H Descrpton ID Often combned Inductve proxmty swtches IN 41-S-M8 9941216 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 Descrpton ID Often combned Inductve proxmty swtches IN 41-S-M8 9941216 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 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. 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. 63