龍欣科技股份有限公司 EDRAGON TECHNOLOGY CORPORATION http://www.edragontek.com
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   EDRAGON TECHNOLOGY CORPORATION

■ Assembly雜誌 :
你的機器人需要快換工具嗎?
​Does Your Robot Need a Tool Changer?

圖片

https://www.assemblymag.com/articles/93146-does-your-robot-need-a-tool-changer
In nearly every workplace, multitasking is a required skill. A person must be able to wear many hats, so to speak, and successfully handle several ongoing assignments or projects. This same ability is now expected of robots.

“Manufacturers’ need for their robots to be increasingly flexible has driven most of the development and improvement in tool changers over the last decade,” explains Dan Merritt, senior applications engineer for ATI Industrial Automation. “In industries from automotive to white goods, robots can handle more-demanding applications than ever thanks to robust tool changers.”

Earlier this year, Electroimpact began using ATI tool changers with its Integrated Structural Assembly of Advanced Composites (ISAAC) system for NASA. The automated system consists of a modified KUKA industrial robot and a large, rotating, disk-like end-effector that is loaded with up to 16 spools of carbon fiber ribbon.

A tool changer in the head of the end-effector allows it to be automatically detached and replaced with an identical end-effector loaded with different tools. This enables NASA to quickly change over to another job.

Many other assembly systems require just as much versatility from their robots to optimize cost-effectiveness and throughput. After all, companies purchase state-of-the art robots for their technological capabilities, not downtime. With the right tool changer, a robot can be more productive in every application and move well beyond doing one simple task ad infinitum.

Two Sides to Success
When robots began appearing in factories in the 1960s and 1970s, application-specific end-of-arm tooling (EOAT) was made by robot companies or integrators and bolted directly onto the end of a robot arm. Unfortunately, whenever the robot needed to perform a new assembly task, different application-specific EOAT was attached. In addition, this early tooling was large, bulky and didn’t work very well. However, the ability to switch out tooling did slowly improve.

In the mid-1980s, General Motors designed the RHC series of pneumatic tool changers that were manufactured by Robohand. Gary Labadie, global product director for grippers at DESTACO, says the four-model series is still used in GM plants throughout the world to quicken assembly of all types of vehicles. The changers handle tooling for welding and assembling parts of all sizes and have a payload capacity of 20, 130, 300 or 1,000 pounds.

By the late 1980s, specialty tool-changer suppliers entered the marketplace. This development, in conjunction with manufacturers’ need for robot flexibility, has led to major improvements in tool changers over the last 25 years.


“With today’s tool changers, EOAT can usually be switched out within seconds,” notes Matthew Smith, automation applications engineer for SCHUNK. “To manually change the tooling could take up to 30 minutes for even an experienced operator.”

A tool changer consists of two components: a robot, or master, side that is attached to the robotic arm; and a tool-side piece that is attached to the end-effector. During a tool change, both components are automatically or manually coupled. This coupling takes just a few seconds. Various failsafe mechanisms ensure that the pieces stay together in the event of lost air pressure or electricity.

All tool changers have a similar locking mechanism. It involves a manually or pneumatically driven piston or electric motor forcing a set of balls into a groove in the tool-side piece to lock it in place and clamp the two pieces together using guide pins or locking pins.

William Shelley, sales representative for Kosmek USA Ltd., says the company’s SWR pneumatic tool changers feature dual contact surface resting. This technology has a movable tapered sleeve that eliminates gaps in the sleeves and ball-lock areas, enabling mating with very high precision and zero clearance. The design also creates a rigid connection with zero backlash.

DESTACO uses rollers rather than balls in its RQC series to ensure a strong connection. According to Labadie, the rollers provide full contact rather than just point contact as with balls. This larger surface area provides a very strong and stiff coupling.

“The approach of the robot to the end-effector for coupling should take several seconds,” according to Dan Peretz, vice president for North America at IPR Robotics Inc. “If the robot approaches too fast, proper coupling may not occur. This leads to the possibility of tooling falling off, which is very dangerous.”

Jim Geary, a senior product engineer for DESTACO, agrees. He says reliable tool changer coupling is more important than ever in light of the growing presence of collaborative robots on the assembly line.


To ensure worker safety, a workcell’s control system should include sensors that monitor when the tool changer is in the locked or unlocked position. This information is displayed on an HMI or a monitor connected to a PLC.

Kosmek’s SWR series has an LED light that indicates when a robot is not close enough to an end-effector for proper
coupling. Luke Matsuda, sales representative for Kosmek, says this light is red when the two sides are more than 2 millimeters apart. The light turns green when both sides are mated and the check port closes the air sensor.

A tool changer comes in various shapes, including round, semi-round (with one or two flat sides), square, triangular and hexagonal. Its body is usually made of high-grade anodized aluminum, whereas the locking components are made of hardened stainless steel. Aluminum keeps the changer fairly lightweight, so it doesn’t take away too much load capacity from the robot.

Within the tool changer are many holes that serve as feed-throughs for electric, pneumatic and hydraulic connections between the robot and EOAT. Sometimes, however, the application requires a module be mounted to one or more flat sides of the tool changer.

Suppliers offer hundreds of module types. The most common ones supply air, hydraulic fluids or power for tools like spot-welding guns, or they transmit signals or data. More-specialized modules include those that transfer screws, threaded bolts, rivets and other fasteners.

How many modules a manufacturer needs usually determines the tool changer shape. For example, if four or more modules are needed, a square or hexagonal changer will be selected. Because most applications require two to four modules, semi-round and square tool changers are the most popular.

All Types of Applications
Manufacturers of every size and in every industry equip their robots with tool changers to perform many types of assembly. Peretz says one automotive manufacturer uses IPR’s TK-125 SW200 square tool changer so its robot can alternate between a welding gun and welding pliers (to remove spatter) while working on aluminum body sections.

Automatic tool changers enable General Motors to build multiple vehicle models on a single line at several of its plants, says Smith. The tool changers quickly and reliably switch out end-effectors that handle doors, quarter panels and other large pieces. According to Smith, another automaker relies on several SCHUNK tool changers to handle different hoods, engines and wheels for two models of its automobiles built in California.

Several automotive manufacturers use the SWR tool changer with machine-tending and assembly robots. Although Kosmek’s parent company is based in Hyogo, Japan, Matsuda says this series features an interface that works well with all types of American, German and Japanese robots.

“Automakers also are increasingly using nozzle-tip tool changers so their robots can quickly dispense sealants and adhesives to different model cars being assembled on the same assembly line,” explains Peretz. “Aerospace companies are doing likewise for sections that require more than one of these materials.”

A couple years ago, SCHUNK designed a custom SWS-021 pneumatic tool changer for a large manufacturer of consumer electronics. Smith says the changer is 9 inches in diameter and equipped with two modules, enabling a total of 80 feed-throughs to handle a wide range of EOAT.

SCHUNK also offers manual and electric models. The HWS manual tool changer directly mounts to a robot arm by means of a standardized ISO 9409 interface. Positive locking and unlocking between the two sides occurs when the operator rotates a semi-cylindrical shaft 180 degrees using a hand lever.

The electric model EWS features a wear-resistant servomotor directly integrated into the housing to ensure fast and powerful locking. Weighing only 4.2 pounds, the tool changer handles load capacities up to 40 pounds. Piston stroke and work tool presence monitoring are also integrated.

“Aerospace manufacturers continue to expand their use of tool changers as they increasingly automate assembly,” says Labadie. “Changers help robots more quickly layup composite sheets and perform drilling, marking and riveting on the plane’s fuselage and wings.”

As for white goods manufacturers, Geary says they use changers so robots can easily switch between vacuum EOAT (for grabbing sheet metal) and drills or nutrunners.

Another industry that has increased its use of robots and tool changers is medical device manufacturing. Shelley says these manufacturers like the SWR series because it provides precise handling of tooling by small robots. He points out that the smallest tool changer in the series weighs only 4 pounds (2.5 on the master-side and 1.5 on the tool-side).

ATI offers a micro tool changer, the QC-001, that enables parallel-link (spider) robots to perform multiple assembly, dispensing, sorting and material-handling operations. It is compact (1.8 inches in diameter), lightweight (0.21 pound) and works with tiny robots having payload capacities of less than 3 pounds.

Nine models make up the TK series from IPR. These pneumatic tool changers range from the TK-40 (6.6 pounds maximum handling weight) to the TK-300-ST (1,763 pounds). Repeatability on the X-Y-Z axis ranges from 0.025 to 0.05 millimeter. Fixed and spring-loaded contact pin connectors are available for energy transmission in all models.

RQC/RTP pneumatic modular tool changers from DE-STA-CO have payload capacities of 200, 400, 800, 1,200 or 2,400 pounds. Each changer accepts up to four modules for air, vacuum, electrical and fluid.The changers’ ISO 9409 interface allows direct mounting on a robot arm without an adapter plate.

“Some manufacturers consider tool changers to be nothing more than a commodity—a product that’s basically the same from every supplier,” notes Labadie. “But, mixing and matching tool changers from different suppliers limits a company’s ability to standardize its equipment and optimize manufacturing cell flexibility.”

When selecting a tool changer, engineers should look for a device with a low weight-to-force ratio, short change times and one that resists twisting forces without allowing excessive gapping between the robot and tool sides. To meet this latter requirement, engineers must accurately calculate the tool changer’s moment capacity, which suppliers say can range from 150 to 15,000 in-lb.

“We don’t turn down any project, regardless of whether it involves a standard or custom tool changer,” concludes Merritt. “As robots get faster and stronger, we want to have a tool changer for all of them.”

Contact E-mail : sales@edragontek.com
​Phone
 : +886 (0)-3-5927891, +886 (0)-915-669-072  (LINE, WeChat, WhatsApp)
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  • 產品品牌
    • ■ 歐洲品牌 >
      • ■ ​德國 THYRACONT Vacuum​​ Instruments GmbH : 最精制的真空計
      • ■ 德國 Rudolph Tietzsch - 超高電壓測試儀和接地絕緣電阻測試
      • ■ 德國 PCE Instruments 各式專業測量檢測儀
      • ■ ​ABB防爆馬達 Explosion-proof Motor
      • ■ 德國 BÄCKER GmbH & Co. KG​​ 最高水平塑料元件
      • ■ 德國 HEINRICH KIPP WERK GmbH & Co. KG 百年專業小型緊固件
      • ■ 德國 HVP High Voltage Products GmbH 高壓高頻電源電子元件
      • ■ 德國 ERS electronic GmbH 全自動溫度校準先進測量設備
      • ■ 液態金屬檢測流量控制
    • ■ 美國品牌 >
      • ■ 美國 迪斯泰克 DESTACO, ROBOHAND, CAMCO, FERGUSON, CRL >
        • ■ DESTACO ●美國最大自動化、工件夾持元件製造商
        • ■ CAMCO、FERGUSON ●凸輪分割器的發明者 ●全球最大的凸輪分割器製造商
        • ■ Robohand ●美國最領先的高精度夾持器
        • ■ CRL,Central Research Laboratories® ●世界級安全隔離操作系統
        • ■ Accelerate Collection® ●加速輕量化機器手臂工具 EOAT
        • ■ DIRECTCONNECT™ ●模塊化直接安裝系統
        • ■ Toggle Lock Plus™ 双重鎖夾具
      • ■ 美國 VLIER : 彈簧鎖銷 Spring Lock Pin 創始者
    • ■ Others品牌 >
      • ■ 外延片、晶圓代工、半導體設備耗材 Epi wafer、Turnkey、Foundry
      • ■ ​高壓功率器件 IC 設計 MOSFET/GaN Design、Turnkey
      • ■ ​SRT北京軟體機器人 ①EOAT柔性氣囊夾爪②機器視覺智能辨識檢測機
      • ■ ​[揚州​]​ 泰盛能源技術 Teison - 直流充電桩/交流充電桩/充電線 EVSE DC/AC Charger
      • ■ 中科同志科技 Torch - ​中小型真空焊接Vacuum Brazing、SMT設備領頭羊
      • ■ 泰姆瑞 TERMWAY 高精密全自動CCD視覺貼片機
      • ■ 天譽創新科技-電動六軸自由度平台並聯機器人
      • ■ 湯森儀器 Tempsens Instruments GmbH >
        • ■ ​AST 紅外線高溫計熱像儀夜視儀 Pyrometer, Imager and Nigh Vision
        • ■ 印度 馬拉松加熱器 Marathon Heater (India) PVT Ltd
    • ■ 專利庫倫力型靜電吸盤 Patent Coulomb-Force E-Chuck
    • ■ 日本 VANTECH 金屬網
  • 產品介紹
    • ■ 半導體電子相關設備 >
      • ■什麼是真空回流焊 What is Vacuum Brazing?
      • ■ 自動化波峰焊電磁圓泵 Wave Soldering Electromagnetic pump
      • ■ ​什麼是人工智能服務機器人 What is (AI) Artificial Intelligence Service Robot?
      • ■ ​什麼是防爆馬達 What is Explosion-proof motor?
    • ■ 靜電吸盤 E-Chuck (Electrostatic Chuck) >
      • ■ 什麼是靜電吸盤 What is Electrostatic Chuck?
      • ■ 專利庫倫力型靜電吸盤 Patent Coulomb-Force Electrostatic Chuck
      • ■ 無線薄化硅片吸盤 Move-Free ​Thin Wafer Carrier Supporter E-Chuck
      • ■ 陶瓷靜電吸盤 Ceramic E-Chuck
    • ■ Robohand 夾爪 Grippers >
      • ■ ROBOHAND 滑軌滑台、旋轉器 SLIDES, ROTARIES >
        • ■ 最新精密導軌和升降機 Newest Line of Precision Guides and Lifters
        • ■ 滑軌滑台、擒縱器、推卸器 Slides, Escapements, Thrusters
        • ■ 氣動旋轉台 Pneumatic Rotary Actuators
        • ■ Robohand 選用軟體
      • ■ Robohand ●美國最領先的高精度夾持器
      • ■ 袋爪 Bag Grippers
      • ■ 氣動夾爪 Pneumatic Grippers
      • ■ 無塵室夾爪、滑軌、旋轉器 Clean Room
      • ■ 迷你夾爪 Micro Miniature Grippers
      • ■ 電動夾爪 Electric Grippers
      • ■ 微型滑軌滑台 Miniature Slide
      • ■ 不銹鋼食品夾爪 Food Handling Grippers
      • ■ 重型夾爪 Heavy Duty Grippers
      • ■ 熱成形溫度傳感器夾爪 Hot Forming Sensor Grippers
    • ■ DESTACO 機器人手臂工具集 EOAT >
      • ■ 小承載重量機器人工具 Small Payload Robot Tooling
      • ■ 快速輕量化機器人手臂工具集 ACCELERATE® LightWeight EOAT
      • ■ 袋爪 DBG Bag Grippers
      • ■ 鈑金夾爪 Sheet Metal Grippers
      • ■ 工具快換電子接頭 Tool Changers
      • ■ 終端效應器 End Effectors
      • ■ 新型加速真空杯 Accelerate® Vacuum Cups
      • ■ 電子真空杯 Ecocup™
      • ■ 專利文丘里真空管 Patent ARV® Venturi Vacuum Generator
    • ■ DESTACO 夾具夾鉗 Clamps >
      • ■ 最新精密導軌和升降機 Newest Line of Precision Guides and Lifters
      • ■ 航太夾具 Aerospace Clamps
      • ■ 手動快速夾鉗夾具 Manual Clamps
      • ■ 氣動夾具 Pneumatic Clamps
      • ■ 迷你氣動夾具 Mini Pneumatic Power Clamps
      • ■ 重型氣動夾具 Power Clamps
      • ■ 液壓夾具汽缸 Hydraulic Clamps, Air Hydraulic Pump
    • ■ CAMCO 分割器、減速器、過載保護離合器 Indexer, Reducer, Clutch >
      • ■ CAMCO 零件裝卸器 Linear / Rotary Parts Handlers >
        • ■ CAMCO、FERGUSON
        • ■ CAMCO 線性&旋轉零件裝卸器 Linear / Rotary Parts Handlers
      • ■ CAMCO 精密輸送機 Precision Conveyors >
        • ■ CAMCO、FERGUSON
        • ■ CAMCO 精密輸送帶 Precision Conveyors
      • ■ CAMCO GTB 伺服定位旋轉器 SERVO POSITIONING ROTARY TABLES
      • ■ CAMCO、FERGUSON
      • ■ CAMCO 分割器、過載保護離合器 Indexers, Overload Clutch
      • ■ CAMCO 定位器、減速器 Positioners, Reducers
    • ■ CRL 世界級安全隔離操作設備 >
      • ■ 世界級安全隔離操作系統 CRL,Central Research Laboratories®
      • ■ CRL 遠距隔離操作機械手 Telemanipulator
      • ■ CRL 手套箱 快速輸送端口 GloveGox RTP, Rapid Transfer Ports
      • ■ CRL 廢物桶傳輸系統 ​WASTE DRUM TRANSFER SYSTEM (WDTS)
    • ■ ACCUOPT 紅外線熱像儀監控儀,夜視儀 Infrared Imager, Surveillance & Night Vision >
      • ■ ACCUOPT 紅外線熱像儀 Infrared Imager FeverSENS
  • 產品新聞
    • ■ DESTACO 產品市場 : 航空航天 Aerospace >
      • ■ Assembly雜誌 : 你的機器人需要快換工具嗎?
      • ■ PRweb : DESTACO新型GTB定位旋轉台,提供比競爭者型號更小更輕和更卓越的扭矩
    • ■ DESTACO 產品市場 : 汽車 Automotive >
      • ■ ASSEMBLY雜誌 : 分割器加速SUV車門組裝
      • ■ PRweb : DESTACO推出Accelerate®Vision虛擬現實VR數位設計解決方案工具,以提高生產力
      • ■ MA雜誌 : DESTACO終端效應器Effector的設計使用虛擬現實VR增添加速的視覺虛擬
    • ■ DESTACO 產品市場 : 生命科學 Life Sciences >
      • ■ PR Newswire : 新型一次性Beta袋 Single-Use Beta Bags
      • ■ 自動化在生命科學的應用 Automating life sciences applications
      • ■ Today's Medical Developments 封面故事 : 自動化在生命科學的應用
      • ■ IMD : CRL® 新型VERSA®遠距操控機械手
      • ■ PR Newswire : 新的 CRL CleanRTP 快速傳輸端口友善且可客制
    • ■ DESTACO 產品市場 : 消費品 Consumer Goods >
      • ■ PR Newswire : DFS ①燃油加油机②POS系统③​ATG控制台
      • ■ PRweb : DESTACO利用滑軌平台擴展Robohand™ OEM解決方案,用於機器管理和零件傳輸
      • ■ PRweb : DESTACO新型深碟型真空杯顯著提高輪廓面或油性面板的抓握性能
    • ■ DESTACO 產品市場 : 食品加工/包装 Food Processing and Packaging >
      • ■ AMS雜誌 : 傳送自動化的好處,更高的生產力始於高效的物料處理
      • ■ Destaco TCC公差補償夾具大大簡化焊接裝配製程
      • ■ CAMCO GTB 伺服定位減速器 SERVO POSITIONING ROTARY TABLES
    • ■ DESTACO 產品市場 : 核能 Neclear Remote Handling Solutions >
      • ■ PR Newswire : 新型 CRL G-LDR 遙控操作器以更緊湊的安裝方式提供久經考驗的可靠性
      • ■ PR Newswire : DESTACO將在WM專題討論會上展示創新的CRL廢物處理產品
    • ■ THYRACONT 產品新聞 >
      • ■ THYRACONT Smartline™現在也可以與PROFINET工業乙太網通訊協定一起使用!
      • ■ 德國 Thyracont : 智能真空測量儀、真空開關 Vacuum Instruments
  • 特色產品
    • ■ NEW Vendors >
      • ■ ACCUOPT 熱像儀 FeverSENS mini (紅外線,可見光,即時双視頻)
      • ■ FERGUSON
    • ■ 快速輕量化 終端效應器 ACCELERATE® Effectors
    • ■ CAMCO GTB 伺服定位減速器 SERVO POSITIONING
    • ■ Destaco TCC公差補償夾具
    • ■ DESTACO 協作快換接手TC1
    • ■ DESTACO 最新精密導軌和升降機 Precision Guides and Lifters
    • ■ DESTACO CAMCO 高速伺服可編程定位減速器 PGM40
    • ■ DESTACO 分割器 過載保護離合器 CAMCO Index Overload Clutch
    • ■ DESTACO 電控真空吸盤 EcoCup™
  • 產品影片
    • ■ 靜電吸盤 Electrostatic Chuck
    • ■ DESTACO 介紹 >
      • ■ DESTACO 應用實例
      • ■ CRL遠距隔離安全操作
    • ■ DESTACO 機器人手臂工具 EOAT End of Arm Toolings >
      • ■ 真空吸盤 Vacuum Cups
      • ■ 夾具夾鉗 Clamps
      • ■ 夾爪、滑軌、擒縱器、旋轉器 Grippers, Slides, Escapements, Rotaries
      • ■ 工具快換接頭 Tool Changers
      • ■ 終端效應器 End Effectors
      • ■ 袋物夾爪 Bag Grippers
      • ■ DESTACO Robohand 夾爪、滑軌、擒縱器、旋轉器
    • ■ DESTACO CAMCO 分割器、過載保護離合器 Indexer, Clutch >
      • ■ 精密輸送帶 Precision Conveyors
      • ■ 零件裝卸器 Linear / Rotary Parts Handlers
    • ■ ​THYRACONT Vacuum​​ Instruments 真空測量計
    • ■ 德國 Rudolph Tietzsch 高電壓測試儀和電阻測試設備
    • ■德國 PCE Instruments 各式專業測量儀
    • ■ 湯森儀器 Tempsens Instruments >
      • ■ AST 高精度高溫溫度計
    • ■ 北京中科同志科技有限公司 TORCH
    • ■ 日本 VANTECH 金屬網過濾器和沖壓件
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