2007 CATALOG. Robotic Rotary Joint. Unlimited rotation of robotic tooling

Transcription

1 27 CATALOG Robotic Rotary Joint Unlimited rotation of robotic tooling

2 ROBOTIC ROTARY JOINT Product Description The Rotary Joint device allows electrical and pneumatic lines from the robot to feed through to the tool keeping air and electrical lines on the robot from twisting. The Rotary Joint has two components: Fixed and rotating. The rotating component consists of the robot interface plate, tool interface plate, and a central connecting core. The fixed component is a central ring, which is held stationary by a torque rod attached to a fixed part of the robot arm. Lines are attached between the fixed component and your robot controller. As the robot moves, the fixed lines do not twist. Advanced slip ring technology is used to pass fixed lines to the rotating component and then to your tool so as your robot moves, and pneumatic pressure pass from the robot to the tool preventing the lines from twisting. With many different sizes, this device can be easily integrated onto almost any robot. Benefits and Features Prevents damage and increases life of robot electrical and pneumatic lines. Normal twisting action can fatigue electrical lines or damage pneumatic lines. Compact, light-weight design with a high load capacity. Constructed of anodized high-strength aluminum alloy with easy-to-use electrical and pneumatic interface. Angle of traverse is unlimited (36º+). Suitable for speeds of up to 12 rpm and for payloads of,5 lb (18, N) and 7,26 lb-in (82 N-m). Larger models are available on request. Allows passage of pneumatic and electrical lines. Suitable for BUS signal transmission. Tested to operate beyond one million rotations. IP63 rated. New design includes two sets of ball bearings for increased strength (models RJ--1-KS, RJ-5-1-KS and above). Purge air port for IP65 applications. Provides internal positive air pressure that prevents outside contaminents from entering the unit (uses dry, clean air 5-9 psi [.-.6 bar]). A wide selection of Rotary Joints are available. (left to right), RJ-63-KS, RJ-1-KS, RJ--S, RJ-125-KS & RJ-16-KS 2 VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS

3 Robot interface plate Torque support Rotating components Pneumatic ports to robot Purge air port Fixed components Two sets of ball bearings for increased strength (models RJ--1-KS, RJ-5-1- KS and above) Optional tool interface plate Electrical connector to robot side (mates provided) Electrical connector to tool side (mates provided) Rotating components Pneumatic ports to tool Before Tooling Rotation. After Tooling Rotation. Note that lines to robot stay straight and lines to tool stay with the tool. After Tooling Rotation. (without Rotary Joint). Lines are twisted around tooling. VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS 3

4 MODEL SPECIFICATIONS Robot interface plate Optional Tool Interface Plate Maximum Force in Z Maximum Moment in X-Y Maximum permissable forces and torques indicated in table below. Each rotary joint has a robot and optional tool interface plate. Detailed drawings are presented on the following pages. All models allow for unlimited rotation of tooling and are IP63 rated. Contact ATI if used around solvents. Specification Description RJ--S RJ--S RJ--1-KS RJ-5-S RJ-5-1-KS RJ-63-KS RJ-8-KS RJ-8-1-KS Max Fz 5 lb 9 lb 9 lb 9 lb 9 lb 135 lb 27 lb 27 lb (2 N) ( N) ( N) ( N) ( N) (6 N) (12 N) (12N) Max Mxy 7 lb-in 62 lb-in 975 lb-in 62 lb-in 975 lb-in 162 lb-in 257 lb-in 53 lb-in (2 N-m) (7 N-m) (11 N-m) (7 N-m) (11 N-m) (12 N-m (29 N-m) (5 N-m) Weight 1.1 lb 1.9 lb. lb 2.1 lb.6 lb.9 lb 11.9 lb 2.3 lb (.5 kg) (.9 kg) (2. kg) (.95 kg) (2.1 kg) (2.2 kg) (5. kg) (11 kg) Max speed 12 rpm 12 rpm 11 rpm 12 rpm 11 rpm 11 rpm 1 rpm 9 rpm (72 deg/s) (72 deg/s) (66 deg/s) (72 deg/s) (66 deg/s) (66 deg/s) (6 deg/s) (5 deg/s) Constant 8.9 lb-in 13.3 lb-in 53.1 lb-in 13.3 lb-in 53.1 lb-in 53.1 lb-in 7 lb-in lb-in torque (1. N-m) (1.5 N-m) (6. N-m) (1.5 N-m) (6. N-m) (6. N-m) (2. N-m) (2. N-m) Start torque 13.3 lb-in 22.1 lb-in 7.8 lb-in 22.1 lb-in 7.8 lb-in 7.8 lb-in lb-in 5. lb-in (1.5 N-m) (2.5 N-m) (8. N-m) (2.5 N-m) (8. N-m) (8. N-m) (32. N-m) (6. N-m) # pass-thru air* 2@15 psi 2@15 psi 2@15 psi (1 bar) (1 bar) (1 bar) (1 bar) (1 bar) (1 bar) (1 bar) (1 bar) Air port size M5 M5 M5 M5 M5 M5 G1/8 G1/8 # elec. volts 6@6 volts 6@6 volts 6@6 volts 6@6 volts 1@6 volts 1 amp 1 amp 1 amp 1 amp 1 amp 1 amp 1 amp 1 amp Torque support.35 in.3 in.3 in.3 in.3 in.3 in.67 in.91 in diameter (9 mm) (11 mm) (11 mm) (11 mm) (11 mm) (11 mm) ( mm) (23 mm) Tool Interface Plate Part # Seal kit Part # Connector Part # Robot Side Tool Side Cable Part # % 918-C C C C C C C C Side and length Robot Side, 1m Robot Side, 1m Robot Side, 5m Robot Side, 1m Robot Side, 5m Robot Side, 5m Robot Side, 5m Robot Side, 5m Tool Side N/A Tool Side N/A 918-C Tool Side N/A 918-C C C C Tool Side, 5m Tool Side, 5m Tool Side, 5m Tool Side, 5m Tool Side, 5m Specifications include standard interface plates. * Includes a purge air port for IP65 applications (uses dry, clean air 5-9 psi [.-.6 bar]). % For additional cable lengths, contact ATI. VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS

5 Shaft for Torque Support Torque Support Bracket Robot Rotary Joint The shaft for torque support (secured against twisting) should be positioned parallel with the middle axis of the Rotary Joint and right angular (9 ) to the bracket. This is to prevent a moment being applied to the unit. Torque Support Shaft to be provided by customer. Must be mounted on robot arm and not on rotating flange. Specification Description RJ-1-KS RJ-1-1-KS RJ-125-KS RJ KS RJ-16-KS RJ-16-1-KS RJ-2-KS Max Fz 27 lb 27 lb 5 lb 5 lb 5 lb 5 lb 5 lb (12 N) (12 N) (18 N) (18 N) (18 N) (18 N) (18 N) Max Mxy 257 lb-in 3 lb-in 87 lb-in 726 lb-in 87 lb-in 726 lb-in 726 lb-in (29 N-m) (5 N-m) (55 N-m) (82 N-m) (55 N-m) (82 N-m) (82 N-m) Weight 12.3 lb 2.9 lb 29.8 lb 6.3 lb 3.9 lb lb 8.9 lb (5.6 kg) (11.3 kg) (13.5 kg) (21. kg) (1. kg) (22. kg) (22.2 kg) Max speed 1 rpm 9 rpm 9 rpm 7 rpm 9 rpm 7 rpm 7 rpm (6 deg/s) (5 deg/s) (5 deg/s) (2 deg/s) (5 deg/s) (2 deg/s) (2 deg/s) Constant 7. lb-in lb-in lb-in lb-in lb-in lb-in lb-in torque (2. N-m) (2. N-m) (2. N-m) (65. N-m) (2. N-m) (65. N-m) (65. N-m) Start torque lb-in 5. lb-in 5. lb-in 8.8 lb-in 5. lb-in 8.8 lb-in 8.8 lb-in (32. N-m) (6. N-m) (6. N-m) (95. N-m) (6. N-m) (95. N-m) (95. N-m) # pass-thru psi (1 bar) (1 bar) (1 bar) (1 bar) (1 bar) (1 bar) (1 bar) Air port size G1/8 G1/8 G1/8 G1/8 G 1/8 G 1/8 G 1/8 # elec. signals 6@6 volts 1@6 volts 1@6 volts 1@6 volts 1@6 volts 1@6 volts 1@6 volts 1 amp 1 amp 1 amp 1 amp 1 amp 1 amp 1 amp Torque support.67 in.91 in.91 in 1.1 in.91 in 1.1 in 1.1 in diameter ( mm) (23 mm) (23 mm) (29 mm) (23 mm) (29 mm) (29 mm) Tool Interface Plate Part # Seal kit Part # Connector Part # Robot Side Tool Side Cable Part # % 918-C C C C C C C Side and length Robot Side, 5m Robot Side, 5m Robot Side, 5m Robot Side, 5m Robot Side, 5m Robot Side, 5m Robot Side, 5m 918-C C C C C C C Tool Side, 5m Tool Side, 5m Tool Side, 5m Tool Side, 5m Tool Side, 5m Tool Side, 5m Tool Side, 5m Specifications include standard interface plates. * Includes a purge air port for IP65 applications (uses dry, clean air 5-9 psi [.-.6 bar]). % For additional cable lengths, contact ATI. VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS 5

6 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ--S Customer Drawing # Connector Mates Provided. Mfg. Brad Harrison Brad Harrison P/N: NFA2 / ATI P/N: (Female, Robot-SIde). Brad Harrison P/N: NMA2 / ATI P/N: (Male, Tool-SIde). 2. Optional ISO Tool-Side Adaptor Plate: ATI P/N Electrical Signals (Robot-Side) ±.2 M5 #2 (Robot-Side) Electrical Signals (Tool-Side) Dashed lines indicate connector mates M5 #1 (Tool-Side) 12.98± ± (2) M3 ( 6) M () M5x1 Equally Spaced M5 #1 (Robot-Side) M5 #2 (Tool-Side) 3 ( 2) 12.25± ±.2 6 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ--S Customer Drawing # Connector Mates Provided. Mfg. Brad Harrison Brad Harrison P/N: NFA2 / ATI P/N: (Female, Robot-SIde). Brad Harrison P/N: NMA2 / ATI P/N: (Male, Tool-SIde). 2. Optional ISO Tool-Side Adaptor Plate: ATI P/N Electrical Signals (Robot-Side) () M6x1 SHCS Equally Spaced 6 H7 6 M 6x2 Dowel Pin 56.9 M5 # 1 (Robot-Side) Electrical Signals (Tool-Side) ( 2) 2.57± ±.2 M5 #2 (Tool-Side) ( 6) M ± M5 #2 (Robot-Side) ±.2 (2) M5 25.±.2 6 VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS

7 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ--1-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N (Male, Tool Side) Binder P/N: / ATI P/N (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: () M6x1 SHCS Equally Spaced M5 # M5 # M5 #2 95 ( 2) ( 6) M ± ±.2 ()M M5 #1 M5 # M5 #1 15.9±.2 25.±.2 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-5-S Customer Drawing # Connector Mates : Mfg.: Brad Harrison Brad Harrison P/N: NFA2 / ATI P/N (Female, Robot Side) Brad Harrison P/N: NMA2 / ATI P/N (Male, Tool Side) 2. Optional ISO Tool Side Adapter Plate: ATI P/N M5 #2 (Tool-Side) ± M5 #1 ( 2) ± ±.2 ( 6) M ± () M6x1 SHCS M5 # (2) M5 15.9±.2 VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS 7

8 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-5-1-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N (Male, Tool Side) Binder P/N: / ATI P/N (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: ATI P/N M5 # ± M5 #2 M5 #2.21± ( 6) M ± () M6x1 SHCS Equally Spaced M5 # M5 #1 M5 #3 1.1 () M5 15.9±.2 25.±.2 ( 2) 6 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-63-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N (Male, Tool Side) Binder P/N: / ATI P/N (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: ATI P/N ± M5 #2 M5 # M5 #2.21± ± ( 6) M () M6x1 SHCS M5 #1 M5 # M5 #1 1.1 () M5 15.9±.2 25.±.2 ( 2) 6 8 VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS

9 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-8-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N (Male, Tool Side) Binder P/N: / ATI P/N (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: M5 # M5 # ± G1/8" #2 G1/8" # G1/8" #3 () M6 6.98± ± ( 2) (6) M8x2 SHCS G1/8" # G1/8" #2 6.98±.2 G1/8" # ± ( 6)M8 12 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-8-1-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N (Male, Tool Side) Binder P/N: / ATI P/N (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: G1/8 # G1/8 # ± G1/8" #2 G1/8" # G1/8" #3 1 (6) (6) 6 ( 12) M8 12 ( 2) ± ±.2 8 (6) M8x2 SHCS (provided) G1/8" #1 ( Robot-side) G1/8" #2 G1/8" #3.1±.2 () M8.1±.2 8 VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS 9

10 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-1-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N (Male, Tool Side) Binder P/N: / ATI P/N (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: ATI P/N: ± G1/8" # G1/8" #2 G1/8" #3 11 ( 6) M8 12 () M6 6.98±.2 G1/8 #.1± ( 2) (6) M8x22 SHCS Equally Spaced G1/8" #1 G1/8" # G1/8" #2 6.98±.2.1± ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-1-1-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N: (Male, Tool Side) Binder P/N: / ATI P/N: (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: ATI P/N: ± G1/8" #2 1 G1/8" # G1/8" #3 (6) 6.1±.2 1 (6) ( 12) M ± G1/8" #1 (6) M8x22 SHCS (provided) ±.2 G1/8" #2 8 G1/8" #3.1± () M8 1 VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS

11 ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ-125-KS Customer Drawing # Connector Mates : Mfg.: Binder Binder P/N: / ATI P/N (Male, Tool Side) Binder P/N: / ATI P/N (Female, Robot Side) 2. Optional ISO Tool Side Adapter Plate: ATI P/N ± G1/8" #2 G1/8" # 6.98±.2 Air connection G1/8" #3 1 1 (6) 6.1±.2 (6) 6 ( 12) M B.C (6) M1x3 SHCS (provided) G1/8" # G1/8" #2 G1/8" #3 6.98±.2 () M8 ( 2) ± ATI INDUSTRIAL AUTOMATION Rotary Joint 918-RJ KS Customer Drawing # Connector Mates : Mfg: Binder Binder P/N: / ATI P/N: (Male, Tool Side) Binder P/N: / ATI P/N: (Female, Robot Side) 2. Optional ISO Tool SideAdapter Plate: ATI P/N: ± G1/8" # G1/8" # G1/8" #3 ( 6) M ± ± ( 6) M (6) M1x3 SHCS G1/8" # ± ( 2) G1/8" #2 5±.2 G1/8" #3 () M VISIT FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS 11

12 Other ATI Products Robotic/Automatic Tool Changer A high-precision rugged device that automatically changes tooling. Patented fail-safe locking mechanism uses No-Touch Locking TM technology, allowing plate separation when locking. Robotic/Automatic Tool Changers for Heavy Automation This series of modular tool changers is designed specifically for high-payload and high-moment applications. Utility Modules to pass air, fluid, and electrical signals are also available for use in non-tool changer applications. Useful for processes requiring repeated connection/disconnection of utilities. Robotic Collision Sensor Designed to prevent damage to robotic endeffectors resulting from robot crashes. Features include: Automatic reset, high-repeatability, and large moment rotation. Robotic & CNC Deburring Tools These air-driven robotic tools cover a wide variety of automated deburring applications with fast cycle times and clean, accurate cuts. The Radial Compliant Deburring Tool is designed for removal of parting lines and flash, while the Axial Compliant Deburring Tool is specially designed for edge deburring and chamfering. Multi-Axis Force/ Torque Sensor Measures the full six components of force and torque. High overload protection and high signal-tonoise ratio. Used in robotic and research applications. Automated Assembly Alignment Device An insertion device using Remote Center Compliance technology, that helps assembly machines automatically align close-fitting parts, preventing jamming and galling. Company Profile ATI Industrial Automation is a world-leading developer of Automatic Tool Changers, Multi-Axis Force/Torque Sensing Systems, Compliance Devices, Robotic Collision Sensors, Robotic Deburring Tools, and Robotic Rotary Joints. Our products are found in thousands of successful applications around the world. Since 1982, our engineers have been developing cost-effective, state-of-the-art products and solutions to improve manufacturing productivity. Our Mission is to provide customers around the world with high-quality robotic peripheral devices, tooling and sensors that enhance customer profitability by increasing the effectiveness, flexibility, safety and productivity of their automation applications. We accomplish this through continuous improvement of existing products, product customization and new product innovation. Our engineering-centric staff focuses on providing customer solutions. Our Quality Policy ATI Industrial Automation strives to provide customer satisfaction through continual improvement of on-time delivery, quality and reliability, and a constant focus on innovation and profitability. Pinnacle Park 1 Goodworth Drive Apex, NC USA fax info@ati-ia.com Copyright by ATI Industrial Automation, Inc. 27. All rights reserved October, 27