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Manual, Robotic Electric Tool Changer, QC-18
Document #9620-20-B-18 Electric Tool Changer-06
B. Base Tool Changer ..................................................................................................................B-3
QC-18-Electric Tool Changer ....................................................................................................B-3
1.
Product Overview ..................................................................................................................B-3
1.1
Master Plate Assembly ............................................................................................................. B-3
1.2
Tool Plate Assembly .................................................................................................................. B-4
1.3
Servo Motor Module .................................................................................................................. B-5
1.4
Optional Modules ...................................................................................................................... B-5
2.
Installation .............................................................................................................................B-6
2.1
Master Interface ......................................................................................................................... B-7
2.2
Master Plate Installation ........................................................................................................... B-8
2.3
Master Plate Removal ............................................................................................................... B-8
2.4
Tool Interface ............................................................................................................................. B-9
2.5
Tool Plate Installation ............................................................................................................. B-10
2.6
Tool Plate Removal ................................................................................................................. B-10
2.7
Optional Module Installation ...................................................................................................B-11
2.7.1
K Series Module Installation ..........................................................................................B-11
2.7.2
K Series Module Removal .............................................................................................B-11
2.7.3
J16 Series Module Installation ......................................................................................B-12
2.7.4
J16 Series Module Removal .........................................................................................B-12
2.8
Electrical Connections ............................................................................................................ B-13
3.
Operation .............................................................................................................................B-14
3.1
Power Loss During Operation ................................................................................................ B-15
3.2
Procedure for Tool Pickup ...................................................................................................... B-15
3.3
Fail-Safe Condition .................................................................................................................. B-16
3.4
Procedure for Tool Drop Off ................................................................................................... B-16
3.5
Tool Storage Considerations ................................................................................................. B-17
4.
Maintenance .........................................................................................................................B-18
4.1
Preventive Maintenance ......................................................................................................... B-18
4.2
Cleaning and Lubrication of the Locking Mechanism and Alignment Pins ....................... B-19
4.3
Pin Block Inspection and Cleaning ....................................................................................... B-21
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 •
Table of Contents
B-1
US Patent No.: 8,132,816 B2
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Summary of Contents for ATI Technologies QC-18
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Page 1: Table Of Contents
US Patent No.: 8,132,816 B2 Document #9620‑20‑B‑18 Electric Tool Changer‑06 Table of Contents B. Base Tool Changer ........................B-3 QC-18—Electric Tool Changer ....................B-3 Product Overview ........................B-3 Master Plate Assembly ......................B-3 Tool Plate Assembly ........................B-4 Servo Motor Module ........................B-5 Optional Modules ........................ - Page 2 Master Plate - Model 9120-018M-2387-0-0-0-SG2 Serviceable Parts ........B-28 Tool Plate Serviceable Parts ....................B-28 Accessories ..........................B-28 Specifications ........................B-29 Drawings ..........................B-30 QC-18 Tool Changer ........................ B-30 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
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Page 3: Base Tool Changer
The QC‑18 Electric Tool Changer consists of a Master plate assembly and a Tool plate assembly. CAUTION: Do not use the QC-18 Tool Changer in an application where water is present or other fluids are being passed. Using the QC-18 Tool Changer in an application where water is present or other fluids are being passed, can cause injury to personnel and damage to equipment. -
Page 4: Tool Plate Assembly
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 The locking mechanism consists of a male coupling with holes that retain hardened chrome steel ball bearings. A hardened stainless steel cam is gear driven by a 24V brushless DC servo motor. Tapered pins located on the Master body mate with holes in the Tool body to ensure repeatable alignment during the coupling process. -
Page 5: Servo Motor Module
For assistance in choosing the right modules for your particular application, contact an ATI Sales Representative. Figure 1.5—Optional Modules Optional Module (9120-R19-M Shown) (4) M4 Socket Flat Head Cap Screws QC-18 Master Assembly (9120-018M-2387 Shown) QC-18 Tool Assembly (9120-018T Shown) Optional Module (9120-R19-T Shown) (4) M4 Socket Flat Head Cap Screws Pinnacle Park •... -
Page 6: Installation
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 2. Installation The Master plate assembly is attached to the robot arm and may require an interface plate to match mounting patterns or create space to accommodate hollow wrist utilities. The Tool plate assembly is attached to the tooling and may require an interface plate to match mounting patterns (refer to Section 8—Drawings for specific mounting... -
Page 7: Master Interface
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 2.1 Master Interface The Master assembly is attached to the robot arm. The Master plate is designed with mounting features such as a boss and/or bolt and dowel holes. These features are used to accurately position and secure the Master to the robot. -
Page 8: Master Plate Installation
Customer Supplied Controller Cable Availabe from ATI 12-Pin Connector Electrical Connection QC-18 Master Assembly (9120-018M-2387 Shown) (4) M4 Socket Head Cap Screws 2.3 Master Plate Removal Tools required: 4 mm hex key 1. Place the Tool in a secure location. -
Page 9: Tool Interface
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 2.4 Tool Interface The Tool plate is attached to the customer’s tooling. It may be necessary for an interface plate to be utilized to adapt the Tool plate to customer’s tooling. The Tool plate is designed with alignment features (dowel holes and a recess) to accurately position and bolt holes to secure the Tool plate to customer’s tooling. -
Page 10: Tool Plate Installation
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 2.5 Tool Plate Installation Tools required: 4 mm hex key, torque wrench Supplies required: Clean rag 1. Make sure the mounting surface of the Tool plate and tool interface plate is clean and free of debris. 2. -
Page 11: Optional Module Installation
6. Safely resume normal operation. Figure 2.3—K Series Module Installation (2) M3 Socket Head Cap Screws Optional Module (9120-K19-M Shown) Optional Module QC-18 Master Assembly (9120-K19-T Shown) (9120-018M-2387 Shown) QC-18 Tool Assembly (9120-018T Shown) (2) M3 Socket Head Cap Screws 2.7.2 K Series Module Removal... -
Page 12: J16 Series Module Installation
6. Safely resume normal operation. Figure 2.4—J16 Series Module Installation Optional Module (9120-R19-M Shown) (4) M4 Socket Flat Head Cap Screws QC-18 Master Assembly (9120-018M-2387 Shown) QC-18 Tool Assembly (9120-018T Shown) Optional Module (9120-R19-T Shown) (4) M4 Socket Flat Head Cap Screws 2.7.4 J16 Series Module Removal... -
Page 13: Electrical Connections
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 2.8 Electrical Connections The cable connection from the motor controller to the customer connection is provided through a pigtail connection (refer to Table 2.2 for specific wire color and signal information). -
Page 14: Operation
Model (Max) (Max) (Max) (Max) 0.04” ±0.04” QC-18 ±0.7° ±1° (1.0 mm) (1.0 mm) Notes: Maximum values shown. Decreasing actual values will minimize wear during coupling/uncoupling. Actual allowable values may be higher in some cases but higher offsets will increase wear during coupling. -
Page 15: Power Loss During Operation
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 3.1 Power Loss During Operation In the event that the motor and motor controller loses power during operation and if the Tool Changer is within locked sensing range, immediately stop operation and restore power. -
Page 16: Fail-Safe Condition
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 3.3 Fail-Safe Condition In the event of power loss to the locking mechanism the Tool Changer will not uncouple. A slight separation between the Master and Tool plates might occur just after power loss but at this point the worm gear teeth will not back drive without power being applied to the unlatch command. -
Page 17: Tool Storage Considerations
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 3.5 Tool Storage Considerations CAUTION: Tool stand design is critical to proper operation of the Tool Changer. Improperly designed tool stands can cause misalignments that will cause jamming and/ or excessive wear of Tool Changer components. -
Page 18: Maintenance
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 4. Maintenance WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (for example: electrical, air, water, etc.) are turned off, pressurized connections are purged and power is discharged from circuits in accordance with the customer specific safety practices and policies. -
Page 19: Cleaning And Lubrication Of The Locking Mechanism And Alignment Pins
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins Supplies required: Clean rag, cotton swabs, NLGI #2 lithium complex grease 1. Place the Tool in a secure location. 2. - Page 20 US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 6. Check each ball bearing to make sure it moves freely in the male coupling. Additional cleaning may be necessary to free up any ball bearings that are sticking in place. 7.
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Page 21: Pin Block Inspection And Cleaning
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 4.3 Pin Block Inspection and Cleaning Tools required: Nylon Brush (ATI part number 3690‑0000064‑60) 1. Place the Tool in a secure location. 2. Uncouple the Master and Tool plates. 3. -
Page 22: Troubleshooting And Service Procedures
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 5. Troubleshooting and Service Procedures The following section provides troubleshooting and service information to help diagnose conditions and repair the Tool Changer or control module. WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (for example: electrical, air, water, etc.) are turned off, pressurized connections are purged and power... -
Page 23: Manual Actuaion
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 5.2 Manual Actuaion Tools required: 3 mm hex key In certain cases it may be necessary to manually unlock or lock the Tool Changer. This can be done by using a 3 mm hex key and accessing the unit’s drive shaft from the side of the Master plate assembly as shown in Figure 5.1. -
Page 24: Service Procedures
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 5.3 Service Procedures Component replacement procedures are provided in the following section: 5.3.1 V-ring Seal Replacement Parts required: Refer to Module Manual. The seal protects the electrical connection between the Master and Tool module. Replace the seal if it becomes worn or damaged. -
Page 25: Alignment Pin Replacement
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 5.3.2 Alignment Pin Replacement Parts required: Refer to Section 6.1—Master Plate ‑ Model 9120‑018M‑2387‑0‑0‑0‑SG2. Tools required: 4 mm hex key, torque wrench Supplies required: NLGI #2 lithium complex grease 1. -
Page 26: Servo Motor Module Replacement
Keyed Motor Gear 12-Pin Motor Control and Power Connector M4 Socket Head Cap Screws QC-18 Master Plate 7. Connect the motor electrical connector of the new servo motor module to the sensor connector of the Master plate (refer to Figure 5.5). - Page 27 US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 Figure 5.5—Master Plate Flat A QC-18 Master Plate Flat A Keyed Slot in Drive Motor Gear Shaft Dowel Pin Motor Electrical Sensor Connector Connector Servo Motor Module 9.
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Page 28: Serviceable Parts
Figure 5.6—QC-18 Master Plate Item No. Qty Part Number Description 9120-018M-0-0-0-0-SG2 Complete QC-18 Master Plate Assembly 9005-20-2387 EQC Motor Sub Assembly 3700-20-1373 Mono Alignment Pin, QC-100, A2 (Replaces 9005-20-1074) M4x16 Socket Head Cap Screw, Class 12.9, Blue dyed Magni-565, ND 3500-1062016-15A Microspheres Epoxy, Yellow. -
Page 29: Specifications
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 7. Specifications Table 5.4—Master and Standard Tool Plate Recommended Max Payload 39.6 lbs (18 kg) The mass attached to the Tool Changer. 500 lbf-in Maximum recommended working load for optimum Static Moment (x/y) (56.5 Nm) -
Page 30: Drawings
US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 8. Drawings 8.1 QC-18 Tool Changer Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com B-30... - Page 31 US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com B-31...
- Page 32 US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com B-32...
- Page 33 US Patent No.: 8,132,816 B2 Manual, Robotic Electric Tool Changer, QC‑18 Document #9620‑20‑B‑18 Electric Tool Changer‑06 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com B-33...
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