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Tecnospiro 3arm M3 Instruction Manual

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INSTRUCTION MANUAL
MANIPULATOR M3

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Summary of Contents for Tecnospiro 3arm M3

  • Page 1 INSTRUCTION MANUAL MANIPULATOR M3...

  • Page 2: Table Of Contents

    TABLE OF CONTENTS INTRODUCTION ........................4 ABOUT THIS MANUAL ......................5 CONSIDERATIONS ............................5 DOCUMENT VERSION ..........................6 SAFETY INFORMATION ......................6 SCOPE OF APPLICATION ........................... 6 WARNINGS AND GENERAL CONSIDERATIONS ................. 6 EXCLUSIONS ..............................8 SYSTEM INTEGRATOR ..........................8 SYMBOLS AND ICONS ..........................
  • Page 3 SAFETY VALVE IN THE ACTUATOR TO ENSURE THE PART IS CLAMPED CORRECTLY (OPTIONAL) ................................39 LOW PRESSURE ACTIVATION IN CASE OF LOSS OF CORRECT ACTUATOR CLAMPING SIGNAL ..................................40 SAFETY MICRO ............................41 VACUUM SWITCH ............................ 41 PNEUMATIC DIAGRAM ....................... 42 10 MAINTENANCE ........................

  • Page 4: Introduction

    Congratulations to you on your choice and congratulations to the dedicated people at Tecnospiro Machine Tool for their continuous efforts on improving ergonomics at work. We hope these simple instructions will be helpful for you for starting and operating the manipulator.

  • Page 5: About This Manual

    Intellectual/Industrial Property Information: ✓ If the manual is lost or damaged, Tecnospiro Machine Tool, S.L. (the contact TECNOSPIRO MACHINE TOOL, S.L. for a replacement. Company) informs that all content in this document including, for example, the text, ✓ Reproducing sharing this...

  • Page 6: Document Version

    ✓ Without the proper authorisation of DOCUMENT VERSION TECNOSPIRO MACHINE TOOL, S.L. No Document Date - version modification of equipment should be Instruction manual made. 16/03/2021 M3 manipulator ✓ The equipment must only 3 SAFETY INFORMATION operated for its intended use. Any other use is strictly prohibited.
  • Page 7 ✓ It is recommended that the operator equipment has been cut off at the end of the working day. have basic knowledge of: Safety procedures, precautions, safe work ✓ The operator may only use the habits and cargo handling. manipulator for safe movements, accompanying the movement of the ✓...

  • Page 8: Exclusions

    contact the authorised technical SYSTEM INTEGRATOR service. The system's integrator or end user is responsible for integrating the machine in EXCLUSIONS the installation, respecting all the relevant safety measures. The following is beyond the scope of use of this manipulator: The integrator/end user is responsible for the following tasks: ✓...

  • Page 9: Symbols And Icons

    SYMBOLOGY AND ICONS TRAINING LEVEL OF THE STAFF INVOLVED Throughout this manual and in the structure of the machine, different symbols and All people working with the equipment pictograms can be observed, the meaning of must have read and understood the safety which is summarised below.

  • Page 10: General Description And Technical Information

    4 GENERAL DESCRIPTION AND TECHNICAL INFORMATION The manually controlled load handling device consists of a pendulum parallelogram balanced by a gas spring and a pneumatic cylinder, plus a radial arm. The assembly of both secures the clamping head and keeps it in a perpendicular position to the work area. It equips different systems such as a knob and a safety grip, which also help to govern the manipulator.

  • Page 11: Configurations

    CONFIGURATIONS 4.2.1 CONFIGURATION TABLE Radial arm + Arm (24 11/16 Tabletop 627 mm Arm lock Ceiling 627 mm No lock Customised Customised lock Pneumatic system Head No. high Vertical head Code Effect Rotation pressures CF31 90º Revolving Head + M. Rotating CF32 Revolving180º...

  • Page 12: General Dimensions

    GENERAL DIMENSIONS 4.3.1 Extended position (Tabletop version) INSTRUCTION MANUAL M3 MANIPULATOR...
  • Page 13 4.3.2 Extended position (Ceiling-mounted version) INSTRUCTION MANUAL M3 MANIPULATOR...
  • Page 14 4.3.3 Retracted position Parking INSTRUCTION MANUAL M3 MANIPULATOR...

  • Page 15: Movements

    MOVEMENTS 4.4.1 Arm and radial arm movements Base rotation - radial arm: 360º (Z axis) Radial arm joint rotation movement: 180º (Z axis) Joint arm rotation movement: 180º (Z axis) Head rotation movement: 180º (Z axis) 4.4.2 Ascending and descending arm movements The arm can move horizontally from -42º...

  • Page 16: Considerations Of Use

    CONSIDERATIONS OF USE The equipment should only be operated for its intended use. Any other use is forbidden [See GENERAL WARNINGS AND CONSIDERATIONS page 6]. The manipulator must only be used with the type of loads that have been considered in its design, without exceeding the working load limit (WLL) indicated in the technical specifications and in the identification plate of the equipment.

  • Page 17: General Technical Specifications

    TECHNICAL SPECIFICATIONS 4.7.1 General technical specifications GENERAL TECHNICAL SPECIFICATIONS Dimensions and mass Height 399 mm Length 814 mm Width 225 mm (66 lb) Mass 30 kg Movements ZX Plan ± 42º XY working radius 1462 mm 360º 1 axis 180º 2 axis 180º...

  • Page 18: Working Pressure

    4.7.3 Working pressures Depending on the working conditions and the mass of the load you wish to work with, you must adjust the supply pressure according to the following table. WORKING PRESSURE Pressure (bar) Pressure (MPa) Maximum net load (kg)/(lb) (55.1 lb) (47.2 lb) 21.4...

  • Page 19: Installation

    5 INSTALLATION GENERAL CONSIDERATIONS ABOUT THE INSTALLATION ✓ The work bench or installation location must be a horizontal surface, thus avoiding shifts and deviations. ✓ The steps to follow for the installation will depend on the fastening method and the alternatives available in the selected location.

  • Page 20: Installation Location

    INSTALLATION LOCATION Do not install the equipment in environments such as: ✓ Areas with explosion or fire hazards ✓ Exterior areas ✓ Corrosive areas ✓ Areas with extreme temperatures (very high or very low) ✓ Areas with high humidity ✓ Dusty areas ✓...

  • Page 21: Adjustments

    6 ADJUSTMENTS GENERAL CONSIDERATIONS ABOUT THE SETTINGS The settings indicated in this section assume that the manipulator and the corresponding load- mounting device are duly installed and integrated following the guidelines in this manual and, if appropriate, in the manual of the load-mounting device supplied. OPENING AND CLOSING THE MAIN VALVE The main valve allows (OPEN position) or restricts (CLOSED position) the passage of pressurised air to the manipulator.

  • Page 22: Parking Position Working Position

    PARKING POSITION WORKING POSITION Follow these guidelines to bring the M3 Manipulator to the working position: 1. Unlock the locking device: pull the knob upwards and, without letting go, turn slightly counter-clockwise. 2. Accompany the arm away from its initial position. 3.

  • Page 23: Rotational Resistance Control

    REGULATION OF THE RESISTANCE TO ROTATION. Studs located on the base parallel, parallel joint, joint cross and fork head enable the rotation of the different axes of the manipulator's movement to be adjusted. The studs can be tightened or loosened to regulate this turning resistance (Allen key 4 and 5 mm). Regulating the rotating resistance is especially useful in situations where the base of the manipulator is not completely horizontal.

  • Page 24: Pressure Regulation

    PRESSURE REGULATION The objective of this regulation is to maintain the manipulator's swivel arm balanced and therefore ensure the assembly's weightlessness is adapted to the load and working conditions. 6.4.1 Regulating the supply pressure Adjust the air supply pressure according to the working conditions, by operating the pressure regulator R1.
  • Page 25 6.4.2 A high pressure CAUTION ✓ A properly installed and integrated load securing device is required for the adjustment of the loaded and unloaded arm. ✓ Refrain from activating high pressure without grip and/or no load. ✓ Do not activate low pressure while the manipulator is bearing the load. There are two working pressures.
  • Page 26 6.4.3 Two high pressures CAUTION ✓ A properly installed and integrated load securing device is required for the adjustment of the loaded and unloaded arm. ✓ Refrain from activating high pressure without grip and/or no load. ✓ Do not activate low pressure while the manipulator is bearing the load. There are two working pressures.
  • Page 27 6.4.3.2 Arm balancing with load (High pressure - R3 and R4) 1. Ensure that the equipment remains with the high pressure on [See OPERATION page28]. 2. Set the switch (1) to (A). 3. Set the high pressure using the R3 precision regulator so that the swivel arm of the manipulator is balanced on its own.

  • Page 28: Operation

    7 OPERATION The manipulator is designed to handle loads manually. Although the handling of the load is manual, the pneumatic action helps to grip, orientate and support the load. INTEGRATION This manipulator in itself is not a machine; it needs a load-mounting device to perform a determined application.

  • Page 29: Single Handlebar

    SINGLE HANDLEBAR OPERATION The following information regarding the operation of the M3 Manipulator is informative. The equipment must only be used after correct integration and after correctly installing the load securing device. Do not activate the high pressure without a load-mounting device duly installed and integrated.

  • Page 30: Additional Information

    IDENT ACTUATOR ENABLING MECHANISM/SAFETY SYSTEM CLOSE MOUNTING DEVICE + HIGH PRESSURE LOW PRESSURE + OPEN MOUNTING DEVICE RAISE PNEUMATIC HOIST / COLUMN D63 LOWER PNEUMATIC HOIST / COLUMN D63 ACTIVATION OF REVOLVING OR ROTATING ACTUATOR *Optional ADDITIONAL INFORMATION Only for equipment with a lift (4) and (5). To raise the manipulator you must: Bi-manual safety system, press and hold button (1) and then press the button (4).

  • Page 31: Double Handlebar

    DOUBLE HANDLEBAR OPERATION The following information regarding the operation of the M3 Manipulator is informative. The equipment must only be used after correct integration and after correctly installing the load securing device. Do not activate the high pressure without a load-mounting device duly installed and integrated.
  • Page 32 *Lift controls (4) and (5) are only on the handlebar or cover IDENT ACTUATOR ENABLING MECHANISM/SAFETY SYSTEM CLOSE MOUNTING DEVICE + HIGH PRESSURE LOW PRESSURE + OPEN MOUNTING DEVICE RAISE PNEUMATIC HOIST / COLUMN D63 LOWER PNEUMATIC HOIST / COLUMN D63 ACTIVATION OF REVOLVING OR ROTATING ACTUATOR PNEUMATIC HANDLEBAR LOCK *Optional...
  • Page 33 ADDITIONAL INFORMATION Only for equipment with a pneumatic lock on the handlebar. To lock the handlebar: Bi-manual safety system, press and hold button (1) and then press the button (7). This activates the pneumatic lock of the handlebar and locks it. ADDITIONAL INFORMATION Only for equipment fitted with actuator (6) [See HEADS page57].

  • Page 34: Vertical Handlebar

    VERTICAL HANDLEBAR This handlebar is specially designed for fast and dynamic handling applications, using suction cup or magnet-type actuators. In the case of applications with grippers, a bi-control button is added for the user's safety. OPERATION The following information regarding the operation of the M3 Manipulator is informative. The equipment must only be used after correct integration and after correctly installing the load securing device.
  • Page 35 OPERATING THE HANDLE (Option for manipulators without handlebar and/or vertical movement) ✓ If the handle is positioned at (2), and the pressure gauge of the regulator (R3) shows pressure without the manipulator supporting the load, there is a danger of the arm starting to move upwards suddenly.

  • Page 36: Safety Devices

    8 SAFETY DEVICES BI-MANUAL SYSTEM With single or double handlebar any of the movements commanded by the buttons (2.2, 2.3, 5.3 and 7.2 ) will be blocked by default. Enabling is only possible if the safety button (2.1) is pressed and held beforehand. The operating mode will then be as follows: Press and hold the two-hand safety button (2.1) and, without releasing it, press the buttons (2.2, 2.3, 5.2, 5.3 y 7.2...

  • Page 37: Combined Use Of Button And Handle

    COMBINED USE OF BUTTON AND HANDLE OPERATION ✓ The following information regarding the operation of the M3 Manipulator is informative. The equipment must only be used after correct integration and after correctly installing the load securing device. This safety device locks the rotation of the vertical handlebar grip (the functions: opening and closing the load securing device and adjusting the pneumatic cylinder are locked).

  • Page 38: Locking The Arm's Swivel Motion

    LOCKING THE ARM'S SWIVEL MOTION In the event of sudden failure of the pneumatic power supply, a non-return valve will lock the arm preventing uncontrolled and sudden descent. VERIFICATION ✓ Its correct operation must be checked as detailed below and at the periods indicated in the maintenance programme.

  • Page 39: (Optional)

    SAFETY VALVE IN THE ACTUATOR TO ENSURE THE PART IS CLAMPED CORRECTLY (OPTIONAL) If the part to be manipulated is incorrectly clamped and an attempt is made to activate high pressure, it will not be activated, thus avoiding uncontrolled and sudden ascent. VERIFICATION ✓...

  • Page 40: Low Pressure Activation In Case Of Loss Of Correct Actuator Clamping Signal

    LOW PRESSURE ACTIVATION IN CASE OF LOSS OF CORRECT ACTUATOR CLAMPING SIGNAL Valid if there is a safety valve for correct clamping. In case of sudden failure of securing the part to be manipulated, low pressure is automatically activated, thus avoiding uncontrolled and sudden rise. VERIFICATION ✓...

  • Page 41: Safety Micro

    SAFETY MICRO If the safety micro notes the presence of the part to be manipulated, this will give the signal so the high pressure can be enabled. If you do not notice the presence of the part, it would not be allowed to activate the high pressure, thus avoiding the arm to rise suddenly and uncontrolled [See SAFETY VALVE IN THE ACTUATOR TO ENSURE THE PART IS CLAMPED CORRECTLY (OPTIONAL)page39...

  • Page 42: Pneumatic Diagram

    9 PNEUMATIC DIAGRAM Consult the pneumatic diagram corresponding to the chosen configuration with the documentation supplied with your Manipulator. 10 MAINTENANCE MAINTENANCE PROGRAMME DESCRIPTION PERIOD ACTION / PERIOD ELEMENT Look for breaks, scratches or any deterioration of the Periodically transparent resin vessel on the air filter, regulator. Every two years or Regulator filter...

  • Page 43: Compressed Air Maintenance Group

    COMPRESSED AIR MAINTENANCE UNIT For good functioning of the compressed air unit, an air quality level of class 1.4.1 is recommended, according to the table attached. ISO 8573-1 2010. Periodically check the water level accumulated in the reservoir, and bleed if it has reached the limit.

  • Page 44: Replacing The Cylinder And The Gas Spring

    REPLACING THE CYLINDER AND THE GAS SPRING BEFORE REPLACING THE GAS SPRING ✓ The equipment must be duly installed and integrated. ✓ Disconnect the pneumatic supply from the equipment [See OPENING AND CLOSING THE MAIN VALVE page 21]. ✓ It is advisable to dedicate two operators to this task. 1.

  • Page 45: Checking The Pneumatic Circuit

    CHECKING THE PNEUMATIC CIRCUIT Carry out a general check of the fixings and housings between tubes. Check there is no air leakage and that the connectors are working correctly. ADJUSTING THE REGULATORS The manipulator is fitted with two flow regulators, located under the control cover, which ensure a constant flow to the actuator and low pressure selectors.

  • Page 46: Spare Parts

    11 SPARE PARTS CODE DESCRIPTION PICT. CODE DESCRIPTION PICT. NH030116 PRESSURE REGULATOR AC004046 POSITIONER MAGNETIC BASE GROMMETS UNION M3 CL035006 MV406803 MANOMETER BRACE 500 M3 NH024016 W3110200 BLACK BUTTON (LIFT) WHITE BUTTON (LOWER) M3153100 M3171800 HP BUTTON LP BUTTON W5187400 W5199400 SLIDING VALVE KNOB...

  • Page 47: Warranty

    CYLINDER UNIT M3 M5 REGULATOR FILTER UNIT W3110000 W3109300 SHOCK ABSORBER UNIT M3 CONTROL COVER M3 W3109900 W3108100 MAGNETIC BASE FIXING INF COVER M3 MV401503 W3106700 CRANKPIN CR M3 CROSS PROTECTION COVER M3 W3111600 W3105400 12 WARRANTY See attached guarantee document. INSTRUCTION MANUAL M3 MANIPULATOR...

  • Page 48: Packaging, Transport And Dismantling Guidelines

    13 GUIDELINES FOR PACKAGING, TRANSPORT AND DISMANTLING PACKAGING Follow the instructions below for packing the equipment for location changes or shipments for repair and maintenance. 13.1.1 Preparatory measures The equipment must be placed out of service. Assembling the "transport safety elements" will prevent movement during transport and thus possible damage to the installation.

  • Page 49: Accessories

    14 ACCESSORIES Caution: not all the accessories shown below are compatible. Check the compatibility table [See COMPATIBILITY TABLE page 52]. BENCHES (1) (2) (3) • • Four wheels (two with brake) • • Slots for fastening parts or tools. • Supports for tap holder or tools. CODE DESCRIPTION DIMENSIONS...
  • Page 50 TROLLEY To move the work unit. It has four orientable wheels. DESCRIPTION DIMENSIONS Forklift truck 800. 800x800 mm 31 1/2" x 31 1/2" Forklift truck 900 900 x 900 mm 35 7/16" x 35 7/16" Electrical forklift truck 900 x 900 mm 35 7/16"...
  • Page 51 COLUMN D63 Pneumatic lift. The vertical position can be locked at any point, it has a pneumatic cylinder. It can be secured to the ground, on a trolley or on the ground rail to have movement on two shafts. DESCRIPTION VERTICAL TRAVEL Column 1500 D63 940 mm 37"...

  • Page 52: Compatibility Table

    COMPATIBILITY TABLE ACCESSORY  SMALL BENCH (500) MEDIUM BENCH (850 x 850) LARGE BENCH (1100 x 850)  SMALL TIE LARGE TIE MAGNETIC SUPPORT  CARRIAGE + FIXED COLUMN  FIXED COLUMN  PNEUMATIC TELESCOPIC LIFT  D63 PNEUMATIC LIFTER ...
  • Page 53 NOTES DATE DESCRIPTION INSTRUCTION MANUAL M3 MANIPULATOR...

  • Page 54: Ec Declaration Of Conformity

    Declaration refers, and complies with the following European EC Directives, and their applicable Essential Health and Safety Requirements (EHSR): 2006/42/EC Machinery Directive 2014/68/EU Pressure Equipment Directive Authorised for documentation: Mr Ramon Jou Parrot of TECNOSPIRO MACHINE TOOL, S.L Sant Joan de Vilatorrada, Tuesday, 16 March 2021 Ramon Jou Parrot, Technical Director...

  • Page 55: Head Attachment

    HEAD ATTACHMENT...
  • Page 56 TABLE OF CONTENTS HEADS ..........................57 VERTICAL HEAD (CD5) ..........................57 ROTATING HEAD (CH5) .......................... 58 REVOLVING + MANUAL ROTATING HEAD (CF5) ................60 MANUAL ROTATING HEAD (CI5) ......................62 ATTACHMENT HEADS...

  • Page 57: Heads

    1 HEADS To complement the manoeuvrability of your equipment, the M5 Manipulator has various heads that make it possible to move and rotate the load according to your needs: VERTICAL HEAD (CD5) Z: 340º This head makes it possible to rotate the load manually. To do this: 1.

  • Page 58: Rotating Head (Ch5)

    ROTATING HEAD (CH5) X: 90º / 180º / 270º Z: ±90º (Swivel base) This head makes it possible to rotate the load. To do this: 1. Rotate the selector (1). 2. Adjust the rotation speed with the flow regulators (2). ATTACHMENT HEADS...
  • Page 59 CODE DESCRIPTION PICT. NH116700 ROTATION ACTUATOR CRB1BW80-90D-XF NH075016 ROTATION ACTUATOR CRB1BW100-180S-XF NH116800 ROTATION ACTUATOR CRB1BW100-270S-XF NH109500 FLOW REGULATOR NH027956 MALE ELBOW FITTING W3103700 SPLINT BW80 M3 CM121800 CABLE RETENTION ATTACHMENT HEADS...

  • Page 60: Revolving + Manual Rotating Head (Cf5)

    REVOLVING + MANUAL ROTATING HEAD (CF5) X: 4x90º Y: 90º±10º Z: ±90º (Swivel base) This head makes it possible to swivel and rotate the load. To swivel: 1. Rotate the selector (1). 2. Tighten or loosen the bolts (2) to modify the working angle by ±5º at each limiter. 3.
  • Page 61 CODE DESCRIPTION PICT. W3111800 REVOLVING MODULE-K07 W3104000 REVOLVING BACK COVER NH027956 MALE ELBOW FITTING AC006426 POSITIONER AC004086 POSITIONER W3111600 CRANKPIN CR M3 NH109500 FLOW REGULATOR ATTACHMENT HEADS...

  • Page 62: Manual Rotating Head (Ci5)

    MANUAL ROTATING HEAD (CI5) X: 4x90º Z: ±90º (Swivel base) This head allows manual rotation of the crankpin every 90º. To do this: 1. Rotate the positioner 180º to release the crankpin. 2. Position the crankpin (5) in the desired position. 3.

  • Page 63: Actuator Attachment

    APPENDIX ACTUATORS ATTACHMENT HEADS...
  • Page 64 TABLE OF CONTENTS ACTUATORS ........................65 MAGNET ..............................65 1.1.1 DESCRIPTION AND OPERATING PRINCIPLE ................65 1.1.2 OPERATION ............................66 CLAMP ................................. 67 1.2.1 OPERATING DESCRIPTION AND PRINCIPLE ................67 1.2.2 OPERATION ............................68 SUCTION CUP ............................69 1.3.1 DESCRIPTION AND OPERATING PRINCIPLE ................69 1.3.2 OPERATION ............................

  • Page 65: Actuators

    1 ACTUATORS To complement the functionality of your equipment, the M3 Manipulator has various actuators that make it possible to grip and secure the load according to your needs: MAGNET 1.1.1 OPERATING DESCRIPTION AND PRINCIPLE The magnet-type load clamping device provides the M3 manipulator with the appropriate complement for handling loads of ferrous materials with flat surfaces exceeding 2 mm in thickness (e.g.

  • Page 66: Operation

    1.1.2 OPERATIVE WARNING ✓ The sequence described below supposes that the installation, settings such as the Opening of the main valve, the regulation of the supply pressure, the balancing of the arm at no load and with load, and the correct integration have been carried out following the guidelines indicated in the manual.

  • Page 67: Clamp

    CLAMP 1.2.1 OPERATING DESCRIPTION AND PRINCIPLE The clamp-type gripping device provides the M3 manipulator with the correct grip on the workload, as well as the necessary movements for proper handling. Its main application is the manipulation and lifting of preferably cylindrical or circular loads. (Example: crankshafts and camshafts).

  • Page 68: Operation

    1.2.2 OPERATIVE WARNING ✓ The sequence described below supposes that the installation, settings such as the Opening of the main valve, the regulation of the supply pressure, the balancing of the arm at no load and with load, and the correct integration have been carried out following the guidelines indicated in the manual.

  • Page 69: Suction Cup

    SUCTION CUP 1.3.1 OPERATING DESCRIPTION AND PRINCIPLE The suction cup type load securing device together with the M3 Manipulator makes it possible to grip and manipulate the working load creating a vacuum. The vacuum is generated with the Venturi effect, in which a nozzle (3) is fed with compressed air (1). The jet created drags the ambient air (2) into its turbulence, which then passes into the mixer (4) to be expelled.

  • Page 70: Operation

    1.3.2 OPERATIVE WARNING ✓ The sequence described below supposes that the installation, settings such as the Opening of the main valve, the regulation of the supply pressure, the balancing of the arm at no load and with load, and the correct integration have been carried out following the guidelines indicated in the manual.

  • Page 71: Hook

    HOOK 1.4.1 OPERATING DESCRIPTION AND PRINCIPLE The hook-type load securing device is the perfect accessory of the M3 Manipulator for handling loads. WARNING ✓ The selection and design must be made carefully for each working load. ✓ The integrator/end user must ensure that the load securing device is suitable for the end application.

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