Beruflich Dokumente
Kultur Dokumente
Automation Technologies
Edition: C
Date: 2005 04 07
Supplier: ABB Automation Technologies AB
Box 310
SE-293 24 Olofstrm, Sweden
Tel: +46 454 96600 Fax: +46 454 48309
Table of Contents
1
4.3
Change Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Robot tooling with Tnker Attachments . . . . . . . . . . . 25
1.1
1.2
Pneumatic Components . . . . . . . . . . . 27
5.1
5.2
Components . . . . . . . . . . . . . . . . . . . . 29
1.6
1.7
1.8
1.9
1.10
1.11
6.1
6.2
6.3
2.1
1.3
1.4
1.5
2.2
2.3
2.4
2.5
2.6
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
4.1
4.2
6.4
6.5
6.6
6.7
6.8
6.9
6.10
6.11
6.12
6.13
6.14
6.15
6.16
6.17
6.18
6.19
6.20
6.21
6.22
6.23
6.24
6.25
6.26
6.27
6.28
6.29
6.30
6.31
6.32
6.33
6.34
6.35
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
50
52
53
54
55
56
57
58
59
61
62
63
64
65
66
67
70
Page i
Page ii
The Quick Change Adapter is mainly made of molded and machined parts of
aluminum. The inner cone is however made of steel. Viewed from the front, you can
see the inner cone and the plate for five air connectors.
On top of the QCQ there is a mounting area including threaded holes for bolting to the
manipulator. When the QCA is to be mounted on a robot, an adapter plate has to be
fitted between the robot and the QCA.
The valve shuts off the compressed air supply to the QCA locking mechanism. The
electrical connector is used for signals from switches on the tooling equipment. These
switches are used for encoding of the stamping.
To enable the QCA to loosen its grip of the tooling shaft, compressed air need to be
supplied. At loss of compressed air, the mechanism is locked.
When the compressed air is turned off, the inner cone is contracted by the internal
springs and the tooling shaft is pulled into the QCA. At the same time the pneumatic
components are connected to the valves and the electrical connection is made. When
the inner cone is fully contracted a locking clamp secures the tooling shaft.
When compressed air is supplied, the springs are depressed, the locking clamp is
released and the cone moves out releasing the tooling shaft.
Bolting holes
Shut off valve
Electrical connector
Locking clamp
Housing
Inner cone
Page 1
Material..........................Aluminum
Weight
Air connectors
No. of pins
House
Pinblock No.
91108510
16 kg
3 x 8 + 2 x 10
3045842
3045843
91111220
16 kg
3 x 8 + 2 x 10
18
3045842
3048888
91110794
16 kg
5 x 10
3045842
3045843
91110795
16 kg
5 x 10
18
3045842
3048888
91110796
16 kg
3 x 8 + 2 x 10
3045842
91110797
16 kg
5 x 10
3045842
85
146
5 x M10
2 x 10H7
368
323
45
Electrical female connectors and housing
House 3045842
Page 2
436
1.3 Robot Attachment for Quick Change Adapter for Robot IRB 6400
1.4 Robot Attachment for Quick Change Adapter for Robot IRB 6650
Part No. ......................................... 91110829
Weight .............................................. 2.500 kg
Material........................................ Aluminum
Tightening Torque for M10.............47 Nm
1.5 Robot Attachment for Quick Change Adapter for Robot IRB 7600
Part No. ......................................... 91110781
Weight .............................................. 2.640 kg
Material........................................ Aluminum
Tightening Torque for M10.............47 Nm
Page 3
6.1 Bayonet & Central Boom with clamping ring, see page 31
or
6.2 Bayonet & Central Boom, see page 32
or
6.3 Bayonet & Central Boom CPI- and BILSING-like with clamping ring, see page 33
or
6.4 Bayonet & Central Boom CPI- and BILSING-like, see page 34
Page 4
6.1 Bayonet & Central Boom with clamping ring, see page 31
or
6.2 Bayonet & Central Boom, see page 32
or
6.3 Bayonet & Central Boom CPI- and BILSING-like with clamping ring, see page 33
6.14 Swivel Arm, see page 44
or
or
6.4 Bayonet & Central Boom CPI- and BILSING-like, see page 34
6.15 Swivel Arm, see page 45
Page 5
Page 6
76
38
38
6.1 Bayonet & Central Boom with clamping ring, see page 31
or
6.2 Bayonet & Central Boom, see page 32
or
6.3 Bayonet & Central Boom CPI- and BILSING-like with clamping ring,
see page 33
or
6.4 Bayonet & Central Boom CPI- and BILSING-like, see page 34
6.9 Central Boom Spacer, 130 and 200 mm, see page 3
or
6.10 Central Boom Spacer, 250 and 300 mm, see page
Page 7
6.1 Bayonet & Central Boom with clamping ring, see page 31
or
6.2 Bayonet & Central Boom, see page 32
or
6.3 Bayonet & Central Boom CPI- and BILSING-like with clamping ring, see page 33
or
6.4 Bayonet & Central Boom CPI- and BILSING-like, see page 34
Page 8
Turning Angle
Part No.
Stroke
Minimum
Maximum
9937126
50 mm
21.5
38.0
9937965
80 mm
34.5
57.5
9937966
100 mm
42.5
69.5
9937967
125 mm
55.0
85.5
9937968
160 mm
72.5
112.5
Type
Page 9
Turning Angle
Type
Part No.
Stroke
Minimum
Maximum
9937125
50 mm
21.5
38.0
9937961
80 mm
34.5
57.5
9937962
100 mm
42.5
69.5
9937963
125 mm
55.0
85.5
9937964
160 mm
72.5
112.5
Page 10
Tipping Angle
Type
Part No.
Stroke
Minimum
Maximum
9937129
25 mm
11.5
32.0
9937971
40 mm
16.0
40.0
9937972
50 mm
22.5
49.0
Page 11
Tipping Angle
Type
Part No.
Stroke
Minimum
Maximum
9937128
25 mm
11.5
32.0
9937969
40 mm
16.0
40.0
9937970
50 mm
22.5
49.0
Page 12
Tipping Angle
Type
Part No.
Stroke
Minimum
Maximum
9937512
25 mm
10.5
14.5
9937959
40 mm
17.0
24.0
9937960
50 mm
21.5
30.5
Page 13
Tipping Angle
Type
Part No.
Stroke
Minimum
Maximum
9937513
25 mm
11.0
15.0
9937973
40 mm
17.5
24.5
9937974
50 mm
21.5
31.5
Page 14
Page 15
PS3 Shuttler
Lower Tooling
Mounting
Bracket
Part number: 91109858
528 g
Weight:
Aluminum
Material:
For cross
38 mm
tube:
38
38
Type:
PS3 Shuttler
Lower Tooling
Clamp Device
Part number: 91109857
Weight:
312 g
Material:
Aluminum
For cross
tube:
38 mm
Page 16
6.17 Attachment 19 / 19
see page 47
6.33 Angle mounts
see page 66
6.19 Support Anglemount
see page 50
Page 17
Page 18
6.17 Attachment 19 / 19
see page 47
Page 19
Page 20
6.17 Attachment 19 / 19
see page 47
Page 21
Page 22
Page 23
Page 24
Page 25
Page 26
With Tube
size 8 mm
Part No.
With Tube
size 10 mm
Part No.
9936282
91107021
9936283
91107023
9936284
91107024
9936285
91107025
9936286
91107026
9936287
91107027
9936288
91107028
Page 27
91104666
for 3 x 8 + 2 x 10 mm tubes
91110793
for 5 x 10 mm tubes
Tube
8 mm
10 mm
3045840
3045075
Mount in holes
For Quick Change Adapter,
see page 2
Page 28
4 and 5
91108510
91111220
91110796
91110794
91110795
91110797
6 Components
6.28 Anglemount 76 mm
see page 61
Page 29
Page 30
Page 31
Page 32
Option
End Plates and corresponding
Push-in Fittings
End Plate part No.
Included
Weight of End Plate
Push-in Fittings 8 mm tube.
Part No.
Push-in Fittings NOT included.
Push-in Fittings 10 mm tube.
Part No.
Push-in Fittings NOT included.
198 g
G3/8 - 8
91207662
170 g
G1/8 - 8
91204069
G3/8 - 10
91205003
Page 33
Option
End Plates and corresponding
Push-in Fittings
End Plate part No.
Included
Weight of End Plate
Push-in Fittings 8 mm tube.
Part No.
Push-in Fittings NOT included.
Push-in Fittings 10 mm tube.
Part No.
Push-in Fittings NOT included.
Page 34
198 g
G3/8 - 8
91207662
170 g
G1/8 - 8
91204069
G3/8 - 10
91205003
Length
500 mm
L (mm)
750 mm
1000
500 mm
1500
750 mm
2000
1000 mm
3000
1500 mm
6000 mm
Part No.
9936324
Part No.
9936325
T=3
9936326
9936324
9936327
9936325
91206682
9936326
91206981
9936327
8101145
Thickness = 5 mm.
Weight
375 g
Weight
560 g
750375
g g
1125
560g g
1500
750g g
2250
g g
1125
4500 g
Length
500 mm
750 mm
1000 mm
1500 mm
2000 mm
3000 mm
6000 mm
Part No.
91108321
91108322
91108323
91108324
91111291
91111292
8053730
Weight
700 g
1050 g
1400 g
2100 g
2800 g
4200 g
8400 g
38
Thickness = 3 mm.
Page 35
Thickness = 3 mm.
Weight
1200 g
2310 g
2775 g
3240 g
3700 g
3980 g
11100 g
Length
650 mm
1250 mm
1500 mm
1750 mm
2000 mm
2150 mm
6000 mm
Part No.
91108325
91108326
91108327
91108328
91108329
91108330
8101148
Weight
1960 g
3760 g
4510 g
5270 g
6020 g
6470 g
18040 g
76
Part No.
9936318
9936319
9936320
9936321
9936322
9936323
8101144
Page 36
Length
650 mm
1250 mm
1500 mm
1750 mm
2000 mm
2150 mm
6000 mm
Thickness = 5 mm.
1500
2000
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
L=tube lengh mm
Deflection in mm
Deflections at Load Point mm
500
Tube length mm
Load (N) 100 N
200 N
300 N
400 N
500 N
700 N
900 N
500
1
1
1
1
2
3
3
5
6
2
5
7
9
11
16
21
5
11
16
22
27
38
49
500
1000
1500
I = Moments of inertia
2000
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
(D4 - d4)
64
mm4
L=tube lengh mm
Deflection in mm
Deflections at Load Point mm
Tube length mm
Load (N) 100 N
200 N
300 N
400 N
500 N
700 N
900 N
500
1
1
1
4
7
11
14
18
25
32
8
17
25
34
42
59
76
Page 37
1000
1500
L=tube lengh mm
Deflection in mm
Tube length mm
Load (N) 25 N
50 N
75 N
100 N
150 N
200 N
500
1000
1500
1
1
2
2
3
5
7
10
13
6
11
17
22
34
45
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
1000
1500
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
(D4 - d4)
64
mm4
L=tube lengh mm
Deflection in mm
Deflections at Load Point mm
I = Moments of inertia
Tube length mm
Load (N) 25 N
50 N
75 N
100 N
150 N
200 N
500
1000
1500
1
1
1
2
2
3
5
7
9
14
19
8
16
24
32
48
64
Page 38
Torque
Torque
Torque
222
40
40
292
130
200
76
76
76
76
Page 39
Torque
Torque
Torque
40
40
250
76
Page 40
300
76
76
76
392
342
8 or 10 mm
Thread: G 1/8
8 or 10 mm
Thread: G 1/8
Page 41
Weight..........................................................542 g
Material ................................................Aluminum
Tightening Torque for M10 .......................47 Nm
Maximum Torque A for 38 Tube.......... 400 Nm
Maximum Torque B for 76 Tube.......... 440 Nm
Torque B
104
70
Page 42
76
168
38
64
Weight..........................................................606 g
Material ................................................Aluminum
Tightening Torque for M10 ....................... 47 Nm
Maximum Torque A for 38 Tube.......... 400 Nm
Maximum Torque B for 76 Tube.......... 400 Nm
Torque B
76
38
115
60
70
165
Page 43
Torque A
Length & Weight ..............................See Part No.
Material ................................................Aluminum
Tightening Torque for M10 .......................47 Nm
Maximum Torque A for 38 tube ........... 352 Nm
Maximum Torque B for 25 tube .............48 Nm
Maximum Torque C for 19 tube ........... 120 Nm
Torque C
Torque B
L
93
Weight
312 g
354 g
390 g
436 g
34
Length
85 mm
125 mm
165 mm
205 mm
19
32
27
38
Option
Suction cup attachmens are not included with the Swivel Arm.
Page 44
Part No.
9934860
9934861
9934862
9934863
21
Swivel Arm
Torque A
( Suction cup
attachment)
Torque C
Torque B
38
34
Weight
557 g
598 g
639 g
680 g
161
L=Length
85 mm
125 mm
165 mm
205 mm
64,4
Part No.
91110800
91110801
91110802
91110803
19
Option
Suction cup attachmens are not included with the Swivel Arm.
Part No.
9937111
9939387
91108683
Thread for
Suction Air
Suction Air
Suction Air
cup
connect. cup
connect. cup
connect.
Thread type Female Female Female Female Male
Female
Thread
G 3/8" G 1/4" G 1/4" G 1/4" G 1/4" G 1/4"
Weight
46 g
82 g
76 g
Material
Steel
Steel
Steel
32
38
Swivel Arm
91108684
Suction Air
cup
connect.
Male
Female
G 3/8" G 1/4"
84 g
Steel
Page 45
A
30.5 mm
18.5 mm
12.5 mm
Weight
60 g
80 g
90 g
35
R 20
Page 46
56
19
19
Part No.
9934076
9934077
9934078
48
Torque A
24
19
80
20
19
Page 47
49
19
21
G 1/4
thread
19
26
G 1/4
52
Type:
thread
Type:
Type:
Page 48
G 1/4
17,5 12,5
19
13
thread
19
17
G 1/4
thread
19
42
Type:
49
Type:
thread
19
45
Type:
52
thread
17,5
19
45,5
Type:
thread
17,5
45,5
Type:
19
Type:
thread
Page 49
Weight:
Material:
Torque A:
Torque B:
Tightening torque:
15
9937893,
Symmetrical
Opposite
514 g
Aluminum
248 Nm
248 Nm
47 Nm
Torque B
38
Part number:
69
Part number:
Cross Boom
Adaptor
9937892
Drawn
103
Type:
81
Torque A
16
41
38
Support
Anglemount
9938198
Part number:
385 g
Weight:
Aluminum
Material:
47 Nm
Torque M10:
Torque A for 38 tube: 300 Nm
Torque B for 38 tube: 300 Nm
41
Type:
Torque A
38
Torque B
38
92
76
Page 50
Torque B
60
Angle Mount
90
39915121
Part number:
468 g
Weight:
Aluminum
Material:
47 Nm
Torque M10:
Torque A for 38 tube: 112 Nm
Torque B for 38 tube: 160 Nm
38
120
70
Torque A
Angle Mount
90 (Split)
39915122
Part number:
568 g
Weight:
Aluminum
Material:
47 Nm
Torque M10:
Torque A for 38 tube: 100 Nm
Torque B for 38 tube: 168 Nm
60
Torque B
38
Torque A
90
Type:
120
Page 51
80
40
Type:
Part number:
Weight:
Material:
19
Type:
76
40
92
Part number:
Weight:
Material:
Part Guiding
L-Type
9937039
234 g
Steel
26
75
88
110
55
20
147
Part number:
Weight:
Material:
Part Guiding
V-Type
39915120
408 g
Steel
Type:
80
34
19
110
Page 52
Weight........................................................ 2600 g
Material ................................................Aluminum
80
55
143
Option
End Plates and corresponding
Push-in Fittings
76
9939374
9939375
198 g
170 g
G3/8 - 8
91207662
G1/8 - 8
91204069
G3/8 - 10
91205003
Page 53
Torque B
Torque A
70
80
167
Page 54
38
60
106
Weight..........................................................544 g
Material ................................................Aluminum
Tightening Torque for M10 .......................47 Nm
Maximum Torque A for 80...................440 Nm
Maximum Torque B for 38 ...................112 Nm
38
81
15
45
Weight........................................................ 1430 g
Material ................................................Aluminum
Tightening torque for M10.........................47 Nm
Tightening torque for M8...........................24 Nm
Page 55
47
80
95
76
80
Filename: Kap6.fm, Mod date: 2005 04 07
Page 56
135
64
169
132
31
Page 57
Max Torque A
Max Torque B
79.5
32
Page 58
38
25
34
60
Part number:
Weight:
Material:
Torque M10:
Max torque A
for 76:
9936313
1408 g
Aluminum
47 Nm
145
200
440 Nm
Torque A
76
103
Type:
Part number:
Weight:
Material:
Torque M10:
Max torque A
for 38:
9936314
1950 g
Aluminum
47 Nm
61
Robot
IRB 6400
Attachment
Tube 38
Torque A
38
Type:
76 Nm
Torque A
250
285
250
300
Page 59
Part number:
Weight:
Material:
Torque M10:
Max torque A
for 38:
91110810
1950 g
Aluminum
47 Nm
Torque A
60
Robot
IRB 6400
Attachment
Tube 38
38
Type:
250
76 Nm
Torque A
250
340
Page 60
Torque B
Torque A
150
105
246
76
66
66
87
104
160
Page 61
25
55
35
40
25
18
28
50
4x 6.5
25
50
36
25
40
Page 62
4x 5.5
94
108
25
7.5
50
50
35
4x 6.5
28
18
25
40
25
25
4x 5.5
Page 63
87
80
86
4x 6.5
25
40
38
7.5
55
35
35
80
38
52
25
40
4x 6.5
Page 64
146
Torque A
Torque A
111
25
54
28
38
60
112
25
25
Page 65
115,5
B
50
38
45
38
60
A
116
38
67
Angle mount
swivel type
38/38
91110335
Part number:
350 g
Weight:
Aluminum
Material:
47 Nm
Torque M10:
Max torque A for 38: 352 Nm
Max torque B for 38: 352 Nm
50 Nm
Max torque C:
Type:
38
C
B
32
109
Page 66
Splicing Connector 10 mm
91207226
Plastic
10 mm.
Type:
Part number:
Material:
Tube:
Type:
Part number:
Material:
Tube:
Type:
Part number:
Material:
Tube:
L-Connector 8 mm -1/8"
3049183
Plastic
1/8 - 8 mm.
Type:
Part number:
Material:
Tube:
L-Connector 6 mm -1/4"
3046066
Plastic
1/4 - 6 mm.
Type:
Part number:
Material:
Tube:
L-Connector 8 mm -1/4"
3045896
Plastic
1/4 - 8 mm.
Type:
Part number:
Material:
Tube:
L-Connector 10 mm -1/4"
91200543
Plastic
1/4 - 10 mm.
Type:
Part number:
Material:
Tube:
Y-Connector 6 mm
91204974
Plastic
6 mm.
Type:
Part number:
Material:
Tube:
Y-Connector 8 mm
91204160
Plastic
8 mm.
Type:
Part number:
Material:
Tube:
Y-Connector 10 mm
3049182
Plastic
10 mm.
Type:
Part number:
Material:
Tube:
Y-Connector 8 mm
3046064
Plastic
8 - 6 mm.
Type:
Part number:
Material:
Tube:
Y-Connector 10 mm
91202392
Plastic
10 - 8 mm.
Type:
Part number:
Material:
Tube:
T-Connector 8 mm
91207328
Plastic
8 mm.
Type:
Part number:
Material:
Tube:
T-Connector 10 mm
3046065
Plastic
10 mm.
Page 67
Type:
Part number:
Material:
Tube:
Shut-off Valve 8 mm
3045897
Plastic
8 mm.
Type:
Part number:
Material:
Tube:
Shut-off Valve 10 mm
91207234
Plastic
10 mm.
Type:
Part number:
Material:
Tube:
Type:
Part number:
Material:
Tube:
Type:
Part number:
Material:
Tube:
Plug 6 mm
3046068
Plastic
6 mm.
Type:
Part number:
Material:
Tube:
Plug 8 mm
3046069
Plastic
8 mm.
Type:
Part number:
Material:
Tube:
Plug 10 mm
3047019
Plastic
10 mm.
Type:
Part number:
Material:
Tube:
6 mm
Type:
Part number:
Material:
Tube:
8 mm
Type:
Part number:
Material:
Tube:
Push-in Sleeve 8 mm
91207229
Plastic
8 mm
Type:
Part number:
Material:
Tube:
Push-in Sleeve 10 mm
91207230
Plastic
10 mm
Page 68
Type:
Part number:
Material:
Tube:
8 mm
10 mm
Type:
Part number:
Material:
Tube:
Thread
Type:
Part number:
Material:
Tube:
Thread
Type:
Part number:
Material:
Tube:
Thread
6 mm x 1 mm
3046072
8 mm x 1,25 mm
3045898
10 mm x 1,5 mm
3045899
Size
Page 69
Page 70
Type:
Page 71
Main type:
FSGA soft
Page 72
Main type:
Type:
Page 73
Main type:
Page 74
Main type:
Type:
Page 75
Page 76
ABB Inc.
201 Westcreek Boulevard
Bramton, Ontario L6T 5S6 Canada
Phone:
+905 460 3000
Fax:
+905 460 3001
Mobile:
+46 73 661 14 74
Webbsite:
www.abb.com
ABB MC
Z.A. La Boisse-300, rue des Prs
Seigneurs
01120 Montluel-France
Phone: +04 37 40 41 63
Fax:
+04 37 40 40 01
Mobile: +06 70 16 79 04
E-mail: remi.zanda@fr.abb.com
E-mail: wolfgang.schweitzer@de.abb.com
ABB
508 Rue Armand Japy
FR-25 460 Etupes, France
Phone: +03 81 96 64 15
Fax:
+03 81 96 60 44
ABB
1250 Brown Road
Auburn Hills, Michigan 48326
USA
Phone: +1 248 393 4600
Fax:
+1 248 393 4800
ABB Ltda.
Av.dos Autonomistas, 1.496
06020-902-Osasco-SP-Brazil
Phone: +55 11 3688 9553
Fax:
+55 11 3688 9991
ABB Att.: +0800 14 9111
E-mail: ronaldo.venite@br.abb.com
ABB LTD.
Osakan Bldg. 9th Fl.
157-33, Samsung-dong Kangnam-ku,
Seoul, Korea (zip code 135-090)
Phone: +82 2 528 3071
Fax:
+82 2 554 8725
Mobile: +82 11 258 3071
E-mail: chong-sik.park@kr.abb.com
ABB
Jos I. Rucci 1051
D-61169 Friedberg
1822 valentin Alsina, Prov. de Bs.As
Argentina
Phone: +54 14 229 5500, ext. 3263
Fax:
+54 14 229 5594
Mobile: +005411 5 0124315