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Quick-Change – Robotic/Automatic Tool Changers
The Quick-Change provides flexibility to robot
applications by allowing the robot to change endeffectors (e.g., grippers,
vacuum cup tooling, pneumatic and electric motors, weld guns, etc.)
automatically. The Quick-Change consists of a Master plate and a Tool plate.
The Master plate, installed on the robot arm, locks to the Tool plate with a
pneumatically-driven locking mechanism. This locking mechanism uses a
patented, multi-tapered cam with ball locking technology and a patented
fail-safe mechanism. The Master allows for the passage of pneumatic and
electrical connections to the Tool plate. The Tool plate is attached to each
end-effector. The Tool plate interfaces with the Master plate’s pneumatic
and electrical connections and passes them on to the endeffector.
General Tool Changer Advantages:
- Lines changed in seconds instead of hours.
- Operator safety increased by changing tools automatically.
- Tools changed in seconds for maintenance and repair.
- Increased flexibility of your robots by adding the ability
to use more than one end-effector in an application.
- Heavy and large multi-tool end-effectors replaced
with individual tools that are automatically exchanged.
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ATI Tool Changer Advantages
- Superior Fail-safe Locking: The locking mechanism has
a built-in patented fail-safe feature that keeps the Tool plate
secured to the Master plate in the event of
pneumatic pressure loss. This fail-safe feature eliminates the
need for a spring.
- High Rigidity: The Quick-Change has a high moment
capacity due to the locking piston’s large diameter and second
taper. The Quick-Change does not rock during high-inertia moves,
preventing locking failure or repeatability problems.
- Unmatched Repeatability: The piston acts as a large
dowel pin, aligning the Master and Tool with remarkable
repeatability. Repeatability specifications are based on
million-cycle testing.
- No-Touch LockingTM Technology: The Quick-Change can
lock successfully with a gap between the Master and Tool plates.
- 3-Year Warranty: Our warranty is based on years of
observation and analysis by our customers in the field and
extensive laboratory testing.
- Simple Interface: Plate design allows for easy robot
mounting.
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Standard Tool Changers
From the lightest duty to the heaviest duty payload
range, the Quick-Change Standard Series Tool Changers typically feature
round bodies with an array of integrated pneumatic ports. This style results
in a compact, economical tooling arrangement where a majority of the
applications save money and space by utilizing the built-in ports. However,
even for applications where additional electrical signals or other utilities
need to be coupled, the Standard Series Tool Changers feature one or two
additional utility module mounting flats. Additional options for Standard
Series Tool Changers include a Sensor Interface Plate (combined adapter
plate and sensor pack for Lock and Unlock status), basic Interface Plates,
and modular, highly-customizable Tool Storage Stand arrangements.
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QC-5
Suggested Payload Limit: 8.2 kg
Locking Force @ 80 psi (5.5 bar): 690 N
Static Moment Capacity (X & Y): 12 Nm
Static Moment Capacity (Z): 17 Nm
Positional Repeatability – (X, Y, & Z): 0.0102 mm
Weight - when coupled: 0.363 kg
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QC-11
Suggested Payload Limit: 16 kg
Locking Force @ 80 psi (5.5 bar): 1100 N
Static Moment Capacity (X & Y): 25 Nm
Static Moment Capacity (Z): 34 Nm
Positional Repeatability – (X, Y, & Z): 0.0102 mm
Weight - when coupled: 0.227 kg
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QC-20
Suggested Payload Limit: 25 kg
Locking Force @ 80 psi (5.5 bar): 2300 N
Static Moment Capacity (X & Y): 56 Nm
Static Moment Capacity (Z): 78 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 0.816 kg
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QC-21
Suggested Payload Limit: 25 kg
Locking Force @ 80 psi (5.5 bar): 2300 N
Static Moment Capacity (X & Y): 56 Nm
Static Moment Capacity (Z): 78 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 0.816 kg
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QC-40
Suggested Payload Limit: 50 kg
Locking Force @ 80 psi (5.5 bar): 4500 N
Static Moment Capacity (X & Y): 160 Nm
Static Moment Capacity (Z): 220 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 1.7 kg
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QC-41
Suggested Payload Limit: 50 kg
Locking Force @ 80 psi (5.5 bar): 4500 N
Static Moment Capacity (X & Y): 160 Nm
Static Moment Capacity (Z): 220 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 2.09 kgs
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QC-60
Suggested Payload Limit: 75 kg
Locking Force @ 80 psi (5.5 bar): 7400 N
Static Moment Capacity (X & Y): 200 Nm
Static Moment Capacity (Z): 290 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 2 kg
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QC-71
Suggested Payload Limit: 79 kg
Locking Force @ 80 psi (5.5 bar): 8100 N
Static Moment Capacity (X & Y): 400 Nm
Static Moment Capacity (Z): 400 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 2.86 kg
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QC-76
Suggested Payload Limit: 100 kg
Locking Force @ 80 psi (5.5 bar): 12000 N
Static Moment Capacity (X & Y): 540 Nm
Static Moment Capacity (Z): 700 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 3.72 kg
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QC-110
Suggested Payload Limit: 150 kg
Locking Force @ 80 psi (5.5 bar): 12000 N
Static Moment Capacity (X & Y): 780 Nm
Static Moment Capacity (Z): 780 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 6.35 kg
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QC-150
Suggested Payload Limit: 200 kg
Locking Force @ 80 psi (5.5 bar): 16000 N
Static Moment Capacity (X & Y): 1400 Nm
Static Moment Capacity (Z): 1100 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 8.3 kg
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QC-300
Suggested Payload Limit: 450 kg
Locking Force @ 80 psi (5.5 bar): 35000 N
Static Moment Capacity (X & Y): 3300 Nm
Static Moment Capacity (Z): 2800 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 19.1 kg
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Robotic Tool Changers for Heavy Automation
The Heavy Automation Series Tool Changers feature
simple, compact, square Tool Changer bodies designed for heavy-duty
applications (e.g., welding). Instead of
integrated pneumatic ports, the area of the body is maximized for fitting
the largest, strongest locking mechanism possible. Each Tool Changer
features built in
Lock/Unlock/Ready-to-Lock sensors, as well as heavyduty alignment pins. The
square shape allows for mounting four or more utility modules to pass
pneumatics, fluid, electrical, fiber optic, weld current, and more. This
unique series of heavy-duty Tool Changers is also compatible with an
economical Tool Stand family that includes compliant drop-off points, Tool
Shields, and a highly-customizable array of configurations.
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QC-210
Suggested Payload Limit: 220 kg
Locking Force @ 80 psi (5.5 bar): 31000 N
Static Moment Capacity (X & Y): 2700 Nm
Static Moment Capacity (Z): 2300 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 7.67 kg
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QC-310
Suggested Payload Limit: 510 kg
Locking Force @ 80 psi (5.5 bar): 38000 N
Static Moment Capacity (X & Y): 3300 Nm
Static Moment Capacity (Z): 3200 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 19.5 kg
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QC-510
Suggested Payload Limit: 700 kg
Locking Force @ 80 psi (5.5 bar): 62000 N
Static Moment Capacity (X & Y): 4900 Nm
Static Moment Capacity (Z): 3500 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 28 kg
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QC-1210
Suggested Payload Limit: 1350 kg
Locking Force @ 80 psi (5.5 bar): 93000 N
Static Moment Capacity (X & Y): 5400 Nm
Static Moment Capacity (Z): 5400 Nm
Positional Repeatability – (X, Y, & Z): 0.0152 mm
Weight - when coupled: 27.7 kg
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Six-Axis Force/Torque Sensors
The Force/Torque (F/T) sensor system measures the full six components of
force and torque (Fx, Fy, Fz, Tx, Ty, Tz) using a monolithic instrumented
transducer. The F/T
transducer uses silicon strain gages for excellent noise immunity. The use
of silicon gages allows the F/T transducer to have high stiffness and
increased overload
protection. All transducer models are available with Net F/T, DAQ F/T or
Controller F/T interfaces. The Net F/T provides Ethernet/IP™ and CAN bus
communication interfaces and is compatible with standard Ethernet. The DAQ
F/T connects the transducer to your computer bus (PCI, USB, PC Card, etc.)
using an analog Data Acquisition (DAQ) card, making it easy to read sensor
data
with your PC or robot controller. ATI DAQ software works with your computer
to convert strain gage data into force/torque data.
The Controller F/T processes the F/T strain gage information, outputs
serial and analog force/torque data and provide discrete I/O.
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Nano17 Titanium
Max Fx,Fy: ±32 N
Max Tx,Ty: ±200 N-mm
Weight: 0.00907 kg
Diameter: 17 mm
Height: 14 mm
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Nano17
Max Fx,Fy: ±50 N
Max Tx,Ty: ±500 N-mm
Weight: 0.00907 kg
Diameter: 17 mm
Height: 14 mm
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Nano17 IP65/IP68
Max Fx,Fy: ±50 N
Max Tx,Ty: ±500 N-mm
Weight: 0.0408 kg
Diameter: 20 mm
Height: 22 mm
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Nano25
Max Fx,Fy: ±250 N
Max Tx,Ty: ±6 N-mm
Weight: 0.0635 kg
Diameter: 25 mm
Height: 22 mm
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Nano25 IP65/IP68
Max Fx,Fy: ±250 N
Max Tx,Ty: ±6 N-mm
Weight: 0.136 kg
Diameter: 28 mm
Height: 27 mm
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Nano43
Max Fx,Fy: ±36 N
Max Tx,Ty: ±500 N-mm
Weight: 0.0408 kg
Diameter: 43 mm
Height: 11 mm
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Mini40
Max Fx,Fy: ±80 N
Max Tx,Ty: ±4 N-mm
Weight: 0.0499 kg
Diameter: 40 mm
Height: 12 mm
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Mini45
Max Fx,Fy: ±580 N
Max Tx,Ty: ±20 N-mm
Weight: 0.0907 kg
Diameter: 45 mm
Height: 16 mm
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Mini85
Max Fx,Fy: ±1900 N
Max Tx,Ty: ±80 N-mm
Weight: 0.635 kg
Diameter: 85 mm
Height: 30 mm
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Gamma
Max Fx,Fy: ±130 N
Max Tx,Ty: ±10 N-mm
Weight: 0.254 kg
Diameter: 75 mm
Height: 33 mm
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Gamma IP60
Max Fx,Fy: ±130 N
Max Tx,Ty: ±10 N-mm
Weight: 0.467 kg
Diameter: 99 mm
Height: 41 mm
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Gamma IP65/IP68
Max Fx,Fy: ±130 N
Max Tx,Ty: ±10 N-mm
Weight: 1.09 kg
Diameter: 110 mm
Height: 52 mm
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Delta
Max Fx,Fy: ±660 N
Max Tx,Ty: ± 60N-mm
Weight: 0.912 kg
Diameter: 94 mm
Height: 33 mm
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Delta IP60
Max Fx,Fy: ±660 N
Max Tx,Ty: ±60 N-mm
Weight: 1.81 kg
Diameter: 130 mm
Height: 47 mm
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Delta IP65/IP68
Max Fx,Fy: ±660 N
Max Tx,Ty: ±60 N-mm
Weight: 2.63 kg
Diameter: 100 mm
Height: 52 mm
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Theta
Max Fx,Fy: ±2500 N
Max Tx,Ty: ±400 N-mm
Weight: 4.99 kg
Diameter: 150 mm
Height: 61 mm
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Theta IP60
Max Fx,Fy: ±2500 N
Max Tx,Ty: ±400 N-mm
Weight: 8.62 kg
Diameter: 190 mm
Height: 74 mm
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Theta IP65/IP68
Max Fx,Fy: ±2500 N
Max Tx,Ty: ±400 N-mm
Weight: 9.00 kg
Diameter: 160 mm
Height: 75 mm
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Omega85
Max Fx,Fy: ±1900 N
Max Tx,Ty: ±80 N-mm
Weight: 0.658 kg
Diameter: 85 mm
Height: 34 mm
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Omega160
Max Fx,Fy: ±2500 N
Max Tx,Ty: ±400 N-mm
Weight: 2.72 kg
Diameter: 160 mm
Height: 56 mm
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Omega160 IP60
Max Fx,Fy: ±2500 N
Max Tx,Ty: ±400 N-mm
Weight: 7.67 kg
Diameter: 190 mm
Height: 58 mm
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Omega160 IP65/IP68
Max Fx,Fy: ±2500 N
Max Tx,Ty: ±400 N-mm
Weight: 7.26 kg
Diameter: 170 mm
Height: 66 mm
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Omega190
Max Fx,Fy: ±7200 N
Max Tx,Ty: ±1400 N-mm
Weight: 6.35 kg
Diameter: 190 mm
Height: 56 mm
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Omega190 IP60
Max Fx,Fy: ±7200 N
Max Tx,Ty: ±1400 N-mm
Weight: 14.1 kg
Diameter: 240 mm
Height: 74 mm
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Omega190 IP65/IP68
Max Fx,Fy: ±7200 N
Max Tx,Ty: ±1400 N-mm
Weight: 13.2 kg
Diameter: 200 mm
Height: 75 mm
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Omega250 IP60/IP65/IP68
Max Fx,Fy: ±16000 N
Max Tx,Ty: ±2000 N-mm
Weight: 31.8 kg
Diameter: 260 mm
Height: 95 mm
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Omega331
Max Fx,Fy: ±40000 N
Max Tx,Ty: ±6000 N-mm
Weight: 47 kg
Diameter: 330 mm
Height: 110 mm
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Robotic and CNC Deburring Tools
Historically, deburring and material removal has largely been a manual
operation due to the limitations of previously available automated deburring
tools. Conventional automated deburring tools can perform adequately along a
straight edge or surface, with little or no compliance for cavities or
protrusions, but these tools ultimately fail when part tolerances or paths
are not exact. The Engineers at ATI have developed three types of compliant
deburring tools that make automated deburring cells a safe, consistent, and
economical process.
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Radially-Compliant Deburring Tools
ATI’s line of Radially-Compliant (RC) Deburring Tools,
also known as FlexdeburrTM, are robust, high-speed and lightweight air
turbine-driven deburring units for deburring aluminum, plastic, steel, etc.
with a robot or CNC machine. The RC Deburring Tool is especially suited for
removal of parting lines and flash from parts. However, its flexible design
allows it to be used in a wide variety of applications.
The RC’s pneumatically-controlled, articulated design allows the cutting bit
to follow the part profile and compensate for surface irregularities,
allowing high feed rates with uniform quality in any orientation. The tool
also requires no oil, allowing clean exhaust air to be vented directly into
the work environment.
Compliance is supported by air pressure applied to the shaft of the unit and
is used to perform consistent deburring on irregular part patterns. The
motor’s internal governor maintains high spindle speeds for optimum surface
finish. The tools offer up to ± 9mm of compliance. The RC Deburring Tool
also utilizes standard industrial tungsten-carbide bits which allows for
adaptation to changing assembly lines and part requirements.
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RC-151
Weight: 1.09 kg
Compliance Travel @ Collet: 5.1 mm
Compliance Force: 3.1 N - 6.7 N
Idle Speed: 65000 rpm
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RC-300
Weight: 1.15 kg
Compliance Travel @ Collet: 7.6 mm
Compliance Force: 12 N - 42 N
Idle Speed: 30000 rpm
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RC-340
Weight: 1.15 kg
Compliance Travel @ Collet: 7.6 mm
Compliance Force: 12 N - 42 N
Idle Speed: 40000 rpm
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RC-340-CNC
Weight: 1.81 kg
Compliance Travel @ Collet: 7.6 mm
Compliance Force: 12 N - 42 N
Idle Speed: 40000 rpm
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RC-660
Weight: 2.22 kg
Compliance Travel @ Collet: 8.9 mm
Compliance Force: 12 N - 42 N
Idle Speed: 40000 rpm
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RS-151
Weight: 1.09 kg
Compliance Travel @ Collet: 5.1 mm
Compliance Force: 3.1 N - 6.7 N
Compliant in one axis only.
Idle Speed: 65000 rpm
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Axially-Compliant Finishing Tools
Also known as the VersaFinish, these finishing tools
are robust, low-speed, high-torque air tools with an axially floating
spindle, suitable for a multitude of robotic and non-robotic material
finishing operations on aluminum, plastic, steel, etc.
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AC-90
Weight: 0.508 kg
Max Burr Compensation: 4.1 mm
Recommended Burr Compensation: 2 mm
Axial Force Range: 0.89 N - 25 N
Cutting File Surface Speed: 7.6 m/sec - 11 m/sec
Air Consumption: 6.6 l/s (at 5bar)
Cutting File Rotation Speed: 18000 - 25000 rpm
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AC-180
Weight: 0.508 kg
Max Burr Compensation: 4.1 mm
Recommended Burr Compensation: 2 mm
Axial Force Range: 0.89 N - 25 N
Cutting File Surface Speed: 7.6 m/sec - 11 m/sec
Air Consumption: 6.6 l/s (at 5bar)
Cutting File Rotation Speed: 18000 - 25000 rpm
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Axially-Compliant Deburring Tools
Also known as the Speedeburr, these deburring tools
utilize a vane-type motor and a floating rotary cutting file for edge-deburring
and chamfering of parts using a robot.
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ACT-390
Weight Total (without adapter):3.29 kg
Compensation (axial): 15 mm max. axial, ±7.6 mm recommended
Compliance Force: 14 N - 74 N @ supply pressure of 0.34 bar - 4.1 bar
Motor: Air Motor, vane type
Idle Speed / Working Speed: 5600 rpm / 2600 rpm
Power: 0.52 hp at 2600 rpm
Torque (max. power): 1.4 Nm
Torque (starting/stall): 2.7 Nm
Spindle Air Pressure: 6.2 bar maximum
Air Consumption: 9 l/s
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ATI's Collision Sensor Saves Valuable Robotic Tooling
The Protector™ is a collision sensor, or crash protection device, designed
to prevent costly damage to robotic endeffectors resulting from robot
crashes. The Protector’s features include: Automatic reset, high
repeatability, large moment and torsional rotation, rugged design and low
cost. The Protector’s capabilities and features make it an excellent
investment to protect robots and tooling while minimizing downtime and
eliminating the need for human intervention. The unit has been tested to
operate over millions of cycles without failure.
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SR-61
Angular Displacement: ±11°
Torsional Displacement: ±20°
Axial Displacement: 5.6 mm
Max. Air Pressure Setting: 6.2 bar
Weight: 0.318 kg
Moment Break-Away **: 6.8 Nm - 28 Nm
Torque Break-Away *: 24 Nm
Axial Break-Away *: 880 N
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SR-81
Angular Displacement: ±13°
Torsional Displacement: ±25°
Axial Displacement: 8.6 mm
Max. Air Pressure Setting 6.2 bar
Weight: 0.581 kg
Moment Break-Away **: 14 Nm - 59 Nm
Torque Break-Away *: 61 Nm
Axial Break-Away *: 1700 N
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SR-82
Angular Displacement: ±13°
Torsional Displacement: ±25°
Axial Displacement: 8.6 mm
Max. Air Pressure Setting: 6.2 bar
Weight: 0.581 kg
Moment Break-Away **: 14 Nm - 59 Nm
Torque Break-Away *: 61 Nm
Axial Break-Away *: 1700 N
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SR-101
Angular Displacement: ±12°
Torsional Displacement: ±25°
Axial Displacement: 10 mm
Max. Air Pressure Setting: 6.2 bar
Weight: 1.18 kg
Moment Break-Away **: 27 Nm - 120 Nm
Torque Break-Away *: 130 Nm
Axial Break-Away *: 2700 N
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SR-131
Angular Displacement: ±10°
Torsional Displacement: ±20°
Axial Displacement: 12 mm
Max. Air Pressure Setting: 6.2 bar
Weight: 2.31 kg
Moment Break-Away **: 76 Nm - 340 Nm
Torque Break-Away *: 310 Nm
Axial Break-Away *: 4700 N
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SR-176
Angular Displacement: ±10°
Torsional Displacement: ±20°
Axial Displacement: 16 mm
Max. Air Pressure Setting: 6.2 bar
Weight: 5.44 kg
Moment Break-Away **: 180 Nm - 810 Nm
Torque Break-Away *: 850 Nm
Axial Break-Away *: 8900 N
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SR-221
Angular Displacement: ±8°
Torsional Displacement: ±20°
Axial Displacement: 16 mm
Max. Air Pressure Setting: 6.2 bar
Weight: 11.4 kg
Moment Break-Away **: 440 Nm - 2000 Nm
Torque Break-Away *: 1500 Nm
Axial Break-Away *: 14000 N
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* At 6.2 bar
**In a pressure range of 1.4-6.2 bar |
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Robotic Rotary Joints: Protect Air and Electrical Lines
With Unlimited Rotation
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, electrical
signals 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.
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RJ-31-S
Max Fz: 2000 N
Max Mxy: 20 Nm
Weight*: 0.499 kg
Max Speed: 720 deg/s
Constant Torque: 1 Nm
Start Torque: 1.5 Nm
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RJ-40-S
Max Fz: 4000 N
Max Mxy: 70 Nm
Weight*: 0.862 kg
Max Speed: 720 deg/s
Constant Torque: 1.5 Nm
Start Torque: 2.5 Nm
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RJ-40-1-KS
Max Fz: 4000 N
Max Mxy: 110 Nm
Weight*: 2 kg
Max Speed: 660 deg/s
Constant Torque: 6 Nm
Start Torque: 8 Nm
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RJ-50-S
Max Fz: 4000 N
Max Mxy: 70 Nm
Weight*: 0.953 kg
Max Speed: 720 deg/s
Constant Torque: 1.5 Nm
Start Torque: 2.5 Nm
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RJ-50-1-KS
Max Fz: 4000 N
Max Mxy: 110 Nm
Weight*: 2.09 kg
Max Speed: 660 deg/s
Constant Torque: 6 Nm
Start Torque: 8 Nm
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RJ-63-KS
Max Fz: 6000 N
Max Mxy: 120 Nm
Weight*: 2.22 kg
Max Speed: 660 deg/s
Constant Torque: 6 Nm
Start Torque: 8 Nm
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RJ-80-KS
Max Fz: 12000 N
Max Mxy: 290 Nm
Weight*: 5.4 kg
Max Speed: 600 deg/s
Constant Torque: 20 Nm
Start Torque: 32 Nm
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RJ-80-1-KS
Max Fz: 12000 N
Max Mxy: 500 Nm
Weight*: 11 kg
Max Speed: 540 deg/s
Constant Torque: 42 Nm
Start Torque: 60 Nm
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RJ-100-KS
Max Fz: 12000 N
Max Mxy: 290 Nm
Weight*: 5.58 kg
Max Speed: 600 deg/s
Constant Torque: 20 Nm
Start Torque: 32 Nm
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RJ-100-1-KS
Max Fz: 12000 N
Max Mxy: 500 Nm
Weight*: 11.3 kg
Max Speed: 540 deg/s
Constant Torque: 42 Nm
Start Torque: 60 Nm
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RJ-125-KS
Max Fz: 18000 N
Max Mxy: 550 Nm
Weight*: 13.5 kg
Max Speed: 540 deg/s
Constant Torque: 42 Nm
Start Torque: 60 Nm
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RJ-125-1-KS
Max Fz: 18000 N
Max Mxy: 820 Nm
Weight*: 21 kg
Max Speed: 420 deg/s
Constant Torque: 65 Nm
Start Torque: 95 Nm
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RJ-160-KS
Max Fz: 18000 N
Max Mxy: 550 Nm
Weight*: 14 kg
Max Speed: 540 deg/s
Constant Torque: 42 Nm
Start Torque: 60 Nm
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RJ-160-1-KS
Max Fz: 18000 N
Max Mxy: 820 Nm
Weight*: 22 kg
Max Speed: 420 deg/s
Constant Torque: 65 Nm
Start Torque: 95 Nm
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RJ-200-KS
Max Fz: 18000 N
Max Mxy: 820 Nm
Weight*: 22.2 kg
Max Speed: 420 deg/s
Constant Torque: 65 Nm
Start Torque: 95 Nm
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