Nitta NITTAOMEGA L, Instruction Manual

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１
.Overview of the Automatic Tool Changer (ATC)
1
１
. Overview of the Automatic Tool Changer (ATC)
A pneumatic-driven system is employed for the Nitta ATC. Basically, the ATC consists of 2
components: a robot adaptor and a tool adaptor.
The ATC is compatible with all the robot tools with respective adaptor plates (optional). In
addition, the ATC and its functional modules are equipped with transmission mechanisms such
as a signal pin to transmit signals and power source to the tool, and pneumatic port.
[ Transmission Mechanism ]
The ATC has an electric signal pin to transmit/receive signals between the robot and tool. For
the number of pins, refer to the drawing.
Robot Side
Robot Adaptor
The robot adaptor is a basic component of the ATC. Each robot adaptor is equipped with
sensors that transmit signals (chuck end signal, unchuck end signal and coupling check end
signal) to communicate its attachment conditions.
[ Chuck/Unchuck Mechanism ]
The cam mechanism to connect a robot adaptor and tool adaptor together is of a special
structure, which is designed to automatically compensate for misalignment at the time of
jointing and wear allowance to be generated over time. These cams are operated by an air
cylinder and designed not to come off under temporary loading above the rated load.
Under such load, the contact surfaces of the robot adaptor and the tool adaptor will be slightly
separated, but the adaptors will never be completely separated. Also, these cams are driven by
a spring-return pneumatic cylinder, as a fail-safe mechanism to prevent falling of the tool
adaptor even in the event of sharp reduction of the air pressure.
The failsafe mechanism serves to prevent falling. Do not continue using the
product when the air pressure is decreased. Otherwise, the gap between
contact surfaces of robot and tool adaptor is increased and unexpected
accident may occur.
When the tool is left coupled by the failsafe mechanism only for a prolonged
period of time, the gap between contact surfaces of robot and tool adaptor is
increased by vibration, etc. and unexpected accident such as falling may
occur.
If it is absolutely necessary to stop the air supply for a long time with the tool
coupled, be sure to take measures against falling, e.g. fixing it by rope, etc.
[ Chuck/Unchuck Sensor Signals ]
⚫
Chuck end signal (coupling end)
Signal that indicates the cam is not fully engaged. When this signal and a coupling check signal
are both active, the robot can pick the tool adaptor from the tool stand.
⚫
Unchuck end signal (detachment end)
This signal indicates that a cam to lock (couple) the robot adaptor and tool adaptor is drawn
into the robot adaptor. While this signal is active, the robot adaptor may approach the tool
adaptor freely and leave the tool adaptor after completion of tool replacement on the tool stand
safely.
⚫
Coupling check end signal (face end)
This signal indicates that jointing planes of both the robot adaptor and tool adaptor are in
contact.
When coupling the adaptors, make the coupling planes of the adaptors parallel and check that
the coupling planes are sufficiently close to each other. Then operate the cam for coupling.
WARNING