Buind SmartShift User manual

Pic. 01 SMARTSHIFT Electrical & Pneumatic Robot Master (RM)
connected to Tool Holder (TH) Pic. 02 Tool Gripper (TG)
Technical Instructions
User Manual
Original instructions
User manual
Manufacturer: Buind AS
Machine type: SmartShift
Designation: Clutch
Manufacturing year:___2019
Buind AS
Hensmoveien 17
NO-3516 Hønefoss
Phone: [phone]
E-mail: [email protected]

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 2of 11
1 Introduction
The SMARTSHIFT clutch designed for manual or automatic robotic tool shifting. The
SMARTSHIFT is UR+ certified and applicable with all Universal Robots and similar robots.
SMARTSHIFT clutch set consists of three units:
A Tool Gripper (TG), a Robot Master (RM), and Tool Holders (TH) with pneumatically
connection and optional Electrical (E) connections. Several set variations are therefore
possible.

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 3of 11
Product information:
Machin type: SMARTSHIFT Clutch
Drawing number:X
Type designation: xxxxxxx
Manufacturing year: 2019
Manufacturer:
Name:Buind AS
Reference: Kjell Buind
Address: Hensmoveien 17,
3516 Hønefoss

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 4of 11
2 Table of Contents
1INTRODUCTION................................................................................................................2
2TABLE OF CONTENTS.....................................................................................................4
3GENERAL DESCRIPTION ...............................................................................................5
3.1 THE SMARTSHIFT CLUTCH................................................................................................. 5
3.2 MASTER PART SPECIFICATIONS.............................................................................................. 6
3.3 SMARTSHIFT TOOL HOLDER SPECIFICATIONS .................................................................... 6
3.4 GRIPPER SPECIFICATIONS ........................................................................................................ 7
3.5 SMARTSHIFT ELECTRICAL ADD ON SPECIFICATIONS.......................................................... 7
4SAFETY INSTRUCTIONS.................................................................................................7
4.1 GENERAL SAFETY................................................................................................................... 7
5MOUNTING / USE..............................................................................................................7
5.1 SETUP GUIDE .......................................................................................................................... 8
6UR CAP.................................................................................................................................9
6.1 SETUP GUIDE .......................................................................................................................... 9
7MAINTENANCE...............................................................................................................10
7.1 GENERAL.............................................................................................................................. 10
7.2 LUBRICATION....................................................................................................................... 10
8EC DECLARATION .........................................................................................................11

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 5of 11
3 General description
3.1 The SMARTSHIFT Clutch
The automatic SMARTSHIFT clutch is capable of connecting mechanical, pneumatically
and electrical tools for robots and consists of following three main units:
A Robot Master (RM), mounted on the robot such as the Universal Robots or similar
equipment. Tool Grippers (TG) and Tool Holders (TH) applies in a number and variations
depending on demands for tool applications at the robot. In automatic mode, the robot
exchange tools in a simple process sequence by placing a Tool Holder (TH) in an empty
Tool Gripper (TG) and select another Tool Holder (TH) from another Tool Gripper (TG).
Tools also exchanges manually if desired.
Detail Overview
A) Robot Master (RM)
B) Tool Holder (TH)
C) Tool Gripper (TG)
D) Robot Master with electrical connectors (RME)
E) Tool Holder with electrical connectors (THE)
B
A
C
D
E

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 6of 11
3.2 Robot Master (RM) specification
Recommended for robots handling payload up to: 25 kg
Pneumatic/Vacuum connection: Double connection with two G1/8”
Electrical connection: Up to eight pins (Optional)
Outer diameter: 63 mm
Flange diameter 31.5 mm h7
Reference diameter: Ø 50 mm
Total Weight: 130 g
Material: POM-C (The entire part is POM-C)
3.3 Tool Holder (TH) specification
Recommended for robots handling payload up to: 25 kg
Pneumatic/Vacuum connection: Double connection with two G1/8”
Electrical connecters: Up to 8 pins
Outer diameter: 63 mm
Flange diameter 31.5 mm h7
Reference diameter: Ø 50 mm
Total Weight: 250 g
Material: Aluminium 6082-T6 Anodized (Tool holder and Disc) Free cutting steel (Locking pin),
Rubber (Air pass through sealants)

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 7of 11
3.4 Tool Gripper (TG) specification
Recommended handling weight: Up to 10 kg
Total weight: 710 g
Materials: Aluminium 6082-T6 Anodized (Bottom plate, top plate), POM-C (Gripper holder
arms), Bright steel EN10278 (Spacers) PVC (Sticker)
3.5 Robot Master Electrical (RME) connector specification
Same specification as Robot Master (RM) with following add on.
Eight pins electrical pass-through rated for 500 m.AMP
Materials: Brass, Soldering tin, copper cable, ABS plastic
IMPORTANT: Power connection must be OFF during clutching in and out. A charged pin will
create a spark that will destroy the connector pins by welding/burns.
3.6 Tool Holder Electrical (THE) connector specification
Same specification as Robot Master (RM) with following add on.
Eight pins electrical pass-through rated for 500 m.AMP
Materials: Brass, Soldering tin, copper cable, ABS plastic
IMPORTANT: Power connection must be OFF during clutching in and out. A charged pin will
create a spark that will destroy the connector pins by welding/burns.
4 Safety instructions
4.1 General safety
Keep hands and tools away from all SMARTSHIFT components when the program is running.
Follow this manual carefully also regarding maintenance and recommended weight. Always have
security data sheet for recommended lubrication available.
If the SMARTSHIFT clutch is damaged, then stop using immediately and contact Buind for
replacement parts. Notice that the Tool Gripper and Tool Holder is spring loaded and the electrical
units carries current. Buind is not responsible for damage to people and property caused by using
damaged components.
5 Mounting / use
Mount Robot Master (RM) directly onto the Universal Robot arm or on similar equipment.
Mount the Tool Gripper (TG) horizontally and place it so that the robot easily can pick and place
Tool Holders (TH) from Tool Gripper (TG). Mount the tool for your application on the Tool
Holder (TH), recommended handling weight is max. 10 kg. The owner is fully responsible for
mounting the SMARTSHIFT clutch securely.

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 8of 11
5.1 Setup guide
Unscrew the top plate by loosening the two M4 screws.
Remove the top-plate and the two cylindrical spacers
Put two M6 screws through the two mounting holes in the bottom plate and through the two larger
cylindrical spacers provided
Put the gripper on top of a flat and stable surface with threaded holes and tighten down the two M6
screws. Put the top-plate back on the gripper with the spacer cylinders and tighten down the two
M4 screws just enough to keep the top plate from moving.

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 9of 11
6 UR CAP
6.1 Setup guide
1. Download our URCap from https://www.SMARTSHIFT-robotics.com
2. Install the URCap onto the robot.
3. When first using the URCap the tools must be configured. To configure the tools go to the
“Installation” tab then tap “SMARTSHIFT”.
4. To add a new tool, press the button labelled “Add” on the bottom of the page.
5. Give the tool a fitting name in the “Tool name” tab.
6. To configure the gripper position, press the “Set point” button.
7. Move the robot to the tool changing position, the tool changing position is the point where
the two tool parts just barely connect (see picture below).
8. When the robot is in the correct position, teach the robot the position by pressing “OK”.
9. Fill in the specifications of the tool such as weight in grams, TCP (Tool centre point), Tool
rotation and COG (Center of gravity). This is not required but highly recommended.
10. Repeat steps 4 through 10 for each tool you want to set up, to change the tool you want to
edit, move though the tool list by tapping “Prev” and “Next”
11. The SMARTSHIFT tool list is saved in the installation file. Highly important. The
installation file most be saved before newly configured tools can be used in the robot
program.

Machine name: SMARTSHIFT Clutch
Revision: 06
Revisions date: 2019.10.15
Made in Norway Original instructions –User manual
Page 10 of 11
12. Using the URCap and is like using the normal functions like “Waypoint” and “Move”
commands. Go to the “Structure” tab, select the “URCaps” tab and tap “SMARTSHIFT”
this will create a new SMARTSHIFT node with “no tool” by default
13. Go to the “Command” tab and select what tool you want to use from the dropdown menu
labelled “Select tool”
14. Add the actions and moves you want the too to make under the SMARTSHIFT folder just
as if you would program the robot normally.
15. When the robot program gets to the SMARTSHIFT folder, the robot will move behind the
gripper using a Move J from the last point. So make sure there is clearance for this. After
the robot is done with the SMARTSHIFT folder, it will move in front of the gripper using a
Move J. Make sure, there is clearance for this move as well.
7 Maintenance
7.1 General
Make sure to keep SMARTSHIFT in a clean environment. If chips or other big particles comes
between the Robot Master (RM) and the Tool Holder (TH) the lifetime of the SMARTSHIFT
system can be shortened.
7.2 Lubrication
Once every second week, put a few drops of silicon-based lubricant (silicone spray) on each rubber
seal, a few drops on each surface to keep the components sliding easily against each other, and a
few drops on the locking pin to, keep the pin sliding easily. Recommended silicone spray is WD-
40 300014 silicone oil, or equivalent silicone-based lubricant.
Silicon Lubricant