kosmek SWL Series User manual

RoboticHandChanger
New
▶http://www.kosmek.com/
CAT.NO. SBR-SWL001-02-G1B
PrintedinJapan
1-5,2-chome,Murotani,Nishi-ku,Kobe-city,Hyogo,Japan651-2241
TEL.[phone] FAX.[phone]
■ForFurtherInformationonUnlistedSpecificationsandSizes,Pleasecallus.
■SpecificationsinthisLeafletareSubjecttoChangewithoutNotice.
2022/6 First 0Ry
2022/7 2nd 0Ry
HEADOFFICE
KOSMEKLTD.
KOSMEK(USA)LTD.
650SpringerDrive,Lombard,IL60148USA
TEL.[phone] FAX.[phone]
FAX.[phone]
UnitedStatesofAmerica
SUBSIDIARY
KOSMEKUSAMexicoOffice
TEL.[phone]
MEXICO
REPRESENTATIVEOFFICE
KOSMEKThailandRepresentationOffice
67Soi58,RAMA9Rd.,Phatthanakan,Suanluang,Bangkok10250,Thailand
THAILAND
REPRESENTATIVEOFFICE
KOSMEKEUROPEGmbH
Schleppeplatz29020KlagenfurtamWörtherseeAustria
TEL.[phone]
EUROPE
SUBSIDIARY
TEL.[phone]
KOSMEKLTD.-INDIAINDIA
BRANCHOFFICE
FAX.[phone]TEL.[phone]
Av.SantaFe103,Int.59,col.SantaFeJuriquilla,Queretaro,
QRO,76230,Mexico
CHINA
SUBSIDIARY
TEL.[phone]
KOSMEK(CHINA)LTD.
Room601,RIVERSIDEPYRAMIDNo.55,Lane21,PusanRd,Pudong
Shanghai200125,China
4A/OldNo:649,GroundFloor,4thDcross,MMLayout,Kavalbyrasandra,
RTNagar,Bangalore-560032India
ModelSWL
AirPortJointOption:WithCheckValve
hasbeennewlyadded.
New July2022

1 2
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ApplicabletoISOMountingPattern.
PayloadLine-up:80kg/120kg/180kg/300kg
ModelSWL
RoboticHandChanger
Registered Utility Model
Super-Thin
DirectMountingonRobots
FallPrevention
Clampedstatedimension
SWL0800：53mmSWL1200：62mm SWL1800：70mm SWL3000：83mm
ApplicabletoISOMountingPattern.
Mechanicallyholdsconnectionevenwhenairpressureisat0MPa.
Max.ApplicablePayload:300kg.
Payload|High|
DirectlymountedonarobotwhosemountingdimensionsoftheflangebasedonISOmountingPattern.
※Boltandpinarenotincluded.
ApplicabletoISOMountingPattern
Comparingtotheconventionalrobotichandchanger,thethicknesswhenconnectedhasbeenreducedby
morethan15%.Evenwithanadaptor,ithasbeenreducedbymorethan30%.Itminimizesthemomentappliedtoarobot.
LowProfilewhenConnected
ThedualsurfacecontactbyKosmekexclusive
movabletapersleeveenablesmetalsurfaces
tocontactwithnoclearance.Itmakeslocating
withhighrigilityandaccuracy.
NoBacklash
Two-stepmechanicallockmechanismbythebuilt-inspringandsteelballs.
Itenablespowerfulholdingevenwhenairpressureisat0MPa.
Itsecurelypreventsatoolfallevenwithlargeequipment.
FallPrevention|Safety|
SWL
SWR
Model
Model
NEW
NEW
ConventionalModel
0 50 100 150 200 250 300
ApplicablePayload(kg)
Largethinnestmodel
Compacthighaccuracymodel
15
(AdaptorPlate)
74
62
SWR1200 SWL1200
Morethan30％Reduction
comparingtotheconventionalmodel！
TaperSleeve
(2Parts)
ElasticRing
ConnectedDisconnected
DetailsofLocatingPart
CloseContact
SteelBall
(ForMechanicalLock)
MasterCylinder
SteelBall
InternalSpring(built-in)
ToolAdapter
ApplicationExamples
AirPortJointOption:WithCheckValvehasbeennewlyadded.

1 2
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ApplicabletoISOMountingPattern.
PayloadLine-up:80kg/120kg/180kg/300kg
ModelSWL
RoboticHandChanger
Registered Utility Model
Super-Thin
DirectMountingonRobots
FallPrevention
Clampedstatedimension
SWL0800：53mmSWL1200：62mm SWL1800：70mm SWL3000：83mm
ApplicabletoISOMountingPattern.
Mechanicallyholdsconnectionevenwhenairpressureisat0MPa.
Max.ApplicablePayload:300kg.
Payload|High|
DirectlymountedonarobotwhosemountingdimensionsoftheflangebasedonISOmountingPattern.
※Boltandpinarenotincluded.
ApplicabletoISOMountingPattern
Comparingtotheconventionalrobotichandchanger,thethicknesswhenconnectedhasbeenreducedby
morethan15%.Evenwithanadaptor,ithasbeenreducedbymorethan30%.Itminimizesthemomentappliedtoarobot.
LowProfilewhenConnected
ThedualsurfacecontactbyKosmekexclusive
movabletapersleeveenablesmetalsurfaces
tocontactwithnoclearance.Itmakeslocating
withhighrigilityandaccuracy.
NoBacklash
Two-stepmechanicallockmechanismbythebuilt-inspringandsteelballs.
Itenablespowerfulholdingevenwhenairpressureisat0MPa.
Itsecurelypreventsatoolfallevenwithlargeequipment.
FallPrevention|Safety|
SWL
SWR
Model
Model
NEW
NEW
ConventionalModel
0 50 100 150 200 250 300
ApplicablePayload(kg)
Largethinnestmodel
Compacthighaccuracymodel
15
(AdaptorPlate)
74
62
SWR1200 SWL1200
Morethan30％Reduction
comparingtotheconventionalmodel！
TaperSleeve
(2Parts)
ElasticRing
ConnectedDisconnected
DetailsofLocatingPart
CloseContact
SteelBall
(ForMechanicalLock)
MasterCylinder
SteelBall
InternalSpring(built-in)
ToolAdapter
ApplicationExamples
AirPortJointOption:WithCheckValvehasbeennewlyadded.

3 4
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
CrossSection
MasterCylinder(SWL □ 0-M)
ToolAdapter(SWL
□ 0-T)
DisconectedState(ReleasedState)ConnectedState(LockedState)
ActionDescription
AirBlowPort
RoughGuide
SeatingConfirmationPort
LockAirPort
Locatingpart(2parts)
TaperSleeve(2parts)
ElasticRing
ReleaseAirPort RobotSide
Release
Air
SteelBall
InternalSpring
SteelBall
Nomoveback
StraightSurface
PistonRod
Lock
Air
HandSide
Supplyairtothelockport.Thepistonrodwillbepulleddownwith
pistonthrustandaninternalspring,andthetooladapterwillbe
pulledtotheseatingsurfacebythesteelballs.Whenthetool
adapterispulled,thelocatingpartcontactsthetaperedsurface,
andlocatingiscompleted.
APart
Material：StainlessSteel
（HighHardnessbyHeatTreatment）
Material：Duralumin
AirBlow-outHoleforSeatingConfirmation
Whenlockairpressureislost,mechanicallockmechanismis
activatedandpreventsatoolfall.
Mechanicallockmechanismenablesholdingforcetobe
5timesoftheallowableweightevenwhenairpressureisat0MPa.
APart:MechanicalLockMechanism
Tool
Adapter
Piston
Rod
MechanicalLockMechanism
SafetyPushValvetopreventatoolfallduringrobotteaching
AirPort(4ports)
AirPort(4ports)
Seating
Surface
AbletomountdirectlyonaRoboticHandChanger,andpreventatoolfallcausedbyvalveoperating
errorduringrobotteaching.
EnablestolimittheSWLtoreleaseonlyatadesignatedposition(toolstocker).
※Pleasecontactusforfurtherinformation.
modelSWRA0M0modelSWRA0R0 modelSWRA0A0
Locating
TaperedSurface
Supplyairtothereleaseairport.Thepistonrodispushedup
withthrustforcecausedbyreleaseair.Atthistime,thesteel
ballsarefreetomove(setinside).
AccessoriesSoldSeparately
Material：StainlessSteel
（HighHardnessbyHeatTreatment）

3 4
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
CrossSection
MasterCylinder(SWL □ 0-M)
ToolAdapter(SWL
□ 0-T)
DisconectedState(ReleasedState)ConnectedState(LockedState)
ActionDescription
AirBlowPort
RoughGuide
SeatingConfirmationPort
LockAirPort
Locatingpart(2parts)
TaperSleeve(2parts)
ElasticRing
ReleaseAirPort RobotSide
Release
Air
SteelBall
InternalSpring
SteelBall
Nomoveback
StraightSurface
PistonRod
Lock
Air
HandSide
Supplyairtothelockport.Thepistonrodwillbepulleddownwith
pistonthrustandaninternalspring,andthetooladapterwillbe
pulledtotheseatingsurfacebythesteelballs.Whenthetool
adapterispulled,thelocatingpartcontactsthetaperedsurface,
andlocatingiscompleted.
APart
Material：StainlessSteel
（HighHardnessbyHeatTreatment）
Material：Duralumin
AirBlow-outHoleforSeatingConfirmation
Whenlockairpressureislost,mechanicallockmechanismis
activatedandpreventsatoolfall.
Mechanicallockmechanismenablesholdingforcetobe
5timesoftheallowableweightevenwhenairpressureisat0MPa.
APart:MechanicalLockMechanism
Tool
Adapter
Piston
Rod
MechanicalLockMechanism
SafetyPushValvetopreventatoolfallduringrobotteaching
AirPort(4ports)
AirPort(4ports)
Seating
Surface
AbletomountdirectlyonaRoboticHandChanger,andpreventatoolfallcausedbyvalveoperating
errorduringrobotteaching.
EnablestolimittheSWLtoreleaseonlyatadesignatedposition(toolstocker).
※Pleasecontactusforfurtherinformation.
modelSWRA0M0modelSWRA0R0 modelSWRA0A0
Locating
TaperedSurface
Supplyairtothereleaseairport.Thepistonrodispushedup
withthrustforcecausedbyreleaseair.Atthistime,thesteel
ballsarefreetomove(setinside).
AccessoriesSoldSeparately
Material：StainlessSteel
（HighHardnessbyHeatTreatment）

5 6
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirBlowPort
MasterCylinder
SeatingConfirmationPort
ToolAdapter
MasterCylinder
BeforeConnection：AirSensorOFF WhenConnected：AirSensorON
Anti-Contamination：AirBlowFunction
Preventscontaminationbysupplyingairtotheairblowport.
CloseContactCheck：SeatCheckFunction
Whentheairsensorisconnectedtotheseatingconfirmationport,connectionofthemastercylinder
andthetooladapterisconfirmed.Iftheyarenotincontactandthereisagapontheseatingsurface
(connectionfailure),airwillleak.Itdetectstheconnectedconditionpreciselysincetheairsensor
turnsonwhentheyareconnectedproperly.
※Airsensormustbeinstalledseparately.
●CrossSection
AirforToolActuator
Air
Release
Lock
AirSensor
AirforSeatCheck
AirforToolActuator
Air
Release
※1
Lock
AirBlow
●CircuitReference
●CrossSection
●CircuitReference
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.
※1
SWL SWL
SeatingSurface
CloseContact
OFF ONON
AirSupply
（ForAirBlow）
Filter
5
μ morless Filter
5 μ morless
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.

5 6
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirBlowPort
MasterCylinder
SeatingConfirmationPort
ToolAdapter
MasterCylinder
BeforeConnection：AirSensorOFF WhenConnected：AirSensorON
Anti-Contamination：AirBlowFunction
Preventscontaminationbysupplyingairtotheairblowport.
CloseContactCheck：SeatCheckFunction
Whentheairsensorisconnectedtotheseatingconfirmationport,connectionofthemastercylinder
andthetooladapterisconfirmed.Iftheyarenotincontactandthereisagapontheseatingsurface
(connectionfailure),airwillleak.Itdetectstheconnectedconditionpreciselysincetheairsensor
turnsonwhentheyareconnectedproperly.
※Airsensormustbeinstalledseparately.
●CrossSection
AirforToolActuator
Air
Release
Lock
AirSensor
AirforSeatCheck
AirforToolActuator
Air
Release
※1
Lock
AirBlow
●CircuitReference
●CrossSection
●CircuitReference
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.
※1
SWL SWL
SeatingSurface
CloseContact
OFF ONON
AirSupply
（ForAirBlow）
Filter
5
μ morless Filter
5 μ morless
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.

7 8
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirJointFunction
Whenamastercylinderandatooladapterareconnected,aircanbesuppliedfromtherobotside
tothehandsidethroughtheairport.Airportcanbeusedfortheoperationoftheactuator
(positivepressure)andthesuctionpad(negativepressure).
Release
AirPort
Lock
AirPort
RobotSide
Disconnected Connected
Handside
Tool
AirPort
(AirforTool)
Tool
Notes:
  1.Ifthepassageareaisnotlargeenough,itcanbeexpandedbyconnectingmultipleairports.Itenables
   higheroperationspeed.
  2. Externaloptionsareavailableforextraairports.PleaserefertoP.25andafterforfurtherinformation.

Air
Tool
Notes:
  ※1.ForWithoutCheckValve(Standard),3-positionclosedcentersolenoidvalveisrecommendedsincethe
   airportsarealwaysopen.
 
 
SWL
MasterCylinderModelNo.
Payload
3
JointOption
AirJointPart
0
- M - Blank
S
Selectablefromtwoairportjointoptions.
ToolAdapter
MasterCylinder MasterCylinder
AirPort
AirPort
Thecheckvalve
(metalseal)is
sealedoff.
Disconnected
O-ring
JointOption
3
3
JointOption
Blank
WithoutCheckValve(Standard)※1
S
WithCheckValve
ToolAdapter Thevalveisopened
andairissuppliedto
thetooladapter.
Connected
WithoutCheckValve
※1
CheckValve O-ring
 Blank :WithoutCheckValve(Standard)
 S :WithCheckValve
JointOption(AirPortPart)
AirPort
AirPort

7 8
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirJointFunction
Whenamastercylinderandatooladapterareconnected,aircanbesuppliedfromtherobotside
tothehandsidethroughtheairport.Airportcanbeusedfortheoperationoftheactuator
(positivepressure)andthesuctionpad(negativepressure).
Release
AirPort
Lock
AirPort
RobotSide
Disconnected Connected
Handside
Tool
AirPort
(AirforTool)
Tool
Notes:
  1.Ifthepassageareaisnotlargeenough,itcanbeexpandedbyconnectingmultipleairports.Itenables
   higheroperationspeed.
  2. Externaloptionsareavailableforextraairports.PleaserefertoP.25andafterforfurtherinformation.

Air
Tool
Notes:
  ※1.ForWithoutCheckValve(Standard),3-positionclosedcentersolenoidvalveisrecommendedsincethe
   airportsarealwaysopen.
 
 
SWL
MasterCylinderModelNo.
Payload
3
JointOption
AirJointPart
0
- M - Blank
S
Selectablefromtwoairportjointoptions.
ToolAdapter
MasterCylinder MasterCylinder
AirPort
AirPort
Thecheckvalve
(metalseal)is
sealedoff.
Disconnected
O-ring
JointOption
3
3
JointOption
Blank
WithoutCheckValve(Standard)※1
S
WithCheckValve
ToolAdapter Thevalveisopened
andairissuppliedto
thetooladapter.
Connected
WithoutCheckValve
※1
CheckValve O-ring
 Blank :WithoutCheckValve(Standard)
 S :WithCheckValve
JointOption(AirPortPart)
AirPort
AirPort

ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
9 10
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
RoboticHandChanger modelSWL
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ModelNo.Indication
MasterCylinder（RobotSide）
ToolAdapter（ToolSide）
1 2
SWL 0 - T
080
120
180
300
2
DesignNo.
 0 : RevisionNumber
1
Payload
 080 : 50〜 80kg
 120 : 80〜120kg 
 180 : 120〜180kg
 300 : 180〜300kg
ExternalOption
 Blank : WithoutCheckValve(Standard)
 S : WithCheckValve
3
JointOption(AirPortPart) ※RefertoP.8fordetailofthejointoption.
AirPortAirPort
MasterCylinderMasterCylinder
ToolAdapterToolAdapter
 Blank
WithoutCheckValve
(Standard)
S
WithCheckValve
※ Sincetooladapterhasnocheckvalve,thereisnojointoption
 symbolforSWL
□ -T.
 TooladaptercanbeconnectedtobothjointoptionBlank
 andSofmastercylinderside.
1 32
SWL 0 - M -
080
120
180
300
Awidevarietyofelectrodescanconnectvarious
signalssuchascontrolsignalsandpowersignals.
Additionalairjointsarealsoavailableforextraairports.
AccessoriesSoldSeparately
※RefertoP.25andafterforfurtherinformation.
External
Option
(Electrode)
External
Option
(AirJoint)