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INTEGRATED VACUUM TOOL CHANGERS
The Anubis 3D Integrated Vacuum Tool Changer (IVTC) sets a new benchmark in the industry, transforming how tools connect to robot arms. Designed for speed, efficiency, and ease of use, the IVTC enables seamless tool attachment. Its lightweight yet durable body is crafted from 3D-printed nylon, utilizing the benefits of additive manufacturing to maximize strength while minimizing weight.
This innovative design incorporates essential components for pneumatic vacuum tools, including solenoid valves, vacuum ejectors, vacuum sensors, and electronics. Available in various configurations, the IVTC is tailored to meet the most popular industry applications. When paired with our Area Surface Grippers (ASG), Spider Grippers (SPI), Automatic Carton Erectors (ACE), Manual Tool Changer (MTC) Tool-Side products, or custom tooling, the IVTC delivers a unique and versatile solution for diverse operational needs.
SAFE AND DURABLE DESIGN
Constructed entirely from composite materials, with no sharp edges, pinch points, or exposed metal, ensuring safety during operation.
INTEGRATED TOOL CHANGER
Facilitates quick and seamless maintenance, enhancing efficiency and flexibility for robots handling multiple tasks.
ALL-IN-ONE FUNCTIONALITY
Includes built-in solenoids, sensors, and vacuum generators, streamlining operations and reducing the need for external components.
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The Anubis 3D Integrated Vacuum Tool Changer (IVTC) system is available in multiple configurations, designed to meet diverse operational needs. Our product lineup includes models tailored exclusively for vacuum picking operations as well as models capable of both vacuum picking and pneumatic actuator control.
The IVTC "A" Series, identified by the letter "A" in the product name, is engineered to integrate seamlessly with other Anubis A-series products and accessories. These include lightweight grippers, carton erectors, tool pass-throughs, and customizable robot flanges, offering a versatile and comprehensive tooling solution.
- IVTC-A3 and A3X Models:
These units feature dual integrated venturi vacuum generators and vacuum sensors, enabling single- or dual-zone operation. Designed to work with Tool-Side products such as the Area Surface Gripper (ASG) and Spider Gripper (SPI), these models are available with various vacuum flow rates and include a standard vacuum blow-off function, making them ideal for demanding pick-and-place operations. With a correctly sized gripper and a clean seal on the part, we rate the IVTC-A3 for payloads of up to 20 kg and the IVTC-A3X for payloads of up to 30 kg. - IVTC-A4X Models:
While similar in functionality to the A3 and A3X models, the A4X includes the added capability to control pneumatic components, such as the rotary cylinders used in our Automatic Carton Erector (ACE) products. This enhanced functionality is combined with single-zone vacuum operation, offering a robust solution for applications requiring both vacuum and pneumatic control. Because the IVTC-A4X is matched to our Automatic Carton Erector (ACE) tooling, we rate it for payloads of up to 20 kg.
The IVTC-A Series exemplifies Anubis 3D's commitment to innovation, delivering versatile, high-performance solutions for complex material-handling tasks. Curious how vacuum generation and distribution work together? See our 3D printed vacuum manifold story and the vacuum gripper guide.
IVTC A Series at a Glance
| Model | Zones | Payload |
|---|---|---|
| IVTC-A3 | 2 | Up to 20 kg |
| IVTC-A3X | 2 | Up to 30 kg |
| IVTC-A4X | 1 | Up to 20 kg |
Payload is rated with the tool-side gripper attached, not for the tool changer on its own. See how we rate IVTC payload.
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VACUUM GRIPPING PACKAGES
Pair an IVTC-A3 or A3X with an unlimited number of vacuum grippers for maximum versatility. Whether you choose our Area Surface Gripper (ASG) or Spider Gripper (SPI) Tool-Side products, you'll efficiently handle materials such as cardboard, glass, wood, shrink-wrapped beverages, sheet metal, and plastic. The ASG excels in overcoming airflow leaks, thanks to our innovative Flow Control Fitting (FCF) system and a large number of vacuum inlets, ensuring no product is left behind. For lightweight precision handling, our SPI products deliver unmatched performance. With dozens of pre-designed configurations, you’ll be operational in no time.
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CARTON ERECTING PACKAGES
Customize your carton-erecting package to meet your specific needs. Each package features a combination of our IVTC-A4X model and Automatic Carton Erector (ACE) products. Choose between two options: a single-purpose tool dedicated to carton erecting or a dual-purpose tool that also serves as a gripping end-effector for pick-and-place operations. Both options are available in multiple sizes and offer varying levels of vacuum lifting force, ensuring compatibility with a wide range of applications.
VACUUM PUMP PASS-THROUGH
Anubis recognizes that not all projects can utilize our easy-to-connect tool-side vacuum tools. That’s why we offer a straightforward solution that retains the benefits of our Integrated Vacuum Tool Changer (IVTC), including quick and seamless tool-changing capabilities. IVTC combined with our tool-side Manual Tool Changer (MTC), which enables pass-through of vacuum, compressed air, and electrical controls, this solution delivers robust performance for tackling even the most complex end-effector tasks.
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ACCESSORIES
Effortlessly connect your Carton Erecting Tooling to your robot with our Printed Robot Flange (PRF). If your flange pattern isn’t listed below, reach out to us—we’ll be happy to design a flange customized to your specific needs.
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FAQ
How do we rate IVTC payload?
The Integrated Vacuum Tool Changer (IVTC) supplies vacuum to the Area Surface Gripper (ASG) or Spider Gripper (SPI) mounted on the tool side. Based on the surface area contact of the gripper and the achievable vacuum on the object being picked, the payload can then be defined.
The IVTC-A3 is rated for up to 20 kg, the IVTC-A3X for up to 30 kg, and the IVTC-A4X for up to 20 kg with our Automatic Carton Erector (ACE) tooling. These figures apply when all of the following are true:
- Gripper: an Area Surface Gripper (ASG) or Spider Gripper (SPI) sized by us for the part, with the cup size and cup count matched to the load.
- Part surface: flat, dry, clean and non-porous, so the cups can form a full seal. Porous, textured, coated or oily surfaces hold less.
- Vacuum level: a recommended minimum of -25 kPa, which is 250 mbar, to reliably hold porous objects such as corrugated board. Higher vacuum levels can be achieved as the porosity and surface finish of the object improve, and that provides a higher payload capacity.
- Air supply: 80 to 85 PSI, which is 5.5 to 5.9 bar, with enough flow to feed the venturi generators at their peak consumption.
- Pick direction: a horizontal pick with the load acting along the cup axis. Side picks and shear loads rely on friction between the cup and the part, so they require a higher vacuum level, more surface area contact, or both.
- Safety factor: a recommended 2.0 on the calculated holding force, in line with standard vacuum handling practice.
Measuring the achieved vacuum level on the object being picked and calculating the contact area required is what defines the true payload capacity. Our grippers work across a wide range of conditions, from favorable ones such as flat, non-porous objects to less favorable ones such as porous, irregularly shaped objects.
Testing is always recommended, and our team is ready to run tests as required. Send us your part and your cycle time, and we will size the gripper and tell you the payload you can expect.
What is an Integrated Vacuum Tool Changer (IVTC)?
An Integrated Vacuum Tool Changer (IVTC) is a robot-side tool changer with vacuum generation built into the body. The venturi generators, vacuum sensing and blow-off all sit inside the changer, so the tool side stays light and free of hoses and ejector hardware. One robot can then run several different tools from a single vacuum source.
What is the difference between the IVTC-A3 and the IVTC-A3X?
Vacuum performance is identical on both: two venturi generators, up to 421 l/min total suction flow, and two vacuum and blow-off zones. The difference is mechanical. The IVTC-A3 uses our A-series coupling and pairs with A-series tool-side products such as the Area Surface Gripper (ASG-A), Spider Gripper (SPI-A) and Manual Tool Changer (MTC-A) on a PRF-A flange. The IVTC-A3X uses the heavier-duty AX coupling with AX tool-side products and a PRF-AA flange, which is why we recommend it for higher payloads.
What is a Printed Robot Flange (PRF)?
A Printed Robot Flange (PRF) is the mechanical adapter between your robot wrist and your tooling. It matches the robot bolt pattern on one side and the tool interface on the other, and it can carry air routing inside the part. We print it in nylon using Selective Laser Sintering (SLS), so it weighs a fraction of a machined aluminum adapter and leaves more of your robot payload for the product.
Which Printed Robot Flange do I need for my IVTC?
We recommend the PRF-A for the IVTC-A1, A1X, A2X and A3, and the PRF-AA for the IVTC-A3X and A4X. If you already have a flange or a mounting plate in your cell, send us the drawing and we will confirm the fit before you order.
Will a PRF fit my robot?
Our flanges follow standard ISO 9409 bolt patterns and cover the common six-axis robot and cobot wrists, including FANUC, ABB, KUKA and Universal Robots. If your pattern is not a standard one, we design the flange around it instead of asking you to adapt the robot. That is one of the reasons we print flanges rather than machine them.
What is the difference between single-zone and dual-zone vacuum?
A dual-zone IVTC splits the gripper face into two independently controlled vacuum circuits, so the robot can pick a small part on one half of the tool and a full layer with both halves. A single-zone IVTC controls the whole gripper face at once. The IVTC-A1, A1X, A3 and A3X are dual-zone, while the IVTC-A2X and A4X are single-zone.
Which IVTC can control pneumatic cylinders?
The IVTC-A2X and the IVTC-A4X add compressed air outlets for driving pneumatic components, such as the rotary cylinders in our Automatic Carton Erector (ACE) tooling. Both also carry an integrated laser distance sensor with a 30 mm to 300 mm range. The A1, A1X, A3 and A3X are vacuum only.
Can I use the IVTC with tooling that is not an Anubis vacuum gripper?
Yes. Pairing the IVTC with a tool-side Manual Tool Changer (MTC) gives you pass-through of vacuum, compressed air and electrical signals, so you keep the quick-change benefit while running Custom Tooling (CT) or third-party end effectors on the same robot.
What air supply and electrical signals does the IVTC need?
Optimal feed pressure is 80 to 85 PSI, which is 5.5 to 5.9 bar. Peak air consumption is 47 l/min on the IVTC-A1, A1X and A2X, and 306 l/min on the A3, A3X and A4X. Electrical connection is a 12-pole A-coded M12 receptacle at 24 VDC with a 600 mA peak, and every model is available in both PNP and NPN output.