# US 11,440,203 B2 · Robotic tool changers and methods of use > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,203 B2 - Document ID: US11440203B2 - Status: Granted - Kind: B2 - Application number: 17/088,151 - Filed: 2020-11-03 - Published: 2022-03-10 - Granted: 2022-09-13 - Earliest claimed: 2020-09-04 - Assignees: Toyota Research Institute, Inc. - Applicants: Toyota Research Institute, Inc. - Inventors: Lukas Sebastian Kaul - Web page: https://patentgrep.com/patent/US11440203B2 ## CPC - B25J 15/0019: {End effectors other than grippers} - B25J 15/0408: {Connections means} - B25J 19/0025: {Means for supplying energy to the end effector} - B25J 19/0033: {with axial connectors in end effector flange} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robotic tool changer is provided including a tool adapter. The tool adapter includes a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall. A rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body. The tool adapter also includes a locking member movable relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening. ## Claims ### Claim 1 A tool adapter comprising: a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall, a rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body; and a locking member rotatably movable about a central axis relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening. ### Claim 2 (depends on 1) The tool adapter of claim 1, wherein the locking member has a first edge and a second edge defining an opening, the opening of the locking member overlapping the rear opening of the side wall of the body when the locking member is in the open position, the locking member covering the rear opening of the side wall of the body when the locking member is in the closed position. ### Claim 3 (depends on 2) The tool adapter of claim 2, further comprising: a motor; a pinion gear rotatably fixed to the body and in communication with the motor; and a plurality of teeth provided on an inner surface of the locking member, the plurality of teeth and configured to engage the pinion gear, wherein: a first operation of the motor is configured to rotate the pinion gear in a first direction and cause the locking member to rotate toward the open position, and a second operation of the motor is configured to rotate the pinion gear in an opposite second direction and cause the locking member to rotate toward the closed position. ### Claim 4 (depends on 2) The tool adapter of claim 2, wherein the first edge of the locking member has a tapered surface configured to contact the tool element when moving toward the closed position and cause the tool element to move toward a fully engaged position within the tool hole of the body. ### Claim 5 (depends on 2) The tool adapter of claim 2, wherein the locking member has a dome extending radially inwardly toward the tool hole of the body and configured to eject the tool element from the tool adapter as the locking member moves from the closed position toward the open position. ### Claim 6 (depends on 1) The tool adapter of claim 1, wherein the body has a first interior wall, a second interior wall, and a third interior wall defining the tool hole which receives a head of the tool element when inserted into the body, the first interior wall, the second interior wall, and the third interior wall each including at least one electrical contact. ### Claim 7 (depends on 6) The tool adapter of claim 6, wherein the tool hole has a pyramidal shape. ### Claim 8 A robotic tool changer comprising: a tool adapter comprising: a body having a robot wall, a tool wall, and a side wall extending from the robot wall and the tool wall, a rear opening is formed in the side wall and the tool wall; and a locking member movable relative to the body between an open position and a closed position; and a tool element comprising: a base attachable to a tool; and a head coupled to the base, wherein: the head of the tool element is insertable through the rear opening of the body of the tool adapter and into a tool hole of the tool adapter; when the locking member is in the open position, positioning of the head of the tool element through the rear opening of the body is permitted; and when the locking member is in the closed position, positioning of the head of the tool element through the rear opening of the body is not permitted. ### Claim 9 (depends on 8) The robotic tool changer of claim 8, wherein: the body has a first interior wall, a second interior wall, and a third interior wall defining the tool hole, the first interior wall, the second interior wall, and the third interior wall each includes at least one electrical contact; and the head of the tool element has a first side surface, a second side surface, and a third side surface each including at least one electrical contact configured to engage the electrical contacts of the body when the tool element is in a fully engaged position within the tool hole of the body. ### Claim 10 (depends on 9) The robotic tool changer of claim 9, wherein the tool hole of the tool adapter and the head of the tool element each have a pyramidal shape. ### Claim 11 (depends on 8) The robotic tool changer of claim 8, wherein the locking member has a first edge and a second edge defining an opening formed in the locking member, the opening of the locking member overlapping the rear opening of the body when the locking member is in the open position, the locking member covering the rear opening of the body when the locking member is in the closed position. ### Claim 12 (depends on 11) The robotic tool changer of claim 11, wherein the first edge of the locking member has a tapered surface configured to contact the tool element when moving toward the closed position and cause the tool element to be move toward a fully engaged position within the tool hole of the body. ### Claim 13 (depends on 8) The robotic tool changer of claim 8, further comprising: a motor; a pinion gear rotatably fixed to the body of the tool adapter and in communication with the motor; and a plurality of teeth provided on an inner surface of the locking member and configured to engage the pinion gear, wherein: a first operation of the motor is configured to rotate the pinion gear in a first direction and cause the locking member to rotate toward the open position; and a second operation of the motor is configured to rotate the pinion gear in an opposite second direction and cause the locking member to rotate toward the closed position. ### Claim 14 (depends on 8) The robotic tool changer of claim 8, wherein the locking member has a dome extending radially inwardly into the tool hole of the body and configured to eject the tool element from the tool adapter as the locking member moves from the closed position toward the open position. ### Claim 15 A method comprising: rotating a locking member of a tool adapter coupled to a robotic arm in a first direction from a closed position to an open position to provide access to a tool hole of the tool adapter through a rear opening of the tool adapter; inserting a tool element coupled to a tool through the rear opening of the tool adapter and into the tool hole of the tool adapter; and rotating the locking member in an opposite second direction from the open position toward the closed position to prevent removal of the tool element out of the tool hole of the tool adapter through the rear opening. ### Claim 16 (depends on 15) The method of claim 15, further comprising: controlling a motor to rotate a pinion gear in first direction and an opposite second direction; and engaging, by the pinion gear, a plurality of teeth on an inner surface of the locking member to rotate the locking member toward the closed position when the pinion gear is rotated in the first direction, and toward the open position when the pinion gear is rotated in the second direction. ### Claim 17 (depends on 15) The method of claim 15, further comprising: inserting the tool element into the tool hole of the tool adapter through the rear opening of the tool adapter such that the tool element contacts a dome on an inner surface of the locking member and extending into the tool hole of the tool adapter; and preventing the tool element from moving into a fully engaged position within the tool hole of the tool adapter when the locking member is in the open position and the tool element contacts the dome of the locking member. ### Claim 18 (depends on 17) The method of claim 17, further comprising: rotating the locking member from the open position toward the closed position such that the dome of the locking member moves out of contact with the tool element; contacting the tool element with a first edge of the locking member as the locking member rotates from the open position toward the closed position; and causing the tool element to move toward the fully engaged position within the tool hole of the tool adapter as the locking member moves toward the closed position and the first edge of the locking member contacts the tool element. ### Claim 19 (depends on 15) The method of claim 15, further comprising detecting a misalignment between the tool element and the tool adapter as the tool element is inserted into the tool hole of the tool adapter through the rear opening. ### Claim 20 (depends on 19) The method of claim 19, further comprising automatically adjusting a position of at least one of the tool adapter and the tool element to correct the misalignment between the tool element and the tool adapter.