Tool holders for robotic systems having collision detection

A robotic welding system capable of detecting impacts to a welding torch manipulated by a robot, the robotic welding system comprising:

• a robot arm configured to move a welding end of the robot arm;
• the welding torch;
• a welding torch holder, comprising:
• a housing having a proximal end and a distal end;
• an actuator disposed within the housing and configured to hold the welding torch, the housing and the actuator being in contact via a plurality of dowels to limit movement of the actuator toward the distal end of the cylindrical housing, in which two or more of the plurality of dowels are in line contact with each other, at least one dowel of the plurality of dowels is in line contact with the housing or the actuator, and the plurality of dowels are arranged in a triangular geometry;
• a pressure plate in line contact with the actuator within the housing around a circumference of the pressure plate;
• a plurality of springs in contact with the pressure plate to bias the actuator toward the proximal end of the housing via the pressure plate;
• a mounting plate to couple the welding torch holder to the robot, the plurality of springs in contact with the mounting plate opposite the pressure plate;
• and
• a sensor switch to detect a shock force on the actuator and to output a signal in response to detecting the shock force;
• and
• a robot controller to receive the signal as an input and, in response to receiving the signal, to control the robot arm to assume a preset position.