Robotic tool changer system and method for performing tool change with robotic tool changer system

A robotic tool changer system, comprising:

• a first coupling unit, fixed to a robot arm end shaft, the first coupling unit having a protruding portion, the protruding portion having a first guide hole extending along a third direction, a first ejector pin being provided in the first guide hole, the first ejector pin providing a first acting force;
• a plurality of second coupling units each connected with a respective tool, each second coupling unit having a respective recess corresponding to the protruding portion, each second coupling unit including a respective movable guide lock and a respective movable second ejector pin movable in the third direction, wherein each of the second ejector pins is driven by the corresponding guide lock to extend out into the recess and is driven by the first acting force to retract out of the recess;
• a plurality of tool changer grippers, each changer gripper including a respective third force-applying member and at least one protruding post, each second coupling unit being detachably connected to a corresponding one of the tool changer grippers;
• wherein when the robot arm end shaft drives the first coupling unit to move in a second direction to contact a selected one of the second coupling units, the protruding portion is mated with the recess of the selected second coupling unit,
• wherein an angle is defined between a first direction and the second direction,
• wherein when the robot arm end shaft pulls the first coupling unit and the selected second coupling unit away from the corresponding tool changer gripper along the first direction, the guide lock of the selected second coupling unit applies a second acting force to overcome the first acting force so as to drive the second ejector pin of the selected second coupling unit to push the first ejector pin so that the second ejector pin of the selected second coupling unit extends into the first guide hole, and the first coupling unit is coupled with the selected second coupling unit;
• wherein when the robot arm end shaft drives the first coupling unit and the selected second coupling unit to move to the corresponding tool changer gripper along the first direction, the corresponding at least one protruding post pushes the guide lock of the selected second coupling unit to overcome the second acting force, the first ejector pin pushes the second ejector pin of the selected second coupling unit via the first acting force so that the second ejector pin of the selected second coupling unit is retracted out of the recess, and the corresponding third force-applying member applies a third acting force to hold the selected second coupling unit, and
• wherein the first coupling unit is moved away from the selected second coupling unit, which is held by the corresponding tool changer gripper, along the second direction.