Electrically Actuated Robotic Tool Changer

A robotic tool changer, comprising:

• a tool unit operative to attach to a robotic tool and including a generally circular chamber;
• a master unit operative to attach to a robot, and to selectively couple to and decouple from the tool unit;
• an annular collar on the master unit, having a plurality of holes formed therethrough;
• a plurality of ball members disposed within the holes;
• a piston having at least one tapered surface disposed in the master unit, the piston operative to urge the ball members radially outward of the collar as the the piston moves from a retracted, decoupled position to an extended, coupled position;
• an electric motor;
• a coupling mechanism operative to selectively move the piston between decoupled and coupled positions in response to the electric motor;
• and
• an angled surface in the tool unit chamber opposite each collar hole when the master and tool units are abutted, the angled surface operative to direct a component of the force applied to it by the ball members towards the master unit.

A robotic tool changer, comprising:

• a tool unit operative to attach to a robotic tool and including a generally circular chamber;
• a master unit operative to attach to a robot, and to selectively couple to and decouple from the tool unit;
• a locking shaft connected to the master unit and protruding therefrom, the locking shaft having a plurality of thread ledge lobes disposed radially around the shaft, each thread ledge lobe comprising a plurality of thread ledges arranged in an axial orientation on the locking shaft;
• an electric motor disposed on the master unit and operative to selectively rotate the locking shaft;
• and
• a plurality of thread shelf sets disposed radially around an interior annular surface of the tool unit chamber, each thread shelf set comprising a plurality of thread shelves arranged in an axial orientation;
• wherein when the master and tool units are abutted, the locking shaft extends within the tool unit chamber with the thread ledge lobes in spaces between the thread shelf sets in a decoupled position;
• and
• wherein when the electric motor rotates the locking shaft to a coupled position, the thread ledges engage and lock with corresponding thread shelves, coupling the master and tool units together.

A robotic tool changer, comprising:

• a first unit operative to be attached to one of a robot and a robotic tool;
• a second unit operative to be attached to the other of the robot and a robotic tool, and further operative to be selectively coupled to and decoupled from the first unit;
• an electric motor;
• means for selectively coupling the first and second units in a coupled position and to allow the first and second units to decouple in a decoupled position under the power of the electric motor.