Rotating Coupling for Robotic Tool Changer
AssigneeATI Industrial Automation, Inc.
InventorDaniel Allen Norton
Life of this patent
Estimating the term…
Abstract
In a robotic tool coupler, a rotating cam member having a plurality of surfaces formed therein urges a plurality of ball members in one tool coupling unit radially to contact an angled surface in the other tool coupling unit. Further rotation of the cam member exerts a radial force through the ball members onto the angled surface. A component of that force is directed by the angled surface toward the opposite tool coupling unit, locking the two units together. The cam member may include a failsafe surface and/or a failsafe lobe to maintain the two units locked together in the event of a loss of power to positively actuate the cam member.
Claims20
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;
- a plurality of ball members disposed in the first unit;
- and
- a cam member disposed in one of the units and operative to engage the ball members in the first unit and to urge the ball members, by rotational movement of the cam member, against an angled surface of the second unit to lock the first and second units together.
A 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 rotating cam member disposed within the annular collar in the master unit, the cam member operative to urge the ball members radially outward of the collar as the cam member rotates;
- 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 method of selectively coupling two robotic tool coupler units, comprising:
- abutting the two units;
- rotating a cam member in one unit;
- urging a plurality of ball members disposed in one unit toward an angled surface in the other unit by the rotating cam member;
- after the ball members contact the angled surface, applying a force by the rotating cam member through the ball members to the angled surface, a component of the force on the angled surface directed toward the other tool coupler unit and operative to lock the two units together.
The method of claim 19 further comprising, in the event of loss of power to rotate the cam member, maintaining the rotary position of the cam member by eliminating any component of force exerted by the ball members on the cam member in a direction of rotation to uncouple the two units.
Dependencies are inferred from the claim text.