US 4,604,787 AGranted

Tool changer for manipulator arm

AssigneeTransamerica DeLaval Inc.

InventorRalph H. Silvers, Jr.

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Abstract

A tool changer for use with the manipulator arm of a robot or the like. A tool changer in which the manipulator arm is engaged with the end effector carrying the tool by a simple linear motion, and disengaged by a linear motion in the opposite direction, without requiring any separate control functions such as switch actuation or the like. A tool changer which also provides for transmitting mechanical, electrical or fluid power and/or control between the manipulator arm and the end effector, and one which can be utilized with any type of tool, sensor, transducer, and the like. A tool changer incorporating a coupling which is closed by an axial compression force and opened by an axial tension force, and an end effector rack for receiving and supporting a plurality of end effectors so that a manipulator arm can position an end effector in the rack with a lateral movement, disengage the arm from the end effector with an axial movement, engage the arm with another end effector by an axial movement in the opposite direction, and remove the new end effector by a lateral movement.

Claims9

Dependent claims

In a tool changer for use with a manipulator arm which provides a first movement along an axis and a second movement laterally to said axis, the combination of:

a coupling comprising a nipple member and a socket member with one of said members including means for connecting the member to the manipulator arm and with the other of said members including means for connecting the member to an end effector and flange means for engaging an end effector rack, and with said members being coupled together solely by an axial compression force and separated solely by an axial tension force without any external manipulation;
and
an end effector rack for receiving and supporting an end effector, said rack having means interengaging with said coupling member flange means for limiting movement of the end effector along the axis of said coupling while permitting movement laterally, whereby the manipulator arm can position an end effector in said rack solely by a lateral movement, disengage the arm from the end effector solely by an axial movement, engage the arm with an end effector solely by an axial movement in the opposite direction, and remove the end effector from the rack solely by a lateral movement.

Dependencies are inferred from the claim text.