Novel means for mounting a tool to a robot arm

A method for coupling a tool to a robot arm, said tool being arranged within a tool holder, said tool including a mounting flange having a tapered projection and locking means arranged for movement within said tapered operating arm extending outwardly from the periphery of said flange, said robot arm having a female flange with a tapered opening adapted to receive said tapered projection, said method comprising the steps of:

• moving said robot arm to place said robot arm flange above said tapered projection;
• moving said robot arm downwardly when said robot arm flange opening is aligned with said tapered projection whereby said tapered projection enters into said tapered opening;
• moving said operating arm from the unlock position to the locked position to lock said tool flange to said robot arm flange;
• and
• moving said robot arm to displace said tool flange from said tool holder, whereupon said robot arm is thereafter free to be moved to a location in a workspace for performing an operation according to the tool coupled thereto.

A method for uncoupling a tool from a robot arm through the use of a tool holder having a tool receiving opening, said tool including a mounting flange having a tapered projection and locking means arranged for movement within said tapered projection, said locking means having an operating arm extending outwardly from the periphery of said flange, said robot arm having a female flange with a tapered opening receiving said tapered projection, said method comprising the steps of:

• moving said robot arm to place said robot arm above said tool holder opening;
• moving said robot arm downwardly when the tool coupled to said robot arm is aligned with said tool holder opening whereby said tool and tool mounting flange enter into said tool holder opening;
• moving said operating arm from the locked position to the unlocked position to unlock said tool flange from said robot arm flange;
• moving said robot arm to displace said robot arm flange from said tool holder, said robot arm thereafter being free to be moved to another location in a workspace for performing a subsequent operation.

A tool holder assembly for holding tools including a connector assembly fixedly secured to each tool and having a connector means movable between a locked and an unlocked position for connection with apparatus for operating the tool;

• said tool holder assembly including an opening adapted to hold a tool and its cooperating connector assembly;
• each connector assembly having a predetermined peripheral shape;
• said opening having a shape generally conforming to the shape of said connector assembly and including means for substantially simultaneously moving the connector means provided in each of said connectors between a locked and an unlocked position;
• each connector assembly having an annular slot with a pair of flats arranged on opposite sides of said slot;
• said tool holder assembly having a pair of guide plates affixed on opposite sides of said opening for slidably engaging one of said flats in said slot;
• detent means arranged in each guide plate;
• dimple means in each of said flats;
• each of said detent means being snap-fitted into one of said dimple means when the connected assembly is properly seated in said opening;
• sensing means responsive to said detent means being snap-fitted into an associated dimple means for providing an output;
• and
• signal means responsive to the outputs of said sensing means for providing a signal that a connector assembly is properly seated in said opening.