US 5,044,063 AGranted

Robotic tool change mechanism

AssigneeThe United States of America as represented by the Administrator of the National Aeronautics and Space Administration

InventorGeorge M. Voellmer

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Abstract

An assembly of three major components including a wrist interface plate which is secured to the wrist joint of a robotic arm, a tool interface plate which is secured to each tool intended for use by the robotic arm, and a tool holster for each tool attached to the interface plate. The wrist interface plate and a selected tool interface plate are mutually connectable together through an opening or recess in the upper face of the interface plate by means of a notched tongue protruding from the front face of the wrist interface plate which engages a pair of spring-biased rotatable notched wheels located within the body of the tool interface plate. The tool holster captures and locks onto the tool interface plate by means of a pair of actuation claws including a locking tab and an unlocking wedge which operate respective actuation bosses on each of the notched wheels in response to a forward and backward motion of the tool interface plate as a result of motion of the robotic arm to either park the tool or use the tool.

Claims14

Dependent claims

Tool changer apparatus for a robotic system, comprising:

first interface means attachable to a robotic arm;
second interface means attachable to a tool to be used by the robotic arm;
stowage means, including actuation means, for receiving and holding said second interface means when the respective tool is not in use;
said first and second interface means further including means for mutually engaging each other in response to movement from and to said stowage means, said means for engaging each other comprising a member including at least one notch therein extending from one of said first and second interface means, and a recess and notch engaging member in the other of said first and second interface means, said notch engaging member being movable in and out of said at least one notch in response to operation by said actuation means of said stowage means;
said member including at least one notch comprises a tongue extending from said first interface means and wherein said recess and notch engaging means are located in said second interface means;
said first interface means comprises a wrist interface plate attachable to an outer end portion of the robotic arm and said second interface means comprises a tool interface plate fastened to said tool;
said stowage means comprises a holster in the form of a yoke member having bifurcated outwardly extending arms for engaging said tool interface plate, and
said notch engaging means comprises a wheel rotatable in and out of said at least one notch of said tongue.

5 more elements

Tool changer apparatus for a robotic system, comprising:

first interface means attachable to a robotic arm;
second interface means attachable to a tool to be used by the robotic arm;
stowage means, including actuation means, for receiving and holding said second interface means when the respective tool is not in use;
said first and second interface means further including means for mutually engaging each other in response to movement from and to said stowage means, said means for engaging each other comprising a member including at least one notch therein extending from one of said first and second interface means, and a recess and notch engaging member in the other of said first and second interface means, said notch engaging member being movable in and out of said at least one notch in response to operation by said actuation means of said stowage means;
said member including at least one notch comprises a tongue extending from said first interface means and wherein said recess and notch engaging means are located in said second interface means;
said first interface means comprises a wrist interface plate attachable to an outer end portion of the robotic arm and said second interface means comprises a tool interface plate fastened to said tool;
said stowage means comprises a holster in the form of a yoke member having bifurcated outwardly extending arms for engaging said tool interface plate, and
said holster includes means for locking said tool interface plate in position thereon and where said wrist interface plate includes means for unlocking said tool interface plate therefrom to permit the removal of said tool interface plate from said holster.

5 more elements

Dependencies are inferred from the claim text.