Transmission coupling for a manipulator head

A rapid attachment device for an interchangeable tool for a manipulator head, comprising:

• a base body connected to the manipulator head;
• means for generating a force for retaining the tool, said generating means comprising an airtight chamber defined between the base body and the tool, and a vacuum source connected thereto;
• constraining means for establishing the exact position of the tool relative to the manipulator head, said constraining means including a pair of cooperating abutment surfaces on the base body and on the tool which are kept in contact as a result of the force exerted by the generating means and are adapted to establish the position of the tool relative to the head along a first line of constraint;
• the constraining means including first and second constraining members, each of which includes a seat for engagement by a positioning element, the constraining members defining respectively a turning pair and a sliding pair for constraining the two degrees of freedom of the tool in a plane substantially perpendicular to the first line of constraint.

A rapid attachment device for an interchangeable tool for a manipulator head, comprising:

• a base body connected to the manipulator head;
• means for generating a force for retaining the tool;
• constraining means for establishing the exact position of the tool relative to the manipulator head, said constraining means including a pair of cooperating abutment surfaces on the base body and on the tool which are kept in contact as a result of the force exerted by the generating means and are adapted to establish the position of the tool relative to the head along a first line of constraint;
• the constraining means including first and second constraining members, each of which includes a seat for engagement by a positioning element, the constraining members defining respectively a turning pair and a sliding pair for constraining the two degrees of freedom of the tool in a plane substantially perpendicular to the first line of constraint;
• and mechanical safety means for preventing the detachment of the tool from the base body in the event of the operational failure of the means for generating the tool-retaining force.

A rapid attachment device for an interchangeable tool for a manipulator head, comprising:

• a base body connected to the manipulator head;
• means for generating a force for retaining the tool;
• constraining means for establishing the exact position of the tool relative to the manipulator head, said constraining means including a pair of cooperating abutment surfaces on the base body and on the tool which are kept in contact as a result of the force exerted by the generating means and are adapted to establish the position of the tool relative to the head along a first line of constraint;
• the constraining means including first and second constraining members, each of which includes a seat for engagement by a positioning element, the constraining members for constraining the two degrees of freedom of the tool in a plane substantially perpendicular to the first line of constraint, said positioning element of the second constraining member being a pin with a spherical surface portion, and the respective seat being in the form of a groove formed by two converging flat walls.