Stud welding tool changer

An apparatus adapted to be disposed between a work tool and an instrumentality controlling the work tool to pass solid objects to the work tool for use in a robotic tool changing system including a master assembly for attaching to the end of a robot arm, a tool assembly for attaching to the tool, means for coupling the tool assembly to the master assembly, a first feed tube for transporting the solid objects from a source of the solid objects to the apparatus, and a second feed tube for transporting the solid objects from the apparatus to the tool, the apparatus for passing solid objects comprising:

• first and second housings adapted to be mounted on the master assembly and tool assembly, respectively, each of the housings having a central axis and an opening therethrough;
• first and second tubular members disposed in the housings and each defining a passage for permitting the solid objects to pass through the tubular members, the tubular members including a head portion at one end and a stem portion at the other end, each of the head portions of the tubular members having a contact face and an arcuate outer surface extending from the face to the stem portion, and each of the stem portions adapted to be connected to the respective feed tube;
• and
• means for retaining the first and second tubular members in the openings in the first and second housings, respectively, and for accommodating movement of the tubular members relative to the housing during the coupling and uncoupling of the master and tool assemblies to accommodate misalignment of the master and tool assemblies,
• wherein the coupling of the master assembly to the tool assembly causes the contact face of the first tubular member to engage the contact face of the second tubular member for defining a continuous passageway for passing solid objects through the tubular members.

A robotic tool changing system for exchanging tools on an end of a robot arm, including a tool for attaching fasteners from a source of fasteners, the system comprising:

• a master assembly for attaching to the end of the robot arm;
• a tool assembly for attaching to the fastener attaching tool;
• means for operatively coupling the tool assembly to the master assembly, the coupled assemblies having a central longitudinal axis;
• first and second housings mounted on the master assembly and tool assembly, respectively, each of the housings having an opening therethrough;
• first and second tubular members disposed in the housings and each defining a passage for permitting fasteners to pass through the tubular members, the tubular members including a head portion at one end and a stem portion at the other end, each of the head portions of the tubular members having a contact face and an arcuate outer surface extending from the face to the stem portion;
• means for retaining the first and second tubular members in the openings in the first and second housings, respectively, and for accommodating movement of the tubular members relative to the housing during the coupling and uncoupling of the master and tool assemblies to accommodate misalignment of the master and tool assemblies;
• and
• first and second feed tubes connected to the stem portions of the first and second tubular members, respectively, for transporting fasteners from the source of fasteners to the first tubular member and from the exit port of the second tubular member to the fastener attaching tool,
• wherein the coupling of the master assembly to the tool assembly causes the contact face of the first tubular member to engage the contact face of the second tubular member for defining a conduit through the tubular members to allow a fastener to be transported from the source of fasteners through the first feed tube, the conduit, and the second feed tube to the fastener attaching tool.