Electrically Actuated Robotic Tool Changer

A robotic tool changer, comprising:

• a first unit operative to be attached to one of a robot and a robotic tool;
• a second unit operative to be attached to the other of the robot and a robotic tool, and further operative to be selectively coupled to and decoupled from the first unit;
• a coupling mechanism at least partially protruding from the first unit along a first axis and operative to engage within a recess in the second unit and to selectively couple the first and second units in a coupled position and to allow the first and second units to decouple in a decoupled position;
• wherein the coupling mechanism comprises
• a plurality of rolling members disposed in the one of the units;
• a piston disposed in the first unit, the piston selectively movable longitudinally along the first axis between a retracted, decoupled position and an extended, coupled position, the piston having at least one tapered surface operative to displace the rolling members outwardly of the piston axis as the piston moves from the decoupled to the coupled position;
• and
• at least one angled surface in the second unit operative to lock the first and second units together when the rolling members are forced against the angled surface by a tapered piston surface;
• a gear driven by the electrical motor and having a plurality of cam followers protruding from the inner surface;
• and
• a piston shaft connected to the piston and having a corresponding plurality of variable helix cam grooves formed on the outer surface thereof, the shaft having a non-circular central bore formed axially therein;
• and
• a non-circular spline post rigidly attached to the first unit and shaped to mate with the piston shaft bore and operative to prevent rotational motion of the piston shaft;
• wherein the shaft is disposed over the spline post and within the driven gear, with a cam follower disposed in each variable helix cam groove, so as to displace the piston between a retracted, decoupled position and an extended, coupled position as the driven gear rotates;
• an electric motor operative to drive the coupling mechanism between coupled and decoupled positions;
• and
• a belt member coupling the gear to the electric motor.

A robotic tool changer, comprising:

• a tool unit operative to attach to a robotic tool and including a generally circular chamber;
• a master unit operative to attach to a robot, and to selectively couple to and decouple from the tool unit;
• an annular collar on the master unit, having a plurality of holes formed therethrough;
• a plurality of ball members disposed within the holes;
• a piston having at least one tapered surface disposed in the master unit, the piston operative to urge the ball members radially outward of the collar as piston moves from a retracted, decoupled position to an extended, coupled position along a first axis;
• an electric motor;
• a coupling mechanism operative to selectively move the piston between decoupled and coupled positions in response to the electric motor;
• a rotating shaft coupling the motor to the coupling mechanism, the rotating shaft disposed along a second axis perpendicular to the first axis;
• and
• an angled surface in the tool unit chamber opposite each collar hole when the master and tool units are abutted, the angled surface operative to direct a component of the force applied to it by the ball members towards the master unit.

A robotic tool changer, comprising:

• a first unit operative to be attached to one of a robot and a robotic tool;
• a second unit operative to be attached to the other of the robot and a robotic tool, and further operative to be selectively coupled to and decoupled from the first unit along a first axis;
• an electric motor;
• means for selectively coupling the first and second units in a coupled position and to allow the first and second units to decouple in a decoupled position under the power of the electric motor;
• and
• a rotating shaft disposed along a second axis perpendicular to the first axis, the rotating shaft coupling the electric motor to the coupling means.