Mechanically actuated robotic tool changer with configurable manually actuated lock

Abstract

A mechanically actuated tool changer includes a robot unit and a tool unit, the robot unit including a locking post with an engagement cap, the tool unit having a central recess to receive the locking post in a disengaged state. In a coupled state, an effective diameter of the central recess is reduced, thereby capturing the engagement cap of the locking post. The coupling mechanism includes a pair of geometrically identical sliding wedges arranged in an inverted and longitudinally opposite orientation relative to each other. A primary spring biases the sliding wedges apart, thereby reducing the effective diameter of the central recess. To disengage, engagement edges of the sliding wedges are moved together against the bias of the primary spring. The engagement edges are pressed together when the tool unit is placed in a tool holder. A configurable, manually actuated locking mechanism selectively allows or prevents manual actuation of the coupling mechanism.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Patent Application No. 19 / 575301, filed March 23, 2026, and U.S. Provisional Application No. 63 / 777064, filed March 25, 2025, the entire disclosure of each of which is incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to robotic tool changers, and more particularly to a default-attached mechanical robotic tool changer that automatically disengages by docking in an associated tool holder, and is configurable to allow manual disengagement when removed from the tool holder. Background Technology

[0004] Industrial robots have become an indispensable part of modern manufacturing. Whether transferring semiconductor wafers from one processing room to another in a cleanroom or cutting and welding steel on the floor of an automobile manufacturing plant, robots are constantly performing numerous manufacturing tasks in harsh environments with high precision and repeatability.

[0005] In many robotic manufacturing applications, it is cost-effective to utilize relatively universal robotic arms to accomplish a variety of tasks. For example, in automotive manufacturing applications, robotic arms can be used to cut, grind, or otherwise shape metal parts during one stage of production and to perform various welding tasks in another stage. Different welding tool geometries can be advantageously fitted to specific robotic arms to perform welding tasks in different locations or orientations.

[0006] In these applications, tool changers are used to fit different tools to a robot. One half of the tool changer (called the master unit) is permanently attached to the robot arm. The other half (called the tool unit) is attached to each tool that the robot can utilize. When the robot arm positions the master unit near the tool unit to be connected to the desired tool, a coupling mechanism is actuated, which mechanically locks the master unit and the tool unit together, thereby securing the tool to the end of the robot arm. Thus, the tool changer provides a consistent mechanical interface between the robot arm and various robotic tools. The tool changer can also transfer utilities to tools.

[0007] Robotic tools may require utilities such as electric current, pneumatic pressure, hydraulic fluid, cooling water, and electronic or optical data signals to operate. Connections to these utilities can be inconvenient or even unsafe during operation. Furthermore, if two or more tools require the same utilities, dedicated connections to each tool will be redundant. Therefore, an important function of a robotic tool changer is to provide utility transfer modules. These modules can be attached to standardized locations on the main unit and tool units of the robotic tool changer. These modules include mating terminals, valve connections, electrical connectors, etc., so that the utilities are available for the selected tool when it is coupled to the robotic arm. Many tool changers include one or more standard-sized "planes" around their perimeter to which various utility transfer modules can be attached as needed. Tool changers and utility transfer modules are well-known in the robotics field and are commercially available from companies such as ATI Industrial Automation of Apex, NC, based in Apex, North Carolina.

[0008] When not in use, each robotic tool is stored in a dedicated holder or tool holder within the robotic arm's operating range. The robotic arm controller software "remembers" where each tool is, and each tool returns to the exact same position in its tool holder before the tool changer disengages. Similarly, the robotic arm controller software precisely "knows" where the next desired tool is stored, and it positions the tool changer's main unit (on the robotic arm) to the adjacent tool unit (on the desired tool), then actuates the tool changer to attach the tool to the robotic arm.

[0009] Traditionally, the main unit of a robotic tool changer includes a coupling mechanism that can be driven electrically, pneumatically, hydraulically, or otherwise under the control of a robot controller that controls the movement of the robotic arm. Such robotic tool changers are described, for example, in U.S. Patents 7,252,453; 8,005,570; 8,209,840; 8,601,667; 8,832,816; 10,335,957; 10,661,449; 11,691,294; 10,759,061 and 11,850,733, all of which are assigned to the assignee of this disclosure, and the disclosure of each patent is incorporated herein by reference in its entirety.

[0010] Mechanically actuated robotic tool changers are a class of tool changers in which the coupling mechanism does not require a power source. Some mechanical tool changers are actuated by a human; others are automatically actuated, such as through interaction with a tool holder. Some mechanically actuated robotic tool changers are described, for example, in U.S. Patents 7,779,716; 8,500,132; 8,533,930; 8,857,821; and 9,724,830, all of which are assigned to the assignee of this disclosure, and the disclosure of each patent is incorporated herein by reference in its entirety.

[0011] Mechanically actuated robotic tool changers are particularly useful in the evolving field of collaborative robots (also known as cobots), which are designed to work near humans and include safety features that enable such collaboration. Collaborative robots and their deployed robotic tools are typically smaller and lighter than industrial robots. Key advantages of mechanically actuated tool changers include increased productivity, enhanced flexibility, cost savings, and improved safety without the need for auxiliary power.

[0012] Automated tool changers increase productivity and efficiency by reducing downtime associated with manual tool changes. Like all robotic tool changers, they allow a single robot to perform multiple tasks, reducing the need for multiple dedicated robots and resulting in cost savings. Furthermore, automated tool changing minimizes human intervention in hazardous environments, thus improving workplace safety.

[0013] In some applications, it is desirable for humans to actuate the tool changer to change robotic tools during operation without requiring the robot to return to the tool holder and perform the tool change. However, in some robot installations with stringent safety standards, manually actuated tool changers are not permitted; these installations require the tool changer to detach only when the robotic tools are securely stored in the tool holder.

[0014] The background section of this document is provided to place various aspects of this disclosure within a technical and operational context to assist those skilled in the art in understanding their scope and utility. The methods described in the background section may be explored, but are not necessarily methods previously conceived or explored. Unless expressly stated otherwise, nothing herein should be considered prior art solely by virtue of its inclusion in the background section. Summary of the Invention

[0015] A simplified overview of this disclosure is given below to provide a basic understanding for those skilled in the art. This overview is not a comprehensive summary of this disclosure and is not intended to identify key / essential elements of any aspect of this disclosure or to define its scope. The sole purpose of this overview is to present some of the concepts disclosed herein in a simplified form as a prelude to the more detailed description that follows.

[0016] According to one or more aspects described and claimed herein, a mechanically actuated tool changer includes: a robot unit configured to be connected to an actuator; and a tool unit configured to be connected to a robot tool. A locking post with an engagement cap protrudes from the robot unit. The tool unit includes a central recess sized and configured to receive the locking post in a disengaged state when the robot unit moves to abut against the tool unit. In the engaged state, the effective diameter of the central recess decreases, thereby capturing the engagement cap of the locking post and engaging the tool unit to the robot unit. The engagement mechanism includes a pair of geometrically identical sliding wedges arranged inverted relative to each other and longitudinally oriented opposite to each other. A main spring biases the sliding wedges apart, thereby reducing the effective diameter of the central recess. For disengagement, engagement edges of the sliding wedges protruding from the sides of the tool unit housing move together against the bias of the main spring. When the tool unit is placed in a tool holder, the engagement edges are pressed together. By default, a manually actuated locking mechanism prevents movement of the engagement edges to disengage the unit at any time the tool unit leaves the tool holder. The manual actuation locking mechanism can be configured to be inactive, allowing manual actuation of the tool unit if needed or desired.

[0017] One embodiment relates to a mechanically actuated robotic tool changer system. The system includes a robotic unit configured to connect to an actuator and including a locking post. The system also includes a tool unit configured to connect to a robotic tool and including a pair of geometrically identical sliding wedges configured in an inverted and longitudinally opposed configuration. The sliding wedges are biased apart to present an engaged state in which the locking post of the robotic unit is engaged to attach the tool unit to the robotic unit. The sliding wedges are movable toward each other to present a disengaged state in which the locking post of the robotic unit is released. The system also includes a tool holder configured to hold and support the tool unit and the attached robotic tool. The tool holder is configured to press the sliding wedges toward each other to place the tool unit in a disengaged state.

[0018] Another embodiment relates to a mechanically actuated robotic tool changer. The tool changer includes a robotic unit configured to connect to an actuator and including a locking post. The tool changer also includes a tool unit having a housing and configured to connect to a robotic tool. The tool unit has a central recess and includes a pair of geometrically identical sliding wedges configured in an inverted and longitudinally opposed configuration. The sliding wedges are offset apart to present a default coupled state in which the locking post of the robotic unit is engaged in the central recess of the tool unit to attach the tool unit to the robotic unit, and the sliding wedges are movable toward each other to present a disengaged state in which the locking post of the robotic unit is released. The tool changer also includes a manually actuated locking mechanism configured to prevent manual actuation of the sliding wedges from the coupled state to the disengaged state, wherein actuation of the sliding wedges from the coupled state to the disengaged state can only occur by placing the tool unit in an associated tool holder. Attached Figure Description

[0019] This disclosure will now be described more fully below with reference to the accompanying drawings, in which various aspects of the disclosure are illustrated. However, this disclosure should not be construed as limited to the aspects set forth herein. Rather, these aspects are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. The same numerals always refer to the same elements.

[0020] Figure 1 This is a 3D view of the robot unit and tool unit of the mechanically actuated tool changer.

[0021] Figure 2 This is a 3D view of a robotic tool changer, in which the tool unit is set in a tool holder.

[0022] Figure 3 It is a plan view of the tool unit set in the tool holder.

[0023] Figure 4 This is a three-dimensional view of a sliding wedge.

[0024] Figure 5 These are perspective views of the sliding wedge from different advantageous positions.

[0025] Figure 6 It is a perspective view of two sliding wedges that are inverted and arranged longitudinally opposite each other, with a biased main spring.

[0026] Figure 7 This is a planar sectional view of the tool unit in a disengaged state.

[0027] Figure 8This is a planar sectional view of a tool unit in a connected state.

[0028] Figure 9 It is a perspective view of two sliding wedges, one in the engaged position and the other in the disengaged position, each with a manually actuated locking pin.

[0029] Figure 10 It is a partial perspective sectional view of the sliding wedge and the manually actuated locking pin.

[0030] Figure 11 This is a partial cross-sectional view showing the tool unit in the connected state and the manual actuation locking pin that prevents manual actuation from being disengaged.

[0031] Figure 12 This is a partial cross-sectional view showing a tool unit partially disposed in a tool holder, wherein a ramp moves a manually actuated locking pin to allow the tool unit to be in a disengaged state.

[0032] Figure 13 This is a partial cross-sectional view showing a retaining screw installed in the tool unit, which prevents the locking pin from being moved to a position that would prevent the tool unit from being manually actuated to present a disengaged state. Detailed Implementation

[0033] For simplicity and illustrative purposes, this disclosure is described primarily by reference to exemplary aspects thereof. Numerous specific details are set forth in the following description to provide a thorough understanding of this disclosure. However, it will be apparent to those skilled in the art that this disclosure may be practiced without being limited to these specific details. Well-known methods and structures are not described in detail in this specification so as not to unnecessarily obscure this disclosure.

[0034] Figure 1 A mechanically actuated robotic tool changer 10 is described according to various aspects of this disclosure. Figure 2 and Figure 3 A mechanically actuated robotic tool changer system 11 is depicted, comprising a tool changer 10 and an associated tool holder 50. The tool changer 10 includes a robotic unit 12 configured to attach to an actuator (such as a robotic arm (not shown)) and a tool unit 14 configured to attach to a robotic tool (not shown). A mechanically actuated coupling mechanism in the tool unit 14 is biased to a coupled state, in which it maintains a secure mechanical connection between the tool unit 14 and the robotic unit 12, coupling the attached robotic tool to the robotic arm. The default state of the coupling mechanism is coupled. The coupling mechanism automatically moves to a disengaged position through mechanical interaction with the associated tool holder, in which the robotic unit 12 can be separated from the tool unit 14 (see [link to documentation]). Figure 2As described more fully herein, tool unit 14 can be configured to detach via human interaction, or it can be configured to detach via tool support interaction alone.

[0035] Robot unit 12 includes a housing 16 having a generally flat mating surface 17. A locking post 18 extends from the housing 16 beyond the mating surface 17. The locking post 18 includes a locking shaft 20 having a first diameter and an engagement cap 22 rigidly fixed to the locking shaft 20 and having a second diameter greater than the first diameter. In one aspect, a plurality of contacts 24 are positioned around the engagement cap 22. The contacts 24 may include, for example, electrical or optical contacts configured to transmit data signals between robot unit 12 and tool unit 14. In other aspects, the contacts 24 may be replaced by pneumatic couplings or otherwise configured to transmit various utilities between robot unit 12 and tool unit 14. In one aspect, a central hole 26 extends through the locking post 18 and housing 16, thereby allowing cables, pneumatic or hydraulic fluid lines, or other components to pass through robot unit 12. Alignment pin sockets 28 receive corresponding alignment pins 34 on the tool unit, thereby ensuring repeatable alignment of robot unit 12 and tool unit 14 during each connection.

[0036] As is well known in the art, housing 16 may include mounting holes or otherwise provide for mechanically securing housing 16 to an actuator, such as a robotic arm. Mounting holes may conform to defined dimensions and placement standards, thereby allowing robot unit 12 to be easily secured to various deployed robotic arms or other actuators. As is also well known in the field of robot tool changers, various utility transfer modules may be selectively secured to robot unit 12, thereby enabling the transfer of utilities between robot unit 12 and tool unit 14.

[0037] Figure 1 The tool unit 14 is shown in its default connected state, but it is not connected to the robot unit 12 in order to show its components and describe its operation. In normal operation, the tool unit 14 will be connected to the robot unit 12 in the connected state. Figure 2 A tool unit 14 is shown disposed in a corresponding tool holder 50. When the tool unit 14 is disposed in the tool holder, the mechanical interaction between the tool unit 14 and the tool holder 50 causes the tool unit 14 to be switched to a disengaged state. When the tool unit 14 is removed from the tool holder 50, the tool unit 14 automatically switches to a coupled state.

[0038] refer to Figure 1Tool unit 14 includes a housing 30 having a generally flat mating surface 32. Alignment pin 34 protrudes from the mating surface 32 and is disposed in a corresponding alignment pin insertion hole 28 in the mating surface 17 of robot unit 12 when units 12 and 14 abut. When tool unit 14 is in the disengaged state and robot unit 12 and tool unit 14 abut, a central recess 36 in housing 30 receives a locking pin 18 of robot unit 12. Figure 1 The tool unit 14 is shown in a connected state, wherein the sliding wedge (in) within the housing 30 of the tool unit 14 Figure 1 The mating surfaces 38 (not fully visible in the center) move toward each other, thereby reducing the effective diameter of the central hole 36. Figure 2 The tool unit 14 is shown in a disengaged state, wherein the mating surfaces 38 move away from each other, thereby increasing the effective diameter of the central hole 36.

[0039] If tool unit 14 is in a disengaged state (e.g., as...) Figure 2 As shown, the locking pin 18 of the robot unit 12 is located within the tool holder 50, and the locking pin 18 is located within the central recess 36. Therefore, when removed from the tool holder, the tool unit 14 is in a connected state. In the connected state, the engagement surface 38 of the sliding wedge exhibits... Figure 1 The position shown captures the engagement cap 22 of the locking post 18, thus engaging the robot unit 12 and the tool unit 14. The sliding wedge is biased to the engaged position, as by a spring, and thus the engaged state is the default state of the tool unit 14. In the engaged state, the actuating edge 40 of the sliding wedge protrudes from the side of the housing 30, as shown. Figure 1 As shown.

[0040] When the tool unit 14 is disposed in the tool holder 50 in a disengaged state ( Figure 2 , Figure 3 The actuating edge 40 is pressed inward, thus becoming flush with the housing 30. This action causes the mating surface 38 to move apart, thereby increasing the effective diameter of the central recess 36 and releasing the locking pin 18.

[0041] Refer again Figure 1In one aspect, pin 42 is disposed within housing 30 and within a central recess 36, and positioned to engage with contact 24 on engagement cap 22 of locking post 18. As described above, pin 42 may include an electrical or optical connector configured to transmit data signals between robot unit 12 and tool unit 14. A multi-conductive or optical connector 44 fixed to the side of housing 30 provides operative connection to pin 42. In other aspects, pin 42 may be replaced by a pneumatic coupling, or otherwise configured to transmit various utilities between robot unit 12 and tool unit 14. In one aspect, a hole 46 aligned with a central hole 26 of robot unit 12 extends through housing 30, thereby allowing cables, pneumatic or hydraulic fluid lines, or other components to pass through tool unit 14.

[0042] exist Figure 2 3D diagram and Figure 3 The tool holder 50 shown in the plan view has an overall shape of two prongs, including a base 52 and two opposing fork arms 54. Figure 3 As shown, the inner surface of each fork arm 54 comprises multiple distinct surfaces. At the outermost end, the engagement surface 56 receives the tool unit 14 and guides it to the center of the tool holder 50. The angled disengagement surface 58 is angled to reduce the distance between the inner walls of the two forks arm 54 as the tool unit 14 moves into the tool holder. This gradually presses down the actuation edge 40, which protrudes from the housing 30 when the tool unit 14 is in the engaged state, and transitions the tool unit 14 to the disengaged state as it moves further into the tool holder 50. The arcuate retaining surface 60 is shaped to conform to the outer diameter of the housing 30 and retains the tool unit 14 when it is fully inserted into the tool holder 50, at which point the tool unit 14 is in the fully disengaged state and releases the locking pin 18 of the robot unit 12. The engagement surface 56, the angled disengagement surface 58, and the arcuate retaining surface 60 are vertical surfaces.

[0043] The horizontal support shelf 62 extends horizontally inward at the lower portion of the engagement surface 56, the angled disengagement surface 58, and the arcuate retaining surface 60. When the tool unit 14 enters the tool holder 50, the horizontal support shelf 62 engages the tool holder slot 106 in the tool unit 14. When the tool unit 14 is in the disengaged state, the horizontal support shelf 62 supports the weight of the tool unit 14 and the attached robotic tool, and the robotic arm no longer supports them.

[0044] A ramp 62 formed in the inner edge of the horizontal support shelf 62 gradually transitions from a distance below the upper surface of the horizontal support shelf 62 at the front of the engagement surface 56 to being flush with (and thus disappearing from) the upper surface of the horizontal support shelf 62 at the rear of the angled disengagement surface 58. That is, there is no ramp 62 in the horizontal support shelf 62 along the arcuate retaining surface 60. As discussed further herein, as the tool unit 14 moves into the tool holder 50, the ramp 62 engages and lifts the manual actuation locking pin (not shown) in the tool unit 14, thereby allowing the coupling mechanism to be in a disengaged state in the manual actuation locking configuration.

[0045] The key to the mechanical actuation linkage mechanism in tool unit 14 is a pair of sliding wedges 70 with identical geometry. Figure 4 and Figure 5 One of the sliding wedges 70 is depicted. Figure 6 Two sliding wedges 70 are depicted in an inverted and longitudinally opposite configuration, wherein a main spring 86 is mounted. The sliding wedges 70 are preferably machined from a single piece of metal. The sliding wedges 70 include an engaging end 76 and an actuating end 78, the engaging end 76 having an engaging surface 38 formed on its inner edge (in... Figure 1 As can be seen in the image, the actuating end 78 has an actuating edge 40 formed as an outer edge (also visible in the image). Figure 1 (See image). The engaging end 76 and the actuating end 78 are connected by side rails 72. Each side rail 72 includes a sliding surface 74 that extends only along the length of the side rail 72.

[0046] The width W of the engaging end 76 of the sliding wedge 70 E Slightly smaller than the width W inside the opposite actuating end 78 A Therefore, when the second sliding wedge 70 is inverted and oriented opposite to the first sliding wedge 70 along its length, the engaging end 76 of the second wedge 70 will fit within the internal space of the actuating end 78 of the first wedge 70, and vice versa. Figure 6 As shown.

[0047] Figure 5 A Cartesian coordinate system is shown for reference. As used herein, the sliding wedges 70 being in an "inverted" orientation means that their upper faces or upper surfaces ( Figure 4 and Figure 5 The two sliding wedges 70 are shown facing upwards in opposite z-axis directions. In the inverted relative orientation, the sliding surfaces 74 of the side rails 72 of the two sliding wedges 70 contact each other, and the wedges 70 slide longitudinally (in the y-axis direction) relative to each other on the sliding surfaces 74. As used herein, the sliding wedges 70 being in a “longitudinal relative” orientation means that they are aligned in opposite directions along the y-axis. That is, as described above and as... Figure 6As shown, the engaging end 76 of one sliding wedge 70 is positioned adjacent to the actuating end 78 of another sliding wedge 70 (and can slide into and out of the interior space of the other sliding wedge 70), and vice versa. As used herein, "geometrically identical" for the sliding wedges 70 means that they have the same dimensions and shape. The two sliding wedges 70 in tool unit 14 are two copies or instances of the same component.

[0048] like Figure 7 As best viewed, each side rail 72 extends from the actuation edge 40 of the actuation end 78 to a slightly insufficient point at the end of the sliding wedge 70 at the engagement end 76. At this point, the side rail 72 terminates at the first mating surface 80. As described above, the sliding surface 74 extends only partially along the side rail 72 at the other end, and its termination forms the second mating surface 82. Figure 6 As shown, when the two sliding wedges 70 are engaged in an inverted and opposite longitudinal orientation, the first mating surface 80 and the second mating surface 82 abut when the engaging end 76 of one wedge 70 slides within the actuating edge 40 of the other wedge 70, and vice versa.

[0049] Figure 5 Two main spring retaining holes 84 formed in the engagement end 76 are shown. Figure 6 As shown, they hold the main spring 86, which biases the two sliding wedges apart, pushing the actuating edge 40 apart and pulling the mating surfaces 38 together. This biasing causes Figure 1 The connected position of the tool unit 14 shown is the default state. The disengaged state can only be achieved by pressing the actuating edges 40 together against the bias of the four main springs 86. As mentioned above, this occurs when the tool unit 14 is slid into the tool holder 50, but also when a person presses the two actuating edges 40 inward so that they are flush with the sides of the housing 30.

[0050] The manual actuation locking groove 88 formed in the actuation end 78 of each sliding wedge 70 is part of the manual actuation locking mechanism, which will be described more fully below.

[0051] Figure 7 This is a cross-sectional view showing the tool unit 14 in a disengaged state, such as when the tool unit 14 is housed in the tool holder 50 or when it is manually actuated. Figure 8 Tool unit 14 is shown in its default connection state. Figure 7 In the disengaged state, the central recess 36 of the tool unit 14 has a first effective diameter d measured between the engagement surfaces 38 of the two sliding wedges 70. DECOUPLED .exist Figure 8 In the connected state, the central recess 36 of the tool unit 14 has a diameter smaller than the first effective diameter d.DECOUPLED The second effective diameter d COUPLED The term "effective" diameter refers to the diameter that can pass through. Figure 8 The diameter of a circular object with a non-circular opening formed in a connected state. First effective diameter d DECOUPLED The diameter of the engaging cap 22 of the locking post 18 of the robot unit 12 is greater than that of the locking post 18 of the robot unit 12. Figure 1 , Figure 2 Second effective diameter d COUPLED The diameter is smaller than that of the engagement cap 22, but larger than that of the locking shaft 20 of the locking post 18. Therefore, when the tool unit 14 is in the disengaged state, the locking post 18 can move into the central recess 36, but in the engaged state, it is positioned with a second effective diameter d. COUPLED The spaced engagement surfaces 38 capture the engagement caps 22 of the locking post 18, thereby connecting the tool unit 14 to the robot unit 12. In one aspect, the dimensions and position of the sliding wedge are set such that if only one actuating edge 40 is pressed down, the resulting effective diameter (in d...) DECOUPLED and d COUPLED The diameter of the coupling cap 22 is still smaller than that of the coupling cap 22, thus maintaining the coupling cap 22, although it may be able to withstand a lower applied force before an undesirable disengagement occurs compared to the fully engaged state.

[0052] and Figures 4-6 compared to, Figure 7 and Figure 8 The diagram shows a main spring abutment block 90 and a manually actuated locking pin 96. The main spring abutment block 90 is rigidly attached to the housing 30 of the tool unit 14, for example, by a fastener 92 mounted in a through-hole. Each main spring abutment block 90 includes two main spring abutment surfaces 94, whose dimensions and orientation are configured such that the main spring 86 provides abutment or contact surfaces. Thus, the main spring 86 mechanically abuts against the housing 30 at one end and mechanically abuts against the sliding wedge 70 at the other end (located in a main spring retaining hole 84 in the engagement end 76 of the sliding wedge 70). Therefore, the main spring 86 biases each sliding wedge 70 outward away from the center of the housing 30 and biases the engagement surface 38 of each sliding wedge 70 inward toward... Figure 8 The fully connected position.

[0053] In some deployment scenarios, stringent safety regulations require that robotic tool changers can only be detached when the attached robotic tools are properly housed in the tool holder. In these environments, the regulations stipulate that any actuation of the coupling mechanism that would cause the tool changer to transition from a coupled to a detached state for any reason other than the tool holder must be physically / mechanically prevented. That is, human actuation of the coupling mechanism and accidental actuation due to the robot unintentionally colliding with another object (referred to as a collision) must be physically / mechanically impossible. In other deployment scenarios, such as where robotic tools are lightweight and frequently changed during use, it is advantageous for humans to actuate the robotic tool changer to detach and remove one robotic tool and attach and connect different robotic tools. These incompatible requirements traditionally necessitate different designs, and customers must choose between a tool holder-only actuated model and a tool holder or human-actuated model.

[0054] According to embodiments of this disclosure, the robot tool changer 10 and tool holder 50 include a configurable manually actuated locking mechanism. In the tool unit 14, the manually actuated locking mechanism includes a manually actuated locking groove 88 formed in the actuated end 78 of each sliding wedge 70. Figures 4-9 ) and manual actuation locking pin 96 ( Figure 7 , Figure 8 In the tool holder 50, the ramp 64 in the support surface 62 interacts with the manual actuation locking pin 96 to allow the tool holder to be actuated to the disengaged state.

[0055] Figure 9 The interaction between the manual actuation locking pin 96 and the manual actuation locking groove 88 is shown. Figure 9 The mixed state of the coupling mechanism is shown, which is not typically encountered in use, and is illustrated for the purpose of explaining the manually actuated locking mechanism. In particular, Figure 9 The diagram shows the right actuating edge 40 being pressed down (moved inward), as in the disengaged state, while the left actuating edge 40 is extended, as in the engaged state. This indicates that the manual actuation locking pin 96 does not engage the manual actuation locking groove 88 in the engaged state. Figure 9 (on the left side), and the manual actuation locking pin 96 is positioned in the disengaged state within the manual actuation locking slot 88. Figure 9 (Right side).

[0056] like Figure 10 As best seen in the cross-sectional view, the manually actuated locking pin 96 includes a central shaft 98 having a first diameter and a locking cap 100 having a second diameter greater than the first diameter. Specifically, the diameter of the central shaft 98 is smaller than the width of the manually actuated locking groove 88, and the diameter of the locking cap 100 is larger than the width of the manually actuated locking groove 88. Figure 10The central shaft 98 of the manual actuation locking pin 96, which is located in the manual actuation locking slot 88, is shown.

[0057] Figure 9 The left side shows one of the sliding wedges 70 in a coupled state, with the actuating edge 40 extending outward and the manual actuation locking pin 96 spaced apart from the manual actuation locking groove 88. The manual actuation locking pin 96 is movable in a longitudinal direction transverse to the plane of the sliding wedge 70 (i.e., in the vertical direction when the sliding wedge 70 is horizontal). The manual actuation locking pin 96 can present a first longitudinal position in which the smaller diameter central axis 98 is aligned with the manual actuation locking groove 88, as shown below. Figure 9 As shown. In this position, when the actuating edge 40 is pushed inward into the housing 30, the sliding wedge 70 moves inward, and the manual actuation locking groove 88 captures the central axis 98 of the manual actuation locking pin 96, as... Figure 10 and Figure 9 As shown on the right. In this first longitudinal position of the manually actuated locking pin 96, the tool changer 10 can be manually actuated from the engaged state to the disengaged state, i.e., when the tool unit 14 is outside the tool holder 50. Alternatively, the manually actuated locking pin 96 can be in a second longitudinal position, wherein the larger diameter locking cap 100 is aligned with the manually actuated locking groove 88. In this case, the sliding wedge 70 cannot move inward within the housing 30 regardless of the pressure applied to the actuation edge 40, because the manually actuated locking groove 88 cannot move to surround the larger diameter locking cap 100. In this second longitudinal position, the tool changer 10 cannot be manually actuated from the engaged state to the disengaged state. As discussed further herein, the tool changer 10 in this configuration can only be disengaged when placed in the tool holder 50.

[0058] A locking pin spring retaining hole 102 is formed in the manually actuated locking pin 96, which retains the locking pin spring 104, which directs the manually actuated locking pin 96 toward the second longitudinal position (downward, as shown). Figure 10 (As shown) bias. This positions the locking cap 100 adjacent to the manual actuation locking slot 88, thereby preventing or locking any possibility of manual actuation. Manual actuation locking (i.e., the manual actuation locking pin 96 is in a second longitudinal position) is the default state of tool unit 14.

[0059] Figure 11A manual actuation locking pin 96 is shown in a second longitudinal position, which prevents or locks manual actuation of the tool unit 14. The manual actuation locking pin 96 is biased to this position by a locking pin spring 104. Because nothing prevents the manual actuation locking pin 96 from moving to this second longitudinal position, it is in this position each time the tool unit 14 is removed from the tool holder 40. Therefore, manual actuation locking is the default configuration of the tool unit 14. Note that tool holder slots 106 formed in the tool unit 14 are introduced in this view. Each tool holder slot 106 (one on each side of the tool unit 14) receives a horizontal support shelf 62 on the lower inner surface of each arm 54 of the tool holder 50.

[0060] Figure 12 Tool units 14 are shown partially, but not entirely, within the tool holder 50, wherein a horizontal support shelf 62 engages with a tool holder groove 106 at the base of the arm 54 of the tool holder 50. Specifically, tool units 14 are shown at several points along the angled release surfaces 58 of each arm 54 of the tool holder 50. Figure 2 A ramp 64 formed on the inner surface of the horizontal support shelf 62 engages the lower end of the manual actuation locking pin 96. As the tool unit 14 further advances into the arm 54 of the tool holder 50, the ramp 64 pushes the manual actuation locking pin 96 further into a first longitudinal position (in...). Figure 12 (Upwards), when the angled disengagement surface 58 presses the engaging edge 40 of the sliding wedge 70 into the housing 30, the manually actuated locking pin 96 reaches the first longitudinal position. When fully inserted into the tool holder 50, the tool unit 14 rests in the arc-shaped retaining surface 60, and the central axis 98 of the manually actuated locking pin 96 is positioned in the manually actuated locking groove 88, as... Figure 10 and Figure 9 As shown on the right.

[0061] Figure 13A tool unit 14 configured to disable manual actuation locking, i.e., enabling manual disengagement of the robotic tool, is shown. A retaining screw 108 is inserted into a threaded hole below a manual actuation locking pin 96. The retaining screw 108 holds the manual actuation locking pin 96 in a first longitudinal position, in which the smaller diameter central axis 98 is aligned with a manual actuation locking groove 88, thereby allowing the tool unit 14 to be manually disengaged. The retaining screw 108 prevents the manual actuation locking pin 96 from moving to a second longitudinal position, in which a larger diameter locking cap 100 would prevent manual disengagement by not fitting within the manual actuation locking groove 88. Those skilled in the art will readily understand that any mechanism preventing the manual actuation locking pin from moving to the second longitudinal position can replace the retaining screw 108. For example, a stop surface may be slidably or rotatably movable between a stopped and unstoppable position, for example by actuating a lever or similar device on the tool unit. In some aspects, actuation of the stop surface may require a key or special tool to prevent unintentional disengagement of the manual actuation locking mechanism.

[0062] Therefore, the robot tool changer 10 according to various aspects of this disclosure can be selectively configured to enable or alternatively disable or lock manual disengagement of the robot tool. The default is manual actuation locking, wherein the tool unit 14 can only be in a disengaged state when it is housed in the tool holder 50.

[0063] Tool unit 14 includes two manually actuated locking pins 96, one positioned adjacent to a manually actuated locking slot 88 in each sliding wedge 70. However, if only one manually actuated locking pin 96 is installed, the manually actuated locking mechanism will still function. If only one sliding wedge 70 is prevented from moving to the disengaged position, as described above, tool unit 14 will still remain engaged with robot unit 12. Therefore, the inherent safety of the manually actuated locking mechanism is maintained even if, for example, a locking pin spring 104 breaks or otherwise fails, or a manually actuated locking pin 96 experiences some other malfunction.

[0064] The embodiments disclosed present significant advantages over the prior art and can achieve one or more of the following technical effects. The mechanically actuated robot tool changer 10 securely attaches a robot tool to an actuator, such as a robot arm. The tool changer 10 is compact, thus saving space and weight on the robot tool stack. Mechanical actuation eliminates the need for electric, pneumatic, or other power sources. The tool changer 10 may include utility transfer modules, for example via pins 42 and contacts 24, and conventional utility transfer modules can be externally attached to the tool changer 10. For safety, the tool unit 14 is biased to the attached state by default and can only be disengaged from the robot unit 12 by pressing the actuation edge 40. In the default configuration of the manual locking mechanism, this disengagement can only be performed when the tool unit 14 is securely housed in the tool holder 50; manual disengagement or disengagement by robot collision is mechanically prevented. The tool unit 14 can be configured to disable the manual locking mechanism by inserting two retaining screws 106, thereby allowing manual disengagement of the robot tool. Therefore, a single robotic tool changer 10 addresses two distinct safety requirements in the robotics industry with a single configurable device. In a configuration where manual locking is disabled, even if an actuating edge 40 is accidentally pressed, the tool unit 14 will not completely disengage and will remain connected to the robotic unit 12.

[0065] Generally, unless a different meaning is explicitly stated and / or implied from the context of its use, all terms used herein shall be interpreted according to their common meaning in the relevant technical field. Unless otherwise expressly stated, all references to elements, devices, components, apparatuses, steps, etc., shall be openly interpreted as referring to at least one instance of that element, device, component, apparatus, step, etc. Any feature of any aspect disclosed herein may be applied to any other aspect where appropriate. Similarly, any advantage of any aspect may be applied to any other aspect, and vice versa. Other objects, features, and advantages of the disclosed aspects will become apparent from this specification.

[0066] As used herein, the term “configured to” means to be set up, organized, adapted, or arranged to operate in a particular manner; the term is synonymous with “designed to”, or, in the case of circuitry and / or software, with “programmed to”.

[0067] Of course, this disclosure may be practiced in ways other than those specifically set forth herein without departing from its essential characteristics. All aspects of this disclosure should be considered illustrative rather than restrictive in all respects, and all variations in the meaning and scope of the appended claims are intended to be included therein.

Claims

1. A mechanically actuated robotic tool changer system (11), comprising: A robot unit (12) is configured to be connected to an actuator and includes a locking pin (18); A tool unit (14), having a housing (30) and configured to be connected to a robot tool, has a central recess (36) and includes a pair of sliding wedges (70) arranged inverted and longitudinally opposite to each other, the sliding wedges (70) being biased apart to present a default engagement state in which the locking pin (18) of the robot unit (12) is captured in the central recess (36) of the tool unit (14) to engage the tool unit (14) to the robot unit (12), and is movable toward each other to present a disengaged state in which the locking pin (18) of the robot unit (12) is released.

2. The system (11) according to claim 1, wherein The locking post (18) of the robot unit (12) includes a locking shaft (20) having a first diameter and an engagement cap (22) rigidly fixed to the locking shaft and having a second diameter larger than the first diameter; and In the disengaged state, the sliding wedge (70) forms a first effective diameter of the central recess (36) that is larger than the diameter of the engagement cap (22); and In the connected state, the sliding wedge (70) forms a second effective diameter of the central recess (36) that is smaller than the diameter of the engagement cap (22) but larger than the diameter of the locking shaft (20).

3. The system (11) according to claim 2, wherein Each sliding wedge (70) includes an actuating edge (40) that protrudes outward from the housing (30) of the tool unit in the engaged state and is flush with the housing (30) of the tool unit in the disengaged state.

4. The system (11) according to claim 3, wherein, Each sliding wedge (70) includes: The mating end (76) has a mating surface (38) in its inner edge and a first width (W) between its outer edges. E ); The actuating end (78) has an actuating edge (40) on its outer edge and is defined to have at least a portion greater than the first width (W). E Width (W) A The interior space of ) and Two side rails (72) connect the engagement end (76) and the actuation end (78).

5. The system (11) according to claim 4, wherein, When the two sliding wedges (70) are in an inverted and longitudinally opposite configuration, the engaging end (76) of one sliding wedge (70) is configured to move into and out of the internal space of the actuating end (78) of the other sliding wedge (70), and vice versa; and also includes a main spring (86) configured to bias the sliding wedges (70) outward to separate them from each other.

6. The system (11) according to claim 5, wherein When the two sliding wedges (70) move outward and separate from each other under the bias of the main spring (86), the engagement surfaces (38) of the two sliding wedges move closer together, and in the engaged state, a second effective diameter (d) of the central recess (36) of the tool unit (14) is formed. COUPLED );and When the two sliding wedges (70) move inward toward each other by pressing the actuating edge, the engagement surfaces (38) of the two sliding wedges (70) further move apart, and in the disengaged state, the first effective diameter (d) of the central recess (36) of the tool unit (14) is formed. DECOUPLED ).

7. The system (11) according to claim 6 further includes a manually actuated locking mechanism, the manually actuated locking mechanism comprising: A manual actuation locking groove (88) is formed in the actuation end (78) of each sliding wedge (70); and At least one manually actuated locking pin (96) includes a central shaft (98) having a first diameter smaller than the width of the manually actuated locking groove (88) and a locking cap (100) having a second diameter larger than the width of the manually actuated locking groove (88); in, The manual actuation locking pin (96) is disposed in the housing (30) of the tool unit (14) and aligned with the manual actuation locking groove (88) of the sliding wedge (70); The manually actuated locking pin (96) is movable between a first longitudinal position and a second longitudinal position in the longitudinal direction transverse to the plane of the sliding wedge (70), and is biased toward the second longitudinal position. In the first longitudinal position, the locking cap (100) is positioned outside the plane of the sliding wedge (70), and when the sliding wedge (70) moves inward to present the disengaged state, the central shaft (98) enters the manually actuated locking groove (88); and In the second longitudinal position, the locking cap (100) is positioned adjacent to the manually actuated locking groove (88) to prevent the sliding wedge (70) from moving inward to present the disengaged state.

8. The system (11) of claim 7 further includes a retaining screw (106) removably disposed in the housing (30) of the tool unit, the retaining screw (106) being positioned and configured to prevent the manually actuated locking pin (96) from moving to the second longitudinal position.

9. The system (11) of claim 7 further includes a tool holder (50) configured to hold and support the tool unit (14) and the attached robotic tool, and further configured to press the sliding wedges (70) toward each other to place the tool unit (14) in a disengaged state, the tool holder (50) being configured to move the manually actuated locking pin (96) from the second longitudinal position to the first longitudinal position when the tool unit (14) is moved into the tool holder (50).

10. A mechanically actuated robotic tool changer (10), comprising: A robot unit (12) is configured to be connected to an actuator and includes a locking pin (18); Tool unit (14), having a housing (30) and configured to be connected to a robot tool, having a central recess (36), and including a pair of geometrically identical sliding wedges (70) in an inverted and longitudinally opposed configuration, the sliding wedges (70) being biased apart to present a default engagement state in which the locking pin (18) of the robot unit is captured in the central recess (36) of the tool unit (14) to engage the tool unit (14) to the robot unit (12), and is movable toward each other to present a disengaged state in which the locking pin (18) of the robot unit (12) is released; as well as A manual actuation locking mechanism is configured to prevent manual actuation of the sliding wedge (70) from the engaged state to the disengaged state, wherein actuation of the sliding wedge (70) from the engaged state to the disengaged state can only occur by placing the tool unit (14) in the associated tool holder (50).

11. The tool changer (10) according to claim 10, wherein, The manual actuation locking mechanism is configured to be disabled by inserting a fixing screw (108) into the tool unit (14), thereby enabling the sliding wedge (70) to be actuated from the engaged state to the disengaged state when the manual actuation locking mechanism is disabled and the tool unit (14) is not located in the tool holder (50).

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