ROBOT TOOL CHANGER WITH INTEGRATED FORCE / TORQUE SENSOR

Abstract

A robot tool changer comprises a master-side assembly coupled to a robot arm and a tool-side assembly coupled to and positioned between the master-side assembly and a tool used by the robot. Additionally, a locking mechanism and a force / torque sensor are integrated into either the master-side or the tool-side assembly. The locking mechanism moves between a locked and an unlocked position to lock and unlock the master-side assembly to and from the tool-side assembly. The force / torque sensor has sensing structures that deform elastically in response to an applied force and transducers attached to the sensing structures. The transducers send electrical signals, representing the magnitude and direction of a detected applied force, to a measurement circuit.The force / torque sensor, part of the locking mechanism, and the master-side or tool-side arrangement into which they are integrated can form a single unit.

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