Tooling Arm Adapter-Receiver Assembly

Abstract

An exemplary assembly includes an adapter configured to couple to a tooling arm, a receiver configured to receive the adapter therein, a split ring bushing disposed within the receiver, and a spring biasing the split ring bushing distally, wherein the adapter includes a tapered proximal end and the split ring bushing has a tapered inner surface, such that when the adapter is pushed proximally within the receiver, the tapered proximal end of the adapter is received within the split ring bushing and interfaces with the tapered inner surface of the split ring bushing, causing the split ring bushing to expand against the inner surface of the receiver, thereby securing the split ring bushing in place and reducing slack between the adapter and the receiver.

Description

[Technical Field]

[0001] This application relates to an adapter-receiver assembly for a tooling arm. [Background technology]

[0002] Some industrial machines, such as stamping presses, use quick-connect mounting mechanisms to attach an adapter (to which a tooling arm can be coupled) to a mount receiver without completely disassembling the mount mechanism. The problem with these quick-connect mounting mechanisms is that a relatively large amount of space is required in front of the mount receiver to slide the adapter into it.

[0003] Additionally, when attaching the adapter to the receiver, it may be desirable to ensure there is no slack between the adapter and the receiver, as any slack will increase with increasing distance and may cause the tooling arm to wobble, which may be undesirable in some applications.

[0004] In some instances, a manual handle can be used to tighten a fastener (e.g., a screw) to secure the adapter within the receiver. For example, when the handle is rotated, the threads engage the adapter, minimizing loosening of the adapter within the mount receiver.

[0005] One drawback of such an arrangement is that an operator may forget to use the handle. If this occurs, the adapter may become loose within the mount receiver during operation. Thus, an arrangement that does not rely on manual or human intervention to secure the adapter within the receiver with minimal looseness may be desirable. It is with respect to these and other considerations that the present disclosure is presented. Summary of the Invention

[0006] In the examples described herein, the present disclosure describes embodiments relating to an adapter-receiver assembly for a tooling arm, as well as methods and systems relating to the adapter-receiver assembly.

[0007] In a first example embodiment, the present disclosure describes an assembly including an adapter configured to couple to a tooling arm and a receiver configured to receive the adapter therein; the adapter includes: (i) a cylindrical body portion having a lateral recess; (ii) a bore; and (iii) an adapter pin disposed through the bore, the adapter pin including a conical tip; The receiver has a receiver body including (i) a lateral opening configured to receive the lateral recess of the adapter, (ii) a pin cavity, (iii) a collet disposed within the pin cavity, and (iv) a spring disposed within the pin cavity to bias the collet in a distal direction, the collet being segmented to allow expansion of the collet, and the collet having a conical cavity. The lateral recesses of the adapter pass through the lateral openings in the receiver body to mount the adapter within the receiver, and then the adapter is pushed proximally within the receiver, causing the adapter pin to be inserted into the pin cavity in the receiver body and pushing the collet proximally against the spring, the conical tip of the adapter pin being received within the conical cavity of the collet, and the collet expanding, forcing the outer surface of the collet against the inner surface of the receiver body surrounding the pin cavity, thereby locking the collet in place and reducing slack between the adapter and receiver.

[0008] In a second example embodiment, the present disclosure describes an assembly including an adapter configured to couple to a tooling arm, a receiver configured to receive the adapter therein, a split ring bushing disposed within the receiver, and a spring biasing the split ring bushing distally, the adapter including a tapered proximal end, the split ring bushing having a split that allows the split ring bushing to expand, the split ring bushing having a tapered inner surface; When the adapter is pushed proximally into the receiver, the tapered proximal end of the adapter is received within the split ring bushing and interfaces with the tapered inner surface of the split ring bushing, causing the split ring bushing to expand against the inner surface of the receiver, thereby locking the split ring bushing in place and reducing slack between the adapter and receiver.

[0009] In a third example embodiment, the present disclosure describes a receiver configured to internally receive an adapter coupled to a tooling arm, the receiver including a receiver body, a receiver end plate attached to a proximal end of the receiver body, a split ring bushing disposed at an interface between the receiver body and the receiver end plate within the receiver, and a second spring distally biasing the split ring bushing, the receiver body including (i) a lateral opening, (ii) a pin cavity, (iii) a collet disposed within the pin cavity, and (iv) a first spring distally biasing the collet, the collet being segmented to allow expansion of the collet, the collet having a conical cavity, the split ring bushing being segmented to allow expansion of the split ring bushing, and the split ring bushing having a tapered inner surface.

[0010] In a fourth example embodiment, the present disclosure describes a method comprising the steps of providing a receiver having a receiver body, the receiver body including: (i) a lateral opening, (ii) a pin cavity, (iii) a collet disposed within the pin cavity, and (iv) a spring disposed within the pin cavity to bias the collet distally, the collet being segmented to allow expansion of the collet, the collet having a conical cavity; providing an adapter configured to couple to a tooling arm, the adapter including: (i) a cylindrical body portion having a lateral recess; and (ii) an adapter pin including a conical tip; aligning a lateral recess of the adapter with a lateral opening of the receiver; positioning the adapter within the receiver body by laterally moving the adapter so that the lateral recesses of the adapter pass through the lateral openings of the receiver body and aligning the adapter pins with the pin cavities of the receiver body; and pushing the adapter proximally within the receiver, thereby inserting the adapter pin into the pin cavity of the receiver body, whereby the conical tip of the adapter pin is received in the conical cavity of the collet, and the adapter pin pushing the collet proximally against a spring, causing the collet to expand and force the outer surface of the collet against the inner surface of the receiver body surrounding the pin cavity, locking the collet in place and reducing slack between the adapter and the receiver.

[0011] The above summary is intended to be illustrative only and is not limiting of the invention. In addition to the exemplary aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description. [Brief explanation of the drawings]

[0012] The novel features believed characteristic of the illustrative embodiments are set forth in the appended claims. However, the illustrative embodiments, as well as their preferred modes of use, further objects and explanations thereof, will best be understood by reference to the following detailed description of illustrative embodiments of the present disclosure, when read in conjunction with the accompanying drawings. [Figure 1] FIG. 1 illustrates a system for grasping and moving an object, according to an exemplary embodiment. [Figure 2] FIG. 1 is a perspective view of an adapter and receiver assembly according to an exemplary embodiment. [Figure 3] 3 is a perspective view of the adapter of FIG. 2 according to an exemplary embodiment. [Figure 4] 3 is a perspective view of the receiver of FIG. 2 according to an exemplary embodiment. [Figure 5] FIG. 1 is a perspective view of an adapter partially attached to a receiver, according to an exemplary embodiment. [Figure 6] 3 is a perspective cross-sectional view of the assembly of FIG. 2 according to an exemplary embodiment. [Figure 7] FIG. 3 is an exploded perspective view of the assembly of FIG. 2 according to an exemplary embodiment. [Figure 8] 3 is a partial cross-sectional side view of the assembly of FIG. 2 according to an exemplary embodiment. [Figure 9A] FIG. 2 is a perspective top view of a collet according to an exemplary embodiment. [Figure 9B] FIG. 9B is a perspective bottom view of the collet of FIG. 9A according to an exemplary embodiment. [Figure 10] 3 is another exploded perspective view of the assembly of FIG. 2 according to an exemplary embodiment. [Figure 11] 3 is a partial cross-sectional side view of the assembly of FIG. 2 according to an exemplary embodiment. [Figure 12A] FIG. 1 is a perspective view of a split ring bushing according to an exemplary embodiment. [Figure 12B] FIG. 12B is a partial cross-sectional view of the split ring bushing of FIG. 12A according to an exemplary embodiment. [Figure 13]FIG. 4 is a partial perspective view of the proximal end of the adapter of FIG. 3 according to an exemplary embodiment. [Figure 14] 3 is a flowchart of a method for coupling the adapter of FIG. 2 to the receiver of FIG. 2 according to an exemplary embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] The disclosed embodiments are described in more detail below with reference to the accompanying drawings, which illustrate some, but not all, of the disclosed embodiments. Indeed, several different embodiments may be described, and these different embodiments should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are described so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0014] 1 illustrates a system 100 for gripping and moving an object, according to an exemplary embodiment. As an example, the system 100 may be associated with a stamping press in an industrial facility. In this example, the object may be, for example, a panel for forming a vehicle door or other panel.

[0015] System 100 includes a rail, such as rail 102, that is movable by an actuation system (not shown) to move an object (e.g., move an object between stations in a stamping press). Assembly 104 is used to attach tooling arm 106 to rail 102. Assembly 104 includes a receiver 108 attached to rail 102 and an adapter 110 attached to or received within receiver 108.

[0016] A tooling arm 106 coupled to assembly 104 is fitted with a gripper or other type of end effector for gripping an object. For example, tooling arm 106 has gripper 112 attached to one end thereof. Gripper 112 grips an object and facilitates its movement (e.g., from one station of a stamping press to another).

[0017] In some applications, it may be desirable to reduce or eliminate looseness or rattle in the assembly 104 during operation of the system 100 because such looseness can be amplified along the length of the tooling arm 106 and cause undesirable rattle of the object. Furthermore, such looseness can shorten the lifespan of electrical connections (wires, pins, conductors, sockets, etc.). While tight tolerances can be maintained during the manufacture of the adapters and receivers to reduce or eliminate looseness, such tight tolerances can be costly. Even if tight tolerances can be maintained at a cost, looseness can increase over time.

[0018] A manual mechanism may be provided to allow an operator to tighten the adapters to their respective receivers. However, a human operator may forget to use this mechanism, or tightening the adapters may not be part of the operations performed at the manufacturing facility. Furthermore, a mechanism that relies on operator action may be prone to operator error. Thus, it may be desirable to configure assembly 104 in a cost-effective manner that reduces or eliminates loosening without human intervention.

[0019] Figure 2 shows a perspective view of an assembly 200 consisting of an adapter 202 and a receiver 204, according to an exemplary embodiment, Figure 3 shows a perspective view of the adapter 202, and Figure 4 shows a perspective view of the receiver 204. The assembly 200 can represent any of the assemblies 104 described above. Thus, the adapter 202 can represent the adapter 110, and the receiver 204 can represent the receiver 108.

[0020] 3, the adapter 202 has a cylindrical body portion 300 that is formed as a generally cylindrical shape. In one example, the adapter 202 may be substantially hollow.

[0021] Cylindrical body portion 300 has a proximal portion 302, a distal portion 304, and an intermediate portion 306 longitudinally interposed between proximal portion 302 and distal portion 304. Proximal portion 302 and distal portion 304 are generally cylindrical and have approximately the same diameter. Intermediate portion 306 has a lateral recess 308 bounded by a proximal surface 310 and a distal surface 312.

[0022] Proximal portion 302 has a recess, depression, or notch 314. Proximal portion 302 further includes a tapered proximal end 315.

[0023] Midsection 306 has a lateral recess 316 that includes holes 318 and 320. Holes 318, 320 can be, for example, threaded holes configured to receive respective assemblies that include pneumatic ports. As described below, lateral recess 316 is configured to receive a block (see block 114 in FIG. 1 ) that allows air to flow to a gripper, such as gripper 112, when the gripper is pneumatically actuated. Tip section 304 has a lateral recess 322 that has an electrical port 324. If the gripper is electrically actuated or has a sensor that returns an electrical signal to a controller, electrical wires can be connected to the gripper, such as gripper 112, from an electrical connector (see electrical connector 416 in FIG. 4 ) located within receiver 204 through electrical port 324.

[0024] The adapter 202 further includes a collar 326 coupled to or integral with the tip portion 304 of the adapter 202. The collar 326 includes a pair of opposing flanges: a first flange 328 on a first side of the collar 326 and a second flange 330 on a second side of the collar 326, the second flange 330 being diametrically opposite the first flange 328. The collar 326 further includes a curved lower surface 332.

[0025] Further, as shown in FIG. 3, the first flange 328 includes a first hole 329 (see FIGS. 7-8) through which a first adapter pin 334 is disposed. Similarly, the second flange 330 includes a second hole 331 (see FIG. 7) through which a second adapter pin 336 is disposed. The adapter pins 334, 336 may be made of, for example, steel. The adapter pins 334, 336 are disposed generally parallel to a longitudinal axis 337 of the adapter 202. While two adapter pins are shown and described, in other examples, at least one adapter pin may be used. Furthermore, the location of such adapter pins may vary.

[0026] Adapter 202 further includes an interface 338 disposed at a distal end of adapter 202 and coupled to or integral with collar 326. Interface 338 allows the adapter to couple to a tooling arm (e.g., tooling arm 106 shown in FIG. 1). Although interface 338 shown in FIG. 3 may be referred to as a "half clamp," other interface configurations may be used based on the adapter type and the configuration of the tooling arm to which adapter 202 mates. By way of example, interface 338 may take the form of a ball, bifurcated clamp, stud, flange face, angle clamp, spline clamp, tube, etc.

[0027] 4, receiver 204 includes a receiver body 400 and a receiver end plate 402 attached to a proximal end of receiver body 400. Receiver body 400 has a longitudinal cavity 404 configured to receive adapter 202 therethrough. Receiver body 400 includes openings 401 and 403 configured to receive respective fasteners for securing receiver 204 to, for example, rail 102 shown in FIG.

[0028] The distal end of receiver body 400 has a pair of spaced apart, opposing flanges, including flange 406 and flange 408, that define a lateral opening 410 therebetween. Lateral opening 410 has a dimension (e.g., width) that is greater than the respective dimensions of lateral recesses 308 of intermediate portion 306 of adapter 202, allowing intermediate portion 306 to pass laterally (e.g., vertically in FIG. 4 ) between flanges 406, 408 of receiver body 400.

[0029] The inner dimensions (e.g., inner diameter) of the inner peripheral surface (e.g., the surface surrounding the longitudinal cavity 404 ) of the receiver body 400 match (e.g., are substantially equal to) the outer dimensions of the proximal and distal portions 302 , 304 of the adapter 202 .

[0030] The receiver 204 has a guide portion 412 formed protruding from a distal end of the receiver 204 and configured to guide the adapter 202 as the adapter 202 is inserted into the receiver 204. In one example, the guide portion 412 is a separate component that is fixed to the receiver 204. In another example, the guide portion 412 is integral with the receiver body 400.

[0031] The guide portion 412 has a curved upper surface 414 (e.g., the guide portion 412 is concave) that is formed to substantially correspond to the curved lower surface 332 of the collar 326 of the adapter 202. The curved upper surface 414 of the guide portion 412 is positioned slightly below the longitudinal cavity 404 of the receiver 204. When the adapter 202 is positioned within the receiver 204, the curved lower surface 332 of the collar 326 is received in the curved upper surface 414 of the guide portion 412.

[0032] In one example, the receiver 204 includes an electrical connector 416 attached to a proximal end of the receiver 204. The electrical connector 416 can be electrically coupled to a power source, controller, etc. via wires / cables. In this example, when the adapter 202 is attached to the receiver 204, wires can extend from the electrical connector 416 through the hollow interior of the adapter 202 and through the electrical port 324 of the adapter 202. The wires can then be provided to a gripper (e.g., gripper 112) to provide electrical signals or power to the gripper and receive electrical signals from the gripper (e.g., from a sensor attached to the gripper 112).

[0033] In one example, the receiver 204 further includes a first air pressure port 418 and a second air pressure port 420. The air pressure ports 418, 420 each receive an air supply tube from an air supply source. Additionally, check valves may be disposed in the air pressure ports 418, 420.

[0034] 3, the adapter 202 includes holes 318, 320 configured to receive a block therein (see block 114 shown in FIG. 1). When the adapter 202 is inserted into the receiver 204, such a block coupled to the adapter 202 activates check valves located in pneumatic ports 418, 420 of the receiver 204, thereby allowing air to flow to and from the block to a gripper (e.g., gripper 112).

[0035] In one example, the receiver body 400 includes a pin cavity 422 and a pin cavity 424. The pin cavities 422, 424 may be formed as generally cylindrical longitudinal cavities or blind holes formed in the receiver 204. The pin cavities 422, 424 are configured to receive the adapter pins 334, 336 when the adapter 202 is inserted into the receiver 204. As described in more detail below, the receiver body 400 includes features disposed within the pin cavities 422, 424 that couple the adapter 202 to the receiver 204 in a manner that reduces or eliminates backlash between the adapter 202 and the receiver 204. In one example, additionally or alternatively, as described below, the receiver end plate 402 may further include a feature that interacts with the tapered proximal end 315 of the adapter 202 to reduce or eliminate backlash between the adapter 202 and the receiver 204.

[0036] The receiver 204 further includes an adapter retention mechanism 426 configured to retain the adapter 202 within the receiver 204. The adapter retention mechanism 426 has a handle 428. As described below, the handle 428 is used to release the adapter 202 so that the adapter 202 can be removed from the receiver 204.

[0037] To install the adapter 202 within the receiver 204, the intermediate portion 306 of the adapter 202 can be laterally aligned with (e.g., positioned over) the lateral opening 410 between the flanges 406, 408 of the receiver body 400. The adapter 202 can then be moved laterally (e.g., dropped downward) to position the adapter 202 within the longitudinal cavity 404.

[0038] FIG. 5 illustrates a perspective view of the adapter 202 partially attached to the receiver 204, according to an exemplary embodiment. In particular, FIG. 5 illustrates an intermediate step in coupling the adapter 202 to the receiver 204. As shown, the intermediate portion 306 of the adapter 202 is laterally aligned with the lateral opening 410 and then moved laterally to position the adapter 202 within the longitudinal cavity 404. The next step is to push the adapter 202 proximally to fully attach and couple the adapter 202 to the receiver 204.

[0039] 6 illustrates a perspective cross-sectional view of assembly 200 according to an exemplary embodiment. Adapter retention mechanism 426 includes a housing 600 mounted at least partially within receiver body 400. Housing 600 has a cavity in which a dowel 602 is disposed, and handle 428 is coupled to and movable with dowel 602. In one example, dowel 602 is configured as a square or rectangular peg, as shown in FIG. 6, although other shapes (e.g., cylindrical or other shapes) are also contemplated.

[0040] The dowel 602 has a protrusion 604 configured as a spring cap or retainer for a spring 606 mounted in a spring cavity within the housing 600. The dowel 602 has a chamfered or tapered distal tip 608 configured to protrude into the longitudinal cavity 404 of the receiver 204.

[0041] As the adapter 202 is moved proximally within the longitudinal cavity 404 of the receiver 204, the tapered proximal end 315 of the adapter 202 presses against the tapered surface of the tapered distal tip 608 of the dowel 602, thereby forcing the dowel 602 and handle 428 outward. As the dowel 602 moves outward, the protrusion 604 presses the spring 606 against the inner surface of the housing 600.

[0042] The adapter 202 can be moved proximally until the lateral recess 308 in the intermediate portion 306 of the adapter 202 is axially aligned with the dowel 602. Once the dowel 602 is aligned with the lateral recess 308, the spring 606 urges the dowel 602 inward, causing the dowel 602 to extend into the lateral recess 308. The dowel 602 then interacts with the proximal surface 310 surrounding the lateral recess 308, preventing the adapter 202 from retracting distally. In other words, the dowel 602 locks or holds the adapter 202 in place.

[0043] When it is desired to remove the adapter 202 from the receiver 204, the operator can use the handle 428 to pull the dowel 602 outward against the spring 606. Once the dowel 602 is pulled out of the way and no longer in contact with the proximal face 310, the adapter 202 can be pulled distally from the longitudinal cavity 404 of the receiver 204.

[0044] In one example, the assembly 200 includes a handle 610 that can be manually rotated by an operator to lock the adapter 202 in place and reduce loosening of the adapter 202 within the receiver 204. For example, the handle 610 can have a cylindrical portion 612 that threads into an opening 614 formed in the receiver body 400.

[0045] When the handle 610 is rotated in a particular direction (e.g., clockwise), the cylindrical portion 612 threads into the receiver body 400 and protrudes into a notch 314 (see FIG. 3 ) in the adapter 202, contacting the outer surface of the adapter 202 and locking the adapter 202 into the receiver 204. When the handle 610 is rotated in the opposite direction (e.g., counterclockwise), the cylindrical portion 612 disengages from the notch 314 and moves away from the adapter 202, allowing the adapter 202 to be withdrawn from the receiver 204.

[0046] The handle 610 can be used to manually secure the adapter 202 within the receiver 204 and minimize backlash, but this relies on human intervention. If an operator forgets to rotate the handle 610 (or if some operators or operations are not accustomed to using the handle 610), backlash can occur between the adapter 202 and the receiver 204, affecting the operation of the system 100. Thus, it may be desirable to rely on an alternative mechanism for securing the adapter 202 within the receiver 204 without an additional step requiring operator action.

[0047] In particular, when the adapter 202 is inserted into the receiver 204, the adapter pins 334, 336 are aligned with and inserted into the pin cavities 422, 424 of the receiver 204. The receiver 204 includes features disposed within the pin cavities 422, 424 that capture and secure the adapter pins 334, 336 in place, reducing backlash between the adapter 202 and the receiver 204.

[0048] 7 shows an exploded perspective view of assembly 200 according to an exemplary embodiment. Assembly 200 includes a spring 700, a collet 702, and a bushing 704 that are disposed within pin cavity 422 of receiver body 400 and configured to capture adapter pin 334. Similarly, assembly 200 includes a spring 706, a collet 708, and a bushing 710 that are disposed within pin cavity 424 of receiver body 400 and configured to capture adapter pin 336.

[0049] 8 illustrates a partial cross-sectional side view of assembly 200 according to an exemplary embodiment. As shown in FIG. 8, pin cavity 422 may be formed as a blind hole that is generally cylindrical and surrounded by a proximal end face 800. Pin cavity 422 houses spring 700, collet 702, and bushing 704 therein.

[0050] 9A shows a perspective top view of collet 702 according to an exemplary embodiment, and FIG. 9B shows a perspective bottom view of collet 702. Collet 702 may also be referred to as a split bushing, segmented sleeve, or segmented collar. In one example, collet 702 is made of a plastic material so that collet 702 is flexible and expandable.

[0051] Collet 702 has a cylindrical body portion 900 that is segmented or divided longitudinally into multiple segments, such as segment 902, segment 904, and segment 906. More or fewer segments may be used.

[0052] 9B, the inner surfaces of segments 902-906 are tapered such that collet 702 has a conical cavity 908 formed therein. Conical cavity 908 is configured to receive and conform to conical tip 802 of adapter pin 334, as shown in FIG.

[0053] Collet 702 further includes a proximal tip portion 910 that includes links connecting each of segments 902-906. As shown, proximal tip portion 910 has a pyramidal shape that converges to a proximal tip 912.

[0054] 8, proximal tip portion 910 is configured as a spring guide around which the distal portion of spring 700 is disposed. The distal end of spring 700 rests against the proximal face of cylindrical body portion 900 of collet 702, and the proximal end of spring 700 rests against proximal face 800 surrounding pin cavity 422.

[0055] When the adapter 202 is inserted laterally into the receiver 204, the adapter pin 334 is aligned with the pin cavity 422. The adapter 202 is then pushed proximally, thereby inserting the adapter pin 334 into the pin cavity 422. The bushing 704 functions as a guide for the adapter pin 334. Furthermore, when a tooling arm (e.g., tooling arm 106) applies torque to the adapter 202, the bushing 704 can receive or absorb such torque load from the adapter pin 334. The conical tip 802 of the adapter pin 334 is received within the conical cavity 908 of the adapter pin 334.

[0056] Collet 702 can be configured so that there is a small clearance between its outer surface and the inner surface of receiver body 400 that surrounds pin cavity 422. The segmented or split configuration allows collet 702 to expand when adapter pin 334 is inserted into pin cavity 422 and received within collet 702.

[0057] In particular, when adapter pin 334 pushes collet 702 proximally while spring 700 exerts a distal force on collet 702, collet 702 expands due to the split configuration. As collet 702 expands, it fills the clearance or space between collet 702 and the inner surface of receiver body 400 that surrounds pin cavity 422. In this manner, the outer surface of collet 702 presses against the inner surface of receiver body 400 that surrounds pin cavity 422, locking collet 702 in place.

[0058] 8 shows pin cavity 422 of receiver 204 and associated components (spring 700, collet 702, bushing 704, and adapter pin 334). The above description is also applicable to pin cavity 424, spring 706, collet 708, bushing 710, and adapter pin 336, which operate in a similar manner. Thus, collet 708 expands through adapter pin 336 and locks into place within pin cavity 424.

[0059] Because both collets 702, 708 are secured to an interior surface within the receiver body 400, looseness between the adapter 202 and receiver 204 is reduced or eliminated. In some instances, only one adapter pin may be used.

[0060] When the adapter 202 is removed from the receiver 204, the spring 700 can urge the collet 702 distally toward the bushing 704. To prevent the bushing 704 from being ejected from the pin cavity 422, the bushing 704 has an annular external groove 804 configured to receive a retention screw 806 disposed partially through the receiver body 400. With this configuration, the retention screw 806 retains the bushing 704 in the receiver body 400 and prevents the bushing 704 from being ejected.

[0061] Additionally or alternatively, the assembly 200 may include other features at the interface between the receiver body 400 and the receiver end plate 402 that reduce or eliminate slack between the adapter 202 and the receiver 204 .

[0062] 10 shows another exploded perspective view of assembly 200 according to an exemplary embodiment. As shown, assembly 200 includes a plurality of fasteners, such as fastener 1000, configured to couple receiver end plate 402 to receiver body 400. For example, fasteners may be inserted through holes 1002 in receiver end plate 402 and then threaded into threaded holes 1004 in receiver body 400 that are aligned with holes 1002. In this manner, receiver end plate 402 may be secured to receiver body 400.

[0063] At the interface between the receiver body 400 and the receiver end plate 402, the assembly includes a split ring bushing 1006 and a spring 1008. In the exemplary embodiment shown in FIG. 10, the spring 1008 is a multi-loop wave spring. While a wave spring is used as an example, other types of springs (e.g., coil springs, frusto-conical or cup-shaped washers, etc.) may also be used. The split ring bushing 1006 and spring 1008 further lock the adapter 202 to the receiver 204, reducing or eliminating looseness.

[0064] 11 illustrates a partial cross-sectional side view of assembly 200 according to an exemplary embodiment. As shown in FIG. 11, receiver end plate 402 has a stepped cavity 1100 at its distal end configured to receive and accommodate spring 1008 therein.

[0065] The receiver body 400 has an annular groove 1102 configured to receive a portion of the split ring bushing 1006, while another portion of the split ring bushing 1006 is received in a stepped cavity 1100 in the receiver end plate 402. In other words, the split ring bushing 1006 is partially disposed within the receiver body 400 and partially disposed within the receiver end plate 402. The split ring bushing 1006 is configured so that there is a slight clearance between its outer surface and the inner surface of the receiver body 400 that surrounds the annular groove 1102.

[0066] FIG. 12A shows a perspective view of a split ring bushing 1006 according to an exemplary embodiment, and FIG. 12B shows a partial cross-sectional view of the split ring bushing 1006. As shown, the split ring bushing 1006 is ring-shaped and segmented, or has a split 1200 (opening or gap) that allows the split ring bushing 1006 to expand. The split ring bushing 1006 further includes a first recess 1202 and a second recess 1204. In examples where the receiver 204 includes check valves disposed in the pneumatic ports 418, 420 of the receiver 204, the recesses 1202, 1204 accommodate such check valves. The split ring bushing 1006 further includes a tapered inner surface 1206 and a flange 1208 against which the spring 1008 abuts.

[0067] 13 illustrates a partial perspective view of the proximal end of adapter 202 according to an exemplary embodiment. As shown, adapter 202 has a tapered proximal end 315 and a substantially flat proximal face 1300. When adapter 202 is inserted into receiver 204, adapter 202 is moved proximally until tapered proximal end 315 is received within split ring bushing 1006 and interfaces with tapered inner surface 1206 of split ring bushing 1006.

[0068] 11, when the adapter 202 is inserted into the receiver 204 to the position shown in FIG. 11, the adapter 202 pushes the split ring bushing 1006 proximally, while the spring 1008 exerts a distal force on the split ring bushing 1006. As a result, the split ring bushing 1006 expands due to its split configuration.

[0069] As the split ring bushing 1006 expands, its outer surface presses against the inner surface of the receiver body 400 surrounding the annular groove 1102. In this manner, the split ring bushing 1006 is secured to the inner surface of the receiver body 400 surrounding the annular groove 1102.

[0070] 14 is a flowchart of a method 1400 of coupling an adapter 202 to a receiver 204, according to an example embodiment, to form an assembly 200. The method 1400 may include one or more operations, functions, or actions, as shown in one or more of blocks 1402-1410.

[0071] Although these blocks are shown sequentially, they may be performed in parallel or in a different order than described herein. Additionally, various blocks may be combined into fewer blocks, divided into additional blocks, and / or eliminated, based on the desired implementation. In this and other processes and methods disclosed herein, it should be understood that the flowcharts illustrate the functionality and operation of one possible implementation of an example of the invention. Alternative implementations in which functions are performed in a different order than that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, are included within the scope of the examples of the present disclosure. This will be apparent to those skilled in the art.

[0072] In block 1402, the method 1400 includes providing a receiver 204 having a receiver body 400, the receiver body including (i) a lateral opening 410, (ii) a pin cavity 422, (iii) a collet 702 disposed within the pin cavity 422, and (iv) a spring 700 disposed within the pin cavity 422 and biasing the collet 702 in a distal direction, the collet 702 being segmented to allow the collet 702 to expand, and the collet 702 having a conical cavity 908.

[0073] As used herein, the term "providing" includes any action with respect to receiver 204 or other component that makes receiver 204 or other component available for use, such as bringing receiver 204 into a listening or working environment for further processing (e.g., attaching other components, etc.).

[0074] At block 1404, the method 1400 includes providing an adapter 202 configured to couple to a tooling arm (e.g., tooling arm 106), the adapter 202 including (i) a cylindrical body portion 300 having a lateral recess 308 and (ii) an adapter pin 334 including a conical tip 802.

[0075] At block 1406 , the method 1400 includes aligning the lateral recess 308 of the adapter 202 with the lateral opening 410 of the receiver 204 .

[0076] In block 1408, the method 1400 includes moving the adapter 202 laterally so that the lateral recess 308 of the adapter 202 passes through the lateral opening 410 of the receiver body 400, positioning the adapter 202 within the receiver body 400, and aligning the adapter pin 334 with the pin cavity 422 of the receiver body 400.

[0077] In block 1410, the method 1400 includes pushing the adapter 202 proximally within the receiver 204, thereby inserting the adapter pin 334 into the pin cavity 422 of the receiver body 400, whereby the conical tip 802 of the adapter pin 334 is received within the conical cavity 908 of the collet 702, and the adapter pin 334 pushes the collet 702 proximally against the spring 700, expanding the collet 702 and forcing the outer surface of the collet 702 against the inner surface of the receiver body 400 surrounding the pin cavity 422, locking the collet 702 in place and reducing slack between the adapter 202 and the receiver 204.

[0078] Method 1400 may include other steps. For example, method 1400 may further include aligning second adapter pins 336 with second pin cavities 424 of receiver body 400, and inserting second adapter pins 336 into second pin cavities 424 of receiver body 400 as adapter 202 is pushed proximally within receiver 204, whereby the conical tips of the second adapter pins 336 are received in the conical cavities of collets 708, and second adapter pins 336 push collet 708 proximally against spring 706, causing collet 708 to expand and press an outer surface of collet 708 against an inner surface of receiver body 400 surrounding second pin cavities 424, locking collet 708 in place and reducing slack between adapter 202 and receiver 204.

[0079] Method 1400 may further include inserting tapered proximal end 315 of cylindrical body portion 300 of adapter 202 into split ring bushing 1006 as adapter 202 is pushed proximally within receiver 204, whereby tapered proximal end 315 interfaces with tapered inner surface 1206 of split ring bushing 1006, causing split ring bushing 1006 to expand against the inner surface of receiver 204, thereby securing split ring bushing 1006 in place and reducing slack between adapter 202 and receiver 204. Method 1400 may further include other steps described throughout this specification.

[0080] Thus, embodiments of the present disclosure may relate to one of the following example embodiments (EEE):

[0081] Example embodiment (EEE) 1 is an assembly including an adapter configured to couple to a tooling arm and a receiver configured to receive the adapter therein, the adapter including (i) a cylindrical body portion having a lateral recess, (ii) a bore, and (iii) an adapter pin disposed through the bore, the adapter pin including a conical tip; the receiver including a receiver body including (i) a lateral opening configured to receive the lateral recess of the adapter, (ii) a pin cavity, (iii) a collet disposed within the pin cavity, and (iv) a spring disposed within the pin cavity to bias the collet in a distal direction; the collet The collet is segmented to allow expansion, and has a conical cavity. The lateral recesses of the adapter pass through the lateral opening of the receiver body to mount the adapter within the receiver, and the adapter is then pushed proximally within the receiver, thereby inserting the adapter pin into the pin cavity of the receiver body and pushing the collet proximally against the spring, and the conical tip of the adapter pin is received within the conical cavity of the collet, causing the collet to expand and forcing the outer surface of the collet against the inner surface of the receiver body surrounding the pin cavity, thereby fixing the collet in place and reducing slack between the adapter and the receiver.

[0082] Example Embodiment (EEE)2 is the assembly of EEE1, wherein the hole is a first hole, the adapter pin is a first adapter pin, the pin cavity is a first pin cavity, the spring is a first spring, and the collet is a first collet; the adapter further includes a second hole and a second adapter pin disposed through the second hole, the second adapter pins having respective conical tips; the receiver body includes a second pin cavity with a second spring and a second collet disposed therein; the second spring biases the second collet in a distal direction; and the second collet is configured to expand. The second collets are segmented, and each second collet has a conical cavity, and when the adapter is pushed proximally within the receiver, the second adapter pins are inserted into the second pin cavities of the receiver, pushing the second collet proximally against the second spring, causing the conical tips of the second adapter pins to be received in the conical cavities of the second collet, expanding the second collet and forcing the outer surface of the second collet to press against the inner surface of the receiver body surrounding the second pin cavities, thereby locking the second collet in place and reducing slack between the adapter and the receiver.

[0083] Example embodiment (EEE)3 is an assembly of EEE2, wherein the adapter further includes a collar disposed at a tip of the cylindrical body portion of the adapter, the collar including a first flange and a second flange, the first flange including a hole in which the first adapter pin is disposed, the second flange including a second hole in which the second adapter pin is disposed, and the first adapter pin and the second adapter pin are disposed parallel to the longitudinal axis of the adapter.

[0084] Example Embodiment (EEE) 4 is the assembly of any of EEE1-3, wherein the collet is configured as a split bushing having a cylindrical body portion divided into a plurality of segments, the inner surface of each of the plurality of segments being tapered to form a conical cavity that receives the conical tip of the adapter pin.

[0085] Example embodiment (EEE) 5 is the assembly of EEE4, wherein the collet further includes a proximal tip portion including links each connected to a plurality of segments, the proximal tip portion being configured as a spring guide, a distal portion of the spring being disposed around the spring guide, the distal end of the spring abutting the proximal surface of the cylindrical body portion of the collet, and the proximal end of the spring abutting the proximal surface of the receiver surrounding the pin cavity.

[0086] Example Embodiment (EEE) 6 is the assembly of any of EEE1-EEE5, further including a bushing disposed within the pin cavity distal from the collet, the adapter pin disposed through the bushing, and the bushing including an annular external groove that receives a retention screw disposed partially through the receiver body, thereby retaining the bushing to the receiver body.

[0087] Exemplary Embodiment (EEE) 7 is the assembly of any of EEE1-6, wherein the spring is a first spring; the receiver further includes a receiver end plate attached to a proximal end of the receiver body; the assembly further includes a split ring bushing and a second spring disposed at an interface between the receiver body and the receiver end plate, the second spring biasing the split ring bushing distally, the split ring bushing having split portions that allow the split ring bushing to expand, the split ring bushing having a tapered inner surface; and the adapter has a tapered proximal end, wherein when the adapter is pushed proximally within the receiver, the tapered proximal end of the adapter is received within and interfaces with the tapered inner surface of the split ring bushing, causing the split ring bushing to expand against the inner surface of the receiver, thereby securing the split ring bushing in place and reducing slack between the adapter and the receiver.

[0088] Example embodiment (EEE) 8 is an assembly including an adapter configured to couple to a tooling arm, a receiver configured to receive the adapter therein, a split ring bushing disposed within the receiver, and a spring that biases the split ring bushing distally, wherein the adapter includes a tapered proximal end, the split ring bushing having splits that allow the split ring bushing to expand, the split ring bushing having a tapered inner surface, and when the adapter is pushed proximally within the receiver, the tapered proximal end of the adapter is received within the split ring bushing and interfaces with the tapered inner surface of the split ring bushing, causing the split ring bushing to expand against the inner surface of the receiver, thereby securing the split ring bushing in place and reducing slack between the adapter and the receiver.

[0089] Example embodiment (EEE) 9 is an assembly of EEE8, wherein the adapter includes a cylindrical body portion having a tapered proximal end.

[0090] Example embodiment (EEE) 10 is an assembly of EEE 9, wherein the cylindrical body portion has lateral recesses, and the receiver has a receiver body including lateral openings configured to receive the lateral recesses of the adapter, the lateral recesses of the adapter passing through the lateral openings of the receiver body to mount the adapter within the receiver, and then pushing the adapter proximally within the receiver.

[0091] Example Embodiment (EEE) 11 is the assembly of any of EEE8-10, wherein the receiver has a receiver body and a receiver end plate attached to a proximal end of the receiver body, and the split ring bushing and spring are disposed at the interface between the receiver body and the receiver end plate.

[0092] Example embodiment (EEE) 12 is the assembly of any of EEE8-11, wherein the spring is a multi-loop wave spring.

[0093] Example embodiment (EEE) 13 is a receiver configured to receive an adapter coupled to a tooling arm, the receiver including a receiver body, a receiver end plate attached to a proximal end of the receiver body, a split ring bushing disposed within the receiver at an interface between the receiver body and the receiver end plate, and a second spring that biases the split ring bushing distally, the receiver body including (i) a lateral opening, (ii) a pin cavity, (iii) a collet disposed within the pin cavity, and (iv) a first spring that biases the collet distally, the collet being segmented to allow expansion of the collet, the collet having a conical cavity, the split ring bushing having a split portion that allows expansion of the split ring bushing, and the split ring bushing having a tapered inner surface.

[0094] Example embodiment (EEE) 14 is the receiver of EEE 13, wherein the pin cavity is a first pin cavity, the collet is a first collet, the receiver body includes a second pin cavity having a third spring and a second collet disposed therein, the third spring biasing the second collet in a distal direction, the second collets being segmented to allow the second collets to expand, and the second collets each having a conical cavity.

[0095] Example embodiment (EEE) 15 is the receiver of any of EEE13-14, wherein the collet is configured as a split bushing having a cylindrical body portion divided into multiple segments, the inner surface of each of the multiple segments being tapered to form a conical cavity.

[0096] Example embodiment (EEE) 16 is the receiver of EEE 15, wherein the collet further includes a proximal tip portion including links each connected to a plurality of segments, the proximal tip portion being configured as a spring guide, a distal portion of a first spring being disposed around the spring guide, the distal end of the first spring abutting against a proximal surface of the cylindrical body portion of the collet, and the proximal end of the first spring abutting against a proximal surface of the receiver surrounding the pin cavity.

[0097] Example embodiment (EEE) 17 is the receiver of any of EEE13-16, further including a bushing disposed within the pin cavity distal from the collet, the bushing including an annular external groove that receives a retention screw disposed partially through the receiver body, thereby retaining the bushing to the receiver body.

[0098] Example embodiment (EEE) 18 includes the steps of: providing a receiver having a receiver body, the receiver body including (i) a lateral opening, (ii) a pin cavity, (iii) a collet disposed in the pin cavity, and (iv) a spring disposed in the pin cavity and biasing the collet distally, the collet being segmented to allow expansion of the collet, the collet having a conical cavity; and providing an adapter configured to couple to a tooling arm, the adapter including (i) a cylindrical body portion having a lateral recess, and (ii) an adapter pin including a conical tip; and aligning the lateral recess of the adapter with the lateral opening of the receiver. the adapter is moved laterally so that the lateral recesses of the adapter pass through the lateral openings of the receiver body to position the adapter within the receiver body and align the adapter pins with the pin cavities of the receiver body; the adapter is pushed proximally within the receiver, thereby inserting the adapter pins into the pin cavities of the receiver body, whereby the conical tips of the adapter pins are received within the conical cavities of the collet, and the adapter pins push the collet proximally against the spring, expanding the collet and forcing the outer surface of the collet against the inner surface of the receiver body surrounding the pin cavities, locking the collet in place and reducing slack between the adapter and the receiver.

[0099] Example embodiment (EEE) 19 is the method of EEE 18, wherein the adapter pin is a first adapter pin, the pin cavity is a first pin cavity, the spring is a first spring, the collet is a first collet, the adapter further includes a second adapter pin, the second adapter pins having respective conical tips, the receiver body includes a second pin cavity having a second spring and a second collet disposed therein, the second spring biasing the second collet in a distal direction, the second collet being segmented to allow expansion of the second collet, the second collet having respective conical cavities, and the method further includes The method further includes aligning the pins with the second pin cavities of the receiver body, and inserting the second adapter pins into the second pin cavities of the receiver body as the adapter is pushed proximally within the receiver body, whereby the conical tips of the second adapter pins are received in the conical cavities of the second collet, and the second adapter pins push the second collet proximally against the second spring, causing the second collet to expand and press an outer surface of the second collet against an inner surface of the receiver body surrounding the second pin cavities, locking the second collet in place and reducing slack between the adapter and the receiver.

[0100] Exemplary embodiment (EEE) 20 is the method of any of EEE18-19, wherein the spring is a first spring, the receiver further includes a split ring bushing and a second spring distally biasing the split ring bushing, the split ring bushing having splits that allow the split ring bushing to expand, the split ring bushing having a tapered inner surface, and the cylindrical body portion of the adapter having a tapered proximal end, the method further including inserting the tapered proximal end of the cylindrical body portion of the adapter into the split ring bushing, whereby the tapered proximal end interfaces with the tapered inner surface of the split ring bushing, causing the split ring bushing to expand against the inner surface of the receiver, thereby securing the split ring bushing in place and reducing slack between the adapter and the receiver, as the adapter is pushed proximally within the receiver.

Claims

1. 1. An assembly comprising: an adapter configured to couple to the tooling arm; a receiver configured to receive the adapter therein; the adapter includes: (i) a cylindrical body portion having a lateral recess; (ii) a bore; and (iii) an adapter pin disposed through the bore, the adapter pin including a conical tip; the receiver has a receiver body including: (i) a lateral opening configured to receive a lateral recess of the adapter; (ii) a pin cavity; (iii) a collet disposed within the pin cavity; and (iv) a spring disposed within the pin cavity and biasing the collet distally, the collet being segmented to allow expansion of the collet, the collet having a conical cavity; the lateral recesses of the adapter pass through the lateral openings of the receiver body to mount the adapter within the receiver, and then the adapter is pushed proximally within the receiver, whereby the adapter pin is inserted into the pin cavity of the receiver body, pushing the collet proximally against the spring, the conical tip of the adapter pin is received within the conical cavity of the collet, and the collet expands, forcing the outer surface of the collet against the inner surface of the receiver body surrounding the pin cavity, thereby locking the collet in place and reducing slack between the adapter and the receiver; assembly.

2. the hole is a first hole, the adapter pin is a first adapter pin, the pin cavity is a first pin cavity, the spring is a first spring, and the collet is a first collet; the adapter further includes a second hole and second adapter pins disposed through the second hole, the second adapter pins having respective conical tips; the receiver body includes a second pin cavity having a second spring and a second collet disposed therein, the second spring biasing the second collet in the distal direction, the second collet being segmented to allow expansion of the second collet, the second collets having respective conical cavities; 2. The assembly of claim 1, wherein when the adapter is pushed proximally within the receiver, the second adapter pins are inserted into the second pin cavities of the receiver, pushing the second collet proximally against the second spring, the conical tips of the second adapter pins are received within the conical cavities of the second collet, and the second collets expand, forcing an outer surface of the second collet against the inner surface of the receiver body surrounding the second pin cavities, thereby locking the second collet in place and reducing slack between the adapter and the receiver.

3. 3. The assembly of claim 2, wherein the adapter further includes a collar disposed at a distal end of the cylindrical body portion of the adapter, the collar including a first flange and a second flange, the first flange including the hole in which the first adapter pin is disposed, the second flange including a second hole in which the second adapter pin is disposed, and the first adapter pin and the second adapter pin are disposed parallel to a longitudinal axis of the adapter.

4. 2. The assembly of claim 1, wherein the collet is configured as a split bushing having a cylindrical body portion divided into a plurality of segments, the inner surface of each of the plurality of segments being tapered to form the conical cavity that receives the conical tip of the adapter pin.

5. 5. The assembly of claim 4, wherein the collet further includes a proximal tip portion including links respectively connected to the plurality of segments, the proximal tip portion configured as a spring guide around which a distal portion of the spring is disposed, the distal end of the spring abutting a proximal surface of the cylindrical body portion of the collet, and the proximal end of the spring abutting a proximal surface of the receiver surrounding the pin cavity.

6. 2. The assembly of claim 1, further comprising a bushing disposed within said pin cavity distal from said collet, said adapter pin disposed through said bushing, said bushing including an external annular groove that receives a retention screw disposed partially through said receiver body, thereby retaining said bushing to said receiver body.

7. The spring is a first spring, the receiver further includes a receiver end plate attached to a proximal end of the receiver body, the assembly further includes a split ring bushing and a second spring disposed at an interface between the receiver body and the receiver end plate, the second spring biasing the split ring bushing in the distal direction, the split ring bushing having a split portion that allows the split ring bushing to expand, and the split ring bushing 2. The assembly of claim 1, wherein the adapter has a tapered inner surface, the adapter having a tapered proximal end, such that when the adapter is pushed proximally within the receiver, the tapered proximal end of the adapter is received within the split ring bushing and interfaces with the tapered inner surface of the split ring bushing, causing the split ring bushing to expand against the inner surface of the receiver, thereby securing the split ring bushing in place and reducing slack between the adapter and the receiver.

8. 1. An assembly comprising: an adapter configured to couple to the tooling arm; a receiver configured to receive the adapter therein; a split ring bushing disposed within the receiver; a spring that biases the split ring bushing distally; the adapter includes a tapered proximal end, the split ring bushing has splits that allow the split ring bushing to expand, and the split ring bushing has a tapered inner surface; When the adapter is pushed proximally within the receiver, the tapered proximal end of the adapter is received within the split ring bushing and interfaces with the tapered inner surface of the split ring bushing, causing the split ring bushing to expand against the inner surface of the receiver, thereby locking the split ring bushing in place and reducing slack between the adapter and the receiver; assembly.

9. The assembly of claim 8 , wherein the adapter includes a cylindrical body portion having the tapered proximal end.

10. 10. The assembly of claim 9, wherein the cylindrical body portion has a lateral recess, the receiver has a receiver body including a lateral opening configured to receive the lateral recess of the adapter, the lateral recess of the adapter passing through the lateral opening of the receiver body to mount the adapter within the receiver and then pushing the adapter in the proximal direction within the receiver.

11. 9. The assembly of claim 8, wherein the receiver includes a receiver body and a receiver end plate attached to a proximal end of the receiver body, and the split ring bushing and the spring are disposed at an interface between the receiver body and the receiver end plate.

12. The assembly of claim 8 , wherein the spring is a multi-loop wave spring.

13. a receiver configured to receive therein an adapter coupled to the tooling arm, the receiver comprising: The receiver body, a receiver end plate attached to a proximal end of the receiver body; a split ring bushing disposed at an interface between the receiver body and the receiver end plate within the receiver; a second spring biasing the split ring bushing in a distal direction; the receiver body includes (i) a lateral opening, (ii) a pin cavity, (iii) a collet disposed within the pin cavity, and (iv) a first spring disposed within the pin cavity to bias the collet distally, the collet being segmented to allow expansion of the collet and having a conical cavity; the split ring bushing has a split portion to allow the split ring bushing to expand and has a tapered inner surface; Receiver.

14. 14. The receiver of claim 13, wherein the pin cavity is a first pin cavity, the collet is a first collet, the receiver body includes a second pin cavity having a third spring and a second collet disposed therein, the third spring biasing the second collet in the distal direction, the second collet being segmented to allow expansion of the second collet, and the second collets having respective conical cavities.

15. 14. The receiver of claim 13, wherein the collet is configured as a split bushing having a cylindrical body portion divided into a plurality of segments, the inner surface of each of the plurality of segments being tapered to form a conical cavity.

16. 16. The receiver of claim 15, wherein the collet further includes a proximal tip portion including links respectively connected to the plurality of segments, the proximal tip portion configured as a spring guide around which a distal portion of the first spring is disposed, the distal end of the first spring abutting against a proximal surface of the cylindrical body portion of the collet, and the proximal end of the first spring abutting against a proximal surface of the receiver surrounding the pin cavity.

17. 14. The receiver of claim 13, further comprising a bushing disposed within the pin cavity distal from the collet, the bushing including an annular external groove that receives a retention screw disposed partially through the receiver body, thereby retaining the bushing to the receiver body.

18. 1. A method, comprising: providing a receiver having a receiver body including: (i) a lateral opening; (ii) a pin cavity; (iii) a collet disposed within the pin cavity; and (iv) a spring disposed within the pin cavity to bias the collet in a distal direction, the collet being segmented to allow expansion of the collet and having a conical cavity; providing an adapter configured to couple to a tooling arm, the adapter including: (i) a cylindrical body portion having a lateral recess; and (ii) an adapter pin including a conical tip; aligning a lateral recess of the adapter with the lateral opening of the receiver; moving the adapter laterally so that the lateral recess of the adapter passes through the lateral opening of the receiver body to position the adapter within the receiver body and align the adapter pin with the pin cavity of the receiver body; pushing the adapter proximally within the receiver, thereby inserting the adapter pin into the pin cavity of the receiver body, whereby the conical tip of the adapter pin is received within the conical cavity of the collet, the adapter pin pushing the collet proximally against the spring, causing the collet to expand and its outer surface to press against an inner surface of the receiver body surrounding the pin cavity, locking the collet in place and reducing slack between the adapter and the receiver. method.

19. the adapter pin is a first adapter pin, the pin cavity is a first pin cavity, the spring is a first spring, the collet is a first collet, the adapter further includes second adapter pins, the second adapter pins having respective conical tips, the receiver body includes second pin cavities with second springs and second collets disposed therein, the second springs biasing the second collets in the distal direction, the second collets being segmented to allow expansion of the second collets, the second collets having corresponding conical cavities, the method comprising: aligning the second adapter pin with the second pin cavity of the receiver body; 19. The method of claim 18, further comprising: as the adapter is pushed in the proximal direction within the receiver, inserting the second adapter pins into the second pin cavities of the receiver body, whereby the conical tips of the second adapter pins are received in the conical cavities of the second collet, the second adapter pins pushing the second collet in the proximal direction against the second spring, causing the second collet to expand and force an outer surface of the second collet against the inner surface of the receiver body surrounding the second pin cavities, locking the second collet in place and reducing slack between the adapter and the receiver.

20. the spring is a first spring, the receiver further includes a split ring bushing and a second spring biasing the split ring bushing in the distal direction, the split ring bushing having a split portion that allows the split ring bushing to expand, the split ring bushing having a tapered inner surface, and the cylindrical body portion of the adapter having a tapered proximal end, the method further comprising:

19. The method of claim 18, further comprising inserting the tapered proximal end of the cylindrical body portion of the adapter into the split ring bushing such that the tapered proximal end interfaces with the tapered inner surface of the split ring bushing and causes the split ring bushing to expand against the inner surface of the receiver, thereby securing the split ring bushing in place and reducing slack between the adapter and the receiver, as the adapter is forced proximally into the receiver.

Images