Novel means for mounting a tool to a robot arm

摘要

A tool changer including male and female flanges for connecting end effectors to robot arms. A male flange having a tapered projection is inserted into a tapered opening in a female flange having a rod coaxial with the diameter of the tapered opening. A rotatable locking stud is aligned within an opening in the male projection and includes a slot having locking grooves at its lower end. The stud is rotated through an angle causing the male and female flanges to be drawn together until the cooperating tapers are seated together. A spring retains the flanges in the locked position. A cooperating pin and pin receiving socket respectively provided on the male and female flanges at locations displaced from the male and female tapers are utilized to assure proper orientation between flanges and to prevent rotation of the flanges. Electrical terminals on the male connecting flange engage cooperating conductive terminals on the female flange, providing an electrical path between electrical sources and load utilization devices on the end effectors. Pneumatic couplings are also provided between the male and female flanges. A plurality of removable flange identifying pins are arranged along the circumferential wall of the male flange for electrical engagement with cooperating sensors provided in each tool holder of a tool crib for identifying the type of end effector being stored. A single operator arm is provided in the tool crib for simultaneously moving the operating arms of all of the tools in the tool crib respectively to the engaged and disengaged positions.