MANIPULATOR WRIST TOOL INTERFACE

摘要

A coupler for connecting a manipulator arm of a remote manipulator device to a tool body and its associated tool anchor linkage constructed according to the present invention comprises a tool holder adapted to be secured to the manipulator arm and a tool actuator piston mounted in a cylinder in the tool holder. The tool holder has a first latching mechanism for releasably securing a tool body with respect to the tool holder. The tool actuator piston has a second latching mechanism at one end thereof for releasably securing a tool actuator arm thereto. The second latching mechanism is located at an end of the tool holder inwardly from the first latching mechanism. The tool holder including a first cylinder which is connectable to a source of pressurized fluid whereby the tool actuator piston may be reciprocally driven with respect to the tool holder in response to variations in the fluid pressure in the first cylinder to provide a drive force for driving the tool actuator of a tool with respect to the tool holder. One end of the tool actuator piston projects outwardly a substantial distance from an end of the tool holder so as to be readily visible to facilitate insertion thereof into a socket in a tool to be coupled by the coupler to the manipulator arm.