Detachable tool interface system for a robot
First Claim
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1. An interface to enable the removable attachment of at least one operator device to a machine, said interface including:
- a body defining a frustro-conical surface therein having an axis and a cylindrical surface therein having an axis perpendicular to said frustro-conical surface axis;
an attachment member having an outer frustro-conical surface with an axis, said outer frustro-conical surface being shaped and sized to mate with said frustro-conical surface of said body, said attachment member also defining a second frustro-conical surface therein having an axis perpendicular to said outer frustro-conical surface axis;
a pin having a cylindrical portion and a frustro-conical portion, said cylindrical portion being positioned and sized to slide along said cylindrical surface to said body and said frustro-conical portion being shaped and sized to mate with said second frustro-conical surface of said attachment member;
means to move said pin frustro-conical portion into and out of engagement with said second frustro-conical surface of said attachment member;
means to attach said body to the machine; and
means to attach said attachment member to the operator device.
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Abstract
A mechanical system for allowing removable attachment of tools to a robot which is capable of accommodating positional and angular errors between the tool and the robot during attachment and release of the tool by using tapered attachments.
136 Citations
20 Claims
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1. An interface to enable the removable attachment of at least one operator device to a machine, said interface including:
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a body defining a frustro-conical surface therein having an axis and a cylindrical surface therein having an axis perpendicular to said frustro-conical surface axis; an attachment member having an outer frustro-conical surface with an axis, said outer frustro-conical surface being shaped and sized to mate with said frustro-conical surface of said body, said attachment member also defining a second frustro-conical surface therein having an axis perpendicular to said outer frustro-conical surface axis; a pin having a cylindrical portion and a frustro-conical portion, said cylindrical portion being positioned and sized to slide along said cylindrical surface to said body and said frustro-conical portion being shaped and sized to mate with said second frustro-conical surface of said attachment member; means to move said pin frustro-conical portion into and out of engagement with said second frustro-conical surface of said attachment member; means to attach said body to the machine; and means to attach said attachment member to the operator device. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An interface to enable the removable attachment of at least one operator device to a machine, said interface including:
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a body defining a frustro-conical surface therein having an axis and a cylindrical surface therein having an axis; an attachment member having an outer frustro-conical surface with an axis, said outer frustro-conical surface being shaped and sized to mate with said frustro-conical surface of said body, said attachment member also defining a second frustro-conical surface therein having an axis; a pin having a cylindrical portion and a frustro-conical portion, said cylindrical portion being positioned and sized to slide along said cylindrical surface of said body and said frustro-conical portion being shaped and sized to mate with said second frustro-conical surface of said attachment member; means to move said pin frustro-conical portion into and out of engagement with said second frustro-conical surface of said attachment member; means to attach said body to the machine; and means to attach said attachment member to the operator device, said attachment member further including at least one operator device holding assembly for removable engagement with a blanket having operator device locating orifices defined therein, said assembly including; means to hold the operator device; frustro-conical nipple with a smaller end sized and shaped to be inserted in the operator device locating orifices defined in the blanket, said frustro-conical nipple having an outer frustro-conical surface and at least two channels formed in said outer frustro-conical surface thereof; and at least two slider members positioned in said channels, said slider members having an outwardly extending hook adapted to engage the blanket after said frustro-conical nipple smaller end has been inserted in a operator device locating orifice defined therein when said slider members are moved away from said smaller end of said frustro-conical nipple. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification