Robot arm coupling apparatus
First Claim
1. A robotic tool coupling piston moveable along a longitudinal axis, comprising:
- a tapered locking surface;
an initial actuating surface having an angle with respect to said axis not greater than the angle of said tapered locking surface; and
a failsafe surface interposed between said tapered locking surface and said initial actuating surface.
2 Assignments
0 Petitions
Accused Products
Abstract
A robotic tool coupling system includes a first connecting unit including a piston movable along a longitudinal axis. The piston includes a multifaceted contact surface comprising a tapered locking surface; an initial actuating surface having an angle with respect to the axis not greater than the angle of the tapered locking surface; and a failsafe surface interposed between the tapered locking surface and the initial actuating surface. The system includes a second connecting unit having a plurality of rolling members disposed in a retention chamber including at least one angled surface operative to lock the first and second units together when the rolling members are forced against the angled surfaces by the tapered locking surface. The piston contact surface may additionally include a step surface, generally normal to the longitudinal axis, and a retention surface generally parallel to the axis.
46 Citations
33 Claims
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1. A robotic tool coupling piston moveable along a longitudinal axis, comprising:
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a tapered locking surface; an initial actuating surface having an angle with respect to said axis not greater than the angle of said tapered locking surface; and a failsafe surface interposed between said tapered locking surface and said initial actuating surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A robotic tool connecting system, comprising:
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a first robotic tool connecting unit, having a plurality of rolling members disposed in a retention chamber, and including a piston selectively movable along a longitudinal axis, said piston including a multifaceted contact surface comprising; i) a tapered locking surface disposal at an angle with respect to said axis; ii) an initial actuating surface having an angle with respect to said axis not greater than the angle of said tapered locking surface; and iii) a failsafe surface interposed between said tapered locking surface and said initial actuating surface; and a second robotic tool connecting unit including at least one angled surface operative to lock said first and second units together when said rolling members are forced against said angled surface by said tapered locking surface. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A robotic tool coupler comprising:
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a first connecting unit; a second connecting unit; a piston associated with the first connecting unit and adapted to engage at least one locking member associated with the first connecting unit and urge the locking member into a locked position against an angled surface associated with the second connecting unit, resulting in the first connecting unit being coupled to the second connecting unit; the piston movable back and forth along an axis between an unlocked position and a locked position and including an outer surface, and wherein at least portions of the outer surface contact and engage the locking member as the piston moves from the unlocked position to the locked position; wherein the outer surface of the piston includes at least three distinct surface areas including a step surface, a tapered locking surface spaced from the step surface and operative to engage said locking member when the piston assumes the locked position and maintain the locking member in the locked position, and a contact surface disposed between the step surface and the tapered locking surface and operative to contact the locking member prior to the tapered locking surface contacting the locking the member as the piston moves from the unlocked position to the locked position; and wherein the intermediate contact surface is disposed at an angle equal to or less than the angle of the tapered locking surface wherein the angles are measured relative to the axis of the piston. - View Dependent Claims (28, 29, 30, 31, 32, 33)
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Specification