Abstract: A breakaway clutch for robot end-of-arm tooling includes a housing and movable member constrained within the housing for movement along a central axis. A tool connecting member is linked to the movable member by way of a capsule-shaped link. The tool connecting member is located such that a movable member is in the normal position and the tool connecting member is movable in all directions except in the direction of a front housing wall. The movable member is biased toward the normal position, with the biasing being adjustable to vary the bias and thereby vary the sensitivity of the clutch to forces applied to the movable member by way of the tool connecting member. Movement of the movable member away from the normal position is sensed to send an alarm signal to the robot controller.

Abstract: A variable compliance device having a tool plate attached between a tool and a robot arm to allow limited movement of the tool plate relative to the robot arm. A concave bill seat connected to the tool plate and a pin having a concave surface house a bearing ball. An inflatable diaphragm exerts a force on a piston toward the pins to force the pins against the bearing balls. Movement of the tool plate relative to the robot arm causes the pins to move relative to the robot arm. The force of the diaphragm on the pins resists movement of the tool plate relative to the robot arm, and restores the tool plate to its original position after the outside force is removed. If the pins are moved beyond a selected point, a sensor senses the movement and sends a signal to shut down the robot.

Abstract: The invention provides an "on the fly" adjustable clutch for use with robot end-of-arm tooling that senses movement of a tool attached to the clutch and can send a signal to shut down the robot when an overload is encountered. The clutch includes a piston capable of lateral movement within a chamber that is slidably mounted on a pin and a tool plate. The pin extends beyond the clutch housing, and the tool plate is pivotally mounted on the pin. Spring act to bias the piston away from the tool plate such that the tool plate is held somewhat rigidly in relation to the clutch housing by the springs. In a preferred embodiment, pressurized air may be introduced into the piston chamber on either side of the piston to increase or decrease the bias of the springs. Thus, the clutch is capable of varying sensitivities with the biasing being adjustable under program control. Also included on the clutch are locating studs and proximity sensors.

Abstract: The invention provides an "on the fly" adjustable clutch for use with robot end-of-arm tooling that provides a means for sensing movement of a tool attached to the clutch and can send a signal to shut down the robot when an overload is encountered. The clutch includes a piston capable of lateral movement within a chamber that is slidably mounted on a pin and a tool plate. The pin extends beyond the clutch housing, and the tool plate is pivotally mounted on the pin. Biasing means acts to bias the piston away from the tool plate such that the tool plate is held somewhat rigidly in relation to the clutch housing by the biasing means. In a preferred embodiment, the biasing means includes springs and pressurized air that may be introduced into the piston chamber on either side of the piston to increase or decrease the bias of the springs. Thus, the clutch is capable of varying sensitivities with the biasing means being adjustable under program control.

Abstract: An improved adapter is provided for an interchangeable robot end-of-arm tooling system. The quick change adapter is made from modular components including a body, an interface package, and a robot adapter plate with locator system.

Abstract: An improved adapter is provided for an interchangeable robot end-of-arm tooling system. The quick change adapter is made from modular components including a body, an interface package, and a robot adapter plate with locator system.