Abstract: To substantially eliminate torsional freeplay in a robotic tool changer having a ball-lock coupling mechanism, scallop-like features in the form of cross-contact recesses are formed in at least one of, and preferably both of, a bearing race in a tool assembly at the points of contact of rolling members, and in the opposing inner surfaces of bores containing the rolling members in a master assembly. The cross-contact recesses are sized and shaped to receive a rolling member, but have a central void, or channel, perpendicular to the rolling member's motion in torsional freeplay, which does not contact the rolling member. The cross-contact recess contacts the rolling member at contact areas on either side of the central void.

Abstract: A robotic tool changer includes master and tool assemblies. When the master and tool assemblies are coupled, rolling members project from the master assembly and contact opposed sloped surfaces of a plurality of cutouts formed in a bearing race in the tool assembly. By contacting opposed sloped surfaces of a plurality of cutouts with the rolling members, torsional freeplay between the master and tool assemblies is eliminated or minimized.

Abstract: A utility coupler that includes a coupling unit and a tool unit that can be selectively engaged together. The coupling unit may include a body, a cam member, a handle, and one or more utility couplings. The tool unit may include a body, a latching pin, and one or more utility couplings. In operation, the coupling unit may be placed into a decoupled position with the handle in a first position. The coupling unit may be moved into proximity of the tool unit. The handle may be moved to a second position causing the cam member to engage with the latching pin and couple the coupling unit to the tool unit. The utility couplings engage together to pass the one or more utilities to the industrial equipment.

Abstract: A robotic tool changer includes master and tool assemblies. When the master and tool assemblies are coupled, rolling members project from the master assembly and contact opposed sloped surfaces of a plurality of cutouts formed in a bearing race in the tool assembly. By contacting opposed sloped surfaces of a plurality of cutouts with the rolling members, torsional freeplay between the master and tool assemblies is eliminated or minimized.

Abstract: To substantially eliminate torsional freeplay in a robotic tool changer having a ball-lock coupling mechanism, scallop-like features in the form of cross-contact recesses are formed in at least one of, and preferably both of, a bearing race in a tool assembly at the points of contact of rolling members, and in the opposing inner surfaces of bores containing the rolling members in a master assembly. The cross-contact recesses are sized and shaped to receive a rolling member, but have a central void, or channel, perpendicular to the rolling member's motion in torsional freeplay, which does not contact the rolling member. The cross-contact recess contacts the rolling member at contact areas on either side of the central void.

Abstract: A gripping device to grip and provide one or more utilities to a tool. The gripping device includes a body and fingers. One or more of the fingers are movable relative to the body for the gripping device to be movable between an open orientation and a closed orientation. In the open orientation, the fingers are spaced apart to be positioned on opposing sides of the tool. In the closed orientation, the fingers are movable to grip the tool. One or more of the fingers include utility connectors that extend through the finger. The utility connectors supply one or more utilities to the tool to operate the tool while being gripped by the fingers.

Abstract: A utility coupler that includes a coupling unit and a tool unit that can be selectively engaged together. The coupling unit may include a body, a cam member, a handle, and one or more utility couplings. The tool unit may include a body, a latching pin, and one or more utility couplings. In operation, the coupling unit may be placed into a decoupled position with the handle in a first position. The coupling unit may be moved into proximity of the tool unit. The handle may be moved to a second position causing the cam member to engage with the latching pin and couple the coupling unit to the tool unit. The utility couplings engage together to pass the one or more utilities to the industrial equipment.

Abstract: In an inherently safe robotic tool changer, a master unit couples to a tool unit via a first power source, and decouples from the tool unit using a separate, second power source. The second power source is only available when an attached tool is safely disposed in a tool stand. In embodiments where the first power source is not selectively applied, such as the constant bias provided by a spring, a detent mechanism maintains the master unit in a decoupled state when the master unit is removed from the tool unit. The detent mechanism allows the master unit to couple to a different tool unit upon physically abutting the new tool unit.

Abstract: A robotic tool changer in which the coupling mechanism is actuated using magnetic force is provided. In one exemplary embodiment, a robotic tool changer may include a tool unit operatively connected to a robotic tool and a master unit operative to connect to a robotic arm. The master unit may include a housing and a piston. The piston may be disposed at least partially within the housing and configured to place the master unit in one of a coupled state and a decoupled state. Further, the master unit may be operative to assume the coupled state or the decoupled state in response to altering an orientation of magnetic fields to provide a first magnetic force that moves the piston to the coupled state or provide a second magnetic force that moves the piston to the decoupled state.

Abstract: A board pocket or flap shaped device to store objects on a flat rigid or semi-rigid surface for convenient retrieval. The board pocket may be used during a board sport and attached to a board such as a surfboard, paddle-board, kite-surfing board, wake-board, or wind-surfing board. The pocket may also be used for boards used in land and air sports such as skateboards and sky-surf boards. The board pocket employs a thermo-elastic polymer to grip, by friction, the objects to be stored therein. Any objects, for example, surfwax or car keys may be stored and retrieved from the board through a slit or opening in the pocket. The pocket is attached to the board by an adhesive or fastener.

Abstract: A robotic tool changer in which the coupling mechanism is actuated using magnetic force is provided. In one exemplary embodiment, a robotic tool changer may include a tool unit operatively connected to a robotic tool and a master unit operative to connect to a robotic arm. The master unit may include a housing and a piston. The piston may be disposed at least partially within the housing and configured to place the master unit in one of a coupled state and a decoupled state. Further, the master unit may be operative to assume the coupled state or the decoupled state in response to altering an orientation of magnetic fields to provide a first magnetic force that moves the piston to the coupled state or provide a second magnetic force that moves the piston to the decoupled state.

Abstract: A manually actuated robotic tool changer comprises master and tool units, each adapted to be connected to a different one of a robotic arm and a robotic tool. The tool changer includes a plurality of rolling members retained in one of the units and a piston mounted in one of the units and moveable in an axial direction. The piston includes a multi-faceted cam surface including an initial contact surface, a locking surface, and a failsafe surface interposed between the initial contact surface and the locking surface. When the piston is in a locked position in the tool changer, the cam surface is operative to contact the rolling members in one of the units and to urge each rolling member against a surface of the other unit to couple the master and tool units together.

Abstract: In an inherently safe robotic tool changer, a master unit couples to a tool unit via a first power source, and decouples from the tool unit using a separate, second power source. The second power source is only available when an attached tool is safely disposed in a tool stand. In embodiments where the first power source is not selectively applied, such as the constant bias provided by a spring, a detent mechanism maintains the master unit in a decoupled state when the master unit is removed from the tool unit. The detent mechanism allows the master unit to couple to a different tool unit upon physically abutting the new tool unit.

Abstract: A compensation device configured to be positioned between a robotic arm and a robotic tool. The device may be configured to directly attach to the tool, or may be configured to be positioned away from the tool. The device generally includes a first section that connects to the robotic arm and a second section that connects to the tool. The second section is movable relative to the first section to provide for the tool to be positioned at various orientations. The second section may comply rotationally about a first axis. The second section may be movable in a second plane. In one embodiment, the second plane is perpendicular to the first axis.

Abstract: A manually actuated robotic tool changer includes a first housing having a generally cylindrical piston with a central axis partially extending from the first housing, the piston rotatable about the axis. A plurality of tabs are disposed about the circumference of a portion of the piston extending from the first housing. A second housing has a bore to receive a portion of the piston. A plurality of locking lugs are disposed about the bore. The tool changer is manually actuated from an unlocked position wherein the piston assumes a position with respect to the first housing such that the extending portion of the piston may be moved within the bore with the tabs moving between the locking lugs, to a locked position wherein the piston is rotated with respect to the first housing such that the tabs move beneath the locking lugs to lock the first and second housings together.

Abstract: A compensation device configured to be positioned between a robotic arm and a robotic tool. The device may be configured to directly attach to the tool, or may be configured to be positioned away from the tool. The device generally includes a first section that connects to the robotic arm and a second section that connects to the tool. The second section is movable relative to the first section to provide for the tool to be positioned at various orientations. The second section may comply rotationally about a first axis. The second section may be movable in a second plane. In one embodiment, the second plane is perpendicular to the first axis.

Abstract: A compensation device that is positioned between a robot and a robotic tool. The device 10 generally includes a first section that connects to the robot and a second section that connects to the tool. The second section is movable relative to the first section for the tool to comply to accommodate variations in its positioning. The second section 12 may comply rotationally about x, y, and z orthogonal axes relative to the first section.

Abstract: A utility coupler comprises a coupling unit that is coupled to a tool unit via the reciprocal linear actuation of a hooking cam member in the coupling unit engaging a latching pin in the tool unit. The hooking cam member includes a composite cam surface operative to couple and hold the two units together as the latching pin engages different surfaces of the composite cam surface. Failsafe features prevent the inadvertent decoupling of the units.

Abstract: A utility coupler comprises a coupling unit that is coupled to a tool unit via the reciprocal linear actuation of a hooking cam member in the coupling unit engaging a latching pin in the tool unit. The hooking cam member includes a composite cam surface operative to couple and hold the two units together as the latching pin engages different surfaces of the composite cam surface. Failsafe features prevent the inadvertent decoupling of the units.

Abstract: In a robotic tool changer, a rotating cam surface ring having a plurality of surfaces formed therein urges a plurality of ball members in one tool coupling unit radially to contact a coupling surface in the other tool coupling unit. Mechanical energy captured and stored upon decoupling the units is used by an actuation mechanism, upon manual initiation, to at least partially automatically couple the two units by partially rotating the rotating cam surface ring. Further manual rotation of the cam member exerts a radial force through the ball members onto the coupling surface. A component of that force is directed by the coupling surface toward the opposite tool coupling unit, locking the two units together.