Abstract: Tool changing apparatus for a multi-axis manipulator for selectively receiving and holding one of at least two different work tools. Each of the work tools is mounted on an upstanding table and is provided with a substantially vertical plate and a substantially horizontal plate. A support assembly is provided on the manipulator that is adapted to be locked to the vertical plate on one of the work tools for performing a programmed work cycle after which the work tool is returned and deposited on the upstanding table under program control and the manipulator is then locked to the vertical plate of the other work tool for performing additional operations.

Abstract: An article gripper mounting device for a multi-axis manipulator that is attachable to the wrist assembly of the support arm and allows the manipulator to be used for moving articles along a straight line located in a substantial vertical plane without requiring concurrent movement of the support arm. The mounting device includes a carriage that is rotatably supported by a ring member combined with the wrist assembly and is movable along parallel guide rods through a linear actuator for providing the straight line movement.