Abstract: A multi-axis coupling apparatus for adjustably mounting modular tooling members. The multi-axis coupling apparatus provides a hinged first coupling member connectable to a substantially cylindrical boom for providing linear and rotational adjustment along and about a longitudinal axis of the cylindrical boom. A second member is connected to the hinged first member and is connectable to a modular tool for providing adjustment to the modular tooling member about and along an axis extending at an angle to the longitudinal axis of the cylindrical boom.

Abstract: An apparatus for incrementally adjusting a modular tooling coupling. The present invention provides a first coupling member adaptable to receive a first portion of a modular tool wherein the first coupling member has a contoured surface. A spacer provides a first contoured surface for matingly engaging the contoured surface of the first coupling member and a second contoured surface that is misaligned with respect to the first contoured surface of the spacer. A second coupling member is adaptable to receive a second portion of the modular tool, and the second coupling member has a contoured surface for matingly engaging the second contoured surface of the spacer for providing incremental angular adjustment of the first coupling member relative to the second coupling member.

Abstract: A quick disconnect tooling apparatus for releasably latching an end effector tool to a manipulator. The present invention provides a base module connectable to a manipulator, and a tool module connectable to the end effector tool. A power source coupling has a first portion coupled to the base module, and a second portion coupled to the tool module, wherein the first and second portions of the power source coupling may cooperatively engage one another to allow for the passing of power between the manipulator and the end effector tool.

Abstract: A coupling apparatus for adjustably mounting modular tooling members having a base member releasably connectable to a slide mount wherein said base member is adjustably located along a predetermined path of travel defined by the slide mount. The base member is rotatably adjustable with respect to a midportion via a pair of matingly engaging contoured surfaces. In a preferred embodiment, the midportion may also be rotatably adjustable with respect to an end member along a second rotational axis. The midportion and the end member may be adjustably rotated through a pair of contoured surfaces substantially similar to that provided between the midportion and the base member. The end member provides an aperture for releasably connecting a boom rod to the end member. In an alternative embodiment, the midportion is integrally connected to the end member wherein the end member provides an aperture for matingly engaging a first spline rod. The first spline rod may be rotatably adjusted about a second rotational axis.

Abstract: A rotary clamp having a linkage assembly that provides an over-center condition for providing high actuation and clamping forces without excessively wearing the components of the linkage assembly. The linkage assembly is connected to a linear actuator for converting linear actuator motion into rotary clamp motion between a clamped position and an unclamped position. The linkage assembly provides a first link having an aperture for receiving a pin and a roller wherein the roller is coaxially connected o the pin. The second link is pivotally connected to the first link, and the third link is pivotally connected to the second link. The roller of the first link rollably engages a surface on the third link when moving in and out of the clamped position. A beam-like structure connected to the housing provides a wear surface wherein the pin engages the wear surface in response to the roller engaging the third link to prohibit the first link from reaching an over-center position.

Abstract: A rotary clamp having a linkage assembly that provides an over-center condition for providing high actuation and clamping forces without excessively wearing the components of the linkage assembly. The linkage assembly is connected to a linear actuator for converting linear actuator motion into rotary clamp motion between a clamped position and an unclamped position. The linkage assembly provides a first link having an aperture for receiving a pin and a roller wherein the roller is coaxially connected o the pin. The second link is pivotally connected to the first link, and the third link is pivotally connected to the second link. The roller of the first link rollably engages a surface on the third link when moving in and out of the clamped position. A beam-like structure connected to the housing provides a wear surface wherein the pin engages the wear surface in response to the roller engaging the third link to prohibit the first link from reaching an over-center position.

Abstract: A coupling apparatus for adjustably mounting modular tooling members having a base member releasably connectable to a slide mount wherein said base member is adjustably located along a predetermined path of travel defined by the slide mount. The base member is rotatably adjustable with respect to a midportion via a pair of matingly engaging contoured surfaces. In a preferred embodiment, the midportion may also be rotatably adjustable with respect to an end member along a second rotational axis. The midportion and the end member may be adjustably rotated through a pair of contoured surfaces substantially similar to that provided between the midportion and the base member. The end member provides an aperture for releasably connecting a boom rod to the end member. In an alternative embodiment, the midportion is integrally connected to the end member wherein the end member provides an aperture for matingly engaging a first spline rod. The first spline rod may be rotatably adjusted about a second rotational axis.