Abstract: This invention relates generally to a coupling system for releasably attaching any one of a number of robotically controlled tools (robotic "hands") to a robotically controlled extension arm. The coupling system tightly locks the hand to the robotic arm by combined air and spring pressure such that, even under heavy duty use, the hand will not unintentionally twist or move relative to the arm, yet the hand and arm may be quickly disengaged by release of locking air pressure and imposition of unlocking air pressure which enables ball means to be cammed out of locking engagement.

Abstract: A tool retention mechanism is disclosed for clamping a tool holder knob. An elongate rod member is supported lengthwise in a compartment formed within the center of an elongate housing. A knob clamping assembly is mounted on the outer end of the rod member and is constructed of a circular array of claw fingers that are spring biased to urge them to move radially inward. A first piston is slideably supported on the actuator rod rearwardly of the claw fingers and has a cylindrical collar portion which slides over the claw fingers to retain them in a knob clamping position. A second piston is secured to the inner end portion of the actuator rod and slideably supported in the compartment to define a closed chamber with the inner closed end of the compartment.