Abstract: A pin and socket that form a connector to pass high current from a robotic device to a tool. The pin includes a separate non-conductive cap section and a conductive contact section along the length. The socket includes a body with an interior space and a body opening that leads into the interior space. A toroidal spring is positioned in the interior space of the body and includes an annular shape with a toroidal spring opening that aligns with the body opening. When fully inserted, the contact section of the pin contacts against the toroidal spring and the cap section is positioned in the interior space away from the toroidal spring.

Abstract: A robotic tool changer ensures inherently safe decoupling operation by only providing pneumatic fluid to a decouple port of a pneumatic coupling mechanism in the case that the tool changer is seated on, and properly aligned with, a tool stand. Pneumatic fluid to decouple the pneumatic coupling mechanism is routed from an air source to the tool stand. A pass-through in the tool stand returns the pneumatic fluid to a pneumatic path in the tool changer leading to a decouple port of the pneumatic coupling mechanism. Hence, the tool changer must be seated on the tool stand for the decouple port to receive pneumatic fluid to operate. Furthermore, a safety coupling is interposed on the pneumatic path between the tool stand and the decouple port. The safety coupling requires the tool changer to be seated on, and properly aligned with, the tool stand to effect the flow of pneumatic fluid—otherwise, the pneumatic fluid is bled to the atmosphere.

Abstract: A robotic tool changer ensures inherently safe decoupling operation by only providing pneumatic fluid to a decouple port of a pneumatic coupling mechanism in the case that the tool changer is seated on, and properly aligned with, a tool stand. Pneumatic fluid to decouple the pneumatic coupling mechanism is routed from an air source to the tool stand. A pass-through in the tool stand returns the pneumatic fluid to a pneumatic path in the tool changer leading to a decouple port of the pneumatic coupling mechanism. Hence, the tool changer must be seated on the tool stand for the decouple port to receive pneumatic fluid to operate. Furthermore, a safety coupling is interposed on the pneumatic path between the tool stand and the decouple port. The safety coupling requires the tool changer to be seated on, and properly aligned with, the tool stand to effect the flow of pneumatic fluid—otherwise, the pneumatic fluid is bled to the atmosphere.

Abstract: A modular approach to an electrical power and/or signal passing utility module is presented. A universal receptacle is fixedly disposed in bores in both of first and second signal connector blocks. A threaded socket member and a nonconductive guide bushing are installed, as needed, in receptacles in the first block, and a threaded pin member is installed in corresponding receptacles in the second block. The nonconductive guide bushing insulates the sockets, and guides pin posts into the socket as the two blocks abut. A compliant member such as an o-ring provides compliance of the socket and pin assemblies in the signal connector blocks, making the assemblies self-aligning. The socket and pin assemblies are field-replaceable by use of a simple tool.

Abstract: A modular approach to an electrical power and/or signal passing utility module is presented. A universal receptacle is fixedly disposed in bores in both of first and second signal connector blocks. A threaded socket member and a nonconductive guide bushing are installed, as needed, in receptacles in the first block, and a threaded pin member is installed in corresponding receptacles in the second block. The nonconductive guide bushing insulates the sockets, and guides pin posts into the socket as the two blocks abut. A compliant member such as an o-ring provides compliance of the socket and pin assemblies in the signal connector blocks, making the assemblies self-aligning. The socket and pin assemblies are field-replaceable by use of a simple tool.

Abstract: Alignment modules attached to a robotic tool changer assist spatial orientation and alignment of a robot arm relative to a robotic tool for location training. A three-axis spatial orientation sensor is first attached to an alignment module affixed to a tool unit. The sensor is “zeroed,” or calibrated to the spatial orientation of the tool unit. The sensor is transferred to a corresponding surface of an alignment module affixed to a master unit. The orientation of the robot arm is adjusted to eliminate sensor error signals indicating deviations from the zeroed orientation of the tool unit. An optical signal, such as a cross line laser beam, is then projected between the alignment modules. The x- and y-axis position of the robot arm is adjusted to align the optical signal with alignment markings. When the master and tool units are aligned, the robot arm is advanced in the z-axis direction until the master unit abuts the tool unit.

Abstract: A robotic tool changer ensures inherently safe operation by separating power sources for the “couple” and “decouple” operations of its coupling mechanism. The power for the decouple operation is available only when an attached robotic tool is safely disposed in its tool stand. Once the robotic tool leaves the tool stand, there is no power supplied to the coupling mechanism of the robotic tool changer to decouple the robotic tool from a robot arm. Accordingly, it is impossible for the robotic tool to inadvertently become disengaged from the robot arm—even if software were to erroneously assert a DECOUPLE signal, or otherwise initiate a decouple operation. Furthermore, since the design is inherently safe, neither interlock circuits, the redundancy of such circuits, nor the extensive and complex monitoring circuits necessary to ensure their proper operation, are necessary.

Abstract: Alignment modules attached to a robotic tool changer assist spatial orientation and alignment of a robot arm relative to a robotic tool for location training. A three-axis spatial orientation sensor is first attached to an alignment module affixed to a tool unit. The sensor is “zeroed,” or calibrated to the spatial orientation of the tool unit. The sensor is transferred to a corresponding surface of an alignment module affixed to a master unit. The orientation of the robot arm is adjusted to eliminate sensor error signals indicating deviations from the zeroed orientation of the tool unit. An optical signal, such as a cross line laser beam, is then projected between the alignment modules. The x- and y-axis position of the robot arm is adjusted to align the optical signal with alignment markings. When the master and tool units are aligned, the robot arm is advanced in the z-axis direction until the master unit abuts the tool unit.

Abstract: A linearly actuated switch assembly is adjustably disposed in a housing stem bore of a robotic crash protector device. An actuation plate is disposed over the central bore of the contact surface. As the piston moves toward the housing base in response to a crash force or torque applied to the actuator, the actuation plate moves in an axial direction, and contacts and actuates the switch. The actuation plate is biased towards the contact surface by an actuation spring disposed between the actuation plate and a spring plate that is rigidly affixed to the housing stem. This arrangement allows the actuation plate to “float” with respect to the fixed spring plate. In particular, the actuation plate may assume the orientation of the piston, which may be canted from its default orientation—normal to the device central axis—by uneven application of force by the actuator.

Abstract: A method for coupling together at least two layers (23, 25, 27, 29, 21-1) of a mattress includes the steps of aligning each layer in its proper position in relation to the other layers of the mattress (11) and, after the alignment step, inserting a plastic fastener (31) through the layers. A fastener dispensing tool (211) is provided for inserting plastic fasteners (31)through the layers (23, 25, 27, 29, 21-1) of the mattress(11). In one embodiment, the fastener dispensing tool (211) includes a housing (213), a hollow sharpened needle (229) fixedly coupled to the housing (213), an ejection mechanism for advancing a cross-bar of the plastic fastener through the hollow needle, a needle guard slidably coupled to the housing over a portion of the sharpened needle, and a needle guard stop slidably coupled to the housing in such a manner so that it can be releasably fixed place in either of two or more set positions.

Abstract: A linearly actuated switch assembly is adjustably disposed in a housing stem bore of a robotic crash protector device. An actuation plate is disposed over the central bore of the contact surface. As the piston moves toward the housing base in response to a crash force or torque applied to the actuator, the actuation plate moves in an axial direction, and contacts and actuates the switch. The actuation plate is biased towards the contact surface by an actuation spring disposed between the actuation plate and a spring plate that is rigidly affixed to the housing stem. This arrangement allows the actuation plate to “float” with respect to the fixed spring plate. In particular, the actuation plate may assume the orientation of the piston, which may be canted from its default orientation—normal to the device central axis—by uneven application of force by the actuator.

Abstract: A method for coupling together at least two layers of a mattress includes the steps of aligning each layer in its proper position in relation to the other layers of the mattress and, after the alignment step, inserting a plastic fastener through the layers. A fastener dispensing tool is provided for inserting plastic fasteners through the layers of the mattress. In one embodiment, the fastener dispensing tool includes a housing, a hollow sharpened needle fixedly coupled to the housing, an ejection mechanism for advancing a cross-bar of the plastic fastener through the hollow needle, a needle guard slidably coupled to the housing over a portion of the sharpened needle, and a needle guard stop slidably coupled to the housing in such a manner so that it can be releasably fixed place in either of two or more set positions.

Abstract: A method for coupling together at least two layers of a mattress includes the steps of aligning each layer in its proper position in relation to the other layers of the mattress and, after the alignment step, inserting a plastic fastener through the layers. A fastener dispensing tool is provided for inserting plastic fasteners through the layers of the mattress. In one embodiment, the fastener dispensing tool includes a housing, a hollow sharpened needle fixedly coupled to the housing, an ejection mechanism for advancing a cross-bar of the plastic fastener through the hollow needle and a needle stop slidably coupled to the housing for limiting the degree of penetration of the hollow needle through the layers of the mattress. The needle stop is adapted to be releasably fixed in place by a locking member which is internally spring biased.

Abstract: An apparatus (11) for dispensing individual plastic fasteners from fastener stock (13), includes a housing (27) and a hollow slotted needle (173) mounted onto said housing (27). An indexing wheel (95) is rotatably disposed within the housing (27) and advances a fastener to the rear end of the needle (173). A rocker (177) is slidably disposed within the housing and serves to move the cross-bar of the fastener in parallel with the needle bore. A plunger (179) is disposed within the housing (27) and is capable of being slidably displaced by a trigger assembly. An ejector rod (181) is fixedly mounted onto the plunger (179) and serves to push the cross-bar of the fastener out of the front of the needle (173). An indexing slide (137) separate from the rocker (177) is slidably disposed within the housing (27) and serves to rotatably advance the indexing wheel (95) after the ejector rod (181) pushes the cross-bar of the fastener out the front end of the needle (173).

Abstract: An apparatus (11) for dispensing individual plastic fasteners from fastener stock (13), includes a housing (27) and a hollow slotted needle (173) mounted onto said housing (27). An indexing wheel (95) is rotatably disposed within the housing (27) and advances a fastener to the rear end of the needle (173). A rocker (177) is slidably disposed within the housing and serves to move the cross-bar of the fastener in parallel with the needle bore. A plunger (179) is disposed within the housing (27) and is capable of being slidably displaced by a trigger assembly. An ejector rod (181) is fixedly mounted onto the plunger (179) and serves to push the cross-bar of the fastener out of the front of the needle (173). An indexing slide (137) separate from the rocker (177) is slidably disposed within the housing (27) and serves to rotatably advance the indexing wheel (95) after the ejector rod (181) pushes the cross-bar of the fastener out the front end of the needle (173).

Abstract: A tamper-proof tie includes a head and an attached strap. The head includes a strap accepting channel and a blind cavity. The strap accepting channel includes a strap entry end and a strap exit end. The blind cavity includes an open end. The head includes a flexible locking member comprising first and second ends which are fixed in place within the head. The strap includes an anti-tampering device which comprises a finger and a projection. In use, the strap is inserted into the strap accepting channel so the tie forms a closed loop. As the strap is inserted into the head, the locking member engages the anti-tampering device to prevent withdrawal of the strap from the head. With the tie formed into a closed loop, the anti-tampering device substantially encloses the entry end and the exit end of the strap accepting channel and the open end of the blind cavity.

Abstract: A tamper-proof tie includes a head and an attached strap. The head includes a strap accepting channel and a blind cavity. The strap accepting channel includes a strap entry end and a strap exit end. The blind cavity includes an open end. The head includes a flexible locking member comprising first and second ends which are fixed in place within the head. The strap includes an anti-tampering device which comprises a finger and a projection. In use, the strap is inserted into the strap accepting channel so the tie forms a closed loop. As the strap is inserted into the head, the locking member engages the anti-tampering device to prevent withdrawal of the strap from the head. With the tie formed into a closed loop, the anti-tampering device substantially encloses the entry end and the exit end of the strap accepting channel and the open end of the blind cavity.

Abstract: A tamper-proof tie includes a head and an attached strap. The head is shaped to define an elongated interior channel having a strap entry end and a strap exit end. The head includes an articulating locking tang disposed to project into the interior channel. The strap includes a first end formed onto the head, a second end and an anti-tampering device integrally formed onto the second end, the anti-tampering device including a plug and a finger. In use, the strap is inserted into the interior channel so the tie forms a closed loop. As the strap is inserted into the head, the locking tang engages the anti-tampering device to prevent withdrawal of the strap from the head. With the tie formed into a closed loop, the plug is sized and shaped to substantially enclose the entry end and the finger is sized and shaped to substantially enclose the exit end.

Abstract: A tamper-proof tie includes a head and an attached strap. The head is shaped to define an elongated interior channel having a strap entry end and a strap exit end. The head includes an articulating locking tang disposed to project into the interior channel. The strap includes a first end formed onto the head, a second end and an anti-tampering device integrally formed onto the second end, the anti-tampering device including a plug and a finger. In use, the strap is inserted into the interior channel so the tie forms a closed loop. As the strap is inserted into the head, the locking tang engages the anti-tampering device to prevent withdrawal of the strap from the head. With the tie formed into a closed loop, the plug is sized and shaped to substantially enclose the entry end and the finger is sized and shaped to substantially enclose the exit end.