Illinois Tool Works Inc.

Wes-tech, Inc.

M Richard Tennerstedt

Robert J Weskamp

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.

Quick changecoupling system for robotic attachments

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. A first set of belleville spring washers is mounted on the actuator rod between the first and second pistons to bias the first piston to the knob holding position, and a second set of belleville washers is coaxially disposed relative to the first set of belleville washers between an annular shoulder formed in the compartment and the second piston to effect a large force on the actuator rod in a direction towards the closed end of the compartment. A fluid control means is provided for selectively driving the second piston a slight distance to overcome the force exerted by the outer set of belleville washers and to simultaneously drive the first piston inwardly of the compartment and move the cylindrical collar portion inwardly of the claw fingers to free them to open.

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Wilmette, IL, United States of America

M Richard Tennerstedt