US 12,246,438 B2
Systems for changing tools on a gripper apparatus
Lei Lei, Tokyo (JP); and Yixuan Zhang, Tokyo (JP)
Assigned to Mujin, Inc., Tokyo (JP)
Filed by Mujin, Inc., Tokyo (JP)
Filed on Sep. 28, 2022, as Appl. No. 17/955,220.
Application 17/955,220 is a continuation of application No. 16/748,539, filed on Jan. 21, 2020, granted, now 11,458,639.
Claims priority of provisional application 62/875,880, filed on Jul. 18, 2019.
Prior Publication US 2023/0020813 A1, Jan. 19, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/06 (2006.01)
CPC B25J 15/0616 (2013.01) 20 Claims
OG exemplary drawing
 
1. A tool structure for a robotic arm, the tool structure comprising:
at least one structural member;
a connector mechanically coupled to the structural member and shaped for engaging a tool support structure located on the robotic arm, the connector including:
at least one signal line disposed within the connector and positioned for receiving one or more electrical signals from the tool support structure; and
at least one electronic component attached to the structural member,
wherein the signal line is configured to electrically transfer a signal to and/or from a control unit from and/or to the electronic component.