US 12,441,007 B2
Tool changer for collaborative robots, a robot tool changer system and a method for connecting a tool to a robot arm
Christian Lyhr Jensen, Odense C (DK)
Assigned to C&J Holding Aps, Odense C (DK)
Appl. No. 17/617,229
Filed by C&J Holding ApS, Odense C (DK)
PCT Filed Jun. 4, 2020, PCT No. PCT/EP2020/065522
§ 371(c)(1), (2) Date Dec. 7, 2021,
PCT Pub. No. WO2020/249465, PCT Pub. Date Dec. 17, 2020.
Claims priority of application No. PA201900710 (DK), filed on Jun. 12, 2019.
Prior Publication US 2022/0297316 A1, Sep. 22, 2022
Int. Cl. B25J 15/04 (2006.01); B25J 19/00 (2006.01)
CPC B25J 15/0491 (2013.01) [B25J 15/0425 (2013.01); B25J 19/0033 (2013.01); B25J 19/0025 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A tool changer for automatically connecting an operating device to an autonomous or collaborative robot, said tool changer comprising:
a first tool changer part intended to be mounted to an arm of said robot, said first tool changer part comprising first connecting means;
a second tool changer part intended to be mounted to said operating device and comprising second connecting means,
said first and second connecting means being arranged for mutual engagement, such that said first and second tool changer parts may be connected and disconnected from each other,
said first tool changer part comprising a first connection surface for facing said second tool changer part and defining a first plane, and said second tool changer part comprising a second connection surface for facing said first connection surface and defining a second plane being parallel to said first plane,
said first connecting means projecting from said first connection surface substantially perpendicular to said first plane, and said second connecting means being arranged for receiving said first connecting means, wherein
said second tool changer part further comprises locking means, which comprises locking elements for locking and unlocking said first connecting means to and from said second connecting means,
said first connecting means comprising locking portions for engaging said locking elements, such that said first tool changer part and said second tool changer part are interlocked in a direction substantially perpendicular to said first and second planes,
said locking portions comprising recesses arranged at an end of said first connecting means, said recesses extending in a direction substantially parallel to said first and second planes,
said locking elements being displaceable in a direction parallel to said first and second planes and being arranged for a first unlocked position, where said locking elements are disengaged from said locking portions, and a second locked position, where said locking elements engage said locking portions, thereby preventing movement of said first connecting means in relation to said second connecting means,
and wherein said locking elements comprise first locking elements and second locking elements being displaceable towards and away from each other,
said locking means further comprising rotation elements arranged for rotation around an axis substantially perpendicular to said first and second planes, and arranged to interact with said displaceable locking elements, such that said locking elements can move between said first unlocked position and said second locked position.