Tool Changer

Abstract

A tool changer 30 with a master half 32 and tool half 34. Mating member 60, 138 enables the master half 32 and tool half to mesh with one another. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves horizontally with respect to the tool half 34. This, in turn, moves the cam 72 from its release position to its grasping position. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

What is claimed is: 
     
         1 . A tool changer comprising:
 a master half and a tool half, the master half to be coupled with a robot, the tool half to be coupled with a tool;   a first mating member on the master half;   a second mating member on the tool half, the first and second mating members including a recess or a projection, respectively, for enabling the first and second mating members to mesh with one another;   a securing mechanism for securing the master and tool halves with one another, the securing mechanism including a clasp moving between a release position and a grasping position, in the grasping position the master and tool halves are secured together with one another, a cam for moving the clasp between the release and grasping positions; and   a lock pin for locking the cam in the release and grasping positions, wherein from a release position, the master half engages the tool half, the lock pin moving to an unlocked position, the master half moves horizontally with the second plate which, in turn, moves the cam from its release position to its grasping position wherein the clasp grasped the tool half and the lock pin moves into a locked position locking the cam in its grasping position.   
     
     
         2 . The tool changer of  claim 1 , wherein when the master and tool halves are unsecured with one another the tool half is retained in a nest. 
     
     
         3 . The tool changer of  claim 2 , wherein the nest includes a member for activating the lock pin. 
     
     
         4 . The tool changer of  claim 1 , wherein the tool half includes posts to couple with the nest. 
     
     
         5 . The tool changer of  claim 1 , wherein the securing mechanism includes a plurality of clasps. 
     
     
         6 . The tool changer of  claim 5 , wherein each clasp includes a jaw and a cam pin. 
     
     
         7 . The tool changer of  claim 6 , wherein each cam pin is received in a corresponding slot in a cam plate of the cam, an elastomeric member in the slot and wherein movement of the cam plate moves the cam pin in the slot moving the clasp between its released and grasping positions. 
     
     
         8 . The tool changer of  claim 7 , wherein in the grasping position, the jaw engages a shoulder securing the master and tool halves together. 
     
     
         9 . The tool changer of  claim 1 , wherein one of the tool half includes a slot to enable passage of the lock pin. 
     
     
         10 . A tool changing station comprising:
 a robot with a tool changer and at least one nest for supporting a tool, the tool changer further comprising:   a master half and a tool half, the master half coupled with the robot, and the tool half coupled with a tool;   mating members coupled with the master and tool halves on the first plate for enabling the master and tool halves to mesh with one another;   a securing mechanism for securing the master and tool halves with one another, the securing mechanism including one or more clasps moving between a release position and a grasping position, in the grasping position the master and tool halves are secured together with one another, a cam for moving the at least one clasp between the release and grasping positions; and   wherein from the release position, the master half engages the tool half on one of the nests, the master half moves horizontally, via the robot, the tool half which, in turn, moves the cam from its release position to its grasping position wherein the one or more clasps grasp the tool half and the cam locks in its grasping position.   
     
     
         11 . The tool changing station of  claim 10 , wherein the nest includes a member for activating the cam. 
     
     
         12 . The tool changing station of  claim 10 , wherein the tool half includes posts to couple with the nest. 
     
     
         13 . The tool changing station of  claim 10 , wherein the securing mechanism includes a plurality of clasps. 
     
     
         14 . The tool changing station of  claim 13 , wherein each clasp includes a jaw and a cam pin. 
     
     
         15 . The tool changing station of  claim 14 , wherein each cam pin is received in a corresponding slot in a cam plate of the cam and wherein movement of the cam plate moves the cam pin in the slot moving the plurality of clasps between their released and grasping positions. 
     
     
         16 . The tool changing station of  claim 15 , wherein in the grasping position, the jaw engages a shoulder securing the master and tool halves.