A robotic tool changer system and a method for performing a tool change with the robotic tool changer system are disclosed. Providing a plurality of second coupling units each connected with a tool, wherein the second coupling units are detachably connected to a respective tool changer grippers; driving a first coupling unit along a second direction with a robot arm end shaft to be coupled with a selected second coupling unit; driving the first coupling unit coupled with the selected second coupling unit away from the corresponding tool changer gripper in a first direction, defining an angle between the first direction and the second direction; wherein when the selected second coupling unit is moved to the corresponding tool changer gripper and before the first coupling unit to separate from the selected second coupling unit, a third acting force is applied to the selected second coupling unit for restricting movement.

A releasable joint between two component flanges is for use in a robot arm. The flanges have a number of teeth on each part that is pressed into contact by clamps, screws or other means. The releasable joint assembly is suitable for establishing a robot joint between a first and second component each having interlocking annular flange with respective contact surfaces, and where these flanges are held in place by a clamp.

An end effector has an end effector base portion connected to a robot arm, and an elastic component holding unit provided to the end effector base portion so as to hold an elastic component. The elastic component holding unit has a plurality of elastic component gripping members which releasably grip the elastic component, and a biasing unit for repulsively biasing each distal end portion of the plurality of elastic component gripping members from a releasing position for releasing the elastic component toward a gripping position for gripping the elastic component. An end effector capable of simplifying a fitting work of an elastic component such as the O ring can be provided.

Devices, systems, and methods for automatically exchanging a first end-effector on a robot arm with a second end-effector housed in a docking station. The first end-effector has a clamp that either engages or disengages the robot arm based upon an application of force of the robot arm onto the end-effector. The clamp has a spring loaded clip that disengages the first end-effector to allow the robot arm to move away from the released first end-effector. The robot arm is configured to automatically move to a port of a docking station housing the desired second end-effector using magnetic coils on the robot arm and the docking station to guide the robot arm.

The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

A device for connecting pneumatic tools to a manipulator is described. The device includes a main body fixable to a manipulator and provided with seats for corresponding coupling portions of a tool, at least one duct for feeding or suctioning a working fluid to/from the tool, the duct extends in the main body, and an engaging mechanism to engage to tool. The engaging mechanism is movable between a locked position and an unlocked position in order to respectively prevent or allow the detachment of the tool. Advantageously, the engaging mechanism further acts as a valve for opening and closing the duct and is provided with a vent to the atmosphere through which the pressure of the working fluid in the tool is automatically brought to the atmospheric pressure when the engaging mechanism is in the unlocked position.

A robot hand guide device includes a first connection flange configured to connect the robot hand guide device to a tool flange of a robot arm, a second connection flange configured to fasten a tool to be handled by the robot arm to the robot hand guide device, and a transfer apparatus configured to transfer forces and torques between the first connection flange and the second connection flange. A sensor device attached to the transfer apparatus is configured to detect forces and torques transferred via the transfer apparatus. The robot hand guide device further includes at least a first connection element connected to the first connection flange and configured for detachably connecting a guide handle of the robot hand guide device to the first connection flange.

The invention relates to a tool changer for a robot, including a base unit, a changing unit, which can be locked on the base unit, movable locking elements, which are provided on the base unit, receptacles, which are provided on the changing unit, the locking elements interacting, in a locking position, with the receptacles in order to lock the changing unit on the base unit and releasing, in an unlocking position, the receptacles, and a rotary element, which is provided on the base unit and is mounted for rotation about the longitudinal axis of the rotary element, the locking elements being movement-coupled to the rotary element in such a way that the locking elements are moved when the rotary element is rotated.

A coupling device is described herein for coupling two objects. The coupling device includes a body having a receiving member, a bore, and a locking pin situated inside the bore. The locking pin is translatable beyond the bore to intercept a portion of an attachment region of an object to removably couple the object to the coupling device. A lever connected to the locking pin allows a user to rotate the locking pin. Upon rotation of the lever, components in the body cause the locking pin to rotate and translate towards the object to intercept the portion of the attachment region of the object.

Provided herein is an apparatus and system to increase the capacity for grasping or engagement of an object using an accessory tool. Methods of increasing the capacity of a tool can include: engaging an accessory tool with a tool, where the tool includes a first vacuum cup and the accessory tool includes one or more second vacuum cups; securing the tool to the accessory tool with a securing mechanism; drawing a vacuum through the first vacuum cup, where the vacuum is drawn through the one or more second vacuum cups in response to drawing a vacuum through the first vacuum cup while the accessory tool is engaged with the tool; and grasping an object with the second one or more vacuum cups in response to vacuum drawn through the one or more second vacuum cups and the one or more second vacuum cups engaging a surface of the object.