Magnetic coupling mechanisms for robotic arm end effectors are disclosed. In particular, a magnetic coupling mechanism couples a detachable tool, such as a suction gripper, to a tool changer base of a robotic arm tool of an end effector. Magnetic coupling between the robotic arm tool and the detachable tool allows for breakaway when a sufficient force is applied to the robotic arm tool and/or the detachable tool to separate the two. The decoupling may be achieved via a tool rack. An exemplary system for coupling a detachable tool to a motion device includes a first magnetic ring affixed to a distal end of the motion device, where an inside of the first magnetic ring forms a first hollow chamber; and a second magnetic ring affixed to a proximal end of the detachable tool, where an inside of the detachable tool forms a second hollow chamber.

Some embodiments provide a magnet gripper system, comprising: a gripper base comprising a magnetically attractive face; at least two slide plate retaining systems; and two or more slide plates wherein at least one of the slide plates is movably cooperated with each of the at least two slide plate retaining systems such that the slide plates are configured to move between a retracted position with the slide plates retracted relative to the face of the gripper base and an extended position with the slide plates extended relative to the face of the gripper base with an end of each of the slide plates being positioned further from the face of the gripper base when in the extended position than when the slide plates are in the retracted position.

An interchangeable tool including a finger of a shape suitable for various components is mechanically detachably mounted to a robot arm. This eliminates the need for seeking the origin of the actuator for each interchange. By interchanging fingers themselves, the entire end effector can be reduced in size and weight.

Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

A hand at a robot arm leading end is provided with a mounting portion for a finger. The mounting portion includes a guiding unit that guides a supported portion of the finger so as to enable the supported portion to pass through from one end part of the guiding unit 31 to another end part thereof. The mounting portion further includes a lock mechanism. The lock mechanism moves the supported portion from any of end parts of the guiding unit 31 toward a mount position between the end parts, to thereby bring the supported portion of the finger into a restricting state at the mount position. Moreover, the lock mechanism moves the supported portion toward any of the end parts from the restricting state, to thereby bring the supported portion from the restricting state into a releasing state.

A quick-change system includes a first exchange tool designed as gripper jaws, a second exchange tool, a first receiving part, and a ball catch. The first receiving part includes a first receiving opening for receiving a one of the first exchange tool or the second exchange tool. The ball catch is for temporarily fixing the one of the first exchange tool or the second exchange tool on the first receiving part. The ball catch includes a sleeve that is closed on one side and a spring-mounted press ball arranged in the sleeve. The one of the first exchange tool or the second exchange tool has a ball-receiving opening, and the press ball can be manually engaged and disengaged in the ball-receiving opening.

A gripping system is provided comprising: gripping fingers of a first type, gripping fingers of a second type, a gripping device for handling sample containers, wherein the gripping device comprises base portions, wherein a gripping finger of the first type and a gripping finger of the second type are releasably fixable to the base portions, and a drive, wherein the drive is adapted to move at least one of the base portions relative to the other base portions to cause a gripping or a releasing of a sample container, and a gripping finger change device, wherein the gripping finger change device is adapted to store gripping fingers of the first type and gripping fingers of the second type, and wherein the gripping finger change device is adapted to replace a gripping finger of the first type fixed to a base portion by a gripping finger of the second type.

A tool changing system for an industrial robot, the tool changing system including a tool; a base member for arrangement in a manipulator of the industrial robot and for holding the tool; and a tool storage for holding the tool when released from the base member; and a base member force device configured to force the tool to the base member in any orientation of the base member when the tool is held by the base member; and a tool storage force device configured to force the tool to the tool storage in any orientation of the tool storage when the tool is held by the tool storage. A method of handling a tool by an industrial robot is also provided.

Presented are automatic end-of-arm tool changing devices, methods for making/using such tool changing devices, and automated robotic systems with such tool changing devices. A tool changing device for an automated robotic system includes a quick-change (QC) interlock subassembly that attaches to an end effector. The QC subassembly includes a housing, one or more locking pins movable on the QC housing, and one or more anchor pins projecting from the QC housing. A finger block (FB) subassembly, which performs a task on a target object, includes a housing, a robot tool mounted to the FB housing, and one or more key slots and one or more pin holes in the FB housing. Each key slot receives an anchor pin; once the anchor pin is slid to a locking end of the key slot, each locking pin automatically slides into a pin hole to thereby lock together the QC and FB subassemblies.

A gripper for a transport system of a picking device having horizontal storage surfaces for storing and dispensing small piece goods of different shapes and/or surface properties is provided. The gripper comprises a drop table extending in first and a second horizontal directions and having a storage and dispensing end face. Two elongated gripping jaws are arranged above the drop table extending in the first horizontal direction, and are fastened to a gripping jaw guide arrangement. At least one of the gripping jaws is movable in the second horizontal direction and at least one of the gripping jaws has a gripper coupler in its end portion facing away from the gripping jaw guide arrangement, and at least one transport attachment with an attachment coupler. The gripper and attachment couplers interact so that a transport attachment is releasably fixed at an end portion of a gripping jaw.