A system, method, and apparatus for changing a set of old tools for a set of new tools may be presented. The system may comprise a crawler robot, a robotic arm, a tool changer, a vision system, and at least one of a tool rack or a storage area. The tool changer may be an end effector of the robotic arm. The tool changer may comprise a number of grippers and a number of movement assemblies. The number of grippers may perform at least one of moving a set of new tools to the crawler robot or removing the set of old tools from the crawler robot. The number of movement assemblies may be associated with the number of grippers. The vision system may be associated with at least one of the robotic arm and the tool changer.

A force multiplier (5) configured to assist movement of the operating rod (22) in its axial direction is provided. An engagement recess (52) provided on an outer periphery of the operating rod (22) has a cam surface (52a) configured to make engagement with an engagement ball (51). There is provided a support hole (53) configured to allow movement of the engagement ball (51) in a radial direction of operating rod (22) and to restrict movement of the engagement ball (51) in the axial direction of the operating rod (22). A pressing member (54) configured to press the engagement ball (51) is provided, and the pressing member (54) has a force-multiplying surface (54a).

The invention relates to a gripping device for transferring a magnetic dipole rod as well as to a robot with a robot arm, to which the gripping device is attached. The invention furthermore relates to a magazine for providing one or more magnetic dipole rods, to a system for transferring a magnetic dipole rod, and to the use of the system. The gripping device for a magnetic dipole rod has a metal bolt made of a ferromagnetic material, the diameter of which is smaller than the diameter of the magnetic dipole rod. The metal bolt can assume at least two different positions, wherein the dipole rod adheres to the front end of the metal bolt in the first position and is stripped off from the front end of the metal rod during the transition into the second position.

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 method for performing a tool change with a robot arm. Providing a first coupling unit connected to a robot arm end shaft; providing a plurality of tool changer grippers and second coupling units detachably connected to the respective tool changer grippers; the robot arm end shaft driving the first coupling unit to be coupled with a selected second coupling unit and take the selected second coupling unit away from the corresponding tool changer gripper; the robot arm end shaft driving the first coupling unit coupled with the selected second coupling unit back to the corresponding tool changer gripper to be decoupled from the selected second coupling unit; enabling the corresponding tool changer gripper to have a degree of freedom; the corresponding tool changer gripper being self-displaced by the degree of freedom in the coupling operation and in the decoupling operation to overcome a position error.

A manufacturing machine is capable of subtractive manufacturing and additive manufacturing for a workpiece. The manufacturing machine includes: a first headstock and a second headstock disposed in a machining area and configured to hold a workpiece; a tool spindle and a lower tool rest disposed in the machining area and configured to hold a tool to be used for subtractive manufacturing for the workpiece; an additive manufacturing head configured to discharge a material during additive manufacturing for the workpiece; a workpiece gripper configured to grip the workpiece during transportation of the workpiece into and out of the machining area; and a robot arm on which the additive manufacturing head and the workpiece gripper are mountable. Accordingly, the manufacturing machine improving the productivity in the simple and easy manner is provided.

A surgical tray efficiency system comprising a vertical rack assembly for holding and displaying a plurality of surgical instrument trays, a sterile barrier covering the vertical rack assembly and including tray location identifiers, and a standardization software platform including a customizable interactive planogram is described. The customizable interactive planogram software helps operating room staff arrange the instrument trays on the vertical rack assembly according to a predetermined customizable location ID, and create/load/access information related to the surgical procedure/trays/instruments before, during, and after the surgery.

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.

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.

A robot system comprising: a robot having an attaching/detaching mechanism; a controller; and a hand stand on which hands are put and includes a ground circuit for electrically grounding the hands, wherein a first electrode to which detection voltage is applied is fixed to the robot, each of the hands has a reference position used when the hand is attached to the attaching/detaching mechanism, and is provided with a second electrode so that distance from the reference position to the second electrode differs for each hand, a detecting unit for detecting current in the ground circuit is provided, the controller includes: a storage that stores the types of the hands and those corresponding positions of the second electrodes, and a hand identifying unit that identifies whether the hand is a selected hand based on the current when the first electrode is moved to a position of the second electrode.