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.

Provided is an attaching/detaching structure that operates reliably with simple operation. The attaching/detaching structure attaches/detaches a second connecting member (4) to/from a first connecting member (3). An operation chamber (8) formed in a base member (5) of the second connecting member (4) is connected to the outside of the base member (5) via an insertion hole (7) opened to a seating surface (6) of the first connecting member (3). Two clamp arms (10) and (11) are provided in the operation chamber (8) so as to be symmetrical around an axial center of the operation chamber (8). An engaging portion (16, 17) is formed at one end (10b, 11b) in longitudinal direction of each of the clamp arms (10, 11). An engaging member (32) protruding from the second connecting member (4) can be inserted into the insertion hole (7). A lock portion (34) in which the engaging portions (16, 17) can be engaged is formed in the engaging member (32).

Connector assemblies for connecting a robotic arm with a medical end effector are disclosed. An example apparatus for connecting a robotic arm with a medical end effector may include a connector housing. An actuation mechanism may be disposed within the connector housing. The actuation mechanism may include a plurality of linkage members and a gear assembly coupled to the linkage members. A motor may be coupled with the actuation mechanism and configured to drive the gear assembly. Each of the plurality of linkage members may be configured to shift between a locked configuration and an unlocked configuration. An actuator may be coupled to the actuation mechanism. The actuator may be configured to shift the plurality of linkage members between the locked configuration and the unlocked configuration. An adapter may be coupled to the connector housing. The adapter may include a plurality of alignment regions.

A robotic arm has an arm assembly, a connection device, and a clamping device. The arm assembly has a bottom base and a connecting base. The connection device is connected with the connecting base and has a housing and a locking member. The housing is connected securely with the connecting base and has a mounting hole defined in a side of the housing. The locking member is mounted moveably in the housing and extends into the mounting hole. The clamping device is combined with the connection device and has a head rod and a clamping head. The head rod has a first end and a second end. The first end extends into the mounting hole and is securely connected with the locking member. The second end is opposite the first end and is provided with a holding recess. The clamping head is mounted securely on the second end of the head rod.

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 may have 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 may have 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 may be 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 manual robotic tool changer includes a coupling mechanism. The coupling mechanism is activated by moving a lever between open (decoupled) and closed (coupled) positions. When the lever reaches the closed position, a safety latch automatically engages and prevents the lever from moving towards the open position. To open the lever, the safety latch is first activated to disengage, then the lever is moved to the open position. To virtually eliminate the possibility of both the safety latch being accidentally actuated, and the lever being accidentally moved towards the open position, these actions require the application of forces in substantially opposite directions. Accordingly, it is impossible that a single force, inadvertently applied to any part of the tool changer, could both actuate the safety latch and open the lever. In some embodiments, actuation of the safety latch and opening the lever are both easily performed with one hand.

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.

Various implementations include a device for transferring free-flowing material. The device includes a gantry, an arm, a gripper, and a tool head. The arm has a longitudinal axis, a first arm portion, a second arm portion spaced apart from the first arm portion along the arm longitudinal axis, and a middle arm portion disposed between the first arm portion and the second arm portion. The middle arm portion is rotatably coupled to the gantry. Various implementations include a reactor system. The reactor system includes a reactor core and an outer support structure. The reactor core is configured to receive one or more containers for containing a chemical reaction.

A tool changing device is described, which is provided with a male portion constrainable to a handler and a female portion constrainable to a tool to be handled and removably fittable on the male portion. Locking means are provided to lock the female portion on the male portion, and their respective actuator comprising an electric motor. The locking means are selectively movable between a locked position of the female portion and an unlocked position. Differently from conventional solutions, in the device according to the present invention advantageously the activation of the locking means is not assigned to the electric motor, on the contrary the latter has the task of only moving the locking means to the unlocked position; an elastic element is provided instead, which continuously applies a force holding the locking means in the locked position. The electric motor intervenes only to allow the female portion to be separated.

A tool changer 30 with a master half 32 and tool half 34. 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 laterally with respect to the tool half 34. This, in turn, moves the cam 72, and thus the clasps, from their release positions to their grasping positions. 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.