A tool switching apparatus includes a main body with an opening, the opening being configured to receive a tool and defining a centerline. A plurality of clamping jaws is provided around the opening, each clamping jaw being configured to rotate around a respective pivot fixedly coupled to the main body. The clamping jaw includes a first protrusion, a second protrusion, and a flat spring fixedly coupled to the main body. The clamping jaw is configured to rotate around the pivot in a first rotational direction under an actuation exerted by the tool to allow the first protrusion to move away from the centerline of the opening.

The present invention relates to a tool changer for automatically connecting a tool changer for collaborative robots, a robot tool changer system, and a method for connecting a tool to a robot arm. The tool changer comprises a first tool changer part intended to be mounted to an arm of the robot, the first tool changer part comprising first connecting means; a second tool changer part intended to be mounted to the operating device and comprising second connecting means. The first and second connecting means are arranged for mutual engagement, such that said first and second tool changer part may be connected and disconnected from each other.

A robotic tool changer system through magnetic coupling force and all-round mechanical locking includes a first coupling unit, a plurality of second coupling units, and a plurality of tool changer grippers. The first coupling unit is fixed to a robot arm. The first coupling unit includes a first locking unit and a first magnetic unit. Each second coupling unit is detachably connected to one of the tool changer grippers and includes a second locking unit and a second magnetic unit. When the first coupling unit is moved to approach one of the second coupling units at a predetermined distance, the first coupling unit and the second coupling unit are coupled to each other by a magnetic coupling force, then the first coupling unit and the second coupling unit are fixed to each other through all-round mechanical locking of the first locking unit and the second locking unit.

A system for swaging an end of a fastener includes a pneumatic swaging tool and a quick-release end effector configured to couple to the pneumatic swaging tool. The quick-release end effector includes a body, a clamping member, and a cam lock. The body of the quick-release end effector includes a plurality of stationary threads, and the clamping member of the quick-release end effector includes a plurality of moving threads. The cam lock of the quick-release end effector is configured to operate between an open position and a closed position. In the closed position, a locking edge of the cam lock causes threads of the fastener to be clamped between the moving threads of the clamping member and the stationary threads of the body, thereby securing the fastener during swaging operations by the pneumatic swaging tool.