A tool changing system of a robot manipulator is proposed. The tool changing system includes: a master coupled to an end of the robot manipulator at a first side thereof; and a slave coupled to a tool at a first side thereof and coupled removably to a second side of the master at a second side thereof, wherein the master includes an actuator and a master magnet rotating according to the rotation of the actuator, and the slave includes a slave magnet rotating in synchronization with the rotation of the master magnet by magnetism therebetween with the master and the slave coupled to each other, whereby the rotating force of the slave magnet as a rotating force necessary for operating the tool is transmitted to the tool.

A tool system including a housing fastened to a tool, the housing being formed of a non-magnetic material, a magnet module embedded in the housing, a pair of mounting grooves in the housing and located below the magnet module, a changer body provided on a manipulator, the changer body being formed a non-magnetic material, a metal bar mounted on the changer body, a pair of terminals provided at both ends of the metal bar, the pair of terminals being formed of magnetic material, the pair of terminals facing the magnet module, a fixing bar outside the housing, the fixing bar being formed of a magnetic material, and a pair of mounting pins extending vertically from both ends of the fixing bar, the pair of mounting pins being formed of magnetic materials, and the pair of mounting pins are inserted into the pair of mounting grooves is provided.

A robot includes a replacement determination unit (73) determining timing to replace a cover attachable to and detachable from part of a surface of a robot main member in accordance with a determination standard corresponding to usage of the robot, and a cover replacement unit (77, 78) controlling processing of replacing the cover with the robot main member on the basis of a result of the determination.

High precision end effectors for robots and adapters that provide attachment of the end effectors to a variety of robotic arms are disclosed. The combination provides for harmless break-away of the end effector on collision, and autonomous tool changer capability for mobile robots.

The systems and devices disclosed herein can permit a sterile adapter or manipulator interface to detect at least one attribute, parameter, and/or position of a tool attached to the instrument device manipulator. A sterile adapter can be coupled to the manipulator interface and include a magnet that is movable relative to the manipulator interface for permitting detection of the tool. Additionally, the present disclosure also relates to methods of preparing and using a medical robotic system.

A gripping device (2) configured to be detachably attached to a robot (20). The gripping device (2) comprises one or more extremities (10, 10′) provided with one or more suction members (12, 12′) connected to a vacuum source (18). At least two of the extremities (10, 10′) are rotatably arranged with respect to each other

A robot system includes a robot including a robot arm, a force sensor, and a fitted portion provided at an opposite side to the robot arm via the force sensor, a tool having a fitting portion fitting in the fitted portion, and a control apparatus controlling actuation of the robot, wherein the control apparatus performs first control to detach the tool from the robot arm by driving the robot arm based on output of the force sensor and releasing fitting of the fitted portion and the fitting portion, and second control to attach the tool to the robot arm by driving the robot arm based on the output of the force sensor and fitting the fitted portion in the fitting portion.

A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.

A quick change end effector system for use with a robot includes a quick change end effector configured for application to a task to be completed by a robot, the quick change end effector further comprising an end effector magnet, and a robotic manipulator configured to lock to the end effector, the robotic manipulator further configured to use the end effector to complete the task, the robotic manipulator comprising a manipulator magnet, the manipulator magnet being configured to magnetically attract the end effector magnet, thereby locking the manipulator in a mechanically strong connection to the quick change end effector, wherein upon disengagement of the magnetic attraction locking the manipulator to the quick change end effector, the quick change end effector can be quickly removed from the manipulator.

A nozzle holding mechanism of the invention is capable of holding multiple types of nozzles to a head of a component mounting device and includes: a magnet provided in a holding section of the head; and a magnetic material, attracted to the magnet, provided in a held section of the nozzle on the side held by the holding section of the head, at a position facing the magnet. The magnetic material is provided so as to have a gap between the magnetic material and the magnet while the nozzle is held by the head. The gap is adjusted to be larger or smaller in accordance with the type of the nozzle held by the head.