A first adapter of an end-effector exchange device includes a piston driven by supply and discharge of air, a cam member integrally coupled to the piston, and an engagement ball configured to be in contact with a side surface of a cam portion of the cam member. A second adapter includes a separation operation hole into which a release operation tool is inserted, the release operation tool being configured to come into contact with a side surface of the cam portion is inserted.

A dispenser tool (42) is provided with multiple cartridges for dispensing viscous material onto the surface (5′) of a wind turbine blade (5). The dispenser tool (42) is advantageously part of a robot system used to work the surface (5′) of the blade (5). The system is configured for bringing the nozzle of a selected cartridge into the vicinity of the surface (5′) and orienting the dispenser tool (42) relatively to the surface (5′) such that the nozzle (46) of the corresponding selected cartridge (44) is at the surface (5′) for providing viscous material onto the surface (5′) from the selected cartridge (44) while moving the nozzle (46) along the surface (5′).

A robotic tool changer includes master and tool assemblies. When the master and tool assemblies are coupled, rolling members project from the master assembly and contact opposed sloped surfaces of a plurality of cutouts formed in a bearing race in the tool assembly. By contacting opposed sloped surfaces of a plurality of cutouts with the rolling members, torsional freeplay between the master and tool assemblies is eliminated or minimized.

Systems and methods for changing an end effector are provided. A robot flange may have a first receiver and a first electrical connection. An end effector may have a second receiver, a second electrical connection, and a locking assembly. The locking assembly may be configured to releasably secure the end effector to the robot flange. A connector may have an interface and an electrical connector for transferring at least one of power and data from the first electrical connection to the second electrical connection. The interface may be received by the first receiver and the second receiver when the connector is positioned between the robot flange and the end effector and the locking assembly secures the end effector to the robot flange.

Systems and methods for changing an end effector are provided. A connecting plate may have a first side, a second side opposite the first side, and a kinematic interface. The kinematic interface may include at least one projection extending from both the first side and the second side. A robot flange may have a first kinematic receiver including at least one recess for receiving a corresponding projection of the at least one projection of the first side. An end effector may have a second kinematic receiver and a locking assembly. The second kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection of the second side. The locking assembly may be configured to releasably secure the end effector to the robot flange.

When an operation portion (38) provided at an axial end portion of a valve member (37) is pushed into a valve case (31) provided to a first block (3), a clamping apparatus transitions from a first state, in which communication between: each of a primary-side pressure fluid supply/discharge port (34) and a secondary-side pressure fluid supply/discharge port (35); and a pressure fluid discharge port (36) is open, to a second state, in which communication between: each of the primary-side pressure fluid supply/discharge port (34) and the secondary-side pressure fluid supply/discharge port (35); and the pressure fluid discharge port (36) is closed.

A device for applying a layer of material within a thin-walled pressure vessel may include one or more maneuvering actuators configured to direct the device within the thin-walled pressure vessel, an applicator operatively coupled to the one or more maneuvering actuators, and a controller operatively coupled to the one or more maneuvering actuators and the applicator, the controller is configured to control the one or more maneuvering actuators and the applicator. The applicator may include an expander configured to apply pressure along a portion of an inner wall of the thin-walled pressure vessel, a receptacle configured to secure the material to the device and position the material along the inner wall of the thin-walled pressure vessel, and a bonder configured to bond the material along the inner wall of the thin-walled pressure vessel.

A separable robotic interface includes a carrier portion, configured to attach to a free end of a robotic arm, and a probe portion, configured to be attached to a toolhead. The carrier portion includes a spring-loaded plug, coaxial with and arranged to slide lengthwise within the carrier portion, one or more ball bearings, arranged within holes of the carrier portion, and an axial lock feature. The probe portion may include a probe, which includes one or more recesses on lateral exterior surfaces of the probe and configured to receive ball bearings in order to axially lock the carrier portion to the probe portion in response to the probe portion inserted a predetermined distance into the carrier portion and the axial lock feature is activated. The probe portion is further configured to radially align with the carrier portion in response to an alignment feature engages the carrier portion.

A slide portion of a first adapter is fitted into a slot of a second adapter, and a ball is disposed between a cam member supported by the slide portion and an opening edge portion constituting the slot. The ball can advance toward or retreat from an engagement groove of the opening edge portion by movement of the cam member. By operating a release button connected integrally with the cam member and also sliding the first adapter and the second adapter relative to each other, the ball retreats, and the first adapter and the second adapter are separated from each other.

A vacuum gripping element and device hold a component to be transported when subjected to a vacuum. The device includes a carrying device and at least one vacuum gripping element connected releasably to the carrying device as needed. The element includes a base body with at least one vacuum supply channel and an elastic, form-flexible sealing element. A locking coupling forms a first fastener for positively connecting and releasing the gripping element relative to the carrying device as required. Alternatively, the base body includes first and second base body parts, the first part positively connecting and releasing relative to the carrying device as required by the first fastener, and the second part being connected to the elastic, form-flexible sealing element. A locking coupling forms a second fastener for positively connecting and releasing the first base body part relative to the second base body part as required.