Patent ID: 6752037
Filing Date: 2004-06-22
Classification: B23B,B25J,Y10T

Abstract:
A robot hand tool linkage device for connecting an outer part of a robot hand to a master plate that is connected to an output part of a robot hand, comprising:an actuation shaft supported by said master plate; means for driving said actuation shaft between a locked position and an unlocked position; a ring-shaped retainer affixed to said master plate surrounding an outer perimeter of said actuation shaft and including a ring-shaped groove; a plurality of radially directed rod insertion holes formed in an inner perimeter wall; said rod insertion holes being directed perpendicular to a motion of said actuation shaft; a plurality of push rods attached movably in said plurality of rod insertion holes that transfer the output of said actuation shaft radially outward; a plurality of arc-shaped locking members free to slide in a radial direction in said ring-shaped groove under urging of ends of said push rods; annular joining ring affixed to said outer part; an arc-shaped surface on an inner perimeter of said joining ring; said arc-shaped surface tapering inward toward said locking members; said arc-shaped locking members disengaging said arc-shaped surface when said locking members are in their unlock positions; said arc-shaped locking members engaging said arc-shaped surface when said arc-shaped locking members are urged outward into their locking positions; an arc-shaped groove is provided on an outer perimeter part of each of said plurality of arc-shaped locking members; a C-ring shaped spring member is provided in said plurality of arc-shaped grooves; and said plurality of arc-shaped locking members are elastically urged toward a smaller diameter by said spring member.