Patent ID: 6129476
Filing Date: 2000-10-10
Classification: B25J,Y10T

Abstract:
An end effector for a robotic arm, comprising:a base adapted to be mounted to a robotic arm, the base having a contact face and a central axial hole;a body having a central axial hole which registers with the hole in the base, a first end which is adapted to receive a tool fixture, and a second end which has a contact face that mates with the contact face of the base while the body is in an operational position;a pair of hard-ground, hemispherical protuberances differing in size and protruding axially from one of the contact faces;a pair of hard-ground, cylindrical receptacles differing in size and located in the other of the contact faces, each of the receptacles closely receiving a maximum diameter of a respective one of the protuberances to orient the body on the base; anda spring extending within the holes of the base and the body, the spring being mounted in tension between the base and the body for retaining the body on the base and allowing the body to deflect away from the base in the event that the body strikes an object.