Patent Publication Number: US-2023150145-A1

Title: Separable Robotic Interface

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a Divisional of Non-Provisional U.S. application Ser. No. 16/547,248 (Docket No. BBP0001 US), which claims priority from Provisional U.S. application 62/720,285 (Docket No. ASP0009 PV), filed Aug. 21, 2018, entitled SEPARABLE SPACECRAFT INTERFACE, each of which is hereby incorporated by reference for all purposes. 
    
    
     FIELD 
     The present invention is directed to separable robotic interfaces. In particular, the present invention is directed to methods for providing separable robotic toolheads for securing tools, components, or materials to robotic manipulators. 
     BACKGROUND 
     Robotic arms have been in existence for several decades. Many industries utilize robotic arms to speed production, improve product assembly quality, and manipulate hazardous objects and materials. Most robotic arms in the world are designed for heavy or repetitive manufacturing work, and handle tasks that are difficult, dangerous, or boring to human beings. A typical robotic arm is controlled by a computer by activating individual stepper motors or actuators connected at each joint. At a minimum, a robotic arm has a single segment and a joint at each end. Robotic arms often use motion sensors to regulate movement in precise increments. 
     Current technology robotic arms utilize capture heads incorporating mechanical grippers, where mechanical force between two or more surfaces are used to positively capture and move objects. Mechanical grippers are suitable to capture known objects of predictable size, shape, and orientation, and having robust attachment surfaces. 
     SUMMARY 
     The present invention is directed to solving disadvantages of the prior art. In accordance with embodiments of the present invention, a method is provided. The method includes one or more of axially aligning a carrier portion of a separable robotic interface with a probe portion, the carrier portion coupled to a free end of a robotic arm, sliding the carrier portion over the probe portion in response to radially orienting a first alignment feature between the probe portion and the carrier portion, and in response compressing a spring-loaded plug in the carrier portion to release one or more ball bearings to make contact with an outer surface of the probe portion, the plug radially coupled to the carrier portion through a second alignment feature, seating the one or more ball bearings into matching recesses in the outer surface in response to sliding the carrier portion over the probe portion a predetermined distance, and rotating a locking ring of the carrier portion to axially lock the carrier portion to the probe portion. 
     In accordance with another embodiment of the present invention, a method is provided. The method includes one or more of moving, by a robotic arm, a separable robotic interface controlled by the robotic arm, into proximity with a fixture, the separable robotic interface comprising a carrier portion axially and radially locked to a probe portion, rotating a radial locking tab of the carrier portion to align with a projection of the fixture, sliding the probe portion into the fixture, wherein the fixture axially captures the probe portion, and in response depressing the radial locking tab by the projection to radially unlock the carrier portion, rotating a locking ring of the carrier portion, and in response relieving pressure on one or more ball bearings in matching recesses of an outer surface of the probe portion, axially unlocking the carrier portion from the probe portion, and removing, by the robotic arm, the carrier portion from the probe portion. 
     An advantage of the present invention is that it provides a standard interface for various types of robotic end effectors. A standard interface makes it easier for competing hardware developers to create families of robotic end effectors that may utilize the same interface. Thus, a large selection of robotic tools may be available for each such socket. 
     Another advantage of the present invention is it provides a common mount providing both a secure interface for tool mounting while allowing tool changing or replacement without requiring human servicing or intervention. 
     Another advantage of the present invention is it provides a locking mechanism that provides for secure locking of the two portions of the separable robotic interface without requiring human servicing or intervention. 
     Another advantage of the present invention is that in some embodiments it provides for power and/or data connections through the separable robotic interface. No electrical connections are made until a probe component is seated within a capture assembly. Power and data connections allow use of robotic end effectors that may include various forms of cameras, active or passive sensors, or actuated (i.e. power) tools. 
     Another advantage of the present invention is when mounted with a tool/probe, the separable robotic interface has a radial locking mechanism that resists rotational forces transmitted back through a toolhead towards the robotic arm. Without the rotational lock, the tool/probe may become dislodged during normal use. 
     Additional features and advantages of embodiments of the present invention will become more readily apparent from the following description, particularly when taken together with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram illustrating a robotic arm system in accordance with embodiments of the present invention. 
         FIG.  2    is a diagram illustrating an exploded view of a separable robotic interface in accordance with embodiments of the present invention. 
         FIG.  3    is a diagram illustrating a carrier portion of an interface to a robotic arm in accordance with embodiments of the present invention. 
         FIG.  4    is a diagram illustrating ball bearing fit and position to the probe in accordance with embodiments of the present invention. 
         FIG.  5    is a diagram illustrating a probe and plug fit to a carrier in accordance with embodiments of the present invention. 
         FIG.  6 A  is a diagram illustrating a locking ring in a locked disposition in accordance with embodiments of the present invention. 
         FIG.  6 B  is a diagram illustrating a locking ring in an unlocked disposition in accordance with embodiments of the present invention. 
         FIG.  7    is a diagram illustrating a radial locking system in accordance with embodiments of the present invention. 
         FIG.  8    is a diagram illustrating a fixture interface to the separable robotic interface in accordance with embodiments of the present invention. 
         FIG.  9    is an illustration depicting a toolhead assembly to a fixture in accordance with embodiments of the present invention. 
         FIG.  10    is an illustration depicting axially aligning a carrier portion with a probe portion in accordance with embodiments of the present invention. 
         FIG.  11    is a diagram illustrating a carrier portion engaging a probe portion in accordance with a first embodiment of the present invention. 
         FIG.  12    is a diagram illustrating axial and radial locking in accordance with a second embodiment of the present invention. 
         FIG.  13    is a diagram illustrating removing a toolhead and separable interface from a fixture in accordance with embodiments of the present invention. 
         FIG.  14    is a flowchart illustrating a separable interface mating process in accordance with embodiments of the present invention. 
         FIG.  15    is a flowchart illustrating a separable interface unmating process in accordance with embodiments of the present invention. 
     
    
    
     DETAILED DESCRIPTION 
     Robotic arms may be used for manipulation of various forms, sizes, and orientations of objects of varying complexity and materials. Robotic arms may capture or act upon objects within direct visual distance of a robot operator. In some cases, a robotic arm may need to perform multiple different operations on an object—including but not limited to grasping, moving, inspection, and modifications. Each of these different operations may require a different end effector or tool, and it may be necessary to remove a current toolhead prior to installing another toolhead. 
     Certain environments may provide additional difficulty to changing end effectors or tools. For example, a space environment may require a human operator or maintenance personnel wearing a pressurized suit to change toolheads. Certain environments may be severely space-limited to change toolheads. Yet other environments may require high operating temperatures, high radiation levels, the presence of caustic or toxic gases or chemicals, or biologic dangers that discourages human involvement in changing toolheads. 
     The present application describes a separable interface for robotic toolheads. The separable robotic interface may be used to securely hold tools and/or components or materials in a robotic tool environment in order to easily and rapidly make toolhead changes without the need for human intervention. The separable interface also allows changing toolheads without requiring tools. 
     Referring now to  FIG.  1   , a diagram illustrating a robotic arm system  100  in accordance with embodiments of the present invention is shown. The robotic arm system  100  is generally characterized as a multi-segment robotic arm  104 , where one end is a static end  116 A fixed to a structure and the other end is a free end  116 B that is able to be actuated and moved under operator or computer control. The structure supporting the static end may be a floor of a building, a wall, a ceiling, or a vehicle of some sort. In some embodiments, the vehicle may be a spacecraft, an aircraft, a ground-based vehicle, or a watercraft. In some embodiments, the static end of the robotic arm  116 A may be relocated and/or repositioned for various purposes. 
     The free end of the robotic arm  116 B is coupled to a separable robotic interface  112  that provides for tool-free replacement of any number of interchangeable toolheads  120 , including a currently installed toolhead  108 . Toolheads  108 ,  120  may include any number or type of functions, and may perform one or more of grasping, object capture, material movement, fluid or gas transfer, or any forms of sensors/sensing. In one embodiment, a toolhead may include a coupling fixture to attach to a same or different structure than the static end of the robotic arm  116 A. Toolheads  108 ,  120  may include inert and non-actuated toolheads such as a hammer, a chisel, or a suction cup. Toolheads  108 ,  120  may also include actuated toolheads such as a drill, an actuated gripper, a reciprocating saw, or an independently movable sensor. Actuation may be by electrical power, hydraulic fluid, compressed gas, mechanical force transfer (e.g., torque), magnetic force, or any other means provided through a functional interface  124  as further described herein. 
     Referring now to  FIG.  2   , a diagram illustrating an exploded view of a separable robotic interface  112  in accordance with embodiments of the present invention is shown.  FIG.  2    illustrates the principal components of the separable robotic interface  112 , according to the preferred embodiment. The separable robotic interface  112  permits tool-free replacement of any of various toolheads  108 , including toolhead  108  replacements without human intervention. The separable robotic interface  112  includes two parts: a carrier portion  204  and a probe portion  260 . Preferred materials may depend on the task to be performed. In one embodiment, the carrier portion  204  and the probe portion  260  may be  3 D printed plastics or metals or machined aluminum or steel. In one embodiment, most components may be machined aluminum and the carrier  232  may be machined Teflon. Selection of materials may reasonably be determined by one of ordinary skill in the art according to known mechanical, environmental, and purpose criteria. 
     One end of the carrier portion  204  is coupled to the free end of the robotic arm  116 B. In most embodiments, the carrier portion  204  is generally semi-permanently attached to the free end of the robotic arm  116 B, and conventional fasteners known in the art may be used to provide the attachment. In other embodiments, the carrier portion  204  may utilize some form of quick-attach/detach fasteners to allow for rapid carrier coupling/uncoupling. Such a quick attach/detach mechanism may incorporate a twist-lock or similar type of feature. The opposite end of the carrier portion  204  is configured to be coupled to the probe portion  260 , as described herein. 
     One end of the probe portion  260  in most embodiments is coupled to a toolhead  108 . Each probe portion  260  provides a standardized interface to interchangeable toolheads  120 . The present application is able to use many different toolheads  108 ,  120  with the same carrier portion  204  and robotic arm  104 . Thus, a given robotic arm  104 /carrier portion  204  may select one toolhead  108  from many interchangeable toolheads  120 , depending on the task and toolhead  108 ,  120  availability. One may imagine a “tool crib” in proximity to the robotic arm  104 , where toolheads  108  may be selected based on task and an order of need. In the preferred embodiment, each toolhead  108 ,  120  may be semi-permanently attached to its own probe portion  260 . “Semi-permanently” because it may be necessary to separate toolheads  108 ,  120  from probe portions  260  in order to facilitate upgrade or maintenance to either toolheads  108 ,  120  or a probe portion  260 . 
     Each carrier portion  204  may include an end cap  244 , a lock tab retainer  208 , a radial locking tab  212 , a radial lock  216 , a plug spring  220 , a plug  224 , a shroud  228 , a carrier  232 , a locking ring  236 , and a nose ring  240 . The carrier portion  204  may also include one or more ball bearings  408  as described herein, plus other springs and fasteners not described in detail. 
     The end cap  244  provides a bearing surface to mate with the free end of the robotic arm  116 B, and to support the lock tab retainer  208  and the plug spring  220 . In most embodiments, conventional fasteners directly attach the end cap  244  to the free end of the robotic arm  116 B. For separable robotic interfaces  112  that support an optional functional interface  124 , the end cap  244  must also support whatever cables, pipes, circuit boards, or other types of connections required by interchangeable toolheads  120 . For example, a functional interface  124  supporting a powered optical sensor toolhead  108  may require one or more power and data connections, where the data connections may include an optical cable. The functional interface  124  may be optional, and is not shown in  FIG.  2    for mechanical clarity. 
     The lock tab retainer  208  is rigidly attached to the end cap  244 , and rotates with the end cap  244  when the free end of the robotic arm  116 B rotates. The lock tab retainer  208  receives the radial locking tab  212 , but allows the radial locking tab  212  to move a limited amount laterally under spring pressure (not shown). This operation is described in more detail with respect to  FIG.  7   . The radial lock  216  is rigidly coupled to the radial locking tab  212 , and radially locks or unlocks the carrier portion  204  in response to lateral radial locking tab  212  movement. 
     The plug spring  220  is supported on one end by the end cap  244  and the other end by the plug  224 . When the carrier portion  204  is not coupled to the probe portion  260 , the plug spring  220  is mostly unloaded, and may be slightly in compression to exert a small amount of force on the plug  224  to keep the plug  224  extended toward the nose ring  240  and maintain the ball bearings  316  within the retaining holes  308 . In one embodiment, the plug spring  220  exerts  2  lbs of spring force, and requires less than a pound of opposing force to compress the plug  224 . The plug spring  220  passes through the lock tab retainer  208  and the radial locking tab  212 . 
     The shroud  228  provides an outer cover to protect the carrier  232 , plug  224 , and plug spring  220 . The shroud  228  is rigidly attached to the lock tab retainer  208  and end cap  244 . The carrier  232  is disposed centrally within the shroud  228 , and provides ball bearings  408  for the axial locking mechanism, which locks the carrier portion  204  to the probe portion  260 . 
     The locking ring  236  surrounds the carrier  232 , and rotates both clockwise and counterclockwise in order to control movement of the ball bearings  408  and axially lock and unlock the carrier portion  204  to/from the probe portion  260 . In one embodiment, the robotic arm  104  includes a feature to rotate the locking ring  236  under either operator or computer control. Operation of the locking ring  236 , carrier  232 , and ball bearings  408  is described in more detail with respect to  FIGS.  4 ,  5 ,  6 A, and  6 B . 
     The nose ring  240  is rigidly coupled to the shroud  228  (and therefore also to the lock tab retainer  208  and end cap  244 ). The nose ring  240  provides a bearing surface to the probe portion  260 , and mechanically isolates the rotating locking ring  236  from the probe portion  260 . 
     The probe portion  260  may be simpler than the carrier portion  204 , in order to allow for production of more probe portions  260  to be semi or permanently affixed to toolheads  108 ,  120 . Probe portion  260  includes two components (not including fasteners): a probe  252  and a common mount  248 . The probe  252  fits within the carrier  232 , and receives the ball bearings  408  to axially couple the carrier portion  204  to the probe portion  260 . In the preferred embodiment, the slope of the recesses  404  may be designed to pull the probe  252  into a tightly coupled arrangement within the carrier  232  as the ball bearings  316  are pressed into the recesses  404  by the locking ring  236 . For separable robotic interfaces  112  that support an optional functional interface  124 , the probe  252  must also support whatever cables, pipes, or other types of connections are required by interchangeable toolheads  120 . 
     The probe  252  is rigidly coupled to the common mount  248 , and rotates in concert with the common mount  248 . The common mount  248  provides a standard interface with the toolhead  108  or interchangeable toolheads  120 . In one embodiment, the probe  252  may be integrated with the common mount  248  in a common part. In the preferred embodiment, the common mount  248  may include two or more flats or other features that allow the probe portion  260  to be captured within a fixture  804 . This may allow a probe portion  260  (with or without a toolhead  108 ) to be positioned within the fixture  804  by a human operator in preparation for toolhead  108  mounting to a robotic arm  104 . Because the probe portion  260  is simpler and has fewer components than the carrier portion  204 , the probe portion  260  may be less expensive to manufacture and obtain. Advantageously, this may allow more toolheads  108 ,  120  to be mounted to probe portions  260  to facilitate rapid tool changing. The bolt pattern for the common mount  248  in some embodiments may include a UR-3 (Universal Robotics) bolt pattern so that any tools designed for a universal robot series (UR-3 thru UR-5) may be directly mounted and used with the separable robotic interface  112 . 
     In one embodiment, the separable robotic interface  112  may have a nominal diameter of 8.5 centimeters (cm) with a combined length of 9.0 cm (including common mount  248  and probe  252 ) to the proximal face of a capture assembly. The separable robotic interface  112  may be scaled down to a smaller size having an outside diameter of &lt;2.50 cm and scaled up for heavy industrial uses to a diameter of &gt;40.0 cm. In some embodiments, the diameter may vary more than the overall length. Very large diameter separable robotic interfaces  112  may be used for on-board refueling of ships or to manipulate large objects. In space embodiments, if the distal probe portion  260  is fixed to a panel, the separable robotic interface  112  may be used to construct space-based structures (both temporary and permanent). 
     In one embodiment, the separable robotic interface may be manufactured from  6061  aluminum with an ABS plastic (ABS) carrier  232 , steel ball bearings  316 , and stainless mounting screws. For large industrial variants, the body may be manufactured with cast iron or bronze for the carrier portion  204  and a suitable grade of bolts. For a very small variant, the entire unit may be manufactured using plastics. 
     Referring now to  FIG.  3   , a diagram illustrating a carrier portion of an interface to a robotic arm  300  in accordance with embodiments of the present invention is shown.  FIG.  3    illustrates an assembled carrier portion  204  about to be mated with the free end of the robotic arm  116 B. Visible is the radial locking tab  212 , the locking ring  236 , a coupling surface to a probe portion  304 , ball bearings  316 , and retaining holes for ball bearings  308 . In some embodiments, the free end of the robotic arm  116 B may include various components and features to support  312  the functional interface  124 . For example, functional interface  124  may include any combination of electrical power or data cabling, fluid or gas transfer components, or mechanical actuators. Functional interface support  312  components may be required to operate the range of interchangeable toolheads  120  supported by the separable robotic interface  112 . 
     Referring now to  FIG.  4   , a diagram illustrating ball bearing fit and position to the probe  400  in accordance with embodiments of the present invention is shown. The probe  252  fits within the carrier  232 . In order to axially lock the carrier portion  204  to the probe portion  260 , one or more ball bearings  316  are forced into matching recesses  404  on the outer surface of the probe  252 . 
     In the preferred embodiment, the probe  252  may include a hollowed-out portion to accommodate a probe portion of the functional interface  124  (i.e. the probe functional interface  408 ). Functional interfaces  124  may include one or more of electrical power transfer, data transfer, fluid transfer, gas transfer, mechanical force transfer, or magnetic force transfer. In most cases, the functional interface  124  is utilized by actuators or sensors associated with one or more toolheads  108 ,  120 . In order to support the functional interface  124 , matching pathways need to be provided through the carrier portion  204 , and in most embodiments the robotic arm  104  itself. 
     Referring now to  FIG.  5   , a diagram illustrating a probe and plug fit to a carrier  500  in accordance with embodiments of the present invention is shown.  FIG.  5    illustrates the interface between a probe  252 , a plug  224 , and a carrier  232 . When the carrier portion  204  is assembled, the plug  224  slides longitudinally within the carrier  232 . In the preferred embodiment, the plug  224  does not rotate within the carrier  232  due to a plug alignment pin or feature  508  on an outer surface of the plug  224  engaging a matching plug alignment slot  512  in a rear outer portion of the carrier  232 . The depth of the plug alignment slot  512  regulates a maximum distance the plug  224  may extend forward into the carrier  232 . In the preferred embodiment, the depth of the plug alignment slot  512  corresponds to a plug  224  position in the carrier  232  whereby the plug  224  at least partially covers the ball bearings  316  and retaining holes for ball bearings  308 . Although one plug alignment pin  508  and matching plug alignment slots  512  are shown in  FIG.  5   , it should be understood there may be any number of plug alignment pins  508  and plug alignment slots  512  around the periphery of the plug  224  and carrier  232 , respectively. 
     After the carrier portion  204  is axially aligned with the probe portion  260 , carrier portion  204  is rotated in order to radially align a probe alignment pin  516  of the probe  252  with a probe alignment slot  520  of the carrier  232 . This ties the rotation of the carrier portion  204  to the probe portion  260 . The depth of the probe alignment slot  520  regulates a maximum distance the probe  252  may extend forward into the carrier  232 . In the preferred embodiment, the depth of the probe alignment slot  520  corresponds to a probe  252  position in the carrier  232  whereby the probe  252  exposes the ball bearings  316  and the ball bearings  316  engage the recesses for ball bearings  404  in the sides of the probe  252 . Although one probe alignment pin  516  and matching probe alignment slots  520  are shown in  FIG.  5   , it should be understood there may be any number of probe alignment pins  516  and probe alignment slots  520  around the periphery of the probe  252  and carrier  232 , respectively. 
     The probe  252  in some embodiments includes a probe portion of the functional interface  412 , and the plug  224  includes a carrier portion of the functional interface  504 . When the probe  252  mates with the carrier  232 , the probe functional interface  412  engages the carrier functional interface  504 , which activates the functional interface  124  allowing for an installed toolhead  108  to utilize supported functionality. 
     Referring now to  FIG.  6 A , a diagram illustrating a locking ring in a locked disposition  600  in accordance with embodiments of the present invention is shown. The carrier  232  includes a number of retaining holes for ball bearings  308 , which allows ball bearings  316  to move radially (i.e. in and out) of the holes  308  as determined by position of the locking ring  236 . The locking ring  236  includes a number of locking ring recesses  604  symmetrically distributed on inside surfaces of the locking ring  236 . In the preferred embodiment, there are six ball bearings  316 , six retaining holes for ball bearings  308 , and six locking ring recesses  604 . In the locked position, the locking ring  236  is turned such that the locking ring recesses  604  are not in alignment with the retaining holes for ball bearings  308 . This forces the ball bearings  316  toward the center of the carrier  232 , and into the recesses for ball bearings  404 , when the probe has been fully seated within the carrier  232 . In the preferred embodiment, it is not possible to insert the probe portion  260  into the carrier portion  204  when the locking ring  236  is in the locked position  600 . 
     Referring now to  FIG.  6 B , a diagram illustrating a locking ring in an unlocked disposition  620  in accordance with embodiments of the present invention is shown. In the unlocked position, the locking ring  236  is turned such that the locking ring recesses  604  are in alignment with the retaining holes for ball bearings  308 . This allows the ball bearings  316  to move toward the outside of the carrier portion  204 , and into the locking ring recesses  604 . In the preferred embodiment, it is possible to insert the probe portion  260  into the carrier portion  204  when the locking ring  236  is in the unlocked position  620 . 
     Referring now to  FIG.  7   , a diagram illustrating a radial locking system  700  in accordance with embodiments of the present invention is shown. The radial locking system  700  includes the end cap  244 , the lock tab retainer  208 , the radial locking tab  212 , the radial lock  216 , a radial spring  704 , the carrier  232 , and a carrier radial locking surface  708 . Radial locking prevents the carrier portion  204  (and the probe portion  260 , if coupled to the carrier portion  204 ), from rotating independently of the free end of the robotic arm  116 B. 
     The radial spring  704  is installed between an interior surface of the lock tab retainer  208  and a bearing surface of the radial locking tab  212 . The radial spring  704  exerts outward force to the radial locking tab  212  to force the tab  212  to laterally project from the side of the carrier portion  204 . 
     The radial lock  216  is rigidly coupled to the radial locking tab  212 , and moves in concert with the radial locking tab  212 . In one embodiment, the radial lock  216  is attached by fasteners or welded to the radial locking tab  212 . In another embodiment, the radial lock  216  and the radial locking tab  212  may be formed from the same piece of material. The radial lock  216  includes teeth that engage matching teeth of a carrier radial locking surface  708  when the radial locking tab  212  is not pushed inward laterally by an outside force (see  FIGS.  11 - 12   ). Therefore, when the carrier portion  204  is not engaged with a fixture  804  (i.e. the radial locking tab  212  is not pushed in by the fixture projection  808 ), the carrier portion  204  is radially locked. 
     The carrier radial locking surface  708  is rigidly attached to the inside surface of the carrier  232 . In one embodiment, the carrier radial locking surface  708  is a separate piece of material that is bonded or otherwise permanently attached to the inside surface of the carrier  232 . In another embodiment, the carrier radial locking surface  708  is the same material as the carrier  232 , and is machined, milled or otherwise formed as part of the carrier  232  itself. Radial “unlocking” allows the rotation of the outside part of the carrier portion  260  while the carrier  232  (and the ball bearing holes  308 ) remains aligned with the probe  252 . The rotation of the outside shell is what turns the locking ring  236 , which drives the ball bearings  316 . 
     Referring now to  FIG.  8   , a diagram illustrating a fixture interface to the separable robotic interface  800  in accordance with embodiments of the present invention is shown.  FIG.  8    illustrates an exploded view of the principal components used in toolhead change operations. The probe portion  260 , which includes the probe  252  and the common mount  248 , directly interfaces with the fixture  804 . 
     A static fixture  804  provides a docking point between the carrier portion  204  and the probe portion  260 . The fixture  804  may include one or more features that aid in capture, locking, and tool-free toolhead  108 ,  120  replacement. In one embodiment, the fixture  804  may include a pair of fixture jaws  816  that allow the probe portion  260  to be moved into the jaws  816  or removed from the jaws  816 . In the preferred embodiment, the fixture jaws  816  may include ramped lead-in to provide easier access. The common mount  248  may include one or more flats  820  (two are shown on opposite side of the common mount  248 ) that prevent axial and rotational movement of the common mount  248  when inserted into and captured by the fixture  804 . The fixture  804  may also include a fixture projection  808  that extends toward a robotic arm  104 . The fixture projection  808  makes contact with the radial locking tab  212  and radially unlocks the common mount  204  when engaged with the tab  212 . In order to minimize interference with the common mount  204  and radial locking tab  212 , a leading edge of the fixture projection  808  may also be ramped  812 . 
     Referring now to  FIG.  9   , an illustration depicting a toolhead assembly to a fixture  900  in accordance with embodiments of the present invention is shown. A toolhead assembly  904  may include a toolhead  108 , a common mount  248 , and a probe  252  pre-assembled as a unified assembly. Therefore, any functional connections between the probe functional interface  412  and the toolhead  108  may already be present, and only require coupling to the carrier functional interface  504  and robotic arm  104  to make the functional interface  124  operational. 
     The toolhead assembly  904  is moved into the jaws  816  in order to prepare for a separable robotic interface  112  mating operation ( FIG.  14   ). In one embodiment, the toolhead assembly  904  is manually moved into the fixture  804 . In another embodiment, the toolhead assembly  904  is moved into the fixture  804  by a robotic arm  104  or other means. For example, a first robotic arm  104 A may control a tool crib that populates or unpopulates one or more fixtures  804  with specific toolhead assemblies  904  based on expected needs related to another robotic arm  104 B. The other robotic arm  104 B then accesses (i.e. mounts and unmounts) toolhead assemblies  904  based on current need/mission. 
     In some embodiments, a toolhead assembly  904  may not be present, and only a probe portion  260  may be secured within a fixture  804 . For example, if a toolhead  108  must be manually attached to the common mount  248 , it may be more efficient to first mate the carrier portion  204  with the probe portion  260 , then later attach a selected toolhead  108  to the common mount  248 . 
     Referring now to  FIG.  10   , an illustration depicting axially aligning a carrier portion with a probe portion  1000  in accordance with embodiments of the present invention is shown. Once a toolhead assembly  904  or a probe portion  260  is secured within the fixture  804 , a free end of a robotic arm  116 B is maneuvered in order to approach the secured toolhead assembly  904  or probe portion  260 . 
     The free end of the robotic arm  116 B has been previously attached to a carrier portion  204 . Once in proximity to the fixture  804 , the free end of the robotic arm  116 B may be moved vertically and/or horizontally in order to axially align the carrier portion  204  to the probe portion  260 . Also, the radial locking tab  212  may be aligned with the fixture projection  808  in order for the radial locking tab  212  to be depressed by the fixture projection  808  and ramp  812  when they make contact with the radial locking tab  212 . 
     Referring now to  FIG.  11   , a diagram illustrating a carrier portion engaging a probe portion  1100  in accordance with embodiments of the present invention is shown.  FIG.  11    illustrates a docking/mating sequence between the carrier portion  204  and probe portion  260  out of the fixture  804 , but is illustrated with the interface shown separately to provide for clarity of the mated interface detail. In actuality, the toolhead assembly  904  or probe portion  260  is fully captured within the fixture  804  during this step. 
     Once the carrier portion  260  is axially aligned with the probe portion  260 , and the radial locking tab  212  is aligned with the fixture projection  808 /ramp  812 , the robotic arm  104  moves the carrier portion  204  so that it slides over the probe portion  260 . The probe portion  260  auto-centers within the carrier portion  260 , and a distal end of the probe  252  pushes against the plug  224  and plug spring  220 . 
     While the carrier portion  204  is engaging the probe portion  260 , the radial locking tab  212  engages the ramp  1104 , which depresses the radial locking tab  212 . This, in turn, disengages the radial lock  216  from the carrier radial locking surface  704 , which disengages or deactivates the radial lock. By disengaging or deactivating the radial lock, the locking ring  236  is now free to rotate or turn. 
     Referring now to  FIG.  12   , a diagram illustrating axial and radial locking  1200  in accordance with embodiments of the present invention is shown.  FIG.  12    illustrates both axially and radially locking the robotic arm  104 /carrier portion  204  with the probe portion  260  or toolhead assembly  904 . 
     With the probe  252  fully seated within the carrier portion  204  and the radial locking tab  212  depressed by the fixture projection  808 /ramp  812 , the separable robotic interface  112  is now ready to be completely locked. This is performed by either clockwise or counterclockwise rotating the locking ring  236 . The locking ring rotates in order to axially and radially lock the separable robotic interface  1204 . Axial locking is described in  FIGS.  4 - 6 B , where the locking ring  236  forces the ball bearings  316  into the probe recesses  404 . Radial unlocking is described in  FIGS.  7 - 9   . Radial locking occurs in  FIG.  12    by rotating the locking ring  236 . The locking ring  236  is radially coupled to the lock tab retainer  208 , which captures the radial locking tab  212 . As the locking ring  236  rotates, the lock tab retainer  208  and radial locking tab  212  rotate together. This causes the radial locking tab  212  to not be depressed by the fixture projection  1208 , and the radial spring  704  causes the radial locking tab  212  to project from the side of the carrier portion  212 . This also causes the radial lock  216  to engage the carrier radial locking surface  708 , which radially locks the carrier portion  204 . In this way, rotating the locking ring  236  both axially and radially locks the probe portion (and any attached toolhead  108 ), the carrier portion  204 , and the free end of the robotic arm  116 B. 
     Referring now to  FIG.  13   , a diagram of removing a toolhead and separable interface from a fixture  1300  in accordance with embodiments of the present invention is shown. Following axially and radially locking the toolhead assembly  904  or probe portion  260  to the carrier portion  204 /robotic arm  104 , the robotic arm  104  slides the toolhead and separable interface out of the fixture  1304 . At this point, the robotic arm  104  is free to move and use the separable robotic interface  112  and any attached toolhead  108 . 
     Referring now to  FIG.  14   , a flowchart illustrating a separable interface mating process in accordance with embodiments of the present invention is shown. Flow begins at block  1404 . 
     At block  1404 , the probe portion  260  is captured within a fixture  804 . Flow proceeds to block  1408 . 
     At block  1408 , a robotic arm  104  axially aligns a carrier portion  204  with the probe portion  260 . Flow proceeds to block  1412 . 
     At block  1412 , the robotic arm  104  slides the carrier portion  204  over the probe portion  260 . Flow proceeds to block  1416 . 
     At block  1416 , the fixture depresses a radial locking tab  212  to radially unlock the carrier portion  204 . Flow proceeds to block  1420 . 
     At block  1420 , the probe portion  260  compresses a plug  224  in order to release ball bearings  316 . Flow proceeds to block  1428  and optional block  1424 . 
     At optional block  1424 , a functional interface  124  is engaged. A probe portion functional interface  412  mates with a carrier portion functional interface  504 . Flow proceeds to block  1428 . 
     At block  1428 , the robotic arm  104  rotates a locking ring  236  of the carrier portion  204 . Flow proceeds to blocks  1432  and  1436 . 
     At block  1432 , the radial locking tab  212  releases from the fixture  804  and radially locks the probe portion  260  to the carrier portion  204 . Flow proceeds to block  1440 . 
     At block  1436 , the locking ring  236  forces ball bearings  316  into probe portion recesses  404  to axially lock the probe portion  260  to the carrier portion  204 . Flow proceeds to block  1440 . 
     At block  1440 , the robotic arm  104  laterally slides the separable interface  112  and any attached toolhead  108  out of the fixture  804 . Flow ends at block  1440 . 
     Referring now to  FIG.  15   , a flowchart illustrating a separable interface unmating process in accordance with embodiments of the present invention is shown. Flow begins at block  1504 . 
     At block  1504 , the robotic arm  104  moves a toolhead  108  coupled to a free end of the robotic arm  116 B into proximity with a fixture  804 . Flow proceeds to block  1508 . 
     At block  1508 , a distal joint of the robotic arm  104  rotates to cause a radial locking tab  212  to align with a fixture projection  808  and common mount flats  820  to align with fixture jaws  816 . Flow proceeds to block  1512 . 
     At block  1512 , the robotic arm  104  laterally slides a separable robotic interface  112  into the fixture  804 . The common mount flats  820  are captured between the fixture jaws  816 . Flow proceeds to block  1516 . 
     At block  1516 , the fixture projection  808  depresses the radial locking tab  212  to disengage the radial lock. Flow proceeds to block  1520 . 
     At block  1520 , the distal joint of the robotic arm  104  rotates a locking ring  236  of the carrier portion  204  of the separable robotic interface  112 . Flow proceeds to block  1524 . 
     At block  1524 , the locking ring  236  relieves force on ball bearings  316  into probe recesses  404 . Flow proceeds to block  1528 . 
     At block  1528 , the robotic arm  104  moves the carrier portion  204  axially away from the probe portion  260  to unmate the separable robotic interface  112 . Flow proceeds to block  1532 . 
     At block  1532 , in response to separating the probe portion  260  from the carrier portion  204 , the probe portion  260  decompresses the plug  224  within the carrier portion  204 . Flow proceeds to block  1540  and optional block  1536 . 
     At optional block  1536 , the functional interface  124 , if present, is disengaged. Therefore, any power, data, fluid, gas, mechanical, or magnetic connections of the functional interface  124  are disconnected between the probe portion functional interface  412  and the carrier portion functional interface  504 . Flow proceeds to block  1540 . 
     At block  1540 , ball bearings  316  of the carrier portion  204  disengage from the probe portion recesses  404  to axially unlock the probe portion  260  from the carrier portion  204 . Flow proceeds to block  1544 . 
     At block  1544 , the robotic arm  104  separates the carrier portion  204  from the probe portion  260 , and is able to mate to a different probe portion  260 /toolhead assembly  904 . Flow ends at block  1544 . 
     Finally, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.