Patent ID: 8209840

Claim:
A robotic tool changer, comprising: a first unit operative to be attached to one of a robot and a robotic tool; a second unit operative to be attached to the other of the robot and a robotic tool, and further operative to be selectively coupled to and decoupled from the first unit; a plurality of ball members disposed circumferentially about an axis in the first unit; an angled surface in the second unit; and a cam member disposed in one of the units inwardly of the ball members and rotatable between decoupled and coupled positions, the cam member comprising a plurality of teeth, each tooth associated with a ball member and comprising a plurality of surfaces, wherein the cam member is operative to engage the ball members in the first unit and to urge the ball members radially outwardly from the axis and against the angled surface to lock the first and second units together when the cam member is rotated to the coupled position, wherein the plurality of surfaces includes a nesting surface operative to contact a ball member in a fully retracted position wherein the ball member does not contact the second unit, an actuating surface operative to displace a ball member towards contact with the angled surface of the second unit as the cam member rotates toward the coupled position, a locking surface operative to press a ball member against the angled surface of the second unit, locking the first and second units together, when the cam member is rotated to the coupled position, and a failsafe surface interposed between the locking surface and the actuating surface, the failsafe surface contacting a ball member at a normal angle to the direction of motion of the ball member as the cam member is rotated between decoupled and coupled positions.