Mechanism for quick change of robotic end effector with switchable magnetic coupler with moment support

摘要

A robotic end effector quick change coupling apparatus comprising: a robotic manipulator having controllable movement in at least one axis; a coupling component connected to the robotic manipulator and having a magnetic element (16) and an opening (18) with a contact wall; an end effector (20) having a mating coupling component said mating coupling component having a magnetic mating element (26) and an extending projection having a mating contact wall closely received within the aperture , said magnetic element and mating magnetic element separately coupled by mutual magnetic attraction, whereby the robotic manipulator is coupled or uncoupled with the end effector and the mating contact wall and the mating contact wall provide resistance to the moments exerted on the end effector; The robotic end effector quick change coupling apparatus, further comprising: a drive motor assembly (10) connected to the robotic manipulator and having a central drive interface (12), said coupling component extending from the drive motor, said end effector (20) having a drive connection adapted to removably receive the central drive interface, wherein a second mating component is concentric with the drive connection.