Device for interchange of tools

Claim 1

A device for interchanging tools on a mechanical manipulator arm which comprises: a male locking cone unit, a female receptacle cone unit and a motor unit, said male locking cone unit comprising: a plurality of equal size balls captured in a male truncated conical cage within holes equidistantally spaced around and through its external surface in a common plane normal to the longitudinal axis of said cage, said holes having portions of said balls extending through them beyond the outer surface of said cage, and cam means to alternately force said balls into a fully extended position in said holes and relax said balls into a retracted position in said holes, said female receptacle cone unit comprising: a dished member having an internal conical surface mating with said external surface of said locking cone, a groove in said conical surface contoured to embrace said portions of said balls positioned in a plane normal to the longitudinal axis of said dished member, lands in said groove dividing it into eight sections of substantially equal length, said lands preventing said balls when in said groove from moving from one of said sections to another, and a tool fixed thereto, said motor unit comprising: means to axially connect with said tool to operate it, and means mounting said motor unit to said male receptacle cone unit.

Claim 2

A device for interchanging tools on a mechanical manipulator arm which comprises: a male locking cone unit, a female receptacle cone unit and a motor unit, said male locking cone unit comprising: a plurality of equal size balls captured in a male truncated conical cage within holes equidistantally spaced around and through its external surface in a common plane normal to the longitudinal axis of said cage, said holes having portions of said balls extending through them beyond the outer surface of said cage, and cam means to alternately force said balls into a fully extended position in said holes and relax said balls into a retracted position in said holes, said female receptacle cone unit comprising: a dished member having an internal conical surface mating with said external surface of said locking cone, a groove in said conical surface contoured to embrace said portions of said balls positioned in a plane normal to the longitudinal axis of said dished member, lands in said groove dividing it into eight sections of substantially equal length, said lands preventing said balls when in said groove from moving from one of said sections to another, and a tool fixed thereto, said motor unit comprising: means to axially connect with said tool to operate it, and means mounting said motor unit to said male receptacle cone unit.

Claim 5

The device of claim wherein said cam means comprises a cylindrically piston mounted to slide axially within said cage and a spring that biases said piston into the position where said cam means forces said balls into said fully extended position.

Claim 7

A device for interchanging tools on a mechanical manipulator arm which comprises: a male locking cone unit, a female receptacle cone unit and a motor unit, six equal size balls captured in a male truncated conical cage within holes equidistantally spaced around and through its external surface in a common plane normal to the longitudinal axis of said cage, said holes having portions of said balls extending through them beyond the outer surface of said cage, and cam means to alternately force said balls into a fully extended position in said holes and relax said balls into a retracted position in said holes, said female receptacle cone unit comprising: a dished member having an internal conical surface mating with said external surface of said locking cone, a groove in said conical surface contoured to embrace said portions of said balls positioned in a plane normal to the longitudinal axis of said dished member, lands in said groove dividing it into eight sections of substantially equal length, said lands preventing said balls when in said groove from moving from one of said sections to another, and a tool fixed thereto, said motor unit comprising: a first axial drive shaft extending from said motor unit, a second axial drive shaft extending from said tool and means for connecting said first and second axial drive shafts, and means mounting said motor unit to said male receptacle cone unit.

Claim 8

A device for interchanging tools on a mechanical manipulator arm which comprises: a male locking cone unit, a female receptacle cone unit and a motor unit, six equal size balls captured in a male truncated conical cage within holes equidistantally spaced around and through its external surface in a common plane normal to the longitudinal axis of said cage, said holes having portions of said balls extending through them beyond the outer surface of said cage, and cam means to alternately force said balls into a fully extended position in said holes and relax said balls into a retracted position in said holes, said female receptacle cone unit comprising: a dished member having an internal conical surface mating with said external surface of said locking cone, a groove in said conical surface contoured to embrace said portions of said balls positioned in a plane normal to the longitudinal axis of said dished member, lands in said groove dividing it into eight sections of substantially equal length, said lands preventing said balls when in said groove from moving from one of said sections to another, and a tool fixed thereto, said motor unit comprising: a first axial drive shaft extending from said motor unit, a second axial drive shaft extending from said tool and means for connecting said first and second axial drive shafts, and means mounting said motor unit to said male receptacle cone unit.

Claim 9

A device for interchanging tools on a mechanical manipulator arm which comprises: a male locking cone unit, a female receptacle cone unit and a motor unit, said male locking cone unit comprising: a plurality of equal size balls captured in a male truncated conical cage within holes equidistantally spaced around and through its external surface in a common plane normal to the longitudinal axis of said cage, said holes having portions of said balls extending through them beyond the outer surface of said cage, and cam means to alternately force said balls into a fully extended position in said holes and relax said balls into a retracted position in said holes, said female receptacle cone unit comprising: a dished member having an internal conical surface mating with said external surface of said locking cone, a groove in said conical surface contoured to embrace said portions of said balls positioned in a plane normal to the longitudinal axis of said dished member, lands in said groove dividing it into eight sections of substantially equal length, said lands preventing said balls when in said groove from moving from one of said sections to another, and a tool fixed thereto, said motor unit comprising: means to axially connect with said tool to operate it comprising a first axial drive shaft extending from said motor unit, a second axial drive shaft extending from said tool and means for connecting said first and second axial drive shafts, and means mounting said motor unit to said male receptacle cone unit.

Claim 10

A device for interchanging tools on a mechanical manipulator arm which comprises: a male locking cone unit, a female receptacle cone unit and a motor unit, said male locking cone unit comprising: a plurality of equal size balls captured in a male truncated conical cage within holes equidistantally spaced around and through its external surface in a common plane normal to the longitudinal axis of said cage, said holes having portions of said balls extending through them beyond the outer surface of said cage, and cam means to alternately force said balls into a fully extended position in said holes and relax said balls into a retracted position in said holes, said female receptacle cone unit comprising: a dished member having an internal conical surface mating with said external surface of said locking cone, a groove in said conical surface contoured to embrace said portions of said balls positioned in a plane normal to the longitudinal axis of said dished member, lands in said groove dividing it into eight sections of substantially equal length, said lands preventing said balls when in said groove from moving from one of said sections to another, and a tool fixed thereto, said motor unit comprising: means to axially connect with said tool to operate it comprising a first axial drive shaft extending from said motor unit, a second axial drive shaft extending from said tool and means for connecting said first and second axial drive shafts, and means mounting said motor unit to said male receptacle cone unit.