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The robotic tool changer of claim 2 wherein the central void is a concave channel.Ĥ.
![ati tool changers ati tool changers](https://www.universal-robots.com/media/1806246/product-picture.jpg)
![ati tool changers ati tool changers](https://www.expo21xx.com/cipmedia/14544/29.jpg)
The robotic tool changer of claim 1, wherein the rolling members are spherical, and wherein each cross-contact recess comprises a corresponding cylindrical or spherical recess of substantially the same radius as a corresponding rolling member, the cylindrical or spherical recess having a central void.ģ. A robotic tool changer, comprising: a tool assembly including a bearing race a master assembly including a plurality of bores, each configured to contain a rolling member, and a drive mechanism configured to force the rolling members against the bearing race to couple the master and tool assemblies, and to allow the rolling members to retract to decouple the master and tool assemblies wherein at least one of an inner surface of each bore and a plurality of positions on the bearing race include a cross-contact recess configured to seat a rolling member when the master and tool assemblies are coupled wherein each cross-contact recess comprises a recess sized and shaped to receive a rolling member and a central void not contacting the rolling member, such that the cross-contact recess contacts the rolling member at two contact areas, one on either side of the central void.Ģ. These contact areas impart two separate contact forces on the rolling member, both angled toward the center of the rolling member and hence operative to prevent side-to-side movement, or rocking, of the rolling member within the cross-contact recess, and hence substantially eliminating torsional freeplay of the robotic tool changer.ġ. The cross-contact recess contacts the rolling member at contact areas on either side of the central void. The cross-contact recesses are sized and shaped to receive a rolling member, but have a central void, or channel, perpendicular to the rolling member's motion in torsional freeplay, which does not contact the rolling member. To substantially eliminate torsional freeplay in a robotic tool changer having a ball-lock coupling mechanism, scallop-like features in the form of cross-contact recesses are formed in at least one of, and preferably both of, a bearing race in a tool assembly at the points of contact of rolling members, and in the opposing inner surfaces of bores containing the rolling members in a master assembly.