Importance

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Abstract

Disclosed is an apparatus for passing solid objects for use in a robotic tool changing system. The apparatus comprises a housing mounted on either a master assembly or a tool assembly. A tubular member is disposed in the housing and defines a passage through which solid objects can pass. The tubular member includes a head portion at one end and a stem portion at the other end that is connected to a solid objects feed tube. Means are provided for retaining the tubular member in the opening in the housing for movement relative to the housing during the coupling and uncoupling of the master and tool assemblies to accommodate misalignment of the master and tool assemblies. Another apparatus is disclosed for passing solid objects from a source to a work tool. The apparatus comprises first and second housings mounted on a master assembly and tool assembly, each housing tubular members. A robotic tool changing system is also provided for exchanging tools on an end of a robot arm, including a tool for attaching fasteners from a fastener source transported through feed tubes connected to the stem portions of the tubular members. The tubular members can move relative to the longitudinal axis of the respective housings and rotate freely about the axis when in contact with an arcuate bearing surface that partially defines the opening in the housing. Contact faces of the tubular members are formed to allow relative movement of the tubular members when the tubular members are engaged.

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First Claim