Automatic toolchanger twist-lock
For many tool changing systems the tool is centered with 3 or more pins, and then clamped by a rotating shaft with a pin through it. In this case the actual pulling the tool to the toolholder is done by the rotating pinned shaft. As the rotating of the pinned shaft takes a lot of force, smaller servos will fail and larger motors are needed. This will make for a bulky tool changing system.
Method of solution
We will take away the force needed by the rotating pinned shaft, by making the centering pins spring loaded. This way the locking force is generated by the moving plane of the axis on which the toolholder is located. Resulting in a zero force rotation of the pinned shaft.
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