Releasable tool mount for manipulator

Claim 1

Apparatus for releasably mounting tools to a mechanical manipulator comprising: a. a tool mounting plate; b. a housing having a recess, defined by the walls of said housing, for receiving the mounting plate and a surface for attachment to the manipulator; c. a plurality of support pins disposed peripherally upon the mounting plate, each support pin having a free end projecting beyond the periphery of the plate and a second end retained by the mounting plate; d. a plurality of pin receptacles disposed within the side walls of the recess, each receptacle receiving the free end of a support pin, the support pins and receptacles suspending the mounting plate within the recess such that a relative force between the mounting plate and housing, irrespective of the direction thereof, effects relative motion of the mounting plate and housing; and e. preload means attached to the mounting plate for resisting forces acting along the longitudinal axes of the support pins in the direction away from the receptacles, each preload means being connected between the second end of a support pin and the mounting plate, the magnitude of the relative force between the mounting plate and housing required to release the mounting plate being determined by the force required to overcome the preload resistance to dislodge at least one support pin from its associated receptacle.