The module of claim 1 wherein the first service transfer unit is attached to the master device of the robotic tool changer.Ĩ. The unit of claim 2 wherein the floating structure extends partially from the housing and first contacts the second service transfer unit as the first and second units are coupled, and wherein angled surfaces on at least one of the first and second units are operative to move the floating structure into a position where the service transfer points on the first and second unit are aligned.ħ. The unit of claim 4 wherein centering elements on the fasteners are operative to align the floating structure to a default position within the housing.Ħ.
The unit of claim 3 wherein the floating structure is retained partially within the housing, against the bias, by one or more fasteners connected to the housing and operative to arrest movement of the floating structure in a direction away from the housing.ĥ. The unit of claim 2 wherein the floating structure is biased away from the housing.Ĥ. The unit of claim 1 wherein the compliance mechanism comprises a floating structure disposed partially within the housing, the floating structure not rigidly connected to the housing, and operative to move within the housing to a position where the service transfer points are aligned with those of the second service transfer module.ģ. A first service transfer unit for a robotic tool changer, comprising: a housing adapted to be attached to a first device of a robotic tool changer one or more service transfer points operative to transfer a service across a robot/tool interface when the first service transfer unit is mated to a second service transfer unit attached to a second device of the robotic tool changer and a compliance mechanism operative to align the service transfer points to corresponding service transfer points of second service transfer unit when the first and second service transfer unit are mated but are not aligned.Ģ.