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1. 发明申请

US20120207538A1 AUTOMATED TOOL CHANGE ASSEMBLY FOR ROBOTIC ARM 审中-公开
标题翻译：机器人自动化工具更换装置
公开(公告)号：US20120207538A1
公开(公告)日：2012-08-16
申请号：US13389509
申请日：2010-08-10
申请人： Nabil Michael Rizk
发明人： Nabil Michael Rizk
IPC分类号： F16D1/00 , B23P17/04
CPC分类号： B25J15/04 , B25J15/0491 , Y10T29/49815 , Y10T29/49895 , Y10T403/58
摘要： An automated tool change assembly and method for automatically coupling a robotic end effector to a robotic manipulator. The automated tool change assembly of the present invention provides first and second light-weight mechanical joint members for automated coupling to provide a rigid connection that can include an electrical connection to pass power and signals between the end effector and the manipulator. The connection can also have full pass-through mechanical power. The assembly also includes a tool station for docking an end effector. The tool station can also provide a platform to align tools with manipulators in forming the automatic connection between joint members. The tool station also provides a release bar for manually releasing end effectors from manipulators. Software scripts can connect and disconnect the tool change assembly remotely when attached to a robot.
摘要翻译：一种用于将机器人端部执行器自动耦合到机器人操纵器的自动换刀组件和方法。本发明的自动换刀组件提供第一和第二轻型机械接头构件，用于自动联接以提供刚性连接，该刚性连接可以包括电连接以在末端执行器和操纵器之间传递功率和信号。连接也可以具有完全通过的机械功率。组件还包括用于对接末端执行器的工具站。工具站还可以提供一种平台，用于在工具与操纵器之间形成联接构件之间的自动连接。工具站还提供了一个释放杆，用于从操纵器手动释放末端执行器。当连接到机器人时，软件脚本可以远程连接和断开换刀组件。

2. 发明授权

US08919714B2 Compliant tool holder 有权
标题翻译：兼容工具架
公开(公告)号：US08919714B2
公开(公告)日：2014-12-30
申请号：US13272854
申请日：2011-10-13
申请人： Nabil Michael Rizk , Frank F. Campagna , Aaron P. Nicely , Joseph J. Vasalani, III
发明人： Nabil Michael Rizk , Frank F. Campagna , Aaron P. Nicely , Joseph J. Vasalani, III
IPC分类号： A47B96/06 , E04G3/00 , F16B1/00 , G09F7/18
CPC分类号： B25J17/0208 , B25J15/04
摘要： A compliant tool holder is provided for use with robots, unmanned ground vehicles, and the like. The compliant tool holder is characterized in that it involves the use of means for compliance, such as springs, rubber, plastics, metals, composites, shock mounts, vibration mounts, or similar means for permitting compliant movement in three rotational and three translational degrees of freedom during end effector changes. The compliant tool holder reduces costs associated with automated tool change in the field, and allows for more rapid switching of end effectors, enabling a greater range of uses for robots and unmanned ground vehicles.
摘要翻译：提供了一种与机器人，无人地面车辆等一起使用的兼容工具架。兼容的工具架的特征在于其包括使用用于符合性的装置，例如弹簧，橡胶，塑料，金属，复合材料，防震支架，振动支架或用于允许以三个旋转和三个平移度的顺应运动的类似装置末端执行器变化期间的自由。兼容的工具架可降低与现场自动化工具更换相关的成本，并允许更快速地切换末端执行器，从而实现机器人和无人地面车辆的更广泛的应用。

3. 发明授权

US10076844B2 Automated tool change assembly for robotic arm 有权
公开(公告)号：US10076844B2
公开(公告)日：2018-09-18
申请号：US13389509
申请日：2010-08-10
申请人： Nabil Michael Rizk
发明人： Nabil Michael Rizk
IPC分类号： B25J15/04
CPC分类号： B25J15/04 , B25J15/0491 , Y10T29/49815 , Y10T29/49895 , Y10T403/58
摘要： An automated tool change assembly and method for automatically coupling a robotic end effector to a robotic manipulator. The automated tool change assembly of the present invention provides first and second light-weight mechanical joint members for automated coupling to provide a rigid connection that can include an electrical connection to pass power and signals between the end effector and the manipulator. The connection can also have full pass-through mechanical power. The assembly also includes a tool station for docking an end effector. The tool station can also provide a platform to align tools with manipulators in forming the automatic connection between joint members. The tool station also provides a release bar for manually releasing end effectors from manipulators. Software scripts can connect and disconnect the tool change assembly remotely when attached to a robot.

4. 发明授权

US08992113B2 Robust manual connector for robotic arm end effector 有权
标题翻译：坚固的手动连接器，用于机械手臂端部执行器
公开(公告)号：US08992113B2
公开(公告)日：2015-03-31
申请号：US12794061
申请日：2010-06-04
申请人： Frank F. Campagna , Nabil Michael Rizk , Keith M. Gunnett
发明人： Frank F. Campagna , Nabil Michael Rizk , Keith M. Gunnett
IPC分类号： B25J15/04
CPC分类号： B25J15/04 , Y10S901/30 , Y10S901/50 , Y10T29/49947 , Y10T74/20329 , Y10T403/295 , Y10T403/7007
摘要： An assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm is disclosed. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.
摘要翻译：公开了一种用于将机器人工具或部件形式的末端执行器可释放地连接到机器臂的组件。该连接是手动操作的并且由第一和第二接头构件形成，第一和第二接头构件包括圆柱体，锁定环和从圆柱体延伸的锁定壁。锁定环与第一接头构件同轴对准并可旋转地连接。第二接头构件具有圆柱形配合体和联接器，并与第一接头构件接合。联接器还包括钥匙销，销可与锁定壁相配合，联接器和锁定环还包括间隔开的周向间隔开的齿，其中套环可旋转以将第一接头件与第二接头件可释放地接合。

5. 发明授权

US08382177B2 Quick-change finger for robotic gripper 有权
标题翻译：快速手指为机器人抓爪
公开(公告)号：US08382177B2
公开(公告)日：2013-02-26
申请号：US12797978
申请日：2010-06-10
申请人： Nabil Michael Rizk , Mark DeLouis
发明人： Nabil Michael Rizk , Mark DeLouis
IPC分类号： B66C1/00 , B66C1/42 , B25J15/08
CPC分类号： B25J15/0475 , Y10T29/49826 , Y10T29/49947 , Y10T403/58
摘要： This invention is an assembly and method for releasably connecting a gripper finger to a robotic arm with only manual manipulation. The assembly includes a finger body having a quick-change bar connected to a locking lever. The locking lever can be rotated by hand to engage and disengage the assembly to connect a finger to a gripper connected to a robot. The locking lever provides a sleeve and pin which interact to lock the assembly. The sleeve and pin can have recessed surfaces formed to interact with roll pins or screws to restrict behavior of the quick-change device during engagement.
摘要翻译：本发明是一种用于通过手动操作将夹持器手指可释放地连接到机器手臂的组装和方法。组件包括具有连接到锁定杆的快速变化杆的手指本体。锁定杆可以用手旋转以接合和脱离组件，以将手指连接到连接到机器人的夹持器。锁定杆提供一个套筒和销，它们相互作用以锁定组件。套筒和销可以具有形成为与辊销或螺钉相互作用的凹陷表面，以限制快速更换装置在接合期间的行为。

6. 发明申请

US20120091311A1 Compliant Tool Holder 有权
标题翻译：符合工具架
公开(公告)号：US20120091311A1
公开(公告)日：2012-04-19
申请号：US13272854
申请日：2011-10-13
申请人： Nabil Michael Rizk , Frank F. Campagna , Aaron P. Nicely , Joseph J. Vasalani, III
发明人： Nabil Michael Rizk , Frank F. Campagna , Aaron P. Nicely , Joseph J. Vasalani, III
IPC分类号： F16M13/00
CPC分类号： B25J17/0208 , B25J15/04
摘要： A compliant tool holder is provided for use with robots, unmanned ground vehicles, and the like. The compliant tool holder is characterized in that it involves the use of means for compliance, such as springs, rubber, plastics, metals, composites, shock mounts, vibration mounts, or similar means for permitting compliant movement in three rotational and three translational degrees of freedom during end effector changes. The compliant tool holder reduces costs associated with automated tool change in the field, and allows for more rapid switching of end effectors, enabling a greater range of uses for robots and unmanned ground vehicles.
摘要翻译：提供了一种与机器人，无人地面车辆等一起使用的兼容工具架。兼容的工具架的特征在于其包括使用用于符合性的装置，例如弹簧，橡胶，塑料，金属，复合材料，防震支架，振动支架或用于允许以三个旋转和三个平移度的顺应运动的类似装置末端执行器变化期间的自由。兼容的工具架可降低与现场自动化工具更换相关的成本，并允许更快速地切换末端执行器，从而实现机器人和无人地面车辆的更广泛的应用。

7. 发明申请

US20100314895A1 Quick-Change Finger For Robotic Gripper 有权
标题翻译：快速手指机器人抓爪
公开(公告)号：US20100314895A1
公开(公告)日：2010-12-16
申请号：US12797978
申请日：2010-06-10
申请人： Nabil Michael Rizk , Mark DeLouis
发明人： Nabil Michael Rizk , Mark DeLouis
IPC分类号： B25J15/08 , F16B7/00 , B23P11/00 , B23P17/00
CPC分类号： B25J15/0475 , Y10T29/49826 , Y10T29/49947 , Y10T403/58
摘要： An assembly and method for releasably connecting a gripper finger to a robotic arm needing only manual manipulation to operate. The assembly includes a finger body having a quick-change bar connected to a locking lever. The locking lever can be rotated by hand to engage and disengage the assembly to connect a finger to a gripper connected to a robot. The locking lever provides a sleeve and pin which interact to lock the assembly. The sleeve and pin can have recessed surfaces formed to interact with roll pins or screws to restrict behavior of the quick-change device during engagement.
摘要翻译：一种用于将手指可释放地连接到仅需要手动操作来操作的机器手臂的组件和方法。组件包括具有连接到锁定杆的快速变化杆的手指本体。锁定杆可以用手旋转以接合和脱离组件，以将手指连接到连接到机器人的夹持器。锁定杆提供一个套筒和销，它们相互作用以锁定组件。套筒和销可以具有形成为与辊销或螺钉相互作用的凹陷表面，以限制快速更换装置在接合期间的行为。

8. 发明申请

US20100307279A1 Robust Manual Connector for Robotic Arm End Effector 有权
标题翻译：坚固的手动连接器，用于机器人手臂端部效果器
公开(公告)号：US20100307279A1
公开(公告)日：2010-12-09
申请号：US12794061
申请日：2010-06-04
申请人： Frank F. Campagna , Nabil Michael Rizk , Keith M. Gunnett
发明人： Frank F. Campagna , Nabil Michael Rizk , Keith M. Gunnett
IPC分类号： B25J17/00 , B23P11/00 , F16B7/06
CPC分类号： B25J15/04 , Y10S901/30 , Y10S901/50 , Y10T29/49947 , Y10T74/20329 , Y10T403/295 , Y10T403/7007
摘要： The present invention is an assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.
摘要翻译：本发明是用于将机器人工具或部件形式的末端执行器可释放地连接到机器臂的组件。该连接是手动操作的并且由第一和第二接头构件形成，第一和第二接头构件包括圆柱体，锁定环和从圆柱体延伸的锁定壁。锁定环与第一接头构件同轴对准并可旋转地连接。第二接头构件具有圆柱形配合体和联接器，并与第一接头构件接合。联接器还包括钥匙销，销可与锁定壁相配合，联接器和锁定环还包括间隔开的周向间隔开的齿，其中套环可旋转以将第一接头件与第二接头件可释放地接合。

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