公开(公告)号：US11826905B2

公开(公告)日：2023-11-28

申请号：US17584983

申请日：2022-01-26

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron Lessing ,  Ryan Richard Knopf ,  Daniel Vincent Harburg ,  Kevin Alcedo ,  Grant Thomas Sellers ,  Mark Chiappetta

IPC: B25J15/00 ,  B25J15/06 ,  B25J15/10 ,  B25J15/12 ,  B25J9/14 ,  B25J19/00 ,  B25J15/04

CPC classification number: B25J15/12 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0475 ,  B25J15/10 ,  B25J19/0075 ,  Y10S901/39

Abstract: Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

公开(公告)号：US20230364805A1

公开(公告)日：2023-11-16

申请号：US18137926

申请日：2023-04-21

Applicant: SOFT ROBOTICS, INC.

Inventor： Michael Rosenstein ,  Jeff Curhan ,  Joshua Aaron Lessing ,  Ryan Knopf ,  Daniel Harburg ,  Mark Chiappetta

IPC: B25J15/00 ,  B25J9/16 ,  B25J15/12 ,  G06F3/0488 ,  B25J9/14 ,  F15B15/10 ,  B25J9/00

CPC classification number: B25J15/0023 ,  B25J9/1694 ,  B25J9/1676 ,  B25J15/12 ,  G06F3/0488 ,  B25J9/1612 ,  B25J9/1697 ,  B25J9/1656 ,  B25J9/142 ,  B25J9/1689 ,  B25J9/1692 ,  F15B15/10 ,  B25J9/0009 ,  Y10S901/47 ,  Y10S901/29 ,  Y10S901/37 ,  Y10S901/09 ,  G05B2219/39466 ,  G05B2219/39554 ,  G05B2219/40253

Abstract: Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.

公开(公告)号：US20230330870A1

公开(公告)日：2023-10-19

申请号：US18320590

申请日：2023-05-19

Applicant: SOFT ROBOTICS, INC.

Inventor： Jeffrey Curhan ,  Chikyung Won ,  Andrew George Goodale

IPC: B25J15/10 ,  B25J15/02 ,  B25J9/14 ,  B25J19/00 ,  B25J15/12 ,  B25J15/00

CPC classification number: B25J15/12 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0253 ,  B25J15/10 ,  B25J19/0075

Abstract: A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.

公开(公告)号：US11731292B2

公开(公告)日：2023-08-22

申请号：US17391483

申请日：2021-08-02

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron Lessing ,  Ryan Richard Knopf ,  Carl Everett Vause ,  Kevin Alcedo

IPC: B25J15/12 ,  B25J15/06 ,  B25J15/00 ,  B25J15/10 ,  B25J9/14 ,  B25J15/04 ,  B25J19/02

CPC classification number: B25J15/12 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0085 ,  B25J15/04 ,  B25J15/0608 ,  B25J15/10 ,  B25J19/02

Abstract: A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.

公开(公告)号：US11077565B2

公开(公告)日：2021-08-03

申请号：US16037744

申请日：2018-07-17

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron Lessing ,  Ryan Richard Knopf ,  Carl Everett Vause ,  Kevin Alcedo

IPC: B25J15/12 ,  B25J9/14 ,  B25J15/06 ,  B25J15/00 ,  B25J15/10 ,  B25J15/04 ,  B25J19/02

Abstract: A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.

公开(公告)号：US20210039250A1

公开(公告)日：2021-02-11

申请号：US17081132

申请日：2020-10-27

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING

IPC: B25J9/14 ,  F15B15/10 ,  B25J15/00 ,  B25J9/10 ,  B25J15/12

Abstract: Exemplary embodiments relate to pressurizable housings for a soft robotic actuator. The pressurized housings may be divided into an upper chamber in fluid communication with an internal void of the actuator, and a lower chamber connected to an inlet and an outlet. The upper chamber and lower chamber may be separated by a piston. By supplying a fluid to the lower chamber via the inlet, the piston is moved into the space previously occupied by the upper chamber, which reduces the volume of the upper chamber and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.

公开(公告)号：US10850401B2

公开(公告)日：2020-12-01

申请号：US16205453

申请日：2018-11-30

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron Lessing ,  Ryan Richard Knopf ,  Carl Everett Vause ,  Daniel Vincent Harburg

IPC: B25J15/00 ,  B25J9/14 ,  F15B15/10 ,  B32B33/00 ,  B29C65/18 ,  B29C65/00 ,  B32B38/00 ,  B32B37/10 ,  B32B37/06 ,  B32B37/18 ,  B32B37/04 ,  B32B37/26 ,  B29C65/48 ,  B29C65/50

Abstract: Exemplary embodiments relate to various improvements in soft robotic actuators, and techniques for manufacturing the improvements. For example, techniques for manufacturing a rigidizing layer for reinforcing a soft robotic actuator is provided. In another embodiment, a soft robotic actuator having integrated sensors is described. A flexible electroadhesive pad for achieving a conformal grip is also described. Still further, exemplary embodiments provide hydraulically-actuated soft robotic grippers, which allows for a reduction in the size of the actuation system and improved underwater operation.

公开(公告)号：US10576640B2

公开(公告)日：2020-03-03

申请号：US16037748

申请日：2018-07-17

Applicant: Soft Robotics, Inc.

Inventor： Ryan Knopf ,  Joshua Lessing ,  Daniel Vincent Harburg ,  Grant Sellers ,  Kevin Alcedo

IPC: B25J15/00 ,  B25J15/12 ,  B25J9/14 ,  B25J15/10

Abstract: Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.

公开(公告)号：US10518423B2

公开(公告)日：2019-12-31

申请号：US16189656

申请日：2018-11-13

Applicant: Soft Robotics, Inc.

Inventor： Jeffrey Curhan ,  Craig Demello ,  Thomas Womersley ,  William Gunner

IPC: B25J15/12 ,  B25J13/08 ,  B25J15/00 ,  B25J9/14 ,  F16B33/00 ,  F16B35/06 ,  F16L55/11

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object.

公开(公告)号：US10478974B2

公开(公告)日：2019-11-19

申请号：US16188921

申请日：2018-11-13

Applicant: Soft Robotics, Inc.

Inventor： Jeffrey Curhan ,  Craig Demello ,  Thomas Womersley ,  William Gunner

IPC: B25J15/12 ,  B25J9/10 ,  B25J15/02 ,  B25J15/00 ,  B25J9/14 ,  B25J9/12 ,  B25J15/10

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.