公开(公告)号：US20190009415A1

公开(公告)日：2019-01-10

申请号：US16119097

申请日：2018-08-31

Applicant: SOFT ROBOTICS, INC.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Daniel Vincent HARBURG ,  Carl Everett VAUSE

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

CPC classification number: B25J15/0023 ,  B25J9/142 ,  B25J15/12

Abstract: Exemplary embodiments relate to various improvements in soft robotic actuators, and more specifically the integration of stiff or rigid bodies into soft actuators to provide adjustable gripping behaviors. These actuators may be used as robotic end effectors to, for example, automate material handling processes. According to some embodiments, the actuators may be deployed in combination with a static or dynamic rigid structure, such as a rod. The rigid structure may extend beside or within the actuator. Multiple rigid structures may be deployed on the sides of an actuator, or multiple actuators may be deployed on the sides of a rigid structure. In further embodiments, an array or matrix of actuators may be integrated into a rigid structure, providing a low-profile gripper that can be maneuvered into tight spaces.

公开(公告)号：US20220219339A1

公开(公告)日：2022-07-14

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

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：US20220088796A1

公开(公告)日：2022-03-24

申请号：US17515754

申请日：2021-11-01

Applicant: Soft Robotics, Inc.

Inventor： Ryan KNOPF ,  Joshua Aaron 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：US20200078957A1

公开(公告)日：2020-03-12

申请号：US16567364

申请日：2019-09-11

Applicant: Soft Robotics, Inc.

Inventor： Ryan KNOPF ,  Joshua Aaron LESSING ,  Daniel Vincent HARBURG ,  Grant SELLERS ,  Kevin ALCEDO

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

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：US20190099897A1

公开(公告)日：2019-04-04

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 ,  F15B15/10 ,  B32B5/24 ,  B32B38/10 ,  B32B3/26 ,  B32B3/18 ,  B32B3/16 ,  B32B3/10 ,  B32B27/12 ,  B32B7/12 ,  B32B27/06 ,  B32B27/40 ,  B32B5/18 ,  B32B5/02 ,  B32B5/26 ,  B25J9/14 ,  B29C65/18 ,  B29C65/00 ,  B32B38/00 ,  B32B37/10 ,  B32B37/06 ,  B32B37/18 ,  B29C65/50 ,  B29C65/48 ,  B32B37/26 ,  B32B37/04

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：US20190168398A1

公开(公告)日：2019-06-06

申请号：US16148170

申请日：2018-10-01

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Daniel Vincent HARBURG ,  Kevin ALCEDO ,  Grant Thomas SELLERS ,  Mark CHIAPPETTA

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

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：US20180319018A1

公开(公告)日：2018-11-08

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 ,  B25J15/10 ,  B25J15/12 ,  B25J9/14

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：US20180304473A1

公开(公告)日：2018-10-25

申请号：US15956804

申请日：2018-04-19

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Daniel Vincent HARBURG ,  Sarv Parteek SINGH ,  Mark CHIAPPETTA ,  Ryan KNOPF

IPC: B25J15/00 ,  B25J15/10

CPC classification number: B25J15/0023 ,  B25J9/0093 ,  B25J9/142 ,  B25J11/0045 ,  B25J15/10 ,  B25J15/12 ,  F15B15/103

Abstract: Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.