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US 11,691,297 B2Granted
Field-assembled soft gripping for industrial and collaborative robots
AssigneeSoft Robotics, Inc.
InventorsJeffrey Curhan, Chikyung Won, Andrew George Goodale
Life of this patent
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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.
Claims20
A soft robotic gripper comprising:
- a hub configured to mount to a robotic arm, the hub having an inlet formed therethrough leading to an outlet;
- an actuator mount assembly pneumatically coupled to the outlet, the actuator mount assembly comprising:
- an inflatable actuator comprising an elastomer body and a fluid port configured to provide an inflation fluid,
- an actuator mount including a passage configured to connect to the fluid port,
- a channel member including a channel configured to connect the passage and the outlet,
- a seal configured to surround at least a part of the channel of the channel member, and
- a fastener configured to secure the actuator mount to the hub by sealing the channel with the seal under compression;
- and
- a palm configured to form a plenum chamber between the outlet of the hub and the palm, the palm comprising a manifold of channels, wherein the passage of the actuator mount is configured to couple a respective channel of the palm to the inflatable finger.
6 more elements
Dependencies are inferred from the claim text.