Field-assembled soft gripping for industrial and collaborative robots

Patent metadata

Field	Value
Publication number	US-11090818-B2
Application number	US-201916366374-A
Country	US
Kind code	B2
Filing date	Mar 27, 2019
Priority date	Mar 27, 2018
Publication date	Aug 17, 2021
Grant date	Aug 17, 2021

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.

First claim

What is claimed is:

1. A soft robotic gripper having component parts capable of being assembled at the terminus of an industrial robot arm for providing adaptive gripping of a product, the soft robotic gripper comprising:
a hub capable of mounting to the terminus of the robotic arm, the hub having a pneumatic inlet formed therethrough leading to a plurality of outlets; and
a plurality of finger mount assemblies pneumatically coupled to respective outlets, each finger mount assembly having:
an inflatable finger having an elastomer body that receives pneumatic inflation and vacuum via a fluid port and bends under inflation in a first direction and under vacuum in a second direction,
a finger mount including a pneumatic passage capable of connecting to the fluid port,
a channel member including a pneumatic channel capable of connecting the passage and a respective outlet,
two pneumatic seals capable of insertion surrounding the pneumatic channel of the channel member, and
a tension fastener capable of securing the finger mount to the hub, wherein securing the finger mount via the tension fastener seals the pneumatic channel with the first pneumatic seal and the second pneumatic seal under compression.

2. The soft robotic gripper according to claim 1 , wherein the hub is formed from metal material, and the spacers and finger mounts each have a volumetric mass density less than ½ that of the hub of metal material.

3. The soft robotic gripper according to claim 1 , further comprising first microbial ingress seals capable of insertion surrounding one of the two pneumatic seals, at each interface where an outer surface of the hub meets an outer surface of each respective finger mount, compressed between the hub and each finger mount.

4. The soft robotic gripper according to claim 1 , wherein product contact areas of the finger are as smooth or smoother than substantially 32 microinch average roughness (Ra) and non product contact areas of the gripper as smooth or smoother than substantially than approximately 125 microinch (Ra).

5. The soft robotic gripper according to claim 1 , wherein the channel member includes a cylindrical tube, and one of the pneumatic seals is compressed between an outer cylindrical wall of the tube and an inner cylindrical wall of a receiving receptacle in the finger mount, and the remaining one of the pneumatic seals is compressed between an outer cylindrical wall of the tube and an inner cylindrical wall of a receiving receptacle in the hub.

6. The soft robotic gripper according to claim 5 , wherein the tension fastener passes through a respective pilot protrusion of the finger mount and pilot receptacle of the hub, and fastens under tension from the finger mount and in a direction of the hub.

7. The soft robotic gripper according to claim 1 , wherein the tension fastener passes through a respective pneumatic passage of the finger mount and an outlet of the hub, and fastens under tension from the finger mount and in a direction of the hub.

8. The soft robotic gripper according to claim 1 , wherein the hub is matched to the finger mounts via a plurality of common mechanical interfaces matching the outlets to the pneumatic passages, and the channel member comprises at least one spacer, each spacer having a pneumatic interface bridging between a respective outlet and pneumatic passage, a respective tension fastener passing through the pneumatic interface to secure a respective finger mount to the hub via the at least one spacer, the at least one spacer compressed between the respective finger mount and the hub.

9. The soft robotic gripper according to claim 8 , further comprising:
a palm capable of forming a plenum chamber between the outlets of the hub and the palm, and a manifold of channels leading from the palm, wherein each pneumatic passage of each finger mount is capable of pneumatically coupling a respective channel of the palm to a respective inflatable finger.

10. The soft robotic gripper according to claim 9 , the hub having a plurality of fastener anchors adjacent the outlets, to which the tension fasteners are capable of being secured.

11. The soft robotic gripper according to claim 8 , wherein each tension fastener is capable of securing a pair of finger mounts to the hub by passing through respective pneumatic passages of the pair of finger mounts and a pair of outlets of the hub, and fastening under tension from one finger mount to a remaining finger mount, compressing the hub between the one finger mount and the remaining finger mount.

12. The soft robotic gripper according to claim 8 , wherein the fastener anchors each comprise a tapped hole formed in the hub, and the tension fasteners each comprise an elongated member having machine screw threads, mating to a receiving fastener.

13. A method for assembling a soft robotic gripper to provide adaptive gripping of a product, the method comprising:
arranging a finger mount including a passage capable of connecting to a fluid port together with a hub having a pneumatic inlet formed therethrough leading to a plurality of outlets;
connecting the passage of the finger mount and a respective outlet of the hub via a channel member including a pneumatic channel and a cylindrical tube;
arranging a compressible pneumatic seal toward each end of the pneumatic channel; and
compressing one of the pneumatic seals between an outer cylindrical wall of the tube and an inner cylindrical wall of a receiving receptacle in the finger mount, and
compressing a remaining one of the pneumatic seals between an outer cylindrical wall of the tube and an inner cylindrical wall of a receiving receptacle in the hub
securing the finger mount to the hub in compression using a tension fastener to seal the pneumatic channel with both pneumatic seals under compression.

14. The method according to claim 13 , further comprising:
mounting the hub to a terminus of a robotic arm; and
pneumatically actuating the inflatable finger via the pneumatic channel to bend under inflation in a first direction and under vacuum in a second direction.

15. The method according to claim 13 , further comprising:
inserting first microbial ingress seals surrounding one of the two pneumatic seals, at each interface where an outer surface of the hub meets an outer surface of each respective finger mount; and

compressing the first microbial ingress seals between the hub and each finger mount.

16. The method according to claim 13 , further comprising:
passing the tension fastener through a respective pilot protrusion of the finger mount and pilot receptacle of the hub.

17. The method according to claim 13 , further comprising:
passing the tension fastener through a respective pneumatic passage of the finger mount and an outlet of the hub.

18. The method according to claim 13 , wherein the hub is matched to the finger mounts via a plurality of common mechanical interfaces matching the outlets to the pneumatic passages, and the channel member comprises at least one spacer, each spacer having a pneumatic interface bridging between a respective outlet and pneumatic passage, and further comprising:
passing a respective tension fastener through the pneumatic interface to secure a respective finger mount to the hub via the at least one spacer; and
compressing the at least one spacer between the respective finger mount and the hub.

19. The method according to claim 18 , further comprising:
pneumatically coupling a respective channel of a palm to a respective inflatable finger via a pneumatic pass

Assignees

• Soft Robotics Inc

Inventors

• Curhan Jeffrey
• Won Chikyung
• Goodale Andrew George

Classifications

• B25J15/0023

  Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12) · CPC title

• B25J19/0075

  Means for protecting the manipulator from its environment or vice versa · CPC title

• B25J9/142 Primary

  comprising inflatable bodies · CPC title

• B25J15/10

  with three or more finger members {(B25J15/0009 takes precedence)} · CPC title

• B25J15/12 Primary

  with flexible finger members · CPC title