Self-contained robotic gripper system

Patent metadata

Field	Value
Publication number	US-11752641-B2
Application number	US-202117515754-A
Country	US
Kind code	B2
Filing date	Nov 1, 2021
Priority date	Jul 30, 2015
Publication date	Sep 12, 2023
Grant date	Sep 12, 2023

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.

First claim

The invention claimed is:

1. A hub for a soft robotic actuator configured to grasp a target object by curling upon receiving an inflation fluid into an elastomeric bladder, the hub comprising:
a first end having an actuator interface configured to receive the soft robotic actuator,
a second end having a mounting interface configured to be mounted to a robotic arm, and
a hub body having an integrated pressure source,
wherein the hub is configured to supply the inflation fluid through the actuator interface to the soft actuator without a tether that provides an inflation fluid supply line, and is integrated into a housing comprising inflation fluid flow paths for distributing the inflation fluid.

2. The hub of claim 1 , wherein the pressure source is a diaphragm compressor.

3. The hub of claim 1 , wherein the pressure source is a pneumatic compressor having nominal specifications and is configured to operate outside the nominal specifications.

4. The hub of claim 3 , wherein the nominal specification is a voltage specification.

5. The hub of claim 3 , further comprising a controller configured to:
perform thermal monitoring of the pressure source; and
apply closed-loop control of a power delivery of the pressure source to maintain a predefined thermal loading.

6. The hub of claim 1 , wherein the pressure source comprises a motor and the hub further comprises:
a heat exchanger proximal to the motor, and
a heat exchange path configured to route the inflation fluid past the heat exchanger.

7. The hub of claim 1 , wherein the hub is configured to supply the inflation fluid to pressurize the soft robotic actuator to a pressure of 10 psi or less.

8. The hub of claim 1 , further comprising a control valve configured to control a flow of inflation fluid in at least one of a direction into the actuator or a direction out of the soft robotic actuator.

9. The hub of claim 8 , wherein the control valve is a directional control valve for selectively allowing inflation fluid to flow in a first direction into the actuator or in a second direction out of the actuator.

10. The hub of claim 8 , wherein the control valve is a flow control valve for controlling a rate of a flow of the inflation fluid into or out of the soft robotic actuator.

11. The hub of claim 1 , wherein the pressure source occupies a volume smaller than 1 cubic inch.

12. The hub of claim 1 , wherein the pressure source weighs less than 0.5 oz.

13. The hub of claim 1 , wherein the pressure source operates at less than 0.5 W of peak power.

14. The hub of claim 1 , wherein the pressure source is configured to supply 0.05 to 0.15 liters of the inflation fluid to the soft robotic actuator.

15. The hub of claim 1 , further comprising an accumulator configured to receive the inflation fluid from the pressure source and store the inflation fluid under pressure.

16. The hub of claim 15 , wherein the accumulator is at least one accumulator, and the at least one accumulators are collectively sized so that, when a fluid conduction path is created between the one or more accumulators and the soft robotic actuator, a predetermined actuation pressure or partial vacuum is achieved.

17. The hub of claim 1 , wherein the pressure source is a reaction chamber distinct from the actuator, the reaction chamber configured to accommodate a chemical reaction which generates a gaseous product.

18. The hub of claim 1 , wherein the pressure source is a twin head compressor operable in parallel or in series depending on configuration of a compressor-associated valve.

19. A method comprising:
attaching a soft robotic actuator to a hub according to claim 1 ; and
activating the pressure source to supply the inflation fluid to the soft robotic actuator.

Assignees

• Soft Robotics Inc

Inventors

• Knopf Ryan
• Lessing Joshua
• Harburg Daniel Vincent
• Sellers Grant
• Alcedo Kevin

Classifications

• B25J15/0023 Primary

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

• B25J9/142

  comprising inflatable bodies · CPC title

• B25J15/10

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

• B25J15/12

  with flexible finger members · CPC title