Food handling gripper

Patent metadata

Field	Value
Publication number	US-2019168398-A1
Application number	US-201816148170-A
Country	US
Kind code	A1
Filing date	Oct 1, 2018
Priority date	Jun 26, 2015
Publication date	Jun 6, 2019
Grant date	—

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.

First claim

1 .- 25 . (canceled)

26 . A soft actuator comprising:
an elastomeric body that extends from a proximal end to a distal end, the elastomeric body: surrounding a void configured to receive an inflation fluid, comprising a plurality of accordion extensions, and being tapered from the proximal end to the distal end in a breadth direction and a thickness direction.

27 . The soft actuator of claim 26 , wherein the soft actuator comprises a gripping surface on a base of the soft actuator, the gripping surface configured to extend to create a textured surface on the base when the actuator is in an inflated state, and configured to retract to create a smooth surface when the actuator is not in an inflated state.

28 . The soft actuator of claim 27 , wherein the gripping surface is formed by an internal channel configured to receive inflation fluid independently of a remainder of the soft actuator.

29 . The soft actuator of claim 27 , further comprising a control system for applying a predetermined amount of vacuum to the soft actuator, the predetermined amount corresponding to at least one of a configuration of a target object to be grasped or an environment in which the target object is located.

30 . The soft actuator of claim 26 , wherein the elastomeric body tapers to different degrees along the width of the actuator to alter lateral actuator stability as compared to an untapered actuator.

31 . The soft actuator of claim 26 , wherein the elastomeric body tapers to different degrees along the length of the actuator to alter axial stability as compared to an untapered actuator.

32 . The soft actuator of claim 26 , wherein a wall thickness of elastomeric body tapers to different degrees to alter a gradient change in expansion upon actuation as compared to an untapered actuator.

33 . The soft actuator of claim 26 , wherein amplitudes of respective accordion extensions exhibit different amplitudes, resulting in a gradient change in curvature response when compared to an untampered actuator.

34 . A soft actuator comprising:
an oval-shaped elastomeric body that extends from a proximal end to a distal end, the elastomeric body:
surrounding plurality of teardrop-shaped voids configured to receive an inflation fluid,
comprising a plurality of accordion extensions, and
configured to bend along a major axis extending in a circumferential direction of the soft actuator and a minor axis extending in an axial direction of the soft actuator when inflated to create a cupping shape.

35 . The soft actuator of claim 34 , wherein the elastomeric body is tapered in a thickness direction from the proximal end to the distal end.

36 . The soft actuator of claim 34 , further comprising a central opening extending through the actuator in a thickness direction.

37 . The soft actuator of claim 34 , wherein the teardrop-shaped voids include a relatively narrow region that expands into a relatively wider region.

38 . The soft actuator of claim 37 , wherein the relatively narrow region is disposed closer to a center of the actuator as compared to the relatively wider region.

39 . A robotic gripper comprising a plurality of the soft robotic actuators of claim 34 arranged in a circular or rectangular arrangement and configured to fully enclose a target object when inflated, the soft robotic actuators having a predetermined breadth selected to for an enveloping sphere when the soft robotic actuators are inflated with the inflation fluid.

Assignees

• Soft Robotics Inc

Inventors

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

Classifications

• Y10S901/39

  Jaw structure · CPC title

• B25J19/0075

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

• B25J15/12 Primary

  with flexible finger members · CPC title

• B25J15/0023

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

• B25J15/10

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