Soft Robotics, Inc.

Soft Robtics, Inc.

Thomas Womersley

Jeffrey Curhan

Craig Demello

William Gunner

Various stabilization devices for a robotic end of arm tool, such as a robotic gripper, are described. The stabilization device is provided in a palm area of the end of arm tool and serves as a backstop against which actuators of the end of arm tool can push a compliant or slick target object. The stabilization device may take many any of a variety of shapes, depending on the application. Based on the shape of the stabilization device and the action of the robotic gripper on the target object, the target object can be moved or rotated in a more stable configuration, thus allowing the actuators to apply less force while still maintaining a firm grasp of the object.

Structure for a robotic end effector

Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object.

End of arm tools for soft robotic systems

Exemplary embodiments relate to a fastener suitable for industrial tasks. Some embodiments include a sealing surface sized so that an outer surface of a sealing ring is located at approximately the same diameter as the fastener head, thus reducing ingress risk for foreign contaminants. Further embodiments provide a centering pilot to improve sealing consistency and quality. Some embodiments provide an angled flange on the fastener head to lift tightening tools away from the surface to which the fastener is being applied, and to shed liquids readily. The portion of the head that receives the tightening tools may be relatively small (approximately the same diameter as the fastener's threaded shaft) to reduce the risk of over-torquing. A bearing surface of the fastener may be located below the sealing ring (towards the threaded shaft) to prevent the fastener from marring the unsealed surface to which the fastener is being applied.

Fasteners with reduced bacterial harborage points, sealing capabilities, and component protection features

Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be configured to move (together or separately) to adjust the spacing between the actuators. Some aspects involve techniques for extending and/or retracting a vacuum cup present on the EOAT. Further embodiments, which may be used separately or in conjunction with the previously-described embodiments, apply a secondary inner grip pad to provide a secondary gripping mode for the EOAT. These embodiments may be particularly advantageous when the actuators are soft robotic actuators and the inner grip pad is a relatively more rigid structure than the actuators.

Robotic grippers have been employed to grasp and manipulate target objects. One task posing relatively unique problems is the handling of meat products, which can be difficult to grasp with a conventional gripper due to the surface texture and malleability of the meat, among other factors. This is particularly problematic when the meat product includes a bone, which has different properties from the relatively malleable meat surrounding it. Exemplary embodiments described herein provide robotic grippers having one or more fingers and a layered plate. The layered structure defines grooves sized and configured to lead in and capture the bone structure of the meat product. The grooves provide a backstop for the meat as well as preventing rotation or translation of the bone structure, thus allowing a firm grasp to be secured on the meat product.

Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.

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Newton, MA, United States of America

Thomas Womersley