| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 81 | Industrial wedge-type gripper mechanism | US15721827 | 2017-09-30 | US10099384B1 | 2018-10-16 | Boris Kesil; Elik Gershenzon |
| An industrial wedge-type gripper mechanism for gripping or releasing objects that has a housing with a piston of a pneumatic cylinder moveable in the housing in longitudinal direction of the housing and a plurality of gripper jaw holders that slide in the housing in a radial or transverse direction and that support the gripper jaws. The gripper jaw holders have inclined slots, and the piston of the pneumatic cylinder is associated with a member that supports rolling bearings rolling and sliding in the inclined slots so that with reciprocations of the piston the rolling bearings exert a camming or wedging action on the walls of the inclined slots and thus cause the gripper jaw holders and thus the gripper jaws to perform gripping or releasing action on the objects. | ||||||
| 82 | UNIVERSAL OBJECT HOLDER FOR 3-D PRINTING USING A CONFORMABLE GRIPPER BALL | US15626200 | 2017-06-19 | US20180282080A1 | 2018-10-04 | Erwin Ruiz; Linn C. Hoover; Jeffrey J. Bradway; Paul M. Fromm |
| A system for securing, holding and aligning an object in a rigid subassembly include a conformable gripper ball. The gripper ball having the capability to conform to an object and then hold the object after contact. The conformability of the gripper ball is changed with air pressure to allow the gripper ball to hold the object. The gripper ball is mounted onto a rigid frame, which can then be docked into a loading station of a printer that prints on 3-D objects. With the addition of a vision system, the gripper assembly could be used with alignment markings on the loading station to allow manual alignment of the object to the rigid subassembly prior to loading into the printer. | ||||||
| 83 | Everting end effector for use with an articulated arm in a robotic system | US15266594 | 2016-09-15 | US10086519B2 | 2018-10-02 | Thomas Wagner; Kevin Ahearn; Michael Dawson-Haggerty; Christopher Geyer; Thomas Koletschka; Kyle Maroney; Matthew T. Mason; Gene Temple Price; Joseph Romano; Daniel Smith; Siddhartha Srinivasa; Prasanna Velagapudi; Thomas Allen |
| An end effector for an articulated arm in a robotic system includes an enclosed flexible membrane generally in the form of a tubular annulus that contains a fluid within the membrane. The tubular annulus includes a distal end for engaging objects; and a linear actuator that is positioned for reciprocal movement within the tubular annulus. The linear actuator provides actuation of the tubular annulus to grasp an object and the linear actuator provides a vacuum source at a distal end of the linear actuator. The linear actuator is also selectively coupled to a source of positive air pressure for providing positive air pressure to an object-retaining area. | ||||||
| 84 | Self-contained robotic gripper system | US15225364 | 2016-08-01 | US10046462B2 | 2018-08-14 | Ryan Knopf; Joshua Lessing; Daniel Vincent Harburg; Grant Sellers; Kevin Alcedo |
| 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. | ||||||
| 85 | Manufacturing soft devices out of sheet materials | US14502241 | 2014-09-30 | US10001149B2 | 2018-06-19 | Kevin C. Galloway |
| A soft composite actuator is described, including a first elastomeric layer; a strain limiting layer; and a first radially constraining layer, wherein the first elastomeric layer is disposed between the first radially constraining layer and the strain limiting layer; and the elastomeric layer, the strain limiting layer, and the radially constraining layer are bonded together to form at least one bladder for holding pressurized fluid. Methods of using and making of the soft composite actuator are described. | ||||||
| 86 | Soft robotic actuators for positioning, packaging, and assembling | US15605499 | 2017-05-25 | US09975251B2 | 2018-05-22 | Joshua Aaron Lessing; Daniel V. Harburg; Sarv Parteek Singh; Mark Chiappetta; Ryan Knopf |
| Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received. | ||||||
| 87 | Magnetic assembly of soft robots with hard components | US14768389 | 2014-03-04 | US09962832B2 | 2018-05-08 | Sen Wai Kwok; Stephen A. Morin; Bobak Mosadegh; Ju-Hee So; Robert F. Shepherd; George M. Whitesides |
| Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks. | ||||||
| 88 | Method for monitoring functional states A pressure driven actuator and Pressure-actuatable actuator | US15589044 | 2017-05-08 | US20170321799A1 | 2017-11-09 | Aline Defranceski; Walter Dunkmann |
| The invention relates to a method for monitoring a functional state of a pressure-driven actuator which comprises an actuator compartment defined at least in portions by a flexibly deformable wall, the actuator being actuated by applying pressure to the actuator compartment by means of an operating pressure supply, a work process being carried out to actuate the actuator, which process is accompanied by the actuator transitioning from a starting configuration to an end configuration. The pressure the pressure applied to the actuator compartment is measured depending on time by means of a sensor apparatus during the transition from the starting configuration to the end configuration. The invention also relates to a pressure-driven actuator. | ||||||
| 89 | Gripping device | US14637393 | 2015-03-03 | US09623570B1 | 2017-04-18 | Jeffrey M. Krahn; Carlo Menon; Francesco Fabbro; Enrico Bovero |
| A device in which the gripping action is achieved by a compliant membrane that adapts itself to the object to be lifted and then maintains such shape throughout the displacement of the object. The gripping force provided by the present invention is best suited for delicate objects, as it gently applies the gripping force necessary for displacement. This is accomplished through a chamber, a deformable membrane delimiting the chamber partially or entirely, and a means for changing the volume or shape of the chamber determined by the deformation of the membrane. | ||||||
| 90 | FOOD HANDLING GRIPPER | US15194283 | 2016-06-27 | US20160375590A1 | 2016-12-29 | Joshua Aaron Lessing; Ryan Richard Knopf; Daniel Vincent Harburg; Kevin Alcedo; Grant Thomas Sellers; Mark Chiappetta |
| 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. | ||||||
| 91 | Transfer device for holding an object using a gas flow | US14279699 | 2014-05-16 | US09490156B2 | 2016-11-08 | Sathish Kumar Balakrishnan; Kumaresh Govindan Radhakrishnan; Wen Ge Tu; HongLiang Lu; Lian Hok Tan |
| A transfer device for holding an object comprises: i) a housing; ii) at least one inlet conduit having an inlet for gas; iii) a plurality of sets of outlet conduits, each set of outlet conduits being in fluid communication with the at least one inlet conduit and having a plurality of outlets for directing the gas out of the outlet conduits. The respective outlets of the sets of outlet conduits are arranged in a direction along the housing surface and away from a center region relative to the respective sets of outlet conduits, so that a laminar gas flow that flows along the housing surface generates a pressure differential which creates a force towards the center region to hold the object against the housing surface. | ||||||
| 92 | Manufacturing method of bag body | US14372303 | 2013-01-14 | US09409317B2 | 2016-08-09 | Hirofumi Matsuoka |
| A manufacturing method of a bag body that has a bag-shaped member made of an elastic and airtight material, and a granular substance filled inside of the bag-shaped member, includes a step of preparing a core for forming the bag-shaped member, by hardening the granular substance; a step of forming the bag-shaped member by forming a covering made of the elastic and airtight material around the core; and a step of breaking up the core that is inside of the bag-shaped member. | ||||||
| 93 | Gripping device | US14768696 | 2013-04-11 | US09387594B2 | 2016-07-12 | Hirofumi Matsuoka |
| A gripping device is equipped with an abutment member that is annexed on a region of a gripping portion that abuts on a work. The abutment member is equipped with an inner bag that is made of a material having elasticity, a particulate matter with which the inner bag is filled, and an outer bag that covers the inner bag. The particulate matter is hardened while being deformed into a shape matching a contour of the work by increasing a ratio of a volume of the particulate matter to an inner volume of the inner bag with the work gripped by the gripping portion. A reverse face of the outer bag and a surface of the inner bag have a light-emitting portion therebetween. Thus, a rupture created in the outer bag can be detected, and the breakage of the inner bag can be obviated. | ||||||
| 94 | SOFT ROBOTIC ACTUATORS UTILIZING ASYMMETRIC SURFACES | US14734719 | 2015-06-09 | US20160114482A1 | 2016-04-28 | Joshua Aaron LESSING; Ryan Richard Knopf; Noel McLellan |
| A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased. | ||||||
| 95 | SOFT ROBOTIC ACTUATOR ATTACHMENT HUB AND GRASPER ASSEMBLY, REINFORCED ACTUATORS, AND ELECTROADHESIVE ACTUATORS | US14857648 | 2015-09-17 | US20160075036A1 | 2016-03-17 | Joshua Aaron Lessing; Ryan Richard Knopf; Carl Everett Vause; Kevin Alcedo |
| A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body. | ||||||
| 96 | CONFORMABLE HOLDING DEVICE | US14830278 | 2015-08-19 | US20160052145A1 | 2016-02-25 | John Patrick Spicer; Jianying Shi |
| A device for gripping a workpiece is described, and includes a holder including a base and a conformable jamming element. The conformable jamming element includes an air-impermeable pliable membrane containing filling material including magnetic particles, and is attached to the base. An electroadhesive element and a conformable releasable surface-adhesive element are secured to a surface of the membrane. | ||||||
| 97 | MAGNETIC ASSEMBLY OF SOFT ROBOTS WITH HARD COMPONENTS | US14768389 | 2014-03-04 | US20160001444A1 | 2016-01-07 | Sen Wai KWOK; Stephen A. MORIN; Bobak MOSADEGH; Ju-Hee SO; Robert F. SHEPHERD; George M. WHITESIDES |
| Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks. | ||||||
| 98 | GRIPPING DEVICE | US14768696 | 2013-04-11 | US20150375404A1 | 2015-12-31 | Hirofumi MATSUOKA |
| A gripping device is equipped with an abutment member that is annexed on a region of a gripping portion that abuts on a work. The abutment member is equipped with an inner bag that is made of a material having elasticity, a particulate matter with which the inner bag is filled, and an outer bag that covers the inner bag. The particulate matter is hardened while being deformed into a shape matching a contour of the work by increasing a ratio of a volume of the particulate matter to an inner volume of the inner bag with the work gripped by the gripping portion. A reverse face of the outer bag and a surface of the inner bag have a light-emitting portion therebetween. Thus, a rupture created in the outer bag can be detected, and the breakage of the inner bag can be obviated. | ||||||
| 99 | GRIPPING APPARATUS AND METHOD OF MANUFACTURING A GRIPPING APPARATUS | US14835516 | 2015-08-25 | US20150360372A1 | 2015-12-17 | Philippe SCHIETTECATTE; Roman PLAGHKI |
| The present application relates to gripping apparatuses that may be used for gripping or otherwise handling objects. A gripping apparatus may include one or more gripping members configured to act as an actuator and to grip an object. A first gripping member having an asymmetrical shape may comprise of an integrated actuator that includes an asymmetrical cross-section, wherein the first gripping member is configured to be displaced upon actuation of the actuator in a direction based on the asymmetrical cross-section of the actuator. The gripping apparatus may further include an actuating source configured to provide an actuating medium for actuating each actuator of the one or more gripping members. The present application further provides methods for manufacturing gripping apparatuses and methods for using the gripping apparatus. | ||||||
| 100 | PORTABLE PROSTHETIC HAND WITH SOFT PNEUMATIC FINGERS | US14685126 | 2015-04-13 | US20150351936A1 | 2015-12-10 | Bobak MOSADEGH; Brandon Grant GERBERICH; George M. WHITESIDES |
| A finger actuator, includes a plurality of fluidically interconnected inflatable chambers, wherein each chamber comprises outer walls having an embedded extensible layer selected to constrain radial expansion and freestanding inner walls; and an inextensible layer connected to the chambers at a base of the chambers, the inextensible layer comprising a flexible polymer and having an embedded inextensible layer that extends along the length of the finger actuator. | ||||||
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