US 12,134,184 B2
Field-assembled soft gripping for industrial and collaborative robots
Jeffrey Curhan, Warwick, RI (US); Chikyung Won, Tewksbury, MA (US); and Andrew George Goodale, Boston, MA (US)
Assigned to SOFT ROBOTICS, INC., Bedford, MA (US)
Filed by SOFT ROBOTICS, INC., Bedford, MA (US)
Filed on May 19, 2023, as Appl. No. 18/320,590.
Application 18/320,590 is a continuation of application No. 17/403,325, filed on Aug. 16, 2021, granted, now 11,691,297.
Application 17/403,325 is a continuation of application No. 16/366,374, filed on Mar. 27, 2019, granted, now 11,090,818.
Claims priority of provisional application 62/795,892, filed on Jan. 23, 2019.
Claims priority of provisional application 62/664,765, filed on Apr. 30, 2018.
Claims priority of provisional application 62/648,597, filed on Mar. 27, 2018.
Prior Publication US 2023/0330870 A1, Oct. 19, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/12 (2006.01); B25J 9/14 (2006.01); B25J 15/00 (2006.01); B25J 15/02 (2006.01); B25J 15/10 (2006.01); B25J 19/00 (2006.01)
CPC B25J 15/12 (2013.01) [B25J 9/142 (2013.01); B25J 15/0023 (2013.01); B25J 15/0253 (2013.01); B25J 15/10 (2013.01); B25J 19/0075 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A soft robotic gripper comprising:
a mounting flange configured to mount to a robotic arm, the mounting flange comprising a pneumatic passage extending from an inlet to an outlet configured to provide a passageway for an inflation fluid;
a base comprising a channel connecting the outlet of the mounting flange to an outlet of the base;
an inflatable finger comprising an elastomer body and a fluid port configured to connect to the outlet of the base to provide the inflation fluid to the elastomer body, wherein a rim of the inflatable finger is compressible to provide a fluid-tight connection to the base; and
a seal configured to surround at least a part of the channel, wherein the seal is configured to be compressed between the flange and the base; and
a fastener configured to secure the base to the mounting flange by sealing the channel with the seal under compression.