CN110171014A - End effector suitable for carrying out physical interaction under unstructured environment - Google Patents
End effector suitable for carrying out physical interaction under unstructured environment Download PDFInfo
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- CN110171014A CN110171014A CN201910460542.XA CN201910460542A CN110171014A CN 110171014 A CN110171014 A CN 110171014A CN 201910460542 A CN201910460542 A CN 201910460542A CN 110171014 A CN110171014 A CN 110171014A
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- 239000012636 effector Substances 0.000 title claims abstract description 73
- 230000010399 physical interaction Effects 0.000 title abstract 2
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000003287 optical effect Effects 0.000 claims description 56
- 230000006870 function Effects 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 8
- 208000033748 Device issues Diseases 0.000 claims description 4
- 239000013307 optical fiber Substances 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 abstract description 18
- 239000010410 layer Substances 0.000 description 50
- 230000000694 effects Effects 0.000 description 22
- 238000000034 method Methods 0.000 description 19
- 230000006641 stabilisation Effects 0.000 description 18
- 238000011105 stabilization Methods 0.000 description 18
- 238000005253 cladding Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000005489 elastic deformation Effects 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000000994 depressogenic effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000010485 coping Effects 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
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- 230000002452 interceptive effect Effects 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000001037 metacarpus Anatomy 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an end effector which is suitable for physical interaction in an unstructured environment, wherein a driving mechanism of the end effector drives fingers of the end effector to do clamping motion, and the fingers of the end effector are a first basic unit, a second basic unit, the superposition of the first basic unit and a plurality of second basic units or the superposition of a plurality of second basic units; the first upper layer structure of the first basic unit comprises a first node, the first lower layer structure comprises at least three non-collinear second nodes, and the first node and all the second nodes form a three-dimensional network structure through connecting rods; the second upper layer structure of the second basic unit comprises at least two third nodes, the second lower layer structure comprises at least two fourth nodes, the at least two fourth nodes and the at least two third nodes are not coplanar, and all the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods. The end effector fingers are adaptive to the external environment geometry when gripping the target item.
Description
Technical field
The present invention relates to Robot Design technical fields, and in particular to one kind is suitable for carrying out physics under unstructured moving grids
Interactive end effector.
Background technique
Existing robot frequently with rigid carry out structure design, reply structured environment problem in formed compared with
For mature design method, such as industrial robot, but when coping with the interaction of more extensive unstructured moving grids, the design side
Method still has biggish limitation, generally requires multiple using realizations such as more complicated mechanical structure, transmission parts, driving parts
Miscellaneous motor function, in this process, the adaptivity of robot architecture become an important design problem.
The usually robot with higher environmental suitability can by single structure or only can be by change on a small quantity
It is more widely applied under scene, especially under unstructured moving grids, realizes the function of various complexity, this is that robot is adaptive
One important embodiment of property.
In end effector (gripper) design of existing robot, a kind of design method of the limit is the spirit of imitation manpower
Activity structure, but this will introduce similar the same up to tens drivers of manpower muscle and part, by complicated motion control
It is able to achieve similar function (manipulator of the artificial pneumatic muscles driving of such as Shadow Robotics production), this kind of robot
Often structure is complicated and involves great expense, and the manipulator with adaptivity is wished can be by less driving (such as only one drive
Dynamic device), less part is grabbed with being suitable for stablizing for various different geometries objects, and more complicated physical rings
Border (such as underwater, dustless environment).
In order to cope with problem above, the prior art is often through integrated more complicated mechanical structure, driving method, sensing
Device and control method etc. realize the Robot Design that can cope with the above difficulty.It is this kind of design often exist structure is complicated,
Involve great expense, part is various, narrow space, control is complicated, various difficulties such as difficulty are protected under special environment, and propose
One Robot Design method with universal adaptive is still the special applications demand in the case where coping with unstructured moving grids at present
Robot Design field a major challenge.
Summary of the invention
Aiming at the shortcomings existing in the above problems, the present invention provides a kind of suitable for carrying out object under unstructured moving grids
Manage the end effector of interaction.
The end effector that the invention discloses a kind of suitable for carrying out physics interaction under unstructured moving grids, comprising: end
Hold actuator ontology, driving mechanism and two end effector fingers；
The driving mechanism is mounted on the end effector ontology, and two end effector finger mounteds are in institute
It states in driving mechanism, the driving mechanism drives the end effector finger to do clamping movement；
The network structure of the end effector finger uses space three-dimensional network structure, the space three-dimensional network structure
Position based on node simultaneously carries out sequential combination using connecting rod in space.
As a further improvement of the present invention, the space three-dimensional network structure is that the first basic unit, second are substantially single
The overlapping of member, the overlapping of first basic unit and multiple second basic units or multiple second basic units；Wherein:
First basic unit includes the first superstructure and the first understructure, and first superstructure includes one
A first node, first understructure include at least three second nodes, and at least three second nodes are not conllinear；Institute
It states first node and all second nodes and three-dimensional net structure is constituted by connecting rod, the connecting rod is connected to two described the
Between two nodes or between the first node and second node；
Second basic unit includes the second superstructure and the second understructure, and second superstructure includes extremely
Few two third nodes, second understructure contain at least two fourth node, at least two fourth nodes with extremely
Few two third nodes are non-coplanar；All third nodes and all fourth nodes constitute three dimensional network by connecting rod
Network structure, the connecting rod is connected between two third nodes, between two fourth nodes or the third node
Between fourth node.
As a further improvement of the present invention, the driving mechanism is the slider-actuated mechanism of linear motion, or rotation fortune
Dynamic multi link driving mechanism.
As a further improvement of the present invention, the connecting rod is hollow flexible bar.
As a further improvement of the present invention, any second node and pass through institute apart from nearest second node therewith
State connecting rod connection；
Based on nearby principle, the first node is connected with one or more second nodes by the connecting rod.
As a further improvement of the present invention, any second node and the second section of one or more not connected therewith
Point is connected by the connecting rod；
The first node is connected with the one or more second nodes being not connected with therewith by the connecting rod.
As a further improvement of the present invention, any third node and pass through institute apart from nearest third node therewith
State connecting rod connection；
Any fourth node with connected therewith apart from nearest fourth node by the connecting rod；
Based on nearby principle, one or more third nodes and one or more fourth nodes are connected by the connecting rod
It connects.
As a further improvement of the present invention, any third node and one or more third sections not connected therewith
Point is connected by the connecting rod；
Any fourth node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod；
Any third node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod.
As a further improvement of the present invention, further includes: sensor-based system；
The sensor-based system includes: light source device, light-sensitive device and optical signal processor, the light source device, photosensor
Part and optical signal processor are mounted in the end effector ontology or driving mechanism；
The light that the light source device issues enters through optical path entrance in the hollow channel of the connecting rod, and goes out oral instructions through optical path
Transport to the light-sensitive device；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the end
The deformation signal of actuator finger is held, realizes sensing function.
As a further improvement of the present invention, single or multifiber circuit is embedded in the hollow channel of the connecting rod；
The light that the light source device issues enters in the optical fiber circuit through optical path entrance, and through optical path outlet delivery to institute
It states at light-sensitive device；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the end
The deformation signal of actuator finger is held, realizes sensing function.
Compared with prior art, the invention has the benefit that
The finger of end effector (gripper) of the present invention uses space three-dimensional network structure, the space three-dimensional network structure
Position based on node simultaneously carries out sequential combination using connecting rod in space；When end effector grabs and clamps target item
When, the connecting rod of three-dimensional net structure carries out depressed deformation in space, the adaptivity with external environment geometry is formed,
To make end effector realize the physics interaction under unstructured moving grids；
On herein, the present invention directly as optical path or can embed single or multifiber time using the hollow structure of connecting rod
Road measures the physical deformation amount of the variation detection connecting rod of light passing amount by optical signal processor, so that end effector be made to hand over
The phy-aware of unstructured moving grids is realized when mutually.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of end effector disclosed in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of end effector disclosed in another embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the first basic unit disclosed in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the second basic unit disclosed in an embodiment of the present invention；
Fig. 5 is the schematic network structure of end effector finger disclosed in an embodiment of the present invention；
Fig. 6 is the schematic network structure of end effector finger disclosed in another embodiment of the present invention；
Fig. 7 is the side view cutaway drawing of sensor-based system disclosed in an embodiment of the present invention；
Fig. 8 is that the adaptive deformation before and after article X disclosed in an embodiment of the present invention is contacted with the first basic unit is shown
It is intended to；
Fig. 9 be in Fig. 8 the first basic unit to the adaptive schematic diagram adjusted of article X；
Figure 10 is the adaptive deformation that article X disclosed in another embodiment of the present invention contacts front and back with the first basic unit
Schematic diagram；
Figure 11 is that the adaptive deformation after article X disclosed in an embodiment of the present invention is contacted with end effector finger is shown
It is intended to.
In figure:
A, end effector ontology；B, driving mechanism；C, end effector finger；
1, first node；2, second node；3, third node；4, fourth node；5, connecting rod；6, light source device；7, photosensitive
Device；8, optical signal processor；9, optical path entrance；10, optical path exports；11, the optical path opening of side connecting rod can be imported；12, shape
Varying signal.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
The present invention is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, 2, the present invention provides a kind of end execution suitable for carrying out physics interaction under unstructured moving grids
Device, end effector are also referred to as gripper, are often installed on the end flange of mechanical arm, the reality for robot and physics scene
The interaction of border physics, function is similar to manpower, the i.e. finger of end effector (gripper)；End effector includes: end effector
Ontology A, driving mechanism B and two end effector finger C；Wherein:
Driving mechanism B of the invention is mounted on end effector ontology A, and two end effector finger C are mounted on drive
On motivation structure B, driving mechanism B drives two end effector finger C to do clamping movement.
The slider-actuated mechanism of linear motion can be selected in driving mechanism B of the invention, and rotary motion also can be selected more and connect
Bar driving mechanism.It is specific:
When driving mechanism B selects the slider-actuated mechanism of linear motion:
As shown in Figure 1, end effector of the invention is a kind of common parallel two to refer to machine pawl, the wherein hand of gripper
It is sliding directly can be mounted on two there are two that can provide the sliding block of reverse linear movement by metacarpus packing by end effector finger C
It can be to clamped object when two sliding blocks generate linear relative movement as the finger of gripper on the flange of block
Product generate adaptivity deformation, while achieving the effect that stablize clamping, can pass through the torsion of end effector finger C itself
Deformation and the three-dimensional structure of itself realize the effect of three-dimensional adaptive and stable clamping under two dimension driving, and traditional
Such gripper under design generally requires to realize three-dimensional clamping by way of increasing fingers number.
When driving mechanism B selects the multi link driving mechanism of rotary motion:
As shown in Fig. 2, end effector of the invention is that another common link-type two refers to gripper, wherein gripper
Upper rotation be driven through a multi-connecting-rod mechanism and be transferred to end flange, directly end effector finger C can be installed
It, can be to clamped object when two flanges, which produce relative rotation, to be moved as the finger of gripper on two flanges
Product generate adaptivity deformation, while achieving the effect that stablize clamping, install in the rotation driving flange for the such gripper having
There is additional rotation driving to allow to rotate around itself flange normal direction, by adjusting extremely angle appropriate to improve to clamped
The adaptability of article geometric shape can pass through the torsion of the network structure itself by the network structure of end effector finger C
Turn deformation and the three-dimensional structure of itself, realizes three-dimensional adaptive and motion stabilization effect, driver number required for reducing
Amount.
Meanwhile driving mechanism of the invention, in addition to above two form, other, which also can be used, can realize the drive of same function
Motivation structure.
The network structure of end effector finger C of the invention is the first basic unit, the second basic unit, one first
The overlapping of the overlapping or multiple second basic units of basic unit and multiple second basic units；Wherein, end shown in Fig. 1
Hold the network structure of actuator finger C for the overlapping of first basic unit and multiple second basic units, it is shown in Figure 2
The network structure of end effector finger C is the overlapping of multiple second basic units；Meanwhile the network of end effector finger C
The structure type of first basic unit or the structure type of second basic unit also can be used in structure.
It is specific:
As shown in figure 3, the first basic unit of the invention includes the first superstructure and the first understructure；
First superstructure includes a first node (A) 1；First understructure includes at least three not conllinear second
Node 2, what the not conllinear guarantee first node 1 of second node 2 was formed after connecting with second node 2 is space three-dimensional network knot
Structure, rather than planar network structure；
By the composition three-dimensional net structure of connecting rod 5, connecting rod 5 is hollow flexible bar for first node 1 and all second nodes 2
(having compared with high Young's modulus and deformation proportional elastic or elastic material), can also be used other solid hopkinson bars for meeting demand
Part, it is preferred to use hollow flexible bar；The channel passed through for optical path can be set when selecting solid bar member on solid bar member；Connecting rod
5 are connected between two second nodes 2 or between first node 1 and second node 2.Wherein, all nodes of the invention (include
First node and second node) connection is integral, the specific connection type of first node 1 and second node 2 do not carried out
It limits, first node 1 and the specific connection type of second node 2 can be designed according to different needs.
As shown in figure 3, being 3 second nodes (a/b), 4 second nodes (a/b/c) and n invention shows lower layer
First basic cell structure of a second node (a/b/c/ .../n)；Wherein:
Preferably, the present invention connects within this layer without connecting rod if only one node in this layer in superstructure；?
In understructure, any second node usually with connected therewith apart from nearest second node by connecting rod.In upper layer and lower layer knot
In structure, it is based on nearby principle, first node is usually connected with one or more second nodes by connecting rod.
It is further preferred that the present invention can be according to the actual design needs of different scenes, in understructure, any second
Node is connected with the one or more second nodes being not connected with therewith by connecting rod；In upper layer and lower layer structure, first node and
Not connected one or more second nodes are connected by connecting rod therewith.
As shown in figure 4, the second basic unit of the invention includes the second superstructure and the second understructure；
Second superstructure contains at least two third node 3；
Second understructure contains at least two fourth node 4, at least two fourth nodes 4 and at least two third nodes
3 is non-coplanar；
By the composition three-dimensional net structure of connecting rod 5, connecting rod 5 is hollow flexible for all third nodes 3 and all fourth nodes 4
Bar, connecting rod 5 are connected between two third nodes 3, between two fourth nodes 4 or between third node 3 and fourth node 4.
Wherein, all nodes of the invention (comprising third node and fourth node) connection is integral, not to third node 3 and the
The specific connection type of four nodes 4 is defined, and third node 3 can be according to different from the specific connection type of fourth node 4
Demand is designed.
Preferably, the present invention is in superstructure, any third node and passes through company apart from nearest third node therewith
Bar connection；In understructure, any fourth node with connected therewith apart from nearest fourth node by connecting rod；Upper and lower two
In layer structure, it is based on nearby principle, one or more third nodes are connected with one or more fourth nodes by connecting rod.
It is further preferred that the present invention can be according to the actual design needs of different scenes, in superstructure, any third
Node is connected with the one or more third nodes being not connected with therewith by connecting rod；In understructure, any fourth node and
Not connected one or more fourth nodes are connected by connecting rod therewith；In upper layer and lower layer structure, any third node and with
Not connected one or more fourth nodes pass through connecting rod connection.
Still more preferably, it should be pointed out that such basic structural unit also can be considered aforementioned basic structural unit
A kind of special case, i.e., the groups between two basic units with identical lower level node configuration but different single upper layer node configuration
It closes.At this point it is possible to by the single upper layer node for connecting the two basic units, while removing other and being connected with the upper layer node
But the mode of the longer connecting rod of length carries out structure and simplifies, and avoids the staggered structure of connecting rod.
As shown in figure 4, be 2 third nodes (A/B) invention shows upper layer, lower layer is 2 fourth nodes (a/b),
Upper layer is 2 third nodes (A/B), lower layer is 3 fourth nodes (a/b/c), and upper layer is that 2 third nodes (A/B), lower layers are
4 fourth nodes (a/b/c/d), upper layer is 3 third nodes (A/B/C), lower layer is 3 fourth nodes (a/b/c), and upper layer is
4 third nodes (A/B/C/D), the second basic cell structure that lower layer is 4 fourth nodes (a/b/c/d)；Wherein:
[quad type] ABab configuration as shown in fig. 4 a passes through the analysis method in the first similar aforementioned specific example
Know that the adaptivity cladding and motion stabilization effect to the external environment by taking article X as an example may be implemented in the basic structural unit
Fruit；
Such as a kind of [side double three Bian Shuansi formula] ABabc configuration as shown in Figure 4 b, it can be equivalent to two [tetrahedral formulas]
The composite construction unit that basic structural unit Aabc and Babc are formed by the superposition of lower layer abc, then by the two of upper layer
A node A and B is attached, and since the space length of A and a and b is closer, and B is only closer with the space length of c, then can lead to
Removal Ac is crossed, the mode of this three connecting rods of Ba, Bb is completed structure and simplified, and the staggered structure of connecting rod is avoided, by aforementioned point similar
The adaptivity cladding and motion stabilization effect to the external environment by taking article X as an example may be implemented in the basic structural unit known to analysis
Fruit.
Such as another [single four side Bian Sisan formulas] ABabc configuration as illustrated in fig. 4 c, it can be equivalent to two [tetrahedrons
Formula] a composite construction unit being formed by the superposition of lower layer abc of basic structural unit Aabc and Babc, but the sky of Ac and Bc
Between distance it is of substantially equal, the space length of Aa and Bb are also of substantially equal, can complete structure by way of removing Ab, Ba at this time
Simplify, avoid the staggered structure of connecting rod, which can also be considered as one using c as first layer, and ABba is the golden word of the second layer
Tower basic structural unit may be implemented by the basic structural unit known to similar Such analysis to outer by taking article X as an example
The adaptivity cladding and motion stabilization effect of portion's environment.
Such as another [three or four side Bian Shuansan formula] ABabcd configuration as shown in figure 4d, it can be equivalent to two [pyramids]
Basic structural unit Aabcd and Babcd form a composite construction unit, but the space of Aa and Ab by the superposition of lower layer abcd
Apart from of substantially equal, the space length of Bc and Bd are also of substantially equal, can be completed by way of removing Ac, Ad, Ba, Bb at this time
Structure simplifies, and avoids the staggered structure of connecting rod, may be implemented by the basic structural unit known to similar Such analysis to object
The adaptivity cladding and motion stabilization effect of external environment for product X.
Other situations can obtain other basic network topology units according to above analysis and so on.
Another special case of such basic structural unit is to work as the connecting node that upper layer and lower layer include identical quantity, in every layer
It only needs to be sequentially connected each adjacent node by connecting rod and forms single closed loop configuration, two interlayers are sequentially connected corresponding node by connecting rod
Three-dimensional net structure is formed, and each node in every layer can be non-coplanar.
[the double-deck three side formulas] ABCabc configuration, upper layer and lower layer separately include three connecting nodes as shown in fig 4e；
[the double-deck four side formulas] ABCDabcd configuration, upper layer and lower layer separately include four connecting nodes as shown in fig. 4f.
As shown in figure 5, end designed by the present invention is held on the basis of above-mentioned first basic unit and the second basic unit
The network structure of row device finger can combine the mode stacked by using first basic unit with multiple second basic units,
Every layer of basic structural unit can the geometric dimension of the different location to article X respectively carry out corresponding depressed deformation, by every
The superposition of the adaptivity and motion stabilization effect of layer basic structure, is generated including network structure by torsional deformation adaptive
Property cladding and motion stabilization effect, it is comprehensive to promote that overall space network structure coats the adaptivity of external environment and movement is steady
Determine effect, a distinguishing feature of the spacial framework of end effector finger according to the present invention is can be from any side
And motion stabilization adaptive to external environment progress geometry is realized to angle:
[multilayer tetrahedral formula] structure as shown in Figure 5 a: [tetrahedral formula] basic structural unit and bottom comprising top layer
Multiple double-deck [three side formulas] basic structural units compositions；
[multilayer pyramid] structure as shown in Figure 5 b: [pyramid] basic structural unit and bottom comprising top layer
Multiple double-deck [four side formulas] basic structural units compositions；
According to the actual demand for not having to scene, can design method having thus described the invention carry out corresponding structure and set
Meter realizes end effector finger to the structure adaptive and motion stabilization effect of external environment.
Preferably, actual design needs of the present invention according to different scenes, the geometry of each connecting rod can be general
Straight line, is also possible to the complex curve of certain special designing, the cross sectional shape of each connecting rod can be it is round, rectangular or other
Meaning cross sectional shape.
Preferably, each connecting rod uses the material with certain elasticity, i.e., can produce under external force can be detected
Elastic deformation, hollow structure can be used inside any connecting rod, by the light passing amount inside detection rod piece, realize to rod piece elasticity
The perception of deformation.
Preferably, realize that the mode that connects between connecting rod can be with according to the actual design needs of different scenes, at connecting node
It is general structure affixed (without relative motion freedom degree between no freedom degree i.e. connecting rod), hinge connection (one degree of freedom i.e. connecting rod
Between have one relative rotation freedom of motion), flexural pivot connection (between three degree of freedom i.e. connecting rod there are two relatively rotate plus one
Around axis spin freedom of motion) etc. a variety of connection types.
As shown in fig. 6, on the basis of above-mentioned basic unit, the spatial network of end effector finger designed by the present invention
Structure can be by using the mode of multiple second basic structure combination stackeds, and every layer of basic structural unit can be respectively to article X's
The geometric dimension of different location carries out corresponding depressed deformation, passes through the adaptivity and motion stabilization effect of every layer of basic structure
The superposition of fruit, including adaptivity cladding and motion stabilization effect that network structure is generated by torsional deformation, comprehensive promotion is whole
Adaptivity cladding and motion stabilization effect of the body spacial framework to external environment, end effector according to the present invention
One distinguishing feature of the spacial framework of finger is can to realize to carry out geometry knot to external environment from any lateral angles
Structure is adaptive and motion stabilization:
[a kind of multi-layer combined] structure as shown in Figure 6 a: [single four side Bian Sansan formulas] basic structural unit comprising top layer
And multiple double-deck [three side formulas] basic structural unit compositions of bottom；
[another multi-layer combined] structure as shown in Figure 6 b: [three or four side Bian Shuansan formula] basic structure list comprising top layer
Multiple double-deck [four side formulas] basic structural unit compositions of member and bottom；
According to the actual demand for not having to scene, can design method having thus described the invention carry out corresponding structure and set
Meter realizes structure adaptive and motion stabilization effect of the robot body to external environment, the achievable multiplicity of this method
Change robot architecture.
Preferably, actual design needs of the present invention according to different scenes, the geometry of each connecting rod can be general
Straight line, is also possible to the complex curve of certain special designing, the cross sectional shape of each connecting rod can be it is round, rectangular or other
Meaning cross sectional shape.
Preferably, each connecting rod uses the material with certain elasticity, i.e., can produce under external force can be detected
Elastic deformation, hollow structure can be used inside any connecting rod, by the light passing amount inside detection rod piece, realize to rod piece elasticity
The perception of deformation.
Preferably, realize that the mode that connects between connecting rod can be with according to the actual design needs of different scenes, at connecting node
It is general structure affixed (without relative motion freedom degree between no freedom degree i.e. connecting rod), hinge connection (one degree of freedom i.e. connecting rod
Between have one relative rotation freedom of motion), flexural pivot connection (between three degree of freedom i.e. connecting rod there are two relatively rotate plus one
Around axis spin freedom of motion) etc. a variety of connection types.
The present invention (can have compared with high Young's modulus and deformation ratio by using the flexible member with internal optical path
Example elasticity or elastic material), when rod piece generates deformation, by measuring in its optical path or inside optical path as the light passing of optical fiber is situated between
The metering to rod piece deformation quantity is realized in the light passing amount variation of matter, to realize end effector finger in interaction to physical environment
Perception.
It is specific:
As shown in fig. 7, structure shown in it is the cross-sectional view of side triangle in basic unit；The present invention provides a kind of end
The sensor-based system of actuator, comprising: light source device 6, light-sensitive device 7 and optical signal processor 8, light source device 6, light-sensitive device 7
It is mounted on end effector ontology or driving mechanism with optical signal processor 8；Wherein:
The connecting rod of end effector finger is equipped with optical path entrance 9 and optical path outlet 10, and is equipped with and can lead at tie point
Enter the optical path opening 11 of side connecting rod；Light source device 6, light-sensitive device 7 are connected with optical signal processor 8, and light source device 6 is placed in light
At road entrance 9, light-sensitive device 7 is placed at optical path outlet 10.
In use, the light that light source device 6 issues enters through optical path entrance 9 in the hollow channel of connecting rod 5, and exported through optical path
10 are transmitted to light-sensitive device 7；Optical signal processor 8 handles the optical signal of light source device 6 and light-sensitive device 7, is converted into
The deformation signal 12 of end effector finger realizes sensing function.
Further, sensor-based system optical path of the present invention is specifically moved towards specifically to design according to actual needs, and optical path is arranged at bottom
Entrance is simultaneously connected to robot base part, and light emitting diode can be used in light source device, and light sensor can be used in light-sensitive device
Device.
The present invention also provides the sensor-based systems of another end effector, comprising: light source device 6, light-sensitive device 7 and light letter
Number processor 8, light source device 6, light-sensitive device 7 and optical signal processor 8 are mounted in end effector ontology or driving mechanism；
Wherein:
The connecting rod of end effector finger is equipped with optical path entrance 9 and optical path outlet 10, embeds in the hollow channel of connecting rod 5
Single or multifiber circuit；And the optical path opening 11 that can import side connecting rod is equipped at tie point；It is light source device 6, photosensitive
Device 7 is connected with optical signal processor 8, and light source device 6 is placed at optical path entrance 9, and light-sensitive device 7 is placed at optical path outlet 10.
In use, the light that light source device 6 issues enters in optical fiber circuit through optical path entrance 9, and through 10 transmission of optical path outlet
To light-sensitive device 7；Optical signal processor 8 handles the optical signal of light source device 6 and light-sensitive device 7, is converted into end and holds
The deformation signal of row device finger realizes sensing function.
Further, sensor-based system optical path of the present invention is specifically moved towards specifically to design according to actual needs, and optical path is arranged at bottom
Entrance is simultaneously connected to robot base part, and light emitting diode can be used in light source device, and light sensor can be used in light-sensitive device
Device.
Embodiment:
The present invention is illustrated adaptive process by taking the first basic unit as an example, the adaptive process of the second basic unit
Principle with the first basic unit it is consistent.
The adaptive process of first basic unit of the invention are as follows:
The present invention makees by taking Aabc in Fig. 3 as an example when by from the external environment with certain three-dimensional geometry scale articles X
When firmly, the side contacted with article X generates different degrees of elastic deformation respectively and forms space to the three-dimensional geometry size of article X
Cladding, realizes the adaptivity of geometry.
As shown in figure 8, a triangle of the external environment article X with certain space geometry at [tetrahedral formula]
In white space among Abc；
Before generating contact, the direction of motion that is involutory of article X and [tetrahedral formula] basic structural unit is along dotted arrow institute
Refer to, dotted arrow is directed toward in a triangle Abc intermediate blank region of [tetrahedral formula] basic structural unit；
After generating contact, article X is contacted with the triangle Abc of [tetrahedral formula] basic structural unit generation, triangle Abc
Generate corresponding elastic deformation；That is, side generates and a certain amount of is moved to A ', b ', c ' respectively inwards by original connecting node A, b, c
Position, three rod pieces realize the adaptability to article X geometric dimension by the elastic deformation generated.
As shown in figure 9, after contact shown in Fig. 8 in the case where schematic diagram, it may be as the effect represented by dotted arrow
The rotation of power unevenness, in addition A ' point is additionally limited by from rod piece A ' a, so that triangle A ' bc is generated around rod piece A ' a, makes
At the twist motion of entire [tetrahedral formula] basic structural unit, generated entirety deformation is further strengthened to article X geometry
The adaptability of structure realizes the effect to article X motion stabilization when illustrating the instantaneously equal equation of each power shown in three arrows.
As shown in Figure 10, with certain space geometry external environment article X the position of [tetrahedral formula] almost
It is evenly distributed in its triangle Abc and the region triangle Aac.
Before generating contact, the direction of motion that is involutory of article X and [tetrahedral formula] basic structural unit is along dotted arrow institute
Refer to, its triangle Abc and three sides are almost evenly distributed on respect to [tetrahedral formula] basic structural unit due to article X simultaneously at this time
In the region shape Aac, i.e., dotted arrow is generally directed to the direction rod piece A c；
After generating contact, article X is contacted with the rod piece A c of [tetrahedral formula] basic structural unit generation, and rod piece A c generates phase
The elastic deformation answered；That is, article X is mainly contacted with bar Ac generation, so that bar Ac generates elastic deformation and formed to article X dimensioning
Very little adaptability, side generates and a certain amount of is moved to A ', the position c ' original connecting node A, c respectively inwards.
Meanwhile the principle based on Fig. 9, the present invention, can be to them when article X is to the configuration difference connecting rod directed force unevenness
The side of exerted forces forms twisting action, so that entire [tetrahedral formula] configuration also reverses therewith, further strengthens to object
The adaptivity geometry of product X coats, and then realizes the motion stabilization to article X.
Foregoing merely illustrate the end effector fingers of [tetrahedral formula], when lower layer's connecting node quantity is more than three,
Multiple above-mentioned [tetrahedral formula] basic structures can be considered as by being formed by [polyhedron formula] network configuration using similar above method
The connecting node of lower layer is split by the superposition of type according to triplets, it is basic to be respectively formed different [tetrahedral formula]
Then configuration carries out overlapping superposition at shared connecting rod, is combined into corresponding [polyhedron formula] composite network configuration, can pass through
Similar above method realizes the adaptivity cladding and motion stabilization effect to the external environment by taking article X as an example.
The adaptive process of second basic unit of the invention are as follows:
Foregoing merely illustrate the first basic unit network structures, when by taking the second basic unit as an example, i.e., when upper layer connects
When number of nodes is multiple, using similar above method be formed by [polyhedron formula] network configuration can be considered as it is multiple above-mentioned
The superposition of [tetrahedral formula] basic configuration；It can also be realized by similar above method to the external environment by taking article X as an example
Adaptivity cladding and motion stabilization effect.
As shown in figure 11, by taking a multilayer pyramid network structure such as Fig. 5 b as an example, when by external environment article X
When effect from different angle, the adaptivity deformation that network structure according to the present invention generates, wherein a figure is network knot
The mock-up of structure Aabcd, b figure are the adaptivity deformation generated when article X is mainly acted on from side Aab, and c figure is to work as object
Product X is mainly from the adaptivity deformation generated when acting on close to Ab rod piece, and whole network structure generates torsion counterclockwise and makes at this time
Contact surface self-adaption is side Aab, and d figure is the adaptivity deformation generated when article X is mainly acted on from close Aa rod piece, this
When whole network structure generate clockwise torsion make contact surface self-adaption side Aab.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of end effector suitable for carrying out physics interaction under unstructured moving grids characterized by comprising hold end
Row device ontology, driving mechanism and two end effector fingers；
The driving mechanism is mounted on the end effector ontology, and two end effector finger mounteds are in the drive
On motivation structure, the driving mechanism drives the end effector finger to do clamping movement；
The network structure of the end effector finger uses space three-dimensional network structure, and the space three-dimensional network structure is based on
The position of node simultaneously carries out sequential combination using connecting rod in space.
2. end effector as described in claim 1, which is characterized in that be the first basic unit, the second basic unit, one
The overlapping of the overlapping or multiple second basic units of first basic unit and multiple second basic units；Wherein:
First basic unit includes the first superstructure and the first understructure, and first superstructure includes one the
One node, first understructure include at least three second nodes, and at least three second nodes are not conllinear；Described
By connecting rod composition three-dimensional net structure, the connecting rod is connected to two second sections for one node and all second nodes
Between point or between the first node and second node；
Second basic unit includes the second superstructure and the second understructure, and second superstructure includes at least two
A third node, second understructure contain at least two fourth node, at least two fourth nodes and at least two
A third node is non-coplanar；All third nodes and all fourth nodes pass through connecting rod composition three-dimensional network knot
Structure, the connecting rod is connected between two third nodes, between two fourth nodes or the third node and
Between four nodes.
3. end effector as claimed in claim 2, which is characterized in that the driving mechanism is the slider-actuated of linear motion
Mechanism or the multi link driving mechanism of rotary motion.
4. end effector as claimed in claim 2, which is characterized in that the connecting rod is hollow flexible bar.
5. end effector as claimed in claim 2, which is characterized in that any second node and therewith distance are nearest
Second node is connected by the connecting rod；
Based on nearby principle, the first node is connected with one or more second nodes by the connecting rod.
6. end effector as claimed in claim 5, which is characterized in that any second node and therewith not connected one
A or multiple second nodes are connected by the connecting rod；
The first node is connected with the one or more second nodes being not connected with therewith by the connecting rod.
7. end effector as claimed in claim 2, which is characterized in that any third node and therewith distance are nearest
Third node is connected by the connecting rod；
Any fourth node with connected therewith apart from nearest fourth node by the connecting rod；
Based on nearby principle, one or more third nodes are connected with one or more fourth nodes by the connecting rod.
8. end effector as claimed in claim 7, which is characterized in that any third node and therewith not connected one
A or multiple third nodes are connected by the connecting rod；
Any fourth node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod；
Any third node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod.
9. such as end effector of any of claims 1-8, which is characterized in that further include: sensor-based system；
The sensor-based system includes: light source device, light-sensitive device and optical signal processor, the light source device, light-sensitive device and
Optical signal processor is mounted in the end effector ontology or driving mechanism；
The light that the light source device issues enters through optical path entrance in the hollow channel of the connecting rod, and extremely through optical path outlet delivery
The light-sensitive device；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the end and holds
The deformation signal of row device finger realizes sensing function.
10. end effector as claimed in claim 9, which is characterized in that embedded in the hollow channel of the connecting rod it is single or
Multifiber circuit；
The light that the light source device issues enters in the optical fiber circuit through optical path entrance, and through optical path outlet delivery to the light
At sensing device；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the end and holds
The deformation signal of row device finger realizes sensing function.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910460542.XA CN110171014B (en) | 2019-05-30 | 2019-05-30 | End effector suitable for carrying out physical interaction under unstructured environment |
| PCT/CN2020/079397 WO2020238332A1 (en) | 2019-05-30 | 2020-03-14 | End effector suitable for physical interaction in unstructured environments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910460542.XA CN110171014B (en) | 2019-05-30 | 2019-05-30 | End effector suitable for carrying out physical interaction under unstructured environment |
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| CN110171014A true CN110171014A (en) | 2019-08-27 |
| CN110171014B CN110171014B (en) | 2022-11-04 |
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| CN201910460542.XA Active CN110171014B (en) | 2019-05-30 | 2019-05-30 | End effector suitable for carrying out physical interaction under unstructured environment |
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| CN (1) | CN110171014B (en) |
| WO (1) | WO2020238332A1 (en) |
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| CN110561480A (en) * | 2019-09-19 | 2019-12-13 | 常州工学院 | Modular robot finger and gripper |
| CN111844113A (en) * | 2020-07-09 | 2020-10-30 | 南方科技大学 | Flexible pneumatic finger and gripping device |
| WO2020238336A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robot network structure and sensing system suitable for unstructured environment |
| WO2020238332A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | End effector suitable for physical interaction in unstructured environments |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114474148B (en) * | 2021-09-07 | 2023-06-20 | 江苏通强电气设备有限公司 | Laser automatic robot feeding and discharging device convenient for clamping various materials |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020238332A1 (en) | 2020-12-03 |
| CN110171014B (en) | 2022-11-04 |
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