CN110228055A - A kind of multi-joint mechanical arm suitable for carrying out physics interaction under unstructured moving grids - Google Patents
A kind of multi-joint mechanical arm suitable for carrying out physics interaction under unstructured moving grids Download PDFInfo
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- CN110228055A CN110228055A CN201910460996.7A CN201910460996A CN110228055A CN 110228055 A CN110228055 A CN 110228055A CN 201910460996 A CN201910460996 A CN 201910460996A CN 110228055 A CN110228055 A CN 110228055A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
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Abstract
The multi-joint mechanical arm that the invention discloses a kind of suitable for carrying out physics interaction under unstructured moving grids, it include: multi-joint mechanical arm ontology and joint linkage structure, the network structure of joint linkage structure is the overlapping of the first basic unit, the second basic unit, first basic unit and multiple second basic units or the overlapping of multiple second basic units；First superstructure of the first basic unit includes a first node, and the first understructure includes at least three not conllinear second nodes, and first node and all second nodes constitute three-dimensional net structure by connecting rod；Second superstructure of the second basic unit contains at least two third node, second understructure contains at least two fourth node, at least two fourth nodes and at least two third nodes are non-coplanar, and all third nodes and all fourth nodes constitute three-dimensional net structure by connecting rod.When generating collision, joint linkage structure reduces the injury to external environment by the adaptivity of itself.
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 multi-joint mechanical arm is suitable for horizontal operating environment.
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.
Frequently with rigid link between the joint of the existing multi-joint mechanical arm operated under water, and underwater operation often needs
Fragile ecological environment underwater including coral is protected, rigid link is when colliding underwater environment, meeting
It causes greatly to damage；And tradition machinery arm needs structure, waterproof of progress complexity etc. right in mechanical arm operational process to realize
The avoidance of underwater environment to generate influence as small as possible, with adaptivity submarine mechanical arm need can by itself
Even if design feature still can be reduced pair to the full extent in the case where generating collision by the adaptivity of self structure
The injury etc. of physical 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 multi-joint mechanical arm of interaction.
The multi-joint mechanical arm that the invention discloses a kind of suitable for carrying out physics interaction under unstructured moving grids, comprising:
Multi-joint mechanical arm ontology and joint linkage structure, the joint linkage structure are mounted on the pass of the multi-joint mechanical arm ontology
Between section；
The network structure of the joint linkage structure uses space three-dimensional network structure, the space three-dimensional network structure base
In node position and sequential combination is carried out 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 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 on the multi-joint mechanical arm ontology；
The connecting rod of the joint linkage structure is equipped with optical path entrance and optical path exports, the light source device, light-sensitive device
It is connected with the optical signal processor, the light source device is placed in the optical path inlet, and the light-sensitive device is placed in the light
At way outlet；
The light that the light source device issues enters through the optical path entrance in the hollow channel of the connecting rod, and through the light
Way outlet is transmitted 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 pass
The deformation signal of connection structure is saved, 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 pass
The deformation signal of connection structure is saved, realizes sensing function.
Compared with prior art, the invention has the benefit that
The joint linkage structure of multi-joint mechanical arm of the present invention uses space three-dimensional network structure, the space three-dimensional network knot
Position of the structure based on node simultaneously carries out sequential combination using connecting rod in space；When multi-joint mechanical arm generates collision in operation
When, the connecting rod of joint linkage structure carries out depressed deformation in space, the adaptivity with external environment geometry is generated,
To make the joint linkage structure of multi-joint mechanical arm realize that the physics condyloid articulation connection structure under unstructured moving grids passes through
The adaptivity of itself three-dimensional net structure reduces the injury to external environment, can be used for submerged applications；
On herein, the present invention can directly as optical path or be embedded single using the hollow structure of joint linkage structure connecting rod
Or multifiber circuit, the physical deformation amount of the variation detection connecting rod of light passing amount is measured by optical signal processor, to make more
The joint linkage structure of articulated mechanical arm realizes the phy-aware of unstructured moving grids in interaction.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of multi-joint mechanical arm disclosed in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the first basic unit disclosed in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the second basic unit disclosed in an embodiment of the present invention；
Fig. 4 is the schematic network structure of joint linkage structure disclosed in an embodiment of the present invention；
Fig. 5 is the schematic network structure of joint linkage structure disclosed in another embodiment of the present invention；
Fig. 6 is the side view cutaway drawing of sensor-based system disclosed in an embodiment of the present invention；
Fig. 7 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. 8 be in Fig. 7 the first basic unit to the adaptive schematic diagram adjusted of article X；
Fig. 9 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 10 is the adaptive deformation signal after article X disclosed in an embodiment of the present invention is contacted with joint linkage structure
Figure.
In figure:
A, multi-joint mechanical arm ontology；B, joint linkage structure；
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, the present invention provides a kind of multi-joint machinery suitable for carrying out physics interaction under unstructured moving grids
Arm, comprising: multi-joint mechanical arm ontology A and joint linkage structure B, joint linkage structure B are mounted on multi-joint mechanical arm ontology A
Key between；Wherein:
The network structure of joint linkage structure B of the invention is the first basic unit, the second basic unit, first base
The overlapping of the overlapping or multiple second basic units of this unit and multiple second basic units；It when in use can be according to practical need
Seek the one kind for selecting above-mentioned form.
It is specific:
As shown in Fig. 2, 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 Fig. 2, 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 3, 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 3, 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 Figure 3a 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 3b, 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 shown in Figure 3c, 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 3d, 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 Figure 3 e；
[the double-deck four side formulas] ABCDabcd configuration, upper layer and lower layer separately include four connecting nodes as illustrated in figure 3f.
As shown in figure 4, joint designed by the present invention connects on the basis of above-mentioned first basic unit and the second basic unit
The network structure of binding structure can combine the mode stacked by using first basic unit with multiple second basic units, often
Layer basic structural unit can the geometric dimension of the different location to article X respectively carry out corresponding depressed deformation, by every layer
The superposition of the adaptivity and motion stabilization effect of basic structure, the adaptivity generated including network structure by torsional deformation
Cladding and motion stabilization effect, the comprehensive overall space network structure that promoted is to the adaptivity cladding and motion stabilization of external environment
Effect, a distinguishing feature of the spacial framework of joint linkage structure according to the present invention are when multi-joint mechanical arm exists
When operation generates collision, the connecting rod of joint linkage structure carries out depressed deformation in space, generates and external environment geometry knot
The adaptivity of structure, so that the joint linkage structure of multi-joint mechanical arm be made to realize the physics condyloid articulation under unstructured moving grids
Connection structure reduces the injury to external environment by the adaptivity of itself three-dimensional net structure, can be used for submerged applications:
[multilayer tetrahedral formula] structure as shown in fig. 4 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 4 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 joint linkage structure 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 figure 5, on the basis of above-mentioned basic unit, the spatial network knot of joint linkage structure designed by the present invention
Structure can by using the mode of multiple second basic structure combination stackeds, every layer of basic structural unit can respectively to article X not
Geometric dimension with position carries out corresponding depressed deformation, passes through the adaptivity and motion stabilization effect of every layer of basic structure
Superposition, the adaptivity cladding and motion stabilization effect generated including network structure by torsional deformation, it is comprehensive promoted it is whole
Adaptivity cladding and motion stabilization effect of the spacial framework to external environment, joint linkage structure according to the present invention
Spacial framework a distinguishing feature be can from any lateral angles realize to external environment carry out geometry from
Adaptation and motion stabilization:
[a kind of multi-layer combined] structure as shown in Figure 5 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 5 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 joint linkage structure to the structure adaptive and motion stabilization effect of external environment, this method is achievable more
Sample joint linkage structure.
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 joint linkage structure in interaction to physical environment
Perception.
It is specific:
As shown in fig. 6, structure shown in it is the cross-sectional view of side triangle in basic unit；The present invention provides one kind and closes more
Save the sensor-based system of mechanical arm, comprising: light source device 6, light-sensitive device 7 and optical signal processor 8, light source device 6, light-sensitive device
7 and optical signal processor 8 be mounted on multi-joint mechanical arm ontology；Wherein:
The connecting rod of multi-joint mechanical arm joint linkage structure is equipped with optical path entrance 9 and optical path outlet 10, and in tie point
Place is equipped with the optical path opening 11 that can import side connecting rod；Light source device 6, light-sensitive device 7 are connected with optical signal processor 8, 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 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 joint linkage structure 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 multi-joint mechanical arm base portion, and light emitting diode can be used in light source device, and light can be used in light-sensitive device
Dependent sensor.
The present invention also provides the sensor-based systems of another multi-joint mechanical arm, comprising: light source device 6, light-sensitive device 7 and light
Signal processor 8, light source device 6, light-sensitive device 7 and optical signal processor 8 are mounted on multi-joint mechanical arm ontology；Wherein:
The connecting rod of joint linkage structure is equipped with optical path entrance 9 and optical path outlet 10, embeds in the hollow channel of connecting rod 5 single
Root or multifiber circuit；And the optical path opening 11 that can import side connecting rod is equipped at tie point；Light source device 6, photosensor
Part 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 joint company
The deformation signal of binding structure 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 multi-joint mechanical arm base portion, and light emitting diode can be used in light source device, and light can be used in light-sensitive device
Dependent sensor.
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. 2 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 fig. 7, 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 8, after contact shown in Fig. 7 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 9, the external environment article X with certain space geometry is almost equal in the position of [tetrahedral formula]
It is even to be 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. 8, 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 joint linkage structures of [tetrahedral formula] to adopt when lower layer's connecting node quantity is more than three
Multiple above-mentioned [tetrahedral formula] basic configurations can be considered as by being formed by [polyhedron formula] network configuration with similar above method
Superposition, i.e., the connecting node of lower layer is split according to triplets, is respectively formed different [tetrahedral formula] basic structures
Then type carries out overlapping superposition at shared connecting rod, is combined into corresponding [polyhedron formula] composite network configuration, can pass through class
The adaptivity cladding and motion stabilization effect to the external environment by taking article X as an example are realized like above method.
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 10, by taking a multilayer pyramid network structure such as Fig. 4 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 (9)
1. a kind of multi-joint mechanical arm suitable for carrying out physics interaction under unstructured moving grids characterized by comprising close more
Save mechanical arm body and joint linkage structure, the joint linkage structure be mounted on the multi-joint mechanical arm ontology joint it
Between；
The network structure of the joint linkage structure uses space three-dimensional network structure, and the space three-dimensional network structure is based on section
The position of point simultaneously carries out sequential combination using connecting rod in space.
2. multi-joint mechanical arm as described in claim 1, which is characterized in that the space three-dimensional network structure is first basic
Unit, the second basic unit, the overlapping or multiple second basic units of first basic unit and multiple second basic units
Overlapping；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. multi-joint mechanical arm as claimed in claim 2, which is characterized in that the connecting rod is hollow flexible bar.
4. multi-joint mechanical arm as claimed in claim 2, which is characterized in that any second node and therewith distance are recently
Second node connected by the connecting rod；
Based on nearby principle, the first node is connected with one or more second nodes by the connecting rod.
5. multi-joint mechanical arm as claimed in claim 4, which is characterized in that any second node and not connected therewith
One or more 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.
6. multi-joint mechanical arm as claimed in claim 2, which is characterized in that any third node and therewith distance are recently
Third node 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.
7. multi-joint mechanical arm as claimed in claim 6, which is characterized in that any third node and not connected therewith
One or more 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.
8. such as multi-joint mechanical arm of any of claims 1-7, 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 on the multi-joint mechanical arm ontology；
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 joint and connects
The deformation signal of binding structure realizes sensing function.
9. multi-joint mechanical arm as claimed in claim 8, 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 joint and connects
The deformation signal of binding structure realizes sensing function.
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| CN201910460996.7A CN110228055B (en) | 2019-05-30 | 2019-05-30 | Multi-joint mechanical arm suitable for physical interaction in unstructured environment |
| PCT/CN2020/079398 WO2020238333A1 (en) | 2019-05-30 | 2020-03-14 | Multi-joint mechanical arm applicable to physical interaction in unstructured environment |
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| CN201910460996.7A CN110228055B (en) | 2019-05-30 | 2019-05-30 | Multi-joint mechanical arm suitable for physical interaction in unstructured environment |
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| CN110228055B CN110228055B (en) | 2022-11-04 |
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| WO2020238333A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Multi-joint mechanical arm applicable to physical interaction in unstructured environment |
| WO2020238336A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robot network structure and sensing system suitable for unstructured environment |
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| WO2020238333A1 (en) | 2020-12-03 |
| CN110228055B (en) | 2022-11-04 |
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Application publication date: 20190913 Assignee: Shenzhen ningquan Technology Co.,Ltd. Assignor: SOUTH University OF SCIENCE AND TECHNOLOGY OF CHINA Contract record no.: X2021980002155 Denomination of invention: A multi joint manipulator for physical interaction in unstructured environment License type: Exclusive License Record date: 20210326 |
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