WO2024110171A1

WO2024110171A1 - Universal gripping means device for a robot

Info

Publication number: WO2024110171A1
Application number: PCT/EP2023/080688
Authority: WO
Inventors: Jérôme MONCEAUX
Original assignee: Enchanted Tools
Priority date: 2022-11-23
Filing date: 2023-11-03
Publication date: 2024-05-30
Also published as: FR3142112A1

Abstract

The present invention relates to a universal gripping means device (1) configured to be grippable by means of a predefined robotic gripper (20), the universal gripping means device (1) being intended to be connected to a set of objects (4), the universal gripping means device (1) comprising a label (3) that contains an item of identification data and an item of authorisation data to be gripped and/or manipulated and/or moved by the predefined robotic gripper (20).

Description

Universal gripping device for robot

The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a universal gripping device configured to allow a robot equipped with a predefined robotic gripper to grasp and manipulate a large number of types of objects.

STATE OF THE ART

Robots with a single spherical wheel on which the entire robot rests are known. These robots are commonly called “Ballbots”. Said robots are mobile by means of the single spherical wheel, in all directions on a flat surface, in a stable manner.

In particular, robots with a single spherical wheel are known, each comprising a trunk, two arms and an upper part. The trunk is connected to the spherical wheel and it is fixed relative to it, each arm is connected to the trunk by means of a pivot connection or by means of a ball joint connection so as to allow the mobility of each of the arms relative to the trunk and the upper part is connected to an upper portion of the trunk and it is fixed relative to the latter. The upper part of the robot includes at least one sensor configured so that the robot finds its way in its environment. Such a robot is configured to move in all directions and to perform tasks using its arms, such as grabbing objects.

To grasp objects, said robots include a gripper. The gripper is configured to allow the robot to grasp objects, regardless of their shape.

Object-specific robotic grippers are known, that is to say that there are robots equipped with a gripper configured to grasp a single type of object. For example, such a robot is equipped with a suction cup configured to allow the robot to grasp a glass plate.

However, such gripping systems make the robot single-task and specific to a single type of object or a limited number of types of objects.

To overcome the aforementioned problem, there are robots with grippers configured to grasp objects, whatever their shape. In particular, such grippers consist of robotic hands configured to reproduce the movements of a human hand. Such grippers have a large number of parts and great mechanical complexity. These grippers, such as robotic rudder hands, include at least three fingers and corresponding learning systems and software of great complexity to be able to adapt an approach trajectory for grasping, a way of capturing the object according to its nature, the nature of the object having to be determined by specific means, such as image processing, etc.

These complex and expensive robotic grippers are generally insufficient to respond to particular problems: they basically lack versatility, they do not allow certain objects to be grasped due to shapes not adapting to the robotic gripper in question, they fail to determine the exact nature of certain objects, etc.

The present invention therefore aims to resolve at least in part the aforementioned problems by proposing a universal gripping means device configured to be grippable by means of a predefined robotic gripper. The gripping means device is intended to be connected to “any type” of object, that is to say in practice to an evolving set of objects likely to have to be grasped and/or manipulated and/or moved by the predefined robotic gripper.

The predefined robotic gripper is preferably of simple design and manufacture and it is adapted to cooperate with said universal gripping means device then allowing the gripping of any object equipped with the universal gripping means device, whatever its size, its shape or even its material, without creating a need for complexity of the robotic gripper.

PRESENTATION OF THE INVENTION

More specifically, the subject of the invention is a universal gripping means device configured to be grippable by means of a predefined robotic gripper, the universal gripping means device being intended to be connected to a set of objects, the device universal gripping means comprising a label containing identification data.

In particular, the universal gripping means device also includes authorization data to be grasped and/or manipulated and/or moved by said predefined robotic gripper.

The robotic gripper is powered by a robot configured to grasp, manipulate and/or move objects. The label allows the robot to identify an object containing it and to give it information concerning this object, so that the robot adapts its behavior according to the object when it is grasped and/or manipulated and /or its movement. Such a universal gripping device has the advantage of being grippable both by the robotic gripper and by a human hand, but also of simplifying the manufacturing of the robotic gripper and of standardizing the gripping of an object by the robot, whatever the size, shape or even material of said object.

Advantageously, the universal gripping means device comprises a body and at least one fixing means, the body being configured to be graspable by the predefined robotic gripper and the fixing means being configured to connect the body to said object.

The universal gripping means device is configured to cooperate with the gripper, in particular to be easily graspable. The universal gripping means device is also connected to the object through the fixing means, so that the object is grasped and/or manipulated and/or moved when the universal gripping means device is grasped and /or manipulated and/or moved by the gripper.

Advantageously, the label comprises an envelope extending at least partly over the body of the device, said envelope comprising a visual marker comprising location data and being configured to be detected and processed via image processing.

In particular, the envelope may be a fiduciary marking configured to be detected and processed via image processing by the robot.

Preferably, the label comprises a capsule, a transmitter antenna and a battery, the transmitter antenna and the battery being housed inside the capsule and the body comprises a housing configured to house said capsule of said label.

Preferably again, the label also includes a button.

Still preferably, the body extends mainly in a longitudinal direction between a first end and a second end and the capsule is housed in a housing provided at one of said ends.

Advantageously, the body extends mainly in a longitudinal direction between a first end and a second end and said body comprises a stop means at each of said ends, said stop means being configured to help the gripper locate a zone of gripping said device and/or grasping and/or manipulating and/or moving said object.

The stop means helps the gripper to locate a gripping area of said universal gripping means device but also to grasp, manipulate and/or move it.

Still advantageously, the body extends mainly in a longitudinal direction between a first end and a second end and the fixing means is connected to at least one of the ends of said body.

Preferably, the fixing means comprises two fixing lugs, a first fixing lug and a second fixing lug, the first fixing lug being connected on the one hand to the first end of the body and being on the other hand configured to connect the device to said object, the second fixing tab being connected on the one hand to the second end of the body and being on the other hand configured to connect the device to said object.

Still preferably, the body comprises at least one magnet configured to help the gripping means device be gripped by the predefined robotic gripper.

The invention also relates to an object belonging to a set of predefined objects, comprising a main functional part and a gripping means device according to any one of the preceding claims, the universal gripping means device being integrally connected to the main functional part of the object.

PRESENTATION OF FIGURES

The invention will be better understood on reading the description which follows, given solely by way of example, and referring to the appended drawings given by way of non-limiting examples, in which identical references are given to similar objects. and on which:

There is a front view of the universal gripping means device according to the invention, comprising a label;

There is a perspective view of the universal gripping means device of the ;

There is seen, taken from the front and from above, of the universal gripping means device of the ;

There is an exploded view of the universal gripping means device of the ;

There is a view, taken from the front, of the universal gripping means device of the , but without label;

There is a perspective view of the universal gripping means device of the ;

There is a view, taken from the front and in section, of the universal gripping means device of the ;

There is a view, taken from above, of the universal gripping means device of the and a robotic gripper;

There is a view, taken from the front, of the universal gripping means device of the and the robotic gripper;

There is a view, taken from behind and above, of the universal gripping means device of the and the robotic gripper; And

There is a schematic view of a set of objects according to the invention, each comprising a universal gripping means device for the .

It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where applicable.

DETAILED DESCRIPTION OF THE INVENTION

The invention relates to a universal gripping means device 1 configured to be grippable by means of a predefined robotic gripper 20 of a robot 2.

The robot 2 according to a preferred embodiment of the invention comprises a single spherical wheel intended to be in contact with the ground and a platform mounted on the spherical wheel via stabilizing means. Robot 2 rests on the spherical wheel via the platform. This type of robot 2 is commonly called a “Ballbot”.

The robot 2 is mobile on the ground by means of the single spherical wheel, in all directions, in a stable manner.

The platform is mounted on the spherical wheel, so that a lower part of the spherical wheel is permanently in contact with the ground. In particular, the platform includes stabilization means configured to allow the robot 2 to be held stably on the spherical wheel when the robot 2 is in a static position but also when the robot 2 is moving.

The stabilizing means may for example include retaining members enveloping at least partly the spherical wheel.

The stabilizing means may further comprise at least one secondary wheel configured to rotate and allow the mobility of the spherical wheel and/or the robot 2 to be maintained in a standing position when it is static.

In a static position, the robot platform extends approximately parallel to the ground and the robot is in a frontal plane, orthogonal to the ground.

To move, and therefore trigger the rotation of the at least one secondary wheel and therefore of the spherical wheel, the robot must tilt relative to the frontal plane in the desired direction. Thus, the robot can move in all directions, omnidirectionally.

The robot 2 can, according to another embodiment, be a robot comprising a trunk, two arms and an upper part. The trunk is connected to the spherical wheel and it is fixed relative to it, each arm is connected to the trunk by means of a pivot connection or by means of a ball joint so as to allow the mobility of each of the arms relative to the trunk and the upper part is connected to an upper portion of the trunk and it is fixed relative to the latter. The upper part of the robot includes at least one sensor configured so that the robot finds its way in its environment. Such a robot is configured to move in all directions and to perform tasks using its arms, such as grabbing objects.

The robot 2 can, according to yet another embodiment, be a so-called humanoid robot, that is to say a robot whose shape resembles that of the human body and having two legs, a trunk, two arms and a head . The legs have the same joints as human legs and are each connected to the trunk by means of a pivot connection, the trunk is connected to each of the arms by means of a ball joint or a pivot connection and the head is connected to the trunk by means of a pivot connection. Each part is thus mobile relative to the others and such robots present a certain diversity of movements.

According to yet another embodiment, the robot 2 can be a robot similar to the humanoid robot previously described but comprising a base on which at least three wheels are fixed rather than a pair of legs. Thus, the robot is mobile in all directions thanks to the wheels, the base is connected to the trunk by means of a ball joint, the trunk is connected to each of the arms by means of a ball joint or a pivot connection and the head is connected to the trunk by means of a pivot connection. Each part is thus mobile relative to the others and such robots present a certain diversity of movements.

In each of the embodiments described, the robot comprises a trunk, at least one arm and an upper part.

In particular, the trunk is connected on the one hand to the platform and on the other hand to the upper part and the arm is connected by means of a pivot type or ball joint type connection to the trunk. The robot may comprise a plurality of arms, in particular two arms, each connected by means of a pivot type or ball joint type connection to the trunk.

The arm comprises a distal segment and a proximal segment and a robotic gripper 20, in particular a hand. The proximal segment of the arm is on the one hand connected to the trunk by means of a ball joint or a pivot connection, and on the other hand connected to the distal segment by means of a ball joint or a pivot connection. The distal segment is also connected to the gripper 20 by means of a pivot connection or a ball joint connection.

When the robot has a plurality of arms, each of the arms comprises a distal segment and a proximal segment and a robotic gripper 20. The proximal segment is on the one hand connected to the trunk by means of a ball joint or a pivot connection , and on the other hand connected to the distal segment by means of a ball joint or a pivot connection. The distal segment is also connected to the gripper 20 by means of a pivot connection or a ball joint connection.

Each arm is configured to be movable between an extended position in which the distal segment and the proximal segment are aligned and a flexed position in which the proximal segment is inclined relative to the distal segment.

The gripper 20, shown in Figures 8 to 10, forms a robotic hand, comprising a back 27 and a palm 21 and at least two fingers 22 forming a gripper.

In particular, and according to the embodiment shown in the figures, the gripper 20 comprises four fingers 22.

Each finger 22 is connected to the palm 21 of the gripper 20 by means of a pivot type connection, or by means of a ball joint type connection.

As shown on the , three fingers 22 are connected to the top of the palm 21 by means of a pivot connection, allowing the fingers 22 to be movable between a tense position in which they are in the extension of the palm 21 and a flexed position in which the fingers 22 flex towards the palm 21. A fourth finger 22, forming the thumb, is connected to a lateral edge of the palm 21 by means of a ball joint, allowing it to be mobile, between a position towards the back 27 of the gripper 20 and a position towards the palm 21, but also between the tense position and the flexed position.

The three fingers and the fourth finger form a pincer, so as to allow the grasping, or manipulation, or movement of objects.

Each finger 22 comprises a proximal phalanx 23 and a distal phalanx 24. The proximal phalanx 23 is connected to the distal phalanx 24 by means of a pivot connection 25 forming an interphalangeal joint. The pivot connection 25 allows the distal phalanx 24 to be mobile relative to the proximal phalanx 23, in particular to rotate around the axis of the connection 25.

In addition, the top of the palm 21 includes a gripping alcove 26 configured to cooperate with the gripping means device 1.

According to one embodiment, not shown, the gripper may comprise two jaws forming a clamp and configured to cooperate with the gripping means device 1.

The universal gripping means device 1 is intended to be connected to a plurality of objects 4 and it is configured to be grippable by means of the gripper 20.

The universal gripping means device 1 comprises a label 3 containing identification data allowing the identification of the object 4 and authorization to be grasped and/or manipulated and/or moved by the gripper 20 of the robot 2 .

According to one embodiment shown in the figures, the universal gripping means device 1 comprises a body 5 and at least one fixing means 6.

The body 5 is configured to be graspable by the robotic gripper 20 and the fixing means 6 is configured to connect the body 5 to the object 4.

The body 5 extends mainly in a longitudinal direction between a first end 50 and a second end 51. The body 5 further comprises a stop means 52 at each of the ends 50, 51. The stop means 52 are configured to help the gripper 20 to locate a gripping zone of said universal gripping means device 1 but also to grasp, manipulate and/or move it.

In addition, the body 5 may include a magnet 53, as shown in the figure. . The magnet 53 is configured to help the gripping means device 1 to be gripped by the robotic gripper 20.

The fixing means 6 is connected to one of the ends 50, 51 of the body 5 of the universal gripping means device 1.

In particular, the fixing means 6 comprises two fixing lugs 60, a first fixing lug and a second fixing lug. The first fixing tab is connected on the one hand to the first end 50 of the body 5 and is on the other hand configured to connect the universal gripping means device 1 to the object 4. The second fixing tab is connected to 'on the one hand at the second end of the body 5 and is on the other hand configured to connect the universal gripping means device 1 to the object 4 ( ).

According to one embodiment, the label 3 comprises an envelope extending at least partly over the body 5 of the universal gripping means device 1. The envelope comprises a visual marker comprising location data and being configured to be detected and processed via image processing.

Label 3, also referred to as a “tag”, can be physical, that is to say palpable, in the form of a viewable and graspable object or electronic.

In particular, the envelope can be a fiduciary marking configured to be detected and processed via image processing by the robot 2.

According to another embodiment, the label 3 comprises a capsule 30, a transmitting antenna and a battery, the transmitting antenna and the battery being housed inside the capsule 30. In addition, the body 5 of the device universal gripping means 1 comprises a housing 10, visible in Figures 5 and 6. The housing 10 is configured to house the capsule 30 of the label 3, as shown in Figures 1 to 4. In particular, the housing 10 is provided at one of the ends 50, 51 of the body 5.

According to yet another embodiment, the label 3 comprises both an envelope extending at least partly over the body 5 of the universal gripping means device 1 and both a capsule 30, a transmitting antenna and a battery, the transmitting antenna and the battery being housed inside the capsule 30.

The label 3 is an identification system allowing, through a correspondence table controlled by the robot 2, to adapt its behavior according to the object 4. In particular, the label 3 can give the robot information concerning its weight or even its size and thus allow the robot 2 to anticipate and adapt its position, its transport or even its grip for example.

As shown on the , the universal gripping means device 1 is configured to cooperate with the gripper 20, in particular, the gripper is configured to grip the universal gripping means device 1.

The robot 2 is configured to grasp and/or manipulate and/or move objects 4 located in its environment. In particular, the upper part of the robot 2 is mobile, allowing the robot to be able to scan its environment, in order to have in its field of vision the objects 4 which would be placed there.

The upper part of the robot 2 comprises at least one sensor, in particular a plurality of sensors and cameras and it is configured to allow the robot 2 to perceive its environment and in particular detect the objects to be grasped and/or moved arranged opposite the upper part, in its field of vision.

In a particular example of the invention, the upper part of the robot 2 may include an RBG camera and/or an IR camera and/or a stereoscopic depth camera and/or a microphone and/or “Time Of Flight laser” sensors. .

The upper part makes it possible to identify the object 4 detected in the environment through its label 3 and to analyze the authorization data to be seized and/or manipulated and/or moved contained in the label 3. Thus , object 4 becomes identifiable by robot 2 by means of label 3.

Once the object has been detected and identified by the upper part of the robot 2, and after the analysis has been made of the authorization data and therefore authorization has been given to the robot to grasp and/or manipulate and/ or move object 4, the robot moves towards object 4 and by means of its gripper 20 grasps object 4.

In particular, the gripper 20 grips the body 5 of the universal gripping means device 1, as shown in Figures 8 to 10. The body 5 of the universal gripping means device 1, of tubular shape, is housed in the gripping alcove 26 of the palm 21 of the gripper 20. The proximal phalanx 23 of each finger 22 pivots in the direction of the palm 21, around the axis of the connection connecting it to the top of the palm 21, until it enters into abutment against the body 5 of the universal gripping means device 1. In addition, the distal phalanx 24 of each finger 22 pivots in the direction of the palm 21, around the axis of the connection 25, until it abuts against the body 5 of the universal gripping means device 1. The universal gripping means device 1 is then grasped by the robotic gripper 20.

In this position, the abutment means 52 of each of the first and second ends 50, 51 of the body 5 abut against the top of the palm 21 and against the proximal phalanges 23 and against the distal phalanges 24 of the fingers 22 extending near the stop means 52.

Such a universal gripping means device 1 has the advantage of being graspable both by the robotic gripper 20 and by a human hand.

To release the universal gripping means device 1, the opposite movement is carried out, that is to say the distal phalanx 24 of each finger 22 pivots towards the back 27, around the axis of the connection 25, until 'to be aligned with the proximal phalanx 23, then the proximal phalanx 23 of each finger 22 pivots towards the back 27, around the axis of the connection connecting it to the top of the palm 21, until the gripper enters a tense position. The gripper 26 moves away from the universal gripping means device 1 so as to dislodge the body 5 from the gripping alcove 26. The universal gripping means device 1 is then released by the robotic gripper 20.

The tubular shape of the universal gripping means device 1 of the embodiment illustrated in the figures favors its gripping by the gripper 20 but also by a human hand. This shape also makes it possible to simplify the manufacture of the gripper 20 and to standardize the gripping of an object 4 by the robot 2. This tubular shape is however not essential, other shapes in particular adapted to other grippers other robots are also possible, in accordance with the invention.

The gripper of the robot 2 can be in different forms, namely a robotic hand, as shown in the figures or a gripper comprising two jaws. The universal gripping means device 1 allows, given its shape in particular, the gripper to be mechanically simple while ensuring the gripping of all types of objects.

In addition, the universal gripping means device 1 makes it possible to indicate to a human in the environment of the robot 2 that the object 4 comprising it is likely to be grasped and/or manipulated and/or moved by the gripper 20 This facilitates interaction between the robot and humans in its environment.

The invention also relates to an object 4 of a set of objects, comprising a main functional part and a universal gripping means device 1 as described above. The universal gripping means device 1 is integrally connected to the main functional part of the object 4. In particular, this connection is made by the fixing means 6.

According to a variant, the universal gripping means device 1 is directly integrated into the functional part of the object 4. In the example illustrated in the , the universal gripping device 1 replaces the handle of a suitcase. Thus, it is directly integrated into the suitcase and allows the suitcase to be gripped by the universal gripping means device 1 by the gripper 20, but also by a human hand.

The universal gripping device 1 can for example be used in a hospital environment, on different objects, as shown in the figure. : a linen cart, a medical document cart, a medication or medical equipment cart. In these examples, the universal gripping means device 1 is directly integrated into the uprights of the objects. The universal gripping device 1 can also be fixed on a tray of sterilized objects or even a care box.

According to a variant, an object 4 may comprise a plurality of universal gripping means devices. In particular, the object may include two universal gripping means devices. In such a case, the object comprises a universal gripping means device 1 as described above and a universal gripping means device not including a label. Such a configuration makes it easier for the robot 2 to grip the object 4, in particular for better distribution of the weight of the object.

The invention is not limited to the embodiments previously described but extends to any equivalent embodiment.

Claims

Universal gripping means device (1) configured to be grippable by means of a predefined robotic gripper (20), the universal gripping means device (1) being intended to be connected to a set of objects (4), the universal gripping means device (1) comprising a label (3) containing identification data and authorization data to be grasped and/or manipulated and/or moved by said predefined robotic gripper (20).
Universal gripping means device (1) according to claim 1, characterized in that it comprises a body (5) and at least one fixing means (6), the body (5) being configured to be graspable by the gripper robotic (20) predefined and the fixing means (6) being configured to connect the body (5) to said object (4).
Gripping means device (1) according to claim 2, characterized in that the label (3) comprises an envelope extending at least partly over the body (5) of the device (1), said envelope comprising a marker visual comprising location data and being configured to be detected and processed via image processing.
Universal gripping means device (1) according to claim 2 or 3, characterized in that the label (3) comprises a capsule (30), a transmitting antenna and a battery, the transmitting antenna and the battery being housed at inside the capsule (30) and in that the body (5) comprises a housing (10) configured to house said capsule (30) of said label (3).
Universal gripping means device (1) according to claim 4, characterized in that the body (5) extends mainly in a longitudinal direction between a first end (50) and a second end (51) and in that the capsule (30) is housed in a housing (10) provided at one of said ends (50; 51).
Universal gripping means device (1) according to one of claims 2 to 5, characterized in that the body (5) extends mainly in a longitudinal direction between a first end (50) and a second end (51) and in that said body (5) comprises a stop means (52) at each of said ends (50; 51), said stop means (52) being configured to help the gripper (20) to locate a gripping zone of said device (1) and/or to grasp and/or manipulate and/or move said object (4).
Universal gripping means device (1) according to claims 2 to 6, characterized in that the body (5) extends mainly in a longitudinal direction between a first end (50) and a second end (51) and in this that the fixing means (6) is connected to at least one of the ends (50; 51) of said body (5).
Universal gripping means device (1) according to claim 7, characterized in that the fixing means (6) comprises two fixing lugs (60), a first fixing lug and a second fixing lug, the first fixing lug fixation being connected on the one hand to the first end (50) of the body (5) and being on the other hand configured to connect the device (1) to said object (4), the second fixing tab being connected on the one hand at the second end (51) of the body (5) and being furthermore configured to connect the device (1) to said object (4).
Universal gripping means device (1) according to any one of the preceding claims, characterized in that the body (5) comprises at least one magnet (53) configured to assist the gripping of the gripping means device (1) by the predefined robotic gripper (20).
Object belonging to a set of predefined objects, comprising a main functional part and a gripping means device (1) according to any one of the preceding claims, the universal gripping means device (1) being integrally connected to the part main functional of the object (4).