Universal clamping means device for robot

Abstract

The invention relates to a universal gripping means device (1) configured to be gripped by a predetermined robotic jaw (20), the universal gripping means device (1) configured to be connected to a group of objects (4), the universal gripping means device (1) comprising a tag (3) containing identification data items and authorization data items to be gripped and / or manipulated and / or moved by the predetermined robotic jaw (20).

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to humanoid robots. More specifically, the present invention relates to a general gripping means device, the configuration of which allows a robot equipped with a predetermined robot gripper to grasp and manipulate a large number of object types.

[0002] Background

[0003] Robots including a single spherical wheel on which the entire robot rests are known. These robots are commonly referred to as "spherical robots". These robots can move stably in all directions on a plane by means of a single spherical wheel.

[0004] In particular, robots having a single spherical wheel, each including a torso, two arms, and an upper part, are known. The torso is connected to the spherical wheel and fixed relative thereto, each arm is connected to the torso by a pivot joint or by a ball-and-socket joint to allow each arm to move relative to the torso, and the upper part is connected to the upper portion of the torso and fixed relative thereto. The upper part of the robot includes at least one sensor, the configuration of which allows the robot to locate itself in its environment. This robot configuration can move in all directions and use its arms to perform tasks, such as grasping an object.

[0005] To grasp an object, the robot includes a gripper. The gripper configuration allows the robot to grasp an object of any shape.

[0006] Robot grippers for specific purposes are known, i.e., some robots are equipped with grippers configured to grasp a single type of object. For example, such robots are equipped with suction cups, the configuration of which allows the robot to grasp a glass plate.

[0007] However, such a gripper system makes the robot single-task and specific to a single type of object, or a limited number of object types.

[0008] To overcome the above problems, some robots include grippers configured to grasp an object of any shape. In particular, such a gripper consists of a robot hand configured to replicate the movements of a human hand. Such a gripper has a large number of components and a high mechanical complexity. These grippers, such as a robot hand with spreaders, include at least three fingers and a corresponding complex learning system and software to be able to adapt to the approaching trajectory of the grasp, the grasping manner according to the nature of the object, and the nature of the object must be determined by specific means, such as image processing, etc.

[0009] These complex and expensive robot grippers are usually insufficient in solving specific problems: they are basically lacking in versatility, they cannot grasp certain objects due to certain shapes not being suitable for the relevant robot grippers, they cannot determine the exact nature of certain objects, etc.

[0010] Accordingly, the present invention aims to solve at least some of the above problems by providing a universal gripping means device configured to be gripped by a predefined robotic gripper. The gripping means device is configured to be connectable to "any type" of object, i.e., in practice, to an expandable group of objects that may need to be grasped and / or manipulated and / or moved by a predefined robotic gripper.

[0011] The predefined robotic gripper is preferably simple in design and manufacture and is adapted to cooperate with the universal gripping means device, allowing any object equipped with the universal gripping means device, regardless of its size, shape or material, to be grasped without making the robotic gripper more complex. Summary of the Invention

[0012] More specifically, the present invention relates to a universal gripping means device configured to be gripped by a predefined robotic gripper, the universal gripping means device being configured to be connectable to a group of objects, and the universal gripping means device including a tag containing an identification item.

[0013] In particular, the universal gripping device further includes an authorization data item to be grasped and / or manipulated and / or moved by the predefined robotic gripper.

[0014] The robotic gripper is included in a robot configured to grasp, manipulate and / or move an object. The tag allows the robot to identify the object including this tag and provide information about this object, enabling the robot to adjust its behavior according to the object when grasping and / or manipulating and / or moving the object. Such a universal gripping means device has the advantage of being grippable by both a robotic gripper and a human hand, while simplifying the manufacture of the robotic gripper and standardizing the grasping of objects by the robot, regardless of the size, shape or material of the object.

[0015] Advantageously, the universal gripping means device includes a body and at least one connecting means, the body being configured to be gripped by a predefined robotic gripper, and the connecting means being configured to connect the body to the object.

[0016] The universal gripping means device is configured to cooperate with the gripper, in particular to be easily gripped. The universal gripping means device is also connected to the object by the connecting means such that when the universal gripping means device is gripped and / or manipulated and / or moved by the gripper, the object is gripped and / or manipulated and / or moved.

[0017] More advantageously, the tag includes a housing that at least partially extends over the device body, the housing including a visual mark that includes a positioning data item and is configured to be detected and processed by image processing.

[0018] In particular, the housing can be a fiducial mark configured to be detected and processed by the image processing of the robot.

[0019] Preferably, the tag includes a capsule, a transmission antenna, and a battery. The transmission antenna and the battery are accommodated inside the capsule, and the body includes a cavity configured to accommodate the capsule of the tag.

[0020] More preferably, the tag further includes a button.

[0021] More preferably, the body mainly extends in a longitudinal direction between a first end and a second end, and the capsule is accommodated in a cavity provided by one of the ends.

[0022] Advantageously, the body mainly extends in a longitudinal direction between a first end and a second end, and the body includes stop means at each of the ends. The stop means is configured to assist the gripper in positioning the gripping area of the device and / or gripping and / or operating and / or moving the object.

[0023] The stop means not only assists the gripper in positioning the gripping area on the general gripping means device, but also assists in gripping, operating and / or moving it.

[0024] Again advantageously, the body mainly extends in a longitudinal direction between a first end and a second end, and connecting means are connected to at least one of the ends of the body.

[0025] Preferably, the connecting means includes two connecting pieces, a first connecting piece and a second connecting piece. The first connecting piece is connected to the first end of the body on the one hand and is configured to connect the device to the object on the other hand. The second connecting piece is connected to the second end of the body on the one hand and is configured to connect the device to the object on the other hand.

[0026] Again preferably, the body includes at least one magnet configured to assist a predetermined robotic gripper in gripping the gripping means device.

[0027] The present invention also relates to an object belonging to a predetermined group of objects, including a main functional component and a gripping means device as claimed in any one of the preceding claims. The general gripping means device is securely connected to the main functional component of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be better understood by reading the following description, which is given by way of example and with reference to the following figures, given as non - limiting examples, in which the same reference numerals are given to similar objects, and in which:

[0029] Figure 1 is a front view of a general gripping means device according to the present invention, including a tag;

[0030] Figure 2 is Figure 1 a perspective view of the general gripping means device shown in ​​

[0031] Figure 3 is Figure 1 the front top view of the general clamping device shown in

[0032] Figure 4 is Figure 2 the exploded view of the general clamping means device shown in

[0033] Figure 5 is Figure 1 the front view of the general clamping means device shown in

[0034] Figure 6 is Figure 5 the perspective view of the general clamping means device shown in

[0035] Figure 7 is Figure 1 the front sectional view of the general clamping means device shown in

[0036] Figure 8 is Figure 1 the top view of the general clamping means device and the robotic gripper in

[0037] Figure 9 is Figure 1 the front view of the general clamping means device and the robotic gripper in

[0038] Figure 10 is Figure 1 the rear top view of the general clamping means device and the robotic gripper in

[0039] Figure 11 is the schematic view of the object group according to the present invention, each object including Figure 1 the general clamping means device in

[0040] It should be noted that these figures illustrate the embodiments of the present invention in detail; although these figures are not restrictive, they can of course be used to further define the present invention in appropriate cases. Detailed Description of the Invention

[0041] The present invention relates to a general clamping means device 1 configured to be easily clamped by a predetermined robotic gripper 20 of a robot 2.

[0042] The robot 2 according to a preferred embodiment of the present invention includes a spherical wheel configured to contact the ground, and a platform mounted on the spherical wheel by stabilizing means. The robot 2 is supported on the spherical wheel by the platform. This type of robot 2 is generally referred to as a "ballbot".​​​​​​​​​

[0043] The robot 2 can stably move in all directions on the ground by means of a single spherical wheel.

[0044] The platform is mounted on the spherical wheel such that the lower part of the spherical wheel is constantly in contact with the ground. In particular, the platform includes stabilizing means configured to allow the robot 2 to be stably supported on the spherical wheel both in the stationary position and in the moving state.

[0045] The stabilizing means can, for example, include a holding member that at least partially surrounds the spherical wheel.

[0046] The stabilizing means can further include at least one secondary wheel configured to rotate and allow the spherical wheel to move and / or keep the robot 2 upright when stationary.

[0047] In the stationary position, the platform of the robot extends substantially parallel to the ground, and the robot is restricted within a frontal plane orthogonal to the ground.

[0048] To move, thus triggering the rotation of at least one secondary wheel and the spherical wheel, the robot must tilt in the desired direction relative to the frontal plane. Thus, the robot can move omnidirectionally in any direction.

[0049] According to another embodiment, the robot 2 can be a robot including a torso, two arms, and an upper part. The torso is connected to the spherical wheel and fixed relative thereto, each arm is connected to the torso by a pivot joint or a ball-and-socket joint to allow each arm to move relative to the torso, and the upper part is connected to the upper part of the torso and fixed relative thereto. The upper part of the robot includes at least one sensor configured to allow the robot to locate itself in its environment. Such a robot is configured to move in all directions and use its arms to perform tasks such as grasping an object.

[0050] According to yet another embodiment, the robot 2 can be a so-called humanoid robot, i.e., a robot having a shape similar to that of a human body and having two legs, a torso, two arms, and a head. The legs have the same joints as human legs, and each leg is connected to the torso by a pivot joint, the torso is connected to each arm by a ball-and-socket joint or a pivot joint, and the head is connected to the torso by a pivot joint. In this way, each part can move relative to the other parts, and such robots offer a variety of movement modes.

[0051] In yet another embodiment, the robot 2 can be a robot similar to the humanoid robot described above, but includes a base to which at least three wheels are connected instead of a pair of legs. Thus, the robot can move in all directions by virtue of the wheels, the base is connected to the torso by a ball-and-socket joint, the torso is connected to each arm by a ball-and-socket joint or a pivot joint, and the head is connected to the torso by a pivot joint. In this way, each part can move relative to the other parts, and such a robot provides a variety of movement modes.

[0052] In each of the described embodiments, the robot includes a torso, at least one arm, and an upper part.

[0053] In particular, the torso is connected to the platform on the one hand and to the upper part on the other hand, and the arm is connected to the torso by a pivot joint or a ball-and-socket joint. The robot can include multiple arms, particularly two arms, and each arm is connected to the torso by a pivot or a ball-and-socket joint.

[0054] The arm includes a distal segment, a proximal segment, and a robot gripper 20, particularly a hand. The proximal segment of the arm is connected to the torso by a ball-and-socket joint or a pivot joint on the one hand and to the distal segment by a ball-and-socket joint or a pivot joint on the other hand. The distal segment is then connected to the gripper 20 by a pivot joint or a ball-and-socket joint.

[0055] When the robot includes multiple arms, each arm includes a distal segment, a proximal segment, and a robot gripper 20. The proximal segment is connected to the torso by a ball-and-socket joint or a pivot joint on the one hand and to the distal segment by a ball-and-socket joint or a pivot joint on the other hand. The distal segment is then connected to the gripper 20 by a pivot joint or a ball-and-socket joint.

[0056] Each arm is configured to be movable between an extended position and a bent position, in the extended position the distal segment and the proximal segment are aligned, and in the bent position the proximal segment is inclined relative to the distal segment.

[0057] The gripper 20, as Figures 8 to 10 shown, forms a robot hand, including a back 27 and a palm 21 and at least two fingers 22 forming a gripping device.

[0058] In particular, according to the embodiment shown in the figure, the gripper 20 includes four fingers 22.

[0059] Each finger 22 is connected to the palm 21 of the gripper 20 by a pivot joint or by a ball-and-socket joint.

[0060] As Figure 10As shown, three fingers 22 are pivotally connected to the top of the palm 21, allowing the fingers 22 to move between an extended position and a bent position. In the extended position, they are in a straight line with the palm 21, and in the bent position, the fingers 22 are bent towards the palm 21. The fourth finger 22, forming the thumb, is connected to the side edge of the palm 21 by a ball-and-socket joint, allowing it to move between a position towards the back 27 of the jaw 20 and a position towards the palm 21, and also to move between an extended position and a bent position.

[0061] The three fingers and the fourth finger form a clamping device such that an object can be clamped, manipulated or moved.

[0062] Each finger 22 includes a proximal phalanx 23 and a distal phalanx 24. The proximal phalanx 23 is connected to the distal phalanx 24 by a pivot joint 25 forming an interphalangeal joint. The pivot joint 25 allows the distal phalanx 24 to move relative to the proximal phalanx 23, in particular to rotate about the axis of the joint 25.

[0063] In addition, the top of the palm 21 includes a holding groove 26 configured to cooperate with the clamping means device 1.

[0064] According to an embodiment (not shown), the jaw may include two jaws forming a claw, which are configured to cooperate with the clamping means device 1.

[0065] The universal clamping means device 1 is configured to be connected to a plurality of objects 4 and is configured to be clamped by the jaw 20.

[0066] The universal clamping means device 1 includes a tag 3, which contains identification data items allowing the identification of the object 4, and authorization data items allowing it to be clamped and / or manipulated and / or moved by the jaw 20 of the robot 2.

[0067] According to an embodiment shown in the figure, the universal clamping means device 1 includes a body 5 and at least one connecting means 6.

[0068] The body 5 is configured to be clamped by the robot jaw 20, and the connecting means 6 is configured to connect the body 5 to the object 4.

[0069] The body 5 mainly extends between a first end 50 and a second end 51 in the longitudinal direction. The body 5 also includes a stop means 52 at each of the ends 50, 51. The stop means 52 is configured to not only assist the jaw 20 in positioning the clamping area on the universal clamping means device 1, but also to assist in clamping, manipulating and / or moving it.

[0070] In addition, the body 5 may include a magnet 53, as Figure 7 shown. The magnet 53 is configured to assist the robot jaw 20 in clamping the clamping means device 1.

[0071] The connecting means 6 is connected to one of the ends 50, 51 of the body 5 of the universal gripping means device 1.

[0072] In particular, the connecting means 6 includes two connecting pieces 60, a first connecting piece and a second connecting piece. The first connecting piece is connected on the one hand to the first end 50 of the body 5 and on the other hand is configured to connect the universal gripping means device 1 to the object 4. The second connecting piece is connected on the one hand to the second end of the body 5 and on the other hand is configured to connect the universal gripping means device 1 to the object 4( Figure 11 ).

[0073] In one embodiment, the tag 3 includes a housing that at least partially extends over the body 5 of the universal gripping means device 1. The housing includes a visual marker that includes a position data item and is configured to be detected and processed by image processing.

[0074] The tag 3, also referred to as a "label", can be physical, i.e., tangible, in the form of an object that can be viewed and grasped, or electronic.

[0075] In particular, the housing can be a fiducial marker configured to be detected and processed by the image processing of the robot 2.

[0076] According to another embodiment, the tag 3 includes a capsule 30, a transmission antenna and a battery, the transmission antenna and the battery being housed inside the capsule 30. In addition, the body 5 of the universal gripping means device 1 includes a cavity 10, visible in Figure 5 and Figure 6 . The cavity 10 is configured to house the capsule 30 of the tag 3, as shown in Figures 1 to 4 . In particular, the cavity 10 is provided in one of the ends 50, 51 of the body 5.

[0077] According to yet another embodiment, the tag 3 includes both a housing that at least partially extends over the body 5 of the universal gripping means device 1 and a capsule 30, a transmission antenna and a battery, the transmission antenna and the battery being housed inside the capsule 30.

[0078] The tag 3 is an identification system that, through a look-up table controlled by the robot 2, allows it to adjust its behavior according to the object 4. In particular, the tag 3 can provide the robot with information about its weight or size, thus allowing the robot 2 to predict and adjust its position, transport or grip, for example.

[0079] As shown in Figure 8 , the universal gripping means device 1 is configured to cooperate with the jaws 20; in particular, the jaws are configured to grip the universal gripping means device 1.

[0080] The robot 2 is configured to grip and / or manipulate and / or move an object 4 located in its environment. In particular, the upper part of the robot 2 is movable, allowing the robot to scan its environment in order to see any object 4 within its field of vision.

[0081] The upper part of the robot 2 includes at least one sensor, in particular a plurality of sensors and cameras, and is configured to allow the robot 2 to perceive its environment, in particular to detect an object to be gripped and / or moved located in a relative position to the upper part and within its field of vision.

[0082] In a particular example of the present invention, the upper part of the robot 2 may include an RBG camera and / or an IR camera and / or a stereo depth camera and / or a microphone and / or a "time-of-flight laser" sensor.

[0083] The upper part allows the object 4 detected in the environment to be identified by the tag 3 and the authorization data items contained in the tag 3 to be analyzed for gripping and / or manipulating and / or moving. In this way, the object 4 becomes recognizable to the robot 2 via the tag 3.

[0084] Once the object has been detected and identified by the upper part of the robot 2 and after the authorization data items have been analyzed and thus the robot has obtained authorization to grip and / or manipulate and / or move the object 4, the robot moves towards the object 4 and grips the object 4 with its jaws 20.

[0085] In particular, the jaws 20 grip the body 5 of the universal gripping means device 1, as Figures 8 to 10 shown. The tubular body 5 of the universal gripping means device 1 is adapted to fit into the gripping groove 26 in the palm 21 of the jaws 20. The proximal phalanx 23 of each finger 22 pivots towards the palm 21 about the joint axis connecting it to the top of the palm 21 until it abuts against the body 5 of the universal gripping means device 1. In addition, the distal phalanx 24 of each finger 22 pivots towards the palm 21 about the axis of the joint 25 until it abuts against the body 5 of the universal gripping means device 1. The universal gripping means device 1 is then gripped by the robot jaws 20.

[0086] In this position, the stop means 52 on the first end 50 and the second end 51 of the body 5 abut against the top of the palm 21 and the proximal phalanx 23 and the distal phalanx 24 of the finger 22 extending close to the stop means 52.

[0087] This universal gripping means device 1 has the advantage of being grippable by both the robot jaws 20 and a human hand.

[0088] To release the universal gripping means device 1, the opposite movement is performed, i.e., the distal phalanx 24 of each finger 22 pivots about the axis of joint 25 towards the dorsal side 27 until it is aligned with the proximal phalanx 23, and then the proximal phalanx 23 of each finger 22 pivots about the joint axis connecting it to the top of the palm 21 towards the dorsal side 27 until the jaws reach the extended position. The jaws 26 move away from the universal gripping means device 1 in order to remove the body 5 from the jaw recess 26. The universal gripping means device 1 is then released by the robot jaw 20.

[0089] The tubular shape of the universal gripping means device 1 of the embodiment shown in the figure enables easy gripping by both the jaw 20 and a human hand. This shape also simplifies the manufacture of the jaw 20 and standardizes the gripping of the object 4 by the robot 2. However, this tubular shape is not necessary, and according to the invention, other shapes, especially shapes suitable for other grippers of other robots, are also possible.

[0090] The jaws of the robot 2 can take various forms, i.e., a robot hand as shown in the figure, or a claw with two jaws. Especially considering its shape, the universal gripping means device 1 allows the jaws to be mechanically simple while ensuring that any type of object can be gripped.

[0091] In addition, the universal gripping means device 1 can be used to indicate to a person in the environment of the robot 2 that the object 4 containing it can be gripped and / or operated and / or moved by the jaw 20. This promotes the interaction between the robot and the person in its environment.

[0092] The invention also relates to an object 4 in a group of objects, comprising a main functional component and the universal gripping means device 1 as described above. The universal gripping means device 1 is firmly connected to the main functional component of the object 4. In particular, this connection is achieved by the connecting means 6.

[0093] According to a variant, the universal gripping means device 1 is directly integrated into the functional component of the object 4. In the Figure 11 example shown, the universal gripping means device 1 replaces the handle of a suitcase. Thus, it is directly integrated into the case and allows the case to be gripped either by the jaw 20 via the universal gripping means device 1 or by a human hand.

[0094] The universal gripping means device 1 can be used in a hospital environment for various objects, such as Figure 11 shown: a laundry cart, a medical record cart, a drug or medical equipment cart. In these examples, the universal gripping means device 1 is directly integrated into the struts of the object. The universal gripping means device 1 can also be connected to a sterilized item tray or a care case.

[0095] In one variant, the object 4 may comprise a plurality of general gripping means devices. In particular, the object may comprise two general gripping means devices. In this case, the object comprises the general gripping means device 1 as described above and a general gripping means device that does not contain a label. This configuration makes it easier for the robot 2 to grip the object 4, in particular to distribute the weight of the object more evenly.

[0096] The present invention is not limited to the above-described embodiments, but extends to any equivalent embodiments.

Claims

1. A general gripping means device (1), configured to be gripped by a predetermined robot gripper (20), the general gripping means device (1) being configured to be connected to a group of objects (4), the general gripping means device (1) comprising a tag (3) which contains identification data items and authorization data items for being gripped and / or operated and / or moved by the predetermined robot gripper (20).

2. The general gripping means device (1) according to claim 1, characterized in that it comprises a body (5) and at least one connecting means (6), the body (5) being configured to be gripped by the predetermined robot gripper (20), and the connecting means (6) being configured to connect the body (5) to the object (4).

3. The general gripping means device (1) according to claim 2, characterized in that the tag (3) comprises a housing which at least partly extends over the body (5) of the device (1), the housing comprising a visual marker which contains position data items and is configured to be detected and processed by image processing.

4. The general gripping means device (1) according to claim 2 or 3, characterized in that the tag (3) comprises a capsule (30), a transmission antenna and a battery, the transmission antenna and the battery being accommodated inside the capsule (30), and the body (5) comprising a cavity (10) configured to accommodate the capsule (30) of the tag (3).

5. The general gripping means device (1) according to claim 4, characterized in that the body (5) mainly extends in a longitudinal direction between a first end (50) and a second end (51), and the capsule (30) is accommodated in a cavity (10) provided in one of the ends (50; 51).

6. The general gripping means device (1) according to any one of claims 2 to 5, characterized in that the body (5) mainly extends in a longitudinal direction between a first end (50) and a second end (51), and the body (5) comprises stop means (52) at each of the ends (50; 51), the stop means (52) being configured to assist the gripper (20) in positioning the gripping area of the device (1) and / or gripping and / or operating and / or moving the object (4).

7. The general gripping means device (1) according to claims 2 to 6, characterized in that the body (5) mainly extends in a longitudinal direction between a first end (50) and a second end (51), and the connecting means (6) is connected to at least one of the ends (50; 51) of the body (5).

8. The general gripping means device (1) according to claim 7, characterized in that the connecting means (6) comprises two connecting pieces (60), a first connecting piece and a second connecting piece, the first connecting piece being connected on the one hand to the first end (50) of the body (5) and on the other hand being configured to connect the device (1) to the object (4), and the second connecting piece being connected on the one hand to the second end (51) of the body (5) and on the other hand being configured to connect the device (1) to the object (4).

9. The general 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 predetermined robot gripper (20) in gripping the gripping means device (1).

10. An object belonging to a predetermined group of objects, comprising a main functional component and a gripping means device (1) according to any one of the preceding claims, the general gripping means device (1) being securely connected to the main functional component of the object (4).

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