Universal gripping device for robots

Abstract

The present invention relates to a universal gripping means device (1) configured to be grippable by a given robotic gripper (20) and configured to be connected to a group of objects (4), the universal gripping means device (1) comprising a label (3) containing an item of identification data and an item of authentication data for gripping, manipulation and / or movement by said given robotic gripper (20).

Description

[Technical Field]

[0001] The present invention relates to the field of robotics, particularly humanoid robots, and more particularly to a universal gripping means device configured to enable a robot equipped with a given robotic gripper to grasp and manipulate a wide variety of objects. [Background technology]

[0002] Robots equipped with a single spherical wheel and mounted entirely on the wheel are known. These robots are commonly referred to as "ballbots." The single spherical wheel allows these robots to move stably in all directions on flat surfaces.

[0003] Specifically, various robots are known that include a single spherical wheel, each of which includes a torso, two arms, and a top. The torso is connected to and fixed to the spherical wheel, each arm is connected to the torso by a pivot joint or a ball-and-socket joint so as to be movable relative to the torso, and the top is connected to and fixed to an upper portion of the torso. The top of the robot includes at least one sensor configured to enable the robot to locate itself within its environment. Such robots are configured to move in all directions and perform tasks such as grasping objects using their arms.

[0004] Such robots are equipped with grippers for grasping objects, which are configured to enable the robot to grasp objects of any shape.

[0005] Object-specific robotic grippers are known, i.e., robots with grippers configured to grip a single type of object. For example, such a robot may be equipped with suction cups configured to enable the robot to grip a glass plate.

[0006] However, such gripper systems make the robot single-task, i.e., dedicated to a single type of object, or limited to a limited number of object types. Summary of the Invention [Problem to be solved by the invention]

[0007] To solve the above problems, robots equipped with grippers are available that are designed to grasp objects of any shape. In particular, these grippers consist of robotic hands that are designed to mimic the movements of a human hand. These grippers are characterized by a large number of components and a high degree of mechanical complexity. These grippers, such as robotic hands with spreaders, have at least three fingers and a corresponding complex learning system and software. This allows them to adapt their approach trajectory to grasp, i.e., to take into account the nature of the object and how it should be grasped, which must be determined by specific means such as image processing.

[0008] These complex and expensive robotic grippers are typically ill-suited to address specific problems due to their fundamental lack of versatility, their inability to grasp specific objects whose shapes are incompatible with the robotic gripper, and their inability to determine the exact nature of a specific object.

[0009] The present invention therefore aims to solve at least some of the above problems by providing a universal gripping means device that is configured to be grippable by a given robotic gripper, and that is configured to be connected to "any kind" of object, i.e., practically any diverse group of objects that may need to be gripped, manipulated, and / or moved by a given robotic gripper.

[0010] A given robotic gripper is preferably simple in design and manufacture and adapted to cooperate with the universal gripping means device described above, so that any object provided with the universal gripping means device, regardless of size, shape or material, can be gripped without increasing the complexity of the robotic gripper. [Means for solving the problem]

[0011] More specifically, the present invention relates to a universal gripping means device configured to be graspable by a predetermined robotic gripper, configured to be connected to a group of objects, and equipped with a label containing an identifying item.

[0012] In particular, the universal gripper device further comprises an item of authentication data for grasping, manipulation and / or movement by said given robotic gripper.

[0013] A robotic gripper comprises a robot configured to grasp, manipulate, and / or move an object. The label enables the robot to identify the object bearing the label and obtain information about the object. This allows the robot to adjust its behavior when grasping, manipulating, and / or moving the object accordingly. Such a universal gripping means device has the advantage that it can be grasped by both a robotic gripper and a human hand. Furthermore, it simplifies the manufacture of robotic grippers and standardizes the robot's gripping of objects regardless of the size, shape, or material of the object.

[0014] Advantageously, the universal gripping means device comprises a body and at least one attachment means, the body being configured to be grippable by a predetermined robotic gripper and the attachment means being configured to connect the body to said object.

[0015] The universal gripping means device is configured to cooperate with the gripper to be particularly easy to grasp. The universal gripping means device is also connected to an object via an attachment means, whereby the object is grasped, manipulated, and / or moved when the universal gripping means device is grasped, manipulated, and / or moved by the gripper.

[0016] Further advantageously, the label comprises a housing extending at least partially over the body of the device, said housing comprising a visual marker comprising an item of location data and configured to be detected and processed via image processing.

[0017] In particular, the housing may have fiducial markings configured to be detected and processed via imaging by the robot.

[0018] Preferably, the label comprises a capsule, a transmitting antenna and a battery, the transmitting antenna and the battery being housed within the capsule, and the body comprises a cavity configured to house said capsule of said label.

[0019] More preferably, the label also comprises a button.

[0020] More preferably, the body extends primarily longitudinally between first and second ends, with a cavity in one of said ends for accommodating the capsule.

[0021] Advantageously, the body extends primarily longitudinally between a first end and a second end, said body comprising stop means at each of said ends, said stop means configured to assist a gripper in locating a gripping area of ​​the device and / or in gripping, manipulating and / or moving the object.

[0022] The stop means assists the gripper in locating, as well as grasping, manipulating, and / or moving, a gripping area on the universal gripping means device.

[0023] Again, advantageously, the body extends primarily longitudinally between first and second ends, and the attachment means is connected to at least one of the ends of said body.

[0024] Preferably, the attachment means comprises two attachment tabs, a first attachment tab and a second attachment tab, the first attachment tab being configured on one side to be connected to a first end of the body and on the other side to connect the device to the object, and the second attachment tab being configured on one side to be connected to a second end of the body and on the other side to connect the device to the object.

[0025] Also preferably, the body comprises at least one magnet configured to assist a given robotic gripper in gripping the gripping means device.

[0026] The invention also relates to an object belonging to a predetermined set of 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 firmly connected to the main functional part of the object.

[0027] The invention will be better understood by reading the following illustrative description and by referring to the following figures, which are non-limiting examples, in which similar objects have been given the same references:

[0028] It should be noted that in the present invention, figures are shown in detail to implement the present invention, and it goes without saying that the figures can be used to further define the present invention, if necessary, but in a non-limiting manner. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 is a front view of the universal gripping means device of the present invention with a label. [Figure 2] FIG. 2 is a perspective view of the universal gripping means device shown in FIG. 1. [Figure 3] FIG. 2 is a front top view of the universal gripping means device shown in FIG. 1. [Figure 4] FIG. 3 is a development view of the universal gripping means device shown in FIG. 2. [Figure 5] 2 is a front view of the universal gripping means device shown in FIG. 1 with the label omitted. [Figure 6] FIG. 6 is a perspective view of the universal gripping means device shown in FIG. 5. [Figure 7] FIG. 2 is a front cross-sectional view of the universal gripping means device shown in FIG. 1. [Figure 8] FIG. 2 is a top view of the universal gripping means apparatus and robotic gripper of FIG. 1. [Figure 9] FIG. 2 is a front view of the universal gripping means apparatus and robotic gripper of FIG. 1. [Figure 10] FIG. 2 is a rear top view of the universal gripping means apparatus and robotic gripper of FIG. 1. [Figure 11] 2 is a schematic illustration of a group of objects according to the present invention, each of which is equipped with the universal gripping means apparatus of FIG. 1; DETAILED DESCRIPTION OF THE INVENTION

[0030] The present invention relates to a universal gripping means device 1 configured to be easily gripped by a predetermined robot gripper 20 of a robot 2.

[0031] According to a preferred embodiment of the present invention, the robot 2 includes a single spherical wheel configured to make contact with the ground and a platform mounted on the spherical wheel via a stabilizing means. The robot 2 rests on the spherical wheel via the platform. This type of robot 2 is commonly referred to as a "ballbot."

[0032] The robot 2 can move stably on the ground in all directions using a single spherical wheel.

[0033] The platform is mounted on the spherical wheels so that the bottom of the spherical wheels always contacts the ground. Specifically, the platform includes stabilizing means configured to stably hold the robot 2 on the spherical wheels not only when the robot 2 is in a stationary position but also when the robot 2 is moving.

[0034] The stabilizing means may, for example, comprise a retaining member that at least partially surrounds the spherical wheel.

[0035] The stabilizing means may further comprise at least one training wheel configured to rotate, to enable the spherical wheel to move, and / or to hold the stationary robot 2 in an upright position.

[0036] In the rest position, the robot's platform extends substantially parallel to the ground and the robot is inscribed in a frontal plane perpendicular to the ground.

[0037] To move, i.e., to rotate at least one auxiliary wheel and thus the spherical wheel, the robot must be tilted in the desired direction relative to the frontal plane. In this way, the robot can move in any direction, omnidirectionally.

[0038] According to another embodiment, the robot 2 may be a robot including a torso, two arms, and an upper part. The torso is connected to and fixed on spherical wheels. Each arm is connected to the torso by a pivot joint or a ball-and-socket joint so as to be movable relative to the torso, and the upper part is connected to and fixed to an upper part of the torso. The upper part of the robot includes at least one sensor configured to enable the robot to locate itself within its environment. Such a robot is configured to move in all directions and perform tasks such as grasping objects using its arms.

[0039] According to yet another embodiment, the robot 2 may be a so-called humanoid robot, i.e., a robot shaped like a human body, with two legs, a torso, two arms, and a head. The legs have the same joints as human legs and are connected to the torso by pivot joints, 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. Therefore, each part can move relative to the other parts, allowing such a robot to achieve a wide range of movements.

[0040] In yet another embodiment, robot 2 may be a robot similar to the humanoid robot described above, but with a base equipped with at least three wheels instead of a pair of legs. In this case, the wheels allow the robot to move in all directions, 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. Thus, because each part can move relative to the other parts, such a robot can achieve a wide variety of movements.

[0041] In each of the described embodiments, the robot comprises a torso, at least one arm, and an upper portion.

[0042] In particular, the torso is connected on one side to the platform and on the other side to the top. The arms are connected to the torso by pivot joints or ball-and-socket joints. The robot may have multiple arms, in particular two arms, each connected to the torso by a pivot joint or a ball-and-socket joint.

[0043] The arm comprises a distal portion, a proximal portion and a robotic gripper 20, in particular a hand. The proximal portion of the arm is connected to the torso on one side by a ball-and-socket joint or a pivot joint and to the distal portion on the other side by a ball-and-socket joint or a pivot joint, which in turn is connected to the gripper 20 by a pivot joint or a ball-and-socket joint.

[0044] If the robot has multiple arms, each arm has a distal portion, a proximal portion, and a robot gripper 20. The proximal portion is connected to the body on one side by a ball-and-socket joint or a pivot joint, and to the distal portion on the other side by a ball-and-socket joint or a pivot joint, while the distal portion is connected to the gripper 20 by a pivot joint or a ball-and-socket joint.

[0045] Each arm is configured to be movable between an extended position in which the distal portion and the proximal portion are aligned and a bent position in which the proximal portion is inclined relative to the distal portion.

[0046] The gripper 20 shown in Figures 8 to 10 forms a robotic hand with a back 27, a palm 21 and at least two fingers 22 that form a gripping mechanism.

[0047] In particular, according to the illustrated embodiment, the gripper 20 comprises four fingers 22 .

[0048] Each finger 22 is connected to the palm 21 of the gripper 20 by a pivot joint, or a ball-and-socket joint.

[0049] 10, three fingers 22 are connected to the upper end of the palm 21 by pivot joints, which allow the fingers 22 to move between an extended position in which they are aligned with the palm 21 and a bent position in which they bend toward 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 so that it can move between a position facing toward the back 27 of the gripper 20 and a position facing toward the palm 21, and further between an extended position and a bent position.

[0050] The three fingers and the fourth finger form a grasping mechanism that allows objects to be grasped, manipulated, or moved.

[0051] 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 a pivot joint 25 that forms an interphalangeal joint. The pivot joint 25 allows the distal phalanx 24 to move relative to the proximal phalanx 23, and in particular to rotate about the axis of the joint 25.

[0052] Furthermore, the upper end of the palm 21 is provided with a gripping recess 26 adapted to cooperate with the gripping means device 1 .

[0053] According to one embodiment (not shown), the gripper may comprise two jaws forming a claw, configured to cooperate with the gripping means device 1 .

[0054] The universal gripping means device 1 is configured to be connected to a plurality of objects 4 and configured to be grippable by the grippers 20 .

[0055] The universal gripping means device 1 comprises a label 3 containing an item of identification data making the object 4 identifiable and an item of authentication data for grasping, manipulation and / or movement by the gripper 20 of the robot 2 .

[0056] According to one embodiment shown, the universal gripping means device 1 comprises a body 5 and at least one attachment means 6 .

[0057] The body 5 is configured to be graspable by a robotic gripper 20 and the attachment means 6 is configured to connect the body 5 to the object 4 .

[0058] The body 5 extends primarily longitudinally between a first end 50 and a second end 51. The body 5 further comprises stop means 52 at each end 50, 51. The stop means 52 are configured to assist the gripper 20 in locating, as well as grasping, manipulating, and / or moving, a gripping area on the universal gripping means device 1.

[0059] 7, the body 5 may include a magnet 53. The magnet 53 is configured to assist the robot gripper 20 in grasping the gripping means device 1.

[0060] The attachment means 6 is connected to one of each end 50, 51 of the body 5 of the universal gripping means device 1.

[0061] In particular, the attachment means 6 comprises two attachment tabs 60, a first attachment tab and a second attachment tab. The first attachment tab is configured on one side to be connected to the first end 50 of the body 5 and on the other side to connect the universal gripping means device 1 to the object 4. The second attachment tab is configured on one side to be connected to the second end of the body 5 and on the other side to connect the universal gripping means device 1 to the object 4 (FIG. 11).

[0062] In one embodiment, the label 3 comprises a housing that extends at least partially over the body 5 of the universal gripping means device 1. The housing comprises a visual marker that comprises an item of positional data and is configured to be detected and processed via image processing.

[0063] The label 3, also referred to as a "tag", can be in the form of a physical, ie tangible, visible and holdable object, or in electronic form.

[0064] In particular, the housing may be a fiducial marking configured to be detected and processed via image processing by the robot 2.

[0065] According to another embodiment, the label 3 is composed of a capsule 30, a transmitting antenna, and a battery, and the transmitting antenna and the battery are housed inside the capsule 30. Furthermore, the body 5 of the universal gripping means device 1 has a cavity 10 as shown in Figures 5 and 6. The cavity 10 is configured to house the capsule 30 of the label 3, as shown in Figures 1 to 4. Specifically, the cavity 10 is provided at either end 50 or 51 of the body 5.

[0066] According to yet another embodiment, the label 3 comprises a housing and capsule 30 that extends at least partially over the body 5 of the universal gripping means device 1, as well as a transmitting antenna and a battery, the transmitting antenna and battery being housed inside the capsule 30.

[0067] The label 3 is an identification system that allows the robot 2 to adjust its behavior depending on the object 4 through a look-up table controlled by the robot 2. In particular, the label 3 can provide the robot with information about its weight and size, which allows, for example, the robot 2 to predict and adjust its posture, movement or grip.

[0068] 8, the universal gripping means device 1 is configured to cooperate with a gripper 20. In particular, the gripper is configured to grip the universal gripping means device 1.

[0069] The robot 2 is configured to grasp, manipulate, and / or move objects 4 within its environment. In particular, the top of the robot 2 is movable, allowing the robot to scan its environment and include any objects 4 within its field of view.

[0070] The top of the robot 2 is equipped with at least one sensor, in particular a plurality of sensors and a camera, configured to enable the robot 2 to recognize its environment and in particular to detect objects to be grasped and / or moved that are located on the opposite side of the top within its field of view.

[0071] In one embodiment of the present invention, the top of the robot 2 may be equipped with an RGB camera, an IR camera, a stereo depth camera, a microphone, and / or a "time-of-flight laser" sensor.

[0072] At the top, it makes it possible to identify an object 4 detected in the environment by its label 3 and to analyze the items of authentication data for grasping, manipulation or movement contained in the label 3. In this way, the robot 2 is able to identify the object 4 by its label 3.

[0073] After the object is detected and identified by the upper part of the robot 2, the items of authentication data are analyzed, and the robot is authenticated to grasp, manipulate, and / or move the object 4, the robot moves towards the object 4 and grasps the object 4 with its gripper 20.

[0074] 8 to 10 , the gripper 20 grips the body 5 of the universal gripping means apparatus 1. The cylindrical body 5 of the universal gripping means apparatus 1 fits into the gripping recess 26 of the palm 21 of the gripper 20. The proximal phalanx 23 of each finger 22 rotates toward the palm 21 around the axis of the joint connected to the upper end of the palm 21 until it abuts against the body 5 of the universal gripping means apparatus 1. Also, the distal phalanx 24 of each finger 22 rotates toward the palm 21 around the axis of the joint 25 until it abuts against the body 5 of the universal gripping means apparatus 1. Next, the universal gripping means apparatus 1 is gripped by the robot gripper 20.

[0075] In this position, the stop means 52 provided at each of the first end 50 and the second end 51 of the main body 5 abuts against the upper end of the palm 21 and the proximal phalanges 23 and distal phalanges 24 of the fingers 22 that extend close to the stop means 52.

[0076] Such a universal gripping means device 1 has the advantage that it can be gripped by both a robot gripper 20 and a human hand.

[0077] To release the universal gripping means apparatus 1, the reverse movement is performed. That is, the distal phalanx 24 of each finger 22 rotates around the axis of the joint 25 toward the top of the hand 27 until it is aligned with the proximal phalanx 23. The proximal phalanx 23 of each finger 22 then rotates around the axis of the joint connecting to the top of the palm 21 toward the top of the hand 27 until the gripper reaches an extended position. The gripper 26 moves away from the universal gripping means apparatus 1 to remove the body 5 from the gripping recess 26. This causes the robotic gripper 20 to release the universal gripping means apparatus 1.

[0078] The cylindrical shape of the universal gripping means device 1 in the illustrated embodiment is a shape that is easy to grasp by the gripper 20 or by the human hand, and also simplifies the manufacture of the gripper 20 and standardizes the gripping of the object 4 by the robot 2. However, this cylindrical shape is not essential, and other shapes are possible according to the invention, particularly shapes that are suitable for other grippers of other robots.

[0079] The gripper of the robot 2 can have various shapes, such as a robotic hand as shown in the figure, or a claw with two jaws, etc. Due to its shape in particular, the universal gripping means device 1 ensures that the gripper is mechanically simple yet capable of gripping any kind of object.

[0080] The universal gripping means device 1 can also be used to indicate to humans in the environment of the robot 2 that the objects 4 that it comprises can be grasped, manipulated, and / or moved by the gripper 20, thereby facilitating interaction between the robot and humans in its environment.

[0081] The invention also relates to an object 4 of a set of objects, which comprises a main functional part and a universal gripping means device 1 as described above. The universal gripping means device 1 is rigidly connected to the main functional part of the object 4. In particular, this connection is realized by means of attachment means 6.

[0082] According to one variant, the universal gripping means device 1 is integrated directly into the functional part of the object 4. In the example shown in Fig. 11, the universal gripping means device 1 is provided in place of the handle of a suitcase. In this way, it is directly integrated into the case and can be gripped by the gripper 20 either by the universal gripping means device 1 or by a human hand.

[0083] The universal gripping means device 1 can be used in a hospital environment, for example, with a variety of objects, such as laundry carts, medical record carts, and drug and medical equipment carts, as shown in Figure 11. In these examples, the universal gripping means device 1 is integrated directly alongside the object in a vertical orientation. The universal gripping means device 1 can also be attached to sterile item trays and care boxes.

[0084] In one variant, the object 4 may comprise several universal gripping means devices. In particular, the object may comprise two universal gripping means devices. In this case, the object comprises the universal gripping means device 1 described above and a universal gripping means device without a label. This configuration makes it easier for the robot 2 to grip the object 4, and in particular allows the weight of the object to be distributed more evenly.

[0085] The present invention is not limited to the above-described embodiments, but extends to any equivalent embodiments.

Claims

1. A universal gripping means device (1) configured to be grippable by a predetermined robotic gripper (20) and configured to be connected to a group of objects (4), comprising: A universal gripping means device (1) comprising a label (3) containing an item of identification data and an item of authentication data for gripping, manipulation and / or movement by said given robotic gripper (20).

2. A universal gripping means device (1) according to claim 1, It comprises a body (5) and at least one attachment means (6), The main body (5) is configured to be grippable by the predetermined robot gripper (20), said attachment means (6) being configured to connect said body (5) to said object (4); A gripping means device (1) characterized by:

3. A universal gripping means device (1) according to claim 2, the label (3) comprises a housing extending at least partially over the body (5) of the device (1); the housing comprises a visual marker comprising an item of location data and configured to be detected and processed via image processing; A universal gripping means device (1) characterized by:

4. A universal gripping means device (1) according to claim 2 or 3, The label (3) comprises a capsule (30), a transmitting antenna and a battery; The transmitting antenna and the battery are housed within the capsule (30); the body (5) comprises a cavity (10) configured to accommodate the capsule (30) of the label (3); A universal gripping means device (1) characterized by:

5. A universal gripping means device (1) according to claim 4, The body (5) extends primarily longitudinally between a first end (50) and a second end (51); a cavity (10) provided at one of the ends (50, 51) for receiving the capsule (30); A universal gripping means device (1) characterized by:

6. A universal gripping means device (1) according to any one of claims 2 to 5, the body (5) extends mainly in a longitudinal direction between a first end (50) and a second end (51), the body (5) being provided with stop means (52) at each of the ends (50, 51); the stopping means (52) is configured to assist the gripper (20) in locating the gripping area of ​​the device (1) and / or in gripping, manipulating and / or moving the object (4); A universal gripping means device (1) characterized by:

7. A universal gripping means device (1) according to any one of claims 2 to 6, The body (5) extends primarily longitudinally between a first end (50) and a second end (51); the attachment means (6) is connected to at least one of the ends (50, 51) of the body (5); A universal gripping means device (1) characterized by:

8. A universal gripping means device (1) according to claim 7, The mounting means (6) comprises two mounting tabs (60), a first mounting tab and a second mounting tab; the first attachment tab is configured to connect to the first end (50) of the body (5) on one side and to connect the device (1) to the object (4) on the other side; the second attachment tab is configured to connect to the second end (51) of the body (5) on one side and to connect the device (1) to the object (4) on the other side; A universal gripping means device (1) characterized by:

9. A universal gripping means device (1) according to any one of claims 1 to 8, the body (5) comprises at least one magnet (53) configured to assist the predetermined robot gripper (20) in gripping the gripping means device (1); A universal gripping means device (1) characterized by:

10. An object comprising a main functional part and a gripping means device (1) according to any one of claims 1 to 9, Objects belonging to a predetermined object set, with said universal gripping means device (1) rigidly connected to the main functional part of said object (4).

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