CN110228055B - Multi-joint mechanical arm suitable for physical interaction in unstructured environment - Google Patents
Multi-joint mechanical arm suitable for physical interaction in unstructured environment Download PDFInfo
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- CN110228055B CN110228055B CN201910460996.7A CN201910460996A CN110228055B CN 110228055 B CN110228055 B CN 110228055B CN 201910460996 A CN201910460996 A CN 201910460996A CN 110228055 B CN110228055 B CN 110228055B
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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
Abstract
The invention discloses a multi-joint mechanical arm suitable for physical interaction in an unstructured environment, which comprises: the multi-joint mechanical arm comprises a multi-joint mechanical arm body and a joint connecting structure, wherein the network structure of the joint connecting structure is a first basic unit, a second basic unit, the superposition of the first basic unit and a plurality of second basic units or the superposition of a plurality of second basic units; the first upper layer structure of the first basic unit comprises a first node, the first lower layer structure comprises at least three non-collinear second nodes, and the first node and all the second nodes form a three-dimensional network structure through connecting rods; the second upper layer structure of the second basic unit comprises at least two third nodes, the second lower layer structure comprises at least two fourth nodes, the at least two fourth nodes and the at least two third nodes are not coplanar, and all the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods. When collision occurs, the joint connecting structure reduces damage to the external environment through self-adaptability.
Description
Technical Field
The invention relates to the technical field of robot design, in particular to a multi-joint mechanical arm suitable for physical interaction in an unstructured environment and suitable for a horizontal operation environment.
Background
The existing robot is usually designed by adopting a rigid material, a mature design method is formed in response to the structural environment problem, such as an industrial robot, but when the robot is used for responding to more extensive unstructured environment interaction, the design method still has great limitation, complex motion functions are often realized by adopting complex mechanical structures, transmission parts, driving parts and the like, and in the process, the self-adaptability of the robot structure becomes an important design problem.
Generally, a robot with high environmental adaptability can realize various complex functions in a wider application scene, particularly in an unstructured environment, by means of a single structure or only by a small amount of change, which is an important embodiment of the robot adaptability.
Rigid connecting rods are commonly adopted among joints of a multi-joint mechanical arm operated underwater, the fragile ecological environment including coral under water is often protected during underwater operation, and the rigid connecting rods can cause great damage when colliding the underwater environment; and the traditional mechanical arm needs to be provided with a complex structure, is waterproof and the like to realize the obstacle avoidance of the underwater environment in the operation process of the mechanical arm so as to generate the influence as small as possible, and the adaptive underwater mechanical arm needs to reduce the damage to the physical environment to the greatest extent through the self-adaptability of the self structure under the condition of generating collision through the self structural characteristics.
In order to solve the above problems, in the related art, a robot design capable of coping with the above difficulties is often implemented by integrating a more complicated mechanical structure, a driving method, a sensor device, a control method, and the like. The design has various difficulties such as complex structure, high cost, various parts, narrow space, complex control, difficult protection in special environment and the like, and the proposal of a robot design method with universal adaptability is still a great challenge in the field of robot design for meeting special application requirements in unstructured environment.
Disclosure of Invention
Aiming at the defects in the problems, the invention provides the multi-joint mechanical arm suitable for physical interaction in the unstructured environment.
The invention discloses a multi-joint mechanical arm suitable for physical interaction in an unstructured environment, which comprises: the multi-joint mechanical arm comprises a multi-joint mechanical arm body and a joint connecting structure, wherein the joint connecting structure is arranged between joints of the multi-joint mechanical arm body;
the network structure of the joint connection structure adopts a space three-dimensional network structure, and the space three-dimensional network structure is based on the positions of nodes and orderly combined in space by adopting connecting rods.
As a further improvement of the present invention, the spatial three-dimensional network structure is a first basic unit, a second basic unit, a superposition of the first basic unit and a plurality of the second basic units, or a superposition of a plurality of the second basic units; wherein:
the first basic unit comprises a first upper layer structure and a first lower layer structure, wherein the first upper layer structure comprises a first node, the first lower layer structure comprises at least three second nodes, and at least three second nodes are not collinear; the first node and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first node and the second nodes;
the second basic unit comprises a second upper layer structure and a second lower layer structure, the second upper layer structure comprises at least two third nodes, the second lower layer structure comprises at least two fourth nodes, and the at least two fourth nodes are not coplanar with the at least two third nodes; all the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two third nodes, between the two fourth nodes or between the third nodes and the fourth nodes.
As a further improvement of the invention, the connecting rod is a hollow flexible rod.
As a further improvement of the invention, any one of the second nodes and the second node closest to the second node are connected through the connecting rod;
based on the principle of proximity, the first node and one or more second nodes are connected by the connecting rod.
As a further improvement of the invention, any one of the second nodes and one or more second nodes not connected thereto are connected by the connecting rod;
the first node and one or more second nodes unconnected thereto are connected by the link.
As a further improvement of the present invention, any one of the third nodes and the third node closest thereto are connected by the link;
any one fourth node is connected with the fourth node closest to the fourth node through the connecting rod;
one or more of the third nodes and one or more of the fourth nodes are connected by the connecting rod on a near basis.
As a further improvement of the present invention, any one of the third nodes and one or more third nodes not connected thereto are connected by the link;
any one fourth node is connected with one or more fourth nodes which are not connected with the fourth node through the connecting rod;
any one third node is connected with one or more fourth nodes which are not connected with the third node through the connecting rod.
As a further improvement of the invention, the method also comprises the following steps: a sensing system;
the sensing system includes: the multi-joint mechanical arm comprises a light source device, a photosensitive device and an optical signal processor, wherein the light source device, the photosensitive device and the optical signal processor are arranged on the multi-joint mechanical arm body;
a light path inlet and a light path outlet are arranged on a connecting rod of the joint connecting structure, the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the light path inlet, and the photosensitive device is arranged at the light path outlet;
the light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
and the optical signal processor processes optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the joint connecting structure, and realizes a sensing function.
As a further improvement of the invention, a single or a plurality of optical fiber loops are embedded in the hollow channel of the connecting rod;
the light emitted by the light source device enters the optical fiber loop through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
and the optical signal processor processes optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the joint connecting structure, and realizes a sensing function.
Compared with the prior art, the invention has the following beneficial effects:
the joint connection structure of the multi-joint mechanical arm adopts a space three-dimensional network structure, and the space three-dimensional network structure is based on the positions of nodes and adopts connecting rods to be orderly combined in space; when the multi-joint mechanical arm collides during operation, the connecting rod of the joint connecting structure deforms in a concave manner in space to generate adaptivity to a geometric structure of an external environment, so that the joint connecting structure of the multi-joint mechanical arm realizes that the damage to the external environment is reduced by the adaptivity of a physical interaction joint connecting structure under an unstructured environment through a self three-dimensional network structure, and can be used for underwater application;
in addition, the invention can directly utilize the hollow structure of the connecting rod of the joint connecting structure as a light path or embed a single or a plurality of optical fiber loops, and the physical deformation quantity of the connecting rod is detected by measuring the change of the light flux quantity through the optical signal processor, so that the joint connecting structure of the multi-joint mechanical arm realizes the physical perception of the unstructured environment during interaction.
Drawings
FIG. 1 is a schematic structural diagram of a multi-joint robot arm according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a first basic unit according to an embodiment of the disclosure;
FIG. 3 is a schematic structural diagram of a second basic unit according to an embodiment of the disclosure;
FIG. 4 is a schematic diagram of a network structure of an articulation structure disclosed in one embodiment of the present invention;
FIG. 5 is a schematic diagram of a network of articulating structures according to another embodiment of the present invention;
FIG. 6 is a side cross-sectional view of a disclosed sensing system in accordance with one embodiment of the invention;
FIG. 7 is a schematic diagram of the adaptive deformation of an article X before and after contact with a first base unit according to an embodiment of the disclosure;
FIG. 8 is a schematic diagram of the first base unit of FIG. 7 after adaptive adjustment of the article X;
FIG. 9 is a schematic diagram of adaptive deformation of an article X before and after contact with a first base unit according to another embodiment of the disclosure;
FIG. 10 is a schematic diagram of the adaptive deformation of the article X after contact with the articulating structure according to one embodiment of the invention.
In the figure:
A. a multi-joint mechanical arm body; B. an articulating structure;
1. a first node; 2. a second node; 3. a third node; 4. a fourth node; 5. a connecting rod; 6. a light source device; 7. a photosensitive device; 8. an optical signal processor; 9. an optical path inlet; 10. an optical path outlet; 11. a light path opening into which the side link can be guided; 12. and (5) deformation signals.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, the present invention provides a multi-joint robot arm suitable for physical interaction in an unstructured environment, comprising: the multi-joint mechanical arm comprises a multi-joint mechanical arm body A and a joint connecting structure B, wherein the joint connecting structure B is arranged between keys of the multi-joint mechanical arm body A; wherein:
the network structure of the joint connecting structure B of the invention is a first basic unit, a second basic unit, the superposition of the first basic unit and a plurality of second basic units, or the superposition of a plurality of second basic units; when in use, one of the forms can be selected according to actual requirements.
Specifically, the method comprises the following steps:
as shown in fig. 2, the first basic unit of the present invention includes a first upper layer structure and a first lower layer structure;
the first superstructure comprises a first node (A) 1; the first lower layer structure comprises at least three non-collinear second nodes 2, and the non-collinear second nodes 2 ensure that a space three-dimensional network structure is formed after the first nodes 1 are connected with the second nodes 2, but not a plane network structure;
the first node 1 and all the second nodes 2 form a three-dimensional network structure through connecting rods 5, the connecting rods 5 are hollow flexible rods (namely, materials with high Young modulus and deformation proportion elasticity or superelasticity), and other solid rod pieces meeting requirements can be adopted, preferably the hollow flexible rods are adopted; when a solid rod piece is selected, a channel for a light path to pass through can be arranged on the solid rod piece; the link 5 is connected between the two second nodes 2 or between the first node 1 and the second node 2. All nodes (including the first node and the second node) of the present invention are connected into a whole, and the specific connection mode of the first node 1 and the second node 2 is not limited, and the specific connection mode of the first node 1 and the second node 2 can be designed according to different requirements.
As shown in FIG. 2, the present invention shows a first basic cell structure with a lower level of 3 second nodes (a/b), 4 second nodes (a/b/c), and n second nodes (a/b/c/\ 8230;/n); wherein:
preferably, in the upper layer structure, if only one node is in the layer, no connecting rod is connected in the layer; in the lower structure, any second node is usually connected with the second node closest to the second node through a connecting rod. In the two-story structure, the first node is usually connected to one or more second nodes by links on the basis of the principle of proximity.
Further preferably, according to the actual design requirements of different scenes, in the lower layer structure, any second node is connected with one or more second nodes which are not connected with the second node through a connecting rod; in the upper and lower two-layer structure, the first node and one or more second nodes which are not connected with the first node are connected through a connecting rod.
As shown in fig. 3, the second basic unit of the present invention includes a second upper layer structure and a second lower layer structure;
the second superstructure comprises at least two third nodes 3;
the second lower layer structure comprises at least two fourth nodes 4, and the at least two fourth nodes 4 are not coplanar with the at least two third nodes 3;
all the third nodes 3 and all the fourth nodes 4 form a three-dimensional network structure through connecting rods 5, the connecting rods 5 are hollow flexible rods, and the connecting rods 5 are connected between the two third nodes 3, between the two fourth nodes 4 or between the third nodes 3 and the fourth nodes 4. All the nodes (including the third node and the fourth node) of the present invention are connected into a whole, and the specific connection manner of the third node 3 and the fourth node 4 is not limited, and the specific connection manner of the third node 3 and the fourth node 4 can be designed according to different requirements.
Preferably, in the upper layer structure, any third node and the third node closest to the third node are connected through a connecting rod; in the lower layer structure, any fourth node is connected with the fourth node closest to the fourth node through a connecting rod; in the upper and lower two-layer structure, one or more third nodes and one or more fourth nodes are connected through connecting rods based on the principle of proximity.
Further preferably, according to actual design requirements of different scenes, in an upper layer structure, any third node is connected with one or more third nodes which are not connected with the any third node through a connecting rod; in the lower layer structure, any fourth node is connected with one or more fourth nodes which are not connected with the fourth node through a connecting rod; in the upper and lower two-layer structure, any third node is connected with one or more fourth nodes which are not connected with the third node through a connecting rod.
Further preferably, it is pointed out that such a basic building block can also be regarded as a special case of the aforementioned basic building blocks, i.e. a combination between two basic building blocks having the same underlying node configuration but different single overlying node configurations. In this case, the structure can be simplified by connecting the single upper node of the two basic units and removing other connecting rods which are connected with the upper node and have longer lengths, so that the staggered structure of the connecting rods is avoided.
As shown in fig. 3, the present invention shows a second basic unit structure, where the upper layer is 2 third nodes (a/B), the lower layer is 2 fourth nodes (a/B), the upper layer is 2 third nodes (a/B), the lower layer is 3 fourth nodes (a/B/C), the upper layer is 2 third nodes (a/B), the lower layer is 4 fourth nodes (a/B/C/D), the upper layer is 3 third nodes (a/B/C), the lower layer is 3 fourth nodes (a/B/C), the upper layer is 4 third nodes (a/B/C/D), and the lower layer is 4 fourth nodes (a/B/C/D); wherein:
as shown in fig. 3a in a "four-sided form" ABab configuration, it can be known through an analysis method similar to that in the foregoing first specific example that the basic structural unit can achieve adaptive cladding and motion stabilization effects for the external environment, for example, the article X;
as shown in fig. 3B, the configuration of "double three-side double four-side" ABabc "can be equivalent to a composite structural unit formed by superimposing two basic structural units" Aabc "and" Babc "through lower abc, and then two nodes a and B in the upper layer are connected, since the spatial distances between a and B are relatively short, and the spatial distance between B and c is relatively short, the structure simplification can be achieved by removing three links Ac, ba, and Bb, and avoiding the structure of link staggering, and it can be known through similar analysis that the basic structural unit can achieve adaptive cladding and motion stabilization effects on the external environment such as the article X.
As another configuration of the "single four sides four three sides" ABabc configuration shown in fig. 3c, it may be equivalent to a composite structural unit formed by stacking two basic structural units "Aabc and Babc" through lower layers abc, but the spatial distances of Ac and Bc are substantially equal, and the spatial distances of Aa and Bb are also substantially equal, at this time, a structure simplification may be completed by removing Ab and Ba, and a structure with staggered links is avoided.
As another configuration of the "three-four-side double-trilateral" ababcc configuration shown in fig. 3d, the configuration may be equivalent to two "pyramid" basic structural units Aabcd and Babcd, which form a composite structural unit by overlapping the lower layer abcd, but the spatial distances of Aa and Ab are substantially equal, and the spatial distances of Bc and Bd are also substantially equal, at this time, the structural simplification may be completed by removing Ac, ad, ba, and Bb, and a structure with staggered links is avoided.
Other cases may derive other basic network fabric elements from the above analysis and so on.
Another specific example of such a basic structural unit is that when the upper and lower layers contain the same number of connecting nodes, each layer only needs to be sequentially connected with each adjacent node through a connecting rod to form a single closed-loop structure, the two layers are sequentially connected with corresponding nodes through connecting rods to form a three-dimensional network structure, and the nodes in each layer may not be coplanar.
As shown in fig. 3e, the structure of abcabcabc includes three connection nodes in the upper and lower layers;
as shown in fig. 3f, in the "double-layer quadrilateral" configuration, the upper layer and the lower layer respectively include four connecting nodes.
As shown in fig. 4, on the basis of the first basic unit and the second basic unit, each layer of basic structure unit can respectively perform corresponding concave deformation on the geometric dimensions of different positions of the article X by adopting a mode that one first basic unit and a plurality of second basic units are combined and stacked, and the adaptive cladding and the motion stabilization effect of the entire spatial network structure on the external environment are comprehensively improved by the superposition of the adaptive property and the motion stabilization effect of each layer of basic structure, including the adaptive cladding and the motion stabilization effect of the network structure generated by torsional deformation, so that the adaptive cladding and the motion stabilization effect of the entire spatial network structure on the external environment are comprehensively improved, and a significant characteristic of the spatial network structure of the joint connection structure related in the invention is that when the multi-joint mechanical arm collides during operation, the connecting rod of the joint connection structure performs concave deformation in the space to generate the adaptivity with the external environment geometric structure, so that the physical interactive joint connection structure of the multi-joint mechanical arm under the unstructured environment reduces the damage to the external environment through the adaptivity of the self three-dimensional network structure, and can be used for underwater application:
as shown in fig. 4a [ multilayer tetrahedral ] structure: comprises a tetrahedral basic structure unit at the top layer and a plurality of double-layer trilateral basic structure units at the bottom;
as shown in fig. 4b, the [ multilayer pyramid ] structure: comprises a pyramid basic structure unit at the top layer and a plurality of double-layer quadrilateral basic structure units at the bottom;
according to the actual requirements of different scenes, the corresponding structural design can be carried out according to the design method described by the invention, and the structural adaptivity and the motion stability effect of the joint connection structure to the external environment are realized.
Preferably, according to the actual design requirements of different scenes, the geometric shape of each connecting rod can be a general straight line or a specially designed complex curve, and the cross section shape of each connecting rod can be a circle, a square or any other cross section shape.
Preferably, each connecting rod adopts the material that has certain elasticity, can produce the elastic deformation that can be detected under the exogenic action promptly, and arbitrary connecting rod is inside can adopt hollow structure, through the inside light flux volume that leads to of detection member, realizes the perception to member elastic deformation.
Preferably, according to the actual design requirements of different scenes, the connection modes of the connecting rods at the connecting nodes can be various connection modes such as general structural fixation (no degree of freedom, namely no relative motion degree of freedom between the connecting rods), hinge connection (one degree of freedom, namely one relative rotation motion degree of freedom between the connecting rods), spherical hinge connection (three degrees of freedom, namely two relative rotations and one motion degree of freedom of rotation around a shaft between the connecting rods) and the like.
As shown in fig. 5, based on the above basic units, the spatial network structure of the joint connection structure designed in the present invention can be combined and stacked by using a plurality of second basic structures, each layer of the basic structure unit can respectively perform corresponding concave deformation on the geometric dimensions of different positions of the article X, and the adaptive coating and motion stabilization effects of the entire spatial network structure on the external environment are comprehensively improved by stacking the adaptive and motion stabilization effects of each layer of the basic structure, including the adaptive coating and motion stabilization effects of the network structure generated by torsional deformation, and one significant feature of the spatial network structure of the joint connection structure related in the present invention is that the geometric structure adaptation and motion stabilization on the external environment can be realized from any lateral angle:
as shown in fig. 5a, [ a multi-layer composite ] structure: comprises a basic structure unit (single four sides and three sides) at the top layer and a plurality of double layers (three sides) at the bottom;
as shown in fig. 5b, [ another multilayer composite ] structure: the structure comprises a basic structure unit (three-four-edge double-trilateral type) at a top layer and a plurality of basic structure units (four-edge type) at a bottom;
according to the actual requirements of different scenes, the corresponding structural design can be carried out according to the design method described by the invention, the structural adaptivity and the motion stability effect of the joint connection structure to the external environment are realized, and the method can realize diversified joint connection structures.
Preferably, according to the actual design requirements of different scenes, the geometric shape of each connecting rod can be a general straight line or a specially designed complex curve, and the cross section shape of each connecting rod can be a circle, a square or any other cross section shape.
Preferably, each connecting rod adopts the material that has certain elasticity, can produce the elastic deformation that can be detected under the exogenic action promptly, and arbitrary connecting rod is inside can adopt hollow structure, through the inside light flux volume that leads to of detection member, realizes the perception to member elastic deformation.
Preferably, according to the actual design requirements of different scenes, the connection modes of the connecting rods at the connecting nodes can be various connection modes such as general structural fixation (no degree of freedom, namely no relative motion degree of freedom between the connecting rods), hinge connection (one degree of freedom, namely one relative rotation motion degree of freedom between the connecting rods), spherical hinge connection (three degrees of freedom, namely two relative rotations and one motion degree of freedom of rotation around a shaft between the connecting rods) and the like.
According to the invention, by adopting the flexible rod piece (namely, the elastic or super-elastic material with higher Young modulus and deformation proportion) with the internal light path, when the rod piece deforms, the deformation amount of the rod piece is measured by measuring the light transmission amount change of a light transmission medium such as an optical fiber in the light path or in the light path, so that the joint connection structure can sense the physical environment during interaction.
Specifically, the method comprises the following steps:
as shown in fig. 6, the structure shown is a cross-sectional view of a side triangle in the base unit; the invention provides a sensing system of a multi-joint mechanical arm, which comprises: the multi-joint mechanical arm comprises a light source device 6, a photosensitive device 7 and an optical signal processor 8, wherein the light source device 6, the photosensitive device 7 and the optical signal processor 8 are arranged on a multi-joint mechanical arm body; wherein:
a light path inlet 9 and a light path outlet 10 are arranged on a connecting rod of the multi-joint mechanical arm joint connecting structure, and a light path opening 11 capable of leading in a side connecting rod is arranged at the connecting point; the light source device 6 and the photosensitive device 7 are connected with the optical signal processor 8, the light source device 6 is arranged at the light path inlet 9, and the photosensitive device 7 is arranged at the light path outlet 10.
When the device is used, light emitted by the light source device 6 enters the hollow channel of the connecting rod 5 through the light path inlet 9 and is transmitted to the photosensitive device 7 through the light path outlet 10; the optical signal processor 8 processes the optical signals of the light source device 6 and the photosensitive device 7, and converts the optical signals into a deformation signal 12 of the joint connection structure, so that the sensing function is realized.
Furthermore, the specific direction of the light path of the sensing system can be specifically designed according to actual requirements, the bottom of the sensing system is provided with a light path inlet and outlet and is connected to the base part of the multi-joint mechanical arm, the light source device can adopt a light emitting diode, and the photosensitive device can adopt a photosensitive sensor.
The present invention also provides another sensing system for a multi-joint robotic arm, comprising: the multi-joint mechanical arm comprises a light source device 6, a photosensitive device 7 and an optical signal processor 8, wherein the light source device 6, the photosensitive device 7 and the optical signal processor 8 are arranged on a multi-joint mechanical arm body; wherein:
a connecting rod of the joint connecting structure is provided with a light path inlet 9 and a light path outlet 10, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod 5; and a light path opening 11 for leading in the side connecting rod is arranged at the connecting point; the light source device 6 and the photosensitive device 7 are connected with the optical signal processor 8, the light source device 6 is arranged at the light path inlet 9, and the photosensitive device 7 is arranged at the light path outlet 10.
When the optical fiber is used, light emitted by the light source device 6 enters the optical fiber loop through the optical path inlet 9 and is transmitted to the photosensitive device 7 through the optical path outlet 10; the optical signal processor 8 processes the optical signals of the light source device 6 and the photosensitive device 7, and converts the optical signals into deformation signals of the joint connection structure, so that the sensing function is realized.
Furthermore, the specific trend of the light path of the sensing system can be specifically designed according to actual requirements, the bottom of the sensing system is provided with a light path inlet and outlet and is connected to the base part of the multi-joint mechanical arm, the light source device can adopt a light emitting diode, and the photosensitive device can adopt a photosensitive sensor.
The embodiment is as follows:
the present invention takes the first basic unit as an example to illustrate the adaptive process, and the principle of the adaptive process of the second basic unit is the same as that of the first basic unit.
The adaptive process of the first basic unit of the invention is as follows:
in the invention, by taking Aabc in FIG. 2 as an example, when the external environment acting force from an article X with a certain three-dimensional geometric dimension is received, the sides in contact with the article X respectively generate elastic deformation with different degrees to form space cladding on the three-dimensional geometric dimension of the article X, thereby realizing the adaptability of the geometric shape.
As shown in fig. 7, the external environment article X with certain spatial geometry is in a blank area in the middle of a trilateral Abc of (tetrahedral);
before the contact is generated, the relative movement direction of the article X and the basic structure unit of the tetrahedron type is pointed along a dotted arrow, and the dotted arrow points to a trilateral Abc middle blank area of the basic structure unit of the tetrahedron type;
after the contact, the article X is in contact with the trilateral Abc of the basic structure unit of the tetrahedron, and the trilateral Abc generates corresponding elastic deformation; namely, the original connecting nodes A, b and c are respectively displaced to the positions A ', b ' and c ' inwards by a certain amount, and the three rods realize the adaptability to the geometric dimension of the article X through the generated elastic deformation.
As shown in fig. 8, in the case of the schematic diagram after the contact shown in fig. 7, the acting force represented by the dotted arrow may be uneven, and the point a 'is additionally limited by the rod a' a, so that the trilateral a 'bc rotates around the rod a' a, causing a twisting motion of the whole [ tetrahedral ] basic structural unit, and the generated overall deformation further enhances the adaptability to the geometry of the article X, and when the forces represented by the three arrows are illustrated to be instantaneously equal, the effect of stabilizing the motion of the article X is achieved.
As shown in fig. 9, the external environmental items X having a certain spatial geometry are almost evenly distributed within their trilateral Abc and trilateral Aac regions at the position of the tetrahedron.
Before the contact is generated, the relative movement direction of the article X and the basic structure unit of the tetrahedron type is indicated by a dotted arrow, at the moment, the article X is almost simultaneously and uniformly distributed in the trilateral Abc and trilateral Aac areas of the article X relative to the basic structure unit of the tetrahedron type, namely, the dotted arrow mainly points to the rod piece Ac direction;
after the contact, the article X is in contact with a rod piece Ac of a basic structure unit (tetrahedron type), and the rod piece Ac generates corresponding elastic deformation; that is, the article X is primarily in contact with the rod Ac such that the rod Ac elastically deforms to conform to the geometry of the article X, and the original connecting nodes a, c are displaced inwardly by a certain amount to the a ', c' positions, respectively.
Meanwhile, based on the principle of fig. 8, when the acting force of the article X on the different connecting rods of the configuration is not uniform, the invention can form a twisting action on the surface of the article X on which the acting force is applied, so that the whole (tetrahedral type) configuration is also twisted, thereby further enhancing the adaptive geometric coating on the article X and further realizing the motion stability of the article X.
When the number of the lower layer connecting nodes exceeds three, the polyhedral network configuration formed by adopting the method can be regarded as superposition of a plurality of tetrahedral basic configurations, namely, the lower layer connecting nodes are divided according to a group of three to respectively form different tetrahedral basic configurations, and then are overlapped and superposed at the shared connecting rod to form the corresponding polyhedral composite network configuration, so that the adaptive coating and motion stabilization effects on the external environment taking the article X as an example can be realized by adopting the method similar to the method.
The second basic unit of the invention has the following self-adaptive process:
the above only shows the first basic unit network structure, when taking the second basic unit as an example, that is, when the number of the upper layer connecting nodes is multiple, the [ polyhedral ] network configuration formed by adopting the similar method can be regarded as the superposition of multiple [ tetrahedral ] basic configurations; it can also achieve adaptive coating and motion stabilization effects for the external environment, exemplified by item X, by methods similar to those above.
As shown in fig. 10, taking a multilayer pyramid network structure as shown in fig. 4b as an example, when the external environment article X is acted from different angles, the adaptive deformation of the network structure according to the present invention is generated, wherein a is an actual model of the network structure Aabcd, b is an adaptive deformation generated when the article X is acted mainly from the side Aab, c is an adaptive deformation generated when the article X is acted mainly from a rod close to the Ab, the whole network structure is twisted counterclockwise to make the contact surface adaptive to the side Aab, and d is an adaptive deformation generated when the article X is acted mainly from a rod close to the Aa, the whole network structure is twisted clockwise to make the contact surface adaptive to the side Aab.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A multi-jointed robotic arm adapted for physical interaction in an unstructured environment, comprising: the multi-joint mechanical arm comprises a multi-joint mechanical arm body and a joint connecting structure, wherein the joint connecting structure is arranged between joints of the multi-joint mechanical arm body;
the network structure of the joint connection structure adopts a space three-dimensional network structure, and the space three-dimensional network structure is based on the positions of nodes and adopts connecting rods to carry out ordered combination in space;
the space three-dimensional network structure is a first basic unit, or a second basic unit, or the superposition of the first basic unit and a plurality of second basic units, or the superposition of a plurality of second basic units; wherein:
the first base unit comprises a first superstructure comprising a first node and a first substructure comprising at least three second nodes, the at least three second nodes being non-collinear; the first node and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first node and the second nodes;
the second basic unit comprises a second upper layer structure and a second lower layer structure, the second upper layer structure comprises at least two third nodes, the second lower layer structure comprises at least two fourth nodes, and the at least two fourth nodes are not coplanar with the at least two third nodes; all the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two third nodes, between the two fourth nodes or between the third nodes and the fourth nodes;
the connecting rod is a hollow flexible rod.
2. The multi-joint mechanical arm of claim 1, wherein any one of the second nodes and the second node closest thereto are connected by the link;
based on a principle of proximity, the first node and one or more second nodes are connected by the connecting rod.
3. The multi-joint mechanical arm of claim 2, wherein any said second node and one or more second nodes unconnected thereto are connected by said link;
the first node and one or more second nodes not connected thereto are connected by the link.
4. The multi-joint mechanical arm according to claim 1, wherein any one of the third nodes and the third node closest thereto are connected by the link;
any one fourth node is connected with the fourth node closest to the fourth node through the connecting rod;
one or more of the third nodes and one or more of the fourth nodes are connected by the link on a near-by basis.
5. The multi-joint mechanical arm of claim 4, wherein any said third node and one or more third nodes not connected thereto are connected by said link;
any one fourth node is connected with one or more fourth nodes which are not connected with the fourth node through the connecting rod;
any one third node is connected with one or more fourth nodes which are not connected with the third node through the connecting rod.
6. The multi-joint mechanical arm of any one of claims 1-5, further comprising: a sensing system;
the sensing system includes: the multi-joint mechanical arm comprises a light source device, a photosensitive device and an optical signal processor, wherein the light source device, the photosensitive device and the optical signal processor are arranged on the multi-joint mechanical arm body;
the light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
and the optical signal processor processes optical signals of the light source device and the photosensitive device and converts the optical signals into deformation signals of the joint connection structure, so that a sensing function is realized.
7. The articulated robotic arm of claim 6, wherein the hollow channel of the connecting rod has embedded therein a single or multiple fiber optic loops;
the light emitted by the light source device enters the optical fiber loop through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
and the optical signal processor processes optical signals of the light source device and the photosensitive device and converts the optical signals into deformation signals of the joint connection structure, so that a sensing function is realized.
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| Application Number | Priority Date | Filing Date | Title |
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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 true CN110228055B (en) | 2022-11-04 |
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| CN110174070A (en) * | 2019-05-30 | 2019-08-27 | 南方科技大学 | Robot network's structure and sensor-based system suitable for unstructured moving grids |
| CN110228055B (en) * | 2019-05-30 | 2022-11-04 | 南方科技大学 | Multi-joint mechanical arm suitable for physical interaction in unstructured environment |
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| JP2010214474A (en) * | 2009-03-13 | 2010-09-30 | Panasonic Corp | Manipulator |
| CN103231388B (en) * | 2013-05-10 | 2015-06-24 | 南开大学 | Flexible operating arm used for service robot |
| CN104867381B (en) * | 2014-12-23 | 2018-08-28 | 北京功顺达仿生机械有限公司 | Dynamic deformation geometry mechanism |
| CN104858892B (en) * | 2015-06-11 | 2017-03-01 | 佛山市南海区广工大数控装备协同创新研究院 | Modularization robot based on intelligent machine arm |
| US9802314B2 (en) * | 2015-10-01 | 2017-10-31 | Disney Enterprises, Inc. | Soft body robot for physical interaction with humans |
| JP2018531694A (en) * | 2015-10-05 | 2018-11-01 | フレックスデックス, インク.Flexdex, Inc. | Medical device having a multi-cluster joint that flexes smoothly |
| CN106113019B (en) * | 2016-07-22 | 2018-07-10 | 长春理工大学 | Multi-joint flexible manipulator arm |
| CN106313033A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Truss-type flexible manipulator |
| CN108356797B (en) * | 2018-02-02 | 2020-06-09 | 西安电子科技大学 | Spring-rope underactuated spatial manipulator device |
| CN109015740B (en) * | 2018-08-09 | 2021-07-23 | 哈尔滨工业大学 | Tensioning floating type flexible joint and design method thereof |
| CN109110095B (en) * | 2018-08-09 | 2020-04-28 | 哈尔滨工业大学 | Integral swing propulsion mechanism of stretch-draw |
| CN208805212U (en) * | 2018-09-19 | 2019-04-30 | 中广核核电运营有限公司 | A kind of fiber grating force sensor and nuclear power station robot |
| CN109700537B (en) * | 2018-12-29 | 2021-07-30 | 天津大学 | Flexible surgical instrument, operation arm system and minimally invasive surgery robot slave hand system |
| CN110228055B (en) * | 2019-05-30 | 2022-11-04 | 南方科技大学 | Multi-joint mechanical arm suitable for physical interaction in unstructured environment |
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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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