Processing modules for robots

Abstract

A processing module is provided for improving the performance of a robot. The processing module is attached between a tool flange and an end effector of the robot. Additional interchangeable modules may also be provided between the tool flange and the end effector. The processing module includes a processor that processes sensor data received from one or more sensors. The processor generates processed sensor data at a lower bit rate based on the input sensor data. The processed sensor data is transmitted from the processing module to another processor of a robot controller.

Description

Background Art

[0001] The present invention relates generally to robots, and more particularly to a processing module located between a tool mounting surface of a robot and an end effector of the robot.

[0002] The robot typically includes a series of joints that allow the end effector to move from one place to another to perform various tasks. Typically, in order to enable the end effector to perform various tasks, one or more sensors are placed on or near the end effector to monitor the environment around the end effector. The robot also includes a robot controller that collects data from the joints, end effector, and sensors and sends instructions to the joints, end effector, and sensors. Typically, the robot controller can be located in or near the base of the robot, or in a separate computer a short distance from the robot, although it is also possible for the robot controller to be located in a remote location, where communication between the robot and the controller is performed over a wide area network.

[0003] However, in some cases, the location of the robot controller can cause the robot's performance to degrade. For example, in situations where the robot is expected to perform real-time operations, communication delays between the robot controller and the sensors at the end effector can degrade the robot's performance. Sensors that transmit large amounts of data can also limit the robot's performance. For example, cameras that transmit video data require high bandwidth transmission. The communication speed and bandwidth requirements between the sensors and the robot controller can cause latency and jitter issues that degrade the robot's overall performance. This problem is further exacerbated as more sensors are attached to the robot to provide additional functionality.

[0004] In addition to communication limitations, traditional arrangements for robot controllers and sensors can introduce safety and reliability risks. For example, as sensors become more sophisticated, such sensors often require additional software applications and drivers provided by third-party developers. However, loading this type of additional software onto a robot controller can introduce unexpected and uncontrolled risks that may be unacceptable.

[0005] Another problem with the increase in the number of sensors used with robots is the difficulty in placing such sensors in suitable and convenient locations. Typically, a user of a robot may start out with an off-the-shelf end effector that is attached to a tool flange of the robot. When the user desires to add additional functionality to the robot, it may be necessary to attach additional sensors to the robot. Typically, since the operation of the robot is performed by the end effector, it is best to mount the sensors in a position close to the end effector. However, it can be difficult to find a location to mount the sensors at the end effector without interfering with the end effector or the surrounding environment. Properly mounting the sensors in a safe manner may also be challenging and / or time consuming.

[0006] Another issue with the number of sensors that can be used on a robot is the associated communication paths to the robot controller. Where cables are used to connect the sensors to the robot controller, each sensor is typically connected to the robot controller with a single cable. Therefore, when multiple sensors are used at the end effector, an equal number of cables must be connected to the robot controller. This can cause routing difficulties and increase the complexity of the system. Alternatively, when data is transmitted wirelessly from the sensors to the robot controller, each sensor requires a separate signal path, which can crowd the available bandwidth.

[0007] In view of the various demands for improved robotic performance, it is desirable to provide interchangeable modules between the robotic tool flange and the end effector. Summary of the invention

[0008] An interchangeable module is described that is attached between a tool flange and an end effector of a robot. The module includes a processing module, a sensor module, and a communication module. The modules can be attached to the robot tool flange in a stacked manner, with the end effector attached to the end of the stack. The modules allow additional functionality to be easily attached to the robot with minimal modification to the robot or the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention may be more fully understood by reading the following description in conjunction with the accompanying drawings, in which:

[0010] Figure 1 It is a three-dimensional picture of the robot;

[0011] Figure 2 is a side perspective view of an end effector attached to a robotic tool flange;

[0012] Figure 3 is a perspective view of a processing module attached to a robot tool flange;

[0013] Figure 4is an exploded view of the processing module;

[0014] Figure 5 is an exploded view of the processing module;

[0015] Figure 6 is a cross-sectional view of another processing module;

[0016] Figure 7 is an exploded view of the sensor module;

[0017] Figure 8 is an exploded perspective view of stacked sensor modules;

[0018] Fig. 9 is a perspective view of a communication module; and

[0019] Fig.10 is an exploded view of the communication module. DETAILED DESCRIPTION

[0020] Referring now to the drawings, and in particular to the Figure 1 , an example of a robot 10 is shown. As shown, the robot 10 has a base 12, which may be fixed in place or movable. The robot 10 is provided with one or more joints 14 that allow a member 16 (e.g., an arm 16) of the robot 10 to be moved in different directions. Although Figure 1 1, but it is also possible that the joint 14 may be a linearly extendable joint, a rotary joint, or other type of joint that allows movement between two members 16 of the robot 10. At one end opposite the base 12, the robot 10 may be provided with a robot tool mounting surface 18, or tool flange 18. Preferably, the tool flange 18 (e.g., Figure 4 ) is an industry standard tool flange 18 that allows end effectors 22 from different manufacturers to be attached to the tool flange 18. For example, the preferred industry standard tool flange meets ISO 9409-1:2004 (E). In particular, the tool flange 18 preferably has a plurality of threaded holes 20 in an equidistant circular pattern.

[0021] Figure 2 An example of an end effector 22 is shown in FIG. Various end effectors 22 are known and can be used with the robot 10, such as a gripper 22 (e.g., a double-jaw gripper 22, a vacuum cup gripper, a magnetic gripper), a welder, etc. Conventionally, the end effector 22 is directly attached to the tool flange 18 with a threaded bolt 24 that engages with a threaded hole 20 of the tool flange 18. However, as Figure 2As shown, the end effector 22 is attached to a module 30, described further below, which is located between the tool flange 18 and the end effector 22. The joints 14 of the robot 10 between the base 12 and the end effector 22 allow the robot 10 to move the end effector 22 throughout a workspace surrounding the robot 10. To control the movement of the robot joints 14, a robot controller 26 having a processor is provided that generates control signals that are transmitted to the joints 14 of the robot 10. As shown, the controller 26 can be located in a control box 26 located near the robot 10, but it is also possible for the controller 26 to be housed within the robot 10 itself (e.g., in the base 12), or to be located at a remote location and communicate with the robot 10 via a network.

[0022] like Figure 2 As shown, the end effector 22 may be provided with a plurality of sensors 28 to monitor the environment around the end effector 22. Numerous types of sensors 28 may be used with the end effector 22, and include force load cells 28A, cameras 28B, accelerometers, thermometers, position sensors, etc. The sensors 28 may be located in various places, including on the end effector 22 or in a sensor module 80 described below. However, it is preferred that the sensors 28 are located distally from the tool flange 18 relative to the base 12, such that the sensors 28 are near the end effector 22.

[0023] like Figures 3 to 6 As shown, it may be desirable to provide the robot 10 with a processing module 30 located between the tool flange 18 and the end effector 22. If desired, as Figure 2 As shown in FIG. 1 , the processing module 30 can be directly attached to the tool flange 18, and the end effector 22 can be directly attached to the processing module 30. However, as further described below, it is also possible to use the modules 80, 100 ( FIG. 1 ) between the tool flange 18 and the end effector 22 in various combinations. Figure 7 and Fig. 9 ). Since the general structure and attachment of the various modules 30, 80, 100 described herein are similar, it is not necessary to repeat every detail with respect to each module 30, 80, 100. Figure 4 As shown, the modules 30, 80, 100 may be attached to the tool flange 18 using bolts 24 (i.e., threaded fasteners 24) that extend through holes 32 in the housing 34 and engage threaded holes 20 in the tool flange 18. Figure 8As shown, the modules 30, 80, 100 preferably also include a set of threaded holes 20 to allow other modules 30, 80, 100 to be attached to adjacent modules 30, 80, 100 in a similar manner. Similarly, the end effector 22 can be attached to the most distal module 30, 80, 100 using bolts 24 that engage with the threaded holes 20 of the most distal module 30, 80, 100.

[0024] like Figure 4 As shown, the housing 34 of the modules 30, 80, 100 (in Figure 3 ) may include a first plate 36, a second plate 38, and a circumferential housing member 40. The housing 34 encloses one or more circuits described further below. It may be desirable that the housing components (e.g., the first plate 36, the second plate 38, and the circumferential member 40) are attached to the mounting bolts 24 (e.g., Figure 8 ) are separately fixed to each other. The surface of the outer face of the first plate 36 is designed to be directly attached to the tool flange 18 of the robot 10, or to be attached to the module mounting surface 42 of another module 30, 80, 100 in a similar manner. On the other hand, the surface 42 or mounting surface 42 of the outer face of the second plate 38 is designed to be used for attaching the end effector 22 thereto, or to attach the first plate 36 of another module 30, 80, 100 thereto in a similar manner. Figure 4 As shown, it is also preferred that the hole 32 extends through the housing 34 (including the first plate 36 and the second plate 38) to allow the bolt 24 to pass from the module mounting surface 42 to the tool flange 18 (or other module 30, 80, 100) on the opposite side of the module mounting surface 42. Figure 4 (and Figure 8 ), it may be desirable that the threaded holes 20 in the module mounting surface 42 (for attaching the end effector 22 or other modules 30, 80, 100) are angularly offset from the through hole 32. Preferably, the module mounting surface 42 of each module 30, 80, 100 is an industry standard tool flange 42. For example, the preferred industry standard tool flange 42 meets ISO9409-1:2004(E). Preferably, as shown, the module mounting surface 42 of each module 30, 80, 100 is a plurality of equally spaced circular pattern threaded holes 20. Even more preferably, the threaded holes 20 in the tool flange 18 and the module mounting surface 42 of the module 30, 80, 100 have matching threads and hole patterns. Thus, each of the modules 30, 80, 100 may be interchangeably mounted between the robot tool flange 18 and the end effector 22. Multiple modules 30, 80, 100 may also be used in various combinations between the robot tool flange 18 and the end effector 22, such as Figure 8Thus, a conventional robotic tool flange 18 and end effector 22 designed to be directly attached to one another (e.g., threaded bolts 24 engaging threaded holes 20 in flange 18) may be adapted to easily and simply add or improve functionality by plugging one or more modules 30, 80, 100 therebetween.

[0025] Figures 2 to 6 The processing module 30 shown provides circuitry with a processor 44 within a housing 34 for processing sensor data. Figure 5As shown, a circuit board 46 may be provided in the housing 34, the circuit board 46 having a processor 44, a volatile memory 48, a non-volatile memory 50, one or more input ports 52, and one or more output ports 54. An operating system and program applications may be stored on the non-volatile memory 50. Thus, the circuit board 46 may operate as a general purpose computer with an application set thereon specifically designed to process sensor data from a sensor 28 near or on the end effector 22. That is, the operating system controls the basic functions of the processor 44, and the application provides instructions to the processor 44 to process data from one or more sensors 28. Although the input port 52 and the output port 54 may be wireless ports that are completely contained within the housing 34, an opening 58 may alternatively be formed in the housing 34 for access to the input port 52 and the output port 54. It is to be understood that the input port 52 and the output port 54 may take a variety of forms; however, in one embodiment, the input port 52 is a USB port 52 and the output port 54 is an RJ-45 port 54. In use, a cable 60 may be connected between the sensor 28 and the input port 52 to transmit the sensor data to the processing module 30. The input port 52 is connected to the processor 44 to transmit the sensor data thereto. The input port 52 may also be connected to the processor 44 via the memory 48, 50 so that the sensor data is stored in the memory 48, 50 before being processed by the processor 44. When the processor 44 receives the sensor data, the processor 44 processes the sensor data into processed sensor data, which is defined by fewer bits per second than the input sensor data. That is, although the raw sensor data may be provided to the processor 44 via the input port 52, the processed sensor data output from the processor 44 is compressed to provide less detailed data than the original input sensor data. For example, the processed sensor data may represent a summary of the raw sensor data, such as an average, a total, etc., or may be a mark or other indication of task completion or status. The output port 54 is connected to the processor 44 so that the processed sensor data is transmitted from the processing module 30. It is also possible to store the processed sensor data in the memory 48, 50 so that the output port 54 is connected to the processor 44 through the memory 48, 50 to receive the processed sensor data. The output port 54 can be connected to the robot controller 26 and the processor therein with an output cable 62, such as Figure 2 Alternatively, the output cable 62 may be internal to the robot 10 and may be connected between the first plate 36 of the module 30 and the tool flange 18 using a Figure 3 The output port 54 may be a face connector such as the illustrated pin or flush contact connector 64. The output port 54 may also be a wireless port.

[0026] Figure 6 Another example of a housing 34 is shown in . In this embodiment, the holes 32 for attaching the modules 30, 80, 100 need not extend all the way through the housing 34, but instead only extend through the first plate 36. The integral top portion 68 is then attached to the first plate 36 using a second set of bolts 66. One advantage of this arrangement is that the threaded holes 20 of the module mounting surface 42 do not need to be angularly offset from the threaded holes 20 of the adjacent tool flange 18 or module 30, 80, 100. Additional space is available within the housing 34 for electronic components. However, this does require assembling the modules 30, 80, 100 to the tool flange 18 (or modules 30, 80, 100) in multiple steps, rather than a single step where the housing 34 is already fully secured together (e.g., Figure 8 ). Figure 6 Also shown are external cooling fins 56 that provide cooling for the processor 44 and other electrical components within the housing 34. Preferably, the housing 34 is made of metal and the cooling fins 56 are integrally formed thereon. The processor 44 can be attached to a heat sink 70, and the housing 34 can be provided with a metal mounting interface 72 for the heat sink 70 so that the processor 44 is in thermal communication with the cooling fins 56 to cool the processor 44.

[0027] An advantage of the processing module 30 is that the majority of data processing can occur at the sensor 28 close to the end effector 22. This reduces processing delays. Thus, signal transmission to the robotic controller 26 is limited to lower bandwidth processed sensor data, without the need to transmit raw sensor data to the robotic controller 26. The arrangement also isolates sensor-related software and processing hardware in the processing module 30 without exposing the robotic controller 26 to the risk of additional software.

[0028] Figures 7 and 8 100. Another module 80 is shown in FIG. 10 . The module 80 is a sensor module 80, which, like the processing module 30, can be easily mounted between the robot tool flange 18 and the end effector 22 in various combinations with other modules 30, 80, 100. Because the sensor module 80 is similar in structure to the processing module 30, it is not necessary to repeat all of the details already provided above. Like the processing module 30, the sensor module 80 has a housing 34 that can be attached on one side to the robot tool flange 18 or to the mounting surface 42 of another module 30, 80, 100. The end effector 22 or another module 30, 80, 100 can also be attached to the mounting surface 42 on the opposite side of the sensor module 80.

[0029] like Figure 7As shown, a circuit board 82 is provided inside the housing 34, on which a sensor 84 is mounted. The sensor 84 detects environmental conditions around the sensor 84, and therefore detects environmental conditions around the sensor module 80 and the end effector 22. Various sensors 84 can be used to detect various conditions, including acceleration, speed, force, torque, position, magnetic field, light, temperature, pressure, humidity, and sound. Unlike load cells 28A, cameras 28B, and other types of sensors that may need to be located directly on the end effector 22 or in a specific place, the sensors 84 within the sensor module 80 can provide sufficient sensor data, located within the module housing 34 between the robot tool flange 18 and the end effector 22. When the sensor 84 needs to be open to communication with the surrounding environment (e.g., humidity, temperature, sound, etc.), it may be desirable to provide the housing 34 with an opening 86, such as a shielded opening 86, to allow the surrounding atmosphere to penetrate into the interior of the housing 34.

[0030] Unlike the processing module 30, the sensor module 80 may require far fewer input / output ports. For example, in the simplest embodiment, only a single output port 88, such as a USB port 88, may be required to transmit sensor data from the sensor 80. Alternatively, the sensor module 80 may transmit sensor data wirelessly, in which case the output port (e.g., a wireless antenna) may be inside the housing 34, and no physical opening 58 for the output port 88 is required in the housing 34. A face connector 64 may also be used. In the case of using a physical connection for the output port 88, a cable 90 is used to connect the output port 88 to the processor 44, 26 to process the sensor data from the sensor 84. For example, it may be desirable that the sensor data is transmitted to the processing module 30 described above via the cable 90 (or wirelessly). This allows for shorter transmission distances and simplifies the routing of communication cables. It may also be desirable that the output cable 90 provides power to power the sensor 84. For example, when the USB cable 90 is connected between the output port 88 of the sensor module 80 and the input port 52 of the processing module 30, the cable 90 can provide sensor data from the sensor 84 in the sensor module 80 to the processor 44 in the processing module 80. The processing module 30 can also provide power to the sensor module 80 through the cable 90. Figure 8 As shown, face connectors 64 may be used on the module mounting surface 42 and the opposing side to provide internal communications between modules 30, 80, 100, between modules 30, 80, 100 and the robotic tool flange 18, and between the end effector 22 and the modules 30, 80, 100 without the need for external cables.

[0031] Figure 8It is also shown how multiple sensor modules 80A, 80B, 80C can be stacked onto the tool flange 18 to easily add sensor functionality to the robot 10. For example, each sensor module 80 can be designed to monitor a different environmental condition. Thus, additional sensor functionality can be added by simply selecting the desired sensor module 80 and adding the sensor module 80 to the stack by latching the sensor module 80 between the robot tool flange 18 and the end effector 22. The sensor module 80 also has the advantage of overcoming the difficulties of mounting conventional sensors to the end effector 22 (i.e., finding a suitable location and securely mounting the sensor).

[0032] from Figure 8 It is also to be understood from the illustration of the various modules 30, 80, 100 described herein that they may also be added and ordered as desired to easily add functionality between the robot tool flange 18 and the end effector 22. For example, it may be desirable for a stack of modules 30, 80, 100 to include one or more sensor modules 80, a communication module 100 (described below), and a processing module 30. Sensor data from the sensor module 80 may then be transmitted from the output port 88 of the sensor module 80 to the input port 106 of the communication module 100. The output port 108 of the communication module 100 may be connected to the input port 52 of the processing module 30 to transmit the sensor data from the sensor module 80. The output port 54 of the processing module 30 may then be connected to the robot controller 26 to transmit processed sensor data, such as a low data rate summary or status indication of the sensor 84.

[0033] The communication module 100 may be used with the sensor module 80 and / or the processing module 30 in Figures 9 and 10 100. As with the processing module 30 and the sensor module 80, the communication module 100 can be easily mounted between the robot tool flange 18 and the end effector 22, with or without other modules 30, 80, 100. Due to the similarity with the processing module and the sensor module 30, 80, it is not necessary to repeat all of the detailed descriptions above. As with the processing module and the sensor module 30, 80, the communication module 100 has a mounting surface on one side that can be attached to the mounting surface 42 of the robot tool flange 18 or another module 30, 80, 100. On the opposite side is the mounting surface 42 to which the end effector 22 or another module 30, 80, 100 can be attached.

[0034] like Fig.10As shown, a circuit board 102 is provided in the housing 34, which has a data switch 104 for combining the input sensor data from multiple input ports 106 into a data output stream that is transmitted through a single output port 108. However, it is to be understood that multiple alternative input ports 106 and output ports 108 may be provided if desired. One type of input port 106 that may be desired is a USB port 106A, and in a preferred embodiment, multiple USB ports 106A may be provided. Since the USB port 106A is generally used to transmit digital data, it may be desirable to also provide a voltage input terminal 106B or the previously described face connector 64 (e.g., Fig. 9 ) to transmit the analog data to the communication module 100.

[0035] The input port 106 is connected to a data switch 104 on the circuit board 102. The data switch 104 combines multiple data streams from the input ports 106 into a single data stream, which can be transmitted through a single output port 108 connected to the data switch 104. In the case where analog input ports 106B, 64 are provided, it is also preferred that the circuit board 102 includes an analog-to-digital converter 110 so that analog data received by the communication module 100 is converted into digital data before being provided to the data switch 104. Therefore, at least one input port of the data switch 104 can be connected to an output port of the analog-to-digital converter 110. Therefore, even in the case where some of the sensors connected to the communication module 100 transmit analog data, all data transmitted to the data switch 104 is provided as digital data.

[0036] Various types of output ports 108 can be connected to the data switch 104. For example, an RJ-45 port 108A, a serial port 108B, a USB port, and / or a wireless port 108C (e.g., a Bluetooth and / or Wi-Fi antenna 108C) can be provided to output sensor data. It is possible for the communication module 100 to broadcast the output sensor data through each of the output ports 108. However, in this case, each output port 108 can receive the same combined data stream from multiple input ports 106. The combined data stream provided to the output port 108 from the data switch 104 can be connected to the robot controller 26, 44 through the output cable 112. Alternatively, the wireless output port 108C can transmit a wireless signal 114 to transmit the combined output data. The robot controller 26, 44 connected to the communication module 100 can be the processing module 30 described herein, or it can be a robot controller 26 that controls the joints 14 of the robot 10. If necessary, the communication module 100 may also power other components through the input port 106 or the output port 108.

[0037] The communication module 100 provides the advantage of simplifying the communication routing between the sensors and the processing unit. That is, in a conventional arrangement, multiple sensors are used on the end effector 22, and an equal number of cables are required to connect each sensor to the robot controller 26. Since the conventional robot controller 26 is located near the base 12 of the robot 10, this may result in a chaotic arrangement of cables, which may also create a risk of entanglement. In contrast, by using the communication module 100, a single output cable 112 (or no cable, using the wireless output port 108C) can be used. This greatly simplifies the connection between the various sensors and the robot controller 26, 44. Further, as described above, in the case of using the sensor module 80 and the processing module 30, the various connections required can be mainly located near the end effector 22, without the need to route many cables to the base 12 of the robot 10. In addition to simplifying the connection, the response time of the end effector 22 can also be reduced due to the reduced length of the communication path.

[0038] Although the above description primarily refers to data communication from sensors to various modules 30, 80, 100, it is to be understood that the processing module 30, sensor module 80, and communication module 100 may also communicate with various actuators. For example, in response to sensor data received through input port 52, the processing module 30 may output control signals to the actuator. The sensor module 80 and communication module 100 may also output data to the actuator. Therefore, although the modules 30, 80, 100 are primarily intended to interface with data from various sensors, the modules 30, 80, 100 may also be used to interface with various actuators.

[0039] Although the preferred embodiments of the present invention have been described, it should be understood that the present invention is not limited thereto and may be modified without departing from the present invention. Although each embodiment described herein may refer only to certain features, and may not specifically refer to each feature described with respect to other embodiments, it should be recognized that the features described herein are interchangeable, even if no specific features are mentioned, unless otherwise stated. It should also be understood that the above advantages are not necessarily the only advantages of the present invention, and it is not necessarily expected that all described advantages will be achieved by each embodiment of the present invention. The scope of the present invention is defined by the appended claims, and all devices and methods within the meaning of the claims, whether literally or equivalently, are intended to be included therein.

Claims

1. A robot comprising: a base at one end of the robot; an end effector at the other end of the robot; a joint disposed between the base and the end effector; a robotic tool mounting surface disposed between the joint and the end effector, the robotic tool mounting surface comprising an industry standard tool flange, wherein the industry standard tool flange of the robotic tool mounting surface is adapted to be directly attached to the end effector; a sensor disposed distal to the robot tool mounting surface and located proximate to the end effector, away from the base and the joint; a processing module disposed between the robotic tool mounting surface and the end effector and directly connected to an industry standard tool flange of the robotic tool mounting surface, the processing module comprising a housing having a processing module mounting surface adapted for direct attachment to the end effector; as well as A first processor is disposed within the housing, wherein the first processor receives sensor data from the sensor and transmits processed sensor data to a second processor of the robot controller, the processed sensor data being compressed and comprising fewer bits per second than the sensor data.

2. The robot of claim 1, wherein the housing includes a through hole for attaching the process module to the robot tool mounting surface using a bolt, the bolt extending from the process module mounting surface through the through hole.

3. The robot according to claim 1, wherein the shell includes a first shell part and a second shell part, the first shell part is attached to the robot tool mounting surface, and the second shell part is attached to the first shell part, and the second shell part includes the processing module mounting surface.

4. The robot of claim 1, wherein the industry standard tool flange of the robot tool mounting surface is defined by ISO 9409-1:2004(E).

5. The robot of claim 1, wherein the robot tool mounting surface includes a plurality of first threaded holes, the processing module being attached to the robot tool mounting surface using threaded fasteners engaged with the first threaded holes.

6. The robot of claim 1, wherein the processing module mounting surface comprises an industry standard tool flange.

7. The robot of claim 6, wherein the industry standard tool flange of the processing module mounting surface is defined by ISO 9409-1:2004(E).

8. The robot of claim 1, wherein the processing module mounting surface comprises a plurality of second threaded holes, and the end effector is attached to the processing module mounting surface using threaded fasteners engaged with the second threaded holes.

9. The robot according to claim 1, wherein the robot tool mounting surface includes a plurality of first threaded holes for attaching the processing module to the robot tool mounting surface, and the processing module mounting surface includes a plurality of second threaded holes for attaching the end effector to the processing module mounting surface, and the first threaded holes and the second threaded holes are defined by matching thread and hole patterns.

10. The robot of claim 1, wherein the housing includes a first opening for an input port, the input port connected to the first processor, and a first cable connected to the input port to communicate the sensor data from the sensor.

11. The robot of claim 1 , wherein the housing includes a second opening for an output port, the output port connected to the first processor, and a second cable connected to the output port to communicate the processed sensor data to the second processor.

12. The robot according to claim 1, wherein the processing module further comprises: An input port between the first processor and the sensor, an output port between the first processor and the second processor, a memory disposed within the housing, an operating system loaded onto the memory, and the operating system controls the first processor.

13. The robot of claim 12, wherein the memory further stores the sensor data and the processed sensor data.

14. The robot of claim 12, wherein the memory further stores an application having instructions for use by the first processor to process the sensor data into the processed sensor data.

15. The robot of claim 1, wherein the housing includes cooling fins along an exterior thereof, the cooling fins being in thermal communication with the first processor. 16 . The robot according to claim 15 , wherein the housing is made of metal, and the cooling fins are integrally formed along an exterior of the housing.

17. The robot of claim 1, wherein the processing module mounting surface further comprises an industry standard tool flange, the robot tool mounting surface comprising a plurality of first threaded holes for attaching the processing module to the robot tool mounting surface, the processing module mounting surface comprising a plurality of second threaded holes for attaching the end effector to the processing module mounting surface, the first threaded holes and the second threaded holes being defined by matching thread and hole patterns, the housing comprising a first opening for an input port, the input port being connected to the first processor, and a first cable being connected to the input port to communicate the sensor data from the sensor, and the housing comprising a second opening for an output port, the output port being connected to the first processor, and a second cable being connected to the output port to communicate the processed sensor data to the second processor.

18. The robot according to claim 17, wherein the processing module further comprises a memory disposed within the shell, an operating system loaded onto the memory, and the operating system controls the first processor, the memory further stores the sensor data and the processed sensor data, and the memory further stores an application having instructions used by the first processor to process the sensor data into the processed sensor data.

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