Sensor modules for robots

Abstract

A sensor module is provided for adding functionality to the robot. The sensor module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The sensor module includes a sensor for monitoring conditions near the end effector. An output port of the module transmits the sensor data to a processor external to the sensor module for further processing.

Description

Technical Field

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

[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, one or more sensors are placed on or near the end effector to monitor the environment around the end effector to enable the end effector to perform various tasks. The robot also includes a robot controller that collects data from the joints, end effectors, and sensors and sends instructions to the joints, end effectors, and sensors. Typically, the robot controller can be located in or near the base of the robot, or in a separate computer located a short distance from the robot, however, the robot controller may also be located in a remote location, and the communication between the robot and the controller occurs over a wide area network.

[0003] However, in some cases, the location of the robot controller can lead to reduced robot performance. For example, in situations where the robot is expected to perform real-time operations, communication delays between the end effector's sensors and the robot controller can reduce 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 reduce the robot's overall performance. These problems are further exacerbated as more sensors are added to the robot to provide additional functionality.

[0004] In addition to communication limitations, conventional arrangements of robot controllers and sensors can increase safety and reliability risks. For example, as sensors become more complex, 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 unacceptable risks that are unanticipated and uncontrollable.

[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 with an off-the-shelf end effector that is attached to a tool flange of the robot. As the user desires to add additional functionality to the robot, it may be desirable to add additional sensors to the robot. Typically, since the operation of the robot is performed by the end effector, it may be desirable to mount the sensor close to the end effector. However, it may be difficult to find a location to mount the sensor at the end effector without interfering with the end effector or the surrounding environment. Properly mounting the sensor 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 using a separate cable. Therefore, when multiple sensors are used at the end effector, the same number of cables must be connected to the robot controller. This can cause routing difficulties and increase the complexity of the system. Alternatively, where data is transmitted wirelessly from the sensor to the robot controller, each sensor requires a separate signal path, which can take up available bandwidth.

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

[0008] Interchangeable modules are described that can be attached between a tool flange and an end effector of a robot. The modules include a processing module, a sensor module, and a communication module. The modules can be attached to the robot tool flange in a stack with an end effector attached to the end of the stack. The modules allow additional functionality to be easily added 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 perspective view of the robot;

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

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

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

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

[0015] Figure 6 is an exploded 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 a stack of sensor modules;

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

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

[0020] Referring now to the drawings, in particular 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 move in various directions. Although Figure 1 1, the base 12 is a pivot joint 14, but the joint 14 may also 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 the opposite end of 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 of different manufacturers to be attached to the tool flange 18. For example, the preferred industry standard tool flange meets ISO9409-1:2004 (E). In particular, the tool flange 18 preferably has a plurality of threaded holes 20 in equally spaced circular patterns.

[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 by bolts 24 that engage with threaded holes 20 of the tool flange 18. However, as Figure 2, the end effector 22 is attached to a module 30, described further below, 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 around the robot 10. To control the movement of the robot joints 14, a robot controller 26 is provided with a processor 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, however, the controller 26 can also be housed within the robot 10 itself (e.g., in the base 12), or the controller 26 can be located remotely and communicate with the robot 10 via a network.

[0022] like Figure 2 As shown in , the end effector 22 can be provided with a plurality of sensors 28 to monitor the environment around the end effector 22. Various types of sensors 28 can be used with the end effector 22 and include force load cells 28A, cameras 28B, accelerometers, thermometers, position sensors, etc. The sensors 28 can be located in various locations included 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 so that the sensors 28 are close to the end effector 22.

[0023] like Figures 3 to 6 As shown in FIG. 1 , 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, the process module 30 can be directly attached to the tool flange 18 and the end effector 22 can be directly attached to the process module 30. However, various combinations of modules 80, 100 ( FIG. 1 ) between the tool flange 18 and the end effector 22 as further described below can also be used. Figure 7 and Fig. 9 ). Since the general construction and attachment methods of the various modules 30, 80, 100 described herein are similar, it is not necessary to repeat every detail for each module 30, 80, 100. Figure 4 As shown in FIG, the modules 30, 80, 100 may be attached to the tool flange 18 using bolts 24 (ie, 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 in , 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 distal-most module 30, 80, 100 using bolts 24 that engage the threaded holes 20 of the distal-most module 30, 80, 100.

[0024] like Figure 4 As shown in FIG. 1 , the housing 34 of the modules 30 , 80 , 100 (in Figure 3 ) may include a first plate 36, a second plate 38, and a peripheral housing member 40. The housing 34 encloses one or more circuits described further below. It may be desirable to attach the housing components (e.g., the first and second plates 36, 38, and the peripheral member 40) to the mounting bolts 24 (e.g., Figure 8 ) are separately fixed to each other. The outer surface 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 outer surface 42 or mounting surface 42 of the second plate 38 is designed to be used for attaching the end effector 22 thereto, or to be used for attaching the first plate 36 of another module 30, 80, 100 thereto in a similar manner. Figure 4 As shown in FIG. 1 , it is also preferred that the holes 32 extend through the housing 34 including the first plate 36 and the second plate 38 to allow the bolts 24 to pass from the module mounting surface 42 to the tool flange 18 (or other modules 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 in the figure, the module mounting surface 42 of each module 30, 80, 100 is a plurality of threaded holes 20 in an equally spaced circular pattern. Even more preferably, the threaded holes 20 in the tool flange 18 and the module mounting surface 42 of the modules 30, 80, 100 have matching threads and hole patterns. Therefore, each of the modules 30, 80, 100 can be interchangeably mounted between the robot tool flange 18 and the end effector 22. As shown in FIG. Figure 8As shown in , multiple modules 30, 80, 100 may also be used in various combinations between the robot tool flange 18 and the end effector 22. Thus, a conventional robot tool flange 18 and end effector 22 designed to be directly attached to each other (e.g., using bolts 24 engaging threaded holes 20 in the flange 18) may be adapted to have one or more modules 30, 80, 100 inserted therebetween to easily and simply add or improve functionality.

[0025] Figures 2 to 6 The processing module 30 shown in FIG. 1 provides a processor 44 for processing sensor data for the circuit within the housing 34. Figure 5As shown in FIG. 4 , the circuit board 46 may be disposed in the housing 34 and has 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 on which an application specifically designed to process sensor data from a sensor 28 near or on the end effector 22 is disposed. 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 completely contained within the housing 34, an opening 58 may alternatively be formed in the housing 34 to access the input port 52 and the output port 54. It should be understood that the input port 52 and the output port 54 may take various 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, the cable 60 can 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 can also be connected to the processor 44 through 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 can be provided to the processor 44 through the input port 52, the processed sensor data output from the processor 44 is compressed to provide data with less details than the raw input sensor data. For example, the processed sensor data can represent a summary of the raw sensor data, such as an average value, a total, etc., or can be a flag 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. The processed sensor data may also be stored in the memory 48, 50, such 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 may utilize, for example, Figure 2 The output cable 62 shown in FIG. 1 is connected to the robot controller 26 and the processor therein. Alternatively, the output cable 62 may be internal to the robot 10 and may use a face connector 64, e.g. Figure 3 A pin or flush contact connector 64 is shown between the first plate 36 of the module 30 and the tool flange 18. The output port 54 may also be a wireless port.

[0026] Another example of housing 34 is Figure 6 . 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 68 is then connected 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 modules 30, 80, 100. It is also possible to use additional space within the housing 34 for electronics. However, it does require that the housing 34 be attached in multiple steps rather than in a single step (e.g., after the housing 34 has been completely secured together). Figure 8 ) assembles the modules 30, 80, 100 onto the tool flange 18 (or the modules 30, 80, 100). Figure 6 External heat sink fins 56 are also shown to provide cooling for the processor 44 and other electrical components within the housing 34. Preferably, the housing 34 is made of metal, and the heat sink fins 56 are integrally formed on the housing. 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 heat sink fins 56 to cool the processor 44.

[0027] An advantage of the processing module 30 is that primary data processing can occur close to the sensor 28 at the end effector 22. This reduces processing delays. As a result, 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 the risk of the robotic controller 26 using additional software.

[0028] Figures 7 and 8 100. Another module 80 is shown in FIG. 10 . This module 80 is a sensor module 80 similar to the processing module 30, which can be easily mounted between the robot tool flange 18 and the end effector 22 in various combinations with the other modules 30, 80, 100. Because the sensor module 80 shares a similar structure with the processing module 30, it is not necessary to repeat all the details already provided above. Similar to the processing module 30, the sensor module 80 has a housing 34 that can be attached on one side to the mounting surface 42 of the robot tool flange 18 or 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 in FIG. 1 , the circuit board 82 is provided with a sensor 84 mounted inside the housing 34. The sensor 84 detects environmental conditions around the sensor 84, thereby detecting environmental conditions around the sensor module 80 and near the end effector 22. Various sensors 84 may be used to detect various conditions including acceleration, velocity, force, torque, position, magnetic field, light, temperature, pressure, humidity, and sound. Unlike the force sensor 28A, camera 28B, and other types of sensors that may need to be located directly on the end effector 22 or at a specific location, the sensor 84 within the sensor module 80 can provide sufficient sensor data located within the module housing 34 positioned between the robot tool flange 18 and the end effector 22. In the event that 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 significantly fewer input ports / 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 without requiring a physical opening 58 in the housing 34 for the output port 88. A face connector 64 may also be used. In the case where a physical connection 88 is used 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 will be transmitted to the above-mentioned processing module 30 via the cable 90 (or wirelessly). This allows for a short transmission distance and simplifies the wiring of the communication cable. 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 in the figure, internal communication can be carried out using the face connectors 64 on the module mounting surface 42 and the surface on the opposite side, without the need for external cables between the modules 30, 80, 100, between the modules 30, 80, 100 and the robot tool flange 18, and between the end effector 22 and the modules 30, 80, 100.

[0031] Figure 8Also shown is 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 it to the stack by bolting it between the robot tool flange 18 and the end effector 22. The sensor module 80 also has the advantage of overcoming the difficulty 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 can also be appreciated from the illustration that the various modules 30, 80, 100 described herein can also be added and ordered as needed 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 (as described below), and a processing module 30. Sensor data from the sensor module 80 can 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 can 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 can 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] Can be Figures 9 and 10 1 shows a communication module 100 for use with a sensor module 80 and / or a processing module 30. Similar to the processing module 30 and the sensor module 80, the communication module 100 can be easily installed between the robot tool flange 18 and the end effector 22 with or without other modules 30, 80, 100. Because of the similarity to the processing module 30 and the sensor module 80, it is not necessary to repeat all of the detailed descriptions above. Similar to the processing module 30 and the sensor module 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. 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 in , the circuit board 102 is provided with a data switch 104 in the housing 34, and the data switch is used to combine the input sensor data from multiple input ports 106 into an output data stream transmitted through a single output port 108. However, it should be understood that if necessary, multiple alternative input ports 106 and output ports 108 can be provided. One type of input port 106 that may be desired is a USB port 106A, and in a preferred embodiment, multiple USB ports 106A can 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 surface connector 64 (for example, 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 that 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, the circuit board 102 also preferably 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 of the input ports of the data switch 104 can be connected to an output port of the analog-to-digital converter 110. As a result, all data transmitted to the data switch 104 to be combined is provided as digital data even in the case where some sensors connected to the communication module 100 transmit analog 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. The communication module 100 can broadcast output sensor data through each output port 108. However, in this case, each output port 108 can receive the same combined data stream from multiple input ports 106. The signal of the combined data stream supplied to the output port 108 from the data switch 104 can be connected to the robot controller 26, 44 through the output cable 112. As an alternative, 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 can be a robot controller 26 that controls the joint 14 of the robot 10. If necessary, the communication module 100 can 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 using multiple sensors on the end effector 22, the same number of cables would be required to connect each sensor to the robot controller 26. With a conventional robot controller 26 located near the base 12 of the robot 10, this may result in a messy cable arrangement, which may also create a risk of entanglement. In contrast, by using the communication module 100, a single output cable 112 (or a cable without a wireless output port 108C) can be used. This greatly simplifies the connection between the various sensors and the robot controllers 26, 44. In addition, 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 a large number of 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 relates to data communication from sensors to various modules 30, 80, 100, it should be understood that the processing module 30, sensor module 80, and communication module 100 may also communicate with various actuators. For example, the processing module 30 may output control signals to the actuators in response to sensor data received through the input port 52. The sensor module 80 and communication module 100 may also output data to the actuators. 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 can be modified without departing from the present invention herein. Although each embodiment described herein may refer only to specific 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 that are literally or equivalent within the meaning of the claims 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 robotic tool mounting surface is adapted to be directly attached to the end effector for interfacing with the end effector; a sensor module attached to the robotic tool mounting surface, the sensor module comprising a housing having a sensor module mounting surface, the sensor module mounting surface adapted for direct attachment to the end effector; as well as The sensor is arranged in the housing.

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

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 sensor module mounting surface.

4. The robot of claim 1, wherein the industry standard tool flange is defined by ISO9409-1:2004(E). 5 . The robot of claim 1 , wherein the robot tool mounting surface includes a plurality of first threaded holes, the sensor 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 sensor module mounting surface comprises an otherwise industry standard tool flange.

7. The robot according to claim 6, wherein the further industry standard tool flange is defined by ISO9409-1:2004(E).

8. The robot of claim 1, wherein the sensor module mounting surface includes a plurality of second threaded holes, the end effector being attached to the sensor 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, and the plurality of first threaded holes are used to attach the sensor module to the robot tool mounting surface, and the sensor module mounting surface includes a plurality of second threaded holes, and the plurality of second threaded holes are used to attach the end effector to the sensor 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 sensor detects environmental conditions.

11. The robot of claim 1 , wherein the sensor detects acceleration, velocity, force, torque, position, magnetic field, light, temperature, pressure, humidity, or sound.

12. The robot of claim 1, wherein the housing includes a second opening, such that the sensor is exposed to ambient conditions through the second opening.

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

14. The robot of claim 13, wherein the cable also provides power to the sensor.

15. The robot according to claim 1 further includes a processing module arranged between the robot tool mounting surface and the end actuator, the processing module including a shell, a processing module mounting surface, an input port and an output port, a first processor is arranged in the shell of the processing module, and the processing module mounting surface is suitable for attaching the end actuator to the processing module mounting surface, wherein the input port of the processing module receives sensor data from the sensor, the first processor generates processed sensor data including fewer bits per second than the sensor data, and the output port of the processing module transmits the processed sensor data to a second processor of the robot controller.

16. The robot of claim 1 , wherein the sensor module mounting surface comprises an additional industry standard tool flange, the robot tool mounting surface comprises a plurality of first threaded holes for attaching the sensor module to the robot tool mounting surface, the sensor module mounting surface comprises a plurality of second threaded holes for attaching the end effector to the robot tool 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 output port and a cable, the output port being connected to the sensor, the cable being connected to the output port to transmit the sensor data to a processor.

17. The robot of claim 16, wherein the sensor detects acceleration, velocity, force, torque, position, magnetic field, light, temperature, pressure, humidity, or sound.

18. The robot of claim 17, wherein the housing includes a second opening, such that the sensor is exposed to ambient conditions through the second opening.

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