Robots and end effectors therefor

Abstract

This application relates to a robot and its end effector, including a force detection module, a control module, and an input / output module. All three modules are located at the robot's end effector. The force detection module is connected to the control module, and the control module is connected to the input / output module. The input / output module is used to connect to an external actuator. The force detection module detects force data at the robot's end effector and sends this data to the control module. The control module generates control commands based on the force data and sends these commands to the external actuator via the input / output module. By adding a control module, an input / output module, and a force detection module to the robot's end effector, the time difference in information transmission and the complexity of intermediate wiring are reduced, ensuring the robot's safety during operation and greatly minimizing the risk of protection function failure.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a robot and its end effector. Background Technology

[0002] With industrial upgrading and the continuous improvement of intelligent automation levels, the application scope of robotic equipment such as industrial robotic arms and collaborative robots is becoming increasingly wide. These can be applied to various industries, including product testing, robot assembly, grinding, polishing, collision detection, flexible dragging, and medical massage. At the same time, the end effectors used by collaborative robots to complete their tasks are also increasing, such as various gripper tools, sensors, and industrial smart cameras.

[0003] Currently, when traditional robots control various collaborative end effectors, they generally use external adapters from the robot's main control module or lead the circuit from the electrical control box to the robot's end effector. This not only increases the complexity of wiring but also fails to guarantee safety and poses a significant risk of failure. Summary of the Invention

[0004] Therefore, it is necessary to provide a robot and its end effector to address the problem that traditional robot-connected collaborative execution devices cannot guarantee safety and have a high risk of failure.

[0005] An end-effector control device for a robot, characterized in that it comprises: a force detection module, a control module, and an input / output module, wherein the force detection module, the control module, and the input / output module are all disposed at the end of the robot, the force detection module is connected to the control module, the control module is connected to the input / output module, and the input / output module is used to connect to an external actuator.

[0006] The force detection module is used to detect the force data of the robot end effector and send the force data to the control module;

[0007] The input / output module is used to send the operation status data fed back by the external execution device to the control module;

[0008] The control module is used to generate control commands based on the force data and the operation status data, and to send the control commands to the external execution device through the input / output module.

[0009] In one embodiment, the force detection module includes two or more force strain detection units, each of which is uniformly installed on the external action surface of the robot end.

[0010] In one embodiment, each of the force and strain detection units includes a force and strain detection block and a detection circuit board. The force and strain detection block is fixed to the external action surface of the robot end effector, and the detection circuit board is fixed to the force and strain detection block. The detection circuit board is also connected to the control device.

[0011] The force-strain detection block is used to generate deformation when the external action surface of the robot end is subjected to external force; the detection circuit board is used to detect the deformation and convert it into force data and send it to the control module.

[0012] In one embodiment, the force-strain detection block includes a first elastic deformation block, a second elastic deformation block, a force transmission column, and a force-strain test piece. The first elastic deformation block and the second elastic deformation block are both fixed to the force transmission column. One end of the force-strain test piece is fixed to the force transmission column, and the force-strain test piece is disposed between the first elastic deformation block and the second elastic deformation block. The other end of the force-strain test piece is provided with a backlight sheet. The first elastic deformation block or the second elastic deformation block is fixed to the external action surface of the robot end effector.

[0013] In one embodiment, the detection circuit board is provided with a grating detection chip and a BISS-C communication circuit. The grating detection chip is disposed opposite to the backlight sheet, and the grating detection chip is connected to the control module through the BISS-C communication circuit.

[0014] In one embodiment, the input / output module includes an analog input unit, a first digital input unit, and a digital output unit. The analog input unit, the first digital input unit, and the digital output unit are all connected to the control module. The first digital input unit and the digital output unit are also connected to the external execution device.

[0015] In one embodiment, the input / output module further includes a second digital input unit, which is connected to the digital output unit and the control module. The second digital input unit is used to feed back the control signal output by the digital output unit to the control module in a closed loop.

[0016] In one embodiment, the end effector of the robot further includes an RS485 communication module, an RS232 communication module, and an EtherCAT communication module connected to the control module.

[0017] In one embodiment, the end effector of the robot further includes a power control and detection protection module, which is connected to the control module and the input / output module.

[0018] In one embodiment, a robot is provided, including a master control device and the aforementioned end-effector control device, the end-effector control device being connected to the master control device.

[0019] The aforementioned robot and its end effector control device, by adding a control module and an input / output module to the robot end effector, and supplementing it with a force detection module to detect the force data of the robot module in real time, and the control module then directly generates control commands to control the external actuators based on the force data, reduces the time difference of information transmission and the complexity of intermediate wiring, ensures the safety of the robot during operation, and greatly avoids the risk of failure of the protection function. Attached Figure Description

[0020] Figure 1 This is a system block diagram of a robot end effector in one embodiment;

[0021] Figure 2 This is a schematic diagram illustrating the setup of a force strain detection unit in one embodiment;

[0022] Figure 3 This is a system block diagram of the robot end effector in another embodiment;

[0023] Figure 4 This is a schematic diagram of the force strain detection block in one embodiment;

[0024] Figure 5 This is a system block diagram of the input / output unit in one embodiment. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0027] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0028] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0029] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0030] As described in the background section, with industrial upgrading and the continuous improvement of intelligent automation levels, the application scope of robotic equipment such as robotic arms and collaborative robots is becoming increasingly wide. For example, they can be applied to various industries such as product testing, robot assembly, grinding, polishing, collision detection, flexible dragging, and medical massage. At the same time, the end effectors used by collaborative robots to complete their tasks are also increasing, such as various gripper tools, various sensors, and industrial smart cameras. Traditionally, when controlling various collaborative end effectors, robots typically use external adapters from the robot's main control module or extend the wiring from the electrical control box to the robot's end effector. This not only increases wiring complexity but also fails to guarantee safety, posing a significant risk of failure.

[0031] Based on this, this application provides a robot and its end effector control device. By adding a control module and an input / output module to the robot end effector, and supplementing it with a force detection module to detect the force data of the robot module in real time, the control module can directly generate control commands to control the external actuator based on the force data. This reduces the time difference of information transmission and the complexity of intermediate wiring, ensures the safety of the robot during operation, and greatly avoids the risk of failure of the protection function.

[0032] In one embodiment, such as Figure 1As shown, a robot end effector is provided, including: a force detection module 110, a control module 120, and an input / output module 130. All three modules are located at the robot end effector. The force detection module 110 is connected to the control module 120, and the control module 120 is connected to the input / output module 130. The input / output module 130 is used to connect to an external actuator. The force detection module 110 detects the force data at the robot end effector and sends the force data to the control module 120. The input / output module 130 sends the operation status data fed back by the external actuator to the control module 120. The control module 120 generates control commands based on the force data and operation status data, and sends the control commands to the external actuator through the input / output module 130.

[0033] In this context, "robot" can refer to collaborative robots or robotic arms, or other automated control devices. These devices include a main control module that issues motion control commands, and individual joint motion modules that respond to these commands. These modules work together to complete the motion operations corresponding to the control commands. The robot's end effector can be understood as the outermost joint segment of the robotic arm. For example, in a six-DOF robotic arm, the end effector refers to the outermost point of its sixth axis.

[0034] External actuators characterize the load devices that may be mounted on the robot's end effector. These can refer to gripping tools such as chucks or mechanical claws used to assist in various assembly, grinding, casting, and polishing operations. Such external actuators can be mounted and fixed to the robot's end effector flange. External actuators can also be sensor elements or industrial smart cameras used for product testing and collision detection, and can be fixedly mounted or connected to the robot's end effector. Correspondingly, the operational status data fed back by the external actuators can be sensor data detected by the sensor elements or image data acquired by the industrial smart camera.

[0035] Specifically, the force detection module 110, control module 120, and input / output module 130 are all located at the robot's end effector, assisting in performing some motion control and protection functions at the robot's end effector. It can be understood that the control module 120 located at the robot's end effector is distinct from the robot's main control module. While the main control module issues overall motion control commands and controls the motion modules of each joint to perform motion operations, the robot's end effector control module 120 can implement some end effector motion control and protection functions based on the force data from the force detection module 110 and the operational status data fed back by the input / output module 130. This avoids the risk of protection failure due to transmission delays when data is transmitted back to the main control module.

[0036] Furthermore, the force detection module 110 is used to sense the changes in environmental forces acting on the robot end effector. This can be achieved by placing an elastic deformation unit on the external action surface of the robot end flange and then collecting the force deformation data of the elastic deformation unit, or by directly using a multi-dimensional force sensor device. In this embodiment, the external action surface of the robot end flange is the contact surface between the robot end flange and the external actuator, or it refers to the action surface that may come into contact with environmental forces. It is understood that the external action surface is not unique and varies depending on the application scenario of the robot end effector. For example, when the robot end effector is equipped with a gripper tool to perform assembly, grinding, casting, and polishing operations, the external action surface is the action surface of the robot end flange used to fix the gripper tool, and the force detection module 110 is fixed to this external action surface, located between the robot end flange and the gripper tool. When applied to product testing or collision detection, the robot end effector may not be equipped with other external actuators. In this case, the external action surface of the robot end effector, i.e., the location where the force detection module 110 is fixed, can be any action surface that may come into contact with environmental forces.

[0037] The force data detected by the force detection module 110 can include the magnitude and direction of the environmental forces acting on the robot's end effector. It can be understood that when the force detection module 110 is positioned between the robot's end effector flange and the external actuator, the force data detected during operation should be the combined result of the gravity of the external actuator and environmental forces (collision forces, pressure applied by the tool during grinding, etc.). Correspondingly, based on the magnitude of the environmental forces in the force data, it can be determined whether the force meets the operational requirements, or whether the force will damage the robot's end effector. Based on the direction of the environmental forces in the force data, the operation type can be controlled, such as forward or reverse rotation during grinding, or it can be determined whether the current direction will exacerbate the collision. If it will exacerbate the collision, the movement will not be executed; otherwise, the movement will be executed. Thus, after a collision is detected, not all movement is prohibited; movement in the opposite direction of the collision is still allowed, which can greatly reduce the risk of robot damage.

[0038] The control commands generated by the control module 120 can be used to implement partial end-effector motion control. For example, when a gripper tool is installed at the robot's end to perform assembly, grinding, casting, and polishing operations, the control module can issue control commands based on received force data to move the gripper tool away from or towards the cutting tool, thereby controlling the assembly, grinding, casting, and polishing processes. The control commands generated by the control module 120 can also be used to implement protection functions. For example, if a collision or inability to continue operation is detected based on force data and operational status data, a control command can be issued to stop the movement or move in the opposite direction to protect the robot's end from damage. The control commands are issued to external actuators through the input / output module 130. The input / output module 130 is an interface device located at the robot's end, capable of simultaneously implementing multiple digital and analog input / output functions. It can be used to control various external actuators to meet the needs of various application scenarios.

[0039] The implementation of the control module 120 is not limited to a single method. It can be implemented using existing control chips, such as microcontroller units (MCUs), field-programmable gate arrays (FPGAs), and digital signal processing chips (DSPs). It can also be implemented using digital integrated circuits equipped with control chips. There is no limitation. In the embodiments of this application, the control module 120 is explained and described using a digital signal processing chip (DSP chip) as an example.

[0040] The aforementioned end-effector control device adds a control module 120 and an input / output module 130 to the robot end, and supplements it with a force detection module 110 to detect the force data of the robot module in real time. The control module 120 then directly generates control commands to control the external actuators based on the force data. This reduces the time difference in information transmission and the complexity of intermediate wiring, ensures the safety of the robot during operation, and greatly avoids the risk of failure of the protection function.

[0041] In one embodiment, the force detection module 110 includes two or more force strain detection units, each of which is uniformly installed on the external action surface of the robot end.

[0042] Here, the force detection module 110 uses elastic deformation units set on the external working surface of the robot's end effector flange, and then collects the force deformation of the elastic deformation units. Correspondingly, two or more force-strain detection units are evenly arranged on the external working surface of the robot's end effector. The force-strain detection units can collect the deformation of their own elastic components to reflect the force situation of the robot's end effector under environmental forces. It can be understood that the number of force-strain detection units required is different for the external working surface of the robot's end effector with different shapes and areas. Evenly arranged means that the number of force-strain detection units used can cover the entire external working surface of the robot's end effector, and can comprehensively and accurately reflect the force situation of the robot's end effector under environmental forces.

[0043] For example, such as Figure 2 In one embodiment shown, the external working surface of the robot's end effector is annular, with a central hole for securing an external actuator. On the annular external working surface, such as... Figure 2 The arrangement shown has six force strain detection units evenly distributed to detect the environmental forces acting on the robot's end effector.

[0044] In one embodiment, such as Figure 3 As shown, each force-strain detection unit includes a force-strain detection block 111 and a detection circuit board 112. The force-strain detection block 111 is fixed to the externally acting surface of the robot's end effector, and the detection circuit board 112 is fixed to the force-strain detection block 111. The detection circuit board 112 is also connected to a control device. The force-strain detection block 111 is used to deform when the externally acting surface of the robot's end effector is subjected to an external force. The detection circuit board 112 is used to detect the deformation and convert it into force data, which is then sent to the control module 120. It can be understood that the force-strain detection block 111 represents the elastically deformed portion and is located on the externally acting surface of the robot's end effector flange. The detection circuit board 112 is a circuit that collects the force-deformation data of the elastically deformed portion and generates force data based on the force-deformation data, which is then sent to the control module 120.

[0045] In one embodiment, such as Figure 4 As shown, the force strain detection block 111 includes a first elastic deformation block 1111, a second elastic deformation block 1112, a force transmission column 1113, and a force strain test piece 1114. The first elastic deformation block 1111 and the second elastic deformation block 1112 are both fixed to the force transmission column 1113. One end of the force strain test piece 1114 is fixed to the force transmission column 1113, and the force strain test piece 1114 is disposed between the first elastic deformation block 1111 and the second elastic deformation block 1112. The other end of the force strain test piece 1114 is provided with a backlight sheet 1115. The first elastic deformation block 1111 or the second elastic deformation block 1112 is fixed to the external action surface of the robot end.

[0046] Specifically, the force-strain detection blocks 111 are all made of materials capable of elastic deformation, and their type is not fixed; any force-strain detection materials commonly used by those skilled in the art can be used. The first elastic deformation block 1111 and the second elastic deformation block 1112 are both fixed to the force transmission column 1113, and are arranged parallel to each other. One end of the force-strain test piece 1114 is also fixed to the force transmission column 1113, positioned between the first elastic deformation block 1111 and the second elastic deformation block 1112, and is similarly arranged parallel to both the first and second elastic deformation blocks 1111 and 1112.

[0047] It is understood that the first elastic deformation block 1111, the second elastic deformation block 1112, the force-strain test piece 1114, and the force transmission column 1113 are configured as an E-type structure. This E-type force-strain detection block 111 can be made as a single piece, or it can be made into separate components and then fused together to form an E-type structure. In this embodiment, for more accurate force-strain detection, this E-type structure is made as a single piece. That is, when either the first elastic deformation block 1111 or the second elastic deformation block 1112 is fixed to the external working surface of the robot's end effector and subjected to environmental forces, deformation can be accurately generated on the force-strain test piece 1114 through the force transmission column 1113. Wherein, after either the first elastic deformation block 1111 or the second elastic deformation block 1112 is fixed to the external working surface of the robot's end effector, the other elastic deformation block is fixed to an external actuator or used to contact the external environment to obtain environmental forces.

[0048] In one embodiment, such as Figure 3 and Figure 4 As shown, the detection circuit board 112 is provided with a grating detection chip 1121 and a BISS-C communication circuit (not shown in the figure). The grating detection chip 1121 is arranged opposite to the backlight sheet 1115. The grating detection chip 1121 is connected to the control module 120 through the BISS-C communication circuit.

[0049] Specifically, the grating detection chip 1121 is positioned opposite the backlight sheet 1115 at the other end of the force-strain test piece 1114. The grating detection chip 1121 emits a measurement beam to the backlight sheet 1115, which reflects the beam back to the grating detection chip 1121. The grating detection chip 1121 then detects whether the force-strain test piece 1114 has deformed based on the reflected beam and analyzes the deformation amount. When the force-strain detection block 111 is subjected to force and the force-strain test piece 1114 deforms, the grating detection chip 1121 detects the deformation amount of the force-strain test piece 1114 through the coherent beam reflected by the grating, and determines the magnitude of the force after calibration. Simultaneously, after sending the force data from multiple force-strain detection blocks 111 to the control module 120, the control module 120 can determine the direction of the force based on the order of deformation.

[0050] It is understood that, assuming the grating detection chip 1121 and the backlight sheet 1115 are arranged relative to each other, the detection circuit board 112 can be fixed on the first elastic deformation block 1111 or the second elastic deformation block 1112, and have the same pose change as the first elastic deformation block 1111 or the second elastic deformation block 1112. When analyzing the deformation, the pose change of the grating detection chip 1121 must also be considered. Alternatively, the detection circuit board 112 can also be fixed on other devices that do not deform. In this case, when analyzing the deformation, it is not necessary to consider the pose change of the grating detection chip 1121. Both of the above methods are feasible and are not limited.

[0051] Furthermore, the force data detected by each grating detection chip 1121 is transmitted in real time to the control module 120 for calculation and control via the BISS-C serial protocol carried by the BISS-C communication circuit, with high-speed data transmission and no time difference.

[0052] In one embodiment, such as Figure 3 and 5 As shown, the input / output module 130 includes an analog input unit 131, a first digital input unit 132, and a digital output unit 133. The analog input unit 131, the first digital input unit 132, and the digital output unit 133 are all connected to the control module 120. The first digital input unit 132 and the digital output unit 133 are also connected to an external actuator.

[0053] Specifically, the analog input unit 131 is used to realize the function of detecting the electrical parameters of the robot's motor, and can input the detected electrical parameters to the control module 120 so that the control module 120 can determine whether there is an overload or overload situation based on the above electrical parameters, and can effectively control and protect the motor, structure and other parts of the robot arm body from damage.

[0054] Furthermore, the first digital input unit 132 includes multiple digital input channels, which can be used to input the operating status data of multiple external actuators to the control module 120. Correspondingly, the digital output unit 133 also includes multiple digital output channels, which can be used by the control module 120 to issue control commands to multiple external actuators.

[0055] In one embodiment, the input / output module 130 further includes a second digital input unit 134, which is connected to the digital output unit 133 and the control module 120. The second digital input unit 134 is used to provide closed-loop feedback of the control signal output by the digital output unit 133 to the control module 120. It can be understood that only when the second digital input unit 134 receives data input to the control module 120 does it indicate that the control signal has been successfully output to multiple external actuators, which is beneficial for closed-loop control of the control signal and ensures the effectiveness of signal transmission.

[0056] In addition, such as Figure 5 As shown, the first digital input unit 132, the second digital input unit 134, and the digital output unit 133 in the control module 120 and the input / output module 130 all adopt the SPI (Serial Peripheral Interface) serial peripheral interface, which occupies only four pins on the chip, saving chip pins and board space.

[0057] In one embodiment, such as Figure 3 As shown, the robot's end-effector control device also includes an RS485 communication module 140, an RS232 communication module 150, and an EtherCAT (Ether Control Automation Technology) communication module 160, all connected to the control module 120. In this embodiment, the robot's end-effector control device integrates multiple communication interfaces to meet the requirements of external actuators connected to the robot's end-effector using different communication protocols.

[0058] In one embodiment, such as Figure 3 As shown, the end effector of the robot also includes a power control and detection protection module, which connects the control module 120 and the input / output module 130. It can be understood that the power control and detection protection module is used to monitor whether there are any abnormalities in the electrical parameter signals of the robot's end effector. When an abnormality occurs, such as overcurrent, the control module 120 can detect it promptly and issue a control signal to stop the robot body and external actuators from moving.

[0059] In one embodiment, a robot is provided, including a main control device and the aforementioned end-effector control device, the end-effector control device being connected to the main control device. It is understood that during normal operation, the main control device can issue motion control commands to the end-effector control device or each joint motion module, enabling the joint motion modules to cooperate and complete the motion operations corresponding to the operation control commands. Simultaneously, the end-effector control device can also, based on force data and operational status data analysis, send an alarm signal to the main control device when an abnormal situation occurs, causing the main control device to stop the entire robot from operating, thus preventing injury to personnel and damage to valuable equipment.

[0060] For specific limitations regarding the robot, please refer to the limitations of the robot's end effector in any of the embodiments above, which will not be repeated here.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An end-effector control device for a robot, characterized in that, include: The robot includes a force detection module, a control module, and an input / output module. All three modules are located at the end effector of the robot. The force detection module is connected to the control module, and the control module is connected to the input / output module. The input / output module is used to connect to an external actuator. The force detection module is used to detect the force data of the robot end effector and send the force data to the control module; The input / output module is used to send the operation status data fed back by the external execution device to the control module; The control module is used to generate control commands based on the force data and the operation status data, and to send the control commands to the external execution device through the input / output module. The force detection module includes two or more force and strain detection units, and each force and strain detection unit is evenly installed on the external action surface of the robot end; Each of the force and strain detection units includes a force and strain detection block and a detection circuit board. The force and strain detection block is fixed to the external action surface of the robot end effector, and the detection circuit board is fixed to the force and strain detection block. The detection circuit board is also connected to the control device. The force-strain detection block is used to generate deformation when the external surface of the robot end is subjected to an external force; the detection circuit board is used to detect the deformation and convert it into force data and send it to the control module. The force-strain detection block includes a first elastic deformation block, a second elastic deformation block, a force transmission column, and a force-strain test piece. The first elastic deformation block and the second elastic deformation block are both fixed to the force transmission column. One end of the force-strain test piece is fixed to the force transmission column, and the force-strain test piece is disposed between the first elastic deformation block and the second elastic deformation block. The other end of the force-strain test piece is provided with a backlight sheet. The first elastic deformation block or the second elastic deformation block is fixed to the external action surface of the robot end. The feature is that the detection circuit board is provided with a grating detection chip and a BISS-C communication circuit, the grating detection chip is disposed opposite to the backlight sheet, and the grating detection chip is connected to the control module through the BISS-C communication circuit.

2. The end-effector control device for a robot according to claim 1, characterized in that, The input / output module includes an analog input unit, a first digital input unit, and a digital output unit. The analog input unit, the first digital input unit, and the digital output unit are all connected to the control module. The first digital input unit and the digital output unit are also connected to the external execution device.

3. The end-effector control device for a robot according to claim 2, characterized in that, The input / output module further includes a second digital input unit, which is connected to the digital output unit and the control module. The second digital input unit is used to feed back the control signal output by the digital output unit to the control module in a closed loop.

4. The end-effector control device for a robot according to claim 1, characterized in that, It also includes an RS485 communication module, an RS232 communication module, and an EtherCAT communication module connected to the control module.

5. The end-effector control device for a robot according to any one of claims 1-4, characterized in that, It also includes a power control and detection protection module, which is connected to the control module and the input / output module.

6. A robot, characterized in that, It includes a main control device and an end control device as described in any one of claims 1-5, wherein the end control device is connected to the main control device.

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