Modular machine automation system and client module

Abstract

A modular machine automation system has a server module and a plurality of client modules. Each client module comprises a client module shell, and the client module shell is provided with a first client module connecting side, a second client module connecting side and a client bus connecting unit. The connection side of the first client module is provided with a first client signal transmission unit which is provided with a first client signal transmitting unit and a first client signal receiving unit; and the connection side of the second client module is provided with a second client signal transmission unit which is provided with a second client signal transmitting unit and a second client signal receiving unit. The client signal coupling unit in the client bus connection unit of the client module is designed to determine which client module connection side is connected to the server module connection side directly or via one or more additional client modules in an initialization mode, when the first client module connection side is coupled to the server module connection side directly or via one or more additional client modules, the first client module connection side is switched to a first operating mode. And switching to a second operating mode when the second client module connection side is coupled to the server module connection side directly or via one or more further client modules.

Description

Technical Field

[0001] The invention relates to a modular machine automation system, in particular a modular robot, and a client module for a modular machine automation system.

[0002] This patent application claims the priority of German patent application 10 2022 115 314.2, the disclosure content of which is incorporated herein by reference. Background Art

[0003] The goal of automation technology (execution, measurement, control / regulation, communication, human-machine interface, safety, etc.) is to be able to operate the machine independently without human assistance. The higher the degree of automation of the machine (the ratio of automated production steps to all production steps), the more independent the corresponding machine is from human intervention. What should be achieved through automation technology is to reduce the dangerous, heavy or monotonous work of humans, improve the quality of the machine, increase the performance of the machine or reduce the cost of the machine.

[0004] Robots are an integral part of industrial automation. A robot is a programmable machine used for working, assembling or processing workpieces. A robot usually includes a robot base, a robot arm (manipulator), an (end) actuator (manipulator, tool, fixture, etc.) and a controller. The robot arm has a plurality of arm segments that are swingable and rotatable relative to each other, located at the proximal end (towards the robot base) and at the distal end (away from the robot base). The robot is programmed to autonomously execute the workflow or change the implementation of the task based on information provided by sensors that are usually arranged on the robot.

[0005] In automation technology, so-called local area networks (LANs) are often used for communication, which are spatially confined networks in which different network participants are connected to one another wirelessly, optically, electrically and / or optoelectronically. In this case, local area networks are usually designed as serial networks in which all network participants are interconnected via a bus.

[0006] The data exchange on the bus is usually implemented in the form of datagrams, also called telegrams. The telegram consists of control data and user data. Usually, the Ethernet standard is used as the protocol for data exchange on the control bus, which allows telegram lengths of up to 1500Byte and transmission speeds of up to 10Gbit / s.

[0007] Participants on the bus are usually distinguished into server units and client units. A server unit is a control device that has bus access rights and determines the data transmission on the bus. The server unit is therefore the source of telegrams sent and propagated via the bus. Client units are machine devices or fieldbus devices that do not have bus access rights, i.e. they can only acknowledge received telegrams or send telegrams to them upon request from a server unit. Client units can read data from and / or write data to telegrams circulating on the bus. In order to exchange data between client units and cyclic telegrams, the client units usually use telegram areas that are fixedly allocated by the server unit to the respective client unit.

[0008] The bus of the machine automation system usually adopts a ring structure, in which the individual client units are connected together on the transmission path to form a line, wherein each client unit is connected to two adjacent units, and the first and last client unit in the ring are connected to a server unit. The connection of the last client unit to the server unit can be connected to the server via a loop channel in the line, via all previous client units and / or via a direct connection of the last client unit to the server unit.

[0009] The design of machines and especially robots is becoming increasingly modular. Standardized machine components simplify assembly and expansion. Uniform module interfaces also significantly reduce the connection effort.

[0010] In modular machines that include multiple drive axes and are controlled via a serial bus system, the drive axes are usually distributed in different modules. An actuator, such as a servo drive, is housed in a single machine module, which includes a regulating unit, such as a motor and a bus connection unit.

[0011] In order to connect the machine modules together via a bus, the machine modules are designed to be able to exchange signals with other modules via at least two connection sides. Since the signal processing unit in the bus connection unit of the machine module usually has a fixed signal processing input interface or a signal processing output interface, it is necessary to connect the connection sides of the machine client modules in a specified order starting from the machine server module to ensure that the required signal flow passes through the signal processing unit in the bus connection unit of the machine client module.

[0012] In order to realize a specific machine design or a specific machine function, it is often desirable to be able to assemble machine client modules in a freely selectable arrangement of the connection sides. For example, in modular robots, the module housing is usually L-shaped, with a short cylindrical housing segment and a long cylindrical housing segment, which each have a connection side located at the end. The working range of the robot arm can then be determined by the arrangement of the longer and shorter module housing segments. However, due to the presence of a serial bus system with a bus connection unit in the robot arm module, the signal processing unit of the robot arm module has a fixed signal processing input interface or signal processing output interface, so that this personalized assembly cannot be realized. Summary of the invention

[0013] The technical problem to be solved by the present invention is to provide a modular automation system, in particular a modular robot with a serial bus, wherein even if the signal processing unit in the client module provides fixed signal processing input interfaces and signal processing output interfaces, the server module and a plurality of client modules can be arranged freely and selectively. In addition, the technical problem to be solved by the present invention is to provide a corresponding client module for a modular machine automation system.

[0014] This object is achieved according to the independent claims by a modular machine automation system and a client module for a modular machine automation system. Developments are given in the dependent claims.

[0015] A modular machine automation system has a server module and a plurality of client modules. The server module includes a server module housing having a server module connection side and a server signal processing unit, the server module connection side having a server signal transmission unit, the server signal transmission unit having a server signal transmitting unit and a server signal receiving unit. The signal output interface of the server signal processing unit is connected to the server signal transmitting unit, and the signal input interface of the server signal processing unit is connected to the server signal receiving unit for signal transmission. Each client module includes a client module housing, the client module housing has a first client module connection side, a second client module connection side and a client bus connection unit, the first client module connection side has a first client signal transmission unit having a first client signal transmitting unit and a first client signal receiving unit, the second client module connection side has a second client signal transmission unit having a second client signal transmitting unit and a second client signal receiving unit, the client bus connection unit has a client signal coupling unit and a client signal processing unit. The signal processing input interface and the signal processing output interface of the client signal processing unit are connected to the client signal coupling unit. The client signal coupling unit is connected to the first client signal transmitting unit, the first client signal receiving unit, the second client signal transmitting unit and the second client signal receiving unit. The client signal coupling unit couples the first client signal receiving unit to the signal processing input interface of the client signal processing unit and couples the second client signal transmitting unit to the signal processing output interface of the client signal processing unit in a first operating mode, and couples the second client signal receiving unit to the signal processing input interface of the client signal processing unit and couples the first client signal transmitting unit to the signal processing output interface of the client signal processing unit in a second operating mode for signal transmission. The first and second client module connection sides of each client module are respectively connected to the server module connection side or the first and second client module connection sides of another client module, so that the client signal transmission unit of the client module connection side of the client module is coupled to the server signal transmission unit of the server module connection side of the other client module or the client signal transmission unit of the connected client module connection side for signal transmission.The client signal coupling unit in the client bus connection unit of the client module is designed to determine in an initialization mode which client module connection side is connected to the server module connection side directly or via one or more additional client modules, so as to switch to a first operating mode when the first client module connection side is coupled to the server module connection side directly or via one or more additional client modules, and to switch to a second operating mode when the second client module connection side is coupled to the server module connection side directly or via one or more additional client modules.

[0016] The client signal coupling unit in the client module makes it possible to freely select the arrangement of the connection side of the client module when assembling a modular machine automation system. The client signal coupling unit in the bus connection unit of the client module ensures that, regardless of how the connection sides of the client modules are arranged in the chain when assembling a modular machine, a two-channel ring-shaped transmission path can be formed, in which the signal processing unit in the bus connection unit of the client module ensures that the signal path is realized in the desired sequence in one of the two channels.

[0017] In a modular machine automation system, the server signal transmission unit may have a server control signal transmission unit, the first client signal transmission unit may have a first client control signal transmission unit, and the second client signal transmission unit may have a second client control signal transmission unit. In this case, the server control signal transmission unit is connected to the server signal processing unit, and the first and second client control signal transmission units are connected to the client signal coupling unit. In an initialization mode, the server signal processing unit is designed to output a control signal, and the client signal coupling unit is designed to receive and forward a control signal, wherein the client signal coupling unit is further designed to determine from which client signal transmission unit the control signal is received, so as to determine the client module connection side that is connected to the server module connection side directly or via one or more further client modules as the client module connection side that includes the client signal transmission unit that received the control signal.

[0018] By additional control signal transmission in the initialization mode, the client signal coupling unit in the client bus connection unit of the client module can easily determine which client module connection side is connected to the server module connection side directly or via one or more further client modules.

[0019] Here, the control signal may be a high or low level signal, which can achieve a simple design of control signal transmission.

[0020] The client signal coupling unit can have a first converter and a second converter, each of which includes at least one 2-1 multiplier. This refinement allows a simple switchback between the first and second operating modes.

[0021] The client signal processing unit may have a signal enhancement circuit, and the signal enhancement circuit has a signal enhancement output interface and a signal enhancement input interface. The first converter includes a first input switch and a first output switch, and the second converter includes a second input switch and a second output switch. The first input end of the first input switch is connected to the first client signal receiving unit, the second input end of the first input switch is connected to the second client signal receiving unit, and the output end of the first input switch is connected to the signal processing input interface of the client signal processing unit. The first input end of the second input switch is connected to the second client signal receiving unit, the second input end of the second input switch is connected to the first client signal receiving unit, and the output end of the second input switch is connected to the signal enhancement input interface of the client signal processing unit. The input end of the first output switch is connected to the signal enhancement output interface of the client signal processing unit, the first output end of the first output switch is connected to the first client signal transmitting unit, and the second output end of the first output switch is connected to the second client signal transmitting unit. The input end of the second output switch is connected to the signal processing output interface of the client signal processing unit, the first output end of the second output switch is connected to the second client signal transmitting unit, and the second output end of the second output switch is connected to the first client signal transmitting unit.

[0022] By means of a signal enhancement path in the client signal processing unit, a signal refresh of the processed telegram can be performed on the loop channel, wherein the design of the client signal coupling unit ensures that, when assembling a modular machine, the signal enhancement path on the loop channel can be ensured by the signal processing unit in the bus connection unit of the client module regardless of how the connection side of the client module is arranged in the chain.

[0023] The modular machine automation system can be designed as a modular robot, wherein the robot arm consists of a plurality of arm modules, wherein one or more arm modules respectively constitute a client module.

[0024] A plurality of arm modules can be divided into active arm modules and passive arm modules, wherein the active arm modules each have a drive device by means of which the other arm modules connected thereto can be swiveled, turned and / or rotated. This design allows a particularly simple and flexible assembly of the robot arm.

[0025] Here, in the active arm module, the first connection side can be designed to be controllably rotatable relative to the second connection side around a rotation axis, wherein the first connection side is rotatably arranged on the arm module around the rotation axis, and the second connection side is arranged on the arm module in a rotationally fixed manner. A rotation transmission device for signals, energy and / or fluids can be provided in the active arm module so that the first connection side is optically, electrically and / or fluidically connected to the second connection side.

[0026] The above-described possible configurations of the active arm module ensure a substantially unrestricted rotatability of the first connecting side. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In the attached picture:

[0028] Figure 1 A three-dimensional side view of a modular robot is shown;

[0029] Figure 2 Show according to Figure 1 A schematic diagram of a modular robot; and

[0030] Figure 3 A schematic diagram showing a client module.

[0031] Only the spatial cutouts of the technical solution of the invention which are necessary for understanding the invention are shown in the drawings. DETAILED DESCRIPTION

[0032] The invention is explained in more detail below in conjunction with a modular robot. Although the invention is described and illustrated in more detail by means of embodiments, the invention is not limited to the disclosed embodiments but has a more basic nature. In principle, the invention can be used in modular machines controlled by an automation system, wherein bus connection units are arranged in the individual machine modules, the signal processing units of the bus connection units having fixed signal processing input interfaces and signal processing output interfaces, wherein the connection sides of the machine modules can be freely combined, via which the signals are transmitted between the machine modules.

[0033] Figure 1 A modular robot is shown, which comprises a robot base 1 , a robot arm 2 and an exchangeable (at the end) (not shown) effector having a tool, a gripper etc. arranged at the distal end 7 of the robot arm 2 .

[0034] The robot arm 2 is modular and has multiple arm modules. Figure 1In the embodiment shown, there are eight arm modules, wherein active arm modules 5 and passive arm modules 6 are distinguished from each other. The active arm modules 5 have a drive 13, by means of which the other arm modules connected thereto can be swiveled, turned and / or rotated. The passive arm modules 6, on the other hand, do not have a drive.

[0035] Here, the arm module is constructed so that it can exchange signals, energy and / or fluids with other arm modules via the first connection side or the second connection side. The first connection side is thus mechanically, optically, electrically and / or fluidically connected to the second connection side.

[0036] Figure 1 The shell of the active arm module 5 of the robot arm 2 is L-shaped, while the shell of the passive arm module 6 of the robot arm 2 is I-shaped. The active arm module 5 has a first connection side on the end side and a second connection side on the longitudinal trunk side. The two connection sides of the passive arm module 6 are respectively designed on the end side. Instead of the L-shape of the active arm module 5 or the I-shape of the passive arm module 6, other geometric shell shapes can also be used.

[0037] In addition to the robot base 1 and the actuators at the distal end 7, the arm modules are constructed so that the two connection ends of two arm modules can always be connected to each other. In other words, the first connection side of any arm module can be connected to the second connection side of any other arm module, and vice versa.

[0038] Here, the first connection side and the second connection side of the arm module each have a uniform contact profile. However, the first connection side and the second connection side of the arm module can also be designed as complementary contact profiles. In order to achieve a high degree of flexibility when assembling the arm modules, the two connection sides of the active arm module are designed to be complementary (male and female), while the two connection sides of the passive arm module are designed to be similar (male or female).

[0039] In the active arm module 5, the first connection side is designed to be controllably rotatable relative to the second connection side about the axis of rotation. Here, the first connection side can be arranged on the arm module rotatably about the axis of rotation, while the second connection side is arranged on the arm module in a torsionally fixed manner. However, the first and second connection sides can also interchange their positions.

[0040] The first connection side of the active arm module 5 is rotated by a drive device 13. The drive device 13 can be designed as an electric motor having an outer stator and an inner rotor rotatably supported around a rotation axis, wherein the rotor is connected to the first connection side in a torque-locked manner. Thus, the stator is connected to the housing in a rotationally fixed manner.

[0041] In addition, a transmission unit can be provided in the active arm module 5 so as to convert the driving speed of the motor on the input side of the transmission unit into an output speed on the output side of the transmission unit. The drive device 13 can have a hollow shaft and an output shaft. The hollow shaft and the output shaft are respectively supported rotatably around the axis of rotation, wherein the output shaft is rotatably accommodated in the hollow shaft. Subsequently, the hollow shaft is connected to the input side of the transmission unit in a torsion-proof manner. In addition, the output end of the transmission unit is connected to the output shaft in a torsion-proof manner. Subsequently, the first connection side of the active arm module 5 can be connected to the output shaft of the drive device 13 in a torsion-proof manner.

[0042] The active arm module 5 can have a rotation transmission device for signals, energy and / or fluid in the housing so that the first connection side is optically, electrically and / or fluidically connected to the second connection side. The rotation transmission device can be a slip ring device arranged between the output shaft of the drive device and the housing.

[0043] Figure 1 The robot arm 2 in the embodiment shown has six rotational degrees of freedom. In this case, the relevant arm modules of the robot arm 2 can perform any number of complete or partial rotations in two circumferential directions about the corresponding rotation axis. The corresponding rotation axis can also be designed as a swing axis or a rotation axis, i.e., the movement of the corresponding arm module is limited to a certain angle.

[0044] The arm modules or the corresponding axes of rotation of the arm modules can be equipped with sensors, the data of which can be used to control the corresponding arm modules or robot arm 2. For example, force sensors and / or torque sensors as well as position sensors can be provided, by means of which the forces and / or torques exerted on the arm modules and the position of the arm modules can be detected. This can optionally also be limited to a section or longitudinal section of the robot arm 2.

[0045] exist Figure 1 In the figure, the active arm modules 5 and the passive arm modules 6 have additional numbers separated by dots for differentiation, wherein the arm modules of the robot arm 2 are numbered starting from the robot base 1 in the direction of the distal end 7 .

[0046] exist Figure 1 In the illustrated embodiment, the first active arm module 5.1 is connected to the robot base 1 at a first connection side. The first connection side of the second active arm module 5.2 is connected to the second connection side of the first active arm module 5.1. A first passive arm module 6.1 is arranged between the second active arm module 5.2 and the third active arm module 5.3, and the first passive arm module connects the second connection side of the second active arm module 5.2 to the second connection side of the third active arm module 5.3.

[0047] The second connection side of the fourth active arm module 5.4 is connected to the first connection side of the third active arm module 5.3. The first connection side of the fourth active arm module 5.4 is connected to the second connection side of the fifth active arm module 5.5 through the second passive arm module 6.2. The second connection side of the sixth active arm module 5.6 is connected to the first connection side of the fifth active arm module 5.5, and the first connection side of the sixth active arm module constitutes the distal end 7 of the robot arm 2.

[0048] In order to use modular machines, such as Figure 1 The communication in the modular robot shown uses a so-called local area network (LAN), in which the different modules are connected to one another in terms of signal technology. The local area network LAN is designed here as a serial network, in which all modules are interconnected via a bus.

[0049] Data is exchanged on the bus in the form of datagrams, also called telegrams. A telegram consists of control data and user data. The Ethernet standard is usually used as the protocol for data exchange on the control bus, which enables telegram lengths of up to 1500 bytes and transmission speeds of up to 10 Gbit / s. However, non-Ethernet protocols can also be used, such as the CANOpen protocol.

[0050] In this case, access to the bus is organized hierarchically. The machine control unit is a server module that determines the telegram exchange on the bus. The machine function unit is a client module that does not have access to the bus. The client module can exchange data with the telegrams on the bus and acknowledge received telegrams or send telegrams to the server unit upon request.

[0051] The individual client modules of the modular machine are connected to form a chain using bus technology, wherein each client module is connected to two adjacent modules, and the first and last client module in the chain are connected to a server module. Data transmission starts from the server module in the direction of the first client module, from there to the last client module and then back to the server module.

[0052] The ring-shaped transmission path is designed as a dual channel. The transmission starts here in such a way that the telegram output from the server module is transmitted from the first client module to the last client module on the first outgoing channel, wherein when the telegram passes, each client module exchanges the required data with the telegram through the bus connection unit arranged in the client module. Then, the last client module returns the processed telegram on the second loop channel, wherein each client module only passes the telegram, and the first client module finally transmits the telegram to the server module. However, the telegram processing can also be carried out on the second loop channel instead of on the first outgoing channel. But in the following, the telegram processing based on the first outgoing channel is described.

[0053] In a dual-channel, ring-shaped transmission path, if the signal processing unit in the bus connection unit of the client module has a fixed signal processing input interface or signal processing output interface, it is necessary to connect the connection side of the client module starting from the server module in such a way as to ensure that the telegram flow is in the flow direction specified by the signal processing input interface or signal processing output interface of the signal processing unit in the bus switching unit, that is, on the first outgoing channel.

[0054] In order to be able to freely choose the arrangement of the connection side of the client modules when assembling a modular machine, each client module has a client signal coupling unit. The signal processing input interface and the signal processing output interface of the client signal processing unit of the bus connection unit are connected to the client signal coupling unit.

[0055] The client signal coupling unit is designed so that the operating mode of the client signal coupling unit is switched depending on which client module connection side is connected to the server module connection side directly or via one or more other client modules, wherein the client signal receiving unit of the client signal transmission unit on the client module connection side is connected to the signal processing input interface of the client signal processing unit, and the client signal transmitting unit of the client signal transmission unit on the other client module connection side is connected to the signal processing output interface of the client signal processing unit.

[0056] The client signal coupling unit in the bus connection unit of the client module can therefore ensure that, during modular machine assembly, regardless of how the connection sides of the client modules are arranged in the chain, a ring-shaped transmission path of dual-channel design can be formed, in which the telegram flow through the signal processing unit in the bus connection unit of the client module is ensured on the first outgoing channel.

[0057] In order to enable the client signal coupling unit in the client bus connection unit of the client module to determine which client module connection side is connected to the server module connection side directly or via one or more further client modules, additional control signal transmission may be provided in the initialization mode.

[0058] The server module is designed in such a way that in the initialization mode, the control signal is output directly on the ring-shaped transmission path or also via an additional control signal transmission path. The client signal coupling unit of the client module is designed to receive and forward the control signal, wherein the client signal coupling unit is also designed to determine on which client module connection side the control signal is received. The client module connection side thus determined is the following client module connection side, and the client signal coupling unit switches the client module connection side in the operating mode selection so that the client signal receiving unit of the client signal transmission unit of the client module connection side is connected to the signal processing input interface of the client signal processing unit.

[0059] Figure 2 The schematic diagram shows Figure 1 A possible structure of a server module or a client module of an embodiment of a modular robot in FIG. Figure 2 In the example, the basic module arrangement of the robot base 1, the active arm module 5, the passive arm module 6 and the distal end 7 is taken from Figure 1 Schematic diagram of the robot in .

[0060] The robot base 1 constitutes a server module. However, the server module can also be arranged separately from the robot base of the modular robot, for example in a switch cabinet. In addition, the server module can also be arranged at any position of the module assembly of the robot arm.

[0061] The server module has a server module connection side 11 on the server module housing 10, and the server module connection side includes a server signal transmission unit 20, and the server signal transmission unit has a server signal transmitting unit 21 and a server signal receiving unit 22. In addition, a server signal processing unit 30 is provided, wherein a signal output interface 31 of the server signal processing unit 30 is connected to the server signal transmitting unit 21, and a signal input interface 32 of the server signal processing unit 30 is connected to the server signal receiving unit 22, so as to transmit telegrams.

[0062] The server module further includes a server control signal transmission unit 23 in the server signal transmission unit 20 , and the server control signal transmission unit is connected to the control signal interface 33 of the server signal processing unit 30 .

[0063] The arm modules of the robot arm 2 represent client modules. Each arm module can be a client module. However, only the active arm module 5 can also constitute a client module. In the active arm module 5, the bus connection unit is connected to an electronic control unit for controlling the drive device 13, for example. The passive arm module 6 can be designed to have no bus connection unit of its own and can only cyclically transmit telegrams on a ring-shaped transmission path of a dual-channel design. However, the passive arm module 6 can also have its own bus connection unit, which is used to transmit, for example, geometric data or status information of the passive arm module 6 or data of a sensor system, an operator interface or other devices connected to the passive arm module to the server module.

[0064] Figure 3 1 shows a schematic diagram of a client module. Each client module has a client module housing 50 with a first client module connection side 51 including a first client signal transmission unit 60 and a second client module connection side 52 including a second client signal transmission unit 70 .

[0065] Here, the first client module connection side 51 and the second client module connection side 52 can be connected to the server module connection side or the first and second client module connection sides of another client module in order to couple the client signal transmission unit of the client module connection side of the client module with the server signal transmission unit of the server module connection side or the client signal transmission unit of the connected client module connection side of another client module in order to transmit a telegram.

[0066] Furthermore, a client bus connection unit 80 is arranged in the client module housing 50, which has a client signal coupling unit 81 and a client signal processing unit 82. The client signal processing unit 82 has a signal processing path with a signal processing input interface 821 and a signal processing output interface 822, on which a telegram is processed when it passes through.

[0067] In addition, Figure 3 As shown, in order to perform signal refresh, a signal enhancement path having a signal enhancement output interface 824 and a signal enhancement input interface 823 may also be provided in the client signal processing unit 82. However, no data exchange is performed with the telegram on the signal enhancement path in the client signal processing unit 82. However, the signal enhancement path in the client signal processing unit 82 may also be omitted. Then, the telegram is transmitted through the client signal processing unit via the client module on the loop to the server module.

[0068] The first client signal transmission unit 60 includes a first client signal receiving unit 61 and a first client signal transmitting unit 62. The second client signal transmission unit 70 includes a second client signal receiving unit 71 and a second client signal transmitting unit 72.

[0069] The first client signal transmission unit 60 has a first client control signal transmission unit 63, and the second client signal transmission unit 70 has a second client control signal transmission unit 73. Here, the first client control signal transmission unit 63 and the second client control signal transmission unit 73 can be connected to the server control signal transmission unit on the server module connection side, or to the first and second client module connection sides of another client module, so as to couple the client control signal transmission unit on the client module connection side of the client module with the server control signal transmission unit on the server module connection side or the client signal transmission unit on the connected client module connection side of another client module, so as to transmit a control signal.

[0070] The client signal coupling unit 81 has a first converter 811 and a second converter 812. The first converter 811 includes a first input switch 8111 and a first output switch 8112. The second converter 812 includes a second input switch 8121 and a second output switch 8122. The first input switch 8111, the first output switch 8112, the second input switch 8121 and the second output switch 8122 are respectively designed as 2-1 multipliers. In addition, a control signal evaluation unit 813 is also provided in the client signal coupling unit 81.

[0071] If only a signal processing path is provided in the client signal processing unit 82 without a signal enhancement path, the first converter and the second converter each have only one switch. The telegram only passes through the client signal processing unit 82 on the way out from the server module. However, on the return path to the server module, the telegram bypasses the client signal processing unit 82 in the client module.

[0072] The first and second client signal receiving and transmitting units 61, 62, 71, 72 of the first and second client signal transmission units 60 and 70, the converters 811, 812 of the client signal coupling unit 81 and the client signal processing unit 82 are connected to each other via a line network.

[0073] The first client signal receiving unit 61 is connected to a first input end of a first input switch 8111 of the first converter 811. A second input end of the first input switch 8111 of the first converter 811 is connected to the second client signal receiving unit 71. An output end of the first input switch 8111 of the first converter 811 is also connected to a signal processing input interface 821 of the client signal processing unit 82.

[0074] The second input switch 8121 of the second converter 812 is connected to the second client signal receiving unit 71 through the first input terminal, and is connected to the first client signal receiving unit 61 through the second input terminal. The output terminal of the second input switch 8121 of the second converter 812 is connected to the signal enhancement input interface 823 of the client signal processing unit 82.

[0075] The input end of the first output switch 8112 is connected to the signal enhancement output interface 824 of the client signal processing unit 82. The first client signal transmitting unit 62 is also connected to the first output end of the first output switch 8112 of the first converter 811. The second output end of the first output switch 8112 of the first converter 811 is connected to the second client signal transmitting unit 72.

[0076] The input end of the second output switch 8122 of the second converter 812 is connected to the signal processing output interface 822 of the client signal processing unit 82. The second output switch 8122 of the second converter 812 is connected to the second client signal transmitting unit 72 through the first output end, and is connected to the first client signal transmitting unit 62 through the second output end.

[0077] exist Figure 1 and Figure 2 In the robot configuration shown, in the active arm module 5 the first connection side is arranged on the longer L-shaped housing section and the second connection side is arranged on the shorter L-shaped housing section. In the I-shaped passive arm module 6, the first and second connection sides are located at the ends of the housing.

[0078] like Figure 2 As shown in the schematic diagram, the server module connection side 11 of the robot base 1 is connected to the first connection side of the first active arm module 5.1. The second connection side of the first active arm module 5.1 is connected to the first connection side of the second active arm module 5.2. The second connection side of the second active arm module 5.2 is in contact with the first connection side of the first passive arm module 6.1.

[0079] The second connection side of the passive arm module 6.1 is connected to the second connection side of the third active arm module 5.3. The first connection side of the third active arm module 5.3 is in contact with the second connection side of the fourth active arm module 5.4. The first connection side of the fourth active arm module 5.4 is connected to the first connection side of the second passive arm module 6.2.

[0080] The second connection side of the passive arm module 6.2 is connected to the second connection side of the fifth active arm module 5.5. The first connection side of the fifth active arm module 5.1 is coupled to the second connection side of the sixth active arm module 5.6, and the first connection side of the sixth active arm module 5.6 forms the distal end 7 of the robot arm.

[0081] If only the active arm module 5 is designed as a client module with a bus connection unit, the first connection side 51 of the first active arm module 5.1 and the second active arm module 5.2 can be connected directly or through an intermediately connected arm module to the server module connection side 11 of the robot base 1. In the third active arm module 5.3, the fourth active arm module 5.4, the fifth active arm module 5.5 and the sixth active arm module 5.6, the second connection side 52 is coupled to the server module connection side 11 of the robot base 1 through the intermediately connected arm module.

[0082] The client signal coupling unit 81 of the client bus connection unit 80 has two operating modes, which are set by a first and a second converter 811 , 812 each having two 2-1 multipliers.

[0083] In the first operating mode, the client signal coupling unit 81 couples the first client signal receiving unit 61 to the signal processing input interface 821 of the client signal processing unit 82 through the first and second converters 811 and 812, and couples the second client signal transmitting unit 72 to the signal processing output interface 822 of the client signal processing unit 82.

[0084] Here, the first input end of the first input switch 8111 of the first converter 811 is switched to the output end of the first input switch 811 of the first converter 811 so as to connect the first client signal receiving unit 61 to the signal processing input interface 821 of the client signal processing unit 82 .

[0085] In addition, the input end of the second output switch 8122 of the second converter 812 is connected to the first output end of the second output switch 8122 of the second converter 812 so as to connect the signal processing output interface 822 of the client signal processing unit 82 to the second client signal transmitting unit 72 .

[0086] Further, in the second input switch 8121 of the second converter 812 , the first input end is connected to the output end, so as to transfer the second client signal receiving unit 71 to the signal enhancement input interface 823 of the client signal processing unit 82 .

[0087] The input end of the first output switch 8112 is connected to the first output end of the first output switch 8112 , and is used to switch the signal enhancement output interface 824 of the client signal processing unit 82 to the first client signal transmitting unit 62 .

[0088] In the second operating mode of the client signal coupling unit 81, the second client signal receiving unit 71 is connected to the signal processing input interface 821 of the client signal processing unit 82 via the first and second converters 811, 812, and the first client signal transmitting unit 62 is connected to the signal processing output interface 822 of the client signal processing unit 82.

[0089] Here, the second input end of the first input switch 8111 of the first converter 811 is switched to the output end of the first input switch 811 of the first converter 811 so as to connect the second client signal receiving unit 71 to the signal processing input interface 821 of the client signal processing unit 82.

[0090] In addition, the input end of the second output switch 8122 of the second converter 812 is connected to the second output end of the second output switch 8122 of the second converter 812 so as to connect the signal processing output interface 822 of the client signal processing unit 82 to the first client signal transmitting unit 62 .

[0091] Further, in the second input switch 8121 of the second converter 812 , the second input end is connected to the output end, so as to transfer the first client signal receiving unit 61 to the signal enhancement input interface 823 of the client signal processing unit 82 .

[0092] The input end of the first output switch 8112 is connected to the second output end of the first output switch 8112 , and is used to transfer the signal enhancement output interface 824 of the client signal processing unit 82 to the second client signal transmitting unit 72 .

[0093] In order to allow the telegram to pass through the modular robot, the operating mode of each active arm module 5 is set so that the telegram reaches the first outgoing channel of the dual-channel designed transmission path in the modular robot through the client signal processing unit 82 in the client bus connection unit of the active arm module.

[0094] On the second loop channel, the processed telegram circulates through the client signal processing unit 82 of the active arm module 5 for signal refreshing. However, no data exchange is performed with the telegram in the client signal processing unit 82.

[0095] Therefore, the client signal coupling unit 81 in the first active arm module 5.1 and the second active arm module 5.2 is in the first operating mode, in which the telegram is transmitted from the first client module connection side 51 to the second client module connection side 52 through the first outgoing path. In the third active arm module 5.3, the fourth active arm module 5.4, the fifth active arm module 5.5 and the sixth active arm module 5.6, the client signal coupling unit 81 of the corresponding active arm module is in the second operating mode, so that when the telegram passes through, the first outgoing path extends from the second client module connection side 52 to the first client module connection side 51.

[0096] Data transmission in the modular robot is implemented in such a way that the server signal processing unit 30 of the robot base 1 sends a telegram through the server signal transmitting unit 21. Then, the telegram passes through the first active arm module 5.1, the second active arm module 5.2, the first passive arm module 6.1, the third active arm module 5.3, the fourth active arm module 5.4, the second passive arm module 6.2, the fifth active arm module 5.5 and the sixth active arm module 5.6 in sequence.

[0097] Here, during transmission, the telegram is processed by the client signal processing unit 82 of the active arm module 5, while the telegram is merely circulated in the passive arm module 6. However, as mentioned above, the passive arm module 6 can also be equipped with a bus connection unit so that the telegram can be processed during transmission if necessary.

[0098] After the sixth active arm module 5.6 processes the telegram, it feeds back the telegram to the server signal receiving unit 22 of the robot base 1. Figure 3 As shown, the telegram can pass through the client signal processing unit 82 of the active arm module 5 for signal refreshing. However, no data exchange is performed with the telegram in the client signal processing unit 82. That is, the telegram passes through all arm modules between the sixth active arm module 5.6 and the arm module on the robot base 1 without being processed.

[0099] As a result, the client signal coupling unit 81 in the client module can determine which client module connection side is connected to the server module connection side directly or via one or more other client modules, and an additional initialization mode is provided, in which the client signal coupling unit 81 of each client module determines whether to switch the client signal coupling unit 81 to the first or second operating mode in order to perform telegram processing on the first outgoing channel when the telegram passes through the dual-channel, ring-shaped transmission path.

[0100] Thus, the client signal coupling unit 81 in the client module can determine which client module connection side is connected to the server module connection side via one or more mutually connected client modules, and output a control signal from the server signal processing unit 30 to the connected client modules via the server control signal transmission unit 23 in the initialization mode. Then, the client control signal transmission unit coupled to the server control signal transmission unit 23 receives the control signal in the first client module connected to the server module, and forwards it to the client signal coupling unit 81 in the client module.

[0101] The client signal coupling unit 81 is designed to determine whether the client control signal transmission unit that received the control signal is located on the first client module connection side 51 or the second client module connection side 52. The client module coupling unit 81 then adjusts the operating mode for transmitting telegrams so that the client module connection side that received the control signal is the client module connection side whose client signal receiving unit is connected to the signal processing input interface 821 of the client signal processing unit 82.

[0102] After the client signal coupling unit 82 evaluates the control signal, the control signal is forwarded via the client control signal transmission unit on the client connection side that did not receive the control signal to the next client module, which then performs a corresponding evaluation in order to determine the client module connection side for receiving the telegram on the first outgoing channel.

[0103] exist Figure 3 In the modular robot design shown, the transmission and evaluation of the control signals takes place on a separate control line arrangement. The control signals are sent from the server signal processing unit 30 of the robot base 1 to the server control signal transmission unit 23 via a control signal interface 33 .

[0104] Then, the first active arm module 5.1 receives the control signal via the first client control signal transmission unit 63 and forwards it to the control signal evaluation unit 813 of the client signal coupling unit 81 for control signal evaluation. The control signal evaluation unit 813 determines that the first client signal transmission unit 62 has received the control signal, and then the first and second converters 811, 812 of the client signal coupling unit 81 are set to a first operating mode, in which the first client signal receiving unit 61 is connected to the signal processing input interface 821 of the client signal processing unit 82, and the second client signal transmitting unit 72 is connected to the signal processing output interface 822 of the client signal processing unit 82.

[0105] Then, the client control signal evaluation unit 813 of the first active arm module 5.1 applies the control signal to the second client control signal transmission unit 73, so that the second active arm module 5.2 can receive the control signal through the first client control signal transmission unit 63. Then, the second active arm module 5.2 evaluates the control signal accordingly, and then adjusts the operation mode, which is still the first operation mode, and then forwards the control signal. All downstream active arm modules will perform corresponding operations, and thus set the operation mode of the client signal coupling unit 81.

[0106] Here, the control signal can be a simple high or low level signal. As an alternative to a separate control signal transmission device, the control signal can also be directly connected to the ring-shaped telegram transmission path, so that no additional control signal transmission device is required. The control signal evaluation unit 813 of the client module is then connected to the first client signal receiving unit 61 and the second client signal receiving unit 71 on the receiving side, and to the first client signal transmitting unit 61 and the second client signal transmitting unit 71 on the output side.

[0107] In the above description, it is assumed that only the active arm module 5 has a bus connection. If the passive arm module 6 also has a bus connection, the passive arm module operates similarly to the active arm module.

[0108] Relative to Figure 3 The embodiment of the client signal coupling unit 81 shown with a 2-1 multiplier as a converter can also provide for other embodiments of the operating mode setting. It is also possible that in the operating mode setting of the client signal coupling unit 81, it is also possible to additionally indicate on the client module at which client module connection side a telegram is received in the first outgoing channel of the ring-shaped transmission path of the dual-channel design.

[0109] Furthermore, the client module may also have more than two client module connection sides, wherein the number of operating modes of the client signal coupling unit corresponds to the number of connection sides. The client signal coupling unit is then designed such that, regardless of which client module connection side is connected to the server module connection side directly or via one or more further client modules, the client signal receiving unit of this server module connection side is always coupled to the signal processing input interface of the client signal processing unit.

[0110] List of Reference Numerals

[0111] 1 Robot base

[0112] 2 Robotic Arm

[0113] 5 Active arm module

[0114] 5.1 First active arm module

[0115] 5.2 Second active arm module

[0116] 5.3 Third active arm module

[0117] 5.4 Fourth active arm module

[0118] 5.5 Fifth active arm module

[0119] 5.6 Sixth active arm module

[0120] 6 Passive arm module

[0121] 6.1 First passive arm module

[0122] 6.2 Second passive arm module

[0123] 7 Remote

[0124] 10 Server module housing

[0125] 11 Server module connection side

[0126] 13. Drive device

[0127] 20 Server signal transmission unit

[0128] 21 Server signal transmission unit

[0129] 22 Server signal receiving unit

[0130] 23 Server control signal transmission unit

[0131] 30 Server signal processing unit

[0132] 31 Signal output interface

[0133] 32 signal input interface

[0134] 33 Control signal interface

[0135] 50 Client module housing

[0136] 51 First client module connection side

[0137] 52 Second client module connection side

[0138] 60 First client signal transmission unit

[0139] 61 first client signal receiving unit

[0140] 62 first client signal transmitting unit

[0141] 63 first client control signal transmission unit

[0142] 70 Second client signal transmission unit

[0143] 71 Second client signal receiving unit

[0144] 72 Second client signal transmitting unit

[0145] 73 Second client control signal transmission unit

[0146] 80 Client bus connection unit

[0147] 81 Client signal coupling unit

[0148] 811 First Converter

[0149] 8111 First input switch

[0150] 8112 First output switch

[0151] 812 Second Converter

[0152] 8121 Second input switch

[0153] 8122 Second output switch

[0154] 813 Control signal evaluation unit

[0155] 82 Client signal processing unit

[0156] 821 Signal Processing Input Interface

[0157] 822 Signal processing output interface

[0158] 823 Signal Enhancement Input Interface

[0159] 824 Signal enhancement output interface.

Claims

1. A modular machine automation system comprising a server module (1) and a plurality of client modules (5), in, The server module (1) comprises a server module housing (10) having a server module connection side (11) and a server signal processing unit (30), wherein the server module connection side has a server signal transmission unit (20), and the server signal transmission unit has a server signal transmitting unit (21) and a server signal receiving unit (22). The signal output interface (31) of the server signal processing unit (30) is connected to the server signal transmitting unit (21), and the signal input interface (32) of the server signal processing unit (30) is connected to the server signal receiving unit (22) so as to transmit signals. Each client module (5) comprises a client module housing (50), the client module housing having a first client module connection side (51), a second client module connection side (52) and a client bus connection unit (80), the first client module connection side having a first client signal transmission unit (60) having a first client signal transmission unit (61) and a first client signal receiving unit (62), the second client module connection side having a second client signal transmission unit (70) having a second client signal transmission unit (71) and a second client signal receiving unit (72), the client bus connection unit (80) having a client signal coupling unit (81) and a client signal processing unit (82), The signal processing input interface (821) and the signal processing output interface (822) of the client signal processing unit (82) are connected to the client signal coupling unit (81). The client signal coupling unit (81) is connected to the first client signal transmitting unit (61), the first client signal receiving unit (62), the second client signal transmitting unit (71) and the second client signal receiving unit (72). The client signal coupling unit (81) couples the first client signal receiving unit (61) with the signal processing input interface (821) of the client signal processing unit (82) and couples the second client signal transmitting unit (72) with the signal processing output interface (822) of the client signal processing unit (82) in a first operating mode, and couples the second client signal receiving unit (71) with the signal processing input interface (821) of the client signal processing unit (82) and couples the first client signal transmitting unit (62) with the signal processing output interface (822) of the client signal processing unit (82) in a second operating mode, so as to transmit signals. The first and second client module connection sides (51, 52) of each client module are respectively connected to the server module connection side or the first and second client module connection sides of another client module, so that the client signal transmission unit of the client module connection side of the client module is coupled to the server signal transmission unit of the server module connection side of the other client module or the client signal transmission unit of the connected client module connection side to transmit signals. And wherein, the client signal coupling unit (81) in the client bus connection unit (80) of the client module is designed to determine in an initialization mode which client module connection side is connected to the server module connection side directly or via one or more other client modules, so as to switch to a first operating mode when the first client module connection side (51) is coupled to the server module connection side directly or via one or more other client modules, and to switch to a second operating mode when the second client module connection side (52) is coupled to the server module connection side directly or via one or more other client modules.

2. The modular machine automation system according to claim 1, wherein: The server signal transmission unit (20) has a server control signal transmission unit (23), the first client signal transmission unit (60) has a first client control signal transmission unit (63), and the second client signal transmission unit (70) has a second client control signal transmission unit (73), wherein the server control signal transmission unit (23) is connected to the server signal processing unit (30), and the first and second client control signal transmission units (63, 73) are connected to the client signal coupling unit (81), wherein in an initialization mode, the server signal processing unit (30) is designed to output a control signal, and the client signal coupling unit (81) is designed to receive and forward a control signal, wherein the client signal coupling unit (81) is further designed to determine from which client signal transmission unit the control signal is received, so as to determine the client module connection side connected to the server module connection side directly or via one or more other client modules as the client module connection side including the client signal transmission unit that received the control signal.

3. The modular machine automation system according to claim 2, wherein: The control signal is a high or low level signal.

4. The modular machine automation system according to any one of claims 1 to 3, wherein: The client signal coupling unit (81) has a first converter (811) and a second converter (812), wherein the first converter and the second converter each include at least one 2-1 multiplier.

5. The modular machine automation system according to claim 4, wherein: The client signal processing unit (82) has a signal enhancement circuit, and the signal enhancement circuit has a signal enhancement output interface (824) and a signal enhancement input interface (823), wherein the first converter (811) includes a first input switch (8111) and a first output switch (8112), and the second converter (812) includes a second input switch (8121) and a second output switch (8122), wherein the first input end of the first input switch (8111) is connected to the first client signal receiving unit (61), the second input end of the first input switch (8111) is connected to the second client signal receiving unit (71), and the output end of the first input switch (8111) is connected to the signal processing input interface (821) of the client signal processing unit (82), wherein the first input end of the second input switch (8121) is connected to the second client signal receiving unit (71), and the second input end of the second input switch (8121) is connected to the second client signal receiving unit (71). The first client signal receiving unit (61) is connected, and the output end of the second input switch (8121) is connected to the signal enhancement input interface (823) of the client signal processing unit (82), wherein the input end of the first output switch (8112) is connected to the signal enhancement output interface (824) of the client signal processing unit (82), the first output end of the first output switch (8112) is connected to the first client signal transmitting unit (62), and the second output end of the first output switch (8112) is connected to the second client signal transmitting unit (72), and wherein the input end of the second output switch (8122) is connected to the signal processing output interface (822) of the client signal processing unit (82), the first output end of the second output switch (8122) is connected to the second client signal transmitting unit (72), and the second output end of the second output switch (8122) is connected to the first client signal transmitting unit (62).

6. The modular machine automation system according to any one of claims 1 to 5, wherein: The modular machine automation system is designed as a modular robot (10) having a robot arm, wherein the robot arm is composed of a plurality of arm modules, wherein one or more arm modules respectively form a client module (5).

7. The modular machine automation system according to claim 6, wherein: The modular machine automation system is designed as a modular robot (10), wherein a plurality of arm modules are active arm modules and passive arm modules, wherein the active arm modules each have a drive device (13), by means of which other arm modules connected thereto can be swung, turned and / or rotated.

8. The modular machine automation system according to claim 7, wherein: The modular machine automation system is designed as a modular robot (10), wherein in an active arm module, a first connection side is designed to be controllably rotatable relative to a second connection side around a rotation axis, wherein the first connection side is rotatably mounted on the arm module around the rotation axis, and the second connection side is arranged on the arm module in a torsionally fixed manner.

9. The modular machine automation system according to claim 8, wherein: The active arm module has a rotational transmission device for signals, energy and / or fluids, in order to connect the first connection side optically, electrically and / or fluidically to the second connection side.

10. A client module for use in a modular machine automation system according to any one of claims 1 to 9.

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