Modular machine automation system and client module

Abstract

A modular machine automation system comprises a server module and a plurality of client modules. Each client module includes a client module housing with a first client module connection side, which includes a first client signal transfer unit with a first client signal transmitter and a first client signal receiver; a second client module connection side, which includes a second client signal transfer unit with a second client signal transmitter and a second client signal receiver; and a client bus connection unit.A 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 a server module connection side directly or via one or more additional client modules, in order 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.

Description

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

[0002] The goal of automation technology (implementation, measurement, control / regulation, communication, human-machine interface, safety, etc.) is to enable machines to operate autonomously without human intervention. The degree of automation (the ratio of automated production steps to all production steps) in a machine is higher the more independent the machine is from human intervention. Automation technology aims to relieve humans of dangerous, strenuous, or monotonous tasks, improve machine quality, increase machine performance, and / or reduce machine costs.

[0003] Robots are an integral part of industrial automation. A robot is a programmable machine for handling, assembling, or processing workpieces. A robot generally comprises a robot base, a robot arm (manipulator) with multiple proximal (towards the robot base) and distal (away from the robot base) arm segments that can pivot and rotate relative to each other, an (end) effector (robot hand, tool, gripper, etc.), and a controller. When programmed, the robot is capable of autonomously performing a work process or modifying the execution of a task based on information from sensors, which are typically located on the robot.

[0004] For communication in automation technology, the so-called Local Area Network (LAN) is most commonly used. This is a spatially limited network in which the various network participants are interconnected wirelessly, optically, electrically, and / or optoelectronically. The LAN is often designed as a serial network, with all network participants interconnected via a bus.

[0005] Data exchange on the bus is often carried out in the form of datagrams, also known as telegrams. These telegrams consist of control data and user data. The Ethernet standard is generally used as the protocol for controlling data exchange on the bus, enabling telegrams up to 1500 bytes in length at a high transmission rate of up to 10 Gbit / sec.

[0006] The participants on the bus are generally divided into server units and client units. Server units are the control units that have bus access authorization and determine the data transfer on the bus. The server units are therefore the source of the telegrams sent and circulated over the bus. Client units are machine devices or fieldbus devices that do not have bus access authorization; that is, they may only acknowledge received telegrams or transmit telegrams to the server unit upon request. Client units can read data from and / or write data to telegrams circulating on the bus. For data exchange between client units and circulating telegrams, the client units often use a specific area within the telegrams that is assigned to them by the respective server units.

[0007] The bus of the machine automation system often has a ring structure, in which the individual client units are connected to a line along the transmission path. Each client unit is connected to two neighbors, and the first and last client units in the ring are connected to the server unit. The connection between the last client unit and the server unit can be established either via a return path through the described line via all previous client units and / or via a direct connection between the last client unit and the server unit.

[0008] Machines, and especially robots, are increasingly being built modularly. Standardized machine parts enable simplified assembly and expansion. Uniform module interfaces also significantly reduce the coupling effort.

[0009] In modular machines that include multiple drive axes controlled via a serial bus system, the drive axes are often distributed across different modules. Each machine module then houses an actuator, for example a servo drive, including an adjustment unit (e.g., a motor) and a bus interface unit.

[0010] To enable the machine modules to be interconnected via the bus, they are designed such that signals can be exchanged with another module across at least two connection sides. Since the signal processing unit in the bus interface of the machine modules often has a fixed signal processing input interface or signal processing output interface, it is necessary to connect the connection sides of the machine client modules in a specific sequence, starting from the machine server module, to ensure the desired signal flow through the signal processing unit in the bus interface of the machine client modules.

[0011] It is often desirable to be able to assemble the machine client modules in a freely selectable arrangement of the connection sides in order to achieve a specific machine configuration or functionality. For example, in modular robots, the module housings are often L-shaped with a short and a long cylindrical housing section, each with a connection side at its end. The reach of the robot arm can then be determined by arranging the long and short module housing sections. However, the inclusion of a serial bus system with a bus interface unit in the robot arm modules, whose signal processing unit has a fixed signal processing input interface and signal processing output interface, prevents such individual assembly.

[0012] WO 2021 / 013913 A1 describes a modular robot with a server module and arm modules, where one connection side is designed to be rotatable relative to another connection side. The modular robot also includes a serial bus for transmitting data signals.

[0013] A switching of transmission channels is known from DE 199 58 893 A1.

[0014] The object of the invention is to provide a modular automation system, in particular a modular robot with a serial bus, in which a server module and a plurality of client modules can be arranged freely, even if the signal processing unit in the client modules prescribes a fixed signal processing input interface or signal processing output interface.

[0015] The task is solved using a modular automation system according to the independent claims. Further developments are specified in the dependent claims.

[0016] A modular machine automation system comprises a server module and multiple client modules. The server module includes a housing with a connection panel containing a signal transmission unit (STU) and a signal reception unit (SHR), as well as a signal processing unit (SPU). A signal output interface of the SPU is connected to the STU, and a signal input interface of the SPU is connected to the SHR for signal transmission.Each client module comprises a client module housing with a first client module connection side, which includes a first client signal transfer unit with a first client signal transmitter and a first client signal receiver; a second client module connection side, which includes a second client signal transfer unit with a second client signal transmitter and a second client signal receiver; and a client bus connection unit, which includes a client signal coupling unit and a client signal processing unit. A signal processing input interface and a 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 transmitter, the first client signal receiver, the second client signal transmitter, and the second client signal receiver.In a first operating mode, the client signal coupling unit couples the first client signal receiving unit with a signal processing input interface of the client signal processing unit and the second client signal transmitting unit with a signal processing output interface of the client signal processing unit, and in a second operating mode, the second client signal receiving unit with the signal processing input interface of the client signal processing unit and the first client signal transmitting unit with the signal processing output interface of the client signal processing unit in order to transmit signals.The first and second client module connection sides of each client module can each 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 transfer unit of the client module connection side of the client module with the server signal transfer unit of the server module connection side or the client signal transfer unit of the connected client module connection side of the other client module in order to transmit signals.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, in order to switch to the 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 the 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.

[0017] The client signal coupling unit in the client module allows for freely selectable arrangement of the connection sides of the client modules when assembling the 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 during assembly of the modular machine, a two-channel, ring-shaped transmission path is formed. This ensures that the signal passes through the signal processing unit in the bus connection unit of the client modules in the desired sequence on one of the two channels.

[0018] In the modular machine automation system, the server signal transfer unit can have a server control signal transfer unit, the first client signal transfer unit can have a first client control signal transfer unit, and the second client signal transfer unit can have a second client control signal transfer unit. The server control signal transfer unit is connected to the server signal processing unit, and the first and second client control signal transfer units are connected to the client signal coupling unit.In the initialization mode, the server signal processing unit is configured to output a control signal, and the client signal coupling unit is configured to receive and forward the control signal, the client signal coupling unit being further configured to determine from which of the client signal transmission units the control signal was received, in order to designate the client module connection side, which is connected to the server module connection side directly or via one or more other client modules, as the client module connection side that includes the client signal transmission unit on which the control signal was received.

[0019] With the additional control signal transmission in an 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 other client modules.

[0020] The control signal can be a high-low level signal, which allows for a simple design of the control signal transmission.

[0021] The client signal coupling device can have a first switch and a second switch, each comprising at least one 2-1 multiplexer. This design allows for easy switching between the first and second operating modes.

[0022] The client signal processing unit can have a signal amplification path with a signal processing input interface and a signal amplification input interface. The first switch then includes a first input switch and a first output switch, and the second switch then includes a second input switch and a second output switch. A first input of the first input switch is connected to the first client signal receiving unit, a second input of the first input switch is connected to the second client signal receiving unit, and an output of the first input switch is connected to the signal processing input interface of the client signal processing unit.The first input of the second input switch is connected to the second client signal receiver, the second input of the second input switch is connected to the first client signal receiver, and the output of the second input switch is connected to a signal amplification input interface of the client signal processing unit. The first input of the first output switch is connected to a signal amplification output interface of the client signal processing unit, the first output of the first output switch is connected to the first client signal transmitter, and the second output of the first output switch is connected to the second client signal transmitter.One input of the second output switch is connected to the signal processing output interface of the client signal processing unit, one output of the second output switch is connected to the second client signal transmitter unit, and one output of the second output switch is connected to the first client signal transmitter unit.

[0023] The signal amplification path in the client signal processing unit allows for signal refreshment of the processed telegram on the return path channel, whereby the design of the client signal coupling unit ensures that, regardless of how the connection sides of the client modules are arranged in the chain when assembling the modular machine, the signal amplification path through the signal processing unit in the bus connection unit of the client modules is ensured on the return path channel.

[0024] The modular machine automation system can be designed as a modular robot, with a robot arm consisting of a plurality of arm modules, each of which forms a client module.

[0025] Most arm modules can be divided into active and passive arm modules, with the active arm modules each having a drive unit that allows another, connectable arm module to be swiveled, rotated, and / or turned. This design enables a robot arm that is particularly easy and flexible to assemble.

[0026] In the active arm module, the first connection side can be designed to be rotatably controlled relative to the second connection side about a rotational axis, with the first connection side being rotatable about the rotational axis on the arm module and the second connection side being fixed to the arm module. The active arm module can include a rotational transmission device for signals, energy, and / or fluid to connect the first connection side optically, electrically, and / or fluidically to the second connection side.

[0027] The above possible design of the active arm module ensures essentially unlimited rotation of the first connection side.

[0028] The figures show: Fig. 1. A modular robot in a three-dimensional side view; Fig. 2 a schematic representation of the modular robot made of Fig. 1; and Fig. 3 A schematic representation of a client module.

[0029] The drawing shows only those spatial sections of an object of the invention that are necessary for an understanding of the invention.

[0030] The invention is explained in more detail below using a modular robot as an example. Although the invention is described and illustrated in more detail by the embodiment shown, the invention is not limited to the disclosed embodiment but is of a more fundamental nature. The invention can, in principle, be used in modular machines controlled by automation systems in which a bus interface unit is arranged in individual machine modules. The signal processing unit of this bus interface has a fixed signal processing input interface or signal processing output interface, and the connection sides of the machine modules, through which signals are transmitted between machine modules, can be freely combined.

[0031] Fig. Figure 1 shows a modular robot comprising a robot base 1, a robot arm 2 and an interchangeable (end) effector (not shown) with a tool, gripper, etc., located at a distal end 7 of the robot arm 2.

[0032] The robot arm 2 is modular with a plurality of arm modules - in the embodiment shown in Fig. 1 eight arm modules are assembled, distinguishing between active arm modules 5 and passive arm modules 6. An active arm module 5 has a drive unit 13 by means of which another arm module that can be connected to it can be pivoted, turned and / or rotated. A passive arm module 6, on the other hand, does not have a drive unit.

[0033] The arm modules are designed such that signals, energy, and / or fluids can be exchanged with the next arm module via the first or second connection side. The first connection side is mechanically, optically, electrically, and / or fluidically connected to the second connection side.

[0034] The active arm modules 5 of the robot arm 2 in Fig. The active arm modules 1 have an L-shaped housing, whereas the housing of the passive arm modules 6 of the robot arm 2 has an I-shape. The active arm modules 5 each have a first connection side on the end face and a second connection side along the side of the body. Both connection sides of the passive arm module 6 are located on the end face. Instead of an L-shape for the active arm module 5 or an I-shape for the passive arm module 6, other geometric housing shapes are also applicable.

[0035] With the exception of the robot base 1 and the effector at the distal end 7, the arm modules are designed such that two ports of any two arm modules can always be connected together. That is, the first port of any arm module can be connected to the second port of any other arm module, and vice versa.

[0036] The first and second connection sides of the arm module each have a uniform contact mechanism. However, it is also possible to design the first and second connection sides of the arm module with complementary contact mechanisms. To achieve greater flexibility in assembling the arm modules, for example, the two connection sides of the active arm modules are complementary (male and female), whereas the two connection sides of the passive arm modules are analogous (male or female).

[0037] In the active arm module 5, the first connection side is designed to be rotatable relative to the second connection side about a rotational axis. The first connection side can be configured to rotate about this axis on the arm module, while the second connection side is fixed to the arm module. Alternatively, the first and second connection sides can also be swapped positions.

[0038] The first connection side of the active arm module 5 is rotated by the drive unit 13. The drive unit 13 can be designed as an electric motor with an outer stator and an inner rotor mounted to rotate about the axis of rotation, the rotor being torque-locked to the first connection side. The stator is then rotationally fixed to the housing.

[0039] Furthermore, a gearbox unit can be provided in the active arm module 5 to convert the input speed of the electric motor at the input side of the gearbox unit into an output speed at the output side of the gearbox unit. The drive unit 13 can then have a hollow shaft and an output shaft. The hollow shaft and the output shaft are each rotatably mounted about the axis of rotation, with the output shaft being rotatably received within the hollow shaft. The hollow shaft is then non-rotatably connected to the input side of the gearbox unit. The output side of the gearbox unit is also non-rotatably connected to the output shaft. The first connection side of the active arm module 5 can then be non-rotatably connected to the output shaft of the drive unit 13.

[0040] The active arm module 5 can incorporate a rotary transmission device for signals, energy, and / or fluid within its housing to connect the first connection side optically, electrically, and / or fluidically to the second connection side. The rotary transmission device can be a slip ring assembly arranged between the output shaft of the drive unit and the housing.

[0041] The robot arm 2 in the Fig. The embodiment shown in Figure 1 has six rotational degrees of freedom. This allows for any number of complete and partial rotations of a corresponding arm module of the robot arm 2 in both circumferential directions of a corresponding rotational axis. It is also possible to configure a respective rotational axis as a pivot axis or rotary axis, i.e., to restrict the movement of the corresponding arm module to a specific angle.

[0042] Sensors can be assigned to an arm module or a specific rotation axis of the arm module, and their data can be used to control the corresponding arm module or the robot arm 2. For example, a force and / or torque sensor and a position sensor can be provided, which can detect a force and / or torque acting on the arm module as well as its position. This can optionally be limited to a section or a longitudinal end section of the robot arm 2.

[0043] In the Fig. 1 The active arm modules 5 and the passive arm modules 6 are each distinguished by an additional number separated by a dot, with the arm modules of the robot arm 2 being numbered starting from the robot base 1 in the direction of the distal end 7.

[0044] In the embodiment in Fig. A first active arm module 5.1 is connected to the robot base 1 at its first connection side. The first connection side of a 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 a third active arm module 5.3, connecting 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.

[0045] The first connection side of the third active arm module 5.3 is connected to the second connection side of a fourth active arm module 5.4. The first connection side of the fourth active arm module 5.4 is connected via a second passive arm module 6.2 to the second connection side of a fifth active arm module 5.5. The second connection side of a sixth active arm module 5.6 is connected to the first connection side of the fifth active arm module 5.5, the first connection side of which then forms the distal end 7 of the robot arm 2.

[0046] For communication in modular machines, such as the modular robot that is used in Fig. As shown in Figure 1, so-called Local Area Networks (LANs) are used, in which the various modules are interconnected via signal transmission. The LAN is designed as a serial network, with all modules connected via a bus.

[0047] Data exchange on the bus is carried out in the form of datagrams, also known as telegrams. These telegrams consist of control data and user data. The Ethernet standard is generally used as the protocol for controlling data exchange on the bus, enabling telegrams up to 1500 bytes in length at a high transmission rate of up to 10 Gbit / sec. However, it is also possible to use non-Ethernet-based protocols such as the CANopen protocol.

[0048] Access to the bus is hierarchically organized. The machine control units are the server modules that manage the telegram traffic on the bus. The machine function units are the client modules, which do not have bus access rights. The client modules can exchange data via telegrams on the bus, acknowledge received telegrams, or transmit telegrams to the server unit upon request.

[0049] The individual client modules of the modular machine are connected via a bus system to form a chain, with each client module being connected to the server module along with two neighbors: the first and last client modules in the chain. Data transmission occurs in one direction, from the server module to the first client module, then to the last client module, and finally back to the server module.

[0050] The ring-shaped transmission path is designed with two channels. Transmission occurs as follows: the telegram issued by the server module is forwarded on a first outbound channel from the first client module to the last client module. Each client module uses its integrated bus interface to perform the desired data exchange with the telegram as it passes through. The last client module then feeds the processed telegram back onto a second return channel. Each client module then simply forwards the telegram, and the first client module finally transmits the telegram to the server module. It is also possible for telegram processing to take place on the second return channel instead of the first outbound channel. However, the following discussion assumes that the first outbound channel telegram processing occurs.

[0051] In a two-channel ring-shaped transmission path, if the signal processing unit in the bus connection unit of the client modules has a fixed signal processing input interface or signal processing output interface, the connection sides of the client module from the server module must be connected in such a way that the telegram transmission is ensured in the direction specified by the signal processing input interface or the signal processing output interface of the signal processing unit in the bus connection unit, i.e. on the first outbound channel.

[0052] To allow for freely selectable arrangement of the client module's connection sides during assembly of the 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 then connected to the client signal coupling unit.

[0053] The client signal coupling unit is designed such that, depending on which client module connection side is connected to the server module connection side directly or via one or more further client modules, an operating mode of the client signal coupling unit is switched in which the client signal receiving unit of the client signal transfer unit of this client module connection side is connected to a signal processing input interface of the client signal processing unit, whereas the client signal transmitting unit of the client signal transfer unit of the further client module connection side is connected to the signal processing output interface of the client signal processing unit.

[0054] 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 during the assembly of the modular machine, a two-channel ring-shaped transmission path is formed, in which the telegram passage through the signal processing unit in the bus connection unit of the client modules is ensured on the first outbound channel.

[0055] In order for 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 other client modules, an additional control signal transmission may be provided in an initialization mode.

[0056] The server module is designed to output a control signal in initialization mode, either directly on the ring-shaped transmission path or via an additional control signal transmission path. The client signal coupling unit of the client modules is then designed to receive and forward the control signal. Furthermore, the client signal coupling unit is designed to determine on which of the client module connection sides the control signal was received. The client module connection side thus determined is the one that the client signal coupling unit switches during operating mode selection, connecting the client signal receiving unit of the client signal transmission unit of the client module connection side to a signal processing input interface of the client signal processing unit.

[0057] One possible structure of the server module or client modules of a modular machine is shown for the embodiment of the modular robot made of Fig. 1 in a schematic representation in Fig. 2 shown. This is in Fig. 2 of the robot representation in Fig. 1 the basic module arrangement consisting of robot base 1, active arm modules 5 and passive arm modules 6 as well as distal end 7 was adopted.

[0058] The robot base 1 forms the server module. However, the server module can also be located separately from the robot base of the modular robot, for example, in a control cabinet. Furthermore, the server module can be positioned at any point within the module arrangement of the robot arm.

[0059] The server module has a server module connection side 11 on a server module housing 10, which comprises a server signal transfer unit 20 with a server signal transmitter unit 21 and a server signal receiver unit 22. Furthermore, 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 transmitter unit 21 and a signal input interface 32 of the server signal processing unit 30 is connected to the server signal receiver unit 22 for transmitting telegrams.

[0060] The server module further includes in the server signal transfer unit 20 a server control signal transfer unit 23, which is connected to a control signal interface 33 of the server signal processing unit 30.

[0061] The arm modules of robot arm 2 represent the client modules. Each arm module can be a client module. However, only the active arm modules 5 can also constitute the client modules. In the active arm module 5, the bus interface unit is then connected, for example, to an electronic control unit for controlling the drive unit 13. The passive arm modules 6 can be designed without their own bus interface unit and simply pass the telegrams through on the two-channel, ring-shaped transmission path. However, the passive arm modules 6 can also have their own bus interface unit to transmit, for example, geometric data or status information from the passive arm modules 6, or data from sensors, an operator interface, or other devices connected to the passive arm modules to the server module.

[0062] Fig. Figure 3 shows a client module in schematic representation. Each client module has a client module housing 50 with a first client module connection side 51, which includes a first client signal transfer unit 60, and a second client module connection side 52, which includes a second client signal transfer unit 70.

[0063] 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 transfer unit of the client module connection side of the client module with the server signal transfer unit of the server module connection side or the client signal transfer unit of the connected client module connection side of the other client module in order to transmit telegrams.

[0064] The client module housing 50 also contains a client bus connection unit 80, which includes 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 the telegram is processed as it passes through.

[0065] Additionally, as in Fig. Figure 3 shows that a signal amplification path with a signal amplification output interface 824 and a signal amplification input interface 823 is provided in the client signal processing unit 82 to perform signal refresh. However, no data exchange with the telegram takes place on the signal amplification path in the client signal processing unit 82. Alternatively, a signal amplification path in the client signal processing unit 82 can be omitted. In this case, the telegram is routed past the client signal processing unit on its return path to the server module via the client modules.

[0066] The first client signal transfer unit 60 comprises a first client signal receiving unit 61 and a first client signal transmitting unit 62. The second client signal transfer unit 70 comprises a second client signal receiving unit 71 and a second client signal transmitting unit 72.

[0067] The first client signal transfer unit 60 has a first client control signal transfer unit 63, and the second client signal transfer unit 70 has a second client control signal transfer unit 73. The first client control signal transfer unit 63 and the second client control signal transfer unit 73 can be connected to the server control signal transfer unit of the server module connection side or to the first and second client module connection sides of another client module in order to couple the client control signal transfer unit of the client module connection side of the client module with the server control signal transfer unit of the server module connection side or the client signal transfer unit of the connected client module connection side of the other client module in order to transmit control signals.

[0068] The client signal coupling unit 81 comprises a first switch 811 and a second switch 812. The first switch 811 includes a first input switch 8111 and a first output switch 8112. The second switch 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 each configured as 2-1 multiplexers. Furthermore, a control signal evaluation unit 813 is provided in the client signal coupling unit 81.

[0069] If only one signal processing path and no signal amplification path is provided in the client signal processing unit 82, the first and second switches can each only have a single switch. The telegram is then only routed through the client signal processing unit 82 on its outbound journey from the server module.

[0070] On the return journey to the server module, the telegram bypasses the client signal processing unit 82 in the client module.

[0071] The first and second client signal reception and transmission units 61, 62, 71, 72 of the first and second first client signal transfer units 60, 70, the switches 811, 812 of the client signal coupling unit 81 and the client signal processing unit 82 are interconnected via a network of lines.

[0072] The first client signal receiving unit 61 is connected to a first input of the first input switch 8111 of the first changeover switch 811. A second input of the first input switch 8111 of the first changeover switch 811 is connected to the second client signal receiving unit 71. An output of the first input switch 8111 of the first changeover switch 811 is further connected to the signal processing input interface 821 of the client signal processing unit 82.

[0073] The second input switch 8121 of the second switch 812 is connected via a first input to the second client signal receiving unit 71 and via a second input to the first client signal receiving unit 61. An output of the second input switch 8121 of the second switch 812 is connected to the signal amplification input interface 823 of the client signal processing unit 82.

[0074] One input of the first output switch 8112 is connected to the signal amplification output interface 824 of the client signal processing unit 82. The first client signal transmitter unit 62 is further connected to a first output of the first output switch 8112 of the first changeover switch 811. A second output of the first output switch 8112 of the first changeover switch 811 is connected to the second client signal transmitter unit 72.

[0075] One input of the second output switch 8122 of the second changeover switch 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 changeover switch 812 is connected with a first output to the second client signal transmitter unit 72 and with a second output to the first client signal transmitter unit 62.

[0076] At the in Fig. 1 and Fig. In the robot setup shown in Figure 2, the first connection side of the active arm module 5 is located on the long housing section of the L-shape, and the second connection side is located on the short housing section of the L-shape. In the passive arm module 6 with the I-shape, the first and second connection sides are located at the housing ends.

[0077] As the schematic representation in Fig. Figure 2 shows that 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 contacts the first connection side of the first passive arm module 6.1.

[0078] The second terminal of the passive arm module 6.1 is connected to the second terminal of the third active arm module 5.3. The first terminal of the third active arm module 5.3 connects to the second terminal of the fourth active arm module 5.4. The first terminal of the fourth active arm module 5.4 is connected to the first terminal of the second passive arm module 6.2.

[0079] 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 couples to the second connection side of the sixth active arm module 5.6. The first connection side of the sixth active arm module 5.6 forms the distal end 7 of the robot arm.

[0080] Assuming that only the active arm modules 5 are configured as client modules with a bus connection unit, the first connection sides 51 of the first active arm module 5.1 and the second active arm module 5.2 are connected to the server module connection side 11 of the robot base 1 directly or via intermediate arm modules. For 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 via the intermediate arm modules.

[0081] The client signal coupling unit 81 of the client bus connection unit 80 has two operating modes, which are set by the first and second switches 811, 812, each of which has two 2-1 multiplexers.

[0082] In the first operating mode, 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 the second client signal transmitting unit 72 with the signal processing output interface 822 of the client signal processing unit 82 via the first and second switches 811, 812.

[0083] The first input of the first input switch 8111 of the first changeover switch 811 is connected to the output of the first input switch 811 of the first changeover switch 811 in order to connect the first client signal receiving unit 61 to the signal processing input interface 821 of the client signal processing unit 82.

[0084] Furthermore, the input of the second output switch 8122 of the second changeover switch 812 is connected to the first output of the second output switch 8122 of the second changeover switch 812 in order to connect the signal processing output interface 822 of the client signal processing unit 82 to the second client signal transmitting unit 72.

[0085] Furthermore, in the second input switch 8121 of the second changeover switch 812, the first input is connected to the output in order to switch the second client signal receiving unit 71 to the signal amplification input interface 823 of the client signal processing unit 82.

[0086] The input of the first output switch 8112 is coupled to the first output of the first output switch 8112 to switch the signal amplification output interface 824 of the client signal processing unit 82 to the first client signal transmitting unit 62.

[0087] 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 point 821 of the client signal processing unit 82 and the first client signal transmitting unit 62 is connected to the signal processing output interface 822 of the client signal processing unit 82 via the first and second switches 811, 812.

[0088] The second input of the first input switch 8111 of the first changeover switch 811 is connected to the output of the first input switch 811 of the first changeover switch 811 in order to connect the second client signal receiving unit 71 to the signal processing input interface 821 of the client signal processing unit 82.

[0089] Furthermore, the input of the second output switch 8122 of the second changeover switch 812 is connected to the second output of the second output switch 8122 of the second changeover switch 812 in order to connect the signal processing output interface 822 of the client signal processing unit 82 to the first client signal transmitting unit 62.

[0090] Furthermore, in the second input switch 8121 of the second changeover switch 812, the second input is connected to the output in order to switch the first client signal receiving unit 61 to the signal amplification input interface 823 of the client signal processing unit 82.

[0091] The input of the first output switch 8112 is coupled to the second output of the first output switch 8112 to switch the signal amplification output interface 824 of the client signal processing unit 82 to the second client signal transmitting unit 72.

[0092] For the telegram to pass through the modular robot, the operating mode in the individual active arm modules 5 is set so that the telegram is sent to the client signal processing units 82 in the client bus connection unit of the active arm module on the first outbound channel of the two-channel transmission path in the modular robot.

[0093] On the second return channel, the processed telegram is then passed through the client signal processing unit 82 of the active arm modules 5 for signal refresh. However, no data exchange with the telegram takes place in the client signal processing units 82 during this process.

[0094] The client signal coupling unit 81 in the first active arm module 5.1 and in the second active arm module 5.2 is in the first operating mode, in which the telegram traverse on the first outbound channel runs from the first client module connection side 51 to the second client module connection side 52. 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 the first outbound channel during the telegram traverse runs from the second client module connection side 52 to the first client module connection side 51.

[0095] Data transmission in the modular robot is carried out as follows: The server signal processing unit 30 of the robot base 1 issues a telegram via the server signal transmission unit 21. The telegram then passes sequentially 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.

[0096] The telegram is processed in transit by the client signal processing units 82 of the active arm modules 5, whereas the telegram is only passed through the passive arm modules 6. As explained, however, it is also possible to equip the passive arm modules 6 with bus connection units in order to perform telegram processing in transit if necessary.

[0097] After the telegram has been processed by the sixth active arm module 5.6, it is then fed back to the server signal receiving unit 22 of the robot base 1. The telegram can be processed as described in Fig. Figure 3 shows that the client signal processing units 82 of the active arm modules 5 each pass through for a signal refresh. However, no data exchange with the telegram takes place in the client signal processing units 82. From a data perspective, the telegram therefore passes through all the channels between the sixth active arm module 5.6 and the arm modules located at the robot base 1 without any processing.

[0098] In order for the client signal coupling unit 81 in the client modules to determine which client module connection side is connected to the server module connection side directly or via one or more further client modules, the additional initialization mode is provided, in which the client signal coupling unit 81 of the respective client module determines whether the client signal coupling unit 81 is to be switched to the first or second operating mode in order to enable telegram processing on the first outbound channel during telegram transit on the two-channel ring-shaped transmission path.

[0099] In order for the client signal coupling unit 81 in the client module to determine which client module connection side is connected to the server module connection side via one or more intermediate client modules, a control signal is output to the connected client modules from the server signal processing unit 30 via the server control signal transfer unit 23 in initialization mode. The control signal is then received in the first client module connected to the server module by the client control signal transfer unit coupled to the server control signal transfer unit 23 and forwarded to the client signal coupling unit 81 in the client module.

[0100] The client signal coupling unit 81 is then designed to determine whether the client control signal transfer unit, at which the control signal was received, 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 sets the operating mode for telegram transit such that the client module connection side at which the control signal was received 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.

[0101] After the client signal coupling unit 82 has evaluated the control signal, the control signal is then forwarded via the client control signal transfer unit on the client connection side where the control signal was not received to the next client module, which then performs a corresponding evaluation to determine the client module connection side for telegram reception on the first outbound channel.

[0102] At the in Fig. In the modular robot design shown in Figure 3, the control signal transmission and evaluation take place on a separate control line arrangement. The control signal is applied from the server signal processing unit 30 of the robot base 1 to the server control signal transfer unit 23 via the control signal interface 33.

[0103] The first active arm module 5.1 then 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 detects that the first client signal transmission unit 62 has received the control signal and then sets the first and second switches 811, 812 of the client signal coupling unit 81 to the 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.

[0104] The client control signal evaluation unit 813 of the first active arm module 5.1 then applies the control signal to the second client control signal transmission unit 73, whereupon the second active arm module 5.2 receives the control signal from the first client control signal transmission unit 63. The second active arm module 5.2 then performs the corresponding evaluation of the control signal and sets the operating mode, in this case the first operating mode, and then forwards the control signal. All downstream active arm modules proceed accordingly and thus set the operating mode of the client signal coupling unit 81.

[0105] The control signal can be a simple high-low level signal. Alternatively, instead of a separate control signal transmission arrangement, the control signal can also be applied directly to the ring-shaped telegram transmission path, thus eliminating the need for the additional control signal transmission arrangement. The control signal evaluation unit 813 of the client module is then connected on the receiving side to the first client signal receiving unit 61 and the second client signal receiving unit 71, and on the output side to the first client signal transmitting unit 61 and the second client signal transmitting unit 71.

[0106] The preceding explanations assumed that only the active arm modules 5 have a bus connection. If the passive arm modules 6 also have a bus connection, the passive arm modules will be operated analogously to the active arm modules.

[0107] Alternatively to the Fig.In the configuration shown in Figure 3 of the client signal coupling unit 81 with 2-1 multiplexers as switches, other configurations of the operating mode setting are also possible. It is also possible that, in addition to the operating mode setting of the client signal coupling unit 81, the client module may also indicate on which client module connection side telegrams are being received on the first outbound channel of the dual-channel ring-shaped transmission path.

[0108] Furthermore, the client module can also have more than two client module connection sides, in which case 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 of the client module connection sides is connected to the server module connection side directly or via one or more other client modules, the client signal receiving unit of that server module connection side is always coupled to the signal processing input interface of the client signal processing unit. Reference symbol list 1 robot base 2 robot arms 5 active arm module 5.1 First active arm module 5.2 Second active arm module 5.3 Third active arm module 5.4 fourth active arm module 5.5 fifth active arm module 5.6 sixth active arm module 6 passive arm module 6.1 First passive arm module 6.2 Second passive arm module 7 distal end 10 server module enclosures 11 Server module connection side 13 Drive unit 20 Server signal transfer unit 21 Server signal transmission unit 22 Server signal receiving unit 23 Server control signal transfer unit 30 Server signal processing unit 31 Signal output interface 32 Signal input interface 33 Control signal interface 50 client module housings 51 first client module connection page 52 second client module connection side 60 first client signal transfer unit 61 first client signal receiving unit 62 first client signal transmission unit 63 first client control signal transfer unit 70 second client signal transfer unit 71 second client signal receiving unit 72 second client signal transmitter unit 73 Second client control signal transfer unit 80 Client bus connection unit 81 Client signal coupling unit 811 first switch 8111 first input switch 8112 first output switch 812 second switch 8121 second input switch 8122 second output switch 813 Control signal evaluation unit 82 Client signal processing unit 821 Signal Processing Input Interface 822 Signal Processing Output Interface 823 Signal Gain Input Interface 824 Signal Gain Output Interface

Claims

[1] Modular machine automation system with a server module (1) and a plurality of client modules (5), wherein the server module (1) comprises a server module housing (10) with a server module connection side (11) having a server signal transfer unit (20) with a server signal transmitting unit (21) and a server signal receiving unit (22), and a server signal processing unit (30), 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) in order to transmit signals, wherein each client module (5) comprises a client module housing (50) with a first client module connection side (51) having a first client signal transfer unit (60) with a first client signal transmitting unit (61) and a first client signal receiving unit (62), a second client module connection side (52) having a second client signal transfer unit (70) with a second client signal transmitting unit (71) and a second client signal receiving unit (72), and a client bus connection unit (80) having a client signal coupling unit (81) and a client signal processing unit (82), wherein a signal processing input interface (821) and a signal processing output interface (822) of the client signal processing unit (82) are connected to the client signal coupling unit (81), wherein 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), wherein the client signal coupling unit (81) in a first operating mode couples the first client signal receiving unit (61) to a signal processing input interface (821) of the client signal processing unit (82) and the second client signal transmitting unit (72) to a signal processing output interface (822) of the client signal processing unit (82), and in a second operating mode couples the second client signal receiving unit (71) to the signal processing input interface (821) of the client signal processing unit (82) and the first client signal transmitting unit (62) to the signal processing output interface (822) of the client signal processing unit (82) in order to transmit signals, wherein the first and second client module connection sides (51, 52) of each client module are each connectable to the server module connection side or the first and second client module connection side of a further client module in order to couple the client signal transfer unit of the client module connection side of the client module to the server signal transfer unit of the server module connection side or the client signal transfer unit of the connected client module connection side of the further client module in order 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 further client modules, in order to switch to the 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 further client modules, and to switch to the 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 further client modules. [2] Modular machine automation system according to claim 1, wherein the server signal transfer unit (20) comprises a server control signal transfer unit (23), the first client signal transfer unit (60) comprises a first client control signal transfer unit (63) and the second client signal transfer unit (70) comprises a second client control signal transfer unit (73), wherein the server control signal transfer unit (23) is connected to the server signal processing unit (30) and the first and second client control signal transfer units (63, 73) are connected to the client signal coupling unit (81), wherein in the 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 the control signal, wherein the client signal coupling unit (81) is further designed to determine from which of the Client signal transfer units the control signal was received,to designate the client module connection side that is connected to the server module connection side directly or via one or more other client modules as the client module connection side that includes the client signal transfer unit with the client signal transfer unit on which the control signal was received. [3] Modular machine automation system according to claim 2, wherein the control signal is a high-low level signal. [4] Modular machine automation system according to one of claims 1 to 3, wherein the client signal coupling device (81) comprises a first switch (811) and a second switch (812), each comprising at least one 2-1 multiplexer. [5] Modular machine automation system according to claim 4, wherein the client signal processing unit (82) has a signal amplification path with a signal amplification output interface (824) and a signal amplification input interface (823), wherein the first changeover switch (811) comprises a first input switch (8111) and a first output switch (8112) and the second changeover switch (812) comprises a second input switch (8121) and a second output switch (8122), wherein a first input of the first input switch (8111) is connected to the first client signal receiving unit (61), a second input of the first input switch (8111) is connected to the second client signal receiving unit (71), and an output of the first input switch (8111) is connected to the signal processing input interface (821) of the client signal processing unit (82), wherein a first input of the second input switch (8121) with the second client signal receiving unit (71),a second input of the second input switch (8121) is connected to the first client signal receiving unit (61) and an output of the second input switch (8121) is connected to a signal amplification input interface (823) of the client signal processing unit (82), wherein an input of the first output switch (8112) is connected to a signal amplification output interface (824) of the client signal processing unit (82), a first output of the first output switch (8112) is connected to the first client signal transmitting unit (62) and a second output of the first output switch (8112) is connected to the second client signal transmitting unit (72), and wherein an input of the second output switch (8122) is connected to the signal processing output interface (822) of the client signal processing unit (82),a first output of the second output switch (8122) is connected to the second client signal transmitting unit (72) and a second output of the second output switch (8122) is connected to the first client signal transmitting unit (62). [6] Modular machine automation system according to one of claims 1 to 5, designed as a modular robot (10) with a robot arm consisting of a plurality of arm modules, wherein one or more arm modules each form a client module (5). [7] Modular machine automation system according to claim 6, designed as a modular robot (10), wherein the 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 a further arm module connectable thereto can be pivoted, turned and / or rotated. [8] Modular machine automation system according to claim 7, designed as a modular robot (10), wherein in the active arm module the first connection side is designed to be controllably rotatable about a rotation axis relative to the second connection side, wherein the first connection side is arranged on the arm module so as to be rotatable about the rotation axis and the second connection side is arranged on the arm module so as to be fixed in rotation. [9] Modular machine automation system according to claim 8, wherein the active arm module comprises a rotation transmission device for signals, energy and / or fluid to optically, electrically and / or fluidically connect the first connection side to the second connection side.

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