Connection device for modular components

Abstract

A component connection device comprising: a first sleeve connected to a first component; a locking mechanism external to the first sleeve having a plunger which operates to protrude through an opening in a side wall of the first sleeve and extend into the interior of the first sleeve; a second sleeve connected to a second component and dimensioned to fit within the first sleeve, a side wall of the second sleeve having an opening aligned with the side wall opening of the first sleeve and the plunger of the locking mechanism when the second sleeve is fully inserted into the first sleeve; and a first cable block with electrical connection devices in the first sleeve and a second cable block with corresponding matching electrical connection devices in the second sleeve; wherein, when the second sleeve is fully inserted into the first sleeve, the locking mechanism operates to cause the plunger to move into the second sleeve sidewall opening to firmly connect the first and second sleeves together, and the electrical connection devices of the first sleeve and the mating electrical connection devices of the second sleeve form an electrical connection through which power and data can be transferred between the first and second components.

Description

Cross-reference to related applications

[0001] This application claims priority from U.S. Provisional Application Serial No. 63 / 527,843, filed July 20, 2023, and U.S. Application Serial No. 18 / 774,457, filed July 16, 2024, the disclosures of which are incorporated herein by reference in their entirety. Field of the invention

[0002] The present invention relates generally to modular components and, more particularly, to a connector device configured to connect various modular components for a desired application. Background of the invention

[0003] Due to a shortage of skilled workers and the fact that a high number of employees is associated with high costs, companies today are increasingly using service robots to improve their efficiency and accuracy and reduce labor costs.

[0004] Indeed, the use of service robots in various workplaces has increased dramatically in recent years, and the resulting increase in productivity and workplace safety has led to increasing demand and an expansion of the market for such robots. Many companies spend considerable time and money developing robots tailored to meet a specific need in a specific industry. However, first-generation robots, designed for a narrowly defined application area, such as performing a single, repetitive task, are often limited in their scope and usefulness. Other disadvantages of such first-generation robots include the following: a) the high cost of developing service robots, which makes them unaffordable for most companies – for example, it takes an average of 3.5 years and $35 million to develop a mobile, autonomous service robot; b) Service robots are designed for a specific application and are not configurable; c) Robots may only function satisfactorily when connected to the Internet; and d) most robots are reactive, which limits their applicability.

[0005] Today, robots are typically developed from scratch for a specific application, one model at a time. New hardware and software are developed for each new application. This method is costly, time-consuming, and inefficient. However, there is a need in industry for modular autonomous robots that can be customized and optimized to perform any task in virtually any industry.

[0006] Modular robots consist of interchangeable components, allowing for flexible configuration depending on the desired application. Efficient and secure connections between these components are critical for optimal function. The present disclosure addresses this need with the connection device described herein. Summary of the invention

[0007] The modular system connector described herein provides an innovative solution for efficient and secure connections between modular components. Its unique locking mechanisms and integrated electrical connectors enhance the overall performance of modular systems by enabling the seamless transfer of power and data between adjacent modular components.

[0008] In one embodiment, the connector is a modular connector that includes connectors for high-speed data transmission, low-speed data transmission, and power. High-speed connections are critical for managing data-intensive functionality, such as video and audio streams. Low-speed connections can be used to manage data for non-intensive functionality, such as sensor and motor data. However, not every connector needs to support every possible functionality. Instead, each connector can include only the connectors necessary for its specific module (or submodules). For example, a connector for a motorized arm module may not include a high-speed connector if the arm only requires low-speed motor data.Similarly, a connector for a head module may not include a low-speed data connector if the head module only needs high-speed data for its display, speakers, and camera. A torso connector will likely require all types of connectors, as it must pass data and power to all the modules to which it may connect.

[0009] The connector also features an electrical solenoid locking system to ensure a secure, continuous connection. When locked, solenoids in the socket cause a plunger to slide into corresponding grooves in the plug, connecting the two connectors. The solenoids can be configured as a fail-safe, fail-secure, or memory locking mechanism.

[0010] Electrical or mechanical means of overriding the solenoids may also be provided. The locking and unlocking of the solenoids can be intelligently controlled by the robot's logic or microprocessor module. This intelligent locking capability also makes it possible to restrict the ability to lock / unlock the connectors to known users with a certain level of authorization. In other embodiments, the locking and unlocking of the connectors can be controlled by a mobile app or some type of intelligent timer managed by the robot.

[0011] The connector may also be equipped with transponders or microchips that can transmit firmware or lower-level information about the connector. When two connectors connect to each other, the transponder(s) of a first connector can communicate with the transponder(s) of the other connector. Such communication can propagate from one connector to the other until it reaches the robot's intelligent base. Information transmitted by the transponders can include: the locked / unlocked status of the connector, the identity of the module to which the connector is attached, functions available to the module, data / power requests to the module, and an alive signal or fault alarm for the module.The transponders can communicate via a Serial Peripheral Interface (SPI) or any other known low-level serial communication protocol.

[0012] To achieve these and other objectives, embodiments of the invention of this disclosure utilize smart connector technology in robots to enable a modular structure that can be assembled quickly and at low production cost to customize a service robot for a particular industry or application. It will be appreciated that the connector devices according to embodiments of the present invention can be used in a variety of modular systems and are not limited to modular robotic systems. Such modular systems may include, for example, modular computing systems, for example, where an input module is connected to a processing module, which in turn is connected to an output module. In this manner, any input modules (e.g., keyboard, mouse, camera, etc.) may be connected to any different processing modules (e.g., different processors, memory, etc.).), which in turn can be connected to any output device (e.g. screen, audio output, RF output, wireless output, etc.).

[0013] In one embodiment, the present invention relates to a connection system comprising: a first connection device for connecting a first module to a second module; a second connection device for connecting the second module to a third module, wherein the second connection device includes connection functionality for the third module and the first connection device includes connection functionality for both the second and the third module.

[0014] In another embodiment, the present invention relates to a component connection device comprising: a first component having a first cable block with electrical terminals, and a second component having a second cable block with corresponding mating electrical terminals; a locking mechanism operative to mechanically connect the first component and the second component, wherein the locking mechanism operative to connect the electrical terminals of the first cable block to the electrical terminals of the second cable block to enable the transmission of power and data between the first and second components.

[0015] In another embodiment, the present invention relates to a modular robot having a plurality of interchangeable modules, the robot comprising: a first module having an internal sleeve; a locking mechanism external to the internal sleeve of the first module, and a plunger of the locking mechanism penetrating through an opening in the side wall of the internal sleeve; a second module having an externally extending sleeve dimensioned to fit within the first sleeve, wherein a side wall of the externally extending sleeve has an opening aligned with the side wall of the first sleeve and the plunger of the locking mechanism when the externally extending sleeve is fully inserted into the internal sleeve of the first module;and a first cable block with electrical connection devices in the internal sleeve of the first module and a second cable block with corresponding mating electrical connections in the externally extending sleeve of the second module; wherein, when the externally extending sleeve of the second module is fully inserted into the internal sleeve of the first module, the locking mechanism operates to cause the plunger to move into the sidewall openings of the internal and external sleeves and hold the sleeves together, and the electrical connection devices of the sleeves form an electrical connection through which power and data can be transferred between the modules.;

[0016] In another embodiment, the present invention relates to a component connection device comprising: a first sleeve connected to a first component; a locking mechanism external to the first sleeve having a plunger operative to protrude through an opening in a sidewall of the first sleeve and extend into the interior of the first sleeve; a second sleeve connected to a second component and sized to fit within the first sleeve, wherein a sidewall of the second sleeve has an opening aligned with the sidewall opening of the first sleeve and the plunger of the locking mechanism when the second sleeve is fully inserted into the first sleeve; and a first cable block having electrical connection devices in the first sleeve and a second cable block having corresponding mating electrical connection devices in the second sleeve;wherein, when the second sleeve is fully inserted into the first sleeve, the locking mechanism operates to cause the plunger to move into the second sleeve sidewall opening to firmly connect the first and second sleeves together, and the electrical connection devices of the first sleeve and the mating electrical connection devices of the second sleeve form an electrical connection through which power and data can be transferred between the first and second components.; Short description of the drawings

[0017] The various aspects and embodiments disclosed herein will be better understood when taken in conjunction with the accompanying drawings, wherein like reference numerals refer to like components. To clarify certain aspects of the present application, certain preferred embodiments are illustrated in the drawings. It should be understood, however, that the application is not limited to the precise arrangement, structures, features, embodiments, aspects, and devices shown, and that the illustrated arrangements, structures, features, embodiments, aspects, and devices may be used alone or in combination with other arrangements, structures, features, embodiments, aspects, and devices. The drawings are not necessarily to scale and are not intended to limit the scope of this invention in any way, but are provided solely to illustrate disclosed embodiments of the invention.In these drawings:. Fig. 1 is a diagram of a pair of mating connectors in an unconnected (unlocked) state; Fig. Figure 2 is a diagram of a pair of mating connectors with an inner sleeve fully inserted into an upper sleeve, but with the locking mechanism in an unlocked state; Fig. 3 is a block diagram showing the inclined surface of a locking mechanism in one embodiment of a connector device; Fig. 4 is a diagram of a pair of mating connectors with an inner sleeve fully inserted into an upper sleeve and the locking mechanism in the locked state; Fig. Figure 5 is a close-up view of the connections between cable blocks in the mating terminal devices; Fig. Figure 6 is a diagram of a modular connection device; Fig. Figure 7A is a cross-sectional view of two connector devices locked together in position; Fig. 7B is a perspective view of the exterior of the locked connection devices in Fig. 7A is; Fig. Figure 8 is a block diagram showing the use of connectors in one embodiment of a modular robot; The Fig. 9A-G show various features and advantages of the connecting device disclosed herein; Fig. 10 shows an exemplary embodiment of the power and control of solenoids in an intelligent locking system; Fig. 11 shows another exemplary embodiment of the power and control of solenoids in an intelligent locking system; Fig. 12 exemplary message paths in a modular robot and Fig. Shows 13 exemplary cable routing and module connections in a modular robot. Detailed description of the invention

[0018] Persons of ordinary skill in the art will readily recognize that the connecting devices according to the present invention are applicable and can be used in many different scenarios; one advantageous application is in modular robots for safely, quickly, and efficiently coupling different modules to one another according to the requirements of a particular application. It is understood that the connecting devices according to embodiments of the present invention can be used in a variety of modular systems and are not limited to modular robot systems. Such modular systems may, for example, include modular computing systems in which, for example, an input module is connected to a processing module, which in turn is connected to an output module. In this way, any input modules (e.g., keyboard, mouse, camera, etc.) can be connected to any different processing modules (e.g.,different processors, memory, etc.), which in turn can be connected to any output device (e.g. display, audio output, RF output, wireless output, etc.).

[0019] According to one embodiment of the connector devices according to the present invention, each of a pair of mating connector devices is equipped with a transponder, a sleeve, a base or flange and a cable block. Fig. 1 shows such an embodiment with an upper connector (socket) 10 and a lower connector (plug) 50. The designation of the upper connector 10 as a socket and the lower connector 50 as a plug is not static, and alternative designations are also conceivable. Here, the upper connector 10 is equipped with an upper transponder 15, and the lower connector 50 is equipped with a lower transponder 55. The transponders 15, 55 include small microchips or microcontrollers capable of performing firmware-level or lower-level communication with their respective connector when connected to a transponder of another connector.

[0020] The upper and lower connectors 10, 50 are further equipped with an upper sleeve 20 and a lower sleeve 70, respectively. In this embodiment, the upper connector 10 is a female connector, and thus the upper sleeve 20 is entirely housed within an upper housing 30 of its associated module. Conversely, since the lower connector 50 is a male connector in this embodiment, the lower sleeve 70 and the lower cable block 77 extend below the lower housing 80 of its associated module. In other embodiments, the sleeves may be fluted or have a notch or the like to ensure correct alignment of the connection.

[0021] The upper and lower connecting devices 10, 50 are additionally provided with an upper flange 65 and a lower flange 75, respectively. The upper flange 65 or the lower flange 75 hold the connecting device in position and are located in the upper and lower housings 30, 80, respectively.

[0022] An upper cable block 57 and a lower cable block 77 are also positioned in the upper and lower connectors 10, 50, respectively. The cable blocks 57, 77 contain all power and data cables that must be connected for the associated modules to function. The cable blocks 57, 77 can include USB, HDMI, CAN bus, or other types of data or power cables.

[0023] Fig. 2 shows the upper and lower terminal devices 10, 50 in the engaged state, with the lower sleeve 70 fully inserted into the upper sleeve 20. Here, the upper terminal device 10 includes at least one solenoid assembly 25 secured to the upper sleeve 20 by a clip or the like. When the terminal devices 10, 50 are engaged, i.e., when the lower sleeve 70 is fully inserted into the upper sleeve 20, a plunger 27 of the solenoid assembly 25 can extend outwardly to protrude through an opening in the sidewall of the upper sleeve 20 and engage a correspondingly aligned groove in the lower sleeve 70 to physically secure the terminal devices 10, 50 to one another. The plunger 27 can also be retracted from the groove in the lower sleeve 70 and the opening in the upper sleeve 20 to allow separation of the terminal devices 10, 50. Fig. 2 shows the connecting devices in unlocked state with retracted plungers 27, while Fig. 4 shows the connecting devices in the locked state, with the plungers 27 extended to engage the groove in the lower sleeve 70.

[0024] In this way, the solenoid assembly 25 and its plunger 27 function as a locking or unlocking mechanism. The locking / unlocking mechanism may also include an electrical means to prevent power and / or data from flowing through the connectors.

[0025] The solenoid assembly 25 (and plunger 27) can be configured as a fail-safe, fail-secure, or memory locking mechanism. In a fail-safe configuration (power is required to insert the plungers and lock the mechanism), the terminal devices are normally unlocked (when no power is available), while in a fail-secure configuration (power is required to remove the plungers and unlock the mechanism), the terminal devices are normally locked (when no power is available).

[0026] In a fail-safe embodiment, a separate traditional mechanical or electrical interlock may also be included to prevent unwanted or unsafe disconnection. In the case of a modular robot, such a mechanical or electrical interlock could, for example, prevent unwanted detachment of the head or another modular component of the robot. Examples of mechanical interlocks that can be integrated into the connector include a clamp, a buckle, or a traditional key-and-lock connection along the exterior of the connector.

[0027] In a fail-safe embodiment, it may be desirable to provide a relay, switch, or the like to enable emergency electrical shutdown even while the cable blocks remain physically connected. Some embodiments may also include a mechanical override of the locking mechanism so that a modular robot, for example, can be disassembled without power. Additionally, a mechanical override may also be provided for robot assembly. Since the connectors are locked by default in a fail-safe configuration, each module may be automatically locked before being attached to the robot. In this case, a means of opening the solenoid must be provided to allow connection of the connectors.In an alternative embodiment, the power / control connection to the system or solenoid may be loose, allowing connection without fully unlocking the connection device.

[0028] In some embodiments, a switch or relay and an associated control mechanism may also be provided to turn the flow of power and / or data on or off at the user's request or to operate in emergency situations. For example, if a modular component is configured as "fail-safe," meaning connections are locked by default, it may be desirable to turn off power in the event of a power surge while simultaneously leaving the cables connected.

[0029] A memory locking embodiment functions similarly to a traditional key-lock connection, in which the solenoid remains in its current locked or unlocked state until explicitly changed. That is, like a conventional lock, the solenoid remains locked until unlocked, and then remains unlocked until locked again.

[0030] Fig. Figure 3 shows an alternative embodiment in which the solenoid plunger has a chamfered or inwardly tapered surface that allows a fail-safe solenoid to physically secure the upper and lower sleeves together while de-energized. This can occur by having the lower sleeve 70 physically push against the tapered surface of the solenoid plunger, causing the plunger 27 to retract while the lower sleeve moves upward until it is fully inserted, at which time the solenoid plunger snaps or engages the grooves in the lower sleeve. The solenoid assembly now has power and control and is able to properly utilize the intelligent locking system. In this embodiment, the solenoid is fail-safe; that is, it is in a locked position when no power is applied.The sloped structure of the lower sleeve 70 allows the connecting devices to slide into position even without power. Once connected, the plunger engages, and then power can flow through the system due to the connection of the upper and lower cable blocks.

[0031] With reference again to the Fig. 2 and Fig. 4 shows that an upper transponder 15 can be mounted on either the left or right side of the upper sleeve 20, while a single lower transponder 55 is mounted only on one side of the lower sleeve 70. When the lower sleeve 70 is fully inserted into the upper sleeve 20, the lower transponder 55 is aligned with one of the upper transponders 15. Fig. 2 and Fig. 4 show the lower sleeve 70 fully inserted into the upper sleeve 20, with the lower transponder 55 adjacent to and aligned with the upper right transponder 15. Since only a single transponder 55 is located on the lower sleeve 70, the connector devices 10, 50 are able to track their relative orientation by detecting whether the lower transponder 55 is connected to the upper right or upper left transponder 15.

[0032] In addition, the Fig. 2 and Fig. 4, when the upper and lower connectors 10, 50 engage, the cable blocks 57, 77, which contain power and data cables, are also connected. This is the main connection for the exchange of data and power between modules.

[0033] Fig. Figure 5 shows the connections between the cable blocks 57, 77 in a detailed view. In some embodiments (not shown), the cable blocks can be designed to be rotationally symmetrical, allowing them to be connected to each other regardless of their respective orientation. Within the cable blocks, the cables can be connected to each other similarly to conventional electrical cords or connectors.

[0034] The cable blocks can also be designed as modular connectors. Modular connectors offer a high degree of connectivity and manufacturing flexibility. With a modular connector, numerous types of connections, including electrical, optical, signal, and gas connections, can be integrated into a single assembly. Fig. Figure 5 shows an exemplary embodiment in which the modular connector includes an HDMI connection. Whether the cable blocks include connections for Ethernet, USB, CAN bus, or others, all can be integrated into a standard modular connector. Manufacturers of commercially available modular connectors include Samtec, Han-modular, and Staubli. An example of a conventional modular connector is shown in Fig. 6 shown.

[0035] Fig. Figure 7A shows a cross-sectional view of the interconnected connectors 10, 50. It can be seen that when the connectors are fully engaged and interlocked, all of their components are housed in the upper and lower housings 30, 80 of the associated module. Therefore, in the connected state, as shown in Fig. 7B, the connection devices themselves are not visible or exposed.

[0036] In an embodiment of the modular robot system as in Fig. As shown in Figure 8, the connectors 10, 50 can be used to connect a head module 810 and a torso module 820, and, for example, also a torso module 820 and a base module 830. In the illustrated embodiment, a first lower plug 50 on the base 830 is aligned with a first upper socket 10 in the torso module 820, and a second lower plug 50 on the torso module 820 is aligned with a second upper socket 10 in the head module 810. The respective plugs and sockets 50, 10 slide together, and when connected, little to nothing of each connector is visible from outside the robot. In alternative embodiments, the connectors can engage each other at various angles.

[0037] The Fig. 9A-D show another embodiment of the connecting devices used in a modular robot assembly. Fig. Figure 9A shows plugs and sockets 910, 920 that are connected to each other without being attached to a module. Fig. 9A, the plug 910 is analogous to the above-mentioned lower plug 50, while the socket 920 is analogous to the above-mentioned upper socket 10. The wire harness 930 attached to the plug 910 is analogous to the wire blocks 57, 77 described above; except that the wire harness 930 is bent at a right angle where the wires exit the connection point. The housings 940 for the terminal devices are analogous to the sleeves 20, 70 described above. Transponders (not shown) can be integrated into this embodiment in the same manner as described above. A locking tongue 950 enables snap-on connection of the terminal devices and is analogous to the solenoid assembly 25 described above, with the added capability of manual locking / unlocking. The locking tongue 950 can also include handles at both ends. The handles can be pulled apart to separate the male tongue portion from its female counterpart.The tongue 950 may have sides of varying lengths to allow the handles to engage modules of different sizes. In some embodiments, the tongue 950 may be powered to enable the smart locking features described herein. The connector assemblies may be equipped with tongues of various interchangeable sizes to allow for mating with various smaller modules. The upper sleeve and lower sleeve of the connector assembly are shown in a horizontal orientation, but may optionally be arranged in a vertical configuration depending on the desired application.

[0038] Fig. Figure 9B shows the plug 910 sliding into the corresponding socket 920 and snapping into place. Fig. Figure 9C shows an external view of a torso module 820 having a socket 920 that slides and snaps onto a base module 830 having a plug 910. Fig. Figure 9D shows a see-through image of how the connecting components of the torso 820 and the base 830 engage each other in the horizontal plane while the torso module 820 is attached to the base module 830. The final configuration of the base and torso modules in the locked state is shown opaque, and an arrow indicates the ability to manually separate the tabs for disassembly.

[0039] Fig. Figure 9E shows a block diagram of the wiring harness 930 with wires or cables 993 that can extend to and be connected to vertical pins 991 or horizontal pins 992 that are generally positioned perpendicular to each other, along with an optional cap 990 that can be used to cover certain pins when not in use. For example, in Fig. 9E uses the horizontal pins 992, but not the vertical pins 991; therefore, the optional cap 990 can be used to cover the vertical pins 991. This approach allows the wiring harness 930 to be used in either a vertical or horizontal orientation.

[0040] In an alternative in Fig. 9F, multiple orientation options can be implemented with only one set of pins. The internal structure of the sleeve may include a housing with a rotating body that can be rotated into a vertical orientation as body 995 or into a horizontal orientation as body 996. The rotating body can accommodate the pins of the various wires and cables. It may be provided with a tab (see 994), thus allowing a user to grasp the rotating body and rotate it between the vertical and horizontal orientations. Inside it, the rotating body may have a small projection, which, along with a serrated track, can be used to guide rotation between the vertical and horizontal orientations to maintain a desired degree of rotation. Fig. Figure 9G shows the rotating body in a vertical position (997) as well as in a horizontal position (998). Intelligent locking mechanism

[0041] The locking / unlocking mechanism described above can be considered a lock that intelligently opens or closes depending on security aspects such as facial recognition, voice recognition, or general authentication beyond the standard lock and key system, e.g., PIN codes, usernames, passwords, and the like. For example, when a robot communicates with a software system such as a connected website, portal, domain, phone app, designated key device, etc., the software system or device can be used for facial recognition, voice recognition, or the input of a fingerprint, code, PIN, password, pattern, etc. as an authentication option. The lock mechanism can open and close via communication with these devices, e.g., via Bluetooth, Wi-Fi, a network, etc.Alternatively, an authentication application can be run on the robot itself, e.g., via a touchscreen, fingerprint scanner, camera, microphone, etc.

[0042] In other embodiments, an additional locking system may be used in conjunction with an electronic locking system. The additional locking system may be a simple physical locking system, such as a clip or buckle positioned along the connector device to physically hold the device (module) in place, regardless of the locked or unlocked status of the solenoid. The additional locking system may also be configured as a "secure" locking system, which requires a key component and holds the device in place regardless of the locked or unlocked status of the solenoid.

[0043] During disassembly, different levels of authority may be required to separate the various modules according to the criticality of their respective functions. For example, during disassembly of a modular robot, removing a "light connector" to an auxiliary-type module may require a different level of authority than removing a "heavy connector" to a more central module of the robot design.

[0044] A. "Heavy-duty" connectors include a superset of all or most possible connections and can include universal "image," "motor," "audio," "screen" buses, etc., throughout the modular robot. A heavy-duty connector can be used for numerous types of connections, such as image and motor devices that can be connected via a single heavy-duty connector. For example, all devices containing an "image" connector (USB or HDMI) can be connected in parallel via a torso module or another module that has a "heavy-duty" connector. These connections form an "image" bus over which all image data is communicated within the robot. In some embodiments, different types of connections (i.e., connections for "image" and for "motor" signals) may require connectors that are physically different (CAN bus for motor, USB for data, etc.).), which makes it easy for the base to control which bus is used to broadcast messages.

[0045] B. "Lightweight" connectors provide only a subset of the connections available with "heavyweight" connectors (for example, an arm module may only have a CAN bus for its motor, while the head module only has a USB). Messages can be broadcast from the base to all modules via a bus (e.g., image, motor, or sound bus), and only a specific module on the bus will respond. For example, the head module will not receive messages intended for the arm module because the head module only has a USB cable and the arm only has a CAN bus cable.

[0046] Removing a lightweight connector may require a person with basic technical skills, while heavy-duty connectors may require highly skilled technicians. For example, a basic-level service technician may be authorized to remove and replace an air filter module, but a more advanced technician may be needed to remove a torso module, and an even higher level of authorization may be required to remove the core module base. When replacing a core module and a fixture / accessory module, module removal may require authorization from the lowest module and / or the highest module in the connection. If two or more modules with different access levels (e.g.,When two modules (e.g., a high-protection core module and a low-protection accessory module) are removed simultaneously, the level of access required to perform the procedure can be determined by either the high-protection module or the low-protection module. In some cases, it may be helpful to provide more access and allow a lower-authorized person to remove a higher-authorized core module for which they would not normally be authorized.

[0047] In some embodiments, the modules themselves may have a predefined authorization level required to unlock the associated connector. This predefined authorization level may be determined by a code on the transponder. Authorization levels may be customized by the manufacturer, customer, owner, technician, and others. The customization, in the case of known user data, such as facial recognition and voice recognition data, may be as individual as the user themselves. In other embodiments, the connectors may be configured to lock or unlock after a certain period of time has elapsed or a certain time has been reached. The connectors may also be configured to automatically lock or unlock when the battery reaches a predefined state of charge, e.g., 3%.

[0048] Smart locking can occur depending on the modules and components available to a modular robot. For example, the head module can contain cameras and microphones, and an arm module can contain a fingerprint scanner. If the modular robot is connected to an arm module but not a head module, smart locking can be activated using the fingerprint scanner on the arm module. Conversely, if the head module is connected but not the arm module, smart locking can be activated using facial and voice recognition.

[0049] If an authorized user begins disassembling the robot, the corresponding locks will remain unlocked, even after modules containing components requiring access authorization have been removed; reauthorization is not necessary. For example, if an authorized user indicates the removal of the robot's head module and arm module, that user can first remove the head module, which may contain components required for authorization, such as the camera, microphone, etc., and the arm will remain unlocked, although there will no longer be any means of identifying the current user.

[0050] Embodiments of the intelligent locking mechanism Two exemplary embodiments of the intelligent locking system are described below. In the following embodiments for the supply and control of solenoids, as shown in the Fig. 10 and Fig. For clarity, only one solenoid is shown connected to the system control lines in Figure 11. However, in an actual application, both solenoids may be connected to the system control lines. The two solenoids may share the same data and power lines.

[0051] Fig. Figure 10 shows a first embodiment in which the solenoids 1010 are controlled from a central location, ie, the base 830. In Fig. 10, power is supplied to the solenoids via the power contacts of the cable block. The power and control lines for the solenoids are connected to the same power and data bus as all other components of the robot. A CAN bus 1015 can be used to implement this connectivity. A central processor module 1020 can operate via the CAN bus 1015 to open (unlock) or close (lock) a specific solenoid, for example, using a multiplexer / demultiplexer.

[0052] Fig. Figure 11 shows a second embodiment in which the solenoids 1010 are controlled by specialized contacts on the connector itself. Here, the solenoids 1010 can be powered and / or controlled by the central processor 1020 via an independent network 1110. The solenoids 1010 can be powered by their own dedicated power source located in the central processor module 1020 or by a separate battery.

[0053] In an alternative embodiment, the solenoids only need to be supplied with power directly, with the presence or absence of power determining the locking or unlocking of the system. Furthermore, a toggle switch, for example, a switch between a buffer or NO element, can be used to switch between fail-safe and fail-secure modes. Transponder-to-transponder communication

[0054] The transponders may be configured to reference a data library and transmit simplified data as disclosed in patent applications GB2598049 and US20230001570 entitled "Modular Frame for an Intelligent Robot" by H. Fox et al., the contents of which are incorporated herein by reference. The data library is a library for all (or most) of the required properties and functions of all (or most) of the modules. The transponders may provide the connectors with information such as: (1) the type of module to be connected; (2) the type of module connection (with assistance from a non-symmetrical lower transponder); (3) the location where the module is connected (for example, by creating a linked list of connections); (4) the prescribed functions provided by the module (including module data, data protocols, power requirements, etc.).); (5) the optional purchased / prepaid features to which the module has access; (6) the development data associated with the module (for example, the company logos of first-, second-, and third-party developers); and (7) authentication data certifying that the module is licensed and not pirated. The ports generated by the connectors transmit such authentication data to a core module(s), which can look up this information in the data library and act accordingly to enable the firmware and operating system to work correctly with all of the robot's modules.

[0055] The data transmitted by the transponders can be in raw format or configured and encoded. Furthermore, the data itself can be stored in various standard ways known in the field, including, for example: - a code for each piece of information, in which a number represents a specific predefined component; - a code for each piece of information, in which a number, when segmented, represents a specific predefined component or function; - a larger group of codes that can contain detailed data about the components and functions, where the group does not require predefined numbers to represent a specific component or function; and - a data set which, given appropriate knowledge of the data library, contains information about the location(s) in the data library that are important for the functional use of the module, as well as the details of the module components.

[0056] Transponder communication can be achieved via a Serial Peripheral Interface (SPI) or another standard serial transmission protocol. SPI allows multiple "slave" devices (module transponders) in a network to communicate with a "master" (base transponder). New devices / connectors can be added to the existing network. SPI also enables self-testing, storage of data required by the transponder, and diagnostics.

[0057] SPI can also be used to drive and control solenoids in the two embodiments mentioned above. SPI can be implemented via USB or any data pin. Alternatively, specific pins can be configured to manage their own logic. Modular connection devices for a modular robot

[0058] The modular connection devices can contain high-speed and / or low-speed buses.

[0059] Examples of high-speed buses that can be used include USB and Power Over Ethernet (PoE). At least one high-speed bus is required in applications that utilize image data. An Ethernet-based bus is less cost-effective but may have advantages in daisy-chaining. A PoE bus is a single protocol that allows power and data to be sent together. The PoE bus can manage both high-speed and low-speed transmissions, but it is not the most cost-effective solution. Additionally, HDMI over Ethernet or HDMI over USB buses can be used.

[0060] Examples of slow buses that can be used include the CAN bus, UART, and RS-485 buses. Slow buses can optionally be used to support communication with large numbers of sensors and components with low data intensity. Low-speed communication can also be used to identify each module (via a transponder). In some embodiments, a CAN bus can be conveniently used to transfer sensor data without causing bottlenecks on the USB. In alternative embodiments, the transponder can simply be configured as another device on a USB bus (see Fig. 10, centralized configuration 1).

[0061] The protocols for data propagated throughout the system can use backward-compatible technology. This way, costs due to over-engineering with unnecessarily expensive technology can be avoided. For example, a USB2 bus can connect the head module to the torso module, and a USB3 bus can connect the torso module to the base.

[0062] "Lightweight" connectors provide only a subset of the connections available with "heavyweight" connectors (for example, an arm module may only have one CAN bus for its motor, while the head module only has one USB). Messages can be broadcast from the base to all modules via a bus (e.g., image, motor, or sound bus), and only a specific module on the bus will respond. For example, the head module will not receive messages intended for the arm module because the head module only has one USB cable and the arm only has one CAN bus cable.

[0063] Multiple devices can be connected to the same bus via parallel data lines. For example, motor devices A, B, and C can all be connected in parallel to a torso module. These connections form a "motor bus" over which all motor commands are broadcast from the base. Devices A, B, and C receive all messages sent over the bus, but only the selected device or a selected subset of devices will respond. The connecting devices can also include cooling fluid, hydraulics, compressed air, etc.

[0064] Each connection level further from the core or base of the modular robot may contain a superset of the progressively higher connection levels along the module lines. Fig. Figure 12 shows two exemplary connection paths: Path 1 (arm), which connects modules 3-2-1-0, and Path 2 (head), which connects modules 2-1-0. Here, the modular connection device between modules 0 and 1 contains a superset of all individual connection devices required along both paths 1 and 2 (where the number is at least as large as that of all advancing connection devices in the number of required connections). The modular connection device between modules 2 and 1 in path 2 contains a subset of all connection devices required in the connection connecting modules 0 and 1. The modular connection device between modules 2 and 1 in path 1 contains a subset of all connection devices required in the connection device connecting 0 and 1, as well as a superset of all connection devices required in the connection device connecting modules 3 and 2.The modular connector between modules 3 and 2 is a subset of the modular connectors required in the connector linking modules 2 and 1 in path 1, which itself is a subset of the modular connectors required in the connector linking modules 1 and 0. In this embodiment, the connectors themselves, e.g., a USB connector, must also include a superset of the child connectors (USB connectors in this example), as opposed to those running on the same line.If a single USB cable runs between modules 0 and 1, but a different USB cable runs between modules 0 and 2, the connection device between modules 0 and 1 must include not only the USB connections required for modules 0 and 1, but also the additional USB connections required for modules 0 and 2.

[0065] Fig. 13 is an exemplary embodiment of the cable routing and module connections in a modular robot that includes components such as a CPU, a camera, a microphone, etc. As the distance between each connector and the base increases, each connector contains a smaller subset of the total set of connections, e.g., the base has four total connections 835, the head and arm modules each have three connections, 825 and 815, respectively, and the hand module has two connections 805. An "X" represents an endpoint for a data / power line, where a particular data / power line is present in a module but only needs to be routed to one of the two connectors.Specifically, an "X" represents an endpoint for a data / power line, wherein a terminal device containing a particular data / power line connects to another terminal device that does not contain that data / power line; therefore, the data / power line terminates at that point. CAN bus

[0066] A CAN bus is a message-based communication protocol and structure originally designed for multiplexed electrical wiring. It functions like a central nervous system, allowing nodes (sensors, components, etc.) to communicate along a central communication line. Because each element has its own identifier or address, all data sent over the shared line can reach its specific destination node.

[0067] Additionally, a CAN bus can easily prioritize nodes based on their importance. Therefore, messages can be sent along a universal bus (described in more detail below) and in the modular connector section. A CAN bus is suitable for providing a universal data bus for all low-speed communication types (basic sensor and engine communication). All nodes on a CAN bus receive messages, but only the intended recipient will respond to a message. A CAN bus offers the following advantages: - it allows easy priority chaining when new modules are added; - it allows the control of specific modules and the sending of data or can be requested to receive data (including basic motor commands, such as torque / position commands); and - it can be used for error handling.

[0068] A CAN message has the following basic structure: Table 1: CAN message structure S O F 11-Bit-Kennung R T R I D E r0 DLC 0...8 Byte Daten CRC ACK E O F I F S

[0069] The main components of a CAN message are the 11-bit identifier and 9-bit data. The identifier specifies the system node for which a specific message is intended. The data is the actual payload of this message.

[0070] Those skilled in the art will recognize that the present invention has numerous applications, may be implemented in a variety of ways, and as such is not intended to be limited by the above embodiments and examples. Any number of the features of the various embodiments described herein may be combined into a single embodiment, the positions of certain elements may be changed, and alternative embodiments with fewer or more features than described herein are possible. The functionality may also be distributed, in whole or in part, across multiple components in ways now known or later known.

[0071] Those skilled in the art will recognize that changes may be made to the embodiments described above without departing from the broad inventive concept thereof. It is therefore to be understood that this invention is not limited to the specific embodiments disclosed, but is intended to cover modifications within the spirit and scope of the present invention. Although basic features of the invention have been shown and described as applied to exemplary embodiments thereof, it is to be understood that deletions, substitutions, and changes in the form and details of the disclosed invention may be made by those skilled in the art without departing from the spirit and scope of the invention. Furthermore, the scope of the present invention covers well-known as well as future variations and modifications of the components described herein, as will be apparent to those skilled in the art. Component list 10 upper connection device (socket) 15 upper transponder 20 upper sleeve 25 Solenoid structure 27 plungers 30 upper housing 50 lower connection device (plug) 55 lower transponder 57 upper cable block 65 flange 70 lower sleeve 75 Base 77 lower cable block 80 lower housing 910 connector 920 socket 930 wiring harness 940 housing 950 locking tongue 1010 Solenoid 1020 central processor module QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 63 / 527,843

[0001] US 18 / 774,457

[0001] GB 2598049

[0054] US 20230001570

[0054]

Claims

[1] A component connection device comprising: a first sleeve connected to a first component; a locking mechanism external to the first sleeve having a plunger operative to protrude through an opening in a side wall of the first sleeve and extend into the interior of the first sleeve; a second sleeve connected to a second component and dimensioned to fit within the first sleeve, a side wall of the second sleeve having an opening aligned with the side wall opening of the first sleeve and the plunger of the locking mechanism when the second sleeve is fully inserted into the first sleeve; and a first cable block with electrical connection devices in the first sleeve and a second cable block with corresponding matching electrical connection devices in the second sleeve; wherein, when the second sleeve is fully inserted into the first sleeve, the locking mechanism operates to cause the plunger to move into the second sleeve sidewall opening to firmly connect the first and second sleeves, and the electrical connection devices of the first sleeve and the mating electrical connection devices of the second sleeve form an electrical connection through which power and data can be transferred between the first and second components. [2] A connector device according to claim 1, wherein an end of the plunger that operates to project into the interior of the first sleeve has an inwardly tapered portion, and wherein the second sleeve, when inserted into the first sleeve, physically presses against the tapered portion of the plunger that projects into the first sleeve so as to deflect the plunger outwardly through the opening in the first sleeve and away from the second sleeve until the second sleeve is fully inserted into the first sleeve and the plunger operates to return inwardly through the second sleeve sidewall opening in the second sleeve. [3] A connector device according to claim 1, wherein the locking mechanism includes a latching solenoid attached to the first sleeve, and energizing the latching solenoid causes the plunger to move out of the second sleeve sidewall opening and unlock the first and second sleeves from each other. [4] A connector device according to claim 3, wherein one end of the plunger of the latching solenoid has an inwardly tapered portion, and wherein the second sleeve, when inserted into the first sleeve, physically presses against the tapered portion of the plunger projecting into the first sleeve so as to deflect the plunger outwardly through the opening in the first sleeve and away from the second sleeve until the second sleeve is fully inserted into the first sleeve and the plunger operates to return inwardly through the second sleeve sidewall opening in the second sleeve. [5] A connecting device according to claim 1, further comprising: at least one transponder associated with the first component and at least one transponder associated with the second component, the transponders operative to communicate with each other. [6] A connector device according to claim 1, further comprising: first and second mounting members that secure the first and second sleeves to respective adjacent modular components. [7] A connector device according to claim 6, wherein the first mounting member includes a flange on the first sleeve and the second mounting member includes a base on the second sleeve. [8] A connection system comprising: a connecting device according to claim 1; a scanning device operative to scan a feature of a prospective user to generate and electronically transmit scan information to the connecting device; a memory for storing scan information of characteristics of authorized users of the connection device and a control unit that operates to compare scan information with the stored scan information in memory and, if a matching feature is found, generate a signal authorizing the user to operate the locking mechanism. [9] A connection system according to claim 8, wherein the scan information includes facial recognition, voice recognition, a fingerprint, a code, a PIN, a password or a pattern. [10] A modular robot comprising: at least one connection device for connecting components according to claim 1 and a plurality of connection modules, wherein each two adjacently connected modules are connected by the at least one connection device, wherein one of the plurality of modules operates as a core module and all other modules are connected to the core module directly or indirectly via one or more other modules. [11] A modular robot according to claim 10, wherein a first module includes a subset of the electrical connection devices of the first cable block and the second cable block of all modules arranged between the core module and the first module. [12] A modular robot with a variety of interchangeable modules, including: a first module with an internal sleeve; a locking mechanism external to the internal sleeve of the first module and a plunger of the locking mechanism penetrating through an opening in the side wall of the internal sleeve; a second module having an externally extending sleeve dimensioned to fit within the first sleeve, a side wall of the externally extending sleeve having an opening aligned with the side wall of the first sleeve and the plunger of the locking mechanism when the externally extending sleeve is fully inserted into the internal sleeve of the first module; and a first cable block with electrical connection devices in the internal sleeve of the first module and a second cable block with corresponding mating electrical connections in the externally extending sleeve of the second module; wherein, when the externally extending sleeve of the second module is fully inserted into the internal sleeve of the first module, the locking mechanism operates to cause the plunger to move into the sidewall openings of the internal and external sleeves and hold the sleeves together, and the electrical connection devices of the sleeves form an electrical connection through which power and data can be transferred between the modules. [13] A modular robot according to claim 12, wherein one end of the plunger of the locking mechanism has an inwardly tapered portion, and wherein the externally extending sleeve, when inserted into the internal sleeve, physically presses against the tapered portion of the plunger projecting into the internal sleeve so as to deflect the plunger outwardly through the opening in the internal sleeve until the externally extending sleeve is fully inserted into the internal sleeve and the plunger operates to return inwardly through the second sleeve sidewall opening in the externally extending sleeve. [14] A modular robot according to claim 12, wherein the locking mechanism includes a latching solenoid attached to the first sleeve, and wherein energization of the latching solenoid causes the plunger to move into the second sleeve sidewall opening and hold the internal and externally extending sleeves together. [15] A modular robot according to claim 14, wherein one end of the plunger of the latching solenoid has an inwardly tapered portion, and wherein the externally extending sleeve, when inserted into the internal sleeve, physically presses against the tapered portion of the plunger that projects into the internal sleeve so as to deflect the plunger outwardly through the opening in the internal sleeve and away from the externally extending sleeve until the externally extending sleeve is fully inserted into the internal sleeve and the plunger operates to return inwardly through the second sleeve sidewall opening in the externally extending sleeve. [16] A modular robot according to claim 14, further comprising a communication bus for providing control signals to the solenoid. [17] A modular robot according to claim 16, wherein the communication bus comprises a high-speed bus or a low-speed bus. [18] A modular robot according to claim 12, further comprising: at least one transponder in the internal sleeve and at least one transponder in the externally extending sleeve, the transponders operative to communicate with each other. [19] A modular robot according to claim 18, wherein each transponder operates to provide information to the respective module associated with each transponder. [20] A modular robot according to claim 12, further comprising first and second mounting members that secure the internal sleeve and the external sleeve to respective adjacent modules. [21] A modular robot according to claim 20, wherein the first mounting member includes a flange on the internal sleeve of the first module and the second mounting member includes a base on the externally extending sleeve of the second module. [22] A modular robot according to claim 12, further comprising: a scanning device operative to scan a feature of a prospective user to generate scan information; a memory containing scan information of characteristics of authorized users of the connecting device; and a control unit operative to compare the scan information from the scanning device with the stored scan information in the memory and, if a matching feature is found, to generate a signal authorizing the user to operate the locking mechanism. [23] A modular robot according to claim 22, wherein the scan includes facial recognition, voice recognition, a fingerprint, a code, a PIN, a password or a pattern. [24] A modular robot according to claim 12, wherein one of the plurality of interchangeable modules can be operated as a core module and all other interchangeable modules are connected to the core module directly or indirectly via one or more interchangeable modules. [25] A modular robot according to claim 24, wherein a first interchangeable module includes a subset of the electrical connection devices of the first cable block and the second cable block of all interchangeable modules arranged between the core module and the first interchangeable module. [26] A modular robot according to claim 25, wherein interchangeable modules further from the core module contain fewer electrical connectors than interchangeable modules closer to the core module. [27] A modular robot according to claim 14, wherein the locking mechanism includes a fail safe, fail secure or memory locking mechanism. [28] A connection system comprising: a first connecting device operative to connect a first module to a second module; a second connecting device operative to connect the second module to a third module; wherein the second connection device includes connection functionality for the third module and the first connection device includes connection functionality for both the second and the third module. [29] A component connection device comprising: a first component having a first cable block with electrical connection devices, and a second component having a second cable block with corresponding mating electrical connection devices; a locking mechanism operative to mechanically couple the first component and the second component; and wherein the locking mechanism operates to connect the electrical connectors of the first cable block to the electrical connectors of the second cable block to allow power and data to flow between the first and second components.

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