Modular Robot Configuration With Verified Module Identity
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Solution Overview
Problem
Ensuring safe and automated configuration of modular industrial robots, particularly in ensuring a safe communication connection between modules, is challenging due to the static nature of traditional network layouts and the need for manual intervention in achieving sufficient safety levels.
Innovation Solution
A method for configuring modular industrial robots that allows for dynamic and automated setup of communication networks using EtherCAT and FSOE protocols, with redundant communication channels to ensure safety and compliance with certification standards like SIL 3, involving a first master for industrial communication and a second master for additional communication to verify and identify module identities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a static network layout is used for traditional industrial robots, then configuration simplicity is maintained, but adaptability to modular structures deteriorates
Solution Approach 1:
The patent implements dynamic configuration of the industrial communication network by automatically assigning addresses to modules based on their detected positions in the modular structure. The system transitions from static pre-configured networks to dynamic networks that adapt to changing module arrangements, enabling the robot to reconfigure itself when modules are added, removed, or repositioned.
Solution Approach 2:
The system performs self-configuration by automatically detecting module identities and assigning communication addresses without external intervention. The control unit autonomously manages the network configuration process, including module identification, address assignment, and communication parameter setup, eliminating the need for manual configuration when modular structures are modified.
2Reliability
If manual intervention is used to achieve sufficient safety levels, then safety is improved, but automation deteriorates
Solution Approach 1:
The system implements automated safety verification through feedback mechanisms where modules send identification signals and the control unit verifies their identities before assigning communication addresses. This automated feedback loop ensures that only properly identified and verified modules are integrated into the safety-critical communication network, maintaining safety levels without requiring manual intervention.
Solution Approach 2:
The system performs preliminary safety checks and module verification before allowing modules to join the industrial communication network. The control unit预先 verifies module identities and configures communication parameters in advance, ensuring that safety requirements are met before the modules become operational, thereby automating the safety assurance process.
3Adaptability or versatility
If dynamic module configuration is implemented, then adaptability is improved, but communication safety deteriorates
Solution Approach 1:
The control unit acts as an intermediary between modules and the industrial communication network, mediating the configuration process. It verifies module identities, assigns communication addresses, and manages the integration of dynamically added or repositioned modules. This intermediary role ensures that even though the modular structure is dynamically reconfigurable, all communication safety protocols are maintained through centralized control and verification.
4Ease of operation
If automated configuration is implemented, then ease of operation is improved, but measurement precision deteriorates
Solution Approach 1:
The system replaces manual mechanical configuration processes with automated electronic identification and address assignment. Modules communicate their identities electronically through the communication network, and the control unit automatically processes this information to assign addresses. This substitution of manual mechanical operations with automated electronic systems maintains high identification accuracy while dramatically improving ease of operation.
Data Source
AI summary
The invention relates to a method (100) for a configuration of a modular industrial robot (10), the method (100) comprising:obtaining (101) a module specification about a current structure of the robot (10), the module specification being specific for a number of modules (20) of the robot (10);configuring (102) identifiers for the modules (20) using the module specification, the identifiers being used for addressing the modules (20) via a industrial communication network (30);triggering (103) responses of the modules (20) depending on the configured identifiers;receiving (104) each of the responses via an additional communication network (40); identifying (105) each of the modules (20) from which the responses originate, a module identity of a respective identified module (20) being assigned to the response originating from it; andverifying (106) the configured identifiers using the module identities.