Robot with hot-swapped end effectors

摘要

Robots capable of accommodating dynamic replacement of end effectors load and run software that allows the end effector to be operated without change to the main control program. The driver may be dynamically linked and run during program execution when the corresponding end effector is detected. Typically, the robot controller will store a library of drivers, and load the appropriate driver when a new end effector is detected.

主权项

1. A robot system comprising:
a. a robot body; b. a robot arm connected to the robot body, the robot arm having a distal end including a first connector for an end effector; c. a robot controller for controlling the robot arm and an end effector connected thereto via the first connector; d. an end effector removably connectable to the robot arm, the end effector including:
(1) nonvolatile memory storing data comprising at least one of identification information or configuration information;(2) a communication interface;(3) a processor; and(4) a second connector matable with the first connector for establishing bidirectional communication between the processor and the robot controller via the communication interface, the processor being configured to cause transmission of the data to the robot controller upon mating of the first and second connectors, wherein (i) the robot controller is adapted to self-configure based on the data and to control movements of the connected end effector based on the self-configuration, and (ii) the data includes both identification information and configuration information, the configuration information specifying a driver for controlling the end effector.