Modular Reconfigurable Workcell for Quick Connection of Peripherals

摘要

An example modular reconfigurable workcell for quick connection of peripherals is described. In one example, a modular reconfigurable workcell comprises modular docking bays on a surface of the workcell that support attachment of docking modules in a fixed geometric configuration, and respective modular docking bays include electrical connections for a variety of power and communication busses of the docking modules to be attached. The workcell also includes an electrical subsystem for coupling the communication busses between the modular docking bays and providing power circuitry to the modular docking bays, and structural features in the modular docking bays to enable insertion of the docking modules in the fixed geometric configuration. The workcell also includes a processor for determining a geometric calibration of attached peripherals based on a location and the orientation of corresponding docking modules attached to the modular docking bays and based on an identification of the attached peripherals.

主权项

1. A modular reconfigurable workcell comprising:
one or more modular docking bays on a surface of the workcell that support attachment of one or more docking modules in a fixed geometric configuration, wherein respective modular docking bays include a plurality of electrical connections for a variety of power and communication busses of the one or more docking modules to be attached, and wherein the one or more docking modules provide an electrical and mechanical interface between a respective peripheral and the workcell; an electrical subsystem for coupling the communication busses between the one or more modular docking bays and providing power circuitry to the one or more modular docking bays; one or more structural features in the one or more modular docking bays to enable insertion of the one or more docking modules in the fixed geometric configuration such that an orientation of the one or more docking modules relative to the workcell is uniquely defined; and a processor for determining a geometric calibration of attached peripherals based on a location and the orientation of corresponding one or more docking modules attached to the one or more modular docking bays and based on an identification of the attached peripherals of the corresponding one or more docking modules.