Classifications

• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
  • A63H33/00—Other toys
  • A63H33/04—Building blocks, strips, or similar building parts
  • A63H33/042—Mechanical, electrical, optical, pneumatic or hydraulic arrangements; Motors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/0025—Means for supplying energy to the end effector
  • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/08—Programme-controlled manipulators characterised by modular constructions
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
  • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
  • G06F1/16—Constructional details or arrangements
• • G—PHYSICS
  • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
  • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
  • G09B1/00—Manually or mechanically operated educational appliances using elements forming, or bearing, symbols, signs, pictures, or the like which are arranged or adapted to be arranged in one or more particular ways
  • G09B1/32—Manually or mechanically operated educational appliances using elements forming, or bearing, symbols, signs, pictures, or the like which are arranged or adapted to be arranged in one or more particular ways comprising elements to be used without a special support
  • G09B1/36—Manually or mechanically operated educational appliances using elements forming, or bearing, symbols, signs, pictures, or the like which are arranged or adapted to be arranged in one or more particular ways comprising elements to be used without a special support the elements being connectible by corresponding projections and recesses
• • G—PHYSICS
  • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
  • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
  • G09B5/00—Electrically-operated educational appliances
  • G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/40—Robotics, robotics mapping to robotics vision
  • G05B2219/40304—Modular structure

Definitions

• the present invention relates to a modular system according to the preamble of claim 1 and a method for information and / or energy exchange between modules of a modular system according to the preamble of claim 11.
• Modules are understood to mean components of the modular system which provide one or more functions. It may provide power modules for providing power to a device formed with modules of the modular system, control modules for controlling functions, actuator modules for providing at least one movement or maneuvering function and sensor modules for providing at least one parameter for further processing and possibly controlling certain functions.
• a module can also combine several such functions, although a separation to only one or at most two functions per module is preferred.
• WO 2011/089109 AI and WO 2014/032807 AI are such
• Computer modules are modules which can be selected from a supply of the modular system and which are intended to form a toy, industrial robot or the like These modules may be mechanically coupled to one another (for example according to the teaching of WO 2014/032807 AI), but need not. They can also be placed independently in the room, whereby, for example, there is a radio link for information or energy exchange.
• Modules in the context of the present invention are, in particular, energy modules, control modules, actuator modules and sensor modules, wherein the modules can also combine several of these functions. These modules are “active” modules and are distinguished from “passive” modules, such as pure constructional modules. Onsmodule, which contain no other function, except an energy and / or information forwarding to or between active modules.
• a sensor module with an actuator module can be linked without these active modules.
• a sensor module with an actuator module can be linked without these active modules.
• two sensor modules with an actuator module can be linked without these active modules.
• a sensor module with two actuator modules can be linked without these active modules.
• a sensor module with two actuator modules can be linked without these active modules.
• Energy exchange in the context of the present invention means the supply of a module with energy to provide the functional scope of this module by another module.
• Information exchange in the context of the present invention means the transmission or forwarding of data from a first module to a second module, which serve for example to control certain functions of the second module.
• This exchange can take place directly between the participating modules or indirectly with the interposition of further elements between the modules.
• Linkage in the context of the present invention means the establishment of a new connection or the disconnection of an existing connection between two modules, whereby the energy or information exchange can take place via this connection.
• the modular system according to the invention with at least two modules that can be combined with one another is characterized in that means are provided which allow an optional linking of a first of the modules to a second of the modules in such a way that an information and / or information module is provided between the first and the second module. or energy connection can be produced, whereby these modules can exchange information or energy, with the link no physical change of the modules is connected.
• the modular system has at least three modules that can be combined with one another, wherein at least between two modules there is a first information and / or energy connection, wherein the means for selective linking are adapted, alternatively or in addition to the first information and / or energy connection to establish a second information and / or energy connection between at least two modules, without this being a physical change of the modules or the information and / or energy connection is connected.
• These further links can then exist between previously unconnected modules or they then exist between at least one previously provided with a link module and another module that was either not yet provided with a link or that with a link to another module was provided.
• each module has display means with at least two display states, wherein the modular system is set up, at least in one operating mode of the modular system, to display a link between two modules by matching display statuses of the respective display means on the modules. Then it is particularly easy to check whether the desired link is set without special Programming knowledge must be present or special topographical knowledge of the exact structure of the device generated with the modules.
• the display means are preferably designed as bulbs, because then can be checked very quickly and safely, if the desired linkage is reached. Instead or in addition, however, sounds, vibrations and the like can be used as a display means. In the case of illuminants, it is advantageous if they have different color states and / or luminous forms (for example, numbers, letters, etc.), because it is then very easy to differentiate different links from one another.
• “In at least one operating mode” in the context of the present invention means, for example, that the display is at least displayed in a link selection mode, but the display can then continue to be displayed, for example in a movement mode, but need not.
• the modular system is adapted to assign different display statuses to different groups of linked modules for differentiation, at least in one operating mode of the modular system.
• At least two modules have activating means which are adapted to establish a link between the two modules when their respective activating means are operated.
• the link can be made very easy and comprehensible.
• it could be actuators, such as switches or buttons or the like.
• Acting which are provided in each module.
• these activating means are applied in a central control device.
• the activating agents are preferred kart to establish a link when they are pressed, in particular operated simultaneously.
• the modular system comprises a control device, wherein the control device has a display unit which displays the selected linkage at least in one operating mode of the modular system.
• a display can be made, for example, by lines and / or matching color design of module representatives respectively representing the individual modules.
• control device has at least one control means which can be assigned to a specific module for its control. Then, the controller of the device actually generated from the modules can be selectively adjusted. For example, it could be in the control means to a horizontal or vertical slide, which predetermines by pressing forward or backward a certain speed forward and backward or by actuating to the left or right a certain steering angle.
• control means in the form of joysticks can be used, with which, for example, speed and steering angle can be specified simultaneously.
• These control means may be physical or non-physical, for example as optical representatives on a touchpad.
• a gyro element could also be used to control, for example, a forward or backward tilting of the control device causing it to move forward or backward with the speed adjusted as a function of the tilting, and a right or left tilting of the control device would produce a legal or or left-hand steering with adjusted as a function of the tilt steering angle causes.
• the display unit is adapted, at least in one operating mode of the modular system, to represent all the modules combined with one another as module representatives. Then the control device can be configured very easily.
• control device is preferably adapted to display the basic connection possibilities of the combined modules via the display unit, in particular as linking lines between the respective module representatives, as a result of which the desired links can be generated particularly simply and quickly. This can be done, for example, in a matrix form. However, other suitable graphical arrangements of the module representatives may be used.
• control device is preferably adapted to provide the module representative on the display unit with a display status that corresponds to the display status of the module represented by the module representative. Then it is particularly easy and fast to understand which link which modules actually made and these can be corrected if necessary quickly.
• control means at least in one operating mode of the modular system, to have a display means whose display status corresponds to the display status of the module assigned to the control means, wherein the display unit of the control unit is preferably adapted to display the display means.
• the control device comprises an input unit, wherein the input unit at least in a Radio- dus of the modular system is adapted to make the desired link adjustable by selecting a displayed link option.
• the input unit is advantageously designed as a display unit designed as a touchscreen. It is also advantageous if the input unit is adapted to set the link by tapping (for example, by finger or mouse pointer) on a link line.
• all combined modules are connected to a common data bus, each module having a device address for identification. Then the optional link can be implemented very easily.
• the data bus can be wired and / or radio-supported.
• the invention may be embodied in the form of a computer program product accessible from a computer usable or computer readable medium and provided with program code for use by or for use in connection with a computer or instruction execution system. Therefore, independent protection is claimed for the A computer program product according to the invention, which is stored on a computer-readable medium, and comprises computer-readable program means which cause the computer to execute the method according to the invention when the program means are executed on the computer.
• computer usable or computer readable media may be any devices or devices that contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
• mobile communication means such as mobile phones, tablet computers and the like. Be used.
• the medium may be an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system (or device or device) or a propagation medium.
• Examples of a computer-readable medium include a semiconductor or solid state memory, magnetic tape, a removable computer diskette, random access memory (RAM), read-only memory (ROM), a fixed magnetic disk, and an optical disk.
• Present examples of optical disks include compact disks. Read-only Memory (CD-ROM), Compact Disc Read / Write (CD-R / W) and DVD.
• a data processing system capable of storing and / or executing the program code includes at least one processor directly or indirectly connected to at least one memory element through a system bus.
• the storage element may include local storage that is in use during the current one
• I / O devices which may include, but are not limited to, keyboards, displays, pointing devices, etc., may be coupled to the system either directly or through interposed I / O controllers.
• Network adapters may also be connected to the system to allow the data processing system to interact with other data processing systems or remote printers or storage devices
• Modems, cable modems, or Ethernet cards are just a few examples of the types of network adapters currently available.
• At least one current-free region is arranged in the circumferential direction between two current-carrying regions of the sliding contact. Then reverse polarity and short circuits can be prevented.
• the current-carrying regions of the sliding contact are arranged so that a contact with the corresponding contact elements, which are preferably designed as contact pins are, only with previous contacting of the currentless areas is possible. As a result mergeenne istswoodsspitzen be effectively prevented.
• the sliding contacts and contacting elements are combined with mechanical coupling elements of the modules.
• the mechanical coupling elements allow coupling and locking of the mechanical coupling elements only in certain mutual orientations of the modules to be coupled.
• the coupling is made possible only in an orientation of the modules to each other, meet in the Kunststofftechniks- elements on the de-energized areas, and / or locking only in an orientation of the modules to each other is possible, in which the Make contacting elements on the live areas.
• mechanical latching means are preferably provided which prevent direct contact of the current-carrying areas of the sliding contact with the corresponding contact elements without prior contacting of the de-energized areas.
• FIG.1 shows a first schematic embodiment of a device constructed from combined modules of the modular system according to the invention
• FIG. 5 shows a third schematic embodiment of a device
• FIG. 6 shows a fourth concrete exemplary embodiment of a device constructed from combined modules of the modular system according to the invention
• FIG. 7 shows a fifth concrete embodiment of a device constructed from combined modules of the modular system according to the invention
• FIG. 8 shows a sixth concrete exemplary embodiment of a device constructed from combined modules of the modular system according to the invention in the linking mode
• FIG. 9 shows a seventh concrete exemplary embodiment of a device constructed from combined modules of the modular system according to the invention in the control mode and
• FIG. 10 shows an eighth concrete exemplary embodiment of a device constructed from combined modules of the modular system according to the invention in the control mode.
• FIG. 1 shows a preferred embodiment of the modular system 10 according to the invention which, in addition to a passive design module 11 with a pure signal feedthrough, comprises at least one, preferably a plurality of the depicted different active modules 12, 14, 16, 18, 20, 22, 24.
• the modules 12, 14, 16, 18, 20, 22, 24 are a control module 12, which has its own power supply for itself and the mechanically coupled modules, a joint module 14 with two against each other by means of a motor (not shown) pivotable parts 15a, 15b, a rotary module 16 with two against each other by means of a motor (not shown) rotatable parts 17a, 17b, a drive module 18, with a via a motor (not shown) driven axis 19, a gripping module 20, with three by means of a motor (not shown) at the same time with respect to a base 21 a pivotable arms 21 b, a light module 22 with a light sensor element 23 and an IR module 24 with an IR sensor element 25th
• the control module 12 includes a control panel 26 having a "+" - 28 and a "-" key 30 for augmenting certain control commands, a capture button 32, a light indicator 33, which may represent different colors, a mini-USB Terminal 34 for the specific programming and charging of the power supply of the control module 12 via an external computer or the like. And a combined playback and pause button 35 for playing or pausing ren programmed functions.
• the modules 12, 14, 16, 18, 20, 22, 24 have different coupling surfaces 36, 38, each module 12, 14, 16, 18, 20, 22, 24 having at least one male coupling surface 36 and one male coupling surface 38 in which a coupling of individual modules 12, 14, 16, 18, 20, 22, 24 can be achieved with one another.
• the modules 14, 16, 18, 20, 22, 24, like the control module 12 also have light indicators 33 which can each represent different, mutually identical colors, for example white, yellow, red, green and blue.
• FIG. 2c shows a section through two interconnected and latched passive construction modules 11.
• the mother coupling surface 38 has cross-shaped recesses 40, which correspond to cross-shaped knobs 42 of the male coupling surface 36.
• the Mutterkopplungs preparation 38 has a substantially circular recess 44, which corresponds to a substantially circular elevation 45 of the Vaterkopplungs simulation 36, the Mutterkopplungs phase diagonally opposite arranged undercuts 46 under projecting projections 47 which diagonally opposite tongues 48, the on have their tops arranged phases 49a, correspond with radially outer projections 50. At this phase 49a corresponds to a phase 49b on the projections 47 of the mother coupling surface 38th
• tongues 48 with their projections 50 can be latched by exactly aligned mating of the father coupling surface 36 in the mother coupling surface 38, wherein the tongues 48 can recede radially inwardly due to a certain elasticity.
• the regions 51 arranged between the projections 47 have a clear width in the circumferential direction that is at least as large as the extension of the projections 50 of the tongues 48, as a result of which the male and female coupling surfaces 38 are mutually inclined by 45 °, 135 °, 225 °, 315 ° twisted position can be inserted into each other.
• both the projections 47 and the projections 50 are rounded at their opposite surfaces.
• the respective corner regions may be slightly phased to facilitate latching.
• the cross-shaped knobs 42 can penetrate into the corresponding cross-shaped recesses 40, so that the Vaterkopplungs composition 36 can penetrate so deep into the mother coupling surface 38 until the respective base surfaces 37, 39 lie exactly on top of each other. Then the tongues 48 can swing back elastically into their normal position and the respective projections 50 of the tongues 48 abut against the corresponding projections 47 on the recess 44 directly, whereby the male and female coupling surfaces 38 are firmly locked together. An unlocking can then be done only by a renewed rotation of father 36 and mother coupling surface 38 to each other by 45 °, 135 °, 225 °, 315 °.
• a direct locking of male and female coupling surfaces 38 could also occur in the aligned state of 0 °, 90 °, 180 °, 270 °, since the projections 50 of the tongues 48 due to the phases formed thereon 49 under pressure of the respective projections 47 on the recesses 44, a displacement of the tongues 48 radially inwardly until the bases 37, 39 lie on each other and the tongues can elastically return to their normal position, in turn, then the respective projections 50 of the tongues 48 to the corresponding projections 47 on the recess 44 lie directly on, whereby father 36 and mother coupling surface 38 are firmly locked together. If such pressure latching is to be prevented, phasing 49 should not be provided. In addition, it can be seen that the father 36 and mother coupling surface 38 under
• the inner circular slip ring 52 and the nearest concentric and annular slip ring 54, along with the corresponding inner contact pin 58 and adjacent contact pin 60, ensure first and second serial data lines running in parallel in all respective slip rings 52, 54 and Contact pins 58, 60 of a module 11, 12, 14, 16, 18, 20, 22, 24 is present and is thus looped through all such coupled modules 11, 12, 14, 16, 18, 20, 22, 24.
• the respective contact pins 58, 60, 62, 64 are each spring-loaded, so that a secure concern in the locked state of the father 36 and mother coupling surface 38 is secured to the respective slip rings 52, 54, 56.
• the outer slip ring 56 consists of four respectively horizontally and vertically oppositely arranged contact points 66a, 66b, 68a, 68b and arranged therebetween areas 70, which are isolated from the contact points 66a, 66b, 68a, 68b, but interconnected.
• the opposed contact points 66a, 66b, 68a, 68b are each poled differently with DC voltage (e.g., "+” poles 66a, 66b and "-" poles 68a, 68b) and are associated with the opposing contact pins 62, 64.
• the areas 70 are each de-energized. This prevents reverse polarity and short circuits.
• a reversal of polarity and thus possibly a change of direction without special reprogramming can be achieved by turning father 36 relative to the mother coupling surface 38.
• FIG. 3 a first schematic embodiment of a device 100 is shown purely schematically, which is composed of combined modules 12, 14, 16, 20, 24 of the modular system 10 according to the invention. These modules 12, 14, 16, 20, 24 are each about their father 36 and mother coupling surfaces 38 mechanically coupled to each other, wherein in addition to a continuous power supply, two serial data lines 102, 104 result, which form a continuous, across all modules 12, 14, 16, 20, 24 data bus 106.
• the control module 12 has a WLAN unit (not shown) that can communicate with a WLAN unit (not shown) of a control device 108 in the form of a smartphone, thereby directly programming the control element 12 and above the data bus 106 via the control device 108 can take place.
• a control device 108 in the form of a smartphone, thereby directly programming the control element 12 and above the data bus 106 via the control device 108 can take place.
• any other suitable control device such as a computer, a tablet or the like could be used, wherein instead of the wireless communication 110 also a wired communication could be used via the USB interface 34.
• FIG. 4 shows purely schematically a second schematic exemplary embodiment of a device 120 constructed from combined modules 14, 16, 24 of the modular system 10 according to the invention.
• each module 14, 16, 24 and also the control device 108 has WLAN units (not shown), whereby a radio communication 122, 124, 126 between the control device 108 and the individual modules 14, 16, 24 but also the modules 14, 16, 26 with each other 128, 130 is made possible.
• the modules 14, 16, 24 By programming via the control device 108, the modules 14, 16, 24 instructed among themselves a radio-based data bus 132, which is based on the radio communication 128, 130 between the modules 14, 16, 24, build and thereby become the actuator modules 14 (AI), 16 (A2) is associated with the IR module 24 (Sl) so that its control is based on parameters provided by the IR module 24 (SI).
• a radio-based data bus 132 which is based on the radio communication 128, 130 between the modules 14, 16, 24, build and thereby become the actuator modules 14 (AI), 16 (A2) is associated with the IR module 24 (Sl) so that its control is based on parameters provided by the IR module 24 (SI).
• FIG. 5 shows purely schematically a third schematic exemplary embodiment of a device 140 constructed from combined modules 14, 24 of the modular system 10 according to the invention.
• FIG. 6 shows purely diagrammatically a fourth concrete exemplary embodiment of a device 160 constructed from combined modules 12a, 12b, 14a, 14b of the modular system 10 according to the invention.
• the device 160 has two device parts 162, 164, each having a control module 12a, 12b and a joint module 14a, 14b mechanically coupled thereto.
• the two device parts 162, 164 were linked to one another via WLAN elements (not shown) of the control modules 12a, 12b so that they can exchange data.
• This link 166 is displayed on the display element 168 of
• Control device 108 between the device parts 162, 164 representing module representatives 170, 172 displayed.
• control device mostly only serves to set up the link, the device then independently carries out the programmed sequences with the aid of the links without requiring separate commands by such an external control device , These commands and the necessary links are then applied via the modules used or a separate control module within the devices.
• pure control commands may be communicated via the controller to directly control, for example, driving and steering.
• Fig.7 is purely schematically a fifth concrete embodiment of a
• Device 180 constructed from combined modules 14a, 14b of the invention according to the modular system 10. This is an alternative to the embodiment shown in Figure 6, in which no separate control modules 12a, 12b are used. Instead, the joint modules 14a, 14b themselves already contain all the necessary units, such as the power supply, the control unit and the radio unit.
• FIG. 8 shows in purely schematic form a sixth concrete exemplary embodiment of a device 190 constructed from combined modules 12, 18a, 18b, 24a, 24b of the modular system 10 according to the invention in the linking mode.
• this device 190 in addition to two wheels 192 driven by the axles 19 of the drive modules 18a, 18b, this device 190 also includes forming stones 194 forming a kind of slider and adapter blocks 196 for making the device 190 blocks known other modular systems can be added.
• All modules 12, 18a, 18b, 24a, 24b in turn form a data bus (not shown) via the respective mutually coupled father 26 and mother coupling surfaces 38.
• the modules 12, 18a, 18b, 24a, 24b involved in the device 190 are tabulated via respective module representatives 198, 200, 202, 204, 206, i. in a matrix. Since in this embodiment only IR module 24a, 24b are to be linked to actuator modules 18a, 18b, the basic ones are in this table 207
• the linkage of the IR module 24a to the actuator module 18a and, on the other hand, the connection of the IR module 24b to the actuator module 18b were determined, which are transmitted via the control device 108 to the control module 12 and thus the Device 190 was programmed.
• the display unit 168 is designed as a touch screen. Alternatively, another selection could also be made, for example by means of a mouse element or the like.
• Each linking step was confirmed with a confirmation command to complete it.
• the selected and programmed links are indicated on the one hand by solid lines 214, 216, but on the other hand by matching colors of the associated modules 18a, 18b, 24a, 24b clarified, the two different links 214, 216 each having different colors, such as green and red.
• the lighting means 33 of the respectively linked modules 18a, 18b, 24a, 24b shine in the same color as they do for the respective link 214, 216 and the corresponding module representatives 198, 200, 202, 204, 206 is displayed.
• the two wheels 192 are thus driven here via different respective drive modules 18a, 18b, whereby a direct steering can take place.
• sensor parameters of the respectively linked IR module 24a, 24b flow, which control the vehicle 190 in such a way that, for example, balls are detected and moved independently by the slider 194.
• a balance of the entire device 190 is made by means of a sensor module having a gyro unit (not shown), so that the vehicle 190 is always in the vertical.
• this matrix representation of the module representatives 198, 200, 202, 204, 206 and the linking lines other suitable forms of representation can also be used.
• FIG. 9 shows purely diagrammatically a seventh concrete exemplary embodiment of a device 220 constructed from combined modules 12, 14, 18 of the modular system 10 according to the invention in the control mode.
• the device 220 is a remotely controllable car, which consists of a control module 12, coupled thereto joint module 14 for steering and coupled to the control module 12 opposite the joint module 14 drive module 18 for driving two wheels 192 and numerous shape or Construction stones 222, 224, 226.
• the drive thus takes place synchronously by means of the drive module 18 on both wheels 192 and the steering is carried out separately by means of the joint module 14, on which two wheels 192 are independently freewheeled by means of the construction blocks 222.
• the link mode is now completed, and the display unit 168 of the controller 108 displays the control mode.
• two control elements 228, 230 are provided, which are designed as a slider with a middle position.
• the vertical slider 228 controls the drive module 18, with still pushing up to control the speed of the forward drive and downshifting controlling the speed of the reverse drive.
• the gyrofunction of the control device 108 can be used to replace the operation of the slide control 228 by tilting the control device 108 forwards and backwards.
• the horizontal slider 230 controls the joint module 14, with a still right sliding controls the steering angle of a right turn and with a left sliding controls the steering angle of a left turn.
• the gyrotunction of the control device 108 could be used to replace the operation of the slide control 230 by tilting the control device 108 right and left.
• each control controller 228, 230 a display means in the form of luminous points 236, 238, which assume the same luminous color as the respective bulbs 33 of the driven modules 14, 18th ,
• This association can be automatically suggested by the controller 108 to the user. However, a manual assignment can also be made, in particular it is provided that this assignment can be changed later, if necessary.
• FIG. 10 shows purely diagrammatically an eighth concrete exemplary embodiment of a device 250 constructed from combined modules 12, 14a, 14b, 16, 18, 20, 24 of the modular system 10 according to the invention in the control mode.
• the device 250 is a type of crane.
• the crane has a gripping module 20, the arms 21b of which are provided with corresponding extension elements 252 which in a basic position of the arms 21b contact each other at their front ends.
• the gripping module 20 is coupled to a first joint module 14a and this coupled to another joint module 14b, whereby large degrees of freedom of movement of the gripping module 20 exist.
• the second gripping module 14b is coupled to an IR module 24 and this with a control module 12, wherein the IR module 24, however, is used passively as a pure building block. So it serves only for signal transmission and its sensor function is not used in the context of the device 250.
• the IR module 24 is coupled vertically downward with a rotary module 16, which in turn is coupled to a drive module 18.
• This drive module 18 is also functionless in the context of the function of the device 250 and serves only to support the device 250 in connection with the mold and construction blocks 254 and the wheels 192 arranged thereon, so that the device 250 is stable.
• the control module 12 with its battery-related mass serves as mass balance for the gripper module side.
• graphic joysticks 256, 258 are used here on the control device 108 as part of the control.
• the left joystick 256 is assigned the gripping module 20 and the second articulated module 14b
• the right-hand joystick is assigned the first articulated module 14a and the rotary module 16.
• moving the control knob 260 of the left joystick 256 in the horizontal direction causes opening and closing of the arms 21b of the gripping module 20 to certain positions.
• a shift of the control knob 260 of the left joystick 256 in the vertical causes a pivoting of the second joint module 14 b upwards or downwards.
• Shifting the control button 262 of the right-hand joystick 258 in the horizontal direction causes the rotary module 16 to rotate at any angle of rotation, in each case by the degree of displacement of the predetermined speed.
• a shift of the control button 262 of the right joystick 258 in the vertical causes a pivoting of the first joint module 14b upwards or downwards.
• the luminous dots 264, 266 of the left-hand joystick 256 have respectively matching color with the luminous means 33 of the gripping module 20 or the second joint module 14b for the purpose of identification.
• the luminous dots 268, 270 of the right-hand joystick 258 have matching color with the luminous means 33 of the first joint module 14a and the rotary module 16 for the purpose of identification.
• each combined movements of the two respectively controlled modules 14a, 14b, 16, 20 can be controlled simultaneously.
• IR module 24 could be used instead of the passively used modules 18, 24, so that then both modules 18, 24 would no longer serve as functionless design modules with a pure passive signal passing through, but would perform their own functions. For example, one could provide as an additional function moving the device 250 by means disposed on the drive module 18 wheels 192. Since the control device 108 with an existing control elements 256, 258 additional control element may be too confusing for a user, the IR module 24 could take over the control of the drive module 18. Then the user can specifically drive the device 250 by means of certain hand movements over the IR sensor element 25 of the sensor module 24. In addition, instead of the passively used modules 18, 24, design modules 11 could be used instead.

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• 2015
  • 2015-11-25 DE DE102015015142.8A patent/DE102015015142A1/de not_active Withdrawn
• 2016
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• 2018
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