MULTI-MEMBERED ACTUATED KINEMATIC SYSTEM

Abstract

The present invention relates to multi-limb actuated kinematics (1) having a plurality of drive units (11-16) connected to one another as a serial kinematic chain, the drive units (11-16) respectively having a control unit (11b, 12b, 16b), which are designed to operate at least one drive (11c, 12c, 16c) of the drive unit (11-16) to carry out the movement of the drive unit (11-16), the control units (11b, 12b, 16b) of the drive units (11-16) being connected to one another by a first data line (A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17) such that they transmit signals and being designed to receive at least data for operating the drive (11c, 12c, 16c) via the first data line (A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17). The multi-limb actuated kinematics (1) are characterised in that the control units (11b, 12b, 16b) of the drive units (11-16) are further connected to one another by a second data line (B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19) such that they transmit signals and are designed to forward the data of the second data line (B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19).

Claims

1.-11. (canceled)

12. A multi-limb actuated kinematics device, comprising: a plurality of drive units connected to one another as a serial kinematic chain, the plurality of drive units each operably coupled to a control unit designed to actuate at least one drive of the plurality of drive units to carry out movement of one of the plurality of drive units, the control units of the plurality of drive units being connected to one another by a first data line such that the control units transmit signals and are designed to receive at least data configured to operate the drive via the first data line, the control units of the plurality of drive units further operably connected to one another via a supply line; and a connecting element connected to the drive unit at one end of the serial kinematic chain, the connecting element including at least one data processing unit selected from an image recording unit and a control unit, the control unit of the connecting element being connected to the first data line, which serves to transmit data for controlling the data processing unit, the control unit of the connecting element further being connected to a second data line, which serves to transmit data of the data processing unit, the control units of the drive units further being connected to one another by the second data line such that the control units transmit signals, and are designed to transmit the data of the second data line, and the data processing unit is adapted to operably couple to an energy source such that a supply voltage is generated in a control unit within the actuated kinematics.

13. The multi-limb actuated kinematics device according to claim 12, wherein the first data line is formed between two immediately neighboring control units of the plurality of drive units by at least one cable, the second data line is formed between two immediately neighboring control units of the plurality of drive units by at least one second cable and the cable of the first data line and the second cable of the second data line are at least partially surrounded by a shared shield.

14. The multi-limb actuated kinematics device according to claim 12, wherein the control unit of the connecting element is designed to receive electrical energy of the supply line with a first voltage and from the latter to generate electrical energy of a second, lower voltage, the control unit of the connecting element further being designed to actuate the data processing unit with the generated second voltage.

15. The multi-limb actuated kinematics device according to claim 12, further comprising: a base secured on a foundation and operably connected to one of the plurality of drive units at an end of the serial kinematic chain, the base including a control unit connected to the first data line configured to transmit signals and data via the first data line, the control unit of the base further connected to the second data line such that the control unit of the base is configured to transmits signals and transmit data via second data line.

16. The multi-limb actuated kinematics device according to claim 15, wherein the control unit of the base is designed to receive data via the second data line from the data processing unit and transmit the data with a strengthened signal via second data line therefrom.

17. The multi-limb actuated kinematics device according to claim 12, wherein the plurality of drive units includes a hollow shaft, the first data line, the second data line, and the supply line configured to run therethrough.

18. The multi-limb actuated kinematics device according to claim 12, wherein the multilimb actuated kinematics device is an articulatable robot.

19. The multi-limb actuated kinematics device according to claim 12, wherein the first data line is a bus.

20. The multi-limb actuated kinematics device according to claim 12, wherein the second data line is a USB line.

21. The multi-limb actuated kinematics device according to claim 12, wherein one of the plurality of drive units is designed to be connected to at least one further drive unit to form a serial kinematic chain, the at least one further drive unit having a control unit, which is designed to actuate at least one drive of the plurality of drive units to carry out movement of the plurality of drive units, the control unit further being designed to be operably connected to the further drive unit by a first data line such that the control unit transmits signals and receives at least data for operating the drive via the first data line, the control unit further being designed to be operably connected to the further drive unit by a second data line such that the control unit transmits signals and data of the second data line.

22. The multi-limb actuated kinematics device according to claim 21, wherein the control unit is designed to actuate at least one drive of the plurality of drive units to carry out the movement of the plurality of drive units, the control unit further being designed to be operably connected to a further drive unit by a first data line such that the control unit transmits signals and receives at least data for operating the drive via the first data line, the control unit further being designed to be operably connected to the further drive unit by a second data line such that the control unit transmits signals and transmits data of the second data line.

Description

[0080] An exemplary embodiment and further advantages of the invention are depicted purely schematically and explained in more detail in the following in connection with the following figures. Here:

[0081] FIG. 1 shows a perspectival schematic depiction of multi-limb actuated kinematics according to the invention;

[0082] FIG. 2 shows a portion of FIG. 1 in the region of the base;

[0083] FIG. 3 shows a schematic cross-section of the view of FIG. 2;

[0084] FIG. 4 shows a portion of FIG. 1 in the region of the end effector unit;

[0085] FIG. 5 shows a schematic cross-section of the view of FIG. 4;

[0086] FIG. 6 shows a schematic depiction of the cable of the second data line and of the cable of the supply line of the connecting element; and

[0087] FIG. 7 shows a schematic depiction of the cable of the first data line, the second data line and the supply line of the sixth drive units.

[0088] The Figures specified above are viewed in Cartesian coordinates. A longitudinal direction X extends, which can also be described as a depth X or as a length X. A transverse direction Y, which can also be described as a width Y, extends perpendicular to the longitudinal direction X. A vertical direction Z, which can also be described as a height Z and corresponds to the direction of gravity, extends perpendicular both to the longitudinal direction X and to the transverse direction Y. The longitudinal direction X and the transverse direction Y together form the horizontals X, Y, which can also be described as a horizontal plane X, Y.

[0089] Multi-limb actuated kinematics 1 according to the invention in the form of a robot 1 or in the form of an articulated arm robot 1 are considered as an example, see for example FIG. 1. The articulated arm robot 1 has a base 10 arranged fixed in the vertical direction Z on a foundation surface 20 of a foundation 2. Six drive units 11-16 extend one behind the other away from the base 10 as a serial kinematic chain. A connecting element 17 is arranged on the sixth drive unit 16 as the outermost limb of the serial kinematic chain, said connecting element receiving an end effector 18 in the form of a gripper exchangeably fixed on itself. The connecting element 17 can thus also be described as a media flange 17, as an end effector flange 17, as a tool flange 17 or as a gripping flange 17. The connecting element 17 and the end effector 18 together form an end effector unit 17, 18.

[0090] The six drive units 11-16 respectively have an electrical drive 11c, 12c, 16c that can respectively move a partial region on the drive side in relation to a partial region on the output side of the corresponding drive unit 11-16 rotationally in relation to each other. The six drive units 11-16 can thus respectively be rotated around a rotational axis V.sub.11-V.sub.16 in a rotation direction U or turning direction U, see for example FIG. 1.

[0091] The base 10 has a housing 10a enclosing the components of the base 10 laterally outwards and protects them from the surroundings, see for example FIGS. 2 and 3. Within the housing 10a, a control unit 10b of the base 10 is arranged, which is depicted assembled as a circuit board having electronic components. Via a first data line input connector 10u, the control unit 10b of the base 10 is connected to a cable A.sub.10 of a first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 such that it transmits signals. Via the cable A.sub.10 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17, data in the form of instructions, commands or control data can be transmitted from a superordinate central control unit (not depicted) to the control unit 10b of the base 10 which can both be implemented there and forwarded via the first data line output connector 10x of the base 10.

[0092] The control unit 10b of the base 10 further has a second data line input connector 10v, which is connected to a cable B.sub.10 of a second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 such that it transmits signals. Via the cable B.sub.10 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19, data in the form of information or sensor data, which can in particular be image data, can be received from the control unit 10b of the base 10 via a second data line output connector 10y of the base 10 and be transmitted to the superordinate central control unit to there be processed and used.

[0093] The control unit 10b of the base 10 further has a supply line input connector 10w, which is electrically connected to a cable C.sub.10 of a supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19. Via the cable C.sub.10, of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19, electrical energy in the form of electrical voltage can be made available to the control unit 10b of the base 10 via the superordinate central control unit to supply it with electricity itself or to operate the control unit 10b of the base 10 and to forward the electrical voltage via a supply line output connector 10z of the base 10.

[0094] The first drive unit 11 also has a housing 11a. Within the housing 11a of the first drive unit 11, a control unit 11b is arranged, which is also depicted assembled as a circuit board having electronic components. The control unit 11b of the first drive unit 11 also has a first data line input connector 11u connected to the first data line output connector 10x of the control unit 10b of the base 10 via a cable A.sub.11 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 such that it transmits signals. Via the cable A.sub.11 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17, the control data of the superordinate decentralised control unit can be forwarded from the control unit 10b of the base 10 to the control unit 11b of the first drive unit 11 to itself be implemented there or to be forwarded via a first data line output connector 11x of the control unit 11b of the first drive unit 11.

[0095] The control unit 11b of the first drive unit 11 further has a second data line input connector 11v connected to the second data line output connector 10y of the control unit 10b of the base 10 via a cable B.sub.11 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 such that it transmits signals. Via the cable B.sub.11 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19, data originating from a data processing unit 19 can be received from the control unit 11b of the first drive unit 11 via a second data line output connector 11y of the first drive unit 11 and be transmitted or forwarded to the control unit 10 of the base 10.

[0096] The control unit 11b of the first drive unit 11 further has a supply line input connector 11w connected to the supply line output connector 10z of the control unit 10b of the base 10 via a cable C.sub.11 of the second data line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 such that it conducts electricity. Via the cable C.sub.11 of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19, electrical energy can be made available to the control unit 11b of the first drive unit 11 by means of an electrical voltage of the control unit 10b of the base 10 to supply it with electricity itself or to operate the control unit 11b of the base 11 and to forward the electrical voltage via a supply line output connector 11z of the first drive unit 11.

[0097] The cable A.sub.11 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 and the cable B.sub.11 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 are surrounded by a shared shield 11e, within which only the cable A.sub.11 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 and the cable B.sub.11 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 are arranged. The signal transmission via the cable A.sub.11 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 and the cable B.sub.11 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 can thus be protected from electrical interference, which can improve or guarantee the quality of the signal transmission.

[0098] Both the cable A.sub.11 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 and the cable B.sub.11 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 within their shield 11e and the cable C.sub.11 of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 run together in parallel through the hollow shaft 11d of the drive 11c of the first drive unit 11. In this way, a cable-bound connection between the control unit 10b of the base 10 and the control unit 11b of the first drive unit 11 can be achieved, which can also permit the rotational movements.

[0099] The second drive unit 12 is designed and connected to the first drive unit 11 in the same way, see also for example FIGS. 2 and 3. This also applies to the third drive unit 13, to the fourth drive unit 14, to the fifth drive unit 15 and to the sixth drive unit 16, which is depicted for example in FIGS. 4 and 5. The corresponding elements are described consecutively and consistently and provided with reference numerals, such that, to avoid repetition, it is not necessary to go into the second to sixth drive unit 12-16 in more detail.

[0100] The connecting element 17, which has a housing 17a in turn, is rotatably moveably connected to the sixth drive unit 16. An end effector connector 17c is designed on the housing 17a of the connecting element 17 for fixing the end effector 18.

[0101] The connecting element 17 further has the data processing unit 19 already mentioned, which is designed as an image recording unit 19 or as a camera 19 and aligned with its optics 19d to the region ahead of the end effector 18. The image recording unit 19 itself has a housing 19a that encloses a control unit 19b of the image processing unit 19 as a circuit board assembled with electronic components. The control unit 19b of the image recording unit 19 is connected to an image recording sensor 19c of the image recording unit 19 such that it transmits signals (not depicted). The image recording sensor 19c can record the region in front of the end effector 18 through the optics 19d. The information recorded by sensor can be transmitted or sent out as optical data or as image data by the control unit 19b of the image recording unit 19, as is explained in more detail in the following.

[0102] The connecting element 17 also has a control unit 17b as a circuit board assembled with electronic components. The cable A.sub.17 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 is connected to the first data line input connector 17u of the control unit 17b of the connecting element 17 such that it transmits signals, such that the control data can also reach the control unit 17b of the connecting element 17. The control data can there be used to actuate or operate the end effector 18. The control data can also serve to actuate or operate the image recording unit 19.

[0103] Thus, a continuous arrangement of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 from the base 10 to the connecting element 17 can be achieved, which is formed by the individual cables A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 that together thus represent the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17. In particular, a bus, for example an EtherCAT bus, can thus be formed, which connects the control units 10b, 11b, 12b, 16b, 17b of the base 10, the drive units 11-16 and the connecting element 17 to one another such that they transmit signals. The respective control units 10b, 11b, 12b, 16b, 17n can thus be provided with control data and thus be controlled or operated. Control data meant for other control units 10b, 11b, 12b, 16b 17b can be forwarded from the respective control unit 10b, 11b, 12b, 16b, 17b.

[0104] The cable B.sub.17 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 is connected to a second data line input connector 17v of the control unit 17b of the connecting element 17 such that it transmits signals. The image data of the image recording unit 19 can be transmitted to a second data line output connector 17y of the control unit 17b of the connecting element 17 via a second data line input connector 19v of the control unit 19b of the data processing unit 19 via a cable B.sub.19 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19. The image data can then be transmitted via all further cables B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 to the superordinate central control unit by the control unit 17b of the connecting element 17. A signal amplification can take place in the control unit 10b of the base 10 before the image data is forwarded so that the image data can reach the superordinate central control unit with a sufficient strength and quality.

[0105] As data can also be transmitted in the opposite direction from the superordinate central control unit to the control unit 19b of the image processing unit 19 via the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19, the corresponding connections of the control units 10b, 11b, 12b, 16b, 17b, 19b to the base 10, the drive units 11-16, the connecting element 17 and the image recording unit 19 can be described as input connections or output connections in accordance with the corresponding connections of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17.

[0106] The cable C.sub.16 of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 is connected to a supply line input connector 17w of the control unit 17b of the connecting element 17 such that it conducts electricity, whereby the control unit 17b of the connecting element 17 can also be electrically supplied. This electrical supply can be used directly to operate the end effector 18.

[0107] The control unit 17b of the connecting element 17 further has a voltage transformer (not depicted) that receives the electrical voltage directly from the cable C.sub.17 of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 and this electrical voltage is transformed into a second, lower electrical voltage. The second, lower electrical voltage is then guided via a supply line output connector 17z of the control unit 17b of the connecting element 17 via a cable C.sub.19 of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 to a supply line input connector 19w of the control unit 19b of the image processing unit 19, so that the control unit 19b of the image processing unit 19 can be supplied and operated with the second, lower electrical voltage. In this way, due to a short stretch between the voltage transformer of the image processing unit 19 and its control unit 19b, a stable electrical voltage can be made available at the appropriate voltage level. Problems with the stable voltage transmission, for example from the superordinate central control unit, can thus be avoided.

[0108] FIG. 6 shows a schematic depiction of the cable B.sub.19 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 and of the cable C.sub.19 of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 of the connecting element 17. The cable B.sub.19 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 consists of two wires Rx, Tx or two conductors Rx, Tx having a received data line Rx and a transmitted data line Tx via which the image data of the control unit 19b of the image recording unit 19 can be be guided to the control unit 17b of the connecting element 17 as previously described.

[0109] Via an earth line GND and via a 5V voltage line +5V of the parallel-running cable C.sub.19 of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 of the connecting element 17, the second, lower electrical voltage of the control unit 17b of the connecting element 17 can be fed to the control unit 19b of the image recording unit 19.

[0110] FIG. 7 shows a schematic depiction of the cable of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17, of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 and of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 of the sixth drive units 16. The cables of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17, of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19 and of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.16, C.sub.17, C.sub.19 of the remaining drive units 11-15 and the base 10 are constructed identically.

[0111] The two wires Rx, Tx or two conductors Rx, Tx of the cable B.sub.17 of the second data line B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.15, B.sub.16, B.sub.17, B.sub.19 continue from the control unit 17b of the connecting element 17 to the base 10 and beyond to the superordinate central control unit. The cable of the supply line C.sub.10, C.sub.11, C.sub.12, C.sub.13, C.sub.15, C.sub.16, C.sub.17, C.sub.19 also continues from the control unit 17b of the connecting element 17 to the base 10 and beyond to the superordinate central control unit, a 12V voltage line V.sub.cc now running.

[0112] In addition, the cables of the first data line A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17 run from the control unit 17b of the connecting element 17 to the base 10 and beyond to the superordinate central control unit, said cables respectively having four wires or conductor which are necessary to carry out the signal transmission of a bus.

LIST OF REFERENCE SIGNS (PART OF THE DESCRIPTION)

[0113] A.sub.10 first data line or bus of the base 10 or its cable [0114] A.sub.11 first data line or bus of the first drive unit 11 or its cable [0115] A.sub.12 first data line or bus of the second drive unit 12 or its cable [0116] A.sub.13 first data line or bus of the third drive unit 13 or its cable [0117] A.sub.16 first data line or bus of the sixth drive unit 16 or its cable [0118] A.sub.17 first data line or bus of the connecting element 17 or its cable [0119] B.sub.10 second data line or USB line of the base 10 or its cable [0120] B.sub.11 second data line or USB line of the first drive unit 11 or its cable [0121] B.sub.12 second data line or USB line of the second drive unit 12 or its cable [0122] B.sub.13 second data line or USB line of the third drive unit 13 or its cable [0123] B.sub.16 second data line or USB line of the sixth drive unit 16 or its cable [0124] B.sub.17 second data line or USB line of the connecting element 17 or its cable [0125] B.sub.19 second data line or USB line of the data processing unit 19 or its cable [0126] C.sub.10 supply line of the base 10 or its cable [0127] C.sub.11 supply line of the first drive unit 11 or its cable [0128] C.sub.12 supply line of the second drive unit 12 or its cable [0129] C.sub.13 supply line of the third drive unit 13 or its cable [0130] C.sub.16 supply line of the sixth drive unit 16 or its cable [0131] C.sub.17 supply line of the connecting element 17 or its cable [0132] C.sub.19 supply line of the data processing unit 19 or its cable [0133] GND earth line; reference potential line [0134] +5V 5V voltage line [0135] V.sub.Cc 12V voltage line [0136] Rx receiving data line [0137] Tx transmitting data line [0138] V.sub.11-V.sub.16 rotational axes of the drive units 11-16 [0139] U rotational or turning directions of the rotational axes V.sub.11-V.sub.16 [0140] X longitudinal direction; depth; length [0141] Y transverse direction; width [0142] Z vertical direction; height [0143] X, Y horizontals; horizontal plane [0144] 1 multi-limb kinematics; (articulated arm) robot [0145] 10 base [0146] 10a housing of the base 10 [0147] 10b control unit of the base 10 [0148] 10u first data line input connector of the control unit 10b of the base 10 [0149] 10v second data line input connector of the control unit 10b of the base 10 [0150] 10w supply line input connector of the control unit 10b of the base 10 [0151] 10x first data line output connector of the control unit 10b of the base 10 [0152] 10y second data line output connector of the control unit 10b of the base 10 [0153] 10z supply line output connector of the control unit 10b of the base 10 [0154] 11 first drive unit [0155] 11a housing of the first drive unit 11 [0156] 11b control unit of the first drive unit 11 [0157] 11c drive of the first drive unit 11 [0158] 11d hollow shaft of the drive 11c of the first drive unit 11 [0159] 11e shield of the first drive unit 11 [0160] 11u first data line input connector of the control unit 11b of the first drive unit 11 [0161] 11v second data line input connector of the control unit 11b of the first drive unit 11 [0162] 11w supply line input connector of the control unit 11b of the first drive unit 11 [0163] 11x first data line output connector of the control unit 11b of the first drive unit 11 [0164] 11y second data line output connector of the control unit 11b of the first drive unit 11 [0165] 11z supply line output connector of the control unit 11b of the first drive unit 11 [0166] 12 second drive unit [0167] 12a housing of the second drive unit 12 [0168] 12b control unit of the second drive unit 12 [0169] 12c drive of the second drive unit 12 [0170] 12d hollow shaft of the drive 12c of the second drive unit 12 [0171] 12e shield of the second drive unit 12 [0172] 12u first data line input connector of the control unit 12b of the second drive unit 12 [0173] 12v second data line input connector of the control unit 12b of the second drive unit 12 [0174] 12w supply line input connector of the control unit 12b of the second drive unit 12 [0175] 12x first data line output connector of the control unit 12b of the second drive unit 12 [0176] 12y second data line output connector of the control unit 12b of the second drive unit 12 [0177] 12z supply line output connector of the control unit 12b of the second drive unit 12 [0178] 13 third drive unit [0179] 14 fourth drive unit [0180] 15 fifth drive unit [0181] 15a housing of the fifth drive unit 15 [0182] 16 sixth drive unit [0183] 16a housing of the sixth drive unit 16 [0184] 16b control unit of the sixth drive unit 16 [0185] 16c drive of the sixth drive unit 16 [0186] 16d hollow shaft of the drive 16c of the sixth drive unit 16 [0187] 16e shield of the sixth drive unit 16 [0188] 16u first data line input connector of the control unit 16b of the sixth drive unit 16 [0189] 16v second data line input connector of the control unit 16b of the sixth drive unit 16 [0190] 16w supply line input connector of the control unit 16b of the sixth drive unit 16 [0191] 16x first data line output connector of the control unit 16b of the sixth drive unit 16 [0192] 16y second data line output connector of the control unit 16b of the sixth drive unit 16 [0193] 16z supply line output connector of the control unit 16b of the sixth drive unit 16 [0194] 17, 18 end effector unit [0195] 17 connecting element; media flange; end effector flange; tool flange; gripping flange [0196] 17a housing of the connecting element 17 [0197] 17b control unit of the connecting element 17 [0198] 17c end effector connector of the connecting element 17 [0199] 17u first data line input connector of the control unit 17b of the connecting element 17 [0200] 17v second data line input connector of the control unit 17b of the connecting element 17 [0201] 17w supply line input connector of the control unit 17b of the connecting element 17 [0202] 17y second data line output connector of the control unit 17b of the connecting element 17 [0203] 17z supply line output connector of the control unit 17b of the connecting element 17 [0204] 18 end effector; gripper [0205] 19 data processing unit; image recording unit; camera [0206] 19a housing of the data processing unit 19 [0207] 19b control unit of the data processing unit 19 [0208] 19c image recording unit of the data processing unit 19 [0209] 19d optics or lens of the data processing unit 19 [0210] 19v second data line input connector of the control unit 19b of the data processing unit 19 [0211] 19w supply line input connector of the control unit 19b of the data processing unit 19 [0212] 2 foundation [0213] 20 foundation surface