HOLDER FRAME AND CONSTRUCTION ROBOT WITH A TOOL INTERFACE

Description

[0001] The invention relates to the execution of construction tasks using a construction robot. In particular, it relates to a construction robot with a manipulator having a tool interface, as well as a holding frame for a tool. A construction robot with a manipulator having a tool interface for different tools is known from EP 4016212 A1. An arrangement in which a tool holder has a coupling on its outer side for connecting the tool holder to a robot and for separating the tool holder from a robot is known from DE102020124672A1. Furthermore, DE202014003133U1 shows a gripper connected to one of the links of a manipulator arm, in particular to an end link of a manipulator arm, which gripper is designed to hold a tool in such a way that the tool can be held and / or moved in space by adjusting the joints of the manipulator arm.US11389970B2 discloses a tool holder that can accommodate various types of commercially available tools and can be coupled to a robot hand. A screw device and a connecting element for coupling a tool to a robot arm are known from US2020254628A1. US20183526507A1 discloses a mobile robot drilling device for drilling ceilings and walls. It further relates to a vibration-damping assembly and a mobile robot drilling device using the same.

[0002] There is a high demand for affordable living and working space. Currently, intensive efforts are underway to reduce building construction costs and also mitigate health risks for construction workers through the greatest possible automation. Construction robots are increasingly being used for this purpose.

[0003] However, due to their complexity, construction robots have so far had very high manufacturing costs.

[0004] It is therefore desirable to be able to utilize construction robots as fully as possible in order to reduce time-related costs. This is more easily achievable the more flexible the construction robot can be used, especially the more the construction robot can be used for different types of construction tasks.

[0005] The object of the present invention is therefore to provide solutions that enable the widest possible variety of construction tasks to be carried out using a construction robot. This object is achieved, first, by a holding frame for receiving a tool, which has a battery interface for releasably receiving a battery, in particular for detaching it without tools. The holding frame has a holding section that is designed to complement the battery interface, and the holding frame has a connection point for connecting to a manipulator of a construction robot.

[0006] The tool for which the holding frame is intended can in particular be a hand-held power tool that can be operated with a rechargeable battery.

[0007] This allows the tool to be mounted on the holding frame, with the holding section engaging the battery interface, allowing the tool to be easily secured to the holding frame. This allows different tools, especially different types of tools, to be securely mounted on the same holding frame.

[0008] This can take advantage of the fact that different types of tools often have the same battery interfaces. This can be particularly the case with battery-powered tools, for example, battery-powered hand tools such as hand drills, especially rock drills, nail drivers, grinders, saws, chiseling machines, or the like.

[0009] The battery interface can have at least two functionalities: firstly, the battery interface can be designed to hold the battery securely to the machine tool.

[0010] Second, the battery interface can be configured to transmit operating energy. The operating energy can be transmitted unidirectionally, in particular from the battery to the machine tool. It can also be transmitted bidirectionally, for example, to recharge the battery through recuperation. The battery interface can also have additional functionalities. In particular, it can also be configured to transmit signals between the battery and the machine tool. This signal transmission can also be unidirectional or bidirectional.

[0011] The battery interface can, for example, have guide rails. The holding frame can have a slide that complements the guide rails. The holding frame can then be slid onto the guide rails with its slide. The battery interface and / or the holding frame can have a locking mechanism. The holding frame can then be locked to the battery interface after being slid onto the guide rails. The locking mechanism can be designed to be removable without tools.

[0012] In one class of embodiments, the holding frame can have a bearing arm located at a different location from the holding section for additional support of the tool. The holding frame can be designed, in particular, to support the tool at several different points, in particular to hold it at the multiple points. Such multi-point support allows the holding frame to better absorb torques occurring during tool operation. These torques can be more effectively counteracted if necessary.

[0013] If the tool is designed as a handheld power tool, it often has a connecting section for a side handle. The support arm of the holding frame can then be positioned so that, when the holding frame is mounted on the battery interface, it holds the tool at the connecting section of the tool, for example, by gripping it.

[0014] To prevent excessive loading and, in particular, damage to the manipulator, the support frame can have at least one vibration damper. The vibration damper can comprise foam material and / or an elastic or at least partially elastic material. It can be configured to reduce the transmission of vibrations from the machine tool to the rest of the support frame.

[0015] At least one electrical connection can be formed between the holding section and the connection point. Thus, current, for example, for supplying the tool with operating power or for transmitting signals, can be transmitted unidirectionally or bidirectionally between the holding section and the connection point, and thus between the tool mounted in the holding frame and the manipulator mounted on the holding section.

[0016] In order to be able to use as many types of tools as possible with the holding frame and consequently with a specific construction robot, the electrical connection must be adapted to the electrical parameters of the tool and / or the construction robot. For this purpose, the holding frame can have a converter for converting at least one electrical parameter along the electrical connection. The converter can be, for example, a DC / DC converter, an AC / DC converter, a DC / AC converter, an amplifier, a limiter, an impedance converter, a signal-code converter, or the like. The converter can be remotely controllable and / or programmable. It is thus conceivable for a user of the holding frame and / or the construction robot to program and / or remotely control the converter depending on the type of tool to be mounted and / or the mounted tool.

[0017] In particular, if different tools, each having one of at least two types of battery interfaces, are available, it is conceivable to at least two different holding frames of the type described above, wherein the at least two different holding frames each have a connection point which is designed to be complementary to a different one of the types of battery interfaces.

[0018] The scope of the invention also includes a Construction robotsfor carrying out construction tasks on a building construction site, a civil engineering construction site and / or in steel construction, for example on a gas or oil platform, comprising a, in particular motorized, mobile platform, and a manipulator, wherein the manipulator has a tool interface which is designed to be complementary to the connection point of a holding frame of the type described here and a holding frame of the type described here is arranged on the tool interface of the manipulator.

[0019] Thus, a tool can be mounted in the holding frame, particularly at the battery interface. The holding frame, in turn, can be mounted with its connection point to the tool interface of the manipulator. Thus, the type, shape, and / or other specifications of the tool are abstracted by the holding frame. A uniform connection option for systems consisting of the holding frame and tool can be provided to the construction robot. A variety of readily available and therefore cost-effective tools can thus be used with the construction robot.

[0020] The construction robot may have a storage magazine for temporary storage of tools. The storage magazine may contain at least one tool with a holding frame of the type described here.

[0021] A holding frame of the type described here can be mounted on the manipulator. A tool, in particular with its battery interface, can be arranged on the holding frame. It is conceivable that the tool is configured such that at least one tool function, for example, a motor power, a rotational frequency, and / or an operating mode, can be controlled via its battery interface and / or wirelessly. Thus, the construction robot can control the tool, for example, to carry out a construction task or at least part of the construction task with the tool.

[0022] For this purpose, it is conceivable that the tool has a data interface. The data interface can be integrated into the battery interface. Alternatively or additionally, it can also be radio-based. The tool can then be remotely controlled via the data interface.

[0023] For example, the data interface can be configured to transmit control commands, property data and / or status data.

[0024] For example, an operating mode and / or operating state of the tool can be controlled. In particular, the tool can be switched on and / or off remotely.

[0025] It is also conceivable that at least one work output, one direction of rotation, one rotation frequency, one torque, or one impact frequency can be adjusted remotely.

[0026] For tools with an impact function, it can be particularly advantageous if the impact function can also be adjusted remotely. For example, when drilling a hole in concrete, the construction robot can initially start drilling with the impact function deactivated and then later activate the impact function to minimize the risk of unwanted chipped hole edges.

[0027] The tool can be configured to provide, as property data, for example at least one identification date, a performance capability, for example a maximum available impact energy and / or a maximum available work output, retrievable, in particular retrievable via the data interface.

[0028] It is also conceivable that the tool is configured to provide at least one operating state of the machine tool, for example at least one rotational speed, a temperature, a measure of wear of a component, or the like, in a retrievable manner, in particular retrievable via the data interface.

[0029] For this purpose, it is advantageous if the data interface is bidirectional. Then, for example, control commands from the construction robot to the tool as well as property and / or status data from the tool to the construction robot can be transmitted. It is also conceivable that control commands and / or property and / or status data can be transmitted in the opposite direction, alternatively or additionally.

[0030] The tool may have at least one protective device to protect a user during manual use of the tool. The protective device may, for example, be a start-up interlock, in particular a restart interlock, which prevents the motor from starting simply by applying a supply voltage, in particular without additional actuation of an actuating element.

[0031] The construction robot can be designed to carry out construction work on a building construction site and / or a civil engineering construction site and / or an industrial facility, in particular a steel-based one, for example an oil platform. It can be configured to carry out construction work on a ceiling, a wall and / or a floor. It can be designed to drill, cut, chisel, grind and / or set a building element. It can have one or more tools. The at least one tool can be mounted on the construction robot, in particular on the manipulator, by means of the holding frame. The tool can comprise a cutting tool, a grinding tool and / or a setting tool. It is also conceivable for the tool to be designed for marking. The tool can, for example, have a paint sprayer. Alternatively or additionally, it can also have a measuring tool, for example a distance meter.

[0032] The construction robot has a manipulator. The manipulator can be designed as a robot arm. The manipulator can also have a lifting device. The lifting device can increase the total volume accessible to the manipulator. The manipulator can have at least three degrees of freedom. In particular, it can have at least six degrees of freedom.

[0033] The construction robot also has a mobile platform. The mobile platform can comprise a wheeled chassis and / or a tracked chassis. The mobile platform can have at least two degrees of freedom. The construction robot can have a total of at least ten degrees of freedom. Alternatively, it is also conceivable for the mobile platform to be or comprise an aerial platform. For example, the construction robot can also be designed as an aerial drone. Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, with reference to the figures of the drawing, which show details essential to the invention, and from the claims. The features shown there are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen.The various features can be implemented individually or in groups in any combination in variants of the invention.

[0034] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description. They show:

[0035] Fig. 1 shows a construction robot; Fig. 2 shows a tool with a battery interface; Fig. 3 shows a schematic side view of a tool accommodated in a holding frame; Fig. 4 shows a schematic cross-sectional view of a battery interface with a holding section accommodated therein; Fig. 5 shows a schematic representation of a holding frame with an electrical connection and a transducer; and Fig. 6 shows a schematic representation of a holding frame with vibration dampers in which a tool is accommodated.

[0036] In the following description of the figures, the same reference numerals are used for identical or functionally corresponding elements to facilitate understanding of the invention.

[0037] Fig. 1 shows a construction robot 10 with a motorized chassis designed as a tracked chassis 12, one in a housing 14 trained control room 16 and a manipulator arranged on top of the housing 14 18. The manipulator 18 comprises a lifting device 17 for vertical displacement and a multi-axial controllable arm 19.

[0038] At the free end of the arm 19 there is an end effector 20 with a tool interface 21.

[0039] At the tool interface 21 a tool 24, in particular a stone drilling machine, with a dust extraction device 26, arranged detachably.

[0040] In order to detachably arrange the tool 24 at the tool interface 21, the tool is in a holding frame 22 As explained in more detail below, the holding frame 22 is connected to the tool 24 via a battery interface.

[0041] The holding frame 22 is mounted on the tool interface 21. The tool interface 21 is designed for the detachable connection of the holding frame 22 and thus also of the tool 24.

[0042] The holding frame 22 has a bearing arm 25 on which the tool 24 is additionally supported by the holding frame 22.

[0043] The construction robot 10 is powered by an energy storage 28, It is powered by a rechargeable, lithium-based battery, making it wirelessly operable.

[0044] Furthermore, the construction robot 10 has a storage magazine 100The supply magazine 100 has a plurality of storage locations 102. The tool 24 can be deposited at free storage locations 102 for storage and, if necessary, later reuse. Other elements, such as additional tools, can also be stored in the storage locations 102 for later use, in particular with the construction robot 10. Preferably, tools accommodated in the supply magazine 100 are also equipped with holding frames corresponding to the holding frame 22, so that they can also be mounted on the tool interface 21 via their respective holding frames.

[0045] The construction robot 10 has, preferably within the housing 14, a control arranged in the control room 16 36 The controller 36 comprises a memory module 38 and a microprocessor 40.

[0046] The controller 36 is provided with executable program code 42The program code 42 is stored in the memory module 38 and can be called up and executed on the microprocessor 40. Via a communication interface 44 the controller 36 can be a cloud-based computer system (in Fig. 1 not shown) and exchange data, for example data on the type of construction tasks to be carried out, associated position and / or attitude data and / or control commands.

[0047] The construction robot 10 is designed to perform construction tasks, for example, drilling work in ceilings and walls, on a construction site, in particular on a building construction site, a civil engineering site, and / or on a steel construction site, for example, an oil or gas production platform. In particular, the controller 36 can control the manipulator 18 such that construction work on ceilings and walls can be performed. An example of such a construction task can be, for example, drilling a borehole, in particular with a specific drilling depth and / or a specific borehole diameter, into a concrete ceiling using the tool 24 designed as a stone drilling machine.

[0048] The construction robot 10 is configured to automatically detach the tool 24 arranged at the tool interface 21 and to mount a second tool at the tool interface 21. Using its manipulator 18, the construction robot 10 can move the tool 24 to a free storage location 102 and then detach the holding frame 22 from the tool interface 21. The second tool can be picked up from one of the remaining storage locations 102 and mounted with its holding frame at the tool interface 21.

[0049] Fig. 2 shows a tool 24. The tool 24 is a battery-operated rock drilling machine. It can be inserted into the holding frame 22 (see Fig. 1 ) can be recorded.

[0050] The tool 24 has a base body 50 from which a tool holder 52protrudes. The tool holder 52 is designed to accommodate drilling or chiseling tools. It can be driven in rotation and / or impact by a motor located within the base body 50.

[0051] At the other end it has a handle 54 On the handle 54 there is an actuating element 56, with which the tool 24 can be manually controlled. In particular, the actuating element 56 can be used to start or stop a drilling process, or to regulate a speed.

[0052] Furthermore, the tool 24 has a battery interface 58 The battery interface 58 is designed to accommodate rechargeable batteries, for example the battery 60,It serves, for example, during manual use of the tool 24, among other things, to fix the accumulator 60 to the tool 24, to transmit operating energy between the accumulator 60 and the tool 24, and to transmit signals between the two.

[0053] In the Fig. 2 In the situation shown, the accumulator 60 is pushed approximately halfway onto the battery interface 58. The battery interface 58 has a locking mechanism 62 on, which in Fig. 2is only indicated schematically for illustrative purposes. The locking mechanism 62 is designed such that a resistance force counteracts the battery 60 when it is fully pushed onto the battery interface 58, so that the battery 60 can be removed from the battery interface 58 when the resistance force generated by the locking mechanism 62 is overcome. Thus, the locking mechanism 62 allows tool-free assembly and disassembly while still ensuring a sufficiently secure fit of the fully pushed-on battery 60 on the tool 24.

[0054] In order to be able to mount the accumulator 60 on the battery interface 58, the accumulator 60 has a battery connection point 64 which is complementary to the battery interface 58. The tool 24 can also be supplied with operating energy from the battery 60 via the battery interface 58.

[0055] The battery interface 58 is also configured to receive control signals with which at least one function of the tool 24, for example the above-mentioned functions of the actuating element 56, can be controlled.

[0056] The tool 24 further comprises an additional handle 66 which is in a holding area 68 is arranged near the tool holder 52 on the base body 50.

[0057] The additional handle 66 can be removed.

[0058] The bearing arm 25 of the holding frame 22 (see both Fig. 1 ) is designed to be complementary to the holding area 68 and can at least partially enclose it when the tool 24 is received in the holding frame 22.

[0059] Fig. 3 shows a schematic side view of a tool 24 held in a holding frame 22. It can be seen in particular that the holding frame 22 largely encloses the tool 24.

[0060] The tool 24 is held at two locations in the holding frame 22. In particular, it is held via its battery interface 58 and a holding section 70 of the support frame 22 and its holding area 68, which the support arm 25 of the support frame 22 at least partially encompasses and thus additionally supports. The support arm 25 is located at a different location on the support frame 22 than the holding section 70. In particular, it is located outside a center of gravity SP of the tool 24, so that it can also at least partially absorb any torques occurring around the center of gravity SP during operation of the tool 24 and, for example, counteract these.

[0061] Fig. 4 shows schematically a cross-section of a battery interface 58 with a holding section 70 of the holding frame 22 received therein.

[0062] The battery interface 58 has guide rails on the sides 74 on.

[0063] The holding section 70 is designed to complement the battery interface 58, in particular the guide rails 74. The holding section 70 engages behind the guide rails 74 with an insertion section 76.

[0064] The tool 24 and the holding section 70 are thus connected to each other by a positive fit.

[0065] Fig. 5 shows a schematic representation of cross sections of the holding frame 22 and the tool interface 21.

[0066] An electrical connection 78 connects the holding section 70 electrically with a connection point 80 of the holding frame 22.

[0067] The connection point 80 is designed to be complementary to the tool interface 21, so that the holding frame 22 can be mounted at the connection point 80 on the tool interface 21. To simplify the illustration, Fig. 5a state in which the holding frame 22 is not yet mounted on the tool interface 21.

[0068] The connection point 80 and the tool interface 21 have electrical contacts 82, 84 via which the tool interface 21 can be connected to the electrical connection 78 and thus also electrically to the holding section 70. Via a supply line 86, which is connected on the one hand to the contact 84 and on the other hand to an energy source, for example the energy storage device 28 (see Fig. 1 ), the construction robot 10 (see Fig. 1 ), the tool 24 mounted in the holding frame 22 (see e.g. Fig. 1 ) are supplied with operating energy.

[0069] Control signals for controlling the tool 24 from the rest of the construction robot 10 (see Fig. 1 ) to the tool 24 when the tool 24 is mounted in the holding frame 22.

[0070] A converter 88 is integrated into the electrical connection 78. In this embodiment, the converter 88 is a programmable DC / DC converter. Programming can be performed using suitable programming signals applied to the electrical contact 82. This makes it possible to adapt the operating energy transmitted via the contact 82, in the embodiment in the form of a DC voltage of, for example, approximately 48 V, to a DC voltage adapted for the tool 24, for example, approximately 22 V.

[0071] To accommodate different types of tools, the converter 88 can be programmed to a variety of different output voltages.

[0072] Fig. 6 shows an alternative holding frame 22 in a highly schematic representation. Unless otherwise described, this holding frame 22 corresponds to the previously described embodiment of the holding frame 22.

[0073] The tool 24 is in turn accommodated in the holding frame 22.

[0074] The holding frame 22 has several vibration dampers 90, 92, 94 on.

[0075] The vibration dampers 90, 92, 94 each have one or more spring elements. They are designed, in particular arranged, such that vibrations originating from the tool 24 are only damped and transmitted to the holding frame 22 - and optionally from there to a construction robot 10 (see Fig. 1 ), on which the holding frame 22 is mounted.

[0076] The vibration dampers 90, 92, 94 also dampen unwanted vibrations in the opposite direction.

[0077] The holding frame 22 has, in addition to the bearing arm 25, a second bearing arm 96 so that the tool 24 is held by the holding frame 22 at a total of three points.

[0078] The vibration damper 94 is integrated into the support frame 22. Thus, a lower part 98 Vibrations acting on the holding frame 22 are transmitted to the remaining holding frame 22 only in a dampened manner. The lower part 98 is in turn firmly connected to the tool 24 via the battery interface 58. List of reference symbols

[0079] 10 Construction robot 12 Chassis 14 Housing 16 Control room 17 Lifting device 18 Manipulator 19 Arm 20 End effector 21 Tool interface 22 Holding frame 24 Tool 25 Storage arm 26 Dust extraction device 28 Energy storage 36 Controller 38 Memory module 40 Microprocessor 42 Program code 44 Communication interface 50 Base body 52 Tool holder 54 Handle 56 Actuating element 58 Battery interface 60 Battery 62 Latching mechanism 64 Battery connection point 66 Additional handle 68 Holding area 70 Holding section 74 Guide rails 76 Insertion section 78 Electrical connection 80 Connection point 82 Contact 84 Contact 86 Supply line 88 Converter 90 Vibration damper 92 Vibration damper 94 Vibration damper 96 Storage arm 98Part 100Supply magazine 102Storage area SPFocus

Claims

1. Holding frame (22) for receiving a tool (24), wherein the holding frame (22) has an attachment point (80) for attachment to a manipulator (18) of a construction robot (10), characterized in that the holding frame has a storage battery interface (58) for detachably receiving a storage battery (60), in particular detachably without the use of tools, wherein the holding frame (22) has a holding portion (70) which is designed complementarily with respect to the storage battery interface (58).

2. Holding frame according to the preceding claim, characterized in that the holding frame (22) has a bearing arm (25), situated at a different point than the holding portion (70), for additionally supporting the tool (24).

3. Holding frame according to any one of the preceding claims, characterized in that the holding frame (22) has at least one vibration damper (92, 94, 96).

4. Holding frame according to any one of the preceding claims, characterized in that at least one electrical connection (78) is formed between the holding portion (70) and the attachment point (80).

5. Holding frame according to any one of the preceding claims, characterized in that the holding frame (22) has a converter (88) for converting at least one electrical parameter along the electrical connection (78).

6. Construction robot (10) for performing construction tasks on a building construction site, on a civil engineering construction site and / or in steel construction, for example on a gas or oil platform, comprising an in particular motorized mobile platform (12), and a manipulator (18), wherein the manipulator (18) has a tool interface (21) which is designed complementarily to the attachment point (80) of a holding frame (22) according to any one of the preceding claims, characterized in that a holding frame (22) according to any one of Claims 1 to 6 is arranged at the tool interface (21).

7. Construction robot according to the preceding claim, characterized in that the construction robot has a storage magazine (100) in which at least one tool (24) is received by means of a holding frame (22) according to any one of Claims 1 to 5.

8. Construction robot according to either one of the two preceding claims, characterized in that a holding frame (22) according to any one of Claims 1 to 5 is installed on the manipulator (18), on which holding frame a tool (24) is arranged which has a storage battery interface (58).

9. Construction robot according to any one of Claims 7 to 9, characterized in that the tool (24) is configured such that at least one tool function, for example a motor power, a rotational frequency and / or an operating mode, is controllable via the storage battery interface (58) of said tool and / or wirelessly.