INTERFACE ADAPTER AND SYSTEM COMPRISING A CONSTRUCTION ROBOT, AN INTERFACE ADAPTER AND AT LEAST ONE MACHINE TOOL

Description

[0001] The invention relates to the connection of an electric machine tool to a construction robot as described in the preamble of claim 1 and as known from US 2021 / 0138664 and KR 102339489.

[0002] To ensure the most flexible and cost-effective use of a construction robot, it is desirable for the construction robot to be able to work with different types of electric machine tools. It would be particularly advantageous if widely available, quality-proven, and relatively inexpensive machine tools, thanks to mass production, could be used with a construction robot with minimal effort.

[0003] It should be borne in mind that the conditions prevailing on construction sites are often unpredictable and can vary from site to site.

[0004] It should also be possible to carry out a wide variety of construction work with the construction robot, and accordingly a particularly large variety of different types of machine tools should be usable.

[0005] The object of the present invention is therefore to provide a device that enables the use of different types of electrical machine tools with a construction robot in a simple manner.

[0006] The task is solved by a Interface adapter for connecting an electric machine tool to an end effector of a construction robot, wherein the interface adapter has a connection point for connection to a machine tool, which is designed to be complementary to a standard battery interface of a machine tool.

[0007] One idea underlying the invention is that electrical machine tools, in particular battery-operated machine tools, for example battery-operated handheld power tools such as hand drills, in particular rock drilling machines, nail driving machines, grinders, sawing machines, chiseling machines or the like, usually have a power supply interface that is standardized, in particular uniformly designed, at least across several types of machine tools, for example from one and the same manufacturer. Thus, battery-operated machine tools have a standard battery interface via which a battery conforming to the respective standard can be mounted on the machine tool. The standard battery interface can have at least two functionalities: first, the standard battery interface can be designed to hold the battery securely to the machine tool.For this purpose, the standard battery interface can, for example, have a locking mechanism. Secondly, the standard 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 standard battery interface can 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.

[0008] This allows the interface adapter to be mounted on one side of the construction robot's end effector. The interface adapter can also be mounted on the machine tool's standard battery interface via the connection point, particularly instead of a conventional rechargeable battery. This allows the machine tool to be mounted on the end effector via the interface adapter. This is possible with all machine tools that have the same standard battery interface, and thus generally with a wide variety of different types of machine tools, especially those that can be operated with a rechargeable battery.

[0009] Standard battery interfaces are typically designed for tool-free battery attachment and / or removal. This allows the machine tool to be easily and quickly separated from the end effector, especially without the need for any tools.

[0010] Since such standard battery interfaces usually have a locking mechanism for fixing the battery, it can still be ensured that the machine tool is securely held on the end effector.

[0011] The construction robot can be configured to work on a wall and / or a ceiling, in particular on a building construction site, a civil engineering construction site and / or an industrial plant.

[0012] It is conceivable that the interface adapter has a machine tool signal interface and a construction robot signal interface for transmitting at least one signal between the construction robot and the machine tool. Thus, in addition to a mechanical connection between the construction robot and the machine tool, a signal connection can also be established between the two devices using the interface adapter.

[0013] A signal can be understood, for example, as at least one control signal and / or at least one sensor signal.

[0014] The transmission can be unidirectional or bidirectional.

[0015] The interface adapter may also have an additional battery interface and / or an additional signal interface with which a battery can be connected to the interface adapter.

[0016] The machine tool and construction robot signal interfaces can also be configured for operating power transmission. Thus, the machine tool can be supplied with electrical operating power. Operating power can be understood as the energy essentially required for the normal operation of the machine tool. Accordingly, the signal interfaces can be configured to transmit instantaneous electrical power of at least 0.1 kW, for example, at least 1 kW.

[0017] If the interface adapter has the additional battery interface and / or the additional signal interface, operating energy can also be transferred to a battery located at this or these interfaces, for example, to charge the battery. Operating energy can also be transferred away from this battery, for example, to temporarily provide a particularly increased electrical power to the machine tool.

[0018] At least part of the machine tool signal interface can be configured as part of the connection point. For example, the machine tool signal interface can use or at least co-use one or more electrical contacts of the connection point.

[0019] This means that a sensor signal can be transmitted via the connection point.

[0020] It is also conceivable to have a separate control interface for transmitting control signals, for example, for switching the machine tool on / off or for controlling at least one operating parameter, such as a rotational speed. This can be helpful, for example, for machine tools where at least one function required to control the machine tool cannot be controlled via the standard battery interface.

[0021] The interface adapter may also comprise a signal converter configured to convert a signal arriving at one of the signal interfaces, for example to change a level, an impedance or a signal coding of the signal, and to output it at the other signal interface.

[0022] It is particularly conceivable that the signal converter is configured to translate a sensor and / or control signal sent by the construction robot in "robot language" into a signal form that can be processed by the machine tool. Alternatively or additionally, it is also conceivable that the signal converter is configured to convert a sensor and / or control signal from the machine tool into a signal form that can be processed by the construction robot.

[0023] This enables the construction robot to control different types of machine tools with machine-tool-independent signals or, conversely, to receive signals from different machine tools.

[0024] Signal transmission can be half-duplex or full-duplex, and it can be differential or single-ended.

[0025] Alternatively or additionally, it is also conceivable that the signal converter converts the operating energy to be transmitted.

[0026] The signal interfaces can be electrical interfaces. For example, it can be provided to modulate at least one signal onto the operating power supply.

[0027] Alternatively or additionally, it is also conceivable that at least one of the signal interfaces is set up for wireless data transmission, in particular for optical and / or radio-based data transmission. It is advantageous, for example, if the wireless data transmission uses a low-energy radio standard. The connection can be automatically coupled. Inductive, microwave-based and / or optical, e.g. infrared-based, data transmission are particularly conceivable. Such wireless data transmission can take place reliably even in heavily dusty environments, such as those frequently encountered on construction sites. Such data transmission also requires no mechanical interaction for coupling, thus simplifying coupling and uncoupling.

[0028] The interface adapter may also comprise a control unit configured to generate a control signal and output it to at least one of the two signal interfaces.

[0029] For this purpose, the interface adapter can comprise a microcontroller. The microcontroller can comprise a memory, a microprocessor, and / or program code stored in the memory that can be executed on the microprocessor.

[0030] With such a control unit, the interface adapter can control the connected machine tool and / or the construction robot. For example, the control unit, in particular the program code, can be configured to detect a malfunction, such as an incorrect arrangement of the machine tool on the interface adapter. It can then be configured to send a corresponding signal to the construction robot via the construction robot signal interface. The construction robot can, for example, initiate a malfunction handling routine based on the signal. Another example is for the control unit to send a query signal to the machine tool via the machine tool signal interface.

[0031] The machine tool can then send back a response signal. For example, the control unit can query and / or adjust a parameter of the machine tool in this way.

[0032] For example, it can be configured to query a type or identifier of the machine tool. It can then be configured to set a parameter of the control unit itself, for example a parameter of the signal converter relating to the conversion, according to the type or identifier and / or to forward the parameter, in this case the type or identifier, to the construction robot via the construction robot signal interface. Similarly, it is also conceivable for the control unit to send a query signal to the construction robot and receive a response signal from it. Based on the response signal, the control unit can set a parameter of the control unit itself and / or the machine tool.

[0033] In particular, the control unit can be configured to receive at least one sensor signal from the machine tool signal interface and / or from the construction robot signal interface. The sensor signal can then be used by the control unit for control purposes. If, for example, the sensor signal relates to vibrations triggered by the machine tool, the control unit can send a control signal via the machine tool signal interface to operate at lower power and / or to engage a sleep mode when the machine tool vibrations exceed a certain level. This can protect the construction robot from mechanical overload.

[0034] Alternatively or additionally, further sensor signals are also conceivable, for example sensor signals that indicate at least one characteristic of the machine tool and / or the construction robot, for example with regard to vibration, current, force, temperature, type of machine tool, location and / or position, a distance, a feed and / or the like.

[0035] If the battery interface is available, the sensor signal can also be related to a battery connected to the battery interface.

[0036] It is also conceivable that the sensor signal indicates an operating mode and / or that the control unit sets an operating mode, in particular of the machine tool.

[0037] For example, the behavior of the machine tool can be adjusted depending on whether a battery or the interface adapter is connected. Depending on the detected condition, a trigger can be set or ignored. A wake-up mode can be initiated, for example. Identification tags can also be sent and / or received from the control unit.

[0038] The durability of the construction robot and / or the precision with which construction work can be carried out can be improved if the interface adapter has at least one damping element to dampen vibrations arriving at the interface adapter. The damping element can be configured for passive and / or active damping.

[0039] The interface adapter itself can have at least one sensor. The sensor can be, for example, a force sensor and / or a pressure sensor. The interface adapter can then be configured to measure a contact force, a tensile force, and / or the like.

[0040] The scope of the invention also includes a system comprising a construction robot, an interface adapter of the type described above and / or below, and an electric machine tool, wherein the electric machine tool has a standard battery interface and wherein the standard battery interface of the machine tool is arranged at the connection point of the interface adapter.

[0041] It is conceivable that the system may also include additional adapter parts. For example, there may be machine tool-specific and / or construction robot-specific adapter parts. These can be used to adapt machine tools and / or construction robots to the interface adapter.

[0042] The machine tool can be configured, in particular via its standard battery interface, to detect whether a rechargeable battery or the interface adapter is mounted on the standard battery interface. It can also be configured to detect whether any element is arranged on the standard battery interface at all, and in particular, if applicable, what type of element this is. For example, the machine tool can be configured to use recuperation when a rechargeable battery is mounted and not to use recuperation when the interface adapter is mounted.

[0043] It's also conceivable that the machine tool has been modified. For example, it's possible to replace a handle insert of the machine tool, at least in part, with a part or the entire interface adapter.

[0044] 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 structural element. It can have one or more machine tools. The machine tool can comprise a cutting tool, a grinding tool and / or a setting tool. It is also conceivable that the end effector and / or the machine tool are designed for marking. For example, the end effector can have a paint sprayer. Alternatively or additionally, a measuring tool, for example a distance meter, can also be arranged on the end effector.

[0045] The interface adapter can be mounted on the end effector. The machine tool and / or measuring tool can, in turn, be mounted on the interface adapter. In principle, the construction robot, especially the end effector, can also comprise multiple machine tools and / or measuring tools.

[0046] The construction robot can have 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.

[0047] The construction robot can also have 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 at least ten degrees of freedom in total. Alternatively, it is also conceivable that the mobile platform is or comprises an aerial platform. For example, the construction robot can also be designed as an aerial drone.

[0048] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, based on the figures of the drawing, which illustrate details essential to the invention, and from the claims. The features shown therein are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen.

[0049] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description. They show:

[0050] Fig. 1 shows a machine tool; Fig. 2 shows an interface adapter in a side view; Fig. 3 shows a converted machine tool with a machine tool adapter part in a side view; Fig. 4 shows a machine tool during its conversion in a perspective view; Fig. 5 shows the converted machine tool with the interface adapter mounted in a side view; Fig. 6 shows an interior view of part of the interface adapter with a control unit in a perspective view; and Fig. 7 shows a system comprising a construction robot, an interface adapter and a machine tool.

[0051] 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.

[0052] Fig. 1 shows a machine tool 10. The machine tool 10 is a battery-operated rock drilling machine.

[0053] It has a basic body 12 from which a tool holder 14 At the other end it has a handle 16 On the handle 16 there is an actuating element 17, with which the machine tool 10 can be manually controlled. In particular, the actuating element 17 can be used to start or stop a drilling process, or to regulate a rotational speed.

[0054] It also has a standard battery interface 18The standard battery interface 18 is designed to accommodate rechargeable batteries. It serves, among other things, to secure the rechargeable battery to the machine tool 10, to transmit operating energy between the rechargeable battery and the machine tool 10, and to transmit signals between the two.

[0055] An example is Fig. 1 an accumulator 20, the in Fig. 1 shown state is pushed approximately halfway onto the standard battery interface 18.

[0056] In order to be able to mount the accumulator 20 on the standard battery interface 18, the accumulator 20 has a connection point 22 which is complementary to the standard battery interface 18.

[0057] To fully assemble the accumulator 20, it would have to be in the direction of the arrow 24be pushed further onto the standard battery interface 18. For complete disassembly, the battery would have to be pushed further away from the standard battery interface 18 in the opposite direction of arrow 24.

[0058] Both assembly and disassembly are therefore possible without tools.

[0059] Fig. 2 shows an interface adapter 100 for connecting an electric machine tool with an end effector of a construction robot.

[0060] The interface adapter has a machine tool connection point 110 for connection to a machine tool, e.g., the machine tool 10 according to Fig. 1 , on.

[0061] The machine tool connection point 110 has a machine tool connection section 112 which is complementary to the standard battery interface 18 (see Fig. 1). Thus, the machine tool connection point 110 is also designed to complement the standard battery interface 18.

[0062] The machine tool connecting section 112 has electrical contacts 114 If the machine tool 10 is connected to the machine tool connection point 110, operating energy, in particular for operating the machine tool 10, can be transmitted via the contacts 114. For example, it can be provided to transmit an electric current with a voltage of approximately 22 V DC as operating energy.

[0063] By modulating the operating energy to be transmitted, signals can also be transmitted bidirectionally via the contacts 114 from and / or to the machine tool 10. In this respect, the contacts 114, in conjunction with the remaining machine tool connection point 110, simultaneously form a machine tool signal interface. 116.

[0064] Furthermore, the interface adapter 100 has a construction robot connection point 118 This is used to connect to an end effector of a construction robot, for example the one described below in connection with Fig. 7 construction robots described in more detail.

[0065] For the, in particular detachable, fastening of the interface adapter 100 to the end effector, the construction robot connection point 118 has a, in particular pneumatically actuated, holder 120 on.

[0066] The machine tool connection point 110 can be connected to a damping element 122 be pushed on so that the damping element 122 is located essentially between the machine tool connection point 110 and the construction robot connection point 118. It serves to dampen vibrations that may, for example, originate from the machine tool 10 during its operation.

[0067] Via an electrical contact socket 124Operating energy can be transmitted between a connected construction robot and the interface adapter 100. For example, operating energy can be transmitted in the form of electrical current with a voltage of 48 V.

[0068] Signals can also be transmitted, particularly bidirectionally, between the interface adapter 100 and the construction robot via the contact socket 124 by modulation. In this respect, the contact socket 124, in conjunction with the remaining construction robot connection point 118, simultaneously forms a construction robot signal interface. 126.

[0069] Thus, signals can be transmitted between the machine tool 10 and the construction robot via the machine tool signal interface 116 and via the construction robot signal interface 126.

[0070] Furthermore, the interface adapter 100 has a control unit 128 on.

[0071] The machine tool connection point 110 is electrically connected to the remaining interface adapter 100, in particular to the control unit 128, via a connecting line 130 electrically connected.

[0072] Operating energy can also be transmitted between the construction robot and the machine tool 10 via the machine tool and construction robot signal interfaces 116, 126.

[0073] Fig. 3 shows the machine tool 10 in a modified form. In comparison to the shape according to Fig. 1 the handle 16 with the actuating element 17 and the accumulator 20 have been removed.

[0074] The manually operable actuating element 17 is connected by a control connection 26 been replaced so that the control functions of the actuating element 17 can now be controlled electronically.

[0075] A machine tool adapter part 28has been mounted on the machine tool 10 instead of the handle 16.

[0076] The standard battery interface 18 has been folded over and mounted on an outer side of the machine tool adapter part 28.

[0077] Fig. 4 shows the machine tool 10 in a perspective view during its conversion. In particular, the standard battery interface 18 can be seen, which in a subsequent step according to the illustration in Fig. 4 by approximately 90 degrees counterclockwise against the already mounted machine tool adapter part 28.

[0078] Also visible on the standard battery interface are 18 mating contacts 30, which are designed to make electrical contact with the contacts 114 (see Fig. 2 ) to produce.

[0079] Fig. 5 shows the converted machine tool 10 according to Fig. 3 to which the interface adapter 100 is connected in accordance with Fig. 2 is mounted.

[0080] For this purpose, the damping element 122 is mounted on the machine tool adapter part 28, for example screwed on.

[0081] The machine tool connection point 110 is located on the standard battery interface 18.

[0082] The control connection 26 is provided with a control connection socket 132 connected to the control unit 128.

[0083] Fig. 6 shows a perspective view of the inside of the control unit 128.

[0084] The control unit 128 comprises an electronic circuit 134, which includes a microcontroller 136 The microcontroller 136 has a microprocessor 138 and a memory 140 The memory 140 contains program code 142 which is executable on the microprocessor 138.

[0085] With the aid of program code 142, among other things, the control unit 128 is configured to convert a signal arriving at one of the signal interfaces. In particular, it is configured to convert signals arriving at a robot signal interface 144, which are modulated onto a direct current with a voltage of 48 V, into signals modulated onto a direct current with a voltage of 22 V and to output them to the machine tool signal interface 116. In this respect, the control unit 128 also forms a signal converter. 144.

[0086] Furthermore, the control unit 128 is configured with the aid of the program code 142 to receive sensor signals 146 a vibration sensor 148 It is further configured such that, if at least one of the sensor signals 146 exceeds a limit value, a brake signal is sent to the machine tool signal interface 116 ( Fig. 2). Due to the braking signal, the machine tool 10, which in the present embodiment is designed as a rock drilling machine, can, for example, reduce its rotational speed, so that the vibrations triggered by it are also reduced.

[0087] Fig. 7 shows a system 200. The system 200 comprises a construction robot 210, an interface adapter 100 and an electric machine tool 10.

[0088] The interface adapter 100 corresponds to the one described in the preceding Fig. 2 , 5 and 6 described interface adapter 100.

[0089] The machine tool 10 corresponds to the one described in the preceding Fig. 1 , 3 , 4 and 5 described machine tool 10.

[0090] The construction robot 210 has a tracked chassis 212 equipped mobile platform 214On the mobile platform 214 there is a manipulator 216 The manipulator 216 has a lifting device 218 on which a multi-axis arm 220 The lifting device 218 can displace the arm 220 in the vertical direction. The arm 220 has at least six degrees of freedom. Thus, an end effector arranged at a working end of the arm 220 222 can be aligned both vertically and horizontally. Thus, the construction robot 210 can perform construction work, in particular drilling work on ceilings, walls, and / or floors using the machine tool 10 designed as a rock drilling machine.

[0091] The interface adapter 100 is arranged on the end effector 222. Its construction robot signal interface 126 (see Fig. 2 ) is connected to a corresponding signal output of the construction robot 210.

[0092] Among other things, the standard battery interface 18 (see Fig. 2) of the machine tool 10 at the machine tool connection point 110 (see Fig. 2 ) of the interface adapter 100. List of reference symbols

[0093] 10Machine tool 12Main body 14Tool holder 16Handle 17Actuator 18Standard battery interface 20Accumulator 22Connection point 24Arrow 26Control connection 28Adapter part 30Mating contact 100Interface adapter 110Machine tool connection point 112Machine tool connection section 114Contact 116Machine tool signal interface 118Construction robot connection point 120Bracket 122Damping element 124Contact socket 126Construction robot signal interface 128Control unit 130Connecting cable 132Control connection socket 134Circuit 136Microcontroller 138Microprocessor 140Memory 142Program code 144Signal converter 146Sensor signal 148Vibration sensor 200System 210Construction robot 212Tracked chassis 214 mobile platform 216 manipulator 218 lifting device 220 arm 222 end effector

Claims

1. Interface adapter (100) for connecting an electric power tool (10) to an end effector (222) of a construction robot (210), wherein the construction robot (210) is preferably configured for performing work on a wall and / or on a ceiling, in particular on a building construction site, on a civil engineering construction site and / or in an industrial plant, characterized in that the interface adapter (100) has a power tool connecting point (110) for connecting to a power tool (10), which power tool connecting point is designed complementarily to a standard storage battery interface (18) of a power tool (10), wherein the standard storage battery interface (18) is a standardized energy supply interface from one manufacturer, by means of which a storage battery (20) conforming to the relevant standard can be installed on the power tool (10).

2. Interface adapter according to the preceding claim, characterized in that the interface adapter (100) has a power tool signal interface (116) and a construction robot signal interface (126) for transmitting at least one signal between the construction robot (210) and the power tool (10).

3. Interface adapter according to any one of the preceding claims, characterized in that the power tool signal interface (116) and the construction robot signal interface (126) are additionally configured for transmitting operating energy.

4. Interface adapter according to any one of the preceding claims, characterized in that at least a part of the power tool signal interface (116) is formed as part of the power tool connecting point (110).

5. Interface adapter according to any one of the preceding claims, additionally comprising a signal converter (144) that is configured to convert a signal that is received at one of the signal interfaces (116, 126), for example to modify a level, an impedance and / or a signal coding of the signal, and to output said signal at the other signal interface (116, 126).

6. Interface adapter according to any one of the preceding claims, characterized in that at least one of the signal interfaces (116, 126) is configured for wireless data transmission, in particular for optical and / or radio-based data transmission.

7. Interface adapter according to any one of the preceding claims, characterized in that the interface adapter (100) has a control unit (128) that is configured to generate a control signal and to output said control signal to at least one of the two signal interfaces (116, 126).

8. Interface adapter according to any one of the preceding claims, characterized in that the control unit (128) is configured to receive at least one sensor signal (146) from the power tool signal interface (116) and / or from the construction robot signal interface (126).

9. Interface adapter according to any one of the preceding claims, characterized in that the interface adapter (100) has at least one damping element (122) for damping vibrations that act on the interface adapter (100).

10. Interface adapter according to any one of the preceding claims, characterized in that the interface adapter (100) has at least one sensor (146).

11. System (200) comprising a construction robot (210), an interface adapter (100) according to any one of the preceding claims, and an electric power tool (10), wherein the electric power tool (10) has a standard storage battery interface (18), and wherein the standard storage battery interface (18) of the power tool (10) is arranged on the power tool connecting point (110) of the interface adapter (100).