Remote-controlled machine tool for use by a construction robot and system
Patent Information
- Application Number
- EP2023745151
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-10-26
- Filing Date
- 2023-07-21
- Publication Date
- 2025-06-11
Smart Images
Figure 1.1
Abstract
Description
[0001] Principality of Liechtenstein
[0002] Remote-controlled machine tool for use by a construction robot and system
[0003] Description
[0004] The invention relates to the use of an electric machine tool by a construction robot.
[0005] In order to be able to use a construction robot as flexibly and cost-effectively as possible, it is desirable if the construction robot can be used together with different types of electrical machine tools.
[0006] Low operating costs can be expected, in particular, if machine tools that could be used for other purposes could be used together with a construction robot with little effort.
[0007] The object of the present invention is therefore to offer a machine tool which enables both manual use and automated use with the aid of a construction robot with the least possible conversion effort, and to provide a construction robot with such a machine tool.
[0008] The object is achieved by an electric machine tool, in particular a hand-held power tool, comprising a motor and a tool holder for holding a tool, for example a drilling tool, a cutting tool and / or a grinding tool, wherein the motor is configured to drive the tool holder, wherein the machine tool is remotely controllable electrically and / or by radio.
[0009] The underlying idea is that while it is fundamentally conceivable to use a machine tool with a construction robot, in which one or more actuating elements of the machine tool are controlled mechanically, for example, using hydraulics and / or pneumatics, so that the machine tool can be switched on or off by the construction robot, such as the hydraulics or pneumatics. However, such hydraulics or pneumatics would each require extensive modifications to the construction robot. Furthermore, the modifications would have to be machine-tool-specific.
[0010] The machine tool presented here, however, allows the construction robot to be remotely controlled. Remote control can be achieved either via radio and / or an electrical connection. Extensive additional components for mechanical control of the machine tool, especially for a mechanical control system specifically adapted to the machine tool, are unnecessary.
[0011] This means that the machine tool can be used by the construction robot with little preparation effort and is therefore particularly cost-effective.
[0012] Nevertheless, the machine tool remains easily usable manually. In particular, neither an electric nor a radio-based remote control hinders manual handling of the machine tool.
[0013] Such easy manual use can lead to wider adoption of the machine tool. In particular, the machine tool can be hand-held. This allows for economies of scale to be utilized, which can further reduce the machine tool's manufacturing costs.
[0014] It is conceivable that the machine tool has a data interface, wherein the machine tool can preferably be remotely controlled via the data interface.
[0015] For example, the data interface can be configured to transmit control commands, property data and / or status data.
[0016] For example, an operating mode and / or an operating state of the machine tool can be controllable.
[0017] In particular, the machine tool can be switched on and / or off remotely. It is also conceivable that at least one power output, direction of rotation, rotational frequency, torque, or impact frequency can be adjusted remotely.
[0018] For machine tools with an impact function, it can be 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.
[0019] The machine 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.
[0020] It is also conceivable that the machine 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.
[0021] For this purpose, it is advantageous if the data interface is bidirectional. Then, for example, control commands from the construction robot to the machine tool as well as property and / or status data from the machine 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.
[0022] The machine tool may have at least one protective device to protect a user during manual use of the machine tool.
[0023] The protective device can, 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. The machine tool can have an actuating element with which the protective device is implemented. The actuating element can be an electrical switch, for example a rotary switch, a slide switch, or a toggle switch, an electrical button, for example a push button, or an actuating element, for example a rotary control, for example a potentiometer, or a slide control.
[0024] The machine tool may also have a sensor. The sensor may be configured to detect a protective situation. The protective situation may correspond to the case in which the protective device is to be activated.
[0025] The sensor can be, for example, a proximity sensor, an acceleration sensor, a rotation sensor, a translation sensor, a current and / or a voltage sensor.
[0026] The protective device can be configured to reduce or stop a vibration, a work output, a rotational frequency, a speed and / or a torque, so that when a case monitored by the protective device occurs, the user is intuitively informed of the occurrence of the monitored case and / or is immediately protected from its consequences.
[0027] The protective device can also be configured to inhibit motor operation. This makes it possible to prevent the machine tool from being used until the monitored event no longer occurs. In this way, user injury can be prevented in advance.
[0028] The protective device can be deactivated, in particular activated and deactivated. In particular, it can be deactivated remotely, in particular activated and deactivated remotely.
[0029] Some machine tools are equipped with protective devices designed to ensure safe use by a human operator. For example, a speed controller may be provided so that the speed can only be adjusted after pressing down. This can prevent accidental operating errors during manual use.
[0030] Another example of a protective device is a blockage detection, for example a detection that a drill bit of a drilling machine is jammed in a substrate, and / or an automatic torque control, each in conjunction with an automatic shutdown or at least with an automatic speed reduction.
[0031] Another example of a protective device is a restart interlock, which prevents the motor from being started without the corresponding switch or control being pressed or manually operated. Such a restart interlock is particularly conceivable for cordless machine tools to prevent unwanted starting when charging a battery in the machine tool.
[0032] A protective device can also be a vibration damper, in particular a vibration damper for reducing vibrations of a handle section of the machine tool.
[0033] It is also conceivable that the protective device is designed to prompt the user to perform a specific gesture. For example, the machine tool can have two actuating elements arranged at different locations, so that the motor is only started when both actuating elements are actuated simultaneously. This can ensure, for example, that the user holds the machine tool with both hands at defined positions, thus preventing, for example, injury to one of the two hands.
[0034] While such protective devices can facilitate and / or protect manual use by a human user, they can sometimes make use by a construction robot considerably more difficult or even impossible.
[0035] For example, in the latter example, a construction robot would have to be configured to imitate a specific gesture in order to use the machine tool. Otherwise, the machine tool could not be used by the construction robot.
[0036] In such cases, the range of machine tools usable by the construction robot can be expanded if the machine tool's protective device can be deactivated, particularly remotely. If it can also be activated, particularly remotely, it can be deactivated precisely when it impedes use by a construction robot and reactivated as a precautionary measure in other situations. The machine tool can be configured so that the deactivation and / or activation of the protective device occurs actively, particularly by transmitting a corresponding control command.
[0037] It is also conceivable that the machine tool is designed for passive deactivation and / or activation, for example by automatically detecting whether it is being used manually or automatically by a construction robot.
[0038] The machine tool can have a battery interface for connecting a rechargeable battery. It can thus be operated wirelessly.
[0039] At least part of the data interface can be integrated into the battery interface. Remote control can then be carried out via the data interface.
[0040] Furthermore, a system comprising a construction robot and an electric machine tool is presented, wherein the electric machine tool is arranged on an end effector of the construction robot, wherein the construction robot is configured to activate and / or deactivate the protective device of the machine tool. For this purpose, the machine tool can correspond to the machine tool described above, wherein it in any case has the protective device.
[0041] With such a system, the construction robot can deactivate the protective device before using the machine tool, so that it can no longer hinder the actual use.
[0042] Also presented is an 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.
[0043] An idea underlying the invention is that electrical machine tools, in particular battery-operated machine tools, for example battery-operated hand-held machine tools such as hand drills, in particular rock drilling machines, nail driving machines, grinding machines, 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.
[0044] For example, battery-powered machine tools feature a standard battery interface through which a battery that complies with the respective standard can be mounted on the machine tool. The standard battery interface can serve at least two functions: First, the standard battery interface can be designed to securely hold the battery to the machine tool. For this purpose, the standard battery interface can, for example, feature a locking mechanism.
[0045] Second, the standard battery interface can be configured to transmit operating energy. The operating energy can be transmitted unidirectionally, particularly 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 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.
[0046] 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.
[0047] 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.
[0048] Since such standard battery interfaces typically feature a locking mechanism for securing the battery, it can still be ensured that the machine tool is securely mounted on the end effector. The construction robot can be configured to work on a wall and / or a ceiling, particularly on a building construction site, a civil engineering site, and / or an industrial facility.
[0049] 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.
[0050] A signal can be understood, for example, as at least one control signal and / or at least one sensor signal.
[0051] The transmission can be unidirectional or bidirectional.
[0052] 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.
[0053] 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.
[0054] If the interface adapter has the additional battery interface and / or the additional signal interface, operating energy can also be transferred to a battery arranged at this or these interfaces, for example, to charge the battery. Operating energy can also be transferred away from this battery, for example, to be able to provide a particularly increased electrical power to the machine tool for a short time. At least part of the machine tool signal interface can be formed 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.
[0055] This means that a sensor signal can be transmitted via the connection point.
[0056] 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.
[0057] 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.
[0058] 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.
[0059] 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.
[0060] Signal transmission can be half-duplex or full-duplex, and it can be differential or single-ended.
[0061] Alternatively or additionally, it is also conceivable for the signal converter to convert the operating energy to be transmitted. The signal interfaces can be electrical interfaces. For example, it can be provided to modulate at least one signal onto the operating energy supply.
[0062] 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.
[0063] The interface adapter may also comprise a controller configured to generate a control signal and output it to at least one of the two signal interfaces.
[0064] 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.
[0065] With such a controller, the interface adapter can control the connected machine tool and / or the construction robot. For example, the controller, in particular the program code, can be configured to detect a fault, 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, start a fault handling routine as a result of the signal. Another example is that the machine tool controller sends a query signal via the machine tool signal interface. The machine tool can then send back a response signal. For example, the controller can query a parameter of the machine tool and / or set a parameter in this way.
[0066] 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 controller 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 controller to send a query signal to the construction robot and receive a response signal from it. Based on the response signal, the controller can set a parameter of the controller itself and / or the machine tool.
[0067] In particular, the controller 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 controller for control purposes. If, for example, the sensor signal relates to vibrations triggered by the machine tool, the controller can send a control signal via the machine tool signal interface to operate at lower power and / or to enter sleep mode when the machine tool vibration exceeds a certain level. This can protect the construction robot from mechanical overload.
[0068] 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.
[0069] If the battery interface is available, the sensor signal can also be related to a battery connected to the battery interface.
[0070] It is also conceivable that the sensor signal indicates an operating mode and / or that the control system sets an operating mode, in particular of the machine tool.
[0071] 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 controller.
[0072] 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.
[0073] 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.
[0074] A system is also presented 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.
[0075] The machine tool may, in particular, have one or more features of the machine tool described above. In particular, it may include the protective device.
[0076] It is conceivable that the system also includes additional adapter parts. For example, there could 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.
[0077] 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, and in particular, if applicable, what type of element it 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.
[0078] It is also conceivable for the machine tool to be converted. For example, it is conceivable to at least partially exchange a handle insert of the machine tool for part or the entire interface adapter. 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 for the end effector and / or the machine tool to be designed for marking. For example, the end effector can have a paint sprayer.Alternatively or additionally, a measuring tool, such as a distance meter, can also be arranged on the end effector.
[0079] 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.
[0080] 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.
[0081] 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.
[0082] It is also conceivable that the construction robot can be activated via the interface adapter.
[0083] It is also conceivable for the machine tool to be activated and / or deactivated via the connection point. Further features and advantages of the invention emerge 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 therein 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.
[0084] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description.
[0085] They show:
[0086] Fig. 1 a machine tool;
[0087] Fig. 2 shows an interface adapter in a side view;
[0088] Fig. 3 shows a converted machine tool with a machine tool adapter part in a side view;
[0089] Fig. 4 a machine tool during its conversion in a perspective view;
[0090] Fig. 5 the converted machine tool with mounted interface adapter in a side view;
[0091] Fig. 6 is an internal view of a part of the interface adapter with a controller in a perspective view;
[0092] Fig. 7 a system comprising a construction robot, an interface adapter and a machine tool and
[0093] Fig. 8 shows a simplified block diagram.
[0094] 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.
[0095] Fig. 1 shows a machine tool 10. The machine tool 10 is a battery-operated rock drilling machine.
[0096] It has a base body 12 from which a tool holder 14 protrudes at one end. At the other end, it has a handle 16. On the handle 16, there is a
[0097] 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.
[0098] It also features a standard battery interface 18. The 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.
[0099] By way of example, Fig. 1 shows an accumulator 20 which, in the state shown in Fig. 1, is pushed approximately halfway onto the standard battery interface 18.
[0100] 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 designed to be complementary to the standard battery interface 18.
[0101] To fully install the battery 20, it would have to be pushed further onto the standard battery interface 18 in the direction of arrow 24. For complete disassembly, the battery would have to be pushed further away from the standard battery interface 18 in the opposite direction to arrow 24.
[0102] Both assembly and disassembly are therefore possible without tools.
[0103] Fig. 2 shows an interface adapter 100 for connecting an electric machine tool to an end effector of a construction robot.
[0104] 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.
[0105] The machine tool connection point 110 has a machine tool connection section 112 that is designed to complement the standard battery interface 18 (see Fig. 1). Thus, the machine tool connection point 110 as a whole is also designed to complement the standard battery interface 18.
[0106] The machine tool connection 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, an electrical current with a voltage of approximately 22 V DC can be provided as operating energy.
[0107] 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.
[0108] Furthermore, the interface adapter 100 has a construction robot connection point 118. This serves for connection to an end effector of a construction robot, for example, the construction robot described in more detail below in connection with Fig. 7.
[0109] 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.
[0110] The machine tool connection point 110 can be pushed onto a damping element 122, 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.
[0111] Operating energy can be transmitted between a connected construction robot and the interface adapter 100 via an electrical contact socket 124. For example, operating energy can be transmitted in the form of electrical current with a voltage of 48 V.
[0112] 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.
[0113] 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.
[0114] Furthermore, the interface adapter 100 has a controller 128.
[0115] The machine tool connection point 110 is electrically connected to the rest of the interface adapter 100, in particular to the controller 128, via a connecting line 130.
[0116] 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.
[0117] Fig. 3 shows the machine tool 10 in a modified form. Compared to the configuration shown in Fig. 1, the handle 16 with the actuating element 17 and the accumulator 20 have been removed.
[0118] The manually operable actuating element 17 has been replaced by a control connection 26, so that the control functions of the actuating element 17 can now be controlled electronically.
[0119] A machine tool adapter part 28 has been mounted to the machine tool 10 instead of the handle 16.
[0120] The standard battery interface 18 has been folded over and mounted on an outer side of the machine tool adapter part 28.
[0121] 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, is to be folded approximately 90 degrees counterclockwise against the already mounted machine tool adapter part 28, as shown in Fig. 4.
[0122] Also visible on the standard battery interface 18 are mating contacts 30, which are configured to establish electrical contact with the contacts 114 (see Fig. 2). Fig. 5 shows the converted machine tool 10 according to Fig. 3, to which the interface adapter 100 according to Fig. 2 is mounted.
[0123] For this purpose, the damping element 122 is mounted on the machine tool adapter part 28, for example screwed on.
[0124] The machine tool connection point 110 is located on the standard battery interface 18.
[0125] The control connection 26 is connected to a control connection socket 132 of the controller 128.
[0126] Fig. 6 shows a perspective view of the interior of the controller 128.
[0127] The controller 128 includes an electronic circuit 134, which includes, among other things, a microcontroller 136. The microcontroller 136 includes a microprocessor 138 and a memory 140. Memory 140 stores program code 142, which is executable on the microprocessor 138.
[0128] With the aid of program code 142, among other things, the controller 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 on the machine tool signal interface 116. In this respect, the controller 128 also forms a signal converter 144.
[0129] Furthermore, the controller 128 is configured, with the aid of the program code 142, to query sensor signals 146 of a vibration sensor 148. It is further configured to output a braking signal at the machine tool signal interface 116 (Fig. 2) if at least one of the sensor signals 146 exceeds a limit value. Based on 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, thereby also reducing the vibrations it triggers. Fig. 7 shows a system 200. The system 200 comprises a construction robot 210, an interface adapter 100, and an electric machine tool 10.
[0130] The interface adapter 100 corresponds to the interface adapter 100 described with reference to the preceding Figs. 2, 5 and 6.
[0131] The machine tool 10 corresponds to the machine tool 10 described with reference to the preceding Figs. 1, 3, 4 and 5.
[0132] The construction robot 210 has a mobile platform 214 equipped with a tracked chassis 212. A manipulator 216 is arranged on the mobile platform 214. The manipulator 216 has a lifting device 218 on which a multi-axis arm 220 is mounted. The lifting device 218 can displace the arm 220 in a vertical direction. The arm 220 has at least six degrees of freedom. Thus, an end effector 222 arranged at a working end of the arm 220 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.
[0133] 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.
[0134] Among other things, the standard battery interface 18 (see Fig. 2) of the machine tool 10 is arranged at the machine tool connection point 110 (see Fig. 2) of the interface adapter 100.
[0135] Fig. 8 shows a simplified block diagram of system 200. For simplicity, the illustration in Fig. 8 is limited to the features explained in more detail below. Unless otherwise stated, the elements explained in more detail below correspond to the corresponding elements described above.
[0136] It is shown that the system 200 comprises the construction robot 210 and the electric machine tool 10.
[0137] As described above, the machine tool 10 is connected to the construction robot 10 via the interface adapter 100 and the battery interface 18.
[0138] The machine tool 10 has a machine tool controller 32. This controller comprises a machine tool microcontroller 34 and a machine tool memory 36. Machine tool program code 38, which is executable on the machine tool microcontroller 34, is stored in the machine tool memory 36. The program code 38 and the machine tool microcontroller 34 as a whole are configured to control elements of the machine tool 10.
[0139] In particular, the machine tool controller 32 is configured to control a motor 40 of the machine tool. The motor 40 is configured to drive the tool holder 14 (see Fig. 1).
[0140] Data, in particular signals and operating data of the machine tool 10, can be transmitted bidirectionally between the construction robot 10 and the machine tool via a data interface 31. The data interface 31 is integrated into the battery interface 18.
[0141] In particular, as described above, the machine tool 10 can be remotely controlled by the construction robot 100. For this purpose, control signals can be transmitted via the interface adapter 100 and the data interface 31 from a construction robot controller 224 of the construction robot 10 to the machine tool controller 32.
[0142] The machine tool 10 has a protective device 42 for protecting a user during manual use of the machine tool 10. The protective device 42 includes a sensor 44.
[0143] The protective device 42, in particular the sensor 44, is configured to detect a blockage of a tool held in the tool holder and to report this blockage to the machine tool microcontroller 34 with a blockage signal.
[0144] Using the machine tool program code 38, the machine tool microcontroller 34 is in a default manual operating mode and is configured to brake the motor 40 to a standstill upon receipt of the blocking signal. However, the construction robot controller 224 can send a deactivation signal to the machine tool microcontroller 34, causing it to switch to an automatic operating mode, again using the machine tool program code 38. In this automatic operating mode, the machine tool microcontroller 34 does not respond to any incoming blocking signals from the protective device 42. Thus, the protective device 42 can be deactivated remotely.
[0145] By sending an activation signal, the construction robot controller 224 can similarly cause the machine tool microcontroller 34 to switch back to manual operating mode. Thus, the protective device 42 can also be activated remotely.
[0146] It is provided that the construction robot controller 224 deactivates the protective device 42 before carrying out a construction work, in this case before starting to drill into rock, and then reactivates it.
[0147] List of reference symbols
[0148] 10 Machine tool
[0149] 12 basic bodies
[0150] 14 Tool holder
[0151] 16 Handle
[0152] 17 Actuating element
[0153] 18 Battery interface
[0154] 20 accumulator
[0155] 22 connection point
[0156] 24 Arrow
[0157] 26 Control connection
[0158] 28 Adapter part
[0159] 30 Counter contact
[0160] 31 Data interface
[0161] 32 Machine tool control
[0162] 34 machine tool microcontrollers
[0163] 36 machine tool storage
[0164] 38 Machine tool program code
[0165] 40 engine
[0166] 42 Protective device
[0167] 44 Sensor
[0168] 100 interface adapters
[0169] 110 Machine tool connection point
[0170] 112 Machine tool connecting section
[0171] 114 Contact
[0172] 116 Machine tool signal interface
[0173] 118 Construction robot connection point
[0174] 120 bracket
[0175] 122 Damping element
[0176] 124 contact socket
[0177] 126 Construction robot signal interface
[0178] 128 Control
[0179] 130 connecting line
[0180] 132 Control connection socket 134 Circuit
[0181] 136 microcontrollers
[0182] 138 microprocessor
[0183] 140 storage
[0184] 142 program code
[0185] 144 signal converters
[0186] 146 Sensor signal
[0187] 148 Vibration sensor
[0188] 200 systems
[0189] 210 construction robots
[0190] 212 tracked chassis
[0191] 214 mobile platform
[0192] 216 Manipulator
[0193] 218 Lifting device
[0194] 220 Arm
[0195] 222 End effector
[0196] 224 Construction robot control
Claims
Patent claims 1. Electric machine tool (10), in particular a hand-held power tool, comprising a motor (40) and a tool holder (14) for holding a tool, for example a drilling tool, a cutting tool and / or a grinding tool, wherein the motor (40) is designed to drive the tool holder (14), characterized in that the machine tool (10) is remotely controllable electrically and / or by radio.
2. Machine tool according to the preceding claim, characterized in that the machine tool (10) has a data interface (31), wherein preferably the machine tool (10) is remotely controllable via the data interface (31).
3. Machine tool according to one of the preceding claims, characterized in that the data interface (31) is bidirectional.
4. Machine tool according to one of the preceding claims, characterized in that the machine tool (10) has at least one protective device (42) for protecting a user during manual use of the machine tool (10).
5. Machine tool according to one of the preceding claims, characterized in that the protective device (42) is designed to reduce or stop a vibration, a working power, a rotational frequency, a speed and / or a torque.
6. Machine tool according to one of the preceding claims, characterized in that the protective device (42) is designed to block operation of the motor (40).
7. Machine tool according to one of the preceding claims, characterized in that the protective device can be deactivated, in particular can be activated and deactivated.
8. Machine tool according to one of the preceding claims, characterized in that the protective device (42) can be deactivated by remote control, in particular can be activated and deactivated by remote control.
9. Machine tool according to one of the preceding claims, characterized in that the machine tool (40) has a battery interface (18) for connecting a battery.
10. Machine tool according to one of the preceding claims, characterized in that at least part of the data interface (31) is integrated into the battery interface (18).
11. System (200) comprising a construction robot (210) and an electric machine tool (10) according to one of the preceding claims and in any case according to claim 4, wherein the electric machine tool (10) is arranged on the construction robot (210), wherein the construction robot (210) is configured to activate and / or deactivate the protective device (42) of the machine tool (10).