Interface adapter and system with a construction robot, an interface adapter and at least one power tool

Abstract

The invention relates to an 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, wherein 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). The invention further relates to a system (200) having a construction robot (210). By means of the invention, power tools (10) can be used together with a construction robot (210) in a particularly flexible manner.

Description

[0001] Interface adapter and system comprising a construction robot, an interface adapter and at least one machine tool

[0002] Description

[0003] The invention relates to the connection of an electric machine tool with a construction robot.

[0004] 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.

[0005] It should be borne in mind that the conditions prevailing on construction sites are often unpredictable and can vary from site to site.

[0006] 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.

[0007] 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.

[0008] The problem is solved by 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 connecting to a machine tool, which connection point is designed to complement a standard battery interface of a machine tool. One idea underlying the invention is that electric 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, 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.Battery-operated machine tools, for example, have a standard battery interface via which a battery complying with the respective standard can be mounted on the machine tool. The standard battery interface can have at least two functions: 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 have a locking mechanism, for example. Second, 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 functions.In particular, it can also be configured for signal transmission between the battery and the machine tool. This signal transmission can also be unidirectional or bidirectional.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] A signal can be understood, for example, as at least one control signal and / or at least one sensor signal.

[0015] The transmission can be unidirectional or bidirectional.

[0016] 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.

[0017] The machine tool and construction robot signal interfaces can also be configured to transmit operating energy. The machine tool can thus be supplied with electrical operating energy. Operating energy can be understood to mean the energy that is essentially required for 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 of at least 1 kW. If the interface adapter has the additional battery interface and / or the additional signal interface, operating energy can also be transmitted to a rechargeable battery arranged at this or these interfaces, for example, to charge the rechargeable battery. Operating energy can also be transmitted away from this rechargeable battery, for example, to be able to provide the machine tool with a particularly increased electrical power for a short time.

[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 using machine-tool-independent signals, or conversely, to receive signals from different machine tools. Signal transmission can be half-duplex or full-duplex, and it can be differential or ground-referenced.

[0024] Alternatively or additionally, it is also conceivable that the signal converter converts the operating energy to be transmitted.

[0025] The signal interfaces can be electrical interfaces. For example, at least one signal can be modulated onto the operating power supply.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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, start a malfunction handling routine as a result of the signal. Another example is that the control unit sends a query signal to the machine tool via the machine tool signal interface. The machine tool can then send back a response signal. For example, the control unit can query a parameter of the machine tool and / or set a parameter in this way.

[0030] 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.

[0031] 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 vibration exceeds a certain level. This can protect the construction robot from mechanical overload.

[0032] 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.

[0033] If the battery interface is available, the sensor signal can also be related to a battery connected to the battery interface.

[0034] It is also conceivable that the sensor signal indicates an operating mode and / or that the control unit sets an operating mode, particularly for the machine tool. 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 state, 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 by the control unit.

[0035] 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.

[0036] 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.

[0037] The scope of the invention further 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.

[0038] 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.

[0039] The machine tool can be configured, in particular via its standard battery interface, to detect whether a 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, what type of element it is. For example, the machine tool can be configured to use recuperation when a battery is mounted and not to use recuperation when the interface adapter is mounted. It is also conceivable for the machine tool to be converted. For example, it is conceivable to exchange a handle insert of the machine tool at least partially for part of it or for the entire interface adapter.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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. The various features can be implemented individually or in combinations in variants of the invention.

[0045] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description.

[0046] They show:

[0047] Fig. 1 a machine tool;

[0048] Fig. 2 shows an interface adapter in a side view;

[0049] Fig. 3 shows a converted machine tool with a machine tool adapter part in a side view;

[0050] Fig. 4 a machine tool during its conversion in a perspective view;

[0051] Fig. 5 the converted machine tool with mounted interface adapter in a side view;

[0052] Fig. 6 is an interior view of a part of the interface adapter with a control unit in a perspective view; and

[0053] Fig. 7 a system comprising a construction robot, an interface adapter and a machine tool.

[0054] 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.

[0055] Fig. 1 shows a machine tool 10. The machine tool 10 is a battery-operated rock drilling machine.

[0056] 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. An actuating element 17 is located on the handle 16, 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 speed. It also has 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] Both assembly and disassembly are therefore possible without tools.

[0061] Fig. 2 shows an interface adapter 100 for connecting an electric machine tool to an end effector of a construction robot.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] Thus, signals can be transmitted between the machine tool 10 and the construction robot via the machine tool signal interface 116 and the construction robot signal interface 126. Furthermore, the interface adapter 100 has a control unit 128.

[0072] The machine tool connection point 110 is electrically connected to the rest of the interface adapter 100, in particular to the control unit 128, via a connecting line 130.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] A machine tool adapter part 28 has been mounted to the machine tool 10 instead of the handle 16.

[0077] The standard battery interface 18 has been folded over and mounted on an outer side of the machine tool adapter part 28.

[0078] 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.

[0079] Also visible on the standard battery interface 18 are counter contacts 30 which are designed to establish electrical contact with the contacts 114 (see Fig. 2).

[0080] Fig. 5 shows the converted machine tool 10 according to Fig. 3, to which the interface adapter 100 according to Fig. 2 is mounted.

[0081] For this purpose, the damping element 122 is mounted on the machine tool adapter part 28, for example screwed on.

[0082] The machine tool connection point 110 is located on the standard battery interface 18.

[0083] The control connection 26 is connected to a control connection socket 132 of the control unit 128.

[0084] Fig. 6 shows a perspective view of the interior of the control unit 128.

[0085] The control unit 128 comprises an electronic circuit 134, which includes, among other things, a microcontroller 136. The microcontroller 136 includes a microprocessor 138 and a memory 140. Program code 142, which is executable on the microprocessor 138, is stored in the memory 140.

[0086] 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 on the machine tool signal interface 116. In this respect, the control unit 128 also forms a signal converter 144.

[0087] Furthermore, the control unit 128 is configured, with the aid of the program code 142, to query sensor signals 146 from a vibration sensor 148. It is further configured to output a braking signal to 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.

[0088] Fig. 7 shows a system 200. The system 200 includes a construction robot 210, an interface adapter 100, and an electric machine tool 10. The interface adapter 100 corresponds to the interface adapter 100 described with reference to the preceding Figs. 2, 5, and 6.

[0089] The machine tool 10 corresponds to the machine tool 10 described with reference to the preceding Figs. 1, 3, 4 and 5.

[0090] 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.

[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 is arranged at the machine tool connection point 110 (see Fig. 2) of the interface adapter 100.

[0093] List of reference symbols

[0094] 10 Machine tool

[0095] 12 basic bodies

[0096] 14 Tool holder

[0097] 16 Handle

[0098] 17 Actuating element

[0099] 18 Standard battery interface

[0100] 20 accumulator

[0101] 22 connection point

[0102] 24 Arrow

[0103] 26 Control connection

[0104] 28 Adapter part

[0105] 30 Counter contact

[0106] 100 interface adapters

[0107] 110 Machine tool connection point

[0108] 112 Machine tool connecting section

[0109] 114 Contact

[0110] 116 Machine tool signal interface

[0111] 118 Construction robot connection point

[0112] 120 bracket

[0113] 122 Damping element

[0114] 124 contact socket

[0115] 126 Construction robot signal interface

[0116] 128 Control unit

[0117] 130 connecting line

[0118] 132 Control connection socket

[0119] 134 circuit

[0120] 136 microcontrollers

[0121] 138 microprocessor

[0122] 140 storage

[0123] 142 program code

[0124] 144 signal converters

[0125] 146 Sensor signal

[0126] 148 Vibration Sensor 200 System

[0127] 210 construction robots

[0128] 212 tracked chassis

[0129] 214 mobile platform 216 manipulator

[0130] 218 Lifting device

[0131] 220 Arm

[0132] 222 End effector

Claims

Patent claims 1. Interface adapter (100) for connecting an electric machine tool (10) to an end effector (222) of a construction robot (210), wherein the construction robot (210) is preferably designed 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, wherein the interface adapter (100) has a machine tool connection point (110) for connection to a machine tool (10), which is designed to be complementary to a standard battery interface (18) of a machine tool (10).

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

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

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

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

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

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

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

10. Interface adapter according to 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 one of the preceding claims and an electric machine tool (10), wherein the electric machine tool (10) has a standard battery interface (18) and wherein the standard battery interface (18) of the machine tool (10) is arranged at the machine tool connection point (110) of the interface adapter (100).

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