Autonomous or manual working device, and method for operating an autonomous or manual working device

Abstract

The invention relates to an autonomous or manual working device (10a; 10b; 10c), in particular a robot (20a; 20b; 20c), comprising a travelling unit (12a; 12b; 12c) and a machining unit (14a; 14b; 14c) that is connected to the travelling unit (12a; 12b; 12c) and has at least one tool unit (16a; 16b; 16c; 16d; 16e), in particular a drill unit (26a; 26b; 26c; 26d; 26e), and has a manipulator unit (18a; 18b; 18c), in particular a robot arm (28a; 28b; 28c), for moving the tool unit (16a; 16b; 16c; 16d; 16e) relative to the travelling unit (12a; 12b; 12c). According to the invention, the working device (10a; 10b; 10c) comprises an alignment support unit (22a; 22b; 22c; 22d; 22e) which is intended to at least mechanically support positioning of the tool unit (16a; 16b; 16c; 16d; 16e) for machining.

Description

[0001] Description

[0002] Autonomous or manual and methods for operating an autonomous or manual

[0003] State of the art

[0004] A mobile robot with a processing unit comprising a tool unit and a robot arm has already been proposed.

[0005] Disclosure of the invention

[0006] The invention is based on an autonomous or manual working device, in particular a robot, with a movement unit and with a processing unit connected to the movement unit, which comprises at least one tool unit, in particular a drilling unit, and has a manipulator unit, in particular a robot arm, for moving the tool unit relative to the movement unit.

[0007] It is proposed that the autonomous or manual working device has an alignment support unit which is intended to at least mechanically support a positioning of the tool unit for machining.

[0008] By means of such a configuration of the work device, the positioning of at least the tool unit can be advantageously improved and / or stabilized; in particular, particularly precise positioning of the tool unit can be achieved, in particular even under particularly difficult machining conditions, such as a large distance, in particular a height difference and / or a high lateral deflection, from an object to be machined and / or under high machining forces. In particular, ceilings can be machined particularly advantageously. A particularly high positioning accuracy of the tool unit can advantageously be achieved and, in particular, drifting away of the tool unit, in particular during a machining state, can be advantageously avoided or reduced. Furthermore, vibrations, in particular during machining, can be reduced or avoided and / or advantageously decoupled.Furthermore, the machining unit can be relieved of load, whereby elastic deformations caused by the application of machining forces and / or under a dead load can be advantageously reduced or avoided. In particular, the service life of the tool can be increased. Furthermore, machining forces can be advantageously supported and, in particular, increased.

[0009] The work device is preferably designed as a processing robot, in particular as a construction site robot. The work device is particularly preferably designed as a drilling robot. Alternatively, however, it is also conceivable for the work device to be designed as a construction site robot different from a drilling robot, for example as a sawing robot, as a grinding robot, as a robot for driving in holders or the like, as a combination of these, or as another work device that appears appropriate to a person skilled in the art. The work device is particularly designed to be different from a stationary work device. The work device is preferably designed to be different from a device permanently installed in a position, in particular to be different from an industrial robot. In particular, the work device is configured to move independently.“Configured” should be understood in particular to mean specially programmed, specially designed and / or specially equipped. The fact that an object is configured for a specific function should be understood in particular to mean that the object fulfills and / or performs this specific function in at least one application and / or operating state. The working device is preferably designed as a mobile working device. The working device is preferably designed to be mobile. Alternatively, however, it is also conceivable for the working device to be designed as a drone. The working device is preferably intended for at least partially automatic processing of the object to be processed. In particular, the working device is intended for at least partially automatic creation of boreholes in the object.The working device is preferably intended for autonomous processing of the object, in particular for autonomously creating drill holes in the object. The working device is in particular intended to at least process the object according to a processing plan. Alternatively or additionally, it would be conceivable for the working device to be controlled at least partially by means of a remote control, for example by a user. The working device is preferably intended for fully automatic processing of the object to be processed. “Intended” should be understood to mean specially set up, specially designed and / or specially equipped. The fact that an object is intended for a specific function should be understood to mean that the object fulfills and / or executes this specific function in at least one application and / or operating state.Preferably, the object is a building component, for example, a wall, a floor, a facade, or the like. Particularly preferably, the object is a ceiling. In particular, the object can be designed as a concrete ceiling or a stone ceiling or the like. Alternatively, however, it is also conceivable for the object to be different from a building component, for example, a particularly fixed, preferably stationary, piece of furniture or the like.

[0010] The tool unit can in particular be designed as an end effector. In at least one operating state, the tool unit is preferably arranged on the manipulator unit, preferably at a free end of the manipulator unit. The tool unit preferably comprises a tool and / or a handheld power tool. The tool is particularly preferably designed as a drill or impact drill. Alternatively, however, it is also conceivable for the tool to be designed as a squeegee, a grinding wheel, a saw blade, a hammer, or another tool that appears appropriate to a person skilled in the art. The handheld power tool is preferably designed as a drill. The handheld power tool can be a commercially available handheld power tool. The handheld power tool can be a battery-operated handheld power tool or a corded handheld power tool.Alternatively, it is also conceivable for the handheld power tool to be specifically designed to interact with the processing unit. Alternatively, it is also conceivable for the handheld power tool to be designed as a screwdriver, a jigsaw, a cut-off grinder, a circular saw, a demolition hammer, a nail gun, a grinder, or any other handheld power tool deemed appropriate by a person skilled in the art. It is conceivable for the tool unit to have a tool holder for holding a tool, a handheld power tool, or the like.

[0011] The manipulator unit preferably has six degrees of freedom. Alternatively, however, it is also conceivable for the manipulator unit to have fewer than six degrees of freedom. The manipulator unit preferably has extendable kinematics. The manipulator unit preferably has one to seven axes.

[0012] The movement unit is preferably provided for generating a movement force. The processing unit, in particular the manipulator unit, is preferably arranged on, preferably on, the movement unit. The tool unit is preferably at least mechanically connected to the movement unit via the manipulator unit in at least one operating state. The movement unit is particularly provided for moving the processing unit on a surface, for example a floor, a wall, and / or a ceiling. The movement unit is preferably provided for moving the work device as a whole across the surface. The movement unit has, in particular, a chassis.The locomotion unit, in particular the chassis, comprises, for example, a chain unit, a roller unit, a wheel unit, a propeller unit, a turbine unit or other means of locomotion that appear appropriate to a person skilled in the art, or a combination thereof.

[0013] The chain unit has in particular at least one chain drive, preferably at least two chain drives. The wheel unit comprises, for example, at least one wheel, preferably at least two wheels, more preferably at least three wheels and particularly preferably at least four wheels. The roller unit comprises, for example, at least one roller, preferably at least two rollers, preferably at least three rollers and particularly preferably at least four rollers. In particular in the case of a working device designed as a drone, the propulsion unit comprises at least one propeller unit, a turbine unit or the like for propulsion. The propeller unit has, for example, at least one propeller, preferably at least two propellers and particularly preferably at least four propellers. The turbine unit has, for example, at least one, preferably several, turbines.

[0014] The propulsion unit preferably has at least one drive unit. In particular, the drive unit is provided to drive the chassis, preferably the wheel unit, the roller unit, the chain unit, the propeller unit, or the like. The drive unit comprises, in particular, at least one electric motor or the like. A movement of an implement frame of the implement, in particular of the propulsion unit, is coupled, in particular, to a drive, in particular, a movement, of the chassis. The chassis, which is preferably driven by the drive unit, can generate, in particular, a movement of the implement frame relative to the ground, in particular relative to the work environment.

[0015] It would be conceivable for the work device to have a height-adjustable work platform, which is arranged in particular between the movement unit and the manipulator unit. However, the work device is preferably designed to be free of the height-adjustable work platform. The manipulator unit is preferably connected to the movement unit in a contacting manner.

[0016] The alignment support unit is preferably provided at least to mechanically support positioning, in particular alignment, of the tool unit for machining and / or to mechanically support a position of a tool unit, in particular an at least partially aligned one. The alignment support unit preferably has a support element and / or a fine alignment unit and / or a support carrier unit.

[0017] It is further proposed that the alignment support unit be connected to the movement unit in at least one operating state. This allows a support force to be advantageously transferred to the movement unit by means of the alignment support unit. Preferably, the movement unit is provided to move the alignment support unit, in particular relative to the work environment. This can increase mobility and, in particular, flexibility of the alignment support unit. Preferably, movement of the alignment support unit by means of the movement unit is uniform with movement of the manipulator unit, and, in particular, of the tool unit, by means of the movement unit. The alignment support unit is preferably permanently connected to the movement unit, in particular in every operating state.

[0018] It is conceivable that the alignment support unit, in particular the support element and / or the fine alignment unit of the alignment support unit, is at least partially connected to the movement unit in at least one operating state by means of at least one connecting element of the autonomous or manual work device. The connecting element is preferably the manipulator unit, and in particular the tool unit. Alternatively or additionally, it is conceivable that the alignment support unit, in particular the support carrier unit of the alignment support unit, is at least partially connected to the movement unit in a contacting manner.

[0019] It is also proposed that the alignment support unit be connected to the manipulator unit in at least one operating state, whereby positioning of the tool unit can be particularly advantageously supported. In particular, positioning of the tool unit by means of the manipulator unit can be advantageously supported by the alignment support unit. Furthermore, a holding of a position of the tool unit can advantageously be transferred to the alignment support unit.

[0020] Preferably, the alignment support unit is connected to the manipulator unit at least via the movement unit in every operating state. It is conceivable that the alignment support unit is at least partially connected to the manipulator unit in contact only in one operating state, in particular at least in an alignment state, and / or to the manipulator unit via the tool unit. Alternatively or additionally, it is conceivable that the alignment support unit is at least partially connected to the manipulator unit in contact only in one operating state, in particular at least in an alignment state, and in a processing state, in particular in every operating state, and / or to the manipulator unit via the tool unit.

[0021] The machining state should preferably be understood as an operating state in which at least the tool unit performs a machining operation, in particular a drilling operation. The work tool, in particular the tool unit, is preferably aligned in a machining position, in particular in an aligned position, in the machining state. An alignment state should preferably be understood as an operating state in which at least the work tool, in particular the tool unit, is aligned in the machining position. The machining state preferably takes place after an alignment state, wherein such a sequence can in particular be repeated.

[0022] In a further embodiment of the invention, it is proposed that the alignment support unit is provided to provide at least a rough positioning of the tool unit. This advantageously stabilizes the positioning of the tool unit, and in particular, allows for a particularly advantageous precise positioning of the tool unit.

[0023] Preferably, rough positioning, in particular rough alignment, of the tool unit is provided at least via the manipulator unit. It is conceivable that the alignment support unit at least supports the rough positioning. Additionally and / or alternatively, it is conceivable that the alignment support unit supports and, in particular, fixes a rough position and / or the machining position in at least one operating state.

[0024] It is further proposed that the alignment support unit has at least one support element, in particular the above-mentioned support element, for supporting on a surface of an object to be machined, in particular the above-mentioned object to be machined, whereby a positioning of at least the tool unit can be particularly advantageously stabilized and in particular made more precise. Preferably, the support element is supported on the surface of the object to be machined, in particular in a non-slip manner, at least in the machining state. In particular, the support element is in contact with the surface of the object to be machined in at least one operating state, in particular in a support state.As a result, support of the alignment support unit can be provided in the vicinity of the tool unit, at least in the machining state, whereby stabilization during a machining operation can be provided particularly effectively. In particular, vibrations, in particular even strong vibrations, can be dampened and / or diverted particularly effectively, at least in the machining state in which particularly high machining forces occur. In particular, vibrations can advantageously be stopped at the tool unit. Furthermore, the working device can be particularly advantageously clamped between a support surface of the work environment, in particular a floor, and the object to be machined, in particular a ceiling, whereby in particular a supporting force and / or machining force can be increased.

[0025] It is conceivable for the alignment support unit to have more than one support element, preferably at least three and preferably at least four support elements. The support element and / or the support elements together are / are preferably adaptable to a surface of the object to be machined, whereby the support can be advantageously improved and in particular stabilized. Positioning of the tool unit can in particular be provided particularly precisely and effectively. The support element is preferably designed to be elastically deformable and / or foldable and / or foldable and / or extendable and / or movably mounted. The support element is preferably designed to be deflectable and / or compressible along an axis running perpendicular to the surface of the object to be machined.In the supporting state, the support element is supported on the surface, and in particular deflected and / or compressed, preferably by means of a supporting force of the working device against the object to be processed, in particular applied at least by the manipulator unit and / or the alignment support unit, in particular the support carrier unit of the alignment support unit.

[0026] The support element preferably has a return element which is in particular tensioned in the support state. Outside of a support state, the return element is preferably in a rest position. The return element is preferably elastic and in particular designed as a spring, preferably as a compression spring. A support state can be sprung in a particularly advantageous manner. As a result, vibrations, in particular emanating from the tool unit in a machining state, can be particularly advantageously dampened. It is conceivable for the support element to have more than one return element. Furthermore, the support element preferably has a housing for the return element or the return elements. The housing of the return element is preferably compressible, in particular telescopic and / or deformable and / or foldable.

[0027] Alternatively, it is conceivable for the support element to be rigidly constructed and / or rigidly mounted. Alternatively, it is also conceivable for the alignment support unit to be designed without a support element, wherein, in particular, only the tool unit is in contact with the surface of the object to be machined in at least one operating state.

[0028] The alignment support unit preferably has a fine alignment unit. Preferably, a two-stage positioning, in particular alignment, of the tool unit, in particular a fine alignment following a rough alignment, can be provided by means of the fine alignment unit. As a result, a particularly precise alignment, in particular a particularly precise machining position, of the tool unit can be achieved and, in particular, process reliability can be advantageously increased. In particular, a precision requirement for the manipulator unit can be advantageously reduced. Furthermore, a particularly cost-effective and / or small and / or lightweight manipulator unit and / or working device can be provided. The working device and / or the manipulator unit can, in particular, be designed to be less rigid, which in particular allows weight to be saved.

[0029] Rough positioning preferably has a positioning accuracy of a few centimeters. Fine positioning preferably has a positioning accuracy of a few millimeters. Preferably, the coarse position for fine alignment is fixed and / or stabilized, in particular by stiffening and / or bracing the manipulator unit and / or the support beam unit. Preferably, the working device for fine alignment is provided braced between the surface of the object to be processed and a support surface of the work environment, in particular the floor, wherein the bracing forces are in particular greater than the processing forces and / or deflection forces for fine alignment. This allows precise alignment to be achieved, in particular in the processing state.

[0030] The current position of the tool unit and a fine positioning are preferably measured using an alignment measuring unit of the work device, in particular an optical alignment measuring unit, in particular attached to the tool unit and / or the fine alignment unit. The tool unit is preferably readjusted for fine alignment depending on a measurement result of the alignment measuring unit. A position measurement of the alignment measuring unit preferably takes place after the coarse position has been fixed.

[0031] The fine alignment unit is preferably connected to the support element, in particular in a contacting manner. Alternatively, it is conceivable for the fine alignment unit to comprise the support element. The fine alignment unit is preferably connected in a contacting manner to the manipulator unit and / or a support carrier unit of the alignment support unit and / or the tool unit in at least one operating state.The fine alignment unit is preferably arranged in at least one operating state at least between the manipulator unit and the support element and / or between the support carrier unit and the support element and transmits in particular at least one supporting force, in particular for supporting the support element on the surface of the object to be processed and in particular in a direction perpendicular to the surface of the object to be processed, from the manipulator unit and / or from the support carrier unit to at least the support element in at least one operating state.

[0032] The fine alignment unit is preferably designed to be at least partially movable relative to the support element. The fine alignment unit is preferably at least partially rigidly connected to the support element. As a result, a rough position can be supported and stabilized by means of the support element, wherein a precise movement of the tool unit for fine alignment can be permitted and, in particular, stabilized and / or provided by the fine alignment unit. The fine alignment unit preferably has a rest position in which the tool unit is arranged centrally, in particular symmetrically, to the fine alignment unit and / or the support element, in particular the support elements. The fine alignment unit is preferably deflectable from the rest position for fine alignment.

[0033] Alternatively, it is conceivable that the manipulator unit and / or the support carrier unit and / or the tool unit are connected in the at least one operating state via a rigid frame of the work device or directly to the support element, whereby, in particular, a position of the tool unit can be stabilized. In particular, the tool unit can have the frame.

[0034] It is further proposed that the manipulator unit moves the tool unit relative to the support element for fine alignment in at least one operating state, whereby precise alignment of the tool unit can be achieved in a particularly simple manner. Preferably, the manipulator unit moves the tool unit relative to the support element for fine alignment in the alignment state, in particular only in the alignment state. Alternatively or additionally, it is conceivable that the manipulator unit moves the tool unit relative to the support element in the machining state, in particular to provide a machining operation running at least horizontally to the surface of the object being machined, such as sawing or painting or the like.

[0035] The alignment support unit preferably has at least the fine alignment unit for a movement, in particular for a displacement, of the tool unit by the manipulator unit for a fine alignment in at least the operating state relative to the support element. Preferably, the fine alignment unit is connected to the manipulator unit in contact with it, at least in the operating state, or only via the tool unit to the manipulator unit. The manipulator unit is preferably flange-mounted to the fine alignment unit. The fine alignment unit is preferably designed to be at least partially movable relative to the support element in at least one plane parallel to the surface of the object to be machined. This allows the movement of the tool unit by the manipulator unit for a fine alignment to be permitted in a particularly advantageous manner.Preferably, the fine alignment unit is rigid relative to the support element in at least one direction perpendicular to the surface of the object to be processed. This allows a supporting force to be transmitted particularly advantageously and, in particular, provides effective support.

[0036] The fine alignment unit preferably has at least one first displacement element, in particular an outer frame element, which is rigidly connected to the at least one support element. The first displacement element is preferably movable, in particular in a plane parallel to the surface of the object to be machined, relative to the tool unit and / or an end of the manipulator unit, which in particular faces the tool unit. The fine alignment unit preferably has a second displacement element, in particular an inner frame element, which is rigidly connected to the tool unit and / or an end of the manipulator unit, which in particular faces the tool unit. The further displacement element is preferably movable, in particular in a plane parallel to the surface of the object to be machined, relative to the at least one support element.The second sliding element is preferably arranged within the first sliding element. Alternatively, it is conceivable for the first sliding element to be arranged within the second sliding element.

[0037] The fine alignment unit preferably has at least one elastic return element, which can be deflected along a direction parallel to the surface of the object to be processed and is arranged in particular between the first displacement element and the second displacement element. The at least one return element preferably connects the first displacement element to the second displacement element. The second displacement element is preferably arranged in a rest position, in particular of the return element and / or the fine alignment unit, centrally, in particular symmetrically, in the first displacement element. The at least one return element can preferably be deflected from the rest position, in particular by means of the movement of the manipulator unit for fine alignment. The return element is preferably designed as a spring, in particular as a compression spring.

[0038] The fine alignment unit preferably has a third displacement element, in particular a central frame element, which is arranged between the first and second displacement elements. The third displacement element is preferably arranged centrally, in particular symmetrically, between the first and second displacement elements in a rest position, in particular of the return element and / or the fine alignment unit. The first displacement element is preferably connected to the third return element by means of at least two, in particular at least four, return elements, which are deflectable in particular in a first direction parallel to the surface of the object to be processed.Preferably, the second displacement element is connected to the third return element by means of at least two, in particular at least four, return elements, which are deflectable, in particular, in a second direction perpendicular to the first direction and parallel to the surface of the object to be machined. This allows for particularly high mobility of the tool unit in the supported state. Alternatively, it is conceivable for the fine alignment unit to have only two displacement elements or a plurality, in particular at least four, displacement elements.

[0039] A rod is preferably arranged within the spring, by means of which the movement of the displacement elements can be stabilized and / or guided. At least the third displacement element is preferably provided for linear movement along the rod.

[0040] A finely aligned position, in particular the machining position, of the tool unit can be maintained by means of the manipulator unit, in particular in the machining state. Alternatively or additionally, the alignment support unit can have a clamping unit by means of which the finely aligned position of the tool unit can be fixed, thereby relieving and / or protecting the manipulator unit and, in particular, advantageously decoupling it.

[0041] Alternatively, another design of the fine alignment unit that appears sensible to the person skilled in the art would be conceivable, for example comprising suspensions, in particular cardanic suspensions for compensating tilt angles, for example on leaf springs, which is provided in particular for fine alignment by a movement of the manipulator unit

[0042] Alternatively, it is proposed that the autonomous or manual work device have a fine kinematics unit for moving the tool unit relative to the support element for fine alignment of the tool unit. In particular, it is proposed that the fine alignment unit be designed as the fine kinematics unit. Preferably, the fine alignment unit, in particular the fine kinematics unit, independently provides a movement of the tool unit relative to the support element for fine alignment by the fine alignment unit. This makes it possible to provide separate kinematics, each for a rough alignment and for a fine alignment of the tool unit, whereby in particular a particularly precise fine alignment can be achieved. In particular, the efficiency of the support by means of the support element can be improved.

[0043] The fine kinematics unit is preferably designed analogously to a delta robot, which is in particular attached at least to the support element. Preferably, a base of the fine kinematics unit is connected to the support element, in particular by contact. The fine kinematics unit preferably has at least two axes. The fine kinematics unit preferably provides at least two, advantageously three, degrees of freedom. It is conceivable for the fine kinematics unit to provide at least six degrees of freedom. Alternatively, a different number of degrees of freedom would be conceivable.

[0044] The fine kinematics unit preferably has at least one articulated arm which is connected to the tool unit, in particular in a contacting manner. The articulated arm, in particular a first end of the articulated arm, is preferably fixed to the tool unit so as to be at least partially rotatable at least about an axis parallel to the surface of the object to be machined. The articulated arm, in particular a second end of the articulated arm, is preferably attached to the base of the fine kinematics unit so as to be linearly movable along a guide element. The fine kinematics unit preferably has at least three or at least four articulated arms. The base of the fine kinematics unit is preferably hexagonal or octagonal. Alternatively, a different number of articulated arms and / or a different shape of the base of the fine kinematics unit, for example a triangular shape, would be conceivable, which is in particular adapted to the number of articulated arms.

[0045] Alternatively, another design of the fine kinematics unit that would appear sensible to the person skilled in the art could be conceivable, which can move the tool unit independently and precisely.

[0046] It is also proposed that the alignment support unit comprise at least one support beam unit, in particular the aforementioned support beam unit, which at least partially supports the tool unit in at least one operating state. This advantageously stabilizes the tool unit and, in particular, provides increased force for machining the surface of the object to be machined. Furthermore, the manipulator unit can be relieved, in particular, of at least some of the weight of the tool unit and / or the machining force, in particular of a load caused by impact mechanisms, whereby, in particular, the service life of the manipulator unit and, in particular, process reliability can be increased. In particular, if the manipulator unit is designed as a lightweight robot, the necessary machining force and support force can still be applied.Furthermore, a kinematics for aligning the tool unit, in particular the manipulator unit, can be provided separately from a unit for applying the machining forces, in particular the support carrier unit.

[0047] The support carrier unit is preferably connected to the movement unit, in particular in a contacting manner. The support carrier unit is preferably fixed to an upper side of the movement unit. The support carrier unit preferably extends, in at least one operating state, in particular at least in the processing state, between the movement unit and the tool unit and / or the fine alignment unit. The support carrier unit can preferably be provided in a rod-like manner, wherein a transverse extension, in particular each transverse extension, of the support carrier unit preferably corresponds to at most 30%, preferably at most 20% and particularly preferably at most 10% of a longitudinal extension of the support carrier unit. The support carrier unit is preferably connected, in at least one operating state, in particular at least the processing state, in a contacting manner to the tool unit and / or the fine alignment unit.

[0048] The support carrier unit preferably bears the entire weight of at least the tool unit in at least one operating state, in particular in at least the processing state. In particular, the support carrier unit can apply a contact force to support the tool unit and / or the support element on the surface of the object to be processed and in particular prevent the tool unit from drifting away sideways, in particular in the processing state. The support carrier unit is preferably connected to the tool unit and / or the fine alignment unit in a force-fitting and / or form-fitting manner. In particular, the support carrier unit presses against the tool unit and / or the fine alignment unit from below. The connection is preferably provided by clamping the tool unit and / or the fine alignment unit between the object to be processed and the support carrier unit, which clamping is fixed by the provided support force.The tool unit preferably has a large support surface, whereby a position of the connection of the support carrier unit to the tool unit, for example via three points, can be provided uncritically and in particular in a particularly simple manner, wherein the connection in particular only has to be arranged on the support surface.

[0049] It is conceivable that the support unit of the tool unit at least partially provides a processing force for processing the surface of the object to be processed, in particular a force for advancing the tool unit relative to the surface. It is conceivable that the support unit at least partially supports a weight of the manipulator unit in at least one operating state. This allows the load on the manipulator unit to be particularly effectively relieved.

[0050] It is conceivable for the support beam unit to be designed to be deflectable along only one axis. In particular, it is conceivable for the support beam unit to be rigidly connected to the movement unit and / or the tool unit. Alternatively, it is conceivable for the support beam unit to have at least one support joint element. The at least one support joint element, in particular a joint element, can be arranged at at least one end of the support beam unit and / or between the two ends of the support beam unit.

[0051] The support beam unit is preferably at least partially, in particular completely, supported by the movement unit. It would be conceivable for the support beam unit to have at least one, in particular extendable, strut element, by means of which the support beam unit can be supported at least partially on a supporting object, in particular on a floor. The support beam unit can have only one, in particular contacting, connection point with the movement unit. Alternatively, the supporting object can be designed as the movement unit, wherein the support beam unit can have at least one further, in particular contacting, connection point with the movement unit via the at least one strut element. In particular, forces can be diverted from the tool unit via the support beam unit to the movement unit and then to the floor and / or directly to the floor.

[0052] It is further proposed that the support carrier unit be stiffened and / or clamped, whereby the tool unit can be advantageously supported in a particularly precise and stable position, in particular in the machining state. Alternatively or additionally, the support carrier unit can be pre-tensioned and / or blocked. In at least one operating state, the support carrier unit is preferably provided to be movable at least partially, in particular at least along one axis and in particular at least with respect to the rough alignment of the tool unit. In a further operating state, in particular in a state in which the tool unit is at least roughly aligned, in particular by means of the manipulator unit, the support carrier unit is preferably provided in a stiffened, in particular rigid, manner.Preferably, the support beam unit can be stiffened by means of an actuator unit of the implement, in particular controlled by a control unit, preferably of the implement. It is conceivable that the support beam unit and / or the alignment support unit comprise the actuator unit.

[0053] Preferably, the support beam unit, in particular a stiffened one, is clampable. The support beam unit, in particular a stiffened one, is preferably clamped in at least one operating state, in particular provided between the surface of the object to be processed and a support surface of the work environment, in particular the floor. Preferably, the work device is provided with a clamped support beam unit, clamped between the surface of the object to be processed and a support surface of the work environment, in particular the floor. Preferably, the clamped work device is supported on the surface of the object to be processed by means of at least the at least one support element. Preferably, the support beam unit is clampable by means of a further actuator unit of the work device, in particular controlled by the control unit, preferably of the work device.It is conceivable that the support beam unit and / or the alignment support unit has the further actuator unit. The further actuator unit can, in particular, have an actuator cam. The actuator unit preferably provides a stroke with a force greater than a machining force of the tool unit. As a result, the tool unit, in particular in the machining state, can be fixed particularly advantageously, in particular particularly stably and precisely, in at least the rough position. Alternatively, it is conceivable that the support beam unit, in particular in at least the machining state, is merely stiffenable and / or merely stiffened.

[0054] The support beam unit can preferably be stiffened and / or braced hydraulically and / or pneumatically and / or by a spring force, in particular by means of the actuator unit and / or the further actuator unit. Alternatively or additionally, it would be conceivable for the actuator unit and / or the support beam unit and / or the further actuator unit to have / have a scissor lifting mechanism, a linear drive, for example a rack and pinion, a push chain, a ball screw drive, a linear motor, or the like, in particular for stiffening and / or bracing the support beam unit. It is conceivable for the actuator unit and the further actuator unit to be formed separately from one another. Alternatively, it would be conceivable for the actuator unit to have the further actuator unit. In particular, it would be conceivable for the actuator unit to provide the stiffening and bracing of the support beam unit.

[0055] Alternatively or additionally, it would be conceivable for the tool unit to be held to the surface of the object to be processed by suction and / or by a magnetic force, although this does not provide reliable fixation to the surface, in particular to a concrete ceiling.

[0056] It is further proposed that the support beam unit be actively extendable and / or extendable by means of the manipulator unit, whereby the flexibility of an alignment and in particular the efficiency of the support beam unit can be increased. In particular, the work device can be provided in a particularly compact manner. The support beam unit is preferably telescopically extendable and / or extendable. In particular, the support beam unit is at least partially designed as a telescopic rod. This advantageously stiffens, in particular, the elasticities of a kinematic chain of the support beam unit. Alternatively, it is conceivable that the support beam unit be foldable and / or collapsible and / or designed in another configuration that appears appropriate to a person skilled in the art, which is extendable and / or extendable, and in particular stiffenable and / or braceable and / or lockable.

[0057] It is conceivable for the support beam unit to be hydraulically extendable, in particular by means of a hydraulic drive. Alternatively or additionally, it is conceivable for the support beam unit to be extendable pneumatically and / or by spring force. Alternatively or additionally, it would also be conceivable for the support beam unit to be extendable by a scissor lifting mechanism, a linear drive, for example a rack and pinion, a push chain, a ball screw drive, a linear motor or the like. Preferably, the support beam unit is extendable by means of the actuator unit. Alternatively, it is conceivable for the work device and / or the support beam unit to have an additional actuator unit for extension. Furthermore, it is alternatively conceivable for the support beam unit to be merely passive and, in particular, to be provided so as to be extendable by the manipulator unit.

[0058] It is conceivable that the support provides dust extraction, particularly for drilling dust, and / or a media supply to the tool unit. The working device is preferably sealed and / or protected against drilling dust. This can advantageously reduce or prevent contamination of the working device, particularly the optical alignment measuring unit of the working device. It is conceivable that the fine alignment unit functions as a dust extraction bell and / or comprises the dust extraction bell. Alternatively, it would be conceivable that the tool unit and / or the working device comprises the dust extraction bell.

[0059] It is further proposed that the support beam unit be decoupled from the tool unit. This allows the tool unit to be advantageously moved, in particular at least for rough alignment. In particular, a movement of the tool unit by means of the manipulator unit can be provided without restricting the mobility of the support beam unit. The mobility of the support beam unit can advantageously be reduced, which in particular improves the stability of the support beam unit and / or advantageously simplifies the structure of the support beam unit.

[0060] Preferably, the tool unit is decoupled from the tool unit at least for a rough alignment of the tool unit. Preferably, the support carrier unit is provided coupled to the at least partially aligned, in particular roughly aligned, tool unit in order to transmit a supporting force to the tool unit. In this context, a coupling should preferably be understood to mean that the support carrier unit is connected to the tool unit in contact and / or via the fine alignment unit. In particular, the support carrier unit is connected to the tool unit via an end of the support carrier unit opposite the movement unit.

[0061] Alternatively, it is conceivable that the support beam unit is permanently coupled to the tool unit, in particular at least in the alignment state and in the machining state, whereby the support beam unit can be extended particularly advantageously by means of the manipulator unit. Furthermore, the support beam unit can advantageously support at least the rough alignment and, in particular, relieve the load on the manipulator unit even in the alignment state. Furthermore, it is conceivable that the coupled connection of the support beam unit to the tool unit is fixed and, in particular, cannot be decoupled.

[0062] In a further embodiment of the invention, it is proposed that the manipulator unit can be decoupled from the tool unit. This allows the manipulator unit to be particularly advantageously relieved of load and protected. In particular, the service life of the manipulator unit can be increased. Preferably, the manipulator unit is decoupled from the tool unit at least in one operating state, in particular in the machining state. Preferably, the manipulator unit decoupled from the tool unit does not transmit any supporting force to the tool unit, whereby deformation of the manipulator unit, in particular under a weight of the tool unit and / or under application of the machining force, can advantageously be avoided. Provision of a supporting force for the tool unit decoupled from the manipulator unit is preferably provided by the support carrier unit.

[0063] Preferably, the manipulator unit can be decoupled from the tool unit, at least in terms of vibration, whereby deformation and / or damage to the manipulator unit due to vibrations, in particular emanating from the tool unit in the machining state, can advantageously be avoided. It is conceivable for the manipulator unit decoupled from the tool unit to have a connection to the tool unit that is at least vibration-decoupled and is arranged at an end of the manipulator unit opposite the connection between the manipulator unit and the movement unit. This can advantageously simplify mechanical coupling of the manipulator unit to the tool unit, in particular for providing a support-bearing force. Alternatively, it is conceivable for the manipulator unit to be completely mechanically decoupled from the tool unit.In particular, the manipulator unit decoupled from the tool unit is free of any connection to the tool unit, which is arranged at an end of the manipulator unit opposite the connection of the manipulator unit to the movement unit. This allows for particularly efficient decoupling.

[0064] In addition, a method for operating an autonomous or manual work device with a movement unit and with a processing unit connected to the movement unit, which comprises at least one tool unit, in particular a drilling unit, and has a manipulator unit, in particular a robot arm, for moving the tool unit relative to the movement unit, is proposed, wherein a positioning of the tool unit for processing is at least supported mechanically, in particular at least partially automatically. As a result, a positioning of at least the tool unit can be advantageously stabilized, in particular a particularly precise positioning of the tool unit can be achieved. Furthermore, the processing unit can be relieved. Preferably, the positioning of the tool unit for processing is supported by means of an alignment support unit.

[0065] The method preferably comprises a first method step in which the tool unit is at least partially aligned with a surface of an object to be machined, at least by means of the manipulator unit. In a second method step, at least one rough position of the tool unit is preferably supported by an alignment support unit. The second method step preferably takes place after a first method step. It is conceivable for a third method step to take place, in particular after the second method step, in which a fine alignment is provided, in particular at least by means of a fine alignment unit of the alignment support unit.In a fourth method step, which preferably takes place after the second and especially after the third method step, a machining operation, in particular a drilling operation, is preferably carried out at least by means of the tool unit. Method steps 1 to 4 can be repeated, wherein, in particular, before a repetition, a basic position of the working device can be adjusted by means of the movement unit. The method is preferably fully automated, in particular based on a machining plan. Alternatively, at least partial manual control of the working device is conceivable.

[0066] The autonomous or manual work device according to the invention and the method for operating the autonomous or manual work device are not intended to be limited to the application and embodiment described above. In particular, the autonomous or manual work device according to the invention and the method for operating the autonomous or manual work device can have a number of individual elements, components, units, and method steps that differs from the number stated herein in order to fulfill a functionality described herein. Furthermore, in the value ranges specified in this disclosure, values ​​within the stated limits are also to be considered disclosed and can be used arbitrarily.

[0067] drawing

[0068] Further advantages will become apparent from the following description of the drawings. The drawings illustrate five exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will also expediently consider the features individually and combine them into useful further combinations.

[0069] They show:

[0070] Fig. 1 is a schematic representation of a working device in a first (a), a second (b) and a third (c) operating state,

[0071] Fig. 2 is a flow chart showing the operation of the working device,

[0072] Fig. 3 is a schematic representation of an alternative embodiment of a working device in a first (a), a second (b) and a third (c) operating state,

[0073] Fig. 4 shows an alternative embodiment of a working device with a fine alignment unit, Fig. 5 shows an enlarged view of the fine alignment unit from Fig. 4,

[0074] Fig. 6 is a representation of an alternative embodiment of a fine alignment unit and

[0075] Fig. 7 is a further illustration of another alternative embodiment of a fine alignment unit.

[0076] Description of the embodiments

[0077] Figure 1a shows a working device 10a, which in this case is embodied as an autonomous robot 20a. Alternatively, it is conceivable that the working device 10a is at least partially manually controllable and / or usable. The working device 10a is embodied as a drilling robot. Alternatively or additionally, it is conceivable that the working device 10a is embodied as a different type of processing device.

[0078] The work device 10a has a movement unit 12a and a processing unit 14a connected to the movement unit 12a, which comprises at least one tool unit 16a and a manipulator unit 18a. The work device 10a has an alignment support unit 22a.

[0079] The manipulator unit 18a is designed as a robot arm 28a. Movement of the tool unit 16a relative to the movement unit 12a is provided by the manipulator unit 18a. In the present case, the manipulator unit 18a has six degrees of freedom, although a different number of degrees of freedom would also be conceivable. The manipulator unit 18a has three manipulator joint elements 66a, with only one manipulator joint element 66a being designated. Alternatively, the manipulator unit 18a could have a smaller or larger number of degrees of freedom and / or manipulator joint elements 66a.

[0080] The tool unit 16a is designed as a drilling unit 26a with a drill (not shown). Alternatively or additionally, it is conceivable for the tool unit 16a to have another tool, for example a grinding wheel or a saw blade or the like. The tool unit 16a is provided for processing an object 32a to be processed. The object 32a to be processed has a surface 30a facing the tool unit 16a at least in one operating state. At least the surface 30a of the object 32a to be processed is processed by means of the tool unit 16a in at least one operating state. The object 32a to be processed is designed as a ceiling in the present case. Alternatively, it is conceivable for the object 32a to be processed to be designed differently, for example as another part of a building.

[0081] In a first operating state according to Figure 1a, the working device 10a is in an alignment state. In the first operating state, the tool unit 16a is aligned to the surface 30a of the object 32a to be machined by means of the manipulator unit 18a.

[0082] The manipulator unit 18a is contact-connected to the movement unit 12a. The manipulator unit 18a is arranged on a top side 62a of the movement unit 12a. An end of the manipulator unit 18a facing away from the movement unit 12a is contact-connected to the tool unit 16a in at least one operating state. An end of the manipulator unit 18a facing away from the movement unit 12a is contact-connected to the tool unit 16a, at least in the alignment state. The manipulator unit 18a supports the tool unit 16a in the at least one operating state.

[0083] The alignment support unit 22a is contactingly connected to the movement unit 12a. The alignment support unit 22a is arranged on the top side 62a of the movement unit 12a. The alignment support unit 22a and the manipulator unit 18a are connected to the movement unit 12a at different positions on the movement unit 12a. The movement unit 12a provides movement of the alignment support unit 22a, the manipulator unit 18a, and the tool unit 16a relative to a work environment 90a.

[0084] The locomotion unit 12a has a locomotion element 58a. The locomotion unit 12a is embodied as a tracked vehicle in the present case. The locomotion element 58a is embodied as a track unit with a track chain 88a. Alternatively, a different design of the locomotion element 58a, for example, as a wheel or as a turbine of a drone, would also be conceivable. It is conceivable that at least the locomotion element 58a is provided in an interchangeable manner and can be adapted to the working environment 90a. The locomotion element 58a has at least one second identical locomotion element (not shown), which is arranged on a side of the locomotion unit 12a opposite the locomotion element 58a.

[0085] Figure 1b shows the work tool 10a in a second operating state. The alignment support unit 22a is provided to at least mechanically support the positioning of the tool unit 16a for machining. The alignment support unit 22a is designed as a support bracket unit 60a, which at least partially supports the tool unit 16a in at least one operating state. The alignment support unit 22a is connected to the tool unit 16a in a contacting manner, at least in the at least one operating state. A connection between the alignment support unit 22a and the tool unit 18a is provided in a form-fitting and / or force-fitting manner. The alignment support unit 22a presses against the tool unit 16a from below.

[0086] The alignment support unit 22a, in this case the support carrier unit 60a, can be decoupled from the tool unit 16a (see Figure 1a). The alignment support unit 22a is decoupled from the tool unit 16a at least in the alignment state (see Figure 1a). The coupled alignment support unit 22a is connected to the tool unit 16a in a contacting manner. The decoupled alignment support unit 22a is provided with the tool unit 16a in a contactless manner.

[0087] The alignment support unit 22a is designed to be hydraulically actively extendable, stiffenable, and clampable. The alignment support unit 22a is provided to be movable in at least one operating state (see Figure 1a). The alignment support unit 22a is provided to be extendable in at least one operating state (see Figure 1a). The alignment support unit 22a is provided to be movable and extendable at least in the alignment state. The alignment support unit 22a is provided stiffened and clamped at least in the second operating state. The alignment support unit 22a extends, at least in the clamped state, from the movement unit 12a to the tool unit 16a.The alignment support unit 22a is provided in a stiffened and clamped manner at least in a processing state. In the processing state, the object 32a to be processed is processed at least by means of the tool unit 16a. The stiffened and clamped alignment support unit 22a is provided rigidly.

[0088] The alignment support unit 22a has at least one actuator unit (not shown) for extending and stiffening the alignment support unit 22a. The alignment support unit 22a has a further actuator unit (not shown) for bracing the alignment support unit 22a. It would be conceivable for the actuator unit to have the further actuator unit.

[0089] The alignment support unit 22a is telescopically extendable. The alignment support unit 22a is designed as a telescopic rod. Alternatively or additionally, it is conceivable for the alignment support unit 22a to be foldable and / or collapsible, or the like.

[0090] The alignment support unit 22a is connected to the manipulator unit 18a in at least one operating state. In the at least one operating state, the alignment support unit 22a is connected to the manipulator unit 18a via the tool unit 16a. In the at least one operating state, a weight of the tool unit 16a is transferred from the manipulator unit 18a to the alignment support unit 22a.

[0091] The manipulator unit 18a can be decoupled from the tool unit 16a. The manipulator unit 18a is provided decoupled from the tool unit 16a in at least one processing state. Figure 1c shows the work device 10a in a third operating state, in which the manipulator unit 18a is provided decoupled from the tool unit 16a. The manipulator unit 18a is completely mechanically decoupled from the tool unit 16a in at least one operating state. The manipulator unit 18a is completely mechanically decoupled from the tool unit 16a at least in the processing state. The manipulator unit 18a decoupled from the tool unit 16a is free of any contact connection to the tool unit 16a.The manipulator unit 18a decoupled from the tool unit 16a is free of any connection to the tool unit 16a, which is arranged at an end of the manipulator unit 18a opposite the connection of the manipulator unit 18a to the movement unit 12a.

[0092] Alternatively, it is conceivable that the manipulator unit 18a decoupled from the tool unit 16a has a vibration-decoupled connection to the tool unit 16a, which is arranged at an end of the manipulator unit 18a opposite the connection of the manipulator unit 18a to the movement unit 12a.

[0093] Alternatively, it is also conceivable that the tool unit 16a is coupled to the manipulator unit 18a in every operating state. A machining state could correspond to Figure 1b. It would be conceivable that the manipulator unit 18a is connected to the tool unit 16b in a non-decoupleable manner.

[0094] The alignment support unit 22a is provided for providing at least one rough positioning of the tool unit 16a. In this case, the alignment support unit 22a is provided for supporting the tool unit 16a in at least one rough position. In this case, the alignment support unit 22a is provided for supporting the tool unit 16a in at least one machining position.

[0095] It is conceivable that the alignment support unit 22a has at least one support element (not shown) for supporting the surface 30a of the object 32a to be machined. The support element 24a could, for example, be attached to the tool unit 16a.

[0096] Figure 2 shows a flowchart for a method for operating the autonomous work device 10a, wherein positioning of the tool unit 16a for processing is at least mechanically supported. The method comprises a method step 100a, in which the tool unit 16a is aligned by means of the manipulator unit 18a on the surface 30a of the object 32a to be processed. In a method step 102a, the tool unit 16a is fixed in an aligned position and supported by the alignment support unit 22a. In method step 102a, the alignment support unit 22a is extended, stiffened, and clamped. In a method step 104a, the manipulator unit 18a is decoupled from the tool unit 16a. In method step 104a, a processing operation is carried out at least by means of the tool unit 16a.

[0097] Further exemplary embodiments of the invention are shown in Figures 3 to 7. The following descriptions and the drawings are essentially limited to the differences between the exemplary embodiments, whereby with regard to components with the same designation, in particular with regard to components with the same reference numerals, reference can in principle also be made to the drawings and / or the description of the other exemplary embodiments, in particular Figures 1 and 2. To distinguish the exemplary embodiments, the letter a is placed after the reference numerals of the exemplary embodiment in Figures 1 and 2. In the exemplary embodiments in Figures 3 to 7, the letter a is replaced by the letters b to e.

[0098] Figure 3a shows an alternative embodiment of a working device 10b in a first operating state. An alignment state of the working device 10b comprises at least the first operating state. An alignment support unit 22b is provided permanently coupled to a tool unit 16b. The alignment support unit 22b is provided coupled to the tool unit 16b in every operating state. It is conceivable that the alignment support unit 22b is non-decoupleably connected to the tool unit 16b. The alignment support unit 22b is connected to a manipulator unit 18b at least in the alignment state. The alignment support unit 22b is connected to the manipulator unit 18b via the tool unit 16b at least in the alignment state. The alignment support unit 22b is actively telescopically extendable.The alignment support unit 22b at least partially supports the tool unit 16b during extension. The alignment support unit 22b compensates for the dead weight of the alignment support unit 22b and the tool unit 16b, at least in the aligned state. The alignment support unit 22b relieves the load on the manipulator unit 18b in an aligned state. Alternatively or additionally, it is conceivable for the alignment support unit 22b to be telescopically extendable by means of the manipulator unit 18b. The alignment support unit 22b could be at least partially extended from the manipulator unit 18b and blocked and / or stiffened by an additional unit of the work device 10b.

[0099] The alignment support unit 22b is designed as a support bracket unit 60b. The alignment support unit 22b is designed as a telescopic rod with a support joint element 64b. The alignment support unit 22b is at least partially movable parallel to the surface 30b of the object 32b to be machined. The alignment support unit 22b follows a movement of the tool unit 16b provided by the manipulator unit 18b for alignment.

[0100] Figures 3b and 3c show the working device 10b in a second and third operating state. The third operating state includes at least the processing state.

[0101] Figure 4 shows a working device 10c with an alternative embodiment of an alignment support unit 22c.

[0102] The alignment support unit 22c is connected to the movement unit 12c via a manipulator unit 18c. The alignment support unit 22c is connected to the manipulator unit 18c at an end of the manipulator unit 18c opposite the movement unit 12c. The alignment support unit 22c is connected in contact with the manipulator unit 18c. Alternatively or additionally, it is conceivable for the alignment support unit 22c to be connected in contact with the tool unit 16c. Figure 5 shows the alignment support unit 22c in an enlarged view. The alignment support unit 22c has at least one support element 24c for supporting on a surface 30c of an object 32c to be machined. The alignment support unit 22c has four identically designed support elements 24c, only one support element 24c being designated. Alternatively, a different number of support elements 24c would be conceivable.

[0103] In a supported state, the support element 24c contacts the surface 30c of the object 32c to be processed (see Figure 1a). In the supported state, the support element 24c is supported on the surface 30c by a supporting force of the manipulator unit 18c. The support element 24c is compressible. The support element 24c is compressible, at least in a supported state, perpendicular to the surface 30c of the object 32c to be processed.

[0104] The enlarged section in Figure 5 shows a sectional view of the support element 24c. The support element 24c has an elastic return element 72c. The return element 72c is in a rest position outside of a support state. The return element 72c is designed as a compression spring. The support element 24c has a housing 74c for the return element 72c. The housing 74c is designed to be movable. The housing 74c is designed to be telescopic. It is conceivable for the support element 24c to have more than one return element 72c. A bearing surface 76c of the support element 24c for contact with a surface 30c of an object 32c to be processed is circular in the present case.

[0105] The alignment support unit 22c is provided for providing at least a rough positioning of the tool unit 16c. A rough alignment of the tool unit 16c is provided at least by means of the manipulator unit 18c. A rough position of the tool unit 16c is stabilized at least by the support element 24c on the surface 30c of the object 32c to be machined. A two-stage alignment of the tool unit 16c is possible by means of the alignment support unit 22c. A fine alignment of the tool unit 16c following a rough alignment is permitted by the alignment support unit 22c. The manipulator unit 18c moves the tool unit 16c for a fine alignment in at least one operating state relative to the support element 24c. The alignment support unit 22c has a fine alignment unit 40c. The fine alignment unit 40c is connected to the support element 24c in a contacting manner.The fine alignment unit 40c is arranged between the manipulator unit 18c and the support element 24c (see Figure 4).

[0106] In the present case, the fine alignment unit 40c is in a rest position. In the rest position, the tool unit 16c is arranged symmetrically in the fine alignment unit 40c and between the support elements 24c. The fine alignment unit 40c can be deflected from the rest position for fine alignment. In at least one operating state, the fine alignment unit 40c is designed to be at least partially movable relative to the support element 24c parallel to the surface 30c of the object 32c to be machined. In at least one operating state, the fine alignment unit 40c is designed to be rigid relative to the support element 24c along an axis 78c perpendicular to the surface 30c of the object 32c to be machined.

[0107] The alignment support unit 22c has a first displacement element 44c. The fine alignment unit 40c has the first displacement element 44c. The first displacement element 44c is formed as an outer frame element. The first displacement element 44c is rigidly connected to the support element 24c. In the at least one operating state, the first displacement element 44c is provided so as to be movable relative to the tool unit 16c parallel to the surface 30c of the object 32c to be machined.

[0108] The alignment support unit 22c has a second displacement element 48c. The fine alignment unit 40c has the second displacement element 48c. The second displacement element 48c is designed as an inner frame element. The second displacement element 48c is rigidly connected to the tool unit 16c. In at least the at least one operating state, the second displacement element 48c is provided so as to be movable relative to the support element 24c parallel to the surface 30c of the object 32c to be machined. The second displacement element 48c is arranged within the first displacement element 44c. The alignment support unit 22c has a third displacement element 46c. The fine alignment unit 40c has the third displacement element 46c. The third displacement element 46c is arranged between the first displacement element 44c and the second displacement element 48c. The third sliding element 46c is designed as a middle frame element.In the at least one operating state, the third displacement element 46c is provided so as to be movable relative to the support element 24c along an axis 80c parallel to the surface 30c of the object 32c to be machined. In the at least one operating state, the third displacement element 46c is provided so as to be movable relative to the tool unit 16c along an axis 82c perpendicular to the axis 80c and parallel to the surface 30c of the object 32c to be machined.

[0109] The alignment support unit 22c has elastic return elements 68c, 70c. The fine alignment unit 40c has the elastic return elements 68c, 70c. The displacement elements 44c, 46c, 48c are at least partially movably connected via the return elements 68c, 70c. The return elements 68c, 70c are preferably designed as compression springs.

[0110] The first displacement element 44c is connected to the third displacement element 46c via four identical return elements 68c, with only one return element 68c being designated. The return elements 68c are aligned identically. Alternatively, a different number of return elements 68c would be conceivable. The return element 68c can be deflected parallel to the axis 80c.

[0111] The second displacement element 48c is connected to the third displacement element 46c via four identical return elements 70c, with only one return element 70c being designated. The return elements 70c are aligned identically. Alternatively, a different number of return elements 70c would be conceivable. The return element 68c is deflectable parallel to the axis 82c.

[0112] A rod 84c is arranged within the return element 68c. The third displacement element 46c is provided for linear movement along the rod 84c. Alternatively or additionally, it would be conceivable for the first displacement element 44c to be provided for linear movement along the rod 84c. A rod 86c is arranged within the return element 70c. The third displacement element 46c is provided for linear movement along the rod 86c. Alternatively or additionally, it would be conceivable for the second displacement element 48c to be provided for linear movement along the rod 86c.

[0113] The sliding elements 44c, 46c, 48c are rectangular in at least one viewing direction 38c. The viewing direction 38c runs parallel to the axis 78c. Alternatively, a different shape of the sliding elements 44c, 46c, 48c would be conceivable.

[0114] A finely aligned machining position of the tool unit 16c is fixed by the manipulator unit 18c. Alternatively or additionally, it would be conceivable for a finely aligned machining position to be fixed and / or blocked via a clamping unit of the work device 10c and / or the alignment support unit 22c, for example, to prevent the tool unit 16c from drifting away in a machining state.

[0115] Figure 6 shows an alternative alignment support unit 22d. The alignment support unit 22d has a fine alignment unit 40d. The following descriptions and the drawings are essentially limited to the differences between the embodiment of Figure 6 and the embodiment of Figures 4 and 5.

[0116] The alignment support unit 22d has a fine kinematics unit 34d for moving a tool unit 16d relative to a support element 24d for fine alignment of a tool unit 16d. The fine alignment unit 40d is designed as the fine kinematics unit 34d. The fine kinematics unit 34d provides a movement of the tool unit 16d relative to a support element 24d for fine alignment. The fine kinematics unit 34d independently provides a movement of the tool unit 16d relative to the support element 24d, at least in a support state.

[0117] The fine kinematics unit 34d is designed analogously to a delta robot. The fine kinematics unit 34d is attached to the support element 24d. The alignment support unit 22d has only one support element 24d. A base 50d of the fine kinematics unit 34d is connected to the support element 24d in a contacting manner.

[0118] The fine kinematics unit 34d provides at least three degrees of freedom. The fine kinematics unit 34d has at least one articulated arm 36d. In the present case, the fine kinematics unit 34d has three identical articulated arms 36d, although only one articulated arm 36d is designated. The articulated arm 36d is connected in contact with the tool unit 16d. The articulated arm 36d is fixed to the tool unit 16d in an at least partially rotatable manner. The articulated arm 36d is fixed to the base 50d of the fine kinematics unit 34d for linear movement along a guide element 52d of the fine kinematics unit 34d. The articulated arm 36d is fixed to the guide element 52d for linear movement via a translation element 56d. The fine kinematics unit 34d has three identical guide elements 52d, although only one guide element 52d is designated. The articulated arm 36d has two parallel rigid rods 54d, only one of which is designated.

[0119] The base 50d of the fine kinematics unit 34d is hexagonal, at least along a viewing direction 38d. A guide element 52d of the guide elements 52d is fixed to every other side of the hexagonal base 50d. The guide element 52d is formed integrally with the base 50d. The support element 24d has the same shape as the base 50d, at least along the viewing direction 38d. The support element 24d is hexagonal, along the viewing direction 38d. A bearing surface 76d of the support element 24d for contact with a surface 30d of an object 32d to be machined is hexagonal.

[0120] The support element 24d has at least one return element (not shown) for adaptation to the surface 30d and for damping and / or springing. It would be conceivable for the fine kinematics unit 34d to have a ball joint or the like, by means of which the fine kinematics unit 34d can be adapted to the surface 30d and pressed against it, or actively aligned and pressed against it.

[0121] Figure 7 shows an alternative alignment support unit 22e. The alignment support unit 22e has a fine alignment unit 40e. The fine alignment unit 40e is designed as a fine kinematics unit 34e. The following descriptions and the drawing are essentially limited to the differences between the embodiment of Figure 7 and the embodiment of Figure 6.

[0122] The fine kinematics unit 34e has four identical articulated arms 36e, with only one articulated arm 36e being designated. The fine kinematics unit 34e has four identical guide elements 52e and translation elements 56e, with only one guide element 52e and one translation element 56e being designated.

[0123] A base 50e of the fine kinematics unit 34e is octagonal, at least along a viewing direction 38e. A guide element 52e of the guide elements 52e is fixed to every other side of the octagonal base 50e. The support element 24e is octagonal along the viewing direction 38e. A bearing surface 76e of the support element 24e for contact with a surface 30e of an object 32e to be processed is octagonal.

[0124] Alternatively, a different number of articulated arms 36e, guide elements 52e, and translation elements 56e and / or a different shape of the base 50e would also be conceivable. Alternatively, a different design of the fine kinematics unit 34e, which would be deemed appropriate by a person skilled in the art, could be conceivable, which can move the tool unit 16e, in particular, independently and precisely.

[0125] The various embodiments can be considered in combination. In particular, an alignment support unit can comprise a support element, a fine alignment unit, and a support carrier unit.

Claims

Claims 1 . Autonomous or manual work device (10a; 10b; 10c), in particular a robot (20a; 20b; 20c), with a movement unit (12a; 12b; 12c) and with a processing unit (14a; 14b; 14c) connected to the movement unit (12a; 12b; 12c), which has at least one tool unit (16a; 16b; 16c; 16d; 16e), in particular a drilling unit (26a; 26b; 26c; 26d; 26e), and a manipulator unit (18a; 18b; 18c), in particular a robot arm (28a; 28b; 28c), for moving the tool unit (16a; 16b; 16c; 16d; 16e) relative to the movement unit (12a; 12b; 12c), characterized by an alignment support unit (22a; 22b; 22c; 22d; 22e), which is provided to at least mechanically support a positioning of the tool unit (16a; 16b; 16c; 16d; 16e) for machining.

2. Autonomous or manual working device (10a; 10b; 10c) according to claim 1, characterized in that the alignment support unit (22a; 22b; 22c; 22d; 22e) is connected to the movement unit (12a; 12b; 12c) in at least one operating state.

3. Autonomous or manual working device (10a; 10b; 10c) according to claim 1 or 2, characterized in that the alignment support unit (22a; 22b; 22c; 22d; 22e) is connected to the manipulator unit (18a; 18b; 18c) in at least one operating state.

4. Autonomous or manual working device (10a; 10b; 10c) according to one of the preceding claims, characterized in that the alignment support unit (22a; 22b; 22c; 22d; 22e) is provided for providing at least a rough positioning of the tool unit (16a; 16b; 16c; 16d; 16e).

5. Autonomous or manual working device (10a; 10b; 10c) according to one of the preceding claims, characterized in that the alignment support unit (22c; 22d; 22e) has at least one support element (24c; 24d; 24e) for supporting on a surface (30a; 30b) of an object to be processed (32a; 32b).

6. Autonomous or manual working device (10c) according to claim 5, characterized in that the manipulator unit (18c) moves the tool unit (16c) for a fine alignment in at least one operating state relative to the support element (24c) 7. Autonomous or manual working device according to claim 5, characterized by a fine kinematics unit (34d; 34e) for moving the tool unit (16d; 16e) relative to the support element (24d; 24e) for a fine alignment of the tool unit (16d; 16e).

8. Autonomous or manual working device (10a; 10b) according to one of the preceding claims, characterized in that the alignment support unit (22a; 22b) has at least one support carrier unit (60a; 60b) which at least partially supports the tool unit (16a; 16b) in at least one operating state.

9. Autonomous or manual working device (10a; 10b) according to claim 8, characterized in that the support unit (60a; 60b) can be stiffened and / or braced.

10. Autonomous or manual working device (10a; 10b) according to claim 8 or 9, characterized in that the support carrier unit (60a; 60b), in particular telescopically, is actively extendable and / or extendable by means of the manipulator unit (18a; 18b).

11. Autonomous or manual working device (10a; 10b) according to one of claims 8 to 10, characterized in that the support carrier unit (60a; 60b) can be decoupled from the tool unit (16a; 16b).

12. Autonomous or manual working device (10a; 10b; 10c) according to one of the preceding claims, characterized in that the manipulator unit (18a; 18b; 18c) is supported by the tool unit (16a; 16b; 16c; 16d; 16e) can be decoupled.

13. Method for operating an autonomous or manual work device (10a; 10b; 10c), in particular according to one of the preceding claims, with a movement unit (12a; 12b; 12c) and with a processing unit (14a; 14b; 14c) connected to the movement unit (12a; 12b; 12c), which processing unit has at least one tool unit (16a; 16b; 16c; 16d; 16e), in particular a drilling unit (26a; 26b; 26c; 26d; 26e), and a manipulator unit (18a; 18b; 18c), in particular a robot arm (28a; 28b; 28c), for moving the tool unit (16a; 16b; 16c; 16d; 16e) relative to the movement unit (12a; 12b; 12c), characterized in that a positioning of the tool unit (16a; 16b; 16c; 16d; 16e) is at least mechanically supported for processing.

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