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

Abstract

The present invention relates to an interface adapter (100) for connecting a power tool (10) to an end effector (222) of a construction robot (210), the construction robot (210) being preferably configured to perform work on walls and / or ceilings, particularly on building construction sites, civil engineering construction sites, and / or in industrial plants, the interface adapter (100) having a power tool connection point (110) for connection to the power tool (10), the power tool connection point being designed complementary to a standard battery interface (18) of the power tool (10). The present invention also relates to a system (200) including the construction robot (210). The present invention allows the power tool (10) to be used with the construction robot (210) in a particularly flexible manner.

Description

[Technical Field]

[0001] The present invention relates to connecting a power tool to a construction robot. [Background technology]

[0002] In order to be able to use construction robots in as flexible and yet cost-effective a way as possible, it would be desirable if construction robots could be used together with different types of power tools. It would be particularly advantageous if widely available, quality-tested power tools, which are mass-produced and therefore relatively cheap, could be used together with construction robots with little effort.

[0003] A concern here is that construction site conditions are often difficult to predict and can vary from one construction site to another.

[0004] It should also be possible to use the construction robot to perform a wide variety of different types of construction tasks, and correspondingly, in particular to use a large number of different types of power tools. Summary of the Invention [Problem to be solved by the invention]

[0005] It is therefore an object of the present invention to provide an apparatus that easily enables different types of power tools to be used with a construction robot. [Means for solving the problem]

[0006] This object is achieved by an interface adapter for connecting a power tool to an end effector of a construction robot, the interface adapter having a connection point for connecting to the power tool, the power tool connection point being designed to be complementary to a standard battery interface of the power tool.

[0007] The concept underlying the present invention is that power tools, particularly battery-powered power tools, such as hand-held battery-powered power tools, such as hand drills, particularly jackhammers, nail guns, grinders, power saws, and chipping machines, typically have an energy supply interface that is standardized across at least several types of power tools, e.g., from the same manufacturer. For example, battery-powered power tools have a standard battery interface that allows batteries conforming to relevant standards to be installed on the power tool. Here, the standard battery interface may fulfill at least two functions: First, the standard battery interface may be designed to securely hold the battery on the power tool. For this purpose, the standard battery interface may have, for example, a latching mechanism. Second, the standard battery interface may be configured to transmit operating energy. Here, operating energy may be capable of being transmitted in one direction, particularly from the battery to the power tool. Operating energy may also be capable of being transmitted in two directions, e.g., for the purpose of recharging the battery by recovery. The standard battery interface may also have even further functions. In particular, the standard battery interface may also be configured for signal transmission between the battery and the power tool, which may also be unidirectional or bidirectional.

[0008] Thus, the interface adapter can be installed on one side in an end effector of a construction robot. The connection point allows the interface adapter to be installed on the other side in a standard battery interface of a power tool, in particular instead of a conventional battery. Thus, the power tool can be installed in the end effector via the interface adapter. Installation in the end effector is possible for all power tools with the same standard battery interface, and thus for many different types of power tools in general, in particular power tools that can be powered by a battery.

[0009] Generally, the standard battery interface is designed for tool-less fastening and / or tool-less battery removal, so that the power tool can also be easily and quickly re-detached from the end effector without the need for special tools.

[0010] Nevertheless, such standard battery interfaces typically have a latching mechanism for securing the battery, thereby ensuring a secure retention of the power tool on the end effector.

[0011] Construction robots may be configured to perform work on walls and / or ceilings, in particular at building construction sites, at civil construction sites and / or in industrial plants.

[0012] The interface adapter may include a power tool signal interface and a construction robot signal interface for transmitting at least one signal between the construction robot and the power tool. Thus, in addition to providing a mechanical connection of the construction robot to the power tool, a signal transmission connection between the two devices may also be provided by the interface adapter.

[0013] A signal may be understood to mean, for example, at least one control signal and / or at least one sensor signal.

[0014] The transmission can be one-way or two-way.

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

[0016] The power tool signal interface and the construction robot signal interface may also be configured to transmit operating energy. Thus, electrical operating energy may be supplied to the power tool. Operating energy here may be understood to mean the energy substantially required to operate the power tool in a conventional manner. Correspondingly, the signal interface may be configured to transmit instantaneous power of at least 0.1 kW, e.g., at least 1 kW.

[0017] If the interface adapter has additional battery interfaces and / or additional signal interfaces, it may also be possible to transfer operating energy to batteries located at these interfaces, for example to charge the batteries. It may also be possible to transfer operating energy away from the batteries, for example to provide a particularly increased power level to the power tool for a short period of time.

[0018] At least a portion of the power tool signal interface may be formed as part of the connection point, for example the power tool signal interface may use, or at least cooperate with, one or more electrical contacts of the connection point.

[0019] It may therefore be possible to transmit the sensor signal via the connection point.

[0020] It is also conceivable that a separate control interface is provided for transmitting control signals, for example for activating / deactivating the power tool or for controlling at least one operating parameter, for example the rotational speed, which may be useful, for example, in the case of a power tool in which at least one function required for controlling the power tool cannot be controlled by the standard battery interface.

[0021] The interface adapter may also include a signal converter configured to transform a signal received at one of the signal interfaces, e.g., modify the signal level, impedance, and / or signal coding, and output the signal at the other signal interface.

[0022] In particular, the signal converter may be configured to convert sensor and / or control signals output by the construction robot in a "robot language" into a signal format that can be processed by the power tool. Alternatively or additionally, the signal converter may be configured to convert sensor and / or control signals from the power tool into a signal format that can be processed by the construction robot.

[0023] Thus, the construction robot may be able to control different types of power tools using signals that are in each case independent of the power tool, or conversely, to receive signals from different power tools.

[0024] Here, the signals may be transmitted on a half-duplex or full-duplex basis, and may be differential or ground-referenced signals.

[0025] Alternatively or additionally, the signal converter may convert the operating energy to be transmitted.

[0026] The signal interface may be an electrical interface, for example, provision may be made for modulating at least one signal when the operating energy supply is provided.

[0027] Alternatively or additionally, it is also conceivable that at least one of the signal interfaces is configured for wireless data transmission, in particular for optical and / or radio-based data transmission. For example, it is advantageous if the wireless data transmission utilizes low-energy radio standards. The connection may exhibit automatic coupling. Inductive data transmission, microwave-based data transmission, and / or optical data transmission, e.g., infrared-based data transmission, are conceivable. Such wireless data transmission is reliable even in very dusty environments, such as those typically encountered on construction sites. Furthermore, such data transmission does not require any mechanical interaction for coupling purposes, thus simplifying coupling and decoupling.

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

[0029] To this end, the interface adapter may comprise a microcontroller, which may comprise a memory, a microprocessor, and / or program code that may run on the microprocessor and that is stored in the memory.

[0030] Using such a control unit, the interface adapter can control an attached power tool and / or construction robot. For example, the control unit, particularly the program code, can be configured to detect a fault, such as an incorrect placement of the power tool on the interface adapter. The control unit can then be configured to transmit a corresponding signal to the construction robot via the construction robot signal interface. For example, the construction robot can initiate a fault handling routine in response to the signal. A further example is for the control unit of the power tool to transmit an interrogation signal via the power tool signal interface. The power tool can then return a response signal. For example, in this way, the control unit can interrogate and / or set parameters of the power tool.

[0031] The control unit may be configured to, for example, query the type or identifier of the power tool. The control unit may then be configured to set its own parameters, for example signal converter parameters relating to the conversion, according to the type or identifier and / or to transmit the parameters, in this case the type or identifier, to the construction robot via the construction robot signal interface. Similarly, it is also conceivable that the control unit sends a query signal to the construction robot and receives a response signal from the construction robot. Based on the response signal, the control unit may set its own and / or the power tool's parameters.

[0032] In particular, the control unit may be configured to receive at least one sensor signal from the power tool signal interface and / or from the construction robot signal interface. The sensor signal may then be used by the control unit for control purposes. For example, if the sensor signal relates to vibrations caused by the power tool, the control unit may transmit a control signal via the power tool signal interface to operate at a lower power and / or to enter a standby mode if a certain level of vibration of the power tool is exceeded. Thus, the construction robot may be protected from mechanical overload.

[0033] Alternatively or additionally, further sensor signals are also conceivable, e.g., sensor signals indicating at least one characteristic variable of the power tool and / or construction robot, such as vibration, current, force, temperature, power tool type, status and / or position, travel distance, feed movement, etc.

[0034] If a battery interface is available, the sensor signal may also relate to a battery connected to the battery interface.

[0035] It is also conceivable that the sensor signal indicates the operating mode and / or that the control unit sets the operating mode, in particular the operating mode of a power tool.

[0036] Thus, for example, the behavior of the power tool can be adjusted depending on whether a battery or an interface adapter is attached. For example, a trigger can be set or ignored depending on the identified condition. The trigger can, for example, initiate a wake-up mode. It is also possible for an identification code to be transmitted and / or received by the control unit.

[0037] The durability of the construction robot and / or the precision with which construction tasks can be performed can be improved if the interface adapter has at least one damping element for damping vibrations acting on the interface adapter. The damping element can be configured for passive and / or active damping.

[0038] The interface adapter itself may include at least one sensor, which may be, for example, a force sensor and / or a pressure sensor, and may be configured to measure contact force, pull force, and / or the like.

[0039] The present invention further encompasses a system including a construction robot, an interface adapter of the type described above and / or below, and a power tool, the power tool having a standard battery interface, the standard battery interface of the power tool being positioned at a connection point of the interface adapter.

[0040] It is contemplated that the system may also include additional adapter parts, for example, there may be power tool specific and / or construction robot specific adapter parts that can be used to adapt the power tool and / or construction robot to the interface adapter.

[0041] The power tool may be configured to detect whether a battery or interface adapter is installed on the standard battery interface, particularly via the power tool's standard battery interface. The power tool may also be configured to detect whether any element is installed on the standard battery interface, and if so, particularly what type of element it is. For example, the power tool may be configured to utilize recovery when a battery is installed and not utilize recovery when an interface adapter is installed.

[0042] It is also contemplated that the power tool may be modified, for example, by at least partially replacing the handle insert of the power tool with a portion of the interface adapter or the entire interface adapter.

[0043] The construction robot may be designed to perform construction tasks at building construction sites and / or civil engineering construction sites and / or in particular steel-based industrial plants, for example, on oil platforms. The construction robot may be configured to perform construction tasks on ceilings, walls, and / or floors. The construction robot may be designed to drill, cut, chisel, grind, and / or fasten structural elements. The construction robot may have one or more power tools. The power tools may include cutting tools, grinding tools, and / or fastening tools. It is also conceivable that the end effector and / or the power tool may be designed for marking. For example, the end effector may have a paint sprayer. Alternatively or additionally, a measuring instrument, for example a distance meter, may also be arranged on the end effector.

[0044] The interface adapter can be mounted on the end effector. The power tool and / or the measuring tool can then be mounted on the interface adapter. The construction robot, in particular the end effector, can in principle also be equipped with a plurality of power tools and / or measuring tools.

[0045] The construction robot may have a manipulator. The manipulator may be designed as a robotic arm. The manipulator may also have a lifting device. The lifting device may increase the size of the total volume that the manipulator can reach. The manipulator may have at least three degrees of freedom. In particular, the manipulator may have at least six degrees of freedom.

[0046] The construction robot may also have a mobile platform. The mobile platform may include a wheeled undercarriage and / or a track chain undercarriage. The mobile platform may have at least two degrees of freedom. The construction robot may have at least ten degrees of freedom in total. Alternatively, it is contemplated that the mobile platform is or includes a flying platform. For example, the construction robot may also be designed as a flying drone.

[0047] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the invention, with reference to the drawing figures which show the details essential to the invention, and from the claims. The features shown in this specification should not necessarily be considered to be to scale, but are shown so as to clearly visualize the particular features according to the invention. The various features can be implemented individually by themselves or collectively in any combination in a variant of the invention.

[0048] Exemplary embodiments of the invention are shown in the diagrams and explained in detail in the following description. [Brief explanation of the drawings]

[0049] [Figure 1] Indicates a power tool. [Figure 2] 1 shows a side view of an interface adapter. [Figure 3] 1 shows a side view of an improved power tool having a power tool adapter portion. [Figure 4] 1 shows a perspective view of a power tool during modification of the power tool; [Figure 5]1 illustrates a side view of an improved power tool with an interface adapter installed. [Figure 6] 1 shows a perspective view of an internal portion of an interface adapter having a control unit. [Figure 7] 1 illustrates a system comprising a construction robot, an interface adapter, and a power tool. DETAILED DESCRIPTION OF THE INVENTION

[0050] In the description of the figures that follows, the use of the same reference signs in each case for identical or functionally corresponding elements facilitates an understanding of the invention.

[0051] 1 shows a power tool 10. The power tool 10 is a battery-powered rock drill.

[0052] The power tool has a base body 12 from one end of which a tool coupling 14 projects. At the other end, the power tool has a handle 16. Located on the handle 16 is an actuating element 17 that can be used to manually control the power tool 10. In particular, the actuating element 17 can be used to start and stop a drilling operation or to adjust the rotation speed.

[0053] The power tool further includes a standard battery interface 18. The standard battery interface 18 is designed to receive a battery. The standard battery interface is particularly useful for securing a battery to the power tool 10, for transferring operating energy between the battery and the power tool 10, and for transferring signals between the battery and the power tool 10.

[0054] By way of example, FIG. 1 shows a battery 20 that, in the state shown in FIG. 1, is pushed approximately halfway into a standard battery interface 18.

[0055] To enable the battery 20 to be installed in a standard battery interface 18 , the battery 20 has connection points 22 designed to be complementary to the standard battery interface 18 .

[0056] To fully install the battery 20, the battery 20 must be pushed further into the standard battery interface 18 in the direction of arrow 24. Correspondingly, to fully remove the battery, the battery must be pushed further in the opposite direction to the direction of arrow 24 to disengage it from the standard battery interface 18.

[0057] Therefore, installation and removal is possible without the use of tools.

[0058] FIG. 2 shows an interface adapter 100 for connecting a power tool to an end effector of a construction robot.

[0059] The interface adapter has a power tool connection point 110 for connection to a power tool, for example the power tool 10 according to FIG.

[0060] The power tool connection point 110 has a power tool connection portion 112 that is designed to complement the standard battery interface 18 (see FIG. 1). Thus, the power tool connection point 110 as a whole is designed to complement the standard battery interface 18.

[0061] The power tool connection portion 112 has electrical contacts 114. When the power tool 10 is attached to the power tool connection portion 110, operating energy can be transmitted via the contacts 114, particularly for operating the power tool 10. For example, provisions can be made to transmit an electric current having a voltage of about 22 V DC as operating energy.

[0062] Signals may also be transmitted bidirectionally to and from the power tool 10 via the contacts 114, with the signals being modulated onto the operating energy to be transmitted. Thus, the contacts 114, together with the remainder of the power tool connection point 110, simultaneously form a power tool signal interface 116.

[0063] The interface adapter 100 further includes a construction robot connection point 118. The construction robot connection point 118 serves to connect to a construction robot end effector, such as the construction robot described in more detail below in connection with FIG.

[0064] For particularly releasable fastening of the interface adapter 100 to the end effector, the construction robot connection point 118 particularly has a pneumatically actuated bracket 120 .

[0065] The power tool connection point 110 can be pressed against the damping element 122 such that the damping element 122 is located substantially between the power tool connection point 110 and the construction robot connection point 118. The damping element serves, for example, to damp vibrations that may arise from the power tool 10 during operation of the power tool 10.

[0066] Operating energy can be transmitted between the attached construction robot and the interface adapter 100 via the electrical contact socket 124. For example, the operating energy can be transmitted in the form of an electrical current at a voltage of 48V.

[0067] Modulation also allows signals to be transmitted between the interface adapter 100 and the construction robot, in particular bidirectionally, via the contact socket 124. The contact socket 124, together with the rest of the construction robot connection point 118, therefore simultaneously forms a construction robot signal interface 126.

[0068] Thus, signals can be transmitted between the power tool 10 and the construction robot via the power tool signal interface 116 and via the construction robot signal interface 126 .

[0069] The interface adapter 100 further includes a control unit 128 .

[0070] The power tool connection point 110 is electrically connected to the remainder of the interface adapter 100 and, in particular, to the control unit 128 via connecting leads 130 .

[0071] Therefore, it is also possible to transmit operating energy between the construction robot and the power tool 10 via the power tool signal interface 116 and the construction robot signal interface 126 .

[0072] Figure 3 shows an improved version of the power tool 10. With respect to the design of Figure 1, the handle 16 with the actuating element 17 and the battery 20 have been removed.

[0073] The manually operable actuating element 17 is now replaced by a control connection 26 so that the control function of the actuating element 17 is electronically controllable.

[0074] A power tool adapter portion 28 is installed on the power tool 10 in place of the handle 16 .

[0075] The standard battery interface 18 is mounted on the outside of the power tool adapter portion 28 in a pivoted position.

[0076] 4 shows a perspective view of the power tool 10 during modification of the power tool 10. In particular, in connection with the illustration of FIG. 4, it is possible to see the standard battery interface 18, which in a subsequent step will be pivoted counterclockwise approximately 90 degrees onto the already installed power tool adapter portion 28.

[0077] It is also possible to see mating contacts 30 formed on the standard battery interface 18 and configured to establish electrical contact with contacts 114 (see FIG. 2).

[0078] FIG. 5 shows a modified power tool 10 as shown in FIG. 3 with an interface adapter 100 according to FIG. 2 installed.

[0079] For this purpose, the damping element 122 is mounted, for example screwed, on the power tool adapter part 28 .

[0080] The power tool connection point 110 seats on the standard battery interface 18 .

[0081] The control connection 26 is connected to a control connection socket 132 of the control unit 128.

[0082] FIG. 6 shows an internal perspective view of the control unit 128.

[0083] The control unit 128 comprises electronic circuitry 134, which includes, among other things, a microcontroller 136. The microcontroller 136 includes a microprocessor 138 and a memory 140. The memory 140 stores program code 142 that is executable on the microprocessor 138.

[0084] The control unit 128 is configured, among other things, by means of the program code 142 to convert a signal received at one of the signal interfaces. In particular, the control unit is configured to convert a 48V DC modulated signal received at the robot signal interface 144 into a 22V DC modulated signal and output said signal at the power tool signal interface 116. Thus, the control unit 128 also forms the signal converter 144.

[0085] The control unit 128 is further configured by the program code 142 to interrogate sensor signals 146 from vibration sensors 148. The control unit is further configured to output a braking signal at the power tool signal interface 116 (FIG. 2) if at least one of the sensor signals 146 exceeds a threshold. Based on the braking signal, the power tool 10, configured as a rock drill in this exemplary embodiment, may, for example, reduce its rotational speed so that vibrations caused by the power tool are also dampened.

[0086] 7 shows a system 200. The system 200 includes a construction robot 210, an interface adapter 100, and a power tool 10.

[0087] The interface adapter 100 corresponds to the interface adapter 100 described above with reference to FIGS.

[0088] The power tool 10 corresponds to the power tool 10 described above with reference to FIGS. 1, 3, 4 and 5.

[0089] The construction robot 210 has a movable platform 214 equipped with a track chain undercarriage 212. A manipulator 216 is disposed on the movable platform 214. The manipulator 216 has a lifting device 218 on which a multi-axis arm 220 is mounted. The lifting device 218 can move the arm 220 in the vertical direction. The arm 220 has at least six degrees of freedom. Thus, an end effector 222 disposed at the working end of the arm 220 can be directed both vertically and horizontally. Thus, the construction robot 210 can perform construction work, in particular drilling work, using the power tool 10 configured as a rock drill on ceilings, walls, and / or floors.

[0090] The interface adapter 100 is placed on the end effector 222. The construction robot signal interface 126 (see FIG. 2) of the interface adapter is connected to a corresponding signal output of the construction robot 210.

[0091] In particular, the standard battery interface 18 (see FIG. 2) of the power tool 10 is positioned over the power tool connection point 110 (see FIG. 2) of the interface adapter 100. [Explanation of symbols]

[0092] 10 Power tools 12 Base 14 Tool joints 16 Handle 17 Actuating Elements 18 Standard Battery Interface 20 Storage battery 22 Connection points 24 Arrow 26 Control Connection 28 Adapter part 30 mating contacts 100 Interface Adapter 110 Power tool connection point 112 Power tool connection part 114 contact points 116 Power Tool Signal Interface 118 Construction robot connection point 120 bracket 122 Damping Elements 124 contact socket 126 Construction Robot Signal Interface 128 Control Unit 130 connecting lead wire 132 Control Connection Socket 134 circuits 136 Microcontrollers 138 microprocessors 140 memory 142 Program Code 144 Signal Converter 146 Sensor Signal 148 Vibration Sensor 200 systems 210 Construction Robot 212 Track Chain Undercarriage 214 Moving Platform 216 Manipulator 218 Lifting device 220 Arm 222 End Effector

Claims

1. An interface adapter (100) for connecting a power tool (10) to an end effector (222) of a construction robot (210), the construction robot (210) being preferably configured to perform work on walls and / or ceilings, in particular at building construction sites, civil engineering construction sites, and / or in industrial plants, the interface adapter (100) having a power tool connection point (110) for connection to the power tool (10), the power tool connection point being designed to be complementary to a standard battery interface (18) of the power tool (10).

2. 2. The interface adapter of claim 1, wherein the interface adapter (100) comprises a power tool signal interface (116) and a construction robot signal interface (126) for transmitting at least one signal between the construction robot (210) and the power tool (10).

3. The interface adapter of claim 2, wherein the power tool signal interface (116) and the construction robot signal interface (126) are additionally configured to transmit operating energy.

4. The interface adapter of claim 2, wherein at least a portion of the power tool signal interface (116) is formed as part of the power tool connection point (110).

5. 3. The interface adapter of claim 2, further comprising a signal converter configured to convert a signal received at one of the signal interfaces, e.g., to modify a level, impedance, and / or signal coding of the signal, and output the signal at the other of the signal interfaces.

6. 3. An interface adapter according to claim 2, 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. 3. The interface adapter of claim 2, wherein the interface adapter comprises a control unit configured to generate a control signal and output the control signal to at least one of the two signal interfaces.

8. 8. The interface adapter of claim 7, wherein the control unit (128) is configured to receive at least one sensor signal (146) from the power tool signal interface (116) and / or from the construction robot signal interface (126).

9. 3. The interface adapter of claim 1, wherein the interface adapter comprises at least one damping element for damping vibrations acting on the interface adapter.

10. 3. The interface adapter of claim 1, wherein the interface adapter (100) comprises at least one sensor (146).

11. A system (200) including a construction robot (210), an interface adapter (100) according to claim 1 or 2, and a power tool (10), wherein the power tool (10) has a standard battery interface (18), and the standard battery interface (18) of the power tool (10) is disposed on the power tool connection point (110) of the interface adapter (100).

Images