Construction robot including a holding frame and a tool interface

Abstract

The present invention relates to a holding frame (22) for receiving a tool (24), in particular a tool having a rechargeable battery interface (58) for removably receiving a rechargeable battery (60) without a tool. The holding frame (22) has a holding portion (70) designed to complement the rechargeable battery interface (58). The holding frame (22) further has a connection point (80) for connecting to a manipulator (18) of a construction robot (10). The present invention also relates to a construction robot (10). The present invention provides an economical way to make the construction robot (10) particularly versatile.

Description

[Technical Field]

[0001] The present invention relates to the performance of construction tasks by construction robots, and in particular to a holding frame for a construction robot and tool having a manipulator on which a tool interface is located. [Background technology]

[0002] There is a great demand for affordable living and working spaces. There is currently a concentrated effort to lower the cost of constructing buildings and further reduce the health risks to construction workers through the widespread use of automation. To this end, construction robots are increasingly being utilized.

[0003] However, due to their complexity, construction robots have until now been very expensive to manufacture.

[0004] It is therefore desirable to maximize the utilization of construction robots in order to be able to reduce the time-related costs, and the more flexibly construction robots can be used, and in particular the more quickly they can be used for different types of construction tasks, the faster this can be achieved. Summary of the Invention [Problem to be solved by the invention]

[0005] The object of the present invention is therefore to provide a solution that allows the greatest possible number of construction tasks to be performed by one construction robot. [Means for solving the problem]

[0006] This object is first achieved by a holding frame for receiving a tool having a battery interface for receiving a battery so that the battery can be removed, in particular removed without the use of tools, the holding frame having a holding part that is designed complementarily to the battery interface, and the holding frame having attachment points for attachment to a manipulator of a construction robot.

[0007] The tool for which the holding frame is provided may in particular be a hand-held power tool which may be powered by a rechargeable accumulator.

[0008] Thus, the tool can be placed on the holding frame, with the holding portion engaging the battery interface so that the tool can be simply secured to the holding frame.

[0009] It is therefore possible to reliably arrange different tools, in particular tools of different types, on the same holding frame.

[0010] Here, it is possible to take advantage of the fact that different types of tools often have the same battery interface, which is particularly applicable to battery-powered tools, for example battery-powered handheld power tools such as hand drills, especially jackhammers, nail guns, grinders, power saws, power chisels, etc.

[0011] Here, the battery interface can perform at least two functions: First, the battery interface can be designed to securely hold the battery on the power tool.

[0012] Second, the battery interface may be configured to transmit operating energy. Here, operating energy may be unidirectional, in particular from the battery to the power tool. It may also be bidirectional, for example for the purpose of recharging the battery by recovery. The battery interface may also have other functions. In particular, it may be configured to transmit signals between the battery and the power tool. The signal transmission may also be unidirectional or bidirectional.

[0013] The battery interface may, for example, have a guide rail. The holding frame may have a carriage designed complementarily to the guide rail, so that the holding frame together with its carriage can be pushed onto the guide rail. The battery interface and / or the holding frame may have a latching mechanism, so that the holding frame can be locked onto the battery interface after being pushed onto the guide rail. The latching mechanism may be designed to be detachable without the use of tools.

[0014] In one class of exemplary embodiments, the holding frame may have bearing arms located at different points from the holder to further support the tool. The holding frame may be designed to support the tool at several different points, in particular to hold the tool at several points. Such support at several points allows the torques occurring during operation of the tool to be better absorbed by the holding frame. If necessary, the torques can be better counteracted.

[0015] If the tool is designed as a handheld power tool, it often has a connection for a side handle, in which case the bearing arms of the holding frame may be positioned such that when the holding frame is mounted on the battery interface, said bearing arms hold the tool at the tool connection, e.g. engage around the tool.

[0016] To avoid excessive loads on the manipulator, in particular damage to the manipulator, the holding frame may comprise at least one vibration damper, which may comprise a foam material and / or an elastic or at least partially elastic material, and which may be configured to reduce the transmission of vibrations from the power tool to the rest of the holding frame.

[0017] At least one electrical connection may be formed between the holder and the attachment point, in which case electrical current can be passed unidirectionally or bidirectionally between the holder and the attachment point, and thus between a tool mounted on the holding frame and a manipulator mounted on the holder, for example for supplying operating energy to a tool or transmitting signals.

[0018] The electrical connections may be adapted to the electrical parameters of the tools and / or construction robots to allow the use of as many different types of tools as possible with the holding frame and, consequently, with a particular construction robot. To this end, the holding frame may have a converter for converting at least one electrical parameter along the electrical connections. The converter may be, for example, a DC / DC converter, an AC / DC converter, a DC / AC converter, an amplifier, a limiter, an impedance converter, a signal code converter, etc. The converter may be remotely controllable and / or programmable. Thus, a user of the holding frame and / or construction robot may program and / or remotely control the converter based on the type of tool to be and / or attached.

[0019] In particular, if in each case different tools are available which have one of at least two types of battery interface, at least two different holding frames of the type described above can be provided, each having mounting points which in each case are designed complementarily to one of the other types of battery interface.

[0020] The scope of the present invention further encompasses construction robots for carrying out construction work on building sites, civil engineering sites and / or steel structures, for example gas or oil platforms, including in particular powered mobile platforms and including manipulators, the manipulators having tool interfaces designed complementary to the attachment points of supporting frames of the type described herein.

[0021] Thus, the tool can be mounted on the holding frame, in particular on the battery interface. The holding frame can then be mounted to its mounting point on the tool interface of the manipulator. The type, shape and / or other specifications of the tool are thus abstracted by the holding frame. A uniform facility can therefore be created for mounting the system consisting of the holding frame and the tool to the construction robot. Thus, a large number of easily available and therefore inexpensive tools can be used with the construction robot.

[0022] For temporary storage of tools, the construction robot may have a storage magazine, in which at least one tool may be received by a holding frame, in particular of the kind described herein.

[0023] A holding frame of the kind described herein can be mounted on a manipulator, and a tool can be placed on the holding frame, in particular via its battery interface.

[0024] The tool may be configured such that at least one tool function, e.g., motor power, rotation frequency, and / or operating mode, is controllable via the tool's battery interface and / or wirelessly, such that a construction robot may, for example, control the tool to perform a construction task or at least a part of a construction task using the tool.

[0025] For this purpose, the tool may have a data interface, which may be integrated into the accumulator interface, which may alternatively or additionally be wireless-based, in which case the tool may be remotely controllable via the data interface.

[0026] For example, the data interface may be configured to transmit control commands, characteristic data and / or status data.

[0027] For example, the operating mode and / or operating state of the tool can then be controlled, in particular the tool may be capable of being switched on and / or switched off by remote control.

[0028] It is also conceivable that the level of at least one of the power usage, direction of rotation, frequency of rotation, torque or frequency of impacts can be set by remote control.

[0029] In the case of tools with an impact function, it may be particularly advantageous if the impact function is also settable by remote control. Thus, for example, to drill a hole in concrete, the construction robot may start drilling with the impact function inactive and activate the impact function later to minimize the risk of undesired chipping of the borehole edge.

[0030] The tool may be configured to provide characteristic data in the form of, for example, identification data, performance, e.g., at least one item of maximum available impact energy and / or maximum available power usage, in a retrievable manner, in particular retrievable via a data interface.

[0031] It is also conceivable to configure the tool to provide at least one operating condition of the power tool, such as at least one of the rotational speed, the temperature, a measurement value of the wear of one of the components, etc., in a retrievable manner, in particular via a data interface.

[0032] For this purpose, it is advantageous if the data interface is designed to be bidirectional, in which case, for example, both a transmission of control commands from the construction robot to the tool and a transmission of property and / or status data from the tool to the construction robot are possible, although it is also conceivable that the control commands and / or property and / or status data can in each case alternatively or additionally also be transmitted in the opposite direction.

[0033] The tool may have at least one protection device for protecting the user during manual use of the power tool. The protection device may for example be a start lock, in particular a restart lock, which in particular prevents the motor from easily starting as a result of the application of the supply voltage without additional actuation of the actuating element.

[0034] The construction robot may be designed to perform construction work on construction sites and / or civil engineering sites and / or in particular on steel-based industrial plants, for example, oil platforms. It may be configured to perform construction work on ceilings, walls, and / or floors. It may be designed for drilling, parting off, engraving, grinding, and / or setting structural elements. It may have one or more tools. At least one tool may be mounted on the construction robot, in particular on a manipulator, by means of a holding frame. The tools may include parting off, grinding, and / or setting tools. It is also conceivable that the tool is designed for marking. For example, the tool may comprise a paint sprayer. Alternatively or additionally, it may comprise a measuring tool, for example, a distance meter.

[0035] The construction robot may have a manipulator. The manipulator may be formed as a robotic arm. The manipulator may also have a lifting device. The lifting device may increase the size of the overall volume that can be reached by the manipulator. The manipulator may have at least three degrees of freedom. In particular, it may have at least six degrees of freedom.

[0036] The construction robot may also have a mobile platform. The mobile platform may include a wheeled chassis and / or a track chain chassis. The mobile platform may have at least two degrees of freedom. The construction robot may have at least ten degrees of freedom overall. Alternatively, it is contemplated that the mobile platform may be or include a flying platform. For example, the construction robot may be designed as a flying drone.

[0037] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the invention and the claims, with reference to the drawing figures which show the details essential to the invention. The features shown therein need not necessarily be considered to be to scale, but are shown so as to clearly show the particular features according to the invention. The various features can be implemented individually by themselves or collectively in any combination in variants of the invention.

[0038] Exemplary embodiments of the invention are shown in the schematic drawings and explained in detail in the following description. [Brief explanation of the drawings]

[0039] [Figure 1] A construction robot is shown. [Figure 2] 1 shows a tool with a battery interface. [Figure 3] 1 shows a schematic side view of a tool received in a holding frame. [Figure 4] 1 is a schematic cross-sectional view of a battery interface having a retainer received therein. [Figure 5] 1 is a schematic diagram of a holding frame with electrical connections and a converter. [Figure 6] 1 is a schematic view of a holding frame with a vibration damper on which a tool is received; DETAILED DESCRIPTION OF THE INVENTION

[0040] In the following description of the figures, the use of the same reference numerals in each case for identical or functionally corresponding elements facilitates an understanding of the invention.

[0041] 1 shows a construction robot 10 having a powered chassis 12 designed as a track chain chassis, with a control space 16 formed in a housing 14, and with a manipulator 18 located on top of the housing 14. The manipulator 18 includes a lifting device 17 for vertical movement and a multi-axis controllable arm 19.

[0042] An end effector 20 having a tool interface 21 is located at the free end of the arm 19 .

[0043] A tool 24 , in particular a rock drilling power tool having a dust collector 26 , is removably placed on the tool interface 21 .

[0044] To removably position a tool 24 on the tool interface 21, the tool is received in a holding frame 22. As will be discussed in more detail further below, the holding frame 22 is connected to the tool 24 via the tool's battery interface.

[0045] The holding frame 22 is mounted on the tool interface 21. To this end, the tool interface 21 is configured for the removable connection of the holding frame 22 and therefore also for the removable connection of the tool 24.

[0046] The holding frame 22 has a bearing arm 25 on which a tool 24 is further supported by the holding frame 22 .

[0047] The construction robot 10 is supplied with operating energy by an energy store 28, in particular in the form of a rechargeable lithium-based battery, so that said construction robot can be used wirelessly.

[0048] The construction robot 10 further comprises a storage magazine 100. The storage magazine 100 comprises a plurality of storage spaces 102. The tools 24 can be placed in the free storage space 102 for storage and later reuse, as needed. Further elements, such as further tools, can also be stored in the storage space 102, in particular for later use by the construction robot 10. The tools received in the storage magazine 100 preferably likewise comprise holding frames corresponding to the holding frame 22, whereby said tools can likewise be mounted on the tool interface 21 via their respective holding frames.

[0049] The construction robot 10 preferably includes a controller 36 located in the control space 16 within the housing 14. The controller 36 includes a memory module 38 and a microprocessor 40.

[0050] The controller 36 comprises executable program code 42. The program code 42 is stored in the microprocessor 40 so as to be readable and executable in the memory module 38. Via a communications interface 44, the controller 36 can communicate with a cloud-based computer system (not shown in FIG. 1 ) to exchange data, such as data regarding the nature of the construction work to be performed, associated position and / or status data, and / or control commands.

[0051] The construction robot 10 is designed to perform construction tasks, such as ceiling and wall drilling tasks, on construction sites, in particular on building, civil engineering, and / or steel construction sites, such as oil or gas production platforms. In particular, the controller 36 may control the manipulator 18 so that construction tasks can be performed on ceilings and walls. One example of such a construction task may be, for example, drilling a borehole, particularly having a specific bore depth and / or a specific borehole diameter, in a concrete ceiling using the tool 24 designed as a rock drilling power tool.

[0052] The construction robot 10 is configured to automatically remove the tool 24 placed on the tool interface 21 from said tool interface and to mount a second tool on the tool interface 21. By means of its manipulator 18, the construction robot 10 can move the tool 24 into the free storage space 102 and then remove the holding frame 22 from the tool interface 21. The second tool can be lifted from one of the other storage spaces 102 and mounted on the tool interface 21 by its holding frame.

[0053] Figure 2 shows the tool 24. The tool 24 is a battery-powered rock drilling power tool. It can be received in a holding frame 22 (see Figure 1).

[0054] The tool 24 has a base 50 with a tool mount 52 protruding from one end thereof. The tool mount 52 is designed to receive a drilling or engraving tool. It can be driven by a motor located within the base 50 for rotational and / or impact motion.

[0055] At the other end, it has a handle 54. Located on the handle 54 is an actuating element 56 that can be used to manually control the tool 24. In particular, the actuating element 56 can be used to start and stop the drilling operation or to adjust the rotation speed.

[0056] Additionally, tool 24 has a battery interface 58. Battery interface 58 is designed to receive a rechargeable battery, such as battery 60, which serves, among other things, to secure battery 60 to tool 24, to transfer operating energy between battery 60 and tool 24, and to transmit signals between battery 60 and tool 24, for example, when tool 24 is used manually.

[0057] 2, the battery 60 is approximately halfway pressed onto the battery interface 58. The battery interface 58 has a latching mechanism 62, which is shown only diagrammatically in FIG. 2 for illustrative purposes. The latching mechanism 62 is designed to resist the battery 60 being fully pressed onto the battery interface 58, so that the battery 60 can be removed from the battery interface 58 when the resisting force created by the latching mechanism 62 is overcome. The latching mechanism 62 thus allows for tool-less installation and removal, while still allowing the fully pressed battery 60 to be sufficiently securely fastened onto the tool 24.

[0058] To allow the battery 60 to be mounted on the battery interface 58, the battery 60 has a battery mounting point 64 that is designed to be complementary to the battery interface 58. The tool 24 can also be supplied with operating energy from the battery 60 via the battery interface 58.

[0059] Battery interface 58 is also configured to receive control signals that may control at least one function of tool 24, such as the functions described above of actuation element 56.

[0060] The tool 24 further has an additional handle 66 disposed on the base 50 at a holding area 68 near the tool mount 52 .

[0061] The additional handle 66 can be removed.

[0062] The bearing arms 25 of the holding frame 22 (both visible in FIG. 1) are designed complementary to the holding area 68 and may at least partially surround said holding area when the tool 24 is received in the holding frame 22 .

[0063] 3 shows a schematic side view of the tool 24 received in the holding frame 22. It can be particularly noted that the holding frame 22 surrounds most of the tool 24.

[0064] The tool 24 is held at two points on the holding frame 22. In particular, the tool is held via its battery interface 58 and a holding portion 70 of the holding frame 22 and via its holding area 68, which is at least partially engaged around and thus further supported by the bearing arm 25 of the holding frame 22. The bearing arm 25 is located at a different point on the holding frame 22 from the holding portion 70. The bearing arm is located outside the center of gravity SP of the tool 24 so as to at least partially absorb, e.g. also counteract, any torque occurring around the center of gravity SP, in particular during operation of the tool 24.

[0065] FIG. 4 shows diagrammatically a cross section through the battery interface 58, in which the retaining portion 70 of the retaining frame 22 is received.

[0066] The battery interface 58 has lateral guide rails 74 .

[0067] The retaining portion 70 is designed to be complementary to the battery interface 58, and in particular to the guide rail 74. The slide-in portion 76 allows the retaining portion 70 to engage behind the guide rail 74.

[0068] Thus, the tool 24 and the holder 70 are connected to each other by a mating fit.

[0069] FIG. 5 shows a schematic cross section of the holding frame 22 and the tool interface 21.

[0070] Electrical connections 78 electrically connect the retainer 70 to attachment points 80 on the retainer frame 22 .

[0071] The mounting points 80 are designed to be complementary to the tool interface 21 so that the holding frame 22 can be mounted to the mounting points 80 on the tool interface 21. For ease of illustration, Figure 5 shows the holding frame 22 not yet mounted on the tool interface 21.

[0072] The attachment points 80 and the tool interface 21 have electrical contacts 82, 84, by means of which the tool interface 21 can be connected to the electrical connection 78 and therefore also to the holder 70. Ultimately, therefore, the tool 24 (see, for example, FIG. 1 ) mounted on the holding frame 22 can be supplied with operating energy via a supply line 86, which is connected at one end to the contacts 84 and at the other end to an energy source, for example the energy store 28 (see FIG. 1 ) of the construction robot 10 (see FIG. 1 ).

[0073] Once the tool 24 is mounted on the holding frame 22, control signals for controlling the tool 24 may also be sent from the rest of the construction robot 10 (see FIG. 1) to the tool 24 via supply lines 86.

[0074] A converter 88 is integrated into the electrical connection 78. In this exemplary embodiment, the converter 88 is a programmable DC / DC converter. Programming can be implemented by a suitable programming signal applied to the electrical contacts 82.

[0075] Thus, in an exemplary embodiment, the operating energy transferred through contacts 82 in the form of a DC voltage of, for example, about 48V can be adapted to a DC voltage suitable for tool 24, for example, about 22V.

[0076] To accommodate different types of tools, converter 88 can be programmed for a number of different output voltages.

[0077] 6 is a highly schematic illustration of an alternative support frame 22. Unless otherwise stated, said support frame 22 corresponds to the support frame 22 embodiment described above.

[0078] Again, the tool 24 is received in the holding frame 22 .

[0079] The support frame 22 has a plurality of vibration dampers 90, 92, 94.

[0080] The vibration dampers 90, 92, 94 in each case comprise one or more spring elements, which are designed and particularly arranged in such a way that vibrations originating from the tool 24 are transmitted to the holding frame 22, possibly only after damping, and from there to the construction robot 10 (see FIG. 1 ) to which the holding frame 22 is mounted.

[0081] Vibration dampers 90, 92, 94 also damp undesirable vibrations in the opposite direction.

[0082] In addition to the bearing arm 25, the holding frame 22 has a second bearing arm 96, so that the tool 24 is held by the holding frame 22 at a total of three points.

[0083] The vibration damper 94 is integrated into the holding frame 22. Therefore, vibrations acting on the lower part 98 of the holding frame 22 are only damped before being transmitted to the rest of the holding frame 22. The lower part 98 is then fixedly connected to the tool 24 via the battery interface 58. [Explanation of symbols]

[0084] 10 Construction Robots 12 chassis 14 Housing 16 Control Space 17 Lifting equipment 18 Manipulator 19 Arm 20 End Effector 21 Tool Interface 22 Retaining Frame 24 Tools 25 bearing arm 26 Dust collector 28 Energy storage unit 36 Controller 38 memory modules 40 microprocessors 42 Program Code 44 Communication Interface 50 Substrate 52 Tool mounting part 54 Handle 56 Actuating Elements 58 Battery Interface 60 Storage battery 62 Latch mechanism 64 Battery mounting location 66 Auxiliary handle 68 Holding area 70 Holding part 74 Guide Rail 76 Slide-in section 78 Electrical Connections 80 Mounting point 82 contact points 84 contacts 86 Supply Line 88 Converter 90 Vibration damper 92 Vibration damper 94 Vibration damper 96 Support arm 98 parts 100 magazine capacity 102 Storage space SP center of gravity

Claims

1. A holding frame (22) for receiving a tool (24) having a battery interface (58) for receiving a battery (60) so that the battery (60) can be removed, particularly without using tools, the holding frame (22) having a holding portion (70) designed complementarily to the battery interface (58) and having an attachment point (80) for attachment to a manipulator (18) of a construction robot (10).

2. 2. A holding frame according to claim 1, characterized in that it comprises a bearing arm (25) located at a different location from the holding part (70) for further supporting the tool (24).

3. 3. A holding frame according to claim 1 or 2, characterized in that it comprises at least one vibration damper (92, 94, 96).

4. 3. A holding frame according to claim 1 or 2, characterized in that at least one electrical connection (78) is made between said holding part (70) and said attachment point (80).

5. 5. A holding frame according to claim 4, characterized in that it comprises a converter (88) for converting at least one electrical parameter along said electrical connection (78).

6. 1. A construction robot (10) for carrying out construction work on a building site, a civil engineering site and / or a steel structure, for example a gas or oil platform, comprising in particular a powered mobile platform (12) and a manipulator (18) having a tool interface (21) designed complementarily to the attachment point (80) of a holding frame (22) according to claim 1 or 2.

7. 7. A construction robot according to claim 6, characterized in that at least one tool (24) has a storage magazine (100) received by a holding frame (22) according to claim 1 or 2.

8. 7. The construction robot according to claim 6, characterized in that the holding frame (22) according to claim 1 or 2 is mounted on the manipulator (18), and on the holding frame a tool (24) having a battery interface (58) is arranged.

9. 8. The construction robot according to claim 7, wherein the tool (24) is configured such that at least one tool function, such as motor power, rotation frequency and / or operating mode, is controllable via the battery interface (58) of the tool and / or wirelessly.

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