An interface adapter, and a construction robot, and a system having the 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 the connection of power tools to construction robots.

Background Art

[0002] To enable the use of construction robots in a manner that is as flexible as possible and yet cost - effective, it is desirable for construction robots to be usable with different types of power tools. It is particularly advantageous when widely available, mass - produced, and quality - inspected power tools, which are relatively inexpensive, can be used with construction robots with little effort.

[0003] The concern here is that the conditions at a construction site are often difficult to predict and can vary from site to site.

[0004] Also, a construction robot should be able to perform a wide variety of types of construction work, and correspondingly, it should be possible to use a particularly large number of different types of power tools.

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, an object of the present invention is to provide an apparatus that makes it easy to use different types of power tools with a construction robot.

Means for Solving the Problems

[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 the standard battery interface of the power tool.

[0007] Herein, the fundamental concept of the present invention is that handheld battery-powered tools, particularly rechargeable power tools such as hand drills, especially rock drills, nail guns, grinders, power saws, and chippers, typically have an energy supply interface with a particular design that is standardized across at least several types of power tools, for example, from the exact same manufacturer. For example, a battery-powered tool has a standard battery interface, by which a battery conforming to the relevant standards can be installed in the power tool. Herein, the standard battery interface may perform 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. Herein, the operating energy may be unidirectional, in particular from the battery to the power tool. The operating energy may also be unidirectional, for example, for the purpose of recharging the battery by recovery. The standard battery interface may have further functions. In particular, a standard battery interface may also be configured for signal transmission between the battery and the power tool. Such signal transmission may also be unidirectional or bidirectional.

[0008] Therefore, the interface adapter can be installed on the end effector of a construction robot on one end. Depending on the connection point, the interface adapter can be installed on the standard battery interface of a power tool on the other end, particularly in place of a conventional battery. Thus, the power tool can be installed on the end effector via the interface adapter. Installation on the end effector is possible with all power tools that have the same standard battery interface, and by extension, with a wide variety of different types of power tools, especially those that can be powered by batteries.

[0009] Generally, standard battery interfaces are designed to fasten and / or remove batteries without the use of tools. Therefore, power tools can also be easily and quickly detached again from the end effector, especially without the need for tools.

[0010] Nevertheless, since such standard battery interfaces generally have a latching mechanism for securing the battery, it is possible to ensure that the power tool is securely held on the end effector.

[0011] Construction robots can be configured to work on walls and / or ceilings, particularly in building construction sites, civil engineering sites, and / or within industrial plants.

[0012] The interface adapter may have 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. Therefore, in addition to the mechanical connection of the construction robot to the power tool, a signal transmission connection between the two devices can also be provided by the interface adapter.

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

[0014] Transmission can be unidirectional or bidirectional.

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

[0016] Furthermore, the power tool signal interface and the construction robot signal interface may be configured to transmit kinetic energy. Thus, electrical kinetic energy can be supplied to the power tool. Here, kinetic energy can be understood as the energy substantially required to operate the power tool in conventional ways. Accordingly, the signal interface may be configured to transmit instantaneous power of at least 0.1 kW, for example, at least 1 kW.

[0017] If the interface adapter has additional battery interfaces and / or additional signal interfaces, operating energy can also be transmitted to batteries located at or near these interfaces, for example, for the purpose of charging the batteries. For example, it may also be possible to transmit operating energy away from the batteries, in order to provide a particularly increased power level to a power tool in a short amount of time.

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

[0019] Therefore, it may be possible to transmit sensor signals through the connection point.

[0020] For example, a separate control interface may be provided to transmit control signals for operating / stopping a power tool, or for controlling at least one work parameter, such as rotational speed. This separate control interface may be useful, for example, in the case of a power tool where at least one function necessary 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 convert a signal received at one of the signal interfaces to modify, for example, the signal level, impedance, and / or signal encoding, and output the signal at the other signal interface.

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

[0023] Thus, in either case, the construction robot can use signals independent of the power tool to control different types of power tools or, conversely, receive signals from different power tools.

[0024] Here, the signal can be transmitted based on half-duplex or full-duplex. The signal can be a differential signal or a ground-referenced signal.

[0025] Alternatively or additionally, it is also possible for the signal converter to convert the operating energy to be transmitted.

[0026] The signal interface can be an electrical interface. For example, measures can be taken to modulate at least one signal during the supply of operating energy.

[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 data transmission and / or data transmission based on radio. For example, it is advantageous if the wireless data transmission utilizes a low-energy radio standard. The connection may indicate an automatic connection. Inductive data transmission, data transmission using microwaves, and / or optical data transmission, for example data transmission using infrared rays, are conceivable. Such wireless data transmission is reliable even in very dusty environments such as are commonly encountered at construction sites. Also, such data transmission does not require any mechanical interaction for the purpose of connection, and thus connection and separation are simplified.

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

[0029] For this purpose, the interface adapter may have a microcontroller. The microcontroller may have a memory, a microprocessor, and / or a program code that can be executed on the microprocessor and is stored in the memory.

[0030] Using such a control unit, the interface adapter can control the attached power tool and / or construction robot. For example, the control unit, in particular the program code, may be configured to detect a fault, such as an incorrect placement of the power tool on the interface adapter. Next, the control unit may be configured to transmit a corresponding signal to the construction robot via the construction robot signal interface. For example, the construction robot may start a fault handling routine in response to the signal. A further example is that the control unit of the power tool transmits an inquiry signal via the power tool signal interface. The power tool may then return a response signal. For example, in this way, the control unit can inquire about and / or set the parameters of the power tool.

[0031] The control unit may be configured to query, for example, the type or identifier of a power tool. The control unit may then be configured to set parameters of the control unit itself, such as signal converter parameters for 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, the control unit may send a query signal to the construction robot and receive a response signal from the construction robot. Based on the response signal, the control unit may set parameters of the control unit itself and / or the power tool.

[0032] In particular, the control unit may be configured to receive at least one sensor signal from the power tool signal interface and / or the construction robot signal interface. The control unit can then use the sensor signal for control purposes. For example, if the sensor signal relates to vibrations generated 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 enter standby mode if the vibration of the power tool exceeds a certain level. Thus, the construction robot can be protected from mechanical overload.

[0033] Alternatively or additionally, further sensor signals may be considered, such as those indicating at least one characteristic variable of the power tool and / or construction robot, relating to vibration, current, force, temperature, power tool type, conditions and / or position, travel distance, feed rate, etc.

[0034] If a battery interface is available, the sensor signal may also be related to the 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, particularly the operating mode of a power tool.

[0036] Therefore, for example, the behavior of the power tool can be adjusted depending on whether a battery or an interface adapter is installed. For example, a trigger can be set or ignored depending on a specified state. The trigger can, for example, initiate a wake-up mode. It is also possible for the control unit to transmit and / or receive identification codes.

[0037] If the interface adapter has at least one damping element to dampen vibrations acting on the interface adapter, the durability of the construction robot and / or the precision with which it can perform construction work can be improved. The damping element may be configured for passive and / or active damping.

[0038] The interface adapter itself may have at least one sensor. The sensor may be, for example, a force sensor and / or a pressure sensor. The interface adapter may be configured to measure contact force, tensile force, and / or similar.

[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, wherein the power tool has a standard battery interface, and the standard battery interface of the power tool is located at the connection point of the interface adapter.

[0040] The system may also include additional adapter components. For example, there may be adapter components specific to power tools and / or construction robots. These can be used to adapt power tools and / or construction robots to the interface adapter.

[0041] A power tool may be configured to detect whether a battery or interface adapter is installed on a 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, what type of element it is. For example, the power tool may be configured to utilize recovery when a battery is installed, but not when an interface adapter is installed.

[0042] Improving the power tool itself is also an option. For example, it might be possible to replace at least partially the interface adapter and the handle insertion part of the power tool with part or all of the interface adapter.

[0043] Construction robots may be designed to perform construction work in building construction sites and / or civil engineering sites and / or particularly within steel-related industrial plants, for example, on oil platforms. Construction robots may be configured to perform construction work on ceilings, walls, and / or floors. Construction robots may be designed to drill, cut, chisel, grind, and / or fasten structural elements. Construction robots may have one or more power tools. Power tools may include cutting tools, grinding tools, and / or fastening tools. End effectors and / or power tools may also be designed for marking. For example, an end effector may have a paint sprayer. Alternatively or additionally, measuring instruments, such as distance meters, may also be placed on the end effector.

[0044] The interface adapter may be installed on the end effector. Next, power tools and / or measuring tools may be installed on the interface adapter. Construction robots, especially end effectors, may, in principle, also be equipped with multiple power tools and / or measuring tools.

[0045] Construction robots may have manipulators. Manipulators may be designed as robotic arms. Manipulators may also have lifting devices. Lifting devices can increase the total volume that the manipulator can reach. Manipulators may have at least three degrees of freedom. In particular, manipulators may have at least six degrees of freedom.

[0046] Construction robots 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, the mobile platform may be a flying platform or include a flying platform. For example, a construction robot may also be designed as a flying drone.

[0047] Further features and advantages of the present invention will become apparent from the subsequent detailed description of exemplary embodiments of the invention, with reference to the drawings illustrating essential details, and from the claims. Features described herein should not necessarily be taken to scale, but are shown in a manner that clearly visualizes the specific features of the present invention. Various features can be implemented individually or collectively in any combination in modifications of the present invention.

[0048] Exemplary embodiments of the present invention are shown in schematic diagrams and described in detail in the following description. [Brief explanation of the drawing]

[0049] [Figure 1] This shows a power tool. [Figure 2] The interface adapter is shown in a side view. [Figure 3] An improved power tool with a power tool adapter is shown in a side view. [Figure 4] A perspective view shows a power tool undergoing improvement. [Figure 5]A side view shows an improved power tool with an installed interface adapter. [Figure 6] A perspective view shows a partial internal diagram of an interface adapter with a control unit. [Figure 7] This shows a system comprising a construction robot, an interface adapter, and a power tool. [Modes for carrying out the invention]

[0050] In the subsequent diagrams, the use of the same reference numerals for identical or functionally corresponding elements in each case will facilitate understanding of the present invention.

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

[0052] The power tool has a base 12, from which a tool joint 14 protrudes. At the other end, the power tool has a handle 16. An actuation element 17 is located on the handle 16, which can be used to manually control the power tool 10. In particular, the actuation element 17 can be used to start and stop drilling operations or to adjust the rotational speed.

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

[0054] As an example, Figure 1 shows a battery 20 that is pushed about halfway into a standard battery interface 18 in the state shown in Figure 1.

[0055] To enable the battery 20 to be installed on a standard battery interface 18, the battery 20 has a connection point 22 that is designed to be complementary to the standard battery interface 18.

[0056] To fully install the battery 20, it is necessary to push it further into the standard battery interface 18 in the direction of arrow 24. Conversely, to completely remove it, it is necessary to push the battery further in the opposite direction of arrow 24 to detach it from the standard battery interface 18.

[0057] Therefore, it can be installed and removed without the use of tools.

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

[0059] The interface adapter has a power tool connection point 110 for connecting to a power tool, for example, the power tool 10 shown in Figure 1.

[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 Figure 1). Therefore, 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, the contacts 114 can be used to transmit operating energy, in particular, for operating the power tool 10. For example, measures may be taken to transmit a current having a DC voltage of approximately 22V as operating energy.

[0062] Furthermore, by modulating the signal to the operating energy to be transmitted, it is also possible to transmit signals bidirectionally to and from the power tool 10 via the contact 114. Therefore, the contact 114, together with the rest of the power tool connection point 110, simultaneously forms the power tool signal interface 116.

[0063] The interface adapter 100 further has a construction robot connection point 118. This construction robot connection point 118 is useful for connecting to the end effector of a construction robot, for example, a construction robot which will be described in more detail below in relation to Figure 7.

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

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

[0066] Operating energy can be transmitted between the mounted 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 a current with a voltage of 48V.

[0067] Modulation also allows for the transmission of signals, particularly bidirectionally, between the interface adapter 100 and the construction robot via the contact socket 124. Thus, the contact socket 124, together with the rest of the construction robot connection point 118, simultaneously forms the construction robot signal interface 126.

[0068] Therefore, signals can be transmitted between the power tool 10 and the construction robot via the power tool signal interface 116 and 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 rest of the interface adapter 100, in particular to the control unit 128, via the connecting lead wires 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 form of the power tool 10. In relation to the design of Figure 1, the handle 16 with the actuation element 17 and the battery 20 have been removed.

[0073] The manually operable actuation element 17 is replaced here by a control connection unit 26 so that the control function of the actuation element 17 can be controlled electronically.

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

[0075] The standard battery interface 18 is located at the pivot point and is mounted outside the power tool adapter section 28.

[0076] Figure 4 shows a perspective view of the power tool 10 during the improvement process. In particular, in relation to the example in Figure 4, it is possible to see the standard battery interface 18 which will be pivoted approximately 90° counterclockwise on the already installed power tool adapter section 28 in the subsequent steps.

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

[0078] Figure 5 shows an improved power tool 10, as shown in Figure 3, with the interface adapter 100 from Figure 2 installed.

[0079] For this purpose, the damping element 122 is installed on the power tool adapter section 28 and, for example, is secured by screws.

[0080] The power tool connection point 110 sits on a standard battery interface 18.

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

[0082] Figure 6 shows a perspective view of the internal structure of the control unit 128.

[0083] The control unit 128 includes an electronic circuit 134, which in particular includes a microcontroller 136. The microcontroller 136 includes a microprocessor 138 and a memory 140. The memory 140 stores program code 142 that can be executed on the microprocessor 138.

[0084] The control unit 128 is configured to convert signals received at one of the signal interfaces, in particular, by program code 142. Specifically, 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 the 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 to query the sensor signal 146 from the vibration sensor 148 by program code 142. The control unit is further configured to output a braking signal at the power tool signal interface 116 (Figure 2) if at least one of the sensor signals 146 exceeds a threshold. In this exemplary embodiment, the power tool 10, configured as a rock drill, may reduce its rotational speed, for example, based on the braking signal, so as to reduce vibrations generated by the power tool.

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

[0087] Interface adapter 100 corresponds to the interface adapter 100 described with reference to Figures 2, 5, and 6.

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

[0089] The construction robot 210 has a movable platform 214 equipped with a track chain undercarriage 212. The manipulator 216 is positioned 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 vertically. The arm 220 has at least 6 degrees of freedom. Thus, the end effector 222 located at the working end of the arm 220 can be oriented in both vertical and horizontal directions. Thus, the construction robot 210 can perform construction work, in particular drilling work in ceilings, walls, and / or floors using a power tool 10 configured as a rock drill.

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

[0091] In particular, the standard battery interface 18 of the power tool 10 (see Figure 2) is located on the power tool connection point 110 (see Figure 2) of the interface adapter 100. [Explanation of Symbols]

[0092] 10 Power tools 12 Base 14 Tool Fittings 16 handle 17 Operating elements 18. Standard battery interface 20 Storage batteries 22 connection points 24 Arrows 26 Control connection section 28 Adapter section 30 mating contacts 100 Interface Adapters 110 Power tool connection points 112 Power tool connection part 114 contacts 116 Power Tool Signal Interface 118 Construction robot connection points 120 bracket 122 Damping elements 124-contact socket 126 Construction Robot Signal Interface 128 Control Unit 130 connecting lead wires 132 Control connection socket 134 circuits 136 Microcontrollers 138 microprocessors 140 memory 142 Program Code 144 Signal Converter 146 Sensor signals 148 Vibration Sensor 200 Systems 210 Construction Robots 212 Track Chain Undercarriage 214 Movable Platform 216 Manipulator 218 Lifting device 220 Arm 222 End Effector

Claims

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

2. The interface adapter according to claim 1, wherein the power tool signal interface (116) and the construction robot signal interface (126) are further configured to transmit operating energy.

3. The interface adapter according to claim 1, characterized in that at least a portion of the power tool signal interface (116) is formed as part of the power tool connection point (110).

4. The interface adapter according to claim 1, further comprising a signal converter (144) configured to convert a signal received at one of the signal interfaces (116, 126) to, for example, modify the level, impedance, and / or signal coding of the signal, and output the signal at the other signal interface (116, 126).

5. The interface adapter according to claim 1, characterized in that at least one of the signal interfaces (116, 126) is configured for wireless data transmission, particularly for optical data transmission and / or wireless data transmission.

6. The interface adapter according to claim 1, characterized in that the interface adapter (100) has a control unit (128) configured to generate a control signal and output the control signal to at least one of the two signal interfaces (116, 126).

7. The interface adapter according to claim 6, characterized in that the control unit (128) is configured to receive at least one sensor signal (146) from the power tool signal interface (116) and / or the construction robot signal interface (126).

8. The interface adapter according to claim 1, characterized in that the interface adapter (100) has at least one damping element (122) for damping vibrations acting on the interface adapter (100).

9. The interface adapter according to claim 1, characterized in that the interface adapter (100) has at least one sensor (146).

10. A system (200) comprising a construction robot (210), an interface adapter (100) according to claim 1, 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 located on the power tool connection point (110) of the interface adapter (100).

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