EP4101595A1 - Procédé de détermination d'une propriété d'un outil, ainsi que machine-outil mobile - Google Patents

Procédé de détermination d'une propriété d'un outil, ainsi que machine-outil mobile Download PDF

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Publication number
EP4101595A1
EP4101595A1 EP21179075.3A EP21179075A EP4101595A1 EP 4101595 A1 EP4101595 A1 EP 4101595A1 EP 21179075 A EP21179075 A EP 21179075A EP 4101595 A1 EP4101595 A1 EP 4101595A1
Authority
EP
European Patent Office
Prior art keywords
tool
machine tool
mobile machine
property
mobile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP21179075.3A
Other languages
German (de)
English (en)
Inventor
Dario BRALLA
Serhey Khandozhko
Michael Wierer
Albert Binder
Donato Clausi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Priority to EP21179075.3A priority Critical patent/EP4101595A1/fr
Priority to AU2022289437A priority patent/AU2022289437A1/en
Priority to EP22733917.3A priority patent/EP4351841A1/fr
Priority to PCT/EP2022/065436 priority patent/WO2022258635A1/fr
Publication of EP4101595A1 publication Critical patent/EP4101595A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Definitions

  • the invention relates to a method for determining a property of a tool held in a mobile machine tool. Furthermore, the invention relates to a mobile machine tool.
  • a drilling process in a hammer drill it is desirable to be able to automatically identify one or more properties of a tool using the hammer drill. For example, the type of tool used and/or its size are of particular interest.
  • the object of the present invention is therefore to offer a method and a mobile machine tool that offer a particularly versatile possibility of automatically determining at least one property of a tool used in the mobile machine tool.
  • the object is achieved by a method for determining a property of a tool held in a mobile machine tool, for example a hand-held machine tool or a construction robot, the property being determined on the basis of one or more measured accelerations.
  • the accelerations can in particular be longitudinal accelerations.
  • the longitudinal accelerations can be accelerations along a longitudinal axis of the tool and/or the mobile machine tool.
  • the accelerations triggered by the impacts can thus be measured, particularly in the case of a percussive mobile machine tool.
  • the measured accelerations can also relate to the activity of the mobile machine tool, in particular in relation to the impact activity.
  • the property can particularly preferably be determined in the form of a classification. This allows interference, for example due to other effects such as different backgrounds or the like, to be minimized.
  • the classification can include the classes "drilling tool” and "chisel tool", for example.
  • the classification can thus relate to the type of tool.
  • the classification may include the classification levels "functional" and "non-functional".
  • the classification can include, for example, “small”, “medium” and/or “large” as classification levels. Such an indication of the size can relate in particular to a diameter of the tool.
  • the trainable classifier can be and/or include, for example, a support vector machine (hereinafter: SVM), a neural network, a principal component analysis unit or the like.
  • SVM support vector machine
  • At least two different properties of the tool can be determined in parallel.
  • Such multiple use of the same acceleration data allows the manufacturing effort for the mobile machine tool to be reduced. It is therefore conceivable to determine the type of tool and its size at the same time using the same acceleration data. Sensors for the separate determination of these properties can thus be saved, at least in part.
  • the at least one property can correspond to the type of tool and/or the size, in particular a diameter, of the tool.
  • At least one further piece of measurement data can be used in addition to the measured accelerations.
  • a phase angle and/or a phase velocity can be used to determine the property.
  • the phase angle and/or the phase speed can, for example, relate to a position or a speed of a motor and/or an eccentric of the mobile machine tool.
  • a user input can also be taken into account in the determination.
  • the mobile machine tool has a mode selector switch for selecting a movement to be generated, which a user can use to select between a rotating or a non-rotating and/or between a percussive and a non-percussive movement
  • the position of the switch can be queried will.
  • the determination of the property can then be restricted to a pre-selection of possible values, for example. For example, if a rotating movement is selected, the determination of the type of tool, for example, can be limited to classification levels of non-rotating tools, such as chisels.
  • the type of evaluation can also vary depending on user input and/or depending on the position of the mode selector switch. If the evaluation is carried out using a trainable classifier, differently trained classifiers can be used depending on the user input and/or depending on the position of the mode selector switch. For example, weights of a trainable classifier based on a neural network can be selected and/or changed for this purpose.
  • the mobile machine tool can have a sensor for detecting the user input and/or the position of the mode selector switch and/or another operating element of the mobile machine tool.
  • the scope of the invention also includes a mobile machine tool, comprising an electric motor, a tool holder in which a tool can be accommodated, and an acceleration sensor, the mobile machine tool being set up to determine a property of the tool according to the method described above.
  • the mobile machine tool can in particular be designed as a hammer drill or a percussion drill and/or include one.
  • the acceleration sensor can particularly preferably be set up to detect at least one longitudinal acceleration.
  • the mobile machine tool can include a machine housing.
  • the acceleration sensor can be set up to detect an acceleration of the machine housing.
  • the acceleration sensor can also be set up to measure accelerations in at least two, particularly preferably in three, different directions.
  • the tool holder can be designed to guide the tool along a working axis of the mobile machine tool.
  • the working axis can be a longitudinal axis of the tool and/or the machine tool.
  • the mobile machine tool can have an impact mechanism.
  • the electric motor can be set up to drive the percussion mechanism.
  • the drive can take place via an eccentric.
  • the hammer mechanism can be a pneumatic hammer mechanism.
  • the mobile machine tool can include an evaluation unit for determining the property.
  • the mobile machine tool can be and/or comprise a drilling machine, a chiseling machine, a sawing machine and/or a grinding machine.
  • a drilling machine a chiseling machine
  • a sawing machine a chiseling machine
  • a grinding machine a drilling machine
  • knowledge of the property of the tool can have a particularly favorable effect on the quality of the work result affect.
  • the mobile power tool can be designed as a hand power tool. It can be a power tool. As a hand tool, it can be equipped with a handle. It can be wearable. For example, it can have a weight of less than 10 kg.
  • the mobile machine tool is designed as a construction robot. It is often desired of a construction robot that it can independently carry out as different construction work as possible with the highest possible degree of autonomy.
  • the mobile machine tool designed as a construction robot can independently determine properties such as the type and size of the tool used. It can then determine automatically whether the tool held in the tool holder of the mobile machine tool, for example, is suitable for the construction work to be carried out or not. This applies all the more if the construction robot is designed to carry out construction work in structural engineering, civil engineering and/or prefabricated construction.
  • the mobile machine tool can particularly preferably have a communication interface for data transmission with at least one remote computer unit.
  • the communication interface can be set up in particular for wireless data transmission.
  • the communication interface can be set up to transmit at least one value of a specific property.
  • the communication interface can be set up to receive data and/or program code from the remote computer unit.
  • calibration data for example for calibrating the determination of the property of the tool, can be received by means of the communication interface. In this way, the determination of the property can also be further improved after delivery of the mobile machine tool, for example on the basis of improved training data.
  • usage data in particular data on the specific properties of the tool, is collected and evaluated on the remote computer unit. This also allows better control of construction tasks.
  • the measurement data in particular the accelerations, can be evaluated within the mobile machine tool and/or outside.
  • a machine tool for example a drilling device
  • the evaluation takes place in a computer unit that is separate from the machine tool.
  • the computer unit can then be part of the mobile machine tool, i. H. of the construction robot, and/or part of a remote computer system, for example a cloud-based computer system.
  • the acceleration sensor can preferably be arranged in the vicinity of the working axis and/or the longitudinal axis of the machine tool.
  • the distance to the working axis and/or the longitudinal axis can preferably be less than 10 cm. In particular, the distance can be at most 3 cm, for example 2.5 cm.
  • the acceleration sensor can be arranged on a transmission housing. In particular, it can be arranged outside other machine tool electronics in order to be exposed to the strongest possible accelerations or vibrations to be measured.
  • the bandwidth of the vibrations can be at least 500 Hz, particularly preferably at least 900 Hz.
  • the acceleration sensor may include and/or be a MEMS (micro-electromechanical system) sensor.
  • MEMS micro-electromechanical system
  • the mobile machine tool can be controlled.
  • the mobile machine tool can be set up to set a power output and/or impact energy depending on the specific type and/or size of the tool.
  • FIG. 1 shows schematically a hammer drill as an example of a mobile machine tool 1 designed as a hand-held machine tool.
  • the exemplary hammer drill has a tool holder 2 into which a tool 3 can be inserted and locked.
  • the tool 3 is, for example, a drill, a chisel or the like.
  • the embodiment shown as an example can rotate the tool holder 2 about a working axis 4 . At the same time, it can periodically exert impacts on the tool 3 along the working axis 4 .
  • the mobile machine tool 1 can have a mode selector switch 5 which enables a user of the mobile machine tool 1 to selectively activate or deactivate the rotary movement and selectively the percussive operation.
  • the mobile machine tool 1 has a handle 7.
  • the user can hold and guide the mobile machine tool 1 with the handle 7 during operation.
  • An operating button 6 is preferably attached to the handle 7 in such a way that the user can actuate the operating button 7 with the hand gripping the handle 6 .
  • the handle 6 can be decoupled from a machine housing 8 via damping elements.
  • the mobile machine tool 1 is switched on and off by the operating button 7 .
  • the power button 7 is arranged in the handle 6. The user can preferably actuate the operating button 7 with the hand holding the handle 6 .
  • the mobile machine tool 1 has a rotary drive 9 which is coupled to the tool holder 2 .
  • the rotary drive 9 can have a reducing gear 10 and/or a slipping clutch 11, among other things.
  • An output shaft 12 of the rotary drive 9 is connected to the tool holder 2 .
  • the rotary drive 9 is coupled to an electric motor 13 .
  • the user can switch the electric motor 13 on and off by pressing the operating button 7, with the operating button 7 correspondingly controlling a power supply of the electric motor 13.
  • a speed of the electric motor 13 can be set by the user using the operating button 7 .
  • the mobile machine tool 1 has an impact mechanism 14, in particular a pneumatic one.
  • the impact mechanism 14 has an exciter piston 15 and an impact piston 16.
  • the exciter piston 15 is coupled to the electric motor 13 when the mode selector switch 5 is in a position corresponding to impact operation. Since the exciter piston 15 is coupled to the electric motor 13, the exciter piston 15 moves as soon as the electric motor 13 rotates, i.e. when the user presses the operating button 7.
  • the ratio of the speed of the electric motor 13 to the periodicity of the movement of the exciter piston 15 is predetermined by the transmission components in the drive train between the electric motor 13 and the exciter piston 15 .
  • Exemplary transmission components are an eccentric wheel 17 and a connecting rod 18, which transform the rotational movement of the electric motor 13 into a translational movement on the working axis 4.
  • the exciter piston 15 and the percussion piston 16 close a pneumatic chamber 19 between them.
  • the pneumatic chamber 19 is radially closed off by a guide tube 20 , which also guides the exciter piston 15 and the percussion piston 16 .
  • the air trapped in the pneumatic chamber 19 is compressed and decompressed by the exciter piston 15 .
  • the pneumatic chamber 19 can form an air spring. The pressure changes couple the percussion piston 16 to the movement of the exciter piston 15 .
  • the percussion piston 16 strikes the tool 3 indirectly via a striker 21 , so that the tool 3 can be percussively driven along an impact direction 22 .
  • the mobile machine tool 1 has an acceleration sensor 24 for detecting an acceleration of the machine housing 8 .
  • the acceleration sensor 24 is arranged in the machine housing 8 .
  • the arrangement is such that the acceleration sensor 24 can preferably detect accelerations occurring in the percussion mechanism 14 in an undamped manner.
  • the acceleration sensor 24 is arranged, for example, on an impact mechanism housing, for example the guide tube 20 or a component rigidly connected to the guide tube 20 .
  • the acceleration sensor 24 is set up in particular to measure accelerations along the longitudinal axis 4 and thus parallel to the impact direction 22 .
  • the acceleration sensor 24 should be arranged as close as possible to the longitudinal axis 4 .
  • Mobile machine tool 1 also includes a phase angle sensor 28 for detecting a phase angle of exciter piston 15.
  • the phase angle sensor 28 is, for example, an angle sensor, an optical sensor, an electrical sensor or the like.
  • the phase angle sensor 28 can be arranged, for example, on the exciter piston 15, on the transmission 10 or in the electric motor 13.
  • the phase angle can be measured, for example, using a magnetic encoder on the motor axis of the electric motor 13 and a digital Hall sensor in the vicinity of the eccentric wheel 17 .
  • a brushless motor it would also be conceivable as an alternative or in addition to detect the phase angle without sensors or using a suitable Hall sensor.
  • the mobile machine tool also has an evaluation unit 30 .
  • the evaluation unit is connected to the acceleration sensor 24 and the phase angle sensor 28 in terms of data technology.
  • it is designed as a microcontroller.
  • it has a processor unit, a volatile memory and a non-volatile, preferably programmable and reprogrammable, memory. Program code can be called up in the non-volatile memory and is stored in an executable manner on the processor unit.
  • a trainable classifier in this exemplary embodiment in the form of an SVM, is formed by the program code in connection with the rest of the evaluation unit 30, in particular with the processor unit.
  • the mobile machine tool 1 is set up to determine the type of the tool 3 and its size from the accelerations measured by the acceleration sensor 24 and the phase angles measured by the phase angle sensor 28 as properties of the tool 3 .
  • the evaluation unit is set up to differentiate between the classification levels “drilling tool” and “chiselling tool”. It is also set up to differentiate between the classification levels “small”, “medium” and “large” with regard to a diameter of the tool 3 .
  • the mobile machine tool 1 also has a communication interface 31 .
  • the communication interface 31 can be set up as a wireless communication interface, for example. It is set up to send data to a remote computer unit. It is preferably set up to transmit the type and size determined in each case to the remote computer unit. It can also be set up to transmit the measurement data from the acceleration sensor 24 and/or the phase angle sensor 28 to the remote computer unit.
  • FIG. 1 shows a drilling robot 110 with an undercarriage 112 embodied as a chain carriage, a control chamber 116 embodied in a housing 114 and a manipulator 118 arranged on the top side of the housing 114 .
  • the manipulator 118 is designed as a multiaxially controllable arm, at the free end of which an end effector 120 , a machine tool 122 and preferably a dust extraction device 124 are arranged.
  • the machine tool 122 is structurally identical to the mobile machine tool 1 described above (see FIG 1 ).
  • the drilling robot 110 as a whole thus also forms a mobile machine tool, in particular for carrying out drilling tasks.
  • the drilling construction robot 110 is designed to carry out construction tasks, in particular drilling work in ceilings and/or walls, on a construction site, for example on a high-rise construction site.
  • a position detection unit 136 is formed on the end effector 120 in order to be able to determine an exact position and location of the manipulator 118 .
  • Computer unit 126 In addition to the manipulator 118 for carrying out the construction tasks assigned to the drilling construction robot 110 , it has a computer unit 126 arranged inside the housing 114 , in particular in the control room 116 .
  • Computer unit 126 includes a memory unit 128.
  • the computer unit 126 is equipped with executable program code, so that an internal construction task management system 129 with an internal construction task list 130, which includes one or more construction tasks to be executed by the drilling construction robot 110 on the construction site, is configured by means of the computer unit 126.
  • the internal construction task list 130 is stored in the memory unit 128 so that it can be called up.
  • the computer unit 126 and thus the drilling construction robot 110 also have a communication interface 132 for communication with an external construction task management system, the external construction task management system being set up to store an external construction task list in a retrievable manner, the external construction task list comprising one or more construction tasks to be carried out on the construction site, wherein the drilling construction robot 110 is set up to send at least one construction task and/or a construction task status of a construction task from the internal construction task list 130 to the external construction task management system via the communication interface 132 .
  • the communication interface 132 has a mobile radio interface according to the 4G or the 5G standard, a WLAN interface, a Bluetooth interface and/or a USB interface for data transmission using portable USB storage units.
  • the computer unit 126, the storage unit 128, the internal construction task management system 129, the internal construction task list 130 and the communication interface 132 are arranged in the control room 116 and thus within the housing 114, these, including the control room 116, are in 2 and shown schematically.
  • the communication interface 132 of the drilling robot 110 is set up in particular to communicate with the communication interface 31 (see 1 ) of the machine tool 122 to communicate.
  • computer unit 126 can, in particular, transmit data on the respectively determined type and the respectively determined size of tool 3 ( 1 ) receive.
  • the computer unit 132 By comparing this data with the construction task to be completed, the computer unit 132, in particular its program code, is set up to check whether the tool 3 accommodated in the machine tool 122 is suitable for the respective construction task.
  • the display unit 134 is designed as a touch screen.
  • the display unit 134 also forms an input unit for manual data entry by a user of the construction robot 110.
  • the display unit 134 is set up in connection with the computer unit 126 and the internal construction task management system 129, the construction tasks contained in the internal construction task list 130, including the construction task statuses assigned to the construction tasks, are displayed graphically to display.
  • the drilling robot 110 can include a tool store with a plurality of tools, so that the drilling robot 110 can automatically exchange the tool 3 for a suitable tool.
  • 3 and 4 show time series of using the acceleration sensor 24 ( 1 ) measured accelerations.
  • 3 and 4 Diagrams of the measured accelerations plotted against the phase angle measured in each case.
  • Index step 259 corresponds to a full rotation (360°). 3 comes from measurements with a drill with a diameter of 30 mm as tool 3. 4 comes from measurements with a polygon chisel with a length of 280 mm.
  • index position 100 i. H. close to the maximum of the air spring
  • index position 179 i. H. after the rebound.
  • figure 5 shows in detail a method 1000 for determining a property of a machine tool 122 ( 2 ) or 1 ( 1 ) picked up tool 3 ( 1 ).
  • the method is used as an example for the type of tool 3 as the property to be determined explained in more detail. It is used analogously for other properties to be determined, for example a size of the tool 3, in particular its diameter.
  • a first step 1010 accelerations and the associated phase angles are determined within a time window using the respective sensors, in particular the acceleration sensor 24 ( 1 ) and the phase angle sensor 28 measured.
  • the accelerations are implemented with a constant angular increment.
  • a subsequent step 1020 the data recorded in the time window are converted and thus reindexed to the corresponding phase angle.
  • the evaluation unit 30 ( 1 ), in particular the SVM formed and previously trained by this, and based on the measured acceleration data for each phase angle within the respective revolution, a tool type, i.e. chisel tool or drilling tool, is determined. In order to increase the hit rate, the speed of the electric motor 13 is also taken into account.
  • a final step 1040 the mathematical mode is now determined from the numbers of the different classifications.
  • the resulting mode then results in the respective type of tool 3 to be determined for the respective time window.
  • the data recorded in the time window are discarded and a subsequent time window is used for the evaluation.
  • a time window can include 5 seconds, for example.
  • step 1030 before the method 1000 is carried out for the first time, i. H. before the respective property of the tool 3 is determined for the first time, the trainable classifier formed by the evaluation unit 30, ie the SVM in this exemplary embodiment, is trained.
  • accelerations and associated phase angles are recorded as time series.
  • training data is collected for at least one tool, preferably for a plurality of tools belonging to the respective class.
  • this training can preferably also be carried out using the drilling construction robot 110 ( 2 ) take place.
  • the evaluation unit 30, in particular the SVM formed by it, can be trained or calibrated with the entire collected training data in connection with the actual property values of the respective tools 3.
  • tools 3 could be classified correctly in approx. 76% of the individual revolutions or impacts, in the second case in approx. 78% and in the third case in approx. 69%.
  • the present method can be used to distinguish between chisel tools and drilling tools within 5 seconds, for example, if a classification related to a time window is based on the time window of 5 seconds or longer during the individual runs on most frequently recognized tool.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Percussive Tools And Related Accessories (AREA)
EP21179075.3A 2021-06-11 2021-06-11 Procédé de détermination d'une propriété d'un outil, ainsi que machine-outil mobile Withdrawn EP4101595A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21179075.3A EP4101595A1 (fr) 2021-06-11 2021-06-11 Procédé de détermination d'une propriété d'un outil, ainsi que machine-outil mobile
AU2022289437A AU2022289437A1 (en) 2021-06-11 2022-06-07 Method for analyzing a tool, and mobile machine tool
EP22733917.3A EP4351841A1 (fr) 2021-06-11 2022-06-07 Procédé d'analyse d'un outil et machine-outil mobile
PCT/EP2022/065436 WO2022258635A1 (fr) 2021-06-11 2022-06-07 Procédé d'analyse d'un outil et machine-outil mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21179075.3A EP4101595A1 (fr) 2021-06-11 2021-06-11 Procédé de détermination d'une propriété d'un outil, ainsi que machine-outil mobile

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EP4101595A1 true EP4101595A1 (fr) 2022-12-14

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EP21179075.3A Withdrawn EP4101595A1 (fr) 2021-06-11 2021-06-11 Procédé de détermination d'une propriété d'un outil, ainsi que machine-outil mobile

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4316737A1 (fr) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Machine-outil pouvant être télécommandée destinée à être utilisée par un robot de construction et système

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014209009A1 (de) * 2014-01-27 2015-07-30 Robert Bosch Gmbh Werkzeugmaschinenvorrichtung
EP3536461A1 (fr) * 2018-03-08 2019-09-11 Andreas Stihl AG & Co. KG Procédé de fonctionnement dépendant du type d'une unité d'entraînement électrique et système
CN211333061U (zh) * 2019-12-30 2020-08-25 博世电动工具（中国）有限公司 电动工具
EP3731160A1 (fr) * 2019-04-24 2020-10-28 Adolf Würth GmbH & Co. KG Procédé de documentation d'au moins une étape de travail et outil guidé à la main

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014209009A1 (de) * 2014-01-27 2015-07-30 Robert Bosch Gmbh Werkzeugmaschinenvorrichtung
EP3536461A1 (fr) * 2018-03-08 2019-09-11 Andreas Stihl AG & Co. KG Procédé de fonctionnement dépendant du type d'une unité d'entraînement électrique et système
EP3731160A1 (fr) * 2019-04-24 2020-10-28 Adolf Würth GmbH & Co. KG Procédé de documentation d'au moins une étape de travail et outil guidé à la main
CN211333061U (zh) * 2019-12-30 2020-08-25 博世电动工具（中国）有限公司 电动工具
DE102020216556A1 (de) * 2019-12-30 2021-07-01 Bosch Power Tools (China) Co. Ltd. Elektrowerkzeug

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4316737A1 (fr) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Machine-outil pouvant être télécommandée destinée à être utilisée par un robot de construction et système

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