WO2019048280A1 - Véhicule omnidirectionnel autonome comprenant un dispositif d'alésage - Google Patents

Véhicule omnidirectionnel autonome comprenant un dispositif d'alésage Download PDF

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Publication number
WO2019048280A1
WO2019048280A1 PCT/EP2018/073011 EP2018073011W WO2019048280A1 WO 2019048280 A1 WO2019048280 A1 WO 2019048280A1 EP 2018073011 W EP2018073011 W EP 2018073011W WO 2019048280 A1 WO2019048280 A1 WO 2019048280A1
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WO
WIPO (PCT)
Prior art keywords
autonomous vehicle
automatically
omnidirectional
control device
drilling
Prior art date
Application number
PCT/EP2018/073011
Other languages
German (de)
English (en)
Inventor
Harald GESCHKE
Tobias Klaiber
Peter KÖRBER
Original Assignee
Kuka Deutschland Gmbh
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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Publication of WO2019048280A1 publication Critical patent/WO2019048280A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0042—Devices for removing chips
    • B23Q11/0046—Devices for removing chips by sucking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
    • B23Q9/0014—Portable machines provided with or cooperating with guide means supported directly by the workpiece during action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B31/00—Hand tools for applying fasteners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B39/00—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines
    • B23B39/14—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work

Definitions

  • the invention relates to an omnidirectional, autonomous Fahr ⁇ stuff, comprising a chassis on the chassis rotatably mounted omnidirectional wheels, the omnidirectional wheels associated with motors which are designed for Wheelanin the omnidirectional wheels and a control device which is designed to control the motors to navigate the autonomous vehicle on a ground by rotationally driving the omnidirectional wheels.
  • a mobile robot which is designed for drilling holes in ceilings and walls.
  • the mobile robot includes a robotic arm mounted on a scissor lift.
  • the scissor lift can be moved by wheels on a surface.
  • a drilling tool is mounted, which is designed for drilling holes in ceilings and walls.
  • the object of the invention is to provide a fully automatic Vorrich ⁇ device for drilling holes in soils, with the holes can be inserted particularly accurately and reliably in soils automatically.
  • an omnidi ⁇ redging, autonomous vehicle comprising a chassis on the chassis rotatably mounted omnidirectional wheels, the omnidirectional wheels associated with motors that are designed to Wheelanand the omnidirectional wheels and a control device which is formed to drive the motors to move the autonomous vehicle navigated on a ground by rotationally driving the omnidirectional wheels, further comprising a height adjustable mounted on the chassis drilling device, which is designed for drilling boreholes into the ground, wherein the autonomous vehicle control device is adapted to drive the height-adjustable drilling device and the motors driving the omnidirectional wheels to automatically make the boreholes according to a drilling plan.
  • the omnidirectional, autonomous vehicle is driverless. It is automatically moved by a control device, which may also include a robot control, along a floor and can accordingly on the respective floor, which forms a lane of the omnidirectional autonomous vehicle moves, ie in particular repositioned and / or um ⁇ oriented.
  • a control device which may also include a robot control
  • the omnidirectional, autonomous Fahr ⁇ zeug omnidirectional wheels such as Mecanumgan, the omnidirectional, autonomous vehicle can be positioned and oriented very accurately on the ground, al ⁇ lein by rolling driven moving away without the wheels would have to be steered.
  • the omnidirectional, autonomous vehicle can also turn around its own center axis on the spot and can also be moved sideways from a standing position.
  • the omnidirectional, mous ⁇ me vehicle to form a suspension of a mobile robot.
  • a robot arm may be attached, for example with his Grundge ⁇ alternate on a mounting surface of the omnidirectional, au ⁇ tonomen vehicle.
  • the omnidirectional, autonomous vehicle may have a single robotic arm. Alternatively, the omnidirectional, autonomous vehicle may have two or more robot arms.
  • the drilling device can have its own motor, to the motor shaft of which a drill chuck of the drilling device is coupled, with the chuck optionally being equipped with different chucks
  • Drilling tools can be used automatically and can also be taken out automatically again.
  • a drilling plan is provided.
  • the drilling plan contains information on which positions of the soil boreholes are to be attached, and / or with which drilling tool the respective boreholes are to be made, in particular which diameter and which depth the boreholes should receive.
  • the drilling plan may be stored in the control device of the omnidirectional autonomous vehicle, or the drilling plan may be stored separately from the omnidirectional autonomous vehicle, including data representing the locations on the ground where wellbores are to be installed and / or data including Drill the respective holes are to be made, in particular what diameter and what depth to receive the holes can be sent to the omnidirectional, autonomous vehicle.
  • the height-adjustable drilling apparatus may include both a drilling machine having a drilling tool and a controllable from the control device drill drive for the drilling tool, which is adapted for drivingly rotating the drilling tool of the drilling machine, as well as having a linear stroke ⁇ device with a the Suspension of the autonomous vehicle fixedly connected linear guide and a relative to the linear guide mounted slide has up to which the drill is attached, the line ⁇ arhubvorraum also has a lifting drive, which is formed, the drill having the slide in the height direction relative to the linear guide the Linearhubvorraum and the landing gear of the autonomous vehicle to move automatically controlled by the control device to lower the drill in the direction of the ground and / or raise from the ground.
  • the drill is on the one hand mounted vertically adjustable on omnidirectional, autonomous vehicle, but on the other hand fixed rigidly with respect to all other degrees of freedom with respect to the omnidirectional, autonomous vehicle.
  • the linear lifting device has so far only a single degree of freedom, with respect to which the drill is adjustable relative to the omnidirectional, autonomous vehicle, in particular relative to the chassis. This achieves a particularly rigid construction of omnidirectional, autonomous vehicle and the drilling device.
  • the feed of the drill can be realized to drill into the ground and produce the holes.
  • the omnidirectional autonomous vehicle may comprise at least one sensor configured to detect
  • control device is configured to generate from the detected by the at least one sensor characteristics of the soil depending on the position and location of the autonomous vehicle at the time of detection of the characteristics of the soil data provided for mapping the floor by the control device.
  • the sensor can be designed to detect features already present on the ground and to determine or record their position and / or position.
  • the already existing features may be, for example, steps or grooves in the ground, especially if they are also introduced for other purposes in the ground.
  • the sensor may be configured to detect features that are specially mounted on the ground for the purpose of navigating the omnidirectional, autonomous vehicle on the ground.
  • Such features may be labels or imprints that include, for example, geometric symbols such as circles, squares, or arrows or they may also include barcodes, barcodes and / or QR codes.
  • the at least one sensor can be an optical sensor, in particular a camera, which generates images of the ground, which are recorded and / or forwarded by the control device for carrying out an image analysis.
  • An image evaluation can be carried out in particular in the control device of the autonomous vehicle.
  • an image evaluation can take place in a navigation device separate from the autonomous vehicle.
  • the autonomous vehicle may have a Kirunikationsein ⁇ direction generally formed to exchange data between the control apparatus of the autonomous vehicle and separate from the autonomous vehicle navigation apparatus to automatically navigate the autonomous vehicle passed from the separate navigation apparatus on the ground.
  • the communication device may be a wireless network connection, such as a W-LAN.
  • the separate navigation device can be designed
  • the motors of the omnidirectional wheels of the autonomous vehicle controls to automatically drive the autonomous vehicle along the ground and depending on the received navigation data height-adjustable drilling device, in particular the drill drive for the drilling tool of the drill, to control.
  • an optical measuring ⁇ system such as a laser tracker
  • an optical coupling device can be installed, which makes it possible to detect the vehicle position and orientation relative to the optical measuring system with high accuracy.
  • a control loop which is closed by means of the measurements mentioned above, allows the vehicle to be positioned with high precision in the hall coordinate sys- tem. The security in the positioning ⁇ process can be ensured by an environment monitoring system of the mobile vehicle.
  • the positions of the drilling locations can be derived relative to the hall coordinate system.
  • an order can be automatically generated ⁇ the one containing the performance of the task, as well as details such as drilling depth, drill diameter, and possibly data dowel ⁇ zen and the threaded bolt.
  • the drilling unit generates the required bore, whereby the resulting dust can be extracted by means of a suction device.
  • a dowel setting device a dowel is then optionally inserted into the borehole.
  • a threaded bolt setting device a threaded bolt is then optionally screwed into the dowel.
  • the optical sensor system of the mobile vehicle can also monitor the drilling site by means of environmental monitoring.
  • a dowel setting device and a threaded bolt set device can be replaced or supplemented, for example, by a robot arm, such as an articulated arm robot or a portal roof robot with a corresponding tool, which is mounted on the mobile robot platform.
  • the hall can be cleaned after completion of the drilling, so that the construction of the automation system can begin.
  • the communication device may include a radio data link which has a arranged on the autonomous vehicle ers ⁇ te transmitting / receiving device which is connected to the control device and having a separate from the autonomous vehicle second transmitting / receiving device which is connected to the separate navigation device, wherein the first transmitting / receiving device of the autonomous vehicle are connected to the second transmitting / receiving device of the navigation device for data exchange wirelessly communicating.
  • the omnidirectional autonomous vehicle may include a drill bit magazine having a plurality of drilling tools and an automatic tool changing device configured to automatically extract a selected drilling tool from the drill magazine for automatically inserting the selected drilling tool into the drilling device as well as for automatic removal of the selected drilling tool from the drilling device and to automatically release the remote drilling tool in the drill magazine, automatically controlled by the control device.
  • the automatic tool changer may include a robot arm disposed on the autonomous vehicle, which is controlled by a robot controller and having a drill gripper attached to the robotic flange of the robotic arm, the drill gripper formed and the robot controller configured to automatically insert the selected drilling tool into the drilling device, as well as for automatically removing the selected drilling tool from the drilling device and automatically dispensing the removed drilling tool into the drill magazine.
  • the omnidirectional autonomous vehicle may include a dowel magazine having a plurality of dowels, particularly a plurality of dowels of different sizes, and an automatic dowel setting device configured to automatically extract a selected dowel from the dowel magazine and automatically insert the selected dowel into a dowel Borehole of the soil, automatically controlled by the STEU ⁇ ervorraum.
  • the automatic anchor setting means may comprise a cover arranged at the autonomous vehicle robot arm, which is driven by a robot controller and having a fixed to the robot flange of the robot arm dowel-gripper, wherein the dowel-gripper formed and the robot controller is configured of a full ⁇ selected for automatically removing Dowels from the dowel magazine and the automatic insertion of the selected dowel in a borehole of the soil, automatically controlled by the control device.
  • the omnidirectional, autonomous vehicle can be a threaded bolt magazine with a plurality of threaded bolts, in particular several Threaded bolts of different sizes, and having an automatic threaded bolt setting device, which is adapted for automatically removing a selected threaded bolt from the threaded bolt magazine and for automatically inserting the selected threaded bolt in a dowel inserted in the wellbore of the soil, automatically controlled by the control device.
  • the automatic threaded bolt setting apparatus may include a robot arm disposed on the autonomous vehicle, which is controlled by a robot controller and having a threaded bolt gripper attached to the robot flange of the robot arm, the threaded bolt gripper being formed and the robot controller configured to automatically extract a selected threaded bolt the threaded bolt magazine and the automatic insertion of the selected threaded bolt in a dowel inserted in the wellbore of the soil, automatically controlled by the control device.
  • the omnidirectional, autonomous vehicle may have an automatic downhole cleaning device, which is designed to automatically clean a borehole of the floor, automatically actuated by the control device.
  • the automatic hole cleaning device may include a cover arranged at the autonomous vehicle robot arm is controlled by a robot control and which has an attached to the robot of the robot arm wellbore cleaning ⁇ tool, the wellbore cleaning tool ⁇ formed and the robot controller is configured to auto ⁇ matic cleaning of the borehole of the floor, automatically controlled by the control device.
  • the well treatment apparatus may include a suction device configured to extract drilling dust from the wellbore of the soil.
  • the well cleaning apparatus may include at least one brush adapted to brush boring dust out of the wellbore of the soil.
  • Hole cleaning device may comprise a flushing device which is designed to remove cleaning liquid from egg ⁇ nem arranged on the autonomous vehicle tank and introduce into the well of the soil, applying to the floor to suck out of the well of the soil and / or sucking off the ground.
  • a flushing device which is designed to remove cleaning liquid from egg ⁇ nem arranged on the autonomous vehicle tank and introduce into the well of the soil, applying to the floor to suck out of the well of the soil and / or sucking off the ground.
  • the control device may be generally configured to drive the motors of the omnidirectional wheels such that the autonomous vehicle occupies a position of the ground at which
  • the control device controls the drilling device such that the drilling device to the well the place of the soil manufactures.
  • the control device may be generally arranged to drive the motors of the omnidirectional wheels such that the autonomous vehicle starts the at least one location of the ground to which a borehole is to be attached, based on an installation plan that represents the location or locations specifies the ground to which holes are to be automatically attached.
  • the control device may be set up to determine the instantaneous position and / or position of the autonomous vehicle on the ground on the basis of a navigation device, and the control device may be set up to control the motors of the omnidirectional wheels in such a way that the autonomous vehicle has at least a location of the ground to which a borehole is to be attached automatically starts from its current position and / or position.
  • the navigation device may have a separate from the autonomous vehicle optical measuring system, which is placed at a réelle ⁇ certain point of the ground and transmitted measurements on the position and / or position of the autonomous vehicle with respect to the predetermined location of the ground to the control device of the autonomous vehicle.
  • the navigation device may include an autonomous vehicle mounted optical measurement system that provides readings about the position and / or attitude of a marker located at a predetermined location of the floor and transmitted to the control device of the autonomous vehicle to determine the position and / or location of the autonomous Vehicle relative to the predetermined location of the ground.
  • FIG. 1 is a schematic perspective view of an exemplary omnidirectional, autonomous vehicle with a robot arm
  • Fig. 2 is a schematic representation of a concrete Aus ⁇ leadership example of an omnidirectional autonomous vehicle according to the invention with a robot arm and a height-adjustable drilling device.
  • 1 shows an omnidirectional, autonomous vehicle 1, comprising a chassis 2, omnidirectional wheels 3 rotatably mounted on the chassis 2, and motors 4 (FIG. 2) assigned to the omnidirectional wheels 3, which are designed for rotationally driving the omnidirectional wheels 3 and a control device 5 configured to drive the motors 4 to navigate the autonomous vehicle 3 on a floor 6 (FIG. 2) by rotationally driving the omnidirectional wheels 3.
  • the omnidirectional, au ⁇ tonome vehicle 1 a height-adjustable Gela siege to the chassis 2 drilling device 7 which is adapted for drilling of boreholes in the ground 6, wherein the control device 5 of the autonomous vehicle is leingestructure for driving the height-adjustable boring device 7 and the motors 4 driving the omnidirectional wheels 3 in order to automatically produce the boreholes according to a drilling plan.
  • the mobile platform may comprise one or more Robo 1 ⁇ terarme. 8
  • the mobile platform In the case of the shown1,sbei ⁇ Game 1, the mobile platform to a single robot arm. 8
  • the height-adjustable drilling device 7 has a Bohrma ⁇ machine 9, a drilling tool 10 and a drive device 5 controllable by the STE drive drive 11 for drilling
  • the height-adjustable drilling device 7 also has a Linearhubvorraum 12, which is fixed to the chassis 2 of the autonomous vehicle 1 linear guide 12.1 and relative to the linear guide 12.1 has height-adjustable mounted slide 12.2, to which the drilling device 7 and the drill 9 is attached.
  • the Linearhubvor ⁇ direction 12 also has a lifting drive, which is formed, the slide 9 having the carriage
  • the omnidirectional, autonomous vehicle 1 in the case of the present embodiment, at least one sensor 13 which is adapted to detect features 14 of the bottom 6 during an automatic drive of the autonomous vehicle 1, wherein the control device 5 is formed from the of the at least one sensor 13 detected features 14 of the bottom 6 depending on the position and location of the autonomous vehicle 1 at the time of detection of the feature 14 of the bottom 6 to generate data that are provided for mapping the bottom 6 by the control device 5.
  • the at least one sensor 13 may be an optical sensor, in particular be a camera, he ⁇ demonstrates the images of the bottom 6, which are received by the control device 5 for performing image analysis and / or forwarded.
  • the autonomous vehicle 1 also has a communication device 15 which is configured to exchange data between the control device 5 of the autonomous vehicle 1 and a navigation device 16 separate from the autonomous vehicle 1 in order to automatically navigate the autonomous vehicle 1 guided on the ground 6 by the separate navigation device 16.
  • the omnidirectional autonomous vehicle 1 also has a drill magazine 17 with a plurality of drilling tools 17a and an automatic tool changing device 8a adapted to automatically remove a selected drilling tool 17a from the drill magazine 17 for automatic insertion of the selected drilling tool 17a in the drilling device 7, as well as for automatically removing the selected drilling tool 17a from the drilling device 7 and automatically dispensing the removed drilling tool 17a in the drill magazine 17, automatically controlled by the control device 5 and / or the robot controller 18th
  • the tool changing device 8a can have the robot arm 8 and a drilling tool gripper 8.1 fastened to the tool flange of the robot arm 8.
  • the control device 5 and the robot controller 18 may be configured as separate control devices that are connected via a Kommunikati ⁇ onsimpl. Alternatively, the control device 5 and the robot controller 18 may be constituted by the same control device.
  • the automatic tool changing device 8a can thus comprise a robot arm 8 arranged on the autonomous vehicle 1, which is controlled by a robot controller 18 and has a drill gripper 8.1 fastened to the robot flange of the robot arm 8, wherein the drill gripper 8.1 is formed and the robot controller 18 is engaged ⁇ is set to automatically insert the selected Drill 17a in the drilling device 7, as well as for automatically removing the selected drilling tool 17a from the drilling device 7 and automatically dispensing the removed drilling tool 17a in the drill magazine 17.
  • the omnidirectional, autonomous Fahr ⁇ tool 1 a dowel Magazine 19 having a plurality of dowels 19a, in particular a plurality of dowels 19a of different sizes, and an automatic dowel setting device 8b, which is ⁇ out , for automatically removing a selected dowel 19a from the dowel magazine 19 and the automatic
  • the anchor setting device 8b can in this respect the robot arm 8 and a fixed to the tool flange of the robot arm 8
  • Dowel gripper 8.2 have.
  • the control device 5 and the robot controller 18 may be formed as separate control devices that are connected via a communication link.
  • the control device 5 and the robot controller 18 may be constituted by the same control device.
  • the drilling tool gripper 8.1 and the dowel gripper 8.2 can be separate grippers, which can be fastened automatically to the tool flange of the robot arm 8, ie can be changed.
  • the Bohrwerkmaschine- gripper 8.1 and the dowel gripper 8.2 can also be formed by the same universal gripper, which is attached to the tool flange of the robot arm 8, and which is designed to select ⁇ wise gripping both a drilling tool 17 a and a dowel 19 a.
  • the automatic anchor setting device 8b can accordingly comprise a robot arm 8 arranged on the autonomous vehicle 1, which is controlled by a robot control 18 and which NEN attached to the robot flange of the robot arm 8 dowel gripper 8.2, wherein the dowel gripper 8.2 is formed and the robot controller 18 is set to automatically ⁇ rule taking a selected dowel 19a from the dowel magazine 19 and the automatic insertion of the selected dowel 19a in a borehole 6 a of the bottom 6, automatically ⁇ controlled by the control device 5 and / or the robot controller 18th
  • the omnidirectional autonomous vehicle 1 may comprise a threaded bolt magazine 20 having a plurality of threaded bolts 20a, in particular a plurality of threaded bolts 20a of different sizes, and an automatic threaded bolt assembly 8c adapted to automatically remove a selected threaded bolt 20a from the same Threaded bolt magazine 20 and for automatically inserting the selected threaded bolt 20a into a dowel 19a inserted in the borehole 6a of the bottom 6, automatically actuated by the control device 5 and / or the robot control 18.
  • the threaded bolt setting device 8c can in this respect the robot arm 8 and an am Tool flange of the robot arm 8 fastened threaded bolt gripper 8.3 have.
  • the control device 5 and the robot controller 18 may be formed as separate control devices that are connected via a communication link. Alternatively, the control device 5 and the robot controller 18 may be constituted by the same control device.
  • the boring tool gripper 8.1, the dowel gripper 8.2 and the threaded bolt gripper 8.3 can be separate grippers, which can be fastened automatically, ie can be changed, optionally on the tool flange of the robot arm 8.
  • the drill gripper 8.1, the dowel gripper 8.2 and the threaded bolt gripper 8.3 can also be formed by the same universal gripper.
  • the automatic threaded bolt setting device 8c may include a robot arm 8 arranged on the autonomous vehicle 1, which is controlled by the robot controller 18 and has a threaded bolt gripper 8.3 fastened to the robot flange of the robot arm 8, wherein the threaded bolt gripper 8.3 is formed and the robot control 18 is engaged ⁇ is directed to the automatic removal of a selected threaded bolt 20a from the threaded bolt magazine 20 and the automatic insertion of the selected threaded bolt 20a inserted into a hole 6a of the bottom 6 dowel 19a, automatically controlled by the control device 5 and / or the robot controller 18th
  • the omni-directional, autonomous vehicle 1 may additionally include an automatic downhole cleaning device 21, which is designed for automatically cleaning a well bore 6a of the base 6, automatically controlled by the tax advantage ⁇ direction and / or the robot controller 18th
  • the automatic hole cleaning device 21 may include arranged on the autonomous vehicle 1 robot arm 8, which is controlled by the robot controller 18 and which has an attached to the robot of the robot arm 8 wellbore cleaning ⁇ supply tool 8.4, wherein the hole cleaning plant ⁇ convincing 8.4 formed and the robot controller 18 is arranged for automatically cleaning the borehole 6a of the bottom 6, automatically controlled by the control device 5 and / or the robot controller 18.
  • the control device 5 and the robot controller 18 may be formed as separate control devices, which communicate via a communication link are connected. Alternatively, the control device 5 and the robot controller 18 may be constituted by the same control device.
  • the borehole cleaning device 21 may comprise a suction device 8. 5, which is designed to suck out drilling dust from the borehole 6 a of the bottom 6.
  • the borehole cleaning device 21 may comprise at least one brush 22, which is designed to brush boring dust out of the borehole 6a of the bottom 6.
  • the borehole cleaning device 21 may comprise a flushing device 23 which is designed to supply cleaning liquid from a tank 23.1 arranged on the autonomous vehicle 1 take and bring in the borehole 6a of the bottom 6, apply to the bottom 6, to suck from the borehole 6a of the bottom 6 and / or to suck from the bottom 6.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un véhicule omnidirectionnel autonome (1), comprenant un châssis (2), des roues omnidirectionnelles (3) montées à rotation sur le châssis (2), des moteurs (4) associés aux roues omnidirectionnelles (3), qui sont conçus pour entraîner à rotation les roues omnidirectionnelles (3), et un dispositif de commande (5) qui est conçu pour commander les moteurs (4), afin de déplacer le véhicule autonome (1) sur un sol (6) en le naviguant, par entraînement à rotation des roues omnidirectionnelles (3), comprenant en outre un dispositif d'alésage (7) monté sur le châssis (2) de manière réglable en hauteur, qui est conçu pour aléser des trous d'alésage (6a) dans le sol (6), le dispositif de commande (5) du véhicule autonome (1) étant agencé pour commander le dispositif d'alésage à réglage en hauteur (7) et les moteurs (4) entraînant les roues omnidirectionnelles (3), afin de réaliser les trous d'alésage (6a) automatiquement selon un plan d'alésage.
PCT/EP2018/073011 2017-09-05 2018-08-27 Véhicule omnidirectionnel autonome comprenant un dispositif d'alésage WO2019048280A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202017105337.7 2017-09-05
DE202017105337.7U DE202017105337U1 (de) 2017-09-05 2017-09-05 Omnidirektionales, autonomes Fahrzeug mit einer Bohrvorrichtung

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WO2019048280A1 true WO2019048280A1 (fr) 2019-03-14

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CN110587632A (zh) * 2019-10-22 2019-12-20 东莞美崎智能科技有限公司 一种全自动寻位钻孔及拉爆螺丝安装一体机
CN112974907A (zh) * 2021-03-12 2021-06-18 广东骏宏环保回收有限公司 报废汽车油液回收系统

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IT201900019010A1 (it) * 2019-10-16 2021-04-16 Springa S R L Macchina utensile migliorata
CN111906796A (zh) * 2020-08-07 2020-11-10 广东电科院能源技术有限责任公司 一种变电站巡检机器人
EP3981551A1 (fr) * 2020-10-09 2022-04-13 Hilti Aktiengesellschaft Conteneur de chantier
DE102021201341A1 (de) * 2021-02-12 2022-08-18 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Bereitstellung einer Information über eine Ankerbefestigung
DE102022212338A1 (de) * 2022-11-18 2024-05-23 Robert Bosch Gesellschaft mit beschränkter Haftung Autonomes oder manuelles Arbeitsgerät, System und Verfahren zu einem zumindest teilweise automatischen Bearbeiten eines Objekts
DE102022212353A1 (de) * 2022-11-18 2024-05-23 Robert Bosch Gesellschaft mit beschränkter Haftung Autonomes oder manuelles Arbeitsgerät, System und Verfahren zu einem zumindest teilweise automatischen Bearbeiten eines Objekts

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