WO2024028128A1 - Robot de construction comprenant une interface de changement adaptable, et procédé - Google Patents

Robot de construction comprenant une interface de changement adaptable, et procédé Download PDF

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Publication number
WO2024028128A1
WO2024028128A1 PCT/EP2023/070297 EP2023070297W WO2024028128A1 WO 2024028128 A1 WO2024028128 A1 WO 2024028128A1 EP 2023070297 W EP2023070297 W EP 2023070297W WO 2024028128 A1 WO2024028128 A1 WO 2024028128A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
construction robot
parameter
construction
interface
Prior art date
Application number
PCT/EP2023/070297
Other languages
German (de)
English (en)
Inventor
Michael Nitzschner
Florian Hurka
Markus Hartmann
Tobias Schmid
Georg Fürfanger
Peter Brugger
David Koscheck
Rory Britz
Original Assignee
Hilti Aktiengesellschaft
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
Priority claimed from EP22188419.0A external-priority patent/EP4316743A1/fr
Application filed by Hilti Aktiengesellschaft filed Critical Hilti Aktiengesellschaft
Publication of WO2024028128A1 publication Critical patent/WO2024028128A1/fr

Links

Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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

Definitions

  • Construction robot with customizable switching interface and procedures
  • the invention is based on a construction robot, comprising an interchangeable interface for releasably connecting to a tool, the interchangeable interface having at least one electrical connection for electrically connecting to the tool.
  • the tool can be supplied with energy by the construction robot via the electrical connection.
  • the object of the present invention is therefore to provide a construction robot and a method of use that enable particularly flexible use of the construction robot.
  • a construction robot comprising an interchangeable interface for detachable connection to a tool, the interchangeable interface having at least one electrical connection for electrical connection to the tool, wherein the construction robot is set up to set at least one electrical parameter of the connection.
  • the electrical parameter is permanently set on the changeover interface, only tools that require a corresponding electrical parameter can be used with the construction robot.
  • connected tools can be used in an improved manner; for example, a range of functions of a tool can be further or even completely utilized.
  • the work performance and/or the service life of the tool can also be improved by setting an optimized parameter value.
  • the parameter required for a specific tool can be determined without interaction from a user of the construction robot.
  • the construction robot has a detector for automatically querying the parameter of a tool connected to the change interface.
  • the tool can be set up to provide the construction robot with the parameter in response to a query by the detector.
  • the parameter is provided by a marker located on or in the tool.
  • the marker can include a wireless radio interface.
  • This can for example, an NFC tag, a “Bluetooth” tag and / or an RFID tag.
  • the detector can include a reading device that matches the wireless radio interface of the marker.
  • the optical marker can include, for example, a barcode, a QR code or another data matrix code.
  • the optical marker can be arranged on a surface of the tool. It is also conceivable that the marker has writing and/or a sequence of numbers as plain text.
  • the detector can comprise an optical reading device, for example an image recording unit such as a color image camera.
  • the marker can also include an electrical marker.
  • the tool can have an electrical marker that provides electrically queryable coding via an electrical interface.
  • the detector can include a reading device for reading the electrical interface.
  • the electrically interrogatable coding can be formed, for example, by one or more switches, also generally referred to as “jumpers”.
  • the tool can also have at least one electronic circuit, for example comprising a programmable microcontroller.
  • the electrically queryable coding can therefore be provided on a software-based basis.
  • the tool has a marker that only provides an identification code instead of the actual parameter.
  • the detector can then include a reading device that is set up to read the identification code of the tool.
  • the construction robot in particular a control of the construction robot, can be set up to establish a connection to a tool database and to query a parameter stored in the tool database using the identification code.
  • the tool database can also be located on a remote computer system, for example on a cloud-based computer system.
  • the tool database can contain retrievably stored program code that can be executed on the control of the construction robot, which, when executed on the control of the construction robot, makes specific functionalities and / or other specific properties of the tool usable for the respective tool by the construction robot.
  • the parameter can therefore be stored directly on or in the tool and can be accessed.
  • the parameter can be determined indirectly, using the identification code of the tool.
  • the parameter can relate to a type of energy supply and/or a type of communication.
  • the parameter can be a supply voltage, in particular of the tool, for example a voltage and/or power class of the tool.
  • the parameter can indicate which voltage, which maximum current and/or which maximum power is to be provided at a power supply connection of the interchangeable interface in order to use the tool.
  • the parameter can indicate that the tool can be operated with a supply voltage of at least 12 V and, for example, less than 100 V, for example nominally 12 V, 18 V, 22 V, 36 V, 44 V, 54 V, 60 V or 72 V and thus a corresponding supply voltage must be provided by the construction robot at the electrical connection.
  • the construction robot can have a controllable energy converter.
  • the energy converter may include a DC/DC, an AC/DC, a DC/AC and/or an AC/AC converter.
  • the energy converter can be set up to convert electrical energy available on board the construction robot with regard to its type, in particular direct voltage or alternating voltage, with regard to its voltage, its current and / or an internal resistance.
  • the converted electrical energy can be presented at the connection of the changeover interface.
  • the parameter represents a type of communication, for example a specific communication standard, e.g. B. as commonly referred to as “CANOpen”, indexed.
  • the parameter relates to an availability and/or a type of functionality of the tool, for example the availability of an impact functionality.
  • the parameter can alternatively or additionally indicate whether or which sensors are available on the tool. It is also conceivable that the parameter relates to information about a version and/or compatibility with other tools.
  • the parameter can alternatively or additionally indicate a type and/or another property of the tool.
  • Examples include information about the manufacturer of the tool, the type of tool, for example chisel machine, drill, impact screwdriver, grinder, cutting machine or the like.
  • the parameter indicates an operating parameter of the tool, for example a weight, a vibration value, limit values regarding current strengths, electrical capacities, temperature limits, permissible operating times, status information or the like. This enables, for example, particularly precise control of a manipulator of the construction robot when the changing interface is located on the manipulator together with the tool arranged on it.
  • an operating parameter of the tool for example a weight, a vibration value, limit values regarding current strengths, electrical capacities, temperature limits, permissible operating times, status information or the like.
  • the connection can be electrically coupled to a battery interface of the tool.
  • the tool can be an accumulator-operated tool.
  • a battery of the tool can be removed from the battery interface.
  • the connection can then be electrically coupled to the battery interface.
  • the construction robot can therefore supply the tool with electrical energy via the connection and the battery interface.
  • connection is set up to exchange data with the tool unidirectionally or bidirectionally via the battery interface.
  • a construction robot for carrying out construction work on a building construction and / or a civil engineering construction site, comprising a mobile platform, a manipulator, one on the manipulator, in particular on one End effector of the manipulator, arranged changing interface and a tool arranged on the changing interface, wherein the changing interface has an electrical connection which is electrically coupled to a battery interface of the tool and / or can be coupled.
  • the mobile platform, the manipulator, the interchangeable interface and/or the tool can have one or more of the preceding and/or subsequent, equivalent elements.
  • a “tool” can be understood as an object that does not belong to the body of the construction robot, with the help of which the functions of the construction robot can be expanded in order to be able to carry out a construction task, for example a drilling task, a cutting task, a grinding task or the like.
  • a tool can also be understood to mean an electric machine tool such as machines for drilling, for example hammer drills, for cutting, for example saws or angle grinders, for grinding, for marking, for measuring or the like.
  • tools for processing rock, for example concrete, and for processing metals, for example steel can be included.
  • the construction robot can have a manipulator.
  • the manipulator can have a multi-axis arm, for example with at least three, preferably at least six degrees of freedom.
  • the construction robot can have a lifting device.
  • the changing interface can be located on an end effector of the manipulator.
  • the construction robot can be designed to carry out construction work on a building construction site, a civil engineering construction site and / or a steel construction construction site, for example an oil drilling platform.
  • It can be set up to carry out construction work on a ceiling, a wall and/or a floor. It can be designed for marking, drilling, cutting, chiselling, grinding and/or setting a component.
  • the construction robot can also have a mobile platform.
  • the mobile platform may include a wheeled chassis and/or a tracked chassis.
  • the mobile platform can have at least two degrees of freedom. It can also be a flight platform.
  • the construction robot can have a total of at least ten degrees of freedom.
  • the construction robot can have a controller.
  • the control can be designed as a computer. It can have a processor, a memory chip and/or a program code that can be executed on the processor.
  • the processor may have one or more subprocessors.
  • the program code can be set up to operate a tool arranged on the change interface when executed on the control.
  • the scope of the invention also includes a method for using an electric tool with a construction robot, wherein at least one parameter of the tool to be used is first automatically determined by the construction robot and then the construction robot operates the tool in accordance with the determined parameter.
  • a detector on the construction robot can be used to determine the parameter.
  • the determination can particularly preferably be carried out by the construction robot querying the parameter from the tool.
  • the query can be done electrically via the tool's interchangeable interface and a battery interface. Alternatively or additionally, the query can be carried out wirelessly, in particular radio-based and/or optically.
  • the parameter can be queried directly or indirectly, in particular by querying an identification code and a subsequent query of a tool database.
  • FIG. 1 is a perspective view of a construction robot with an interchangeable interface and a tool arranged thereon;
  • Fig. 2 is a block diagram of the construction robot and the tool and
  • Fig. 3 is a flowchart of a method.
  • Fig. 1 shows a construction robot 10 with a chassis 12 designed as a tracked chassis, a control room 16 formed in a housing 14 and a manipulator 18 arranged on the top of the housing 14.
  • the manipulator includes a lifting device 17 for vertical displacement and a multiaxially controllable arm 19.
  • a tool 24, in particular a rock drilling machine tool with a dust extraction device 26, is detachably arranged on the interchangeable interface 21.
  • the tool 24 In order to detachably arrange the tool 24 on the changing interface 21, it has a connecting section 22.
  • the change interface 21 is designed for the detachable connection of the connecting section 22 and thus also of the tool 24.
  • the change interface 21 has an electrical connection 28 which can be coupled to a battery interface 30 of the tool 24.
  • the construction robot 10 is thus electrically coupled to the tool 24 via the connection 28.
  • both electrical drive energy to the tool 24 and data can be transmitted bidirectionally from the construction robot 10 to the tool 24 and vice versa.
  • the construction robot 10 has a supply magazine 100.
  • the supply magazine 100 has several storage spaces 102.
  • the tool 24 can be stored at free storage locations 102 for storage and, if necessary, later reuse. Additional elements, for example additional tools, can also be stored in the storage spaces 102 for later use.
  • the end effector 20 there is a detector 32, which includes a camera, for example a color image camera, a black and white camera and / or a 3D camera.
  • the tool 24 has an identification code 34.
  • the identification code 34 may include a data matrix code, for example a barcode, a QR code or an Aruco code.
  • the identification code 34 is shown on a side surface of the tool 24 in FIG. 1. Preferably, however, the identification code 34 is located at a position from which it is visible even when the tool 24 is at one of the storage locations 102.
  • the identification code 34 can be arranged on an end face of the connecting section 22 and/or on a top side and/or on a bottom side of the tool 24.
  • the construction robot 10 has, preferably within the housing 14, a control 36 arranged in the control room 16.
  • the controller 36 includes a memory module 38 and a microprocessor 40.
  • the controller 36 is equipped with executable program code 42.
  • the program code 42 can be called up and is stored in the memory module 38 so that it can be executed on the microprocessor 40.
  • the controller 36 is set up, in particular by means of the program code 42, to move the detector 32 with the aid of the manipulator 18 in such a way that an identification code of a tool to be used by the construction robot 10, for example when it is picked up in one of the storage spaces 102, is in a field of vision of the detector 32 and a recording of the identification code 34 is recorded by the detector 32.
  • the controller 36 is set up, in particular also by means of the program code 42, to recognize the identification code recorded by the detector 32, for example the identification code 34 of the tool 24. Furthermore, the controller 36 is set up to contact a tool database stored in a cloud-based computer system (not shown in FIG. 1) via a communication interface 44 and to query at least one parameter of a tool associated with the identified identification code.
  • the construction robot 10 is thus set up as a whole to automatically set the parameters of the tool, in particular without interaction of a user of the construction robot 10.
  • the construction robot 10 is designed to carry out construction tasks, for example drilling work in ceilings and walls, on a construction site, in particular on a building construction site, a civil engineering construction site and / or on a steel construction construction site such as an oil platform.
  • the controller 36 can control the manipulator 18 in such a way that construction work on ceilings and walls can be carried out.
  • the construction task to be carried out consists of drilling a borehole in a concrete ceiling with the tool 24 designed as a rock drilling machine tool.
  • Fig. 2 shows a block diagram of the construction robot 10 with the tool 24 mounted on it.
  • the identification code 34 it can be brought into the area of a field of view 33 of the detector 32, for example by moving the detector 32.
  • the detector 32 can then take a picture of the identification code 34 and send associated image data to the controller 36. This can be done before the tool 24 is connected to the construction robot 10 via the tool interface 21.
  • the controller 36 with its microprocessor 40, the memory module 38 and the program code 42 stored therein can receive the image data from the detector 32 and in particular identify the identification code 34. Via the communication module 44, it can query at least one parameter 47 of the tool 24 from the tool database 46 based on the identified identification code 34.
  • the identified identification code 34 corresponds to a type of tool 24, i.e. the rock drilling machine tool.
  • the at least one parameter 47 corresponds to a target operating voltage of the tool 24, for example 21.6 V.
  • the construction robot 10 has an on-board voltage of, for example, 48 V for general energy supply. This is provided by an energy source 48, in the exemplary embodiment a lithium-based accumulator and thus a direct voltage source, in the form of a corresponding direct voltage or a corresponding direct current.
  • An energy converter 50 of the construction robot 10 is set up to convert electrical energy for the tool 24 from the direct current provided by the energy source 48 in a form adapted to the tool 24.
  • the shape to be created can be set by the controller 36.
  • the energy converter 50 is set up to generate either direct current or alternating current from the direct current provided.
  • it is set up to set the generated direct voltage or alternating voltage to a value determined by the controller 36.
  • the controller 36 determines the value based on the determined parameter 47.
  • the controller 36 in the illustrated embodiment sets the output voltage generated by the energy converter 50 to 21.6 V DC, generally to the value specified by the parameter 47 and the by this specified type.
  • Fig. 2 it can also be seen that there is a, in particular bidirectional, data connection 51 via the connection 28 and the battery interface 30 to a tool control 52 of the tool 24.
  • Functionalities of the tool 24 can be controlled by the controller 36 via the data connection 51.
  • a control signal for starting or stopping a drive motor 54 of the tool 24 can be transmitted.
  • the tool control 52 can transmit status data, for example a signal indicating a malfunction, to the control 36 via the data connection 51.
  • the drive motor 54 As soon as the drive motor 54 is started by the control signal, it drives a drill 56, for example in a rotating and striking manner, in order to thereby carry out a desired construction task, in this case drilling a borehole with the tool 24.
  • Method 1000 provides a method of using an electric tool with a construction robot.
  • different types of tools can be used by the method 1000.
  • At least one parameter 47 of the tool 24 is determined as part of a determination operation 1010.
  • the parameter can be directly from the tool 24 via optical communication, for example as described above using a detector 32 having a camera, which records an optically perceptible data image, for example a barcode or a QR code.
  • the optically perceptible data image can include an identification code 34, via which the tool database 46 can be queried, and / or the optically perceptible data image can directly contain the at least one parameter.
  • the determination operation 1010 can also take place at such an early point in time through radio-based communication between the construction robot 10 and the tool 24.
  • a check can also be carried out as to whether the tool 24 is at all suitable for carrying out the desired construction task. If necessary, an alternative tool can be used, for example the supply magazine 100. The check is particularly conceivable if the parameter 47 includes a type and/or a functionality of the tool 24.
  • connection operation 1020 the tool 24 is connected to the changing interface 21 of the construction robot 10. If the tool 24 is accommodated in one of the storage spaces 102, the manipulator 18 can be controlled in such a way that the tool interface 21 is guided to the connecting section 22 and, upon contact, the connecting section 22 is locked on the tool interface 21 for secure mechanical fastening of the connecting section 22. Alternatively or additionally, locking can also take place using the battery interface 30.
  • connection 28 and the battery interface 30 of the connecting section 22 have suitable plug connections and sockets, the intended electrical connections can also be made.
  • the tool 24 is operated, in particular in accordance with the determined parameter 47, in order to carry out the desired construction task, in this case in order to drill the desired borehole.
  • the desired construction task in this case in order to drill the desired borehole.

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

Abstract

L'invention concerne un robot de construction (10) comprenant une interface de changement (21) destinée à être raccordée de manière amovible à un outil (24). Le robot de construction (10) présente une interface de changement (21) dotée d'au moins un raccordement électrique (28) pour le raccordement électrique à l'outil (24). Le robot de construction (10) est conçu pour régler au moins un paramètre (47) du raccordement (28), en particulier un paramètre électrique. L' invention concerne en outre un procédé (1000) permettant d'utiliser un outil électrique (24) avec un robot de construction (10). De cette manière, une gamme particulièrement large d'outils (24) peut être utilisée par le robot de construction (10).
PCT/EP2023/070297 2022-08-03 2023-07-21 Robot de construction comprenant une interface de changement adaptable, et procédé WO2024028128A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP22188419.0 2022-08-03
EP22188419.0A EP4316743A1 (fr) 2022-08-03 2022-08-03 Adaptateur d'interface et système comprenant un robot de construction, un adaptateur d'interface et au moins une machine-outil
EP22203860.6 2022-10-26
EP22203860.6A EP4316745A1 (fr) 2022-08-03 2022-10-26 Robot de construction doté d'une interface interchangeable réglable et procédé

Publications (1)

Publication Number Publication Date
WO2024028128A1 true WO2024028128A1 (fr) 2024-02-08

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ID=87468447

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/070297 WO2024028128A1 (fr) 2022-08-03 2023-07-21 Robot de construction comprenant une interface de changement adaptable, et procédé

Country Status (1)

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WO (1) WO2024028128A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180290311A1 (en) * 2015-10-09 2018-10-11 Suryansh CHANDRA Robotic arm with a tool interface comprising an electronically controllable tool attachment
WO2022137017A1 (fr) * 2020-12-21 2022-06-30 Ideativa Srl Ensemble outil pour des robots industriels

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180290311A1 (en) * 2015-10-09 2018-10-11 Suryansh CHANDRA Robotic arm with a tool interface comprising an electronically controllable tool attachment
WO2022137017A1 (fr) * 2020-12-21 2022-06-30 Ideativa Srl Ensemble outil pour des robots industriels

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