TOOL ROBOT FOR USE IN CONSTRUCTION

Abstract

A tool robot is for use in construction. The tool robot has a carriage with tracks or wheels for transporting the tool robot; a first adapter connected to the carriage and rotatable around an axis; a structure connected to the first adapter; and an arm connected to the structure. The arm is arranged to hold a tool. An extendable scissors device is connected to the carriage centrically around the axis. The scissors device has steel strings with articulations and a second adapter rotatable around the axis relative to the scissors device.

Claims

1. A tool robot for use in construction, the tool robot comprising: a carriage with tracks or wheels for transporting the tool robot; a first adapter connected to the carriage and rotatable around an axis; a structure connected to the first adapter; an arm connected to the structure, the arm being arranged to hold a tool; wherein an extendable scissors device is connected to the carriage centrically around the axis, the scissors device comprising steel strings with articulations and a second adapter rotatable around the axis relative to the scissors device.

2. The tool robot according to claim 1, wherein the structure is connected to the first adapter by a first motorized articulation and the arm is connected to the structure by a second motorized articulation.

3. The tool robot according to claim 1, wherein the arm comprises several sections interconnected by motorized rotary joints for the rotation of each section around respective axes.

4. The tool robot according to claim 3, wherein each section is formed with an angle so that the respective axes are not oriented parallel.

5. The tool robot according to claim 1, wherein, at a free end, the arm includes a tool holder with an abutment surface and a threaded portion rotatable relative to the abutment surface.

6. The tool robot according to claim 5, wherein the tool holder has two parallel planetary gears and a motor, a first planetary gear being connected to the threaded portion and a second planetary gear being connected to the motor via an adapter.

7. The tool robot according to claim 6, wherein the two parallel planetary gears comprise a shared rotatable ring gear, a first sun wheel being connected to the threaded portion and a second sun wheel being connected to the adapter with a first planet carrier fixedly connected to a structure, and a second planet carrier being rotatable by means of a toothing in mesh with a motor via toothed wheels.

8. The tool robot according to claim 2, wherein the arm comprises several sections interconnected by motorized rotary joints for the rotation of each section around respective axes.

9. The tool robot according to claim 2, wherein, at a free end, the arm includes a tool holder with an abutment surface and a threaded portion rotatable relative to the abutment surface.

10. The tool robot according to claim 3, wherein, at a free end, the arm includes a tool holder with an abutment surface and a threaded portion rotatable relative to the abutment surface.

11. The tool robot according to claim 4, wherein, at a free end, the arm includes a tool holder with an abutment surface and a threaded portion rotatable relative to the abutment surface.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In what follows, an example of a preferred embodiment is described, which is visualized in further detail in the accompanying drawings, in which:

[0018] FIG. 1 shows the robot placed inside a closed room;

[0019] FIG. 2 shows the robot seen from above through the line A-A of FIG. 1;

[0020] FIG. 3 shows the robot folded up and seen from the side;

[0021] FIG. 4 shows the robot folded up and seen from above;

[0022] FIG. 5 shows an angle-bend structure with rotary connections;

[0023] FIG. 6 shows a section through the angle-bend structure with rotary connections as seen through the line A-A of FIG. 5;

[0024] FIG. 7 shows a detail D of FIG. 6;

[0025] FIG. 8 shows a detail C of FIG. 6;

[0026] FIG. 9 shows a detail B of FIG. 6;

[0027] FIG. 10 shows the tool holder and a tool;

[0028] FIG. 11 shows the tool holder seen from above;

[0029] FIG. 12 shows a section through the tool holder with the rotation unit as seen through the line B-B of FIG. 11;

[0030] FIG. 13 shows the tool holder seen from above;

[0031] FIG. 14 shows the tool holder seen from the side;

[0032] FIG. 15 shows a section through the tool holder;

[0033] FIG. 16 shows the section D-D of FIG. 15;

[0034] FIG. 17 shows the section C-C of FIG. 15;

[0035] FIG. 18 shows the section E-E of FIG. 15, and

[0036] FIG. 19 shows an “exploded” drawing of the tool holder.

DETAILED DESCRIPTION OF THE DRAWINGS

[0037] In the figures, the reference numeral 1 indicates a closed room with a door opening 2, in which a robot 3 is placed, consisting of a carriage 4 having a transport device consisting of tracks 5 or wheels which are activated by electromotors.

[0038] Arranged on the carriage 4, there are stabilizers 7 attached to the carriage with adapters 6. The stabilizers 7 are activated by electric or hydraulic activation devices 8. On top of the carriage 4, an adapter 10 rotatable around the vertical axis 9 is placed, supported on the carriage 4 by bearings and activated by electric or hydraulic motors of known designs. On the rotatable adapter 10, an extendable scissors device 11 is arranged, electronically activated and having an adapter 12 freely rotatable around the vertical axis 9 to stabilize the robot 3 between a firm overhead surface 22 and a lower surface 28. The scissors device 11 consists of steel strings 14 with articulations. The scissors device 11 is a necessary functionality for achieving sufficient stability when the robot 3 is to perform operations at a large distance from the vertical axis 9.

[0039] On the adapter 10, a frame structure 16 is arranged, rotatable around an articulation 23 and activated by a motor and gears. An arm 17 is connected to the frame structure 16 through an articulation 75 activated by a motor 20. The arm 17 is further connected to an angular member 18 through a bearing 26 activated by a motor 32.

[0040] A bearing 33 provides for rotary support around the axis 40 between the arm 17 and the angular member 18. The bearing 33 is protected by seals 34. An adapter 35 connects the rotation of the motor 32 to the angular member 18.

[0041] The angular member 18 is rotationally supported on the angular member 31 through a bearing 30 constructed in a way corresponding to that of the bearing 26. On the angular member 31, a tool holder 19 rotatable around an axis 36 by means of a motor 37 is arranged.

[0042] The connection between the tool holder 19 and a tool 45 is made by the tool 45 having abutment surfaces 41 and threads 43 corresponding to those of the tool holder 19. By rotating the threads 43 relative to abutment surfaces 41, the tool 45 is pulled in and locked.

[0043] Rotation of the threads 43 relative to the abutment surfaces 41 is achieved through two parallel planetary gears, one planetary gear being connected to the threads 43 and the other to an adapter 46 and connected to the motor 37. A sun wheel 51 is an integrated part of the threads 43 and is the sun wheel of the second planetary gear integrated in the adapter 46. Planet wheels 52 are supported in independent planet carriers 54, 53, a first planet carrier 54 being attached to an outer structure 60 and a second planet carrier 53 being rotatably supported around the adapter 46 so that it can be rotated by means of a motor 58 and toothed wheels 57, 62 in mesh with a toothing/ring gear 65. The ring gear 65 is shared by the two planetary gears rotatably supported around an axis 36 with bearings 70 on an outer structure 60.

[0044] By rotating the second planet carrier 53 relative to the first planet carrier 54, the threaded portion 43 can rotate relative to the abutment surfaces 41 while, at the same time, the threaded portion 43 and abutment surfaces 41 can be rotated around the axis 36 by means of the motor 37. A tool 45 may then be fitted to the tool holder 19 and then rotated freely around the axis 36, a necessary function when the tool 45 is to be positioned in relation to a desired function.