Construction Robot with Changeover Interface, Parts System and Method For Arranging A Parts System On The Changeover Interface

Abstract

A construction robot (10), in particular for performance of building construction work, including a manipulator (18), a changeover interface (21) arranged on the manipulator (18) and configured for releasable arrangement of at least one element, in particular a tool (24) and/or a component to be processed, on the manipulator (18). A test device (104) which is configured for quality testing of the changeover interface (21), safety risks on use of the construction robot (10) can be minimized.

Claims

1-11. (canceled)

12. A construction robot comprising: a manipulator; a changeover interface arranged on the manipulator and configured for releasable arrangement of at least one element on the manipulator; and a test device configured for quality testing of the changeover interface, or a connecting portion test device.

13. The construction robot as recited in claim 12 further comprising at least one storage magazine configured to provide the at least one element.

14. The construction robot as recited in claim 12 wherein the storage magazine is configured to provide the element for arrangement on the changeover interface.

15. The construction robot as recited in claim 12 wherein the test device is configured for the quality testing of the changeover interface and includes an optical test component.

16. The construction robot as recited in claim 15 further comprising an image processing logic configured to receive optical data from the optical test component and determine at least one quality feature of the changeover interface from the optical data.

17. The construction robot as recited in claim 16 wherein the optical data is image data.

18. The construction robot as recited in claim 12 wherein the test device is configured for the quality testing of the changeover interface and includes a mechanical test component.

19. The construction robot as recited in claim 12 wherein the mechanical test component is configured to generate a mechanical resistance force so that the element when held in the storage magazine is only removable against the resistance force.

20. The construction robot as recited in claim 12 wherein the robot a building construction robot.

21. The construction robot as recited in claim 12 wherein the element is a tool or a component to be processed.

22. The construction robot as recited in claim 12 wherein the test device is configured for the quality testing of the changeover interface and includes an electrical test component.

23. A parts system comprising: an element having a connecting portion configured for releasable connection to the changeover interface of a construction robot as recited in claim 12.

24. The parts system as recited in claim 23 wherein the element is a tool or a component to be processed.

25. A method for arranging the parts system as recited in claim 23 to the changeover interface, method comprising at least the steps of: a) testing of a quality property of the parts system or the changeover interface via the connecting portion test device or the test device; and b) arranging the parts system on the changeover interface.

26. The method as recited in claim 25 wherein at least one test is carried out by a mechanical test component and at least one test is carried out by an optical test component.

27. The method as recited in claim 25 wherein a test is carried out by an optical test component, wherein the changeover interface is moved into at least two different positions relative to the optical test component.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0057] FIG. 1 shows a perspective view of a construction robot:

[0058] FIGS. 2 and 3 show side views of a manipulator with the changeover interface, by means of which a tool is to be removed from a storage magazine having a mechanical test component:

[0059] FIGS. 4 and 5 show top views of a connecting portion and a changeover interface which both show signs of wear:

[0060] FIGS. 6 and 7 each show a manipulator, a changeover interface, a storage magazine and a test device in perspective illustration; and

[0061] FIG. 8 shows a method.

DETAILED DESCRIPTION

[0062] In the following description of the figures, comprehension of the invention is facilitated by use of the same reference signs in each case for identical or functionally corresponding elements.

[0063] FIG. 1 shows a construction robot 10 with an undercarriage 12 designed as a track-chain undercarriage, a control space 16, formed in a housing 14, and a manipulator 18 arranged on top of the housing 14. The manipulator comprises a lifting device 17 for vertical displacement and a multiaxially controllable arm 19.

[0064] An end effector 20 with a changeover interface 21 is situated at the free end of the arm 19.

[0065] A tool 24, in particular a rock drill machine tool with a dust extraction device 26, is arranged on the changeover interface 21.

[0066] In order for the tool 24 to be releasably arranged on the changeover interface 21, it has a connecting portion 22. The changeover interface 21 is configured for releasable connection of the connecting portion 22 and hence also of the tool 24.

[0067] The manipulator 10 may comprise further devices, e.g. a prism, a paint spray device, a distance meter, a position and/or orientation determination logic, a camera and/or similar, although these are not shown in FIG. 1 for reasons of simplicity.

[0068] The construction robot 10 is designed for performing construction tasks, for example drilling work in ceilings and walls, on a construction site, in particular on a building construction site.

[0069] The construction robot 10 furthermore comprises a storage magazine 100. The storage magazine 100 has multiple deposit sites 102. Elements such as e.g. tools, for example the tool 24, and/or components required for construction tasks to be performed, may be deposited at the deposit sites 102.

[0070] In addition to the manipulator 18 for performing the construction tasks assigned to the construction robot 10, the construction robot 10 has a computer unit 27 arranged in the control space 16, in particular inside the housing 14. The computer unit 27 comprises a memory unit 28.

[0071] The computer unit 27 is equipped with executable program code. The program code may be stored in the memory unit 28 so as to be retrievable and executable. It may be configured to control the manipulator 18 so that one of the elements of the storage magazine 100 may in particular be removed from and/or deposited on one of the deposit sites 102 of the storage magazine 100.

[0072] Furthermore, the construction robot 10 has a test device 104, in particular on the storage magazine 100. The test device 104 is configured for quality testing of the changeover interface 21. For this purpose, it has an optical test component 106. The optical test component 106 comprises an image capture unit in the form of a color image camera. It may for example be oriented vertically upward so that it can capture images of the changeover interface 21 when the end effector 20 is brought into a position above the optical test component 106. An image processing logic 108, which is configured to compare one or more of the images with nominal depictions of the changeover interface and from this identify possible faults such as e.g. wear phenomena, dust or similar, is implemented in the computer unit 27, in particular by means of the program code. The image processing logic 108 is part of the test device 104.

[0073] FIGS. 2 to 7 described below show components of alternative embodiments. Unless described otherwise, these components may be used on the above-described construction robot 10 as an alternative to the corresponding components thereof. In particular, it is conceivable to use different types of the alternative components described below in combination with a construction robot 10.

[0074] FIGS. 2 and 3 show schematically a storage magazine 100 with a deposit site 102.

[0075] An element, in particular a tool 24, is arranged at the deposit site 102.

[0076] The tool 24 has a connecting portion 22 for releasable connection to a changeover interface 21 arranged on an end effector 20 of a manipulator 18. The connecting portion 22 has a magnetizable plate, for example made of magnetizable steel.

[0077] The element, i.e. the tool 24, and the connecting portion 22 form a parts system 50.

[0078] A mechanical test component 106a is arranged on the storage magazine 100. The mechanical test component 106a has a magnet 107. The magnet 107 generates a resistance force FW, which is directed downward in the case illustrated in FIG. 2 and FIG. 3 and which supplements the weight force FG to retain the tool 24 in the deposit site 102. To pick up the tool 24, the manipulator 18 must therefore apply a release force FL which corresponds at least to the sum of the resistance force FW and the weight force FG, and is directed against the resultant of these two forces FW, FG. The changeover interface 21 is configured such that, when the element or tool 24 is correctly arranged on the changeover interface 21, at least the necessary release force can be transmitted so that when properly arranged, the tool can be successfully removed from the deposit site 102.

[0079] When the end effector 20 is moved vertically upward, wherein at least the release force FL is generated, the tool 24 or the parts system 50 can thus be removed from the deposit site 102.

[0080] FIG. 3 shows a situation corresponding to FIG. 2 but with the difference that the changeover interface 21 is soiled with dust 110. The tool 24 cannot therefore be properly connected to the changeover interface 21 via the connecting portion 22. In particular, the necessary release force FL can no longer be transmitted to the connecting portion 22 via the changeover interface 21.

[0081] When the end effector 20 is moved vertically upward, the connecting portion 22 detaches from the tool interface 21. The tool 24 or the parts system 50 cannot therefore be removed from the deposit site 102.

[0082] The tool 24 thus remains at the deposit site 102, whereby safety riskse.g. by accidental detachment of the connecting portion 22 from the changeover interface 21 during performance of a construction taskcan again be reduced or even avoided.

[0083] FIGS. 4 and 5 show top views of a connecting portion 22 (FIG. 4) and a changeover interface 21 (FIG. 5) which both show signs of wear. For clarification, the wear-affected points in FIG. 4 and FIG. 5 are highlighted with ellipses.

[0084] Such wear can be identified by means of optical test components, exemplary embodiments of which will be explained in more detail below.

[0085] FIG. 6 shows a manipulator 18 with an end effector 20 on which, again, a changeover interface 21 is formed. A test device 104 is arranged on a storage magazine 100 with multiple deposit sites 102.

[0086] The test device 104 has an optical test component 106. The optical test component 106 comprises amongst others a color image camera.

[0087] FIG. 6 shows schematically a field of view 112 of the optical test component 106. In the position of the manipulator 18 shown in FIG. 6, the optical test component 106 may thus capture images of the changeover interface 21. These may be analyzed in an image processing logic of the test device 104, for example as described above, so that any safety risks can be identified.

[0088] FIG. 7 shows a further manipulator 18 with an end effector 20 on which, as well as a changeover interface 21, a further optical test component 106 is arranged which may correspond to the above-described optical test component 106 according to FIG. 6.

[0089] The optical test component 106 comprises a color image camera.

[0090] In the position of the manipulator 18 shown in FIG. 7, the field of view 112 of the optical test component 106 contains a connecting portion 22 of a tool 24 situated at a deposit site 102.

[0091] A connecting portion test device 114 is formed by the optical test component 106 together with a computer unit 27 (see FIG. 1). For this, the computer unit 27 is configured to analyze images provided by the optical test component 106 with respect to deviations of the connecting portion 22 from a nominal connecting portion, and thereby identify any safety risks in the connection of the connecting portion 22 to the changeover interface 21.

[0092] The tool 24 and its connecting portion 22 in turn form a parts system 50.

[0093] FIG. 8 shows a method 1000 for arranging a parts system on a changeover interface of a construction robot of the type described above.

[0094] The method 1000 is explained in more detail using the reference signs introduced above for components of the construction robot 10. For example, the construction robot 10 forming the basis of the description has a test device 102 with a mechanical test component 106a according to FIG. 2 and FIG. 3, and a connecting portion test device 114 with an optical test component 106 according to FIG. 7.

[0095] In a first method phase 1010, the connecting portion 22 of the tool 24, and hence also of the parts system 50, is tested for deviations from the nominal. In particular, the connecting portion 22 is tested for a quality property with respect to the presence of soiling, such as e.g. dust. In case of fault, a fault rectification 1040 takes place.

[0096] Firstly, in a coupling phase 1020, the changeover interface 21 is moved up to the connecting portion 22 of the parts system 50 by means of the manipulator 18. The changeover interface 21 is coupled to the connecting portion 22 and hence arranged on the parts system 50, in particular on the tool 24.

[0097] In a subsequent test phase 1030, it is tested whether the tool 24 is correctly coupled. For this, the manipulator 18 and hence the changeover interface 21 are moved away from the storage magazine 100. During this process, the release force FL is determined.

[0098] If the release force FL lies below a minimum release force to be expected depending on the resistance force FW and the type of tool, this indicates an incorrect coupling of the connecting portion 22 or tool 24 to the changeover interface 21. In this case too, a fault rectification 1040 takes place.

[0099] The fault rectification 1040 may consist of multiple steps. In particular, it may comprise a first fault treatment wherein, by means of a cleaning device e.g. a brush roller, firstly an attempt is made to clean the changeover interface 21 or connecting portion 22.

[0100] If a subsequent test again fails, a second fault treatment may be provided, during which an indicator signal is sent to a user of the construction robot 10 to rectify the fault manually.

[0101] It is conceivable, e.g. for documentation purposes, to store at least one of the results of the tests in the memory, and/or transmit this to a further computer unit, e.g. a cloud-based computer unit, for storage and/or further processing there.

[0102] It is also conceivable to carry out further tests. For example, an electrical test of an electrical resistance may be made in order to check whether one or more electrical connections between the changeover interface 21 and the connecting portion 22 have been properly created.

[0103] If the two tests in phases 1020, 1030 are successful, in a performance phase 1050, a desired construction task is performed with the tool 24 situated on the tool interface 20.

[0104] For example, one or more holes may be drilled with the tool 24 configured as a rock drill machine tool.