This invention deals with a mechanical device for manipulating various tools. More particularly, it concerns a mechanized robot, especially for use in connection with con- struction. In construction, there is a need to carry out various tasks that may be challenging and heavy work for people.

With today's HSSE and efficiency requirements there is a pressing need for solutions that simplify and facilitate the work and can carry out the work faster and with greater safety. The development of robot technology has come a long way and has been adopted in industrial mass production, such as the car industry.

Robotized operations are generally performed by software and a mechanical unit to- gether providing an integrated solution. The software operates the control and can be programmed according to desired operations. The mechanical unit carries the signals from the software unit into effect and is dimensioned for forces and movements that are necessary for the operations to be carried out.

When robotized solutions are used on a production line for mass production, the robot very often performs repeatable sequences. In construction, the need is different. Here, robotized solutions must be easily resettable and adaptable for different tasks within rooms and work areas of different dimensions and layouts. Software for controlling robotized processes is available today and can be used to con- trol and monitor a number of tasks. The software may be equipped with artificial intel ligence to enable the robot to learn from tasks performed. Software that scans a room or an area may be turned to good account in a robot processor and be used to control the robot with automatic anti-collision so that arms on the robot do not come into con- flict with surrounding structures. Scanning data may also be used to control work processes that are to be performed by the robot.

Communication between the machine and the operator must be very simple and user- friendly as the operator will often be a craftsman who cannot be expected to have special knowledge of programming and computer technology.

The invention has for its object to remedy or at least arrange for a reduction in one or more of the drawbacks of manual operations in construction.

The tool-manipulating robot that is provided comprises a carriage unit arranged with tracks or wheels for use when moving the robot. The tracks or wheels are made in accordance with the state of the art in this field and are preferably activated by elec- tromotors. The carriage is stabilized inside a room by means of a scissors device which is extended and clamps the carriage between the ceiling and the floor.

On top of the carriage, an adapter rotatable around the vertical axis is arranged, which can be rotated through 360 degrees by means of electromotors. On this adapt- er, arranged through adapters and articulations, there are two arms connected by an articulation so that, by means of gears and electromotors, the arms can be given an angular rotation relative to each other. The outer arm is provided with two or more angular members rotatable relative to each other around the longitudinal axes of the members. By varying angular disalignment of the arms, combined with rotation of the angular members relative to each other, the outer member with a tool holder may be given a number of positions to adjust the tool into the desired angle and position against the attacked surface. The robot is provided with a tool holder which enables the connection of different tools in a robust and simple way.

The robot is arranged for employing modern software and with an operator's panel for wireless operation. Software that can scan a room or a surface and use this info to determine the location of works may be integrated into the robot.

A robot device for use especially in construction is also described, the robot being built with a carriage arranged with a transport device consisting of tracks or wheels and with an adapter, rotatable around its axis, with articulated connection to the structure and further through the articulation with the motor to the rotatable angular members, there being arranged, centrically around the axis, a scissors device extendable from the carriage and consisting of steel strings connected with articulations and arranged with an adapter rotatable around the axis. In one embodiment, the angular members may be rotatable relative to each other around the axes through rotary joints with bearings and motors.

In one embodiment, on the angular member, a tool holder for the connection of tools is arranged, in which the abutment surfaces and threads can be rotated relative to each other around the axis by means of two parallel planetary gears sharing a rotata- ble ring gear. One of the sun wheels is connected to the threads and the other sun wheel connected to the adapter with the planet carrier fixedly connected to the struc- ture and the planet carrier rotatable by means of the toothing in engagement with the motor through the toothed wheels. In what follows, an example of a preferred embodiment is described, which is visual- ized in further detail in the accompanying drawings, in which:

Figure 1 shows the robot placed inside a closed room;

Figure 2 shows the robot seen from above through the line A-A of figure 1; Figure 3 shows the robot folded up and seen from the side; Figure 4 shows the robot folded up and seen from above; Figure 5 shows an angle-bend structure with rotary connections; Figure 6 shows a section through the angle-bend structure with rotary connec- tions as seen through the line A-A of figure 5;

Figure 7 shows a detail D of figure 6; Figure 8 shows a detail C of figure 6; Figure 9 shows a detail D of figure 6; Figure 10 shows the tool holder and a tool; Figure 11 shows the tool holder seen from above; Figure 12 shows a section through the tool holder with the rotation unit as seen through the line B-B of figure 11;

Figure 13 shows the tool holder seen from above;

Figure 14 shows the tool holder seen from the side; Figure 15 shows a section through the tool holder;

Figure 16 shows the section D-D of figure 15;

Figure 17 shows the section C-C of figure 15;

Figure 18 shows the section E-E of figure 15, and

Figure 19 shows an "exploded" drawing of the tool holder.

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 con- sisting of tracks 5 or wheels which are activated by electromotors.

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.

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 connect- ed to an angular member 18 through a bearing 26 activated by a motor 32.

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 con- nects the rotation of the motor 32 to the angular member 18.

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 angu- lar member 31, a tool holder 19 rotatable around an axis 36 by means of a motor 37 is arranged.

The connection between the tool holder 19 and a tool 45 is made by the tool 45 hav- ing 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.

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 rotata- bly supported around an axis 36 with bearings 70 on an outer structure 60.

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.