US 11,986,888 B2
Mobile robotic drilling apparatus and method for drilling ceilings and walls
Havard Halvorsen, Sogndal (NO); Tom Asle Henninge, Oslo (NO); and Konrad Fagertun, Oslo (NO)
Assigned to HILTI CORPORATION, Principality of Liechtenstein (LI)
Appl. No. 15/522,951
Filed by NLINK AS, Sogndal (NO)
PCT Filed Oct. 27, 2015, PCT No. PCT/EP2015/074815
§ 371(c)(1), (2) Date Apr. 28, 2017,
PCT Pub. No. WO2016/066615, PCT Pub. Date May 6, 2016.
Claims priority of application No. 1419182 (GB), filed on Oct. 28, 2014.
Prior Publication US 2018/0326507 A1, Nov. 15, 2018
Int. Cl. B23B 39/14 (2006.01); B23B 39/08 (2006.01); B25H 1/00 (2006.01); B08B 15/04 (2006.01)
CPC B23B 39/14 (2013.01) [B23B 39/08 (2013.01); B25H 1/0035 (2013.01); B08B 15/04 (2013.01); Y10S 408/712 (2013.01); Y10T 408/935 (2015.01)] 12 Claims
OG exemplary drawing
 
1. A robotic drilling apparatus which has been adapted for drilling holes in ceilings and walls on a construction site, the apparatus comprising:
a robotic arm mounted to a substructure, the substructure comprising a lifting mechanism arranged to lift the robotic arm to a working position,
wherein the substructure is mounted on caterpillar tracks,
wherein the robotic arm has a base end and a movable end, the base end being mounted to an upper surface of the lifting mechanism and the movable end being capable of movement with respect to the base end in a three dimensional space,
wherein the robotic drilling apparatus further comprises a mount provided on the movable end for holding a drilling device and a control unit for controlling the operation of the robotic arm,
wherein the robotic arm includes a plurality of segments configured to pivot and/or rotate with respect to each other to enable the drilling device to be maneuvered about six axes, and
wherein the robotic drilling apparatus further includes at least two reflector prisms mounted on the robotic arm to provide a reference for measuring a position and/or orientation of the robot arm relative to a surface to be drilled.