A robot system for maintenance of a building façade with an irregular façade surface is provided. The robot system includes a platform cooperating with a least four pairs of cables for positioning the platform at a distance from a building façade. At least one robot arm is situated on the platform, and includes an adaptor positioned at a distal end thereof for holding and manipulating a building façade maintenance tool. An actuator drives the cables to move the platform to any arbitrary position along the building façade. A controller cooperates with the actuator to instruct the actuator to drive the cables and to control movement of the robot arm, such that driving the actuator and movement of the robot arm is coordinated by the controller; any position deviations in the platform are compensated for by positioning or movement of the robot arm.
SYSTEM AND METHOD FOR BUILDING FAÇADE CLEANING AND PAINTING WITH A DUAL CABLE-DRIVEN ROBOT
2021-06-17
Patent
Electronic Resource
English
IPC: | E04G SCAFFOLDING , Baugerüste / B05C Vorrichtungen zum Aufbringen von Flüssigkeiten oder von anderen fließfähigen Stoffen auf Oberflächen allgemein , APPARATUS FOR APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL / B25J Manipulatoren , MANIPULATORS / B66D Haspeln , CAPSTANS / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE |
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