Patent Application
20240102297
The present invention relates to a method for covering a wall and a mobile robot for placing supports on a wall. It applies, in particular, to the real estate and property renovation fields.
The installation of cladding and facade insulation requires the installation of scaffolding or scissor lifts so that human operators can access all the surfaces of the building to be covered. This results in high production costs, risks of accidents and falls, sometimes fatal, and a lengthy time onsite, with the consequent disturbances.
This invention aims to remedy all or part of these drawbacks.
The present invention makes it possible to decide on the position of point supports by a geometric survey of the facade, and then prefabricate the point supports and facade elements in the factory, thereby facilitating the pose. In addition, the present invention makes it possible to assemble the facade elements starting from the ground by sliding them from one point support to the next. The preparation, placing and assembly of the facade are therefore made easier and secure.
More generally, the present invention enables the placing of any element in the construction field, e.g. the installation of ducts, channels or collars for the passage of water, ventilation, gas or electricity networks.
Lastly, the placing of the supports is automated and made extremely accurate through the use of the mobile robot. Human intervention is therefore reduced.
Other advantages, aims and particular features of the invention will become apparent from the non-limiting description that follows of at least one particular embodiment of the point support, facade covering element, mobile robot and method that are the subjects of the present invention, with reference to drawings included in an appendix, wherein:
The present description is given in a non-limiting way, in which each characteristic of an embodiment can be combined with any other characteristic of any other embodiment in an advantageous way.
As can be seen from reading the present description, different inventive concepts can be implemented by one or more methods or devices described below, several examples of which are given here. The actions or steps carried out in the framework of realising the method or device can be ordered in any appropriate way. As a consequence, it is possible to construct embodiments in which the actions or steps are carried out in a different order from the one shown, which can include executing some acts simultaneously, even if they are presented as sequential acts in the embodiments shown.
The indefinite articles “one” or “a”, as used in the description and in the claims, must be understood as meaning “at least one”, except when the contrary is clearly indicated.
The expression “and/or”, as it is used in the present document and in the claims, must be understood as meaning “one or other, or both” of the elements thus connected, i.e. elements that are present conjunctively in some cases and disjunctively in other cases. The multiple elements listed with “and/or” must be interpreted in the same way, i.e. “one or more” of the elements thus connected. Other elements can possibly be present, other than the elements specifically identified by the clause “and/or”, whether or not they are linked to these specifically identified elements. Therefore, as a non-limiting example, a reference to “A and/or B”, when it is used in conjunction with open-ended language such as “comprising”, can refer, in one embodiment, to A only (possibly including elements other than B); in another embodiment, to B only (possibly including elements other than A); in yet another embodiment, to A and B (possibly including other elements); etc.
As used here in the description and in the claims, “or” must be understood as having the same meaning as “and/or” as defined above. For example, when separating elements in a list, “or” or “and/or” must be interpreted as being inclusive, i.e. the inclusion of at least one, but also of more than one, of a number or a list of elements, and, optionally, of additional elements not listed. Only the terms clearly indicating the contrary, such as “only one of” or “exactly one of”, or, when they are used in the claims, “consisting of”, refer to the inclusion of a single element of a number or a list of elements. In general, the term “or” as it is used here must only be interpreted as indicating exclusive alternatives (i.e. “one or the other, but not both”) when it is preceded by exclusivity terms, such as “either”, “one of”, “only one of”, or “exactly one of”.
As used here in the present description and in the claims, the expression “at least one”, in reference to a list of one or more elements, must be understood as meaning at least one element chosen from among one or more elements in the list of elements, but not necessarily including at least one of each element specifically listed in the list of elements and not excluding any combination of elements in the list of elements. This definition also allows the optional presence of elements other than the elements specifically identified in the list of elements to which the expression “at least one” refers, whether or not they are linked to these specifically identified elements. Therefore, as a non-limiting example, “at least one of A and B” (or, equivalently, “at least one of A or B” or, equivalently, “at least one of A and/or B”), can refer, in one embodiment, to at least one, possibly including more than one, A, with no B present (and possibly including elements other than B); in another embodiment, to at least one, possibly including more than one, B, with no A present (and possibly including elements other than A); in yet another embodiment, to at least one, possibly including more than one, A and at least one, possibly including more than one, B (and possibly including other elements); etc.
In the claims, and also in the description below, all the transitive expressions such as “comprising”, “including”, “bearing”, “having”, “containing”, “involving”, “made of”, “formed of” and others, must be understood as being open, i.e. meaning including, but not limited to. Only the transitive expressions “consisting of” and “consisting essentially of” must be understood as closed or semi-closed expressions, respectively.
Note that the figures are not to scale.
In the present description, the term “point support” refers to a support for making a discrete attachment, i.e. there is no continuous element between two fastenings to a wall. In other words, the forces are transmitted from a facade covering element to a point support at the location where said support is attached to the facade, it is the facade covering element that forms the structure between two point supports.
Conversely, a rail can be considered to be a longitudinal or linear support. In a rail, the forces are transmitted from the facade covering element to the support over a line segment.
A U-shape is a profile whose cross-section comprises two parallel arms connected by a junction, perpendicular to these arms.
It is also noted that a robot is an appliance that, thanks to an automatic control system based on a microprocessor, carries out a specific task, which it has been designed for, in the industrial, scientific or domestic field (definition by the French National Centre of Lexical and Textual Resources: “Centre National de Ressources Textuelles et Lexicales”, acronym CNRTL).
Throughout the description, the term “upper” or “top” refers to being located at, or oriented towards, the top, in
In the rest of the description, the robot, the method and the point supports are detailed with regard to the covering of facades. However, these elements can be applied to the placing of construction elements, e.g. a wall, a post, a column or a beam, on any surface, curved or not. Preferably, the surface is out of an operator's reach.
The point support 100 comprises an attachment means 101 for attaching the point support 100 to a facade 400.
In the embodiment shown, the attachment means 101 has an ovoid shape, and comprises two holes 122 for fastening to the facade 400. During the fastening of the point support 100 to the facade 400, the holes 122 are positioned opposite a hole pierced or drilled in the facade 400. Preferably, the point support 100 is fastened to the facade 400 by means of a knock-in pin. The bored or drilled hole can be equipped with a stud. A screw (not shown) is then inserted into the holes 122 and bears against a shoulder of the hole 122 in a way known to the person skilled in the art for threading into the stud and thus clamping the attachment means 101 to the facade 400.
In
In other embodiments, the attachment means 101 can be any attachment means known to the person skilled in the art, such as elements for receiving a nail, glue or a rivet.
The attachment means 101 comprises two parallel flat surfaces, one being configured to be positioned against the facade 400, the other comprising two rods, 102 and 103, with parallel axes, for guiding the fastening means of the point support 100. The rods, 102 and 103, preferably have a circular cross-section. In the embodiment shown, the cross-section of the rod 102 has a smaller diameter than the diameter of the cross-section of the rod 103. Alternatively, the diameters of the cross-sections of the rods 102 and 103 can be equal, or the cross-section of the rod 102 can have a larger diameter than the cross-section of the rod 103.
The guide rods, 102 and 103, are configured to guide the fastening means in translation along the axis of said rods, 102 and 103, as the fastening means is brought closer to the facade 400.
The fastening means comprises bores, 104 and 105, with cross-sections matching the rods, 102 and 103, respectively. The axes of the bores, 104 and 105, are coaxial to the axes of the rods, 102 and 103, when the point support 100 is assembled. In the embodiments, the attachment means 101 comprises a single rod 103, the fastening means comprises a single bore 105.
Preferably, each bore, 104 and 105, is inside a tapered conical tube fastened to a plate 106, for example by welding.
The plate 106 consists of different elements whose dimensions and orientations have been obtained by folding. The plate 106 comprises at least:
The flat surfaces of the plate 106 are square or rectangular, for example.
In some preferred embodiments, shown in
The rail, 106, 107 and 109, is obtained by folding fins, 107 and 109, arranged on opposite sides of the plate 106. The fins, 107 and 109, are folded along an angle of 90 degrees relative to the plate 106 towards the outside, i.e. away from the second flat surface of the plate 106. Preferably, before folding each fin, 107 or 109, has a trapezoid shape whose largest base matches the side of the plate 106 to which the fin, 107 or 109, is joined. The smallest base of the trapeze comprises teeth or notching, 108 and 110 respectively, for bearing a wheel, track or belt 504 of the mobile robot 500.
The teeth or notching, 108 and 110, has a symmetric profile, preferably trapezoidal or rounded trapezoidal. In this way, the ascent and descent of the mobile robot 500 are facilitated while preventing the mobile robot 500 from slipping.
The plate 106 and the fins, 107 and 109, form a U-shaped rail. Preferably, the rail follows a vertical path when the point support 100 is fixed to the facade 400.
The plate 106 comprises at least one guide flare, 111, 112 and 113 and/or 114, 115 and 116, of the mobile robot 500 in the axis of the rail, 106, 107 and 109.
Each guide flare, 111, 112 and 113 and/or 114, 115 and 116, is configured to guide the mobile robot 500 between the fins, 107 and 109. Preferably, the guide flares, 111, 112 and 113 and/or 114, 115 and 116, 111 to 113 and/or 114 to 116, are configured to guide at least one guide rail, 502 or 503, of the mobile robot 500 against the plate 106.
The guide flares 111, 112 and 113 and/or 114, 115 and 116, are positioned on two opposite sides of the plate 106 that do not comprise fins, 107 or 109.
Each guide flare, 111, 112 and 113 and/or 114, 115 and 116, has a rectangular shape of which one central portion, 111 or 114, is connected to the plate 106. The central portion, 111 or 114, is folded towards the inside of the plate 106 and forms an angle of less than 45 degrees with the plate 106. The central portion, 111 or 114, is configured for centring the mobile robot by moving it away from the facade 400 if necessary.
The central portion, 111 or 114, comprises two guides, 112 and 113, or 115 and 116, located either side of the central portion, 111 or 114, on sides adjacent to the side of the central portion, 111 or 114, connected to the plate 106.
The guides, 112 and 113, or 115 and 116, form a guide in the continuation of the fins, 107 and 109. In other words, 112 and 113, or 115 and 116, and the fins, 107 and 109, are configured for centring the mobile robot 500 relative to the plate 106, in a plane parallel to the plate 106.
The guides, 112 and 113, or 115 and 116, are formed by folding each flare at an angle of about 90 degrees towards the outside, i.e. towards the second flat surface of the plate 106.
Preferably, the plate 106, the fins, 107 and 109, and the guide flares, 111, 112 and 113 and/or 114, 115 and 116, have the same plane of symmetry through the axes of the bores, 104 and 105.
For access to the hole 122, the central portion 111 of the guide flare, 111, 112 and 113, comprises a semi-circular hole 123 with dimensions at least equal to those of an orthogonal projection of the hole 122 on the central portion 111 once folded.
The first toothed wheel 117 equipped with a non-return ratchet 124 is positioned against the plate 106, on the second flat surface of the plate 106. Preferably, the first toothed wheel 117 has an axis of rotation coaxial to the axis of rotation of the non-return ratchet 124. The axis of the first toothed wheel 117 can pass through the centre of gravity of the plate 106. The first toothed wheel 117 comprises a toothed wheel with dimensions smaller than the dimensions of the coaxial first toothed wheel. The non-return ratchet 124 comes to rest against a tooth of said toothed wheel 117.
The non-return ratchet 124 is configured to allow the first toothed wheel 117 to rotate clockwise with regard to the point support 100 as per the view in
The non-return rotating ratchet 124 can be produced in any way known to the person skilled in the art.
In some preferred embodiments, the first toothed wheel 117 is mounted between the plate 106 and a guide plate 118 of a first rack of a facade covering element, 200 or 300. The guide plate 118 is square or rectangular in shape, and parallel to the flat surfaces of the plate 106. The guide plate 118 is positioned towards to the outside relative to the plate 106. The distance between the guide plate 118 and the plate 106 is at least equal to the dimension of the first toothed wheel 117 along the axis of the bore 105, such that the first toothed wheel 117 is not subjected to friction against the plates, 106 and/or 118.
The guide plate 118 can be fixed to the plate 106 by positioning an intermediary element, in any way known to the person skilled in the art.
The guide plate 118 can comprise a guide surface 119 guiding a first rack, 205 and/or 305, of a facade covering element, 200 or 300. The guide surface 119 is positioned opposite the central portion 114 of the guide flare, 114 to 116. The guide surface corresponds to a fold towards the outside of a portion of the guide plate 118 forming an angle of less than 45 degrees with the guide plate 118.
In this way, the guide surface 119 and the guide flare, 114 to 116, form a funnel configured to guide not only the first racks, 205 and/or 305, of the facade covering elements, 200 and/or 300, but also the rails, 502 and 503, of the mobile robot 500, to position them along a vertical axis between the plates 106 and 108.
The point support 100 also comprises a tightening means comprising a second toothed wheel 120 equipped with a non-return ratchet 121, coaxial to the first toothed wheel 117, configured to cause the fastening means to be brought closer to the facade 400 when the non-return ratchet 121 is blocked and the second toothed wheel 120 is activated.
Preferably, the second toothed wheel 120 has a larger pitch than the pitch of the first toothed wheel 117.
The second toothed wheel 120 is equipped with a non-return rotating ratchet 124 configured to allow the second toothed wheel 120 to rotate clockwise with regard to the point support 100 as per the view in
Preferably, the second toothed wheel 120 is fixed to the bore 105 when the ratchet is blocked. The bore 105 comprises tapping matching threading on the rod 103.
A second rack 205 can therefore be positioned against the second toothed wheel 120 by an upward translational movement without activating the means for bringing closer. However, when the rack 205 is drawn downwards, the non-return ratchet 121 is blocked and the bore 105 is tightened against the rod 103. This causes a translation of the fastening means towards the facade 400, i.e. of the assembly comprised of the bores, 104 and 105, plates 106 and 118, toothed wheels, 117 and 120, and non-return ratchets, 121 and 124.
To summarise, starting from the facade 400 and following the axis of the bore 105, the point support 100 comprises:
Preferably, the parts of the point support 100 are made of stainless steel.
The facade covering elements, 200 and 300, comprise a siding, 201 or 301, configured to protect the covered facade 400 and adorn said facade 400. The sidings, 201 and 301, are the same and can be made of stainless steel, for example.
The elements shown in
The facade covering elements, 200 and 300, have dimensions corresponding to the distance between at least two juxtaposed point supports.
The term ‘two juxtaposed point supports’ refers to point supports immediately next to each other in a horizontal straight line. Each covering element, 200 and/or 300, comprises a first rack 204 configured to engage with at least one first toothed wheel 117 of a point support 100.
The first rack 204 has a U-shaped profile, one arm of which forms a fold parallel to the junction between the two arms. The other arm comprises, on its extremity, teeth 206 whose pitch and shape match the teeth of the first toothed wheel 117. Preferably, the teeth 206 have a right-angled triangular shape whose right angle is configured to be oriented towards the bottom of the facade 400.
The fold is configured to be positioned against a reinforcement 202 of the siding 201. For example, the reinforcement of the siding 202 is obtained by folding one edge of the siding 201 by 180 degrees towards the inside and then folding by 90 degrees in the opposite direction the extremity of this edge. In other embodiments, the reinforcement 202 is welded or riveted onto the inner surface of the siding 200.
The siding reinforcement 202 comprises means for fastening the fold of the arm of the first rack 204. Such fastening means are, for example, holes opposite similar holes on the fold of the arm configured to receive a bolt.
When it is engaged with the first toothed wheel 117, the first rack 204, equipped with the non-return ratchet 124, is configured to cause the movement of the siding element 200 in one direction, for example in a vertical ascending movement, between at least two point supports 100 placed on the facade 400, and to be immobilised on the point supports 100 under the effect of a force in the opposite direction, for example the force of gravity.
The first rack 204 is configured to be inserted between the plate 106 and the guide plate 118 of least two juxtaposed points supports 100. In other words, the dimension of the first rack 204 along an axis normal to the arm comprising the teeth 206 is less than or equal to the dimension between the plate 106 and the guide plate 118 along the axis of the bore 105.
The first rack 204 also comprises a second rack 205 configured to engage with at least one second toothed wheel 120 of a point support 100.
The second rack 205 comprises teeth or notching 207 matching the teeth of the second toothed wheel 120 of the point support 100.
The second rack 205 has an L-shaped profile whose arm comprising the teeth or notching 207 is parallel to the arm of the first rack 204 comprising the teeth or notching 206. The other portion of the profile is perpendicular to the arm comprising the teeth or notching 207 and therefore parallel to the junction between the arms of the profile of the first rack 204. Said other portion of the profile of the second rack 205 is fixed according to a sliding link with the junction between the arms of the profile of the first rack 204. In this way, it is possible to pull downwards on the second rack 205, to cause the rotation of the second toothed wheel 120 and bring the fastening means of the point support 100 closer to the facade 400.
Preferably, the dimension of the path of the sliding link along its axis corresponds to at least one rotation of the second toothed wheel 120.
The covering element 300 shown in
Preferably, the third rack 304 is configured to engage with at least one first toothed wheel 117 of another point support 110, the first rack 204 and the third rack 304 being parallel.
In some embodiments, the tops of the teeth 206 of the first rack 204 are offset relative to the tops of the teeth 306 of the third rack 304. Preferably, the tops of the teeth 206 of the first rack 204 are offset by half the distance between the top of two juxtaposed teeth 306 of the third rack 304 relative to the top of the teeth 304 of the third rack 304.
In this way, if a first toothed wheel 117 of a point support 100 fails, the vertical slippage is only a half-pitch between two teeth, 206 or 306.
Preferably, the pitch between two teeth, 206 or 306, is 1.5 centimetres.
The mobile robot 500 comprises:
The mobile robot 500 has a substantially parallelepiped shape and comprises the storage magazine 506, on a surface called “rear”, and, on the opposite surface called “front”, the elevator, 504 and 505. The front surface is configured to be placed opposite the facade 400 when the mobile robot 500 is used. A surface, called “upper”, of the mobile robot 500 comprises the positioning means 510 and the fastening means 511. The upper surface is configured to be oriented towards the top of the facade 400 when the robot is used. The surfaces configured to be vertical that are not the front and rear surfaces are defined as being lateral surfaces.
The magazine 506 comprises a conveyor to which at least one point support 100 is attached. Preferably, at least ten point supports 100 can be attached to the conveyor at the same time. Preferably, the magazine 506 comprises a guide configured to be inserted between two fins of the point support 100. In this way, the point support 100 can be attached to the conveyor of the magazine 506 at a single attachment point and be guided by translation of the guide between the fins.
The point supports 100 are aligned in the magazine 506 in a direction 521 called “ascent direction”, configured to be vertical when the mobile robot 500 is positioned against a facade 400.
Preferably, the point supports 100 are stored such that the rod 103 is above the rod 102, and then turned over when they are positioned by a rotating conveying means, 507 to 510.
The rail of the magazine 506 is equipped with a belt activated by a motor 507 and configured to convey a point support 100 from the magazine 506 on the rotating conveying means, 507 to 510. Preferably, the belt is configured such that all the point supports 100 stored in the magazine move towards the rotating conveying means, 507 to 510. A point support 100 is therefore moved on the rotating conveying means, 507 to 510, and the point supports 100 remaining in the magazine 506 move up in direction 521 for the future supply of the rotating conveying means, 507 to 510. In other words, a new point support 100 takes the place of the point support 100 that has just been positioned on the rotating conveying means, 507 to 510.
In some variants, the point supports 100 are loaded onto a rail of the magazine 506 in direction 521, which compresses a spring. The point supports 100 are therefore pushed by the spring, in direction 521, towards the rotating conveying means, 507 to 510.
Preferably, the mobile robot 500 comprises a sensor 514 of the absence of point supports 100 in the storage magazine 506, the control means 513 controlling the ascension or descent of the robot 500 to reload the storage magazine 506 as a function of the detected absence.
The sensor 514 of the absence of the point support 100 can be a contactor activated when a point support is present in the magazine 506, in position prior to its transfer onto the rotating conveying means 510. In other embodiments, the absence sensor 514 is a proximity sensor such as an infrared sensor or any other proximity sensor known to the person skilled in the art.
Preferably, if point supports 100 are not present in the magazine 506, the control means 513 controls the return of the mobile robot 500 to an initial position, e.g. at the bottom or top of the facade 400, for point supports 100 to be reloaded by an operator. In other words, the control means 513 controls the ascent or descent of the mobile robot 500 to the end of travel on the point supports 100 previously fixed to the facade 400.
The rotating conveying means, 507 to 510, comprises:
The rotation of the rotating carriage 510 is shown by the semi-circular arrow 520 in
The rotating carriage 510 comprises a rail whose path is a straight line configured to be aligned with the magazine 506 when the rotating carriage 510 is in a first position called “supply position”. A belt 508 following a path in direction 521 is rotated by the motor 507. A point support 100 is collected from the magazine 506 by the belt 508 and conveyed to the end of travel at the end of the rail of the rotating carriage 510.
Preferably, the rotating carriage 510 also comprises a means 511 for boring or drilling a hole in the facade 400. The boring or drilling means 511 can be any type known to the person skilled in the art.
Preferably, the drilling means 511 comprises a core collector. In this way, when a hole is bored in the facade 400, the core does not fall on the people at the foot of the facade 400.
Preferably, the boring or drilling means 511 comprises a bore or drill head 512 whose axis defines the hole bored in the facade 400.
In some preferred embodiments, the boring or drilling means 511 is positioned on another side of the pivot link relative to the point support 100 conveyed on the rail. In these embodiments:
Thanks to these provisions, after the boring or drilling the rotating carriage 510 performs a 180-degree rotation and a hole 122, aligned with the bore 105 of the point support 100, is aligned with the hole that has just been bored or drilled in the facade 400.
Preferably, the rail of the rotating carriage 510 has a path that is normal to the axis of the bore or drill head 512, on the one hand, and to the axis of the pivot link 509, on the other hand. In other words, in the view shown in
It is therefore possible to bore or drill the facade 400 at the same time as the rotating carriage 510 is supplied with a point support 100.
Then, the control means 513 executes a command for a 180-degree rotation of the rotating carriage to position the hole 122 of the point support conveyed on the rotating carriage 510 opposite the hole bored or drilled in the facade 400.
The rotating carriage 510 also comprises a screw means (not shown) configured to screw the point support to the bored or drilled hole. The screw means is configured to fit a knock-in pin or a stud into the bored or drilled hole and then, once the hole 122 is positioned opposite the bored or drilled hole, screw a screw into the stud or adjust the pin. Preferably, the screw means comprises a means for determining a value representative of the screw force applied.
In some embodiments, the boring or drilling means 511 comprises a means for capturing and storing a value representative of:
Preferably, the control means 513 comprises a means for calculating the position of the robot 500 and/or the position of a bored or drilled hole, as a function of the rotation of a motor 505.
Thanks to these provisions, it is possible to associate the representative values determined to each hole.
This control means 513 is, for example a microprocessor executing a computer program.
The elevator, 504 and 505, of the mobile robot 500 comprises a translation means configured to be attached to the already fixed point supports 100, and a motor 505 configured to actuate the translation means. The translation means is preferably a wheel, track or belt, 504, for bearing on a corresponding toothing or notching, 108 and 110, on at least two juxtaposed point supports 100.
In the embodiment shown in
The notched belt 504 can be mounted on two toothed wheels, positioned such that the path of the notched belt 504 over a distance at least equal to the distance between three fixed point supports is in a direction 524 called “ascent direction” parallel to the front surface and oriented vertically when the mobile robot 500 is mounted on at least two point supports 100.
Preferably, the elevator, 504 and 505, comprises a guide rail, 502 and 503, configured to be inserted into a corresponding rail, 106, 107 and 109, of at least two juxtaposed point supports 100.
Preferably, the profile of each guide rail, 502 and 503, has a right-angle elbow shape. The guide rails, 502 and 503, extend in the ascent direction 524 on the sides of the junction of the front surface with a lateral surface. The guide rails, 502 and 503, each have a flat surface fixed to the lateral surfaces and a right-angled fold. The fold is oriented towards the middle of the front surface.
The folds are configured to be guided by the guide surface 119 and the guide flare, 114, 115 and 116, between the plate 106 and the plate 118 of at least two point supports 100. In other words, the dimensions of the folds are compatible with the distance between the plates 106 and 118 of the point supports 100.
Thanks to these provisions, the mobile robot 500 is held in place by the plate 118 and thus cannot fall from the facade 400 during movements and operations for fastening a new point support 100.
The dimensions of each rail, 502 and 503, are configured such that, when the fold of the rails, 502 and 503, is positioned between the plates, 118 and 106, the notched belt 504 engages with the teeth or notches, 108 and/or 110.
In some embodiments, each lateral surface of the mobile robot 500 comprises a notched belt 504, the notched belts being set in motion by the same motor 505.
During the installation of supports for rails on the facade, first of all the lowest three point supports 100 are positioned on the facade 621. These point support elements 100 are preferably aligned in a vertical straight line. Preferably, to guide the precise positioning of additional point supports 100 in the extension of the vertical straight line, a laser source 640 is positioned whose laser beam 641 is vertical. For placing an additional point support 100, a mobile robot 500 is set in movement on the point supports 100 already placed. While the mobile robot comprises point supports in the magazine 506, the mobile robot 500 places each additional point support 100, being held in position on point supports 100 already placed.
During the placing of point supports 100, the mobile robot 500, which comprises means 515 for capturing the laser beam 641, for measuring the respective position of this laser beam and of said robot 500, servo-controls its position to the position of the laser beam 641. For example, the mobile robot 500 comprises a camera whose sensor is sensitive to the wavelength of the laser regarding a surface on which the laser beam 641 is aimed. The servo-control of the position of the robot 500 is performed by stepping motors that modify the horizontal position of the robot 500.
In some embodiments, during the placing of point supports 100 the mobile robot 500, which comprises means 515 for capturing the laser beam 641, for measuring the respective position of this laser beam and the point support 100 being placed, servo-controls the position of each additional point support 100 to the position of the laser beam 641. For example, the mobile robot 500 comprises a camera whose sensor is sensitive to the wavelength of the laser regarding a surface on which the laser beam 641 is aimed. The servo-control of the position of the point support 100 being placed is performed by stepping motors.
When the magazine 506 of the mobile robot 500 is empty, the mobile robot 500 descends to the bottom of the facade for the magazine 506 to be reloaded. Then, the mobile robot 500 resumes the process of adding point supports 100 to the facade 621 starting from the last point support 100 placed.
Once the point supports 100 have been placed on the entire facade 621, preferably at regular intervals, but possibly at irregular intervals to take into account the positions of the openings and windows 622, a geometric survey of the facade 621 is carried out. The geometric survey of the facade locates each geometric element of the facade relative to the point supports 100. In some embodiments, the geometric survey of the facade is obtained via a BIM (“Building Information Modelling”) model and the localisation of the rails is carried out by modelling rails in this model.
Preferably, a motorised mobile survey capture tool (not shown) is moved over point supports 100 mounted on the facade 621. This motorised mobile tool measures its movement along lines of point supports 100 using the same means as the robot 500 (counting the revolutions of a motor). This robotised mobile tool determines the position of all the openings and windows 622, as well as, possibly, the surface irregularities, e.g. downspouts, terraces, ledges and copings, which can hinder the placing of covering elements on the facade 621. For example, the motorised mobile tool comprises several cameras and image processing means for carrying out a three-dimensional determination of the surface of the facade 621 to be covered. Alternatively, the robotised tool utilises an orientable laser beam that scans the facade 621 between and/or around the point supports 100.
Thus, preferably, during the geometric survey of the facade 621 one utilises an optical sensor of the 3D survey of a portion of the facade 621 between the point supports 100 that bear this tool and/or around point supports 100. In other embodiments, one utilises a mechanical sensor, e.g. a roller mounted on a support that applies the roller on the facade 621.
Once the geometric survey of the facade 621 has been carried out, the covering elements, 200 and/or 300, are manufactured. Each covering element, 200 and/or 300, is manufactured to slide between two columns of point supports 100 and to not cover the openings and windows 622, the pipes, terraces, ledges and copings presents on the facade 621. In addition, each covering element, 200 or 300, comprises means for coupling to the neighbouring covering elements, 200 or 300, and means for fastening point supports 100 described with reference to
Once the covering elements, 200 and/or 300, have been manufactured according to the geometric survey of the facade and the distance between the point supports 100, these elements are placed on the facade 621. To this end, in succession each covering element, 200 and/or 300, to be placed is positioned between two columns of point supports 100 carried by the two lowest neighbouring point supports 100 (or the point supports 100 just above the lowest rail elements), and an elevating means is positioned below the covering element, 200 and/or 300. This elevating means pushes the covering element, 200 and/or 300, upwards. This elevating means measures its movement along the point supports 100 using the same means as the robot 500 and the motorised mobile tool. The covering element, 200 and/or 300, being guided by the point supports 100, it comes into position below the covering element, 200 and/or 300, previously placed on these point supports 100. Means for fastening to the point supports 100 immobilise the covering element, 200 and/or 300, to the point supports 100. Possibly, the covering element, 200 and/or 300, is secured by riveting or screwing onto its neighbours already positioned on the facade 621.
Once all the upper covering elements, 200 and/or 300, have been positioned in this way, the lowest covering elements, 200 and/or 300, are placed, for example manually, on the facade 621.
In addition, to adjust the distance between the covering elements 200 on the facade, the second rack 205 of at least one covering element 200 can be actuated by pulling downwards. Preferably, several second racks 205 can be actuated at the same time.
So that any insulation materials of the covering elements, 200 and/or 300, are held against the facade 621, the elevating means can comprise a sliding surface, for example made of Teflon (registered trademark), which is positioned between the insulation material and the facade while covering elements, 200 and/or 300, are moved to prevent the insulation materials being worn down during this movement. Once the covering element, 200 and/or 300, is positioned, the elevating means removes this sliding surface.
As is understood by reading the description above, the only human interventions necessary are the possible placing of the laser source 640, the placing of the lowest point supports 100 and the placing of the lowest covering elements, 200 and/or 300. There is no need for scaffolding or platform, nor for roof access if there is no laser source or if the laser source is positioned at the bottom of the facade.
As shown in
During the step 72 of placing point supports 100 on the facade 621, preferably a mobile robot 500 is set in movement on the point supports 100 already placed, the mobile robot 500 placing each additional point support 100 being held in position on point supports 100 already placed.
During the step 72 of placing point supports 100, preferably a vertical laser guide is utilised, the mobile robot 500 comprising means for capturing the laser beam 514, and means for servo-controlling the position of each additional point support 100 to the position of the laser beam.
During the step 74 of the geometric survey of the facade, preferably a motorised mobile survey capture tool is moved over point supports 100 mounted on the facade 621.
During the step 74 of the geometric survey of the facade 621, preferably one utilises an optical sensor of the 3D survey of a portion of the facade 621 between the point supports 100 that bear this tool and/or around these point supports 100.
Note that the geometric survey of the facade can be obtained before or after the point supports 100 are placed, for example based on photographs of the facade, using a BIM model, or conventional measurements. In the case where the geometric survey of the facade is carried out before the point supports 100 are placed, bringing some fastening means of point supports 100 closer can compensate for shortcomings, in particular unevenness, of the facade.
During the step 76 of gearing the covering elements, 200 and/or 300, along the point supports 100, the covering elements, 200 and/or 300, can travel across the point supports 100 in the upwards direction only, given the presence of the non-return ratchets 124 of point supports 100.
During the placing of rail support elements 743 the mobile robot 742, which comprises means for capturing the laser beam 741, for measuring the respective position of this laser beam and the rail support element 743 being placed, servo-controls the position of each additional rail support 743 to the position of the laser beam 741. For example, the mobile robot 742 comprises a camera whose sensor is sensitive to the wavelength of the laser regarding a surface on which the laser beam 741 is aimed. The servo-control of the position of the rail 43 being placed is performed by stepping motors.
Once the rail supports 724 placed on the entire facade 721, preferably at regular intervals, but possibly at irregular intervals to take into account the positions of the openings and windows 722, a geometric survey of the facade 721 is carried out. The geometric survey of the facade locates each geometric element of the facade relative to the rails. In some embodiments, the geometric survey of the facade is obtained via a BIM (“Building Information Modelling”) model and the localisation of the rails is carried out by modelling rails in this model.
Preferably, a motorised mobile survey capture tool (not shown) is moved over rails 745, 746 (see
Thus, preferably, during the geometric survey of the facade 721 one utilises an optical sensor of the 3D survey of a portion of the facade between the rails 745, 746 that bear this tool and/or around these rails 745, 746. In other embodiments, one utilises a mechanical sensor, e.g. a roller mounted on a support that applies the roller on the facade 721.
Once the geometric survey of the facade 721 has been carried out, the covering elements 725 are manufactured. Each covering element 725 is manufactured to slide along the rails 745746 and to not cover the openings and windows 722, pipes, terraces, ledges and copings presents on the facade 721. In addition, each covering element 725 comprises means for coupling to the neighbouring covering elements 725 and means for fastening on the rails 745, 746. Such means are described with reference to
As shown in
Once all the upper covering elements 725 have been positioned in this way, the lowest covering elements 725, are placed, for example manually, on the facade 721.
For the openings or windows, temporary rail elements can be placed that are overlaid over the openings and are removed progressively as the covering elements 725 are placed. The already existing windows and openings can also be replaced by windows and openings integrated into the covering elements 725.
So that any insulation materials of the covering elements 725 are held against the facade 721, the elevating means 727 can comprise a sliding surface, for example made of Teflon (registered trademark), which is positioned between the insulation material and the facade while covering elements 725 are moved to prevent the insulation materials being worn down during this movement. Once the covering element 725 is positioned, the elevating means 727 removes this sliding surface.
As is understood by reading the description above, the only human interventions necessary are the possible placing of the laser source 740, the placing of the lowest rail support elements 724 and the placing of the lowest covering elements 725. There is no need for scaffolding or platform, nor for roof access if there is no laser source or if the laser source is positioned at the bottom of the facade.
The covering elements 725 can be essentially flat, as shown in the figures, or curved. To manufacture curved covering elements 725, indentations (not shown) can be provided, for example in straight lines (to make the element 725 concave) or triangular (to make the element 725 convex), in the surfaces 735, which imparts flexibility to the elements 725. To make an element 725 convex, this element 725 is bent, which has the effect of bringing the lips of the indentations closer. To make an element 725 concave, this element 725 is bent, which has the effect of moving the lips of the indentations apart. Alternatively, machines are utilised that locally compress or expand the surfaces 735 along their length intended to be curved. Of course, the inner surfaces of the elements 725 are bent in line with the outer surfaces 733 and have a width that is reduced, when the element 35 is convex, or increased, when the element 735 is concave, relative to the width of the surface 733.
To hold insulation material in position, the elements 725 preferably comprise inner pins.
To hold and guide the covering elements 725, the outer leg 731 of each rail 745 and 746 is folded on itself, defining a receptacle for a curved portion 732 parallel to the outer surface 733 of the lateral surfaces of the covering elements 725.
In this way, during the step of placing covering elements 725, at least one portion of the covering elements 725 slide vertically along the facade 721 in a receptacle 731 of rail 745 and 746.
In some embodiments, the covering elements 725 comprise receptacles for portions of rails 745 or 746, and during the step of placing covering elements 725, at least one portion of the rails 745 and 746 slides in the receptacle 731 of the covering element 725 during the vertical movement of the covering elements 725 along the facade 721.
As shown in
As mentioned earlier, the supports 728 (or the rails 745 and 746) can, for the movement without slippage of the motorised mobile tool, mobile robot 742 and/or elevating means 727 and their precise location on the facade 721, bear teeth 737 (
As shown in
During the step 52 of placing supports 724 of rails 745 and 746 on the facade 721, preferably a mobile robot 742 is set in movement on the rails 745 and 746 already placed, the mobile robot 742 placing each additional rail support 743 being held in position on rails 745 and 746 already placed.
During the step 52 of placing supports 724 of rails 745 and 746, preferably a vertical laser guide is utilised, the mobile robot 742 comprising means for capturing the laser beam 741, and means for servo-controlling the position of each additional rail support 743 to the position of the laser beam.
During the step 54 of the geometric survey of the facade, preferably a motorised mobile survey capture tool is moved over rails 745 and 746 mounted on the facade 721.
During the step 54 of the geometric survey of the facade 721, preferably one utilises an optical sensor of the 3D survey of a portion of the facade 721 between the rail supports 724 that bear this tool and/or around these rail supports 724.
Note that the geometric survey of the facade can be obtained before or after the supports 724 of rails 745 and 746 are placed, for example based on photographs of the facade, using a BIM model, or conventional measurements. In the case where the geometric survey of the facade is carried out before the rails are placed, the shape of the rails can compensate for shortcomings, in particular unevenness, of the facade.
During the step 56 of sliding covering elements 725 along the rails 745 and 746, the covering elements can travel across the rails 745 and 746 in an ascending or descending direction. However, sliding in the ascending direction has the advantage of allowing ratchets 736 and 739 to be used. In the case of sliding in the descending direction, the bearing of one covering element 725 on all those below can lead to deformation of the lowest covering elements 725 on the facade 721. It is therefore preferable, at least for the highest facades, to provide means for inhibiting ratchets until the covering elements 725 are in position. Alternatively, one provides different fastening means, for example riveting or screwing, for fastening, by the ascent means, covering elements 725 on the rails 745 and 746.
The corresponding device for covering a facade 721 comprises at least:
Preferably, at least one portion of the rail supports 724 comprises toothing 737 or notching 738 for bearing a wheel, track or belt, the robot 742 comprising such a wheel, track or belt.
Preferably, the rails 745 and 746 have a “U” shape whose parallel legs 730 and 731 are parallel to a portion 729 of a support 728 of rail 745 and 746 configured to be fastened onto a facade 721 of a building 720.
For example, the means for fastening the rails 745 and 746 and covering elements 725 comprise ratchets comprising flexible portions 736, on the one hand, and openings 739 configured to hold such a flexible portion 736, on the other hand, the flexible portions 736 being constrained during the passage of a covering element 725 along the rails 724, except where the flexible portions 736 are opposite such an opening 739, when this flexible portion 736 is released by penetrating into the opening 739 and prevents the covering element 725 from redescending.
According to a first aspect, the present invention relates to a method for placing an element at height on a wall, which comprises:
Thanks to these provisions, facade covering elements can be put in position simply by gearing on a series of supports placed on the facade. In this way, the need for human movement along the facade, and the associated inconveniences described above, are reduced, even eliminated. Because the covering elements are connected to the point supports during their ascension, they do not require human guidance, and are not affected by bad weather, wind, etc.
In addition, the covering elements and the point supports can be manufactured in a factory before being fixed to the facade.
In some embodiments, the supports placed are point supports, and the association of the elements is achieved by gearing said elements on the means for fastening point supports.
In some embodiments, the method that is the subject of the present invention also comprises, prior to the placing step:
In some embodiments, during the step of placing supports, a vertical laser guide at the bottom or top of the wall is utilised, the mobile robot comprising means for capturing the laser beam, and means for servo-controlling the position of each additional support to the position of the laser beam.
Thanks to these provisions, the position of each support is accurate, and the assembly of covering elements is thus made easier and even more precise. The wall therefore has better resistance to bad weather.
In some embodiments, the method that is the subject of the present invention also comprises a step of simultaneously bringing at least two covering elements of the wall closer by actuating a tightening means on at least three supports.
Thanks to these provisions, several covering elements can be brought closer to the wall at the same time, to hold insulation material in position, for example.
According to a second aspect, the present invention relates to a mobile robot for placing supports on a wall, which comprises:
Thanks to these provisions, the mobile robot can precisely position and fasten several supports while using such supports to mount up the wall.
In some embodiments, the supports are point supports.
In some embodiments, the robot also comprises means for capturing a vertical laser guide beam coming from the top or bottom of the wall, the means for calculating the position of the robot comprising means for servo-controlling the position of the robot to the position of the laser beam.
Thanks to these provisions, the robot can move in a precise way and correct its position to fasten the support at the intended location.
In some embodiments, the elevator comprises a wheel, track or belt, for bearing on a corresponding toothing or notching on at least two juxtaposed supports.
Thanks to these provisions, the robot moves on the supports and is held in position against the support at the same time.
In some embodiments, the elevator comprises a guide rail configured to be inserted into a corresponding rail of at least two juxtaposed supports.
Thanks to these provisions, the robot is always guided during its ascension by at least two supports.
In some embodiments, the robot that is the subject of the present invention comprises a sensor of the absence of supports in the storage magazine, the control means controlling the ascension or descent of the robot to reload the storage magazine as a function of the detected absence.
Thanks to these provisions, when the magazine is empty, the robot can return to a user following the supports already placed for the magazine to be reloaded.
In some embodiments, the fastening means comprises a means for boring or drilling a hole in the wall, the support being positioned opposite the bored hole.
Thanks to these provisions, the robot ensures the positioning of the support opposite the hole that has just been bored with great precision.
In some embodiments, the positioning means comprises a rotating conveying means for a support, the boring or drilling means is secured to the rotating conveying means, the support being positioned opposite the bored hole by rotating the rotating conveying means.
Thanks to these provisions, positioning the support opposite the bored hole is automatic.
According to a third aspect, the present invention relates to a point support for a construction element, which comprises:
Thanks to these provisions, the point supports are fastened independently of the covering elements. Covering elements prefabricated in a factory can therefore be positioned independently of the fastening of the point supports.
In addition, the non-return ratchet makes it possible, when the covering element are sliding against the point supports, to prevent the covering element from redescending under its own weight.
Lastly, the point supports can be mounted on a mobile robot that ensures their positioning and their fastening to the facade.
In some embodiments, the support that is the subject of the present invention also comprises a rail for displacing a mobile robot that comprises means for attaching an elevator of the mobile robot.
Thanks to these provisions, the various point supports can be fastened to the facade in an iterative way, a mobile robot following an ascension against the point support already placed before fastening the next.
In some embodiments, the rail has a “U” shape comprising two parallel legs equipped, over at least one portion, with toothing or notching for bearing a wheel, track or belt of the mobile robot.
Thanks to these provisions, the movement of the robot is guided along a line between two point supports.
In some embodiments, the rail comprises at least one flare for guiding the mobile robot in the axis of the rail.
Thanks to these provisions, the mobile robot is guided in its ascent before the wheel, track or belt of the mobile robot is engaged in the toothing or notching. This avoids poor attachment of the robot.
In some embodiments, the point support that is the subject of this invention also comprises a tightening means comprising a second toothed wheel equipped with a non-return ratchet, coaxial to the first toothed wheel, configured to cause the fastening means to be brought closer to the facade when the non-return ratchet is blocked and the second toothed wheel is activated.
Thanks to these provisions, the covering elements can be positioned before being brought closer to the facade, for flattening insulation material for example. In addition, the second toothed wheels of several point supports can be actuated at the same time.
According to a fourth aspect, the present invention relates to a covering element whose dimensions correspond to the distance between at least two juxtaposed point supports, each covering element comprising a first rack configured to engage with at least one first toothed wheel of a point support, and in that the covering element is configured to move in a direction between at least two point supports placed on the facade and to be immobilised on the point supports under the effect of a force in the opposite direction.
As the particular aims, advantages and features of the facade covering element that is the subject of the present invention are similar to those of the point support that is the subject of the present invention, they are not repeated here.
In some embodiments, the facade covering element that is the subject of the present invention also comprises a second rack configured to engage with at least one second toothed wheel of a point support, the second toothed wheel being equipped with a non-return ratchet and configured to cause the fastening means to be brought closer to the facade when the second rack is actuated.
In some embodiments, the element that is the subject of the present invention also comprises a third rack configured to engage with at least one first toothed wheel of another point support, the first rack and the third rack being parallel and the tops of the teeth of the first rack being offset relative to the tops of the teeth of the third rack.
Thanks to these provisions, the facade element is able to absorb thermal expansions.
In some embodiments, the tops of the teeth of the first rack are offset by half the distance between the top of two juxtaposed teeth of the third rack relative to the top of the teeth of the third rack.
Thanks to these provisions, if a point support fails, the facade element only moves a half-pitch between two teeth. This therefore prevents a structural failure of the facade.
According to a fifth aspect, the present invention relates to a kit for covering a facade, which comprises:
As the particular aims, advantages and features of the kit that is the subject of the present invention are similar to those of the support and the element that are the subject of the present invention, they are not repeated here.
