A system for rail and cable mechanisms for versatile facade work with mobile robots

Abstract

A system for a rail and cable mechanism for versatile facade work using mobile robots, comprising: a rail mechanism mounted along the periphery of a building facade, the rail configured to support and guide a mobile platform without the need for counterweights for balancing; a motor assembly including a first motor configured to drive a motor housing along the rail and a second motor configured to control the vertical movement of a rope; a motor housing slidably mounted on the rail, receiving the motor assembly, and connected to at least one guide wheel assembly to provide stability during movement; a cable mechanism comprising at least one flexible cable operatively connected to an end effector, the cable being wound and unwound by the second motor to raise or lower the end effector along the building facade; an end effector module configured to perform at least one facade-related task selected from cleaning, inspection, maintenance, or construction; and a support link connecting the motor housing to the end effector, in coordination with stabilizing wheels to maintain alignment and safety; the system being configured to operate along multiple vertical and horizontal levels of the façade with a single fixed support end, The system eliminates the need for counterweights, allows access to all sides of the facade, and increases operational safety through the combined rail and cable arrangement.

Description

[0001] The present invention relates to the field of robotic systems for work on building facades, in particular to a rail and cable based mobile robot mechanism designed to perform multi-purpose tasks such as cleaning, inspection, maintenance and construction work on building facades.

[0002] The maintenance and operation of building facades—such as cleaning, inspection, and minor construction work—have traditionally been performed using manual methods, scaffolding, or cable-operated parallel robots (CDPRs). While CDPRs offer improved automation and greater reach, they typically require fixed anchor points at both ends and utilize heavy counterweights to balance the system. These requirements increase installation complexity, limit adaptability to different facades, and pose significant safety and logistical challenges, particularly for high-rise buildings. Conventional facade robots are also limited in their ability to work on all sides of a building with a single system. Multiple superstructures or modules are often required to cover the entire facade, resulting in increased costs, time, and resource consumption.In addition, existing structures may not have sufficient safety features for dynamic real-time adaptations, especially for different facade geometries or environmental conditions.

[0003] To solve this problem, the present invention provides a system for rail and cable mechanisms for versatile facade work using mobile robots.

[0004] The system aims to eliminate the need for counterweights, simplifying installation and reducing system weight.

[0005] The system allows full access to all sides of a building facade using a single movable support mechanism.

[0006] The system ensures operational safety through the use of guided wheels, safe rails and controlled cable movements.

[0007] The system enables tasks such as cleaning, inspection, maintenance and minor construction work using a mobile, modular end effector.

[0008] The system can be used on various facade geometries with minimal structural changes.

[0009] The system promotes the automation and remote control of facade work, reducing the risk to people and increasing operational efficiency.

[0010] In one embodiment, the present invention provides a system for a rail and cable mechanism for multipurpose facade work using mobile robots. The present invention provides a rail and cable-based robot mechanism for performing multipurpose facade work such as cleaning, inspection, maintenance, and minor construction work. The system eliminates the need for conventional counterweights by utilizing a specially designed rail-guided mobile platform supporting a cable-controlled end effector. The rail is mounted along the building facade and allows horizontal movement of a motorized carriage, while a motor-driven cable mechanism enables vertical movement of the end effector. The invention enables access to all sides of a building facade via a single movable fixed point, reducing installation complexity and eliminating the need for multiple robot modules.Stability and safety are ensured by wheel-guided supports and cable control, while the system's modularity allows for adaptation to various building sizes and shapes. This integrated design improves operational efficiency, simplifies deployment, and reduces mechanical stress on the structure, making it a practical and scalable solution for industrial and urban facade management applications. The invention is explained again below.

[0011] The present invention relates to a rail- and cable-controlled robot mechanism designed for versatile applications on building facades, including cleaning, inspection, maintenance, and construction work. The invention eliminates the need for counterweights and enables access to the entire surface with a single mobile support system, thereby improving safety, simplicity, and scalability. The invention consists of a rail system mounted along the top edge of a building facade. A motor housing moves along this rail, supported and guided by wheels that ensure smooth horizontal movement and structural stability. The rail serves as both a support and a guide, eliminating the counterbalance mechanisms commonly used in conventional cable-controlled systems. The motor housing houses two critical motors.It provides the horizontal movement required for the end effector to reach various points across the entire width of the facade. The motor is configured to rotate around the x-axis and is used to wind or unwind a flexible cable attached to the end effector. This allows the end effector to be raised or lowered along the vertical plane of the building facade. The linkage connects the motor housing to the end effector assembly. The wheel is mounted on a single piece to hold it in position and maintain proper alignment with the facade. Furthermore, the wheel is configured to support and steer the cable path to prevent tangling or misalignment during vertical movement. The proposed system is unique in that it does not require counterweights, making it lightweight, easier to install, and more efficient for vertical and horizontal movements.Conventional CDPRs require fixed anchorage points and often multiple modules to cover all facade surfaces. In contrast, this invention allows a single rail-mounted system to move across all sides of the facade, dynamically adapting to different building geometries and user requirements. The end effector can be adapted for various tasks, such as cleaning nozzles, cameras for inspection, or tools for light maintenance. The system is designed to be modular, scalable, and economically viable, reducing operating costs, labor risks, and installation time. Overall, this invention provides an integrated rail and cable system that combines safety, versatility, and efficiency for work on building facades.It can be used in smart city infrastructure, high-rise building maintenance, and construction automation where traditional methods are either unsafe or impractical.

Claims

[1] A system for a rail and cable mechanism for versatile facade work using mobile robots, comprising: a rail mechanism mounted along the periphery of a building facade, the rail configured to support and guide a mobile platform without the need for counterweights for balancing; a motor assembly including a first motor configured to drive a motor housing along the rail and a second motor configured to control the vertical movement of a rope; a motor housing slidably mounted on the rail, receiving the motor assembly, and connected to at least one guide wheel assembly to provide stability during movement; a cable mechanism comprising at least one flexible cable operatively connected to an end effector, the cable being wound and unwound by the second motor to raise or lower the end effector along the building facade; an end effector module configured to perform at least one facade-related task selected from cleaning, inspection, maintenance, or construction; and a support link connecting the motor housing to the end effector, in coordination with stabilizing wheels to maintain alignment and safety; the system being configured to operate along multiple vertical and horizontal levels of the façade with a single fixed support end, The system eliminates the need for counterweights, allows access to all sides of the facade, and increases operational safety through the combined rail and cable arrangement. [2] The system of claim 1, wherein the rail mechanism is configured to be permanently or temporarily attached to building facades, roofs, or structural projections, thereby enabling modular deployment across different buildings or sections of the same structure. [3] The system of claim 1, wherein the motor housing includes a pair of stabilizing wheels configured to engage opposite sides of the track to prevent lateral displacement during horizontal movement. [4] The system of claim 1, wherein the second motor is configured to control a drum reel assembly that adjusts the cable length for raising or lowering the end effector with high positional accuracy. [5] The system of claim 1, wherein the end effector comprises a functional module selected from a group consisting of a cleaning brush, a water spray nozzle, an inspection camera, a thermal sensor, or a surface maintenance tool. [6] The system of claim 1, wherein the connection between the motor housing and the end effector comprises a flexible or telescopic joint to absorb vibrations and maintain vertical alignment with the building surface. [7] The system of claim 1, wherein the cable support system comprises a pulley or roller guide to ensure smooth cable movement and minimize cable wear during repeated operations. [8] The system of claim 1, wherein the movement of the motor housing along the rail and the winding of the cable are synchronized via a microcontroller-based control system for coordinated bidirectional movement.