METHOD FOR COVERING A WALL AND MOBILE ROBOT FOR INSTALLING SUPPORTS ON A WALL

Abstract

TITLE OF THE INVENTION: METHOD FOR COVERING A WALL AND MOBILE ROBOT FOR INSTALLING SUPPORTS ON A WALL A mobile robot (500) for installing supports (100) on a wall, comprising: - a storage magazine (506) for at least one support to be fixed to the wall, - a positioning means (510) for a support opposite the wall, - a means for fixing (511) the support to the wall, - a control means (513) for the robot's position configured to control at least the robot's ascent or descent, and - an elevator (504, 505) configured to be attached to at least two supports fixed to the wall when the robot is moving and to at least three supports when fixing the additional support. Figure for the abstract: Figure 9

Description

Title of the invention: METHOD FOR COVERING A WALL AND MOBILE ROBOT FOR INSTALLING SUPPORTS ON A WALL Technical field of the invention

[0001] The present invention relates to a method for covering a wall and a mobile robot for installing supports on a wall. It applies, in particular, to the fields of real estate and real estate renovation. State of the art

[0002] The installation of cladding and facade insulation requires the installation of scaffolding or cradles so that human operators can access all surfaces of the building to be covered. This results in high production costs, risks of accidents and falls, sometimes fatal, and a long intervention time on site, with the associated nuisances. Statement of the invention

[0003] The present invention aims to remedy all or part of these drawbacks.

[0004] The present invention makes it possible to decide the position of the point supports by geometric survey of the facade and then to prefabricate the point supports and the facade elements in the factory, thus making installation easier. In addition, the present invention makes it possible to mount the facade elements from the ground by sliding them from one point support to another. The preparation, installation and assembly of the facade are therefore made easier and safer.

[0005] More generally, the present invention allows the installation of any element in the field of construction, for example the installation of ducts, trunking or even collars for the passage of water, ventilation, gas or electricity networks.

[0006] Finally, the installation of the supports is automated and made extremely precise by the use of the mobile robot. Human intervention is therefore limited. Brief description of the figures

[0007] Other advantages, aims and particular characteristics of the invention will emerge from the following non-limiting description of at least one particular embodiment of the point support, the facade covering element, the mobile robot and the method which are the subject of the present invention, with reference to the appended drawings, in which:

[0008] [Fig.l] represents, schematically and in perspective, a first particular embodiment of the point support which is the subject of the present invention,

[0009] [Fig.2] represents, schematically and in front view, the first embodiment particular of the point support object of the present invention,

[0010] [Fig.3] represents, schematically and in section, the first particular embodiment of the point support which is the subject of the present invention,

[0011] [Fig.4] represents, schematically and in side view, the first particular embodiment of the point support which is the subject of the present invention,

[0012] [Fig.5] represents, schematically and in top view, the first particular embodiment of the point support which is the subject of the present invention,

[0013] [Fig.6] represents, schematically and in perspective, a first particular embodiment of a facade covering element which is the subject of the present invention,

[0014] [Fig.7] represents, schematically and in perspective, a second particular embodiment of a facade covering element which is the subject of the present invention,

[0015] [Fig.8] represents, schematically and in perspective, a first particular embodiment of a wall comprising a point support and a facade covering element which is the subject of the present invention,

[0016] [Fig.9] represents, schematically and in perspective, a first particular embodiment of a mobile robot which is the subject of the present invention,

[0017] [Fig. 10] represents, schematically and in side view, the first particular embodiment of a mobile robot which is the subject of the present invention,

[0018] [Fig. 11] represents, schematically and in perspective, an enlarged view of the first particular embodiment of a mobile robot which is the subject of the present invention mounted on a point support,

[0019] [Fig. 12] represents, schematically and in plan, a facade on which is positioned a mobile robot which is the subject of the present invention,

[0020] [Fig. 13] represents, schematically and in the form of a flowchart, a particular succession of steps of the method which is the subject of the present invention,

[0021] [Fig. 14] represents, in front view, a building of which at least one facade is to be covered,

[0022] [Fig. 15] represents, in front view, the building illustrated in [Fig. 14] during the installation of rail elements,

[0023] [Fig. 16] represents, in front view, the building illustrated in figures 14 and 15, during the installation of roofing elements,

[0024] [Fig. 17] shows, in top view, rails and covering elements, once placed on the facade,

[0025] [Fig. 18] represents an enlargement of a part of [Fig. 17],

[0026] [Fig. 19] represents, in perspective, a covering element placed on a rail,

[0027] [Fig.20] represents, in perspective view, rails mounted on a support of a first type,

[0028] [Fig.21] shows, in perspective view, rails mounted on a support of a second type,

[0029] [Fig.22] shows, in partial side view, a covering element placed on a rail and an example of means for fixing the cover element to the rail and

[0030] [Fig.23] represents, in the form of a flowchart, a particular succession of steps of the method which is the subject of the present invention. Description of the embodiments

[0031] The present description is given without limitation, each characteristic of an embodiment being able to be combined with any other characteristic of any other embodiment in an advantageous manner.

[0032] As understood from the present description, various inventive concepts may be implemented by one or more methods or devices described below, several examples of which are provided herein. The actions or steps performed in carrying out the method or device may be ordered in any suitable manner. Accordingly, it is possible to construct embodiments in which the actions or steps are performed in a different order than illustrated, which may include performing certain acts simultaneously, even if they are presented as sequential acts in the illustrated embodiments.

[0033] The expression "and / or", as used herein and in the claims, is to be understood to mean "either or both" of the elements so conjoined, i.e., elements which are present conjunctively in some cases and disjunctively in other cases. Multiple elements listed with "and / or" are to be interpreted in the same way, i.e., "one or more" of the elements so conjoined. Other elements may optionally be present, other than the elements specifically identified by the "and / or" clause, whether or not they are related to these specifically identified elements.Thus, by way of non-limiting example, a reference to "A and / or B", when used in conjunction with open language such as "comprising" may refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc.

[0034] As used herein in the description and in the claims, "or" is to 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" is to be interpreted as being inclusive, i.e., the inclusion of at least one, but also more than one, number or list of elements, and, optionally, additional elements. not listed. Only terms clearly indicating otherwise, such as "only one of" or "exactly one of," or, when used in the claims, "consisting of," refer to the inclusion of only one of a number or list of elements. In general, the term "or" as used herein should be construed as indicating exclusive alternatives (i.e., "either, but not both") only when preceded by exclusivity terms, such as "either," "one of," "only one of," or "exactly one of."

[0035] As used in this specification and in the claims, the expression "at least one", with reference to a list of one or more elements, is to be understood to mean at least one element selected from 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 for the optional presence of elements other than the specifically identified elements in the list of elements to which the expression "at least one" refers, whether or not related to those specifically identified elements.Thus, by way of 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") may refer, in one embodiment, to at least one, optionally including more than one, A, without B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, without A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc.

[0036] In the claims, as well as in the description below, all transitional expressions such as "comprising", "including", "carrying", "having", "containing", "involving", "holding", "composed of", and the like, are to be understood as being open, i.e., as meaning including, but not limited to. Only the transitional expressions "consisting of" and "consisting essentially of" are to be understood as closed or semi-closed transitional expressions, respectively.

[0037] It should be noted from now on that the figures are not to scale.

[0038] In the present description, a “point support” is a support for perform a discrete attachment, that is to say that there is no continuous element between two fixings to a wall. In other words, the forces are transmitted from a facade covering element to a point support at the point of attachment of said support to the facade, it is the facade covering element which forms the structure between two one-off supports.

[0039] Conversely, a rail can be considered as a linear or longitudinal support. In a rail, the forces are transmitted from the facade covering element to the support on a straight line segment.

[0040] A U-shape is a profile shape whose section comprises two parallel arms connected by a junction, perpendicular to these arms.

[0041] It is also recalled that a robot is a device which, thanks to an automatic control system based on a microprocessor, carries out a specific task for which it was designed in the industrial, scientific or domestic field (definition from the “National Center for Textual and Lexical Resources” with the acronym CNRTL).

[0042] Throughout the description, the term "upper" or "top" refers to that which is at the top or facing upwards, in Figures 1 to 4, 6 to 12 and 14 to 22, figures which correspond to the normal configuration of use of the various objects of the invention. The term "lower" or "bottom" refers to that which is at the bottom or facing downwards, in these figures. The concepts of vertical and horizontal follow from these definitions. The term "internal" or "interior" refers to that which is close to the building or facing towards the building and, "external" or "exterior" refers to that which is far from the building or facing towards the outside of the building. The term "left" refers to that which is located to the left of Figures 2, 3, 5 and 12, and "right" refers to that which is located to the right of these figures.

[0043] Figures 1 to 11 and 17 to 22 are to scale, but may be at different scales.

[0044] In the remainder of the description, the robot, the method and the point support are detailed with regard to the covering of facades. However, these elements can be applied to the installation of construction elements, for example a wall, a pillar, a column or even a beam, on any wall, curved or not. Preferably, the wall is out of reach of an operator.

[0045] Figures 1 to 5 show a particular embodiment of a point support 100 which is the subject of the present invention.

[0046] The point support 100 comprises a means 101 for attaching the point support 100 to a facade 400.

[0047] In the embodiment shown, the attachment means 101 has an ovoid shape, and comprises two orifices 122 for attachment to the facade 400. When attaching the point support 100 to the facade 400, the orifices 122 are positioned opposite a drilled or cored orifice in the facade 400. Preferably, the attachment of the point support 100 to the facade 400 is carried out by means of a hammer-in stud. The drilled or cored orifice may be provided with a dowel. A screw (not shown) is then inserted into the orifices 122 and bears against a shoulder of the orifice 122 in a manner known to those skilled in the art to be screwed into the dowel and thus tighten the means of attachment 101 to the facade 400.

[0048] In [Fig.l], only one orifice 122 is visible, the other orifice being coaxial with an axis 103 of junction between the attachment means 101 and the fixing means.

[0049] In other embodiments, the attachment means 101 may be any attachment means known to those skilled in the art such as elements for receiving a nail, glue or a rivet.

[0050] The attachment means 101 comprises two parallel planar 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 means for fixing the point support 100. The rods, 102 and 103, preferably have a circular section. In the embodiment shown, the section of the rod 102 has a diameter smaller than the diameter of the section of the rod 103. Alternatively, the diameters of the sections of the rods 102 and 103 may be equal or the section of the rod 102 may have a diameter greater than the diameter of the section of the rod 103.

[0051] The guide rods, 102 and 103, are configured to guide the fixing means in translation along the axis of said rods, 102 and 103, when the fixing means is brought closer to the facade 400.

[0052] The fixing means comprises bores, 104 and 105, of sections corresponding to the rods, 102 and 103, respectively. The axes of the bores, 104 and 105, are coaxial with 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 fixing means comprises a single bore 105.

[0053] Preferably, each bore, 104 and 105, is internal to a tube in the form of a truncated cylinder of revolution fixed to a plate 106, for example by welding.

[0054] The plate 106 is composed of different elements whose dimensions and orientations have been obtained by folding. The plate 106 comprises, at least: - a first flat surface on which each bore, 104 and 105, is fixed, - a second flat surface opposite the first flat surface on which a first toothed wheel 117 is positioned, provided with a non-return pawl 124, configured to fix at least one facade covering element, 200 and / or 300, to the point support 100 by gearing of teeth, 206 or 306, of the covering element, 200 and / or 300, against said first toothed wheel 117.

[0055] The flat surfaces of the plate 106 are square or rectangular, for example.

[0056] In preferred embodiments, shown in Figures 1 to 5, the plate 106 further comprises a rail, 107 and 109, for moving a mobile robot 500 comprising attachment means, 108 and 110, of an elevator 504 of the mobile robot 500.

[0057] 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 bent at an angle of 90 degrees relative to the plate 106 outwards, i.e. away from the second flat surface of the plate 106. Preferably, before bending, each fin, 107 or 109, has a trapezoidal shape whose larger base corresponds to the side of the plate 106 to which the fin, 107 or 109, is joined. The smaller base of the trapezoid has teeth or notches, 108 and 110 respectively, for supporting a wheel, a track or a belt 504 of the mobile robot 500.

[0058] The teeth or notches, 108 and 110, have a symmetrical profile, preferably trapezoidal or rounded trapezoidal. In this way, the ascent and descent of the mobile robot 500 are facilitated while avoiding slipping of the mobile robot 500.

[0059] The plate 106 and the fins, 107 and 109, form a U-shaped rail. Preferably, the rail follows a vertical trajectory when the point support 100 is fixed to the facade 400.

[0060] 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.

[0061] 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 are configured to guide at least one guide rail, 502 or 503, of the mobile robot 500 against the plate 106.

[0062] The guide flares, 111, 112 and 113 and / or 114, 115 and 116, are positioned on two opposite sides of the plate 106 which do not include fins, 107 or 109.

[0063] Each guide flare, 111, 112 and 113 and / or, 114, 115 and 116, has a rectangular shape of which a 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 to center the mobile robot by moving it away from the facade 400 if necessary.

[0064] The central part, 111 or 114, comprises two guides, 112 and 113, or 115 and 116, located on either side of the central part, 111 or 114, on sides adjacent to the side of the central part, 111 or 114, connected to the plate 106.

[0065] The guides, 112 and 113, or 115 and 116, form a guide in the continuity of the fins, 107 and 109. In other words, the guides, 112 and 113, or 115 and 116, and the fins, 107 and 109, are configured to center the mobile robot 500 relative to the plate 106, in a plane parallel to the plate 106.

[0066] The guides, 112 and 113, or 115 and 116, are formed by bending each flare at an angle of approximately 90 degrees outwardly, i.e., toward the second flat surface of the plate 106.

[0067] 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 passing through the axes of the bores, 104 and 105.

[0068] In order to access the orifice 122, the central part 111 of the guide flare, 111, 112 and 113, comprises an arcuate orifice 123 of dimensions at least equal to those of an orthogonal projection of the orifice 122 on the central part 111 once folded.

[0069] The first toothed wheel 117 provided with a non-return pawl 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 with the axis of rotation of the non-return pawl 124. The axis of the first toothed wheel 117 can pass through the center of gravity of the plate 106. The first toothed wheel 117 comprises a toothed wheel of dimensions smaller than the dimensions of the first toothed wheel and coaxial. The non-return pawl 124 comes into abutment against a tooth of said toothed wheel 117.

[0070] The anti-return pawl 124 is configured to allow the rotation of the first gear wheel 117 in the clockwise direction when viewing the point support 100 according to the view of [Fig. 3], and prevent the rotation of the first gear wheel 117 in the counterclockwise direction of the same view.

[0071] The rotational anti-return ratchet 124 can be produced in any manner known to those skilled in the art.

[0072] In 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 rectangular or square in shape, and parallel to the flat surfaces of the plate 106. The guide plate 118 is positioned outwardly 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 in such a way that the first toothed wheel 117 does not experience friction against the plates, 106 and / or 118.

[0073] The guide plate 118 can be fixed to the plate 106 by positioning an intermediate element, in any manner known to those skilled in the art.

[0074] The guide plate 118 may comprise a guide surface 119 of a first rack, 205 and / or 305, of a facade covering element, 200 or 300. The guide surface 119 is positioned opposite the central part 114 of the guide flare, 114 to 116. The guide surface corresponds to an outward fold of a part of the guide plate 118 forming an angle of less than 45 degrees with the guide plate 118.

[0075] Thus, 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, 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.

[0076] The point support 100 further comprises a clamping means comprising a second toothed wheel 120 provided with a non-return ratchet 121, coaxial with the first toothed wheel 117, configured to cause the fastening means to move closer to the facade 400 when the non-return ratchet 121 is blocked and the second toothed wheel 120 is activated.

[0077] Preferably, the second toothed wheel 120 has a pitch larger than the pitch of the first toothed wheel 117.

[0078] The second toothed wheel 120 is provided with a rotational anti-return pawl 121 configured to allow rotation of the second toothed wheel 120 in the clockwise direction when looking at the point support 100 according to the view shown in [Fig.3], and prevent rotation of the second toothed wheel 120 in the counterclockwise direction of the same view. The rotational anti-return pawl 121 can be produced in any manner known to those skilled in the art.

[0079] Preferably, the second toothed wheel 120 is fixed to the bore 105 when the pawl 121 is locked. The bore 105 has a tapping corresponding to a thread on the rod 103.

[0080] A second rack 205 can thus be positioned against the second toothed wheel 120 by an upward translational movement without activating the bringing together means. However, when the rack 205 is pulled downwards, the non-return pawl 121 is blocked and the bore 105 is screwed against the rod 103. This causes a translation of the fixing means towards the front 400, that is to say of the assembly composed of the bores, 104 and 105, the plates 106 and 118, the toothed wheels, 117 and 120, and the non-return pawls, 121 and 124.

[0081] To summarize, starting from the facade 400 and following the axis of the bore 105, the point support 100 comprises: - an orifice 122 of the attachment means 101 placed opposite an orifice on the facade 400, - the rod 103 for guiding the fixing means in translation along the axis of the bore 105, the rod 103 being at least partially threaded, - the bore 105 at least partially tapped and screwed around the tapped part of the rod 103, - plate 106, - the first toothed wheel 117 fitted with the anti-return ratchet 124, - the guide plate 118, - the second toothed wheel 120, connected to the bore 105 and - the anti-return ratchet 121.

[0082] Preferably, the parts of the point support 100 are made of stainless steel.

[0083] Figures 6 and 7 show two particular embodiments of facade covering elements, 200 and 300.

[0084] The facade covering elements, 200 and 300, comprise a facing, 201 or 301, configured to protect the covered facade 400 and dress said facade 400. The facings, 201 and 301, are the same and can be made of stainless steel, for example.

[0085] The elements shown in [Fig. 6] and 7 are preferably arranged on the same face of the same facing, 201 or 301, but on opposite sides. For example, if the facing, 201 or 301, has a square or parallelepiped shape, the elements 202 to 208 are located on one side of the facing, 201 or 301, for example the left side, and the elements, 302, 304 and 306, are located on the opposite side of the facing, 201 or 301, for example the right side. In other words, the elements shown in Figures 6 and 7 may correspond to two different ends of the same facade covering element 400.

[0086] The facade covering elements, 200 and 300, have dimensions corresponding to the spacing between at least two juxtaposed point supports.

[0087] Two juxtaposed point supports are called point supports immediately next to each other along a horizontal line. Each cover element, 200 and / or 300, comprises a first rack 204 configured to mesh with at least one first toothed wheel 117 of a point support 100.

[0088] The first rack 204 has a U-shaped profile, one of the arms of which forms a fold parallel to the junction between the two arms. The other arm has, on its end, teeth 206 whose pitch and shape correspond to the teeth of the first toothed wheel 117. Preferably, the teeth 206 have a right-angled triangle shape, the right angle of which is configured to be oriented towards the bottom of the facade 400.

[0089] The fold is configured to be positioned against a reinforcement 202 of the facing 201. For example, the reinforcement of the facing 202 is obtained by folding one edge of the facing 201 inward 180 degrees and then folding the end of this edge back 90 degrees in the opposite direction. In other embodiments, the reinforcement 202 is welded or riveted to the inner face of the facing 200.

[0090] The reinforcement of the facing 202 comprises means for fixing the fold of the arm of the first rack 204. Such fixing means are, for example, orifices facing similar orifices on the fold of the arm configured to receive a bolt.

[0091] The first rack 204, when meshed with the first toothed wheel 117, provided with the anti-return ratchet 124 is configured to cause the movement of the facing element 200 in one direction, for example in vertical upward movement, between at least two point supports 100 placed on the facade 400 and to immobilize itself on the point supports 100 under the effect of a force in the opposite direction, for example the force of gravity.

[0092] The first rack 204 is configured to be inserted between the plate 106 and the guide plate 118 of at least two juxtaposed point 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.

[0093] The first rack 204 further comprises a second rack 205 configured to mesh with at least one second toothed wheel 120 of a point support 100.

[0094] The second rack 205 comprises teeth or notches 207 corresponding to the teeth of the second toothed wheel 120 of the point support 100.

[0095] The second rack 205 has an L-shaped profile whose arm comprising the teeth or notches 207 is parallel to the arm of the first rack 204 comprising the teeth or notches 206. The other part of the profile is perpendicular to the arm comprising the teeth or notches 207 and therefore parallel to the junction between the arms of the profile of the first rack 204. Said other part of the profile of the second rack 205 is fixed in a sliding connection with the junction between the arms of the profile of the first rack 204. In this way, it is possible to pull the second rack 205 downwards to cause the rotation of the second toothed wheel 120 and bring the fixing means of the point support 100 closer to the facade 400.

[0096] Preferably, the dimension of the trajectory of the sliding connection along its axis corresponds to at least one revolution of the second toothed wheel 120.

[0097] The covering element 300 shown in [Fig.7] corresponds to a planar symmetry of the covering element 200 shown in [Fig.6], in which the covering element 300 does not have a second rack. The rack 304 of the covering element 300 corresponds to a third rack on another side of the same facing 301.

[0098] Preferably, the third rack 304 is configured to mesh with at least one first toothed wheel 117 of another point support 110, the first rack 204 and the third rack 304 being parallel.

[0099] In 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 306 of the third rack 304.

[0100] In this way, in the event of failure of a first toothed wheel 117 of a point support 100, the vertical sliding corresponds only to the half-pitch between two teeth, 206 or 306.

[0101] Preferably, the pitch between two teeth, 206 or 306, is 1.5 centimeters.

[0102] In [Fig.8], we observe a facade covering element 200 assembled to a point support 100 itself positioned on a facade 400. In this assembly, the first rack 204 is positioned between the plate 106 and the guide plate 108 and the second rack 205 is meshed with the second toothed wheel 120.

[0103] Figures 9 to 11 show a mobile robot 500 for installing point supports 100 on a facade 400 which is the subject of the present invention.

[0104] The mobile robot 500 comprises: - a store 506 for storing at least one point support 100 to be fixed on the facade, - a means 510 for positioning a point support 100 opposite the facade 400, - a means 511 for fixing the point support 100 to the facade 400, - a means 513 for controlling the position of the robot configured to control at least the ascent or descent of the robot 500 and - an elevator, 504 and 505, configured to be attached to at least two point supports 100 fixed to the facade 400 when the robot is in motion and to at least three point supports 100 when fixing the additional point support 100.

[0105] The mobile robot 500 has a substantially parallelepiped shape and comprises, on a so-called “rear” face, the storage magazine 506 and on the opposite so-called “front” face, the elevator, 504 and 505. The front face is configured to be placed opposite the facade 400 when using the mobile robot 500. A so-called “upper” face of the mobile robot 500 comprises the positioning means 510 and the fixing means 511. The upper face is configured to be oriented towards the top of the facade 400 when using the robot. Faces configured to be vertical that are not the front and back faces are defined as side faces.

[0106] 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 simultaneously. 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 hooked onto the conveyor of the magazine 506 at a single attachment point and be guided by translation of the guide between the fins.

[0107] The point supports 100 are aligned in the magazine 506 in a direction 521 called the “ascent direction” configured to be vertical when the mobile robot 500 is positioned against a facade 400.

[0108] Preferably, the point supports 100 are stored so that the rod 103 is above the rod 102, then returned at the time of their positioning by a rotary conveying means, 507 to 510.

[0109] The rail of the magazine 506 is provided with a belt activated by a motor 507 and configured to convey a point support 100 from the magazine 506 onto the rotary conveying means, 507 to 510. Preferably, the belt is configured so that all of the point supports 100 stored in the magazine 506 move towards the rotary conveying means, 507 to 510. A point support 100 is therefore moved onto the rotary conveying means, 507 to 510, and the remaining point supports 100 in the magazine 506 move up in the direction 521 for the future supply of the rotary conveying means, 507 to 510. In other words, a new point support 100 takes the place of the point support 100 which has just been positioned on the means rotary conveyor, 507 to 510.

[0110] In variants, the point supports 100 are loaded into a rail of the magazine 506 in the direction 521, which compresses a spring. The point supports 100 are therefore pushed back by the spring, in the direction 521, towards the rotary conveying means, 507 to 510.

[0111] Preferably, the mobile robot 500 comprises a sensor 514 for the absence of point supports 100 in the storage magazine 506, the control means 513 controlling the ascent or descent of the robot 500 to reload the storage magazine 506 depending on the detected absence.

[0112] The absence sensor 514 of point support 100 may be a contactor activated when a point support is present in the magazine 506, in position prior to its transfer to the rotary 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 those skilled in the art.

[0113] Preferably, in the absence of point supports 100 in the magazine 506, the control means 513 controls the return of the mobile robot 500 to an initial position, for example at the bottom or top of the facade 400 so that point supports 100 are reloaded by an operator. In other words, the control means 513 control the ascent or descent of the mobile robot 500 at the end of its travel against the point supports 100 previously fixed to the facade 400.

[0114] The rotary conveying means, 507 to 510, comprises: - a rotating carriage 510 for receiving a point support 100 configured to position the point support 100 opposite the facade 400, - a pivot connection 509 of the rotating carriage with an axis parallel to the front face and the rear face, but perpendicular to the direction of ascent 521.

[0115] The rotation of the rotary carriage 510 is represented by the arc-shaped arrow 520 in [Fig.10].

[0116] The rotary carriage 510 comprises a rail whose trajectory is a straight line configured to be aligned with the magazine 506 when the rotary carriage 510 is in a first position called “supply”. A belt 508 following a trajectory in the direction 521 is rotated by the motor 507. A point support 100 is taken from the magazine 506 by the belt 508 and conveyed at the end of its travel against the end of the rail of the rotary carriage 510.

[0117] Preferably, the rotary carriage 510 also comprises a means 511 for drilling or coring an orifice in the facade 400. The drilling or coring means 511 may be of any type known to those skilled in the art.

[0118] Preferably, the coring means 511 comprises a core collector. In this way, when an orifice is drilled in the facade 400, the core does not fall on the people at the bottom of the facade 400.

[0119] Preferably, the drilling or coring means 511 comprises a drilling or coring head 512 whose axis defines the axis of the orifice drilled in the facade 400.

[0120] In preferred embodiments, the drilling or coring means 511 is positioned on another side of the pivot connection relative to the point support 100 carried on the rail. In these embodiments: - the distance between an orthogonal projection of the axis of the bore 105 of the point support 100 mounted on the rail of the rotary support is fixed on the rotary carriage 510, on the axis of the pivot connection 509 is equal to - the distance between an orthogonal projection of the axis of the drilling or coring head 512, on the axis of the pivot connection 509.

[0121] Thanks to these arrangements, after drilling or coring, the rotary carriage 510 performs a 180 degree rotation and an orifice 122, aligned with the bore 105 of the point support 100 is aligned with the orifice which has just been drilled or cored in the facade 400.

[0122] Preferably, the rail of the rotary carriage 510 has a trajectory normal to the axis of the drilling or coring head 512 on the one hand, and to the axis of the pivot connection 509, on the other hand. In other words, in the view shown in [Fig. 10], the rail has an axis which forms a right angle with the axis of the drilling or coring head 512. In these embodiments, when the rail is aligned with the magazine 506, the drilling or coring head 512 is oriented towards the facade 400 perpendicular to the facade 400.

[0123] It is therefore possible to drill or core the facade 400 simultaneously with the supply of the rotary carriage 510 with a point support 100.

[0124] Then, the control means 513 executes a command for a 180-degree rotation of the rotary carriage to position the orifice 122 of the point support conveyed on the rotary carriage 510 opposite the orifice drilled or cored in the facade 400.

[0125] The rotary carriage 510 further comprises a screwing means (not shown) configured to screw the point support to the drilled or cored hole. The screwing means is configured to fit a hammer-in stud or dowel into the drilled or cored hole, then, once the hole 122 is positioned opposite the drilled or cored hole, screw a screw into the dowel or adjust the stud. Preferably, the screwing means comprises a means for determining a value representative of the screwing force applied.

[0126] In embodiments, the drilling or coring means 511 comprises a means for capturing and storing a representative value: - the drilling or coring force and / or - the depth of the hole drilled or cored.

[0127] Preferably, the control means 513 comprises a means for calculating the position of the robot 500 and / or the position of a drilled or cored hole, as a function of the rotation of a motor 505.

[0128] Thanks to these provisions, it is possible to associate, with each orifice, the determined representative values.

[0129] The control means 513 is, for example, a microprocessor executing a computer program.

[0130] The elevator, 504 and 505, of the mobile robot 500 comprises a translation means configured to hook onto the already fixed point supports 100 and a motor 505 configured to actuate the translation means. The translation means is preferably a wheel, a track or a belt, 504, for bearing on a toothing or notching, 108 and 110, corresponding to at least two juxtaposed point supports 100.

[0131] In the embodiment shown in Figures 9 to 11, the translation means is a toothed belt 504 whose notches correspond to the teeth or notches, 108 and 110, of the point support 100 shown in Figures 1 to 5. The toothed belt 504 is connected to a motor 505 provided with at least one toothed wheel whose teeth correspond to the notches of the toothed belt 505. Such a toothed wheel makes it possible to transmit the mechanical energy produced by the motor 505 to the toothed belt 504.

[0132] The toothed belt 504 can be mounted on two toothed wheels positioned such that the trajectory of the toothed belt 504 over a distance at least equal to the distance between three fixed point supports is in a direction 524 called “ascent” parallel to the front face and oriented vertically when the mobile robot 500 is mounted on at least two point supports 100.

[0133] Preferably, the elevator, 504 and 505, comprises a guide rail, 502 and 503, configured to be inserted into a rail, 106, 107 and 109, corresponding to at least two juxtaposed point supports 100.

[0134] Preferably, the profile of each guide rail, 502 and 503, has a right-angled elbow shape. The guide rails, 502 and 503, extend in the upward direction 524 on the junction sides of the front face with a lateral face. The guide rails, 502 and 503, each have a flat surface fixed to the lateral faces and a right-angled fold. The fold is oriented towards the median of the front face.

[0135] 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 spacing between the plates 106 and 118 of the point supports 100.

[0136] Thanks to these arrangements, the mobile robot 500 is retained by the plate 118 and cannot therefore fall from the facade 400 during movements and operations of fixing a new point support 100.

[0137] The dimensions of each rail, 502 and 503, are configured so that when the fold of the rails, 502 and 503, is positioned between the plates, 118 and 106, the toothed belt 504 meshes with the teeth or notches, 108 and / or 110.

[0138] In embodiments, each side face of the mobile robot 500 comprises a toothed belt 504, the toothed belts being set in motion by the same motor 505.

[0139] In [Fig.12], we observe a building 620 whose facade 621 is to be covered with a facing and / or insulation. The facade 621 comprises openings or fixed windows 622 and a roof 623.

[0140] During the installation of rail supports on the facade, three lowest point supports 100 are first positioned on the facade 621. These point support elements 100 are preferably aligned along a vertical line. Preferably, to guide the precise positioning of the additional point supports 100 in the extension of the vertical line, a laser source 640 is positioned whose laser beam 641 is vertical. To place an additional point support 100, a mobile robot 500 is moved onto the point supports 100 already placed. As long as the mobile robot has point supports in the magazine 506, the mobile robot 500 places each additional point support 100 while being held in position on 100 point supports already installed.

[0141] During the installation of the 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 position of said robot 500, carries out a servocontrol of 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 opposite a surface on which the laser beam 641 points. The servocontrol of the position of the robot 500 is carried out by stepper motors which modify the horizontal position of the robot 500.

[0142] In embodiments, during the installation of the 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 the point support 100 during installation, carries out a servocontrol of 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 opposite a surface on which the laser beam 641 points. The servocontrol of the position of the point support 100 during installation is carried out by stepper motors.

[0143] When the magazine 506 of the mobile robot 500 is empty, the mobile robot 500 goes back down to the bottom of the facade so that the magazine 506 is reloaded. Then, the mobile robot 500 resumes the process of adding point supports 100 to the facade 621 from the last point support 100 placed.

[0144] Once the point supports 100 have been placed over 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 identifies each geometric element of the facade relative to the point supports 100. In embodiments, the geometric survey of the facade is obtained from a BIM (Building Information Modeling) model and the identification of the rails is carried out by modeling the rails in this model.

[0145] Preferably, a motorized mobile tool (not shown) for capturing readings is moved on point supports 100 mounted on the facade 621. This motorized mobile tool measures its movement along lines of point supports 100 using the same means as the robot 500 (counting revolutions of a motor). This robotic mobile tool determines the position of all the openings and windows 622, as well as, possibly, surface irregularities, for example downpipes, terraces and coping stones, which may hinder the installation of covering elements of the facade 621. For example, the motorized mobile tool comprises several cameras and means image processing to determine the surface area of ​​the facade 621 to be covered, in three dimensions. Alternatively, the robotic mobile tool uses an orientable laser beam which travels across the facade 621 between and / or around the point supports 100.

[0146] Thus, preferably, during the geometric survey of the facade 621, an optical sensor is used for three-dimensional survey of a part of the facade 621 between the point supports 100 which carry this tool and / or around point supports 100. In other embodiments, a mechanical sensor is used, for example a wheel mounted on a support which applies the wheel to the facade 621.

[0147] 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 not to cover the openings and windows 622, the coping stones, terraces and pipes present on the facade 621. In addition, each covering element, 200 or 300, comprises means of securing with the neighboring covering elements, 200 or 300, and means of fixing point supports 100 described with reference to figures 2 and 3.

[0148] Once the covering elements, 200 and / or 300, have been manufactured according to the geometric survey of the facade and the spacing between the point supports 100, these elements are placed on the facade 621. For this purpose, each covering element, 200 and / or 300, is positioned successively, placing two columns of point supports 100 carried by two lowest neighboring point supports 100 (or the point supports 100 just above the lowest rail elements) and a lifting means is positioned below the covering element, 200 and / or 300. This lifting means pushes the covering element, 200 and / or 300, upwards. This lifting means measures its movement along the point supports 100 using the same means as the robot 500 and the motorized mobile tool.The covering element, 200 and / or 300, being guided by the point supports 100, it is positioned below the covering element, 200 and / or 300, previously placed on these point supports 100. Means of fixing to the point supports 100 immobilize the covering element, 200 and / or 300, to the point supports 100. Optionally, the covering element, 200 and / or 300, is secured, for example by riveting or screwing, to its neighbors already positioned on the facade 621. .

[0149] Once all the upper covering elements, 200 and / or 300, are positioned in this way, the lower covering elements, 200 and / or 300, are placed, for example manually, on the facade 621.

[0150] Furthermore, to adjust the spacing between the covering elements 200 of the facade, the second rack 205 of at least one covering element 200 can be actuated by pulling downwards. Preferably, several second racks 205 links can be operated simultaneously.

[0151] In order for the possible insulators of the covering elements, 200 and / or 300, to be pressed against the facade 621, the lifting means may comprise a sliding surface, for example made of Teflon (Registered Trademark) which is positioned between the insulator and the facade during the movement of the covering elements, 200 and / or 300, in order to prevent the insulators from wearing out during this movement. As soon as the covering element, 200 and / or 300, is positioned, the lifting means removes this sliding surface.

[0152] As can be understood from reading the above description, the only human interventions required are the possible placement of the laser source 640, the placement of the lowest point supports 100 and the placement of the lowest covering elements, 200 and / or 300. No scaffolding or cradle is required, nor even access to the roof in the absence of a laser source or in the case where the laser source is positioned at the bottom of the facade.

[0153] As illustrated in [Fig. 13], in one embodiment, the method 70 for covering a facade which is the subject of the invention comprises: - an optional step 71 of placing a laser source 640, preferably with a vertical beam and oriented downwards or upwards, - a step 72, of laying the first point supports, at least three per column, at the bottom of the facade 621 to be covered, - an optional step 73 of installing point supports 100 on the facade 621, at least a portion of these point supports 100 having a means of fixing for covering elements, 200 and / or 300, - an optional step 74 of obtaining a geometric survey of the facade 621, which identifies each geometric element of the facade in relation to the point supports 100, - a step 75 of manufacturing covering elements, 200 and / or 300, of the facade 621, the dimensions of which are a function of the geometric survey and the spacing between point supports 100 mounted on the facade 621, each covering element, 200 and / or 300, having fixing means corresponding to the fixing means of point supports 100 placed on the facade 621, and - a step 76 of laying covering elements, 200 and / or 300, on the point supports 100 placed on the facade 621, by gearing of these covering elements, 200 and / or 300, on at least two point supports 100 and of immobilizing the covering elements, 200 and / or 300, by the means of fixing the point supports 100 and the covering elements, 200 and / or 300.

[0154] During step 72 of placing point supports 100 on the facade 621, a mobile robot 500 is preferably moved onto the point supports 100. already laid, the mobile robot 500 laying each additional point support 100 while being held in position on point supports 100 already laid.

[0155] During step 72 of placing point supports 100, vertical laser guidance is preferably implemented, the mobile robot 500 comprising means for capturing the laser beam 514 and means for controlling the position of each additional point support 100 to the position of the laser beam.

[0156] During step 74 of geometric survey of the facade, a motorized mobile survey capture tool is preferably moved on point supports 100 mounted on the facade 621.

[0157] During step 74 of geometric survey of the facade 621, an optical sensor is preferably used for three-dimensional survey of a part of the facade 621 between the point supports 100 which carry this tool and / or around these point supports 100.

[0158] It is noted that obtaining the geometric survey of the facade can be carried out before or after the installation of the point supports 100, for example on the basis of photographs of the facade, use of a BIM model or traditional measurement taking. In the case where the geometric survey of the facade is carried out before the installation of the point supports 100, the bringing together of certain means of fixing point supports 100 can compensate for defects, in particular flatness, of the facade.

[0159] During the step 76 of gearing the cover elements, 200 and / or 300, along the point supports 100, the cover elements, 200 and / or 300, can travel along the point supports 100 by only going up given the presence of the anti-return pawls 124 of the point supports 100.

[0160] In [Fig.14], we observe a building 720 whose facade 721 is to be covered with a facing and / or insulation. The facade 721 comprises openings or fixed windows 722 and a roof 723.

[0161] In [Fig. 15], we find the elements of [Fig. 14]. During the installation of rail supports on the facade, the lowest rail support elements are first positioned on the facade 721. These rail support elements are preferably vertical. Preferably, to guide the precise positioning of the additional rail support elements which extend the lowest rail support elements, a laser source 740 is positioned whose laser beam 741 is vertical. To place an additional rail element 743, a mobile robot 742 is moved onto the rail supports 724 already placed. The mobile robot 742 places each additional rail element 743 while being held in position on rail support elements 724 already placed. Preferably, the mobile robot 742 is equipped with a pneumatic suction cup to adhere to the surface of the facade 721.Preferably, the mobile robot 742 measures its movement along the rail support elements 724 already. placed by counting teeth (see [Fig.20]) or notches (see [Fig.21]) of a support 728 of the rail support elements 724. The mobile robot 742 is equipped with tools for drilling the outer surface of the facade 721, for placing dowels or studs to be struck in the holes thus produced and for screwing screws into the dowels or studs through slots 744 (see figures 20 and 21) of the supports 728 of rail elements.

[0162] During the installation of the 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 of the rail support element 743 during installation, carries out a servocontrol of 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 opposite a surface on which the laser beam 741 points. The servocontrol of the position of the rail element 43 during installation is carried out by stepper motors.

[0163] Once the rail supports 724 have been placed over 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 identifies each geometric element of the facade relative to the rails. In embodiments, the geometric survey of the facade is obtained from a BIM (Building Information Modeling) model and the identification of the rails is carried out by modeling the rails in this model.

[0164] Preferably, a motorized mobile tool (not shown) for capturing readings is moved on rails 745, 746 (see Figures 17 to 22) mounted on the facade 721. This motorized mobile tool measures its movement along the rails 745, 746 using the same means as the robot 742 (counting teeth or notches). This robotic mobile tool determines the position of all the openings and windows 722, as well as, possibly, surface irregularities, for example, downspouts, terraces and coping stones, which may hinder the installation of facade covering elements. For example, the motorized mobile tool comprises several cameras and image processing means to determine the surface of the facade to be covered, in three dimensions. Alternatively, the robotic mobile tool uses an orientable laser beam which travels along the facade between the rails 745, 746 and / or around the rails 745, 746.

[0165] Thus, preferably, during the geometric survey of the facade 721, an optical sensor is used for three-dimensional survey of a part of the facade between the rails 745, 746 which carry this tool and / or around these rails 745, 746. In other embodiments, a mechanical sensor is used, for example a wheel mounted on a support which applies the wheel to the facade 721.

[0166] 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 745, 746, and not to cover the openings and windows 722, the coping stones, terraces and pipes present on the facade 721. In addition, each covering element 725 comprises means of securing with the neighboring covering elements 725 and means of fixing on the rails 745, 746. Such means are described with reference to figures 17 to 22.

[0167] As illustrated in [Fig. 16], once the covering elements 725 have been manufactured according to the geometric survey of the facade and the spacing between the rail supports 724, these elements are placed on the facade 721. For this purpose, each covering element 726 to be placed is positioned successively between two rails 745, 746 carried by two lowest neighboring supports 728 (or the rail elements just above the lowest rail elements) and an elevating means 727 is positioned below the covering element 726. This elevating means 727 pushes the covering element 725 upwards. This elevating means 727 measures its movement along the rail supports 724 using the same means as the robot 742 and the motorized mobile tool (counting teeth or notches). The cover element 726 being guided by the rails 745, 746, it is positioned below the cover element 725 previously placed on these rails 745, 746.Means for fixing to the rail 745, 746 immobilize the covering element 726 between the rails 745, 46. Optionally, the covering element 726 is secured, for example by riveting or screwing, to its neighbors 725 already positioned on the facade 721.

[0168] Once all the upper covering elements 725 have been positioned in this manner, the lowest covering elements 725 are placed, for example manually, on the facade 721.

[0169] For the case of openings or windows, temporary rail elements can be installed which are superimposed on the openings and which are removed as the covering elements 725 are installed. Pre-existing windows and openings can also be replaced by windows and openings integrated into the covering elements 725.

[0170] In order for any insulation of the covering elements 725 to be pressed against the facade 721, the lifting means 727 may comprise a sliding surface, for example made of Teflon (Registered Trademark) which is positioned between the insulation and the facade during the movement of the covering elements 725 in order to prevent the insulation from wearing out during this movement. As soon as the covering element 725 is positioned, the lifting means 727 removes this sliding surface.

[0171] As understood from reading the above description, the only human interventions necessary are the possible placement of the laser source 740, the placement of the lowest rail support elements 724 and the placement of the lowest 725 roofing elements. No scaffolding or cradle is required, nor even roof access in the absence of a laser source or in the case where the laser source is positioned at the bottom of the facade.

[0172] In Figures 17 to 22, a rail support 724 comprises a support 728 mounted on a facade 721, support 728 which has an angled “L” shape with an angle of 90 degrees. Thus, a portion 729 of the support 728 is tangent to the face 721. The portion 729 has, at regular intervals, the slots 744 allowing the support 728 to be fixed to the facade 721. The support 728 supports two rails 745 and 746, in the shape of a “U” whose two branches 730 and 731 are parallel to the portion 729 of the support 728 and therefore parallel to the facade 721. The covering elements 725 have an external surface 733 parallel to the facade 721, an overlap zone 734 between two covering elements 725 and upper and lower surfaces 735 folded at 90 degrees to the external surface 733. Preferably, the covering elements contain, between the upper and lower surfaces 735, a layer of insulation pressed against the external surface 733.For this purpose, preferably, an interior surface (not shown) of each covering element 725 is parallel to the exterior surface 733 and carried by the surfaces 735. The overlap zone 734 preferably allows a covering element 725 to slide while resting on a neighboring covering element 725, when it is raised on the facade 721.

[0173] The cover elements 725 may be essentially flat, as illustrated in the figures, or curved. To manufacture curved cover elements 725, notches (not shown) may 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 gives flexibility to the elements 725. To make an element 725 convex, this element 725 is folded, which has the effect of bringing the lips of the notches closer together. To make an element 725 concave, this element 725 is folded, which has the effect of moving the lips of the notches apart. Alternatively, machines are used which locally compress or expand the surfaces 735 over their length intended to be curved.Of course, the inner surfaces of the elements 725 are folded in correspondence with the outer surfaces 733 and have a reduced width, when the element 35 is convex, or increased, when the element 735 is concave, relative to the width of the surface 733.

[0174] To retain an insulator in position, the elements 725 preferably comprise internal pins.

[0175] To retain and guide the cover elements 725, the external branch 731 of each rail 745 and 746 has a fold on itself defining a housing for a curved part 732 parallel to the external surface 733, of the lateral faces of the cover elements 725.

[0176] Thus, during the step of installing cover elements 725, at least a portion of the cover elements 725 slide vertically along the facade 721 in a housing 731 of rail 745 and 746.

[0177] In embodiments, the covering elements 725 comprise housings for parts of rails 745 or 746, and during the step of installing covering elements 725, at least a part of the rails 745 and 746 slide in the housing 731 of the covering element 725 during the vertical movement of the covering elements 725 along the facade 721.

[0178] As illustrated in figures 18, 19 and 22, the means for fixing the cover elements 725 on the rails 745 and 746 may comprise flexible parts 736 and openings 39. For example and as illustrated in figures 18, 19 and 22, the flexible part 736 is formed by cutting and twisting a part of the folded part 732 towards the external surface 733 or on the contrary, in a direction opposite to the external surface 733. In this case, the openings 739 for the passage of the flexible part 736 are formed in the branches 731 of the rails 745 and 746.

[0179] As mentioned above, the supports 728 (or the rails 745 and 746) can carry, for the non-slip driving of the motorized mobile tool, the mobile robot 742 and / or the lifting means 727 and their precise location on the front 721, teeth 737 ([Fig. 20]) or notches 738 ([Fig. 21]). This toothing 737 or this notching 738 allows the support of a wheel, a track or a belt, the motorized mobile tool, the mobile robot 742 and / or the lifting means 727 comprising such a wheel, such a track or such a belt.

[0180] As illustrated in [Fig.23], in one embodiment, the method 50 for covering a facade which is the subject of the invention comprises: - an optional step 51 of placing a laser source 740, preferably with a vertical beam and oriented downwards or upwards, - a step 52, of laying the first rail supports 724 at the bottom of the facade 721 to be covered, - a step 53 of installing supports 724 of rails 745 and 746 on the facade 721, at least part of these rails 745 and 746 having a fixing means for covering elements 725, - a step 54 of obtaining a geometric survey of the facade 721, which identifies each geometric element of the facade in relation to the rails, - a step 55 of manufacturing covering elements 725 of the facade 721, the dimensions of which are a function of the geometric survey and the spacing between supports 724 of rails 745 and 746 mounted on the facade 721, each covering element 725 having fixing means corresponding to the fixing means of rails 745 and 746 placed on the facade, and - a step 56 of laying covering elements 725 on the rails 745 and 746 laid on the facade 721, by vertical sliding of these covering elements 725 along the rails 745 and 746 and immobilizing the covering elements 725 by the means of fixing the rails 745 and 746, on the one hand, and the covering elements 725, on the other hand.

[0181] During step 52 of laying supports 724 for rails 745 and 746 on the facade 721, a mobile robot 742 is preferably moved onto the rails 745 and 746 already laid, the mobile robot 742 laying each additional rail support 743 while being held in position on rails 745 and 746 already laid.

[0182] During step 52 of laying supports 724 of rails 745 and 746, vertical laser guidance is preferably implemented, the mobile robot 742 comprising means for capturing the laser beam 741 and means for controlling the position of each additional rail support 743 to the position of the laser beam.

[0183] During step 54 of geometric survey of the facade, a motorized mobile survey capture tool is preferably moved on rails 745 and 746 mounted on the facade 721.

[0184] During step 54 of geometric survey of the facade 721, an optical sensor is preferably used for three-dimensional survey of a part of the facade 721 between the rail supports 724 which carry this tool and / or around these rail supports 724.

[0185] It is noted that obtaining the geometric survey of the facade can be carried out before or after the installation of the supports 724 of rails 745 and 746, for example on the basis of photographs of the facade, use of a BIM model or traditional measurement. In the case where the geometric survey of the facade is carried out before the installation of the rails, the shape of the rails can compensate for defects, in particular flatness, of the facade.

[0186] During step 56 of sliding the cover elements 725 along the rails 745 and 746, the cover elements can travel along the rails 745 and 746 by going up or down. However, the upward sliding has the advantage of allowing the use of pawls 736 and 739. In the case of a downward sliding, the support of a cover element 725 on all those below can cause deformations of the lowest cover elements 725 on the facade 721. It is therefore preferable, at least for the highest facades, to provide means for inhibiting the pawls until the cover elements 725 are in position. Alternatively, different means of fixing are provided, for example by riveting or screwing, by the means of ascent, the cover elements 725 onto the rails 745 and 746.

[0187] The corresponding device for covering a facade 721 comprises at least: - rails 745 and 746 to be placed on the facade 721, at least part of these rails 745 and 746 having a fixing means 739 for covering elements 725 and - covering elements 725 of facade 721, the dimensions of which correspond to the spacing between rails 745 and 746, mounted on the facade, each covering element 725 having fixing means 736 corresponding to the fixing means 739 of rails 745 and 746 placed on the facade, these covering elements 725 being configured to move on the rails 745 and 746 placed on the facade 721 and to immobilize themselves on the rails 745 and 746 with the fixing means 739 and 736 of the rails 745 and 746 and of the covering elements 725.

[0188] Preferably, at least a portion of the rail supports 724 comprise teeth 737 or notches 738 for supporting a wheel, a track or a belt, the robot 742 comprising such a wheel, such a track or such a belt.

[0189] Preferably, the rails 745 and 746 have a “U” shape whose parallel branches 730 and 731 are parallel to a part 729 of a support 728 of rail 745 and 746 configured to be fixed to a facade 721 of building 720.

[0190] For example, the means for fixing the rails 745 and 746 and the covering elements 725 comprise ratchets comprising flexible parts 736, on the one hand, and openings 739 configured to house such a flexible part 736, on the other hand, the flexible parts 736 being constrained during the passage of a covering element 725 along the rails 724, except when the flexible parts 736 are opposite such an opening 739, where this flexible part 736 relaxes upon entering the opening 739 and prevents the covering element 725 from descending.

[0191] ADVANTAGES PROVIDED

[0192] According to a first aspect, the present invention relates to a method of installing an element high up on a wall, which comprises: - a step of placing a support on the wall, at least part of these supports having a means of fixing for elements, - a step of installing elements, having fixing means corresponding to the fixing means of supports, on the supports placed on the wall, by associating these elements on at least two supports and immobilizing the elements by the fixing means of the supports and the elements, in which, during the step of placing supports on the wall, a mobile robot is moved over at least two supports already placed, the mobile robot placing each additional support while being held in position on supports already placed.

[0193] Thanks to these arrangements, covering elements of the facade can be positioned by simple gearing on a series of supports placed on the facade. We reduce, or even eliminates the need for human movement along the facade and the associated disadvantages outlined above. Since the roofing elements are linked to the point supports during their ascent, they do not require human guidance, and are not disturbed by bad weather, wind, etc.

[0194] In addition, the covering elements and point supports can be manufactured in the factory before being fixed to the facade.

[0195] In embodiments, the supports placed are point supports and the association of the elements is carried out by gearing of said elements on the fixing means of the point supports.

[0196] In embodiments, the method which is the subject of the present invention further comprises, prior to the laying step: - a step of obtaining a geometric survey of the wall, which identifies each geometric element of the wall in relation to the supports and - a step of manufacturing wall covering elements, the dimensions of which are a function of the geometric survey and the spacing between supports mounted on the wall, each covering element having fixing means corresponding to the fixing means of supports placed on the wall.

[0197] In embodiments, during the step of placing supports, vertical laser guidance is implemented at the top or bottom of the wall, the mobile robot comprising means for capturing the laser beam and means for controlling the position of each additional support to the position of the laser beam.

[0198] Thanks to these arrangements, the position of each support is precise, the assembly of the covering elements is then made easier and all the more precise. The wall therefore has better resistance to bad weather.

[0199] In embodiments, the method which is the subject of the present invention further comprises a step of simultaneously bringing together at least two covering elements of the wall by actuating a clamping means on at least three supports.

[0200] Thanks to these arrangements, several covering elements can be brought closer to the wall simultaneously, to hold an insulator in position, for example.

[0201] According to a second aspect, the present invention relates to a mobile robot for placing supports on a wall, which comprises: - a storage magazine for at least one support to be fixed to the wall, - a means of positioning a support opposite the wall, - a means of fixing the support to the wall, - a means for controlling the position of the robot configured to control at least the ascent or descent of the robot and - an elevator configured to be attached to at least two supports fixed to the wall when the robot is in motion and to at least three supports when fixing the additional support.

[0202] By means of these arrangements, the mobile robot can precisely position and fix several supports while using such supports to climb along the wall.

[0203] In embodiments, the supports are point supports.

[0204] In embodiments, the robot further comprises capture means of a vertical laser guide beam coming from above or below the wall, the means for controlling the position of the robot comprising means for controlling the position of the robot to the position of the laser beam.

[0205] Thanks to these arrangements, the robot can move precisely and rectify its position to fix the support in the intended location.

[0206] In embodiments, the elevator comprises a wheel, a track or a belt, for bearing on a corresponding toothing or notching on at least two juxtaposed supports.

[0207] By means of these arrangements, the robot moves on the supports and is held in position against the support simultaneously.

[0208] In embodiments, the elevator comprises a guide rail configured to insert into a corresponding rail of at least two juxtaposed supports.

[0209] Thanks to these arrangements, the robot is always guided during its ascent by at least two supports.

[0210] In embodiments, the robot comprises a sensor for the absence of supports in the storage magazine, the control means controlling the ascent or descent of the robot to reload the storage magazine depending on the detected absence.

[0211] Thanks to these provisions, when the magazine is empty, the robot can return to a user by following the supports already placed so that the magazine can be reloaded.

[0212] In embodiments, the fixing means comprises a means for drilling or coring an orifice in the wall, the support being positioned opposite the drilled orifice.

[0213] Thanks to these arrangements, the robot ensures the positioning of the support opposite the orifice which has just been drilled with great precision.

[0214] In embodiments, the positioning means comprises a means for rotating a support, the drilling or coring means is fixed to the rotating conveying means, the support being positioned opposite the orifice drilled by rotation of the rotating conveying means.

[0215] Thanks to these provisions, the positioning of the support opposite the drilled orifice is automatic.

Claims

Claims

1. Method (70) for placing an element high up on a wall (400, 621, 745, 746), characterized in that it comprises: - a step (73) of placing supports (100) on the wall, at least a portion of these supports having a fixing means (106, 117, 749) for elements (200, 300, 725), - a step (76) of placing elements, having fixing means (205, 305, 736) corresponding to the means for fixing supports, on the supports placed on the wall, by associating these elements on at least two supports and immobilizing the elements by the means for fixing the supports and the elements, in which, during the step of placing supports on the wall, and before the step of placing elements, a mobile robot (500, 742) is moved on at least two supports already laid, the mobile robot laying each additional support while being held in position on supports already laid.

2. Method (70) according to claim 1, in which the supports placed are point supports (400, 621) and the association of the elements is carried out by gearing of said elements on the fixing means of the point supports.

3. Method (70) according to one of claims 1 or 2, which further comprises, prior to the step (76) of laying elements: - a step (74) of obtaining a geometrical survey of the wall, which identifies each geometrical element of the wall in relation to the supports and - a step (75) of manufacturing covering elements for the wall, the dimensions of which are a function of the geometrical survey and the spacing between supports mounted on the wall, each covering element having fixing means (205, 305, 736) corresponding to the fixing means of supports placed on the wall.

4. Method (70) according to one of claims 1 to 3, in which, during the step (73) of placing supports, vertical laser guidance is implemented at the top or bottom of the wall, the mobile robot (500) comprising means (515) for capturing the laser beam (641, 741) and means for controlling the position of each additional support (100) to the position of the laser beam.

5. Method (70) according to one of claims 1 to 4, which further comprises, a step of simultaneously bringing together at least two elements (200, 300) covering the wall by actuating a clamping means (120, 121) on at least three supports (100).

6. Mobile robot (500) for placing supports (100) of an element high up on a wall (400), characterized in that it comprises: - a storage magazine (506) for at least one support to be fixed on the wall, - a means for positioning (510) a support opposite the wall, - a means for fixing (511) the support to the wall, - a means for controlling (513) the position of the robot configured to control at least the ascent or descent of the robot and - an elevator (504, 505) configured to be attached to at least two supports fixed to the wall when the robot is in motion and to at least three supports when fixing an additional point support.

7. The mobile robot (500) of claim 6, wherein the supports are point supports.

8. Robot (500) according to one of claims 6 or 7, which further comprises means for capturing (515) a vertical laser guide beam (641) coming from above or below the wall (621), the means for controlling (513) the position of the robot comprising means for controlling the position of the robot to the position of the laser beam.

9. Robot (500) according to one of claims 6 to 8, in which the elevator (504, 505) comprises a wheel, a track or a belt (505), for bearing on a corresponding toothing or notching (108, 110) on at least two juxtaposed supports (100).

10. Robot (500) according to one of claims 6 to 9, wherein the elevator (504, 505) comprises a guide rail (502, 503) configured to insert into a corresponding rail (106, 107, 109) of at least two juxtaposed supports (100).

11. Robot (500) according to one of claims 6 to 10, which comprises an absence sensor (514) of supports (100) in the storage magazine (506), the control means (513) controlling the ascent or descent of the robot to reload the storage magazine depending on the absence detected.

12. Robot (500) according to one of claims 6 to 11, in which the fixing means comprises a means for drilling or coring (511) an orifice in the wall, the support (100) being positioned opposite the pierced hole.

13. Robot (500) according to claim 12, in which the positioning means comprises a rotary conveying means (507 to 510) of a support (100), the drilling or coring means (511) is fixed to the rotary conveying means, the support being positioned opposite the orifice drilled by rotation (520) of the rotary conveying means.

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