An insulation installing robot

Abstract

The disclosure regards an insulation-panel installing robot for installing insulation panels on a surface, the robot comprising, a platform, a robotic arm comprising a distal end and a proximal end, wherein the proximal end is attached to the platform, the robotic arm comprising at a distal end a mounting tool configured for installing an insulation panel on a surface, wherein the mounting tool comprises at least two opposite arms hinged by a first hinge at a proximal arm end, and a plurality of sensors, configured to collect position data and / or status data of the robot and / or of the surface, and a control module, wherein the control module is configured to process the collected position data and / or status data from the plurality of sensors and to navigate and control the robotic arm based on the processed data for installing the insulation panels on the surface.

Description

[0001] An insulation installing robot

[0002] The present disclosure relates to a novel insulation-panel installing robot for installing insulation panels on a surface.

[0003] Background

[0004] The state of the art in the field of installing insulation layers on a surface involves manual labour, where workers operate on scaffolding structures to install insulation panels. Such a process involves a number of challenges, such as high cost since specialised workers need to be employed, as well as high risks since operating on scaffolding structures is a dangerous task. In addition, the productivity of such a process is low, since it would require building scaffolding structures for each different surface that is to be insulated.

[0005] Hence, a new method is required, which can automate the process of installing insulation on surfaces, by minimizing the manual work needed.

[0006] Summary

[0007] One objective of the present disclosure is to provide an automatic process of installing insulation on surfaces, such as on buildings, by minimizing the need for manual operations, thereby increasing the quality of the installed insulation and minimizing the costs and dangers of using scaffolding structures to install insulation on a surface.

[0008] Therefore, the present disclosure relates to an insulation-panel installing robot for installing insulation panels on a surface, the robot comprising a platform, a robotic arm comprising a distal end and a proximal end, wherein the proximal end is attached to the platform, the robotic arm comprising at a distal end a mounting tool configured for installing an insulation panel on a surface, and a plurality of sensors, configured to collect position data and / or status data of the robot and / or of the surface. The robot further comprises a control module, wherein the control module is configured to process the collected position data and / or status data from the plurality of sensors and to navigate and control the robotic arm based on the processed data for installing the insulation panels on the surface.

[0009] In a preferred embodiment, the insulation-panel installing robot comprises a mounting tool, wherein the mounting tool comprises at least two opposite arms hinged by a first hinge at a proximal arm end. The mounting tool may comprise a connector and at least two arms. The arms are preferably positioned in substantially opposite locations around the connector. Therefore, the two arms are described as opposite arms herein.

[0010] The platform may be any platform configured to hold the robotic arm. In an embodiment, the platform is a mobile platform that is configured to move on a ground surface. The mobile platform may comprise a mobile chassis with wheels or tracks to allow mobility of the robotic arm. The robotic arm may comprise an extendable boom that can be extended to reach various heights and a counterweight system for stability. The robotic arm may comprise at least two booms attached to each other by at least one hinge, so that the at least two booms are pivotable in relation to each other, and so that the robotic arm can reach various heights.

[0011] The robotic arm may be attached to the platform, and it may comprise a number of tools, such as various sensors and a mounting tool. The sensors can be any type of sensors that can collect position and / or status data of the robot, or environmental data, such as the presence of any obstacles in the vicinity of the robot. For example, the sensors may be optical sensors, inertial measurement unit sensors, acceleration sensors or proximity sensors.

[0012] The mounting tool may comprise certain attachment elements allowing the mounting tool to pick an insulation material, such as an insulation panel, and secure it to the mounting tool. In an embodiment, at least one attachment element comprises a penetrating element, such as a needle, configured to pierce through an insulating material, thereby securing the insulation material to the mounting tool. Additionally, the robot may be configured to provide partial vacuum through at least one attachment element, thereby securing the insulation material to the mounting tool.

[0013] Using all the collected data from the sensors, a control module, which can be a computer positioned either on the robot, or at a remote location, may comprise a software that is capable of collecting all the data, and analyze the data. Depending on the data collected, the control module can send commands to the various parts of the robot, such as to the robotic arm or the mounting tool, in order to control them, and perform the steps to install an insulation material on a surface. A continuous loop of feedback may be established, where data are collected by the sensors in real time, which are provided to the control module, where the control module provides further commands to the robot in order to proceed with the insulation installation, and when required, to provide correcting commands in order to align the robot and prevent any possible damage or mistake.

[0014] Different types of data can be used by the control module, in order to facilitate in installing insulation material on a surface, by minimizing the cost and maximizing the quality of the resulted insulation. Specifically, the robot can be configured, such that the position data comprise data related to the three-dimensional position of the platform, the robotic arm and / or the mounting tool, or wherein the position data comprise data related to the morphology and / or characteristics of the surface, thereby facilitating in the correct alignment and installation of the insulation material. Such data can be beneficial for the control module, as they can allow the computer module to have a complete overview of the robot, as well as to send commands in order to successfully install insulation material on a surface.

[0015] Moreover, the control module can be further configured to process computer-aided design (CAD) data, comprising a digital representation of the surface. CAD data can be further treated in order to retrieve a smooth, continuous digital description of the surface to be processed by the robot. Based on that digital description, it is possible to further increase the quality of the installed insulation, as the robot will have information regarding i.e., the morphology of the surface, or any kind of details of the surface that would need to be taken into account.

[0016] The present disclosure further relates to a method for installing a plurality of insulation panels on a surface, using the robot according to any of the embodiments described in the present disclosure, wherein the method comprises positioning a first insulation panel on the surface in a first position, collecting coordinate data of the first position, based on the coordinate data of the first position, positioning a second insulation panel on the surface adjacent to the first panel, repeating the above steps, thereby insulating the surface.

[0017] The terms “insulation material” and “insulation panel” may be used in the present disclosure to describe insulation objects that are to be installed on a surface. The terms “insulation material” and “insulation panel” may relate to insulation material and panel that are commonly known as thermal insulation products for buildings, like e.g. factory made expanded polystyrene (EPS), mineral wool (MW), phenolic foam (PF), wood fibre (WF) products etc.

[0018] Description of Drawings

[0019] Various embodiments are described hereinafter with reference to the drawings. The drawings are examples of embodiments and are intended to illustrate some of the features of the presently disclosed insulation-panel installing robot, and are not limiting to the presently disclosed system and method.

[0020] Fig. 1 shows a schematic of an insulation-panel installing robot.

[0021] Fig. 2 shows a schematic of a mounting tool, comprising four attachment elements. Fig. 3 shows a schematic of a mobile platform and a robotic arm, comprising a telescopic unit.

[0022] Fig .4 shows an example of the operations of the control module, and the transmitted data from the sensors.

[0023] Detailed description

[0024] The present disclosure relates to an insulation-panel installing robot for installing insulation panels on a surface, the robot comprising, a platform, a robotic arm comprising a distal end and a proximal end, wherein the proximal end is attached to the platform, the robotic arm comprising at a distal end a mounting tool configured for installing an insulation panel on a surface, and a plurality of sensors, configured to collect position data and / or status data of the robot and / or of the surface. The mounting tool may comprise at least two opposite arms hinged by a first hinge at a proximal arm end. The robot may further comprise a control module, wherein the control module is configured to process the collected position data and / or status data from the plurality of sensors and to navigate and control the robotic arm based on the processed data for installing the insulation panels on the surface. In an embodiment, the control module may also control and navigate the platform.

[0025] An example of such a robot can be viewed in Fig. 1 . In the example shown in Figure 1 , the platform is a mobile platform. The mobile platform 100 can be any platform that is configured to move on a ground surface. The mobile platform may comprise a mobile chassis with wheels or tracks to allow mobility of the robotic arm. The robotic arm 112 may comprise an extendable boom 101 that can be extended to reach various heights. The robotic arm may also comprise a boom with a fixed length, where the boom can be controlled and navigated in the three spatial dimensions. A combination of both a fixed length boom and a telescopic boom may be applied on the robotic arm. The robotic arm may also comprise a counterweight system, which can provide further stability, and / or extendable support legs also for providing increased stability. The robotic arm may comprise a proximal end 103 and a distal end 104. The robotic arm may comprise a plurality of sensors, such as an optical sensor 106 or an inertial measurement unit (IMU) sensor 107. The robotic arm may also comprise a mounting tool 108 which can be used to pick an insulation material / panel 109 and install the insulation material / panel on a surface 110. Additional sensors may also be used such as an external sensor 111 for monitoring the robot, e.g. the position of the robot, like the position of the mounting tool or the insulation panel held by the mounting tool. The robotic arm may be any programmable robot capable of having a substantial payload in order to carry a mounting tool and insulation panels. In addition, the robotic arm preferably comprises a telescopic unit, allowing the robotic arm to reach heights for installing insulation materials, and the robotic arm preferably comprises a 6-axis serial kinematics structure for compensating motions of the robotic arm.

[0026] The operations of the robot may be controlled by a control module 102. The control module may either be positioned on site, at close proximity to the robot, or at a remote location. The control module may comprise a software that is capable of collecting all the data from the plurality of sensors. Depending on the data collected, the control module can send commands to the various parts of the robot, such as to the robotic arm or the mounting tool, in order to control them, and perform the steps to install an insulation material on a surface. For example, if the mounting tool is in the process of installing an insulation material, and the material is slightly misaligned with respect to the surface, then an optical sensor which is collecting data in real time can transmit the optical data to the control module. The control module, can then send a command to the mounting tool, controlling the mounting tool in order to re-align the insulation material, and therefore properly install the insulation material on the surface. A continuous loop of feedback may be established, where data are collected by the sensors in real time, which are provided to the control module, where the control module provides further commands to the robot in order to proceed with the insulation installation, and when required, to provide correcting commands in order to align the robot and prevent any possible damage or mistake. The data collected by the sensors can be either transmitted to the control module via an electrical or an optical cable. Alternatively, the data collected by the sensors can be wirelessly transmitted to the control module. Similarly, the commands sent by the control module to the various parts of the insulation installation robot can be transmitted either wirelessly, or via a cable connection.

[0027] A hydraulics and power unit may also be utilized, in order to provide the necessary power to the various components of the insulation installation robot.

[0028] In an embodiment, the robotic arm may comprise a crane, configured to lift, move, and assist in positioning insulation panels at heights. The crane may act in coordination with the robot, such as with the mounting tool, and it may act in coordination with other parts of the robot such as with an extendable boom, and / or two or more hinged booms, like hinged by one or more crane links.

[0029] Moreover, the robot can be further configured, such that the mounting tool comprises at least two attachment elements, configured for securing an insulation material to the mounting tool. As described in the next paragraphs, the attachment elements may comprise various components, in order to secure an insulation material on the mounting tool.

[0030] The robot can be configured, such that the mounting tool comprises at least two opposite arms hinged by a first hinge at a proximal arm end. Moreover, the robot can be configured, such that the at least two opposite first arms each has a second hinge. In an embodiment, the robot can be configured, such that the two attachment elements are positioned at a distal arm end of the at least two opposite arms. In addition, the robot can be configured, such that the mounting tool comprises yet another two attachment elements, configured for securing an insulation panel to the mounting tool, wherein the yet another two attachment elements are positioned at the second hinges. The opposite arms are also written as length adjusting elements herein. The length adjusting elements have the function that they can have an adjustable length, enabling the mounting tool to pick-up different-shape insulation panels. The hinges are written as joints herein. In an embodiment, at least one opposite arm or length adjusting element is configured to control the distance and the angle among each two attachment elements. Fig. 2 shows an example of a mounting tool 200, comprising four attachment elements 201 . Each attachment element can be positioned on a length adjusting element 202, where each length adjusting element can be extended or shortened, in order to modify the distance between two attachment elements. In addition, each length adjusting element is free to rotate on a joint 203, allowing to form custom attachment element configurations. The joint is also described as a hinge herein. For example, depending on the shape of an insulation material, it may be optimal to position the plurality of attachment elements in close proximity with one another. For a different insulation material, it may be advantageous to position the attachment elements at a further distance. Depending on the insulation material, the attachment elements can be configured accordingly, in order to maximize the stability of the mounting tool, and minimize the time needed to install an insulation material on a surface. The mounting tool 200 is configured to be connected to the robotic arm by a connector 204 that may be positioned close to a centre of the mounting tool and / or between the four attachment elements 201 , so that two attachment elements may be positioned on one side of the connector 204 and two attachment elements may be positioned on the other side of the connector 204. If the mounting tool 200 comprises two attachment elements, the connector 204 may be positioned between the two attachment elements. The connector may comprise one or more hinges 205 for connecting the proximal ends of the opposite arms on the connector. For example, each opposite arm can be hingedly connected at opposite ends of the connector as shown in Fig. 2. Different embodiments of the mounting tool can be realized, depending on the needs of each application. For example, the connector may comprise a plurality of hinges, wherein an opposite arm is attached on each hinge. For example, a connector may comprise four hinges, enabling a mounting tool with four separate opposite arms.

[0031] The robot can be configured, such that the mounting tool comprises a connector, wherein the proximal end of each of the opposite arms is hingedly connected with the connector. One or more hinges may be used on the connector to facilitate the connection between the opposite arms and the connector.

[0032] The robot can be configured, such that the connector comprises a plurality of hinges, thereby enabling a plurality of opposite arms to be hingedly connected to the connector. Moreover, the robot can be configured, such that the connector is collapsed on a single hinge, thereby enabling two opposite arms to be hingedly connected on the same hinge. For example, the connector may be designed to be a hinge, where two opposite arms can be connected to.

[0033] The functionality of positioning the arms substantially opposite to each other, preferably around the connector, enables the mounting tool to pick-up, secure, and manipulate insulation panels with high stability and precision. By having the arms arranged in an opposing configuration, the mounting tool can apply balanced forces on the insulation panel during pickup and handling operations. This symmetrical arrangement can minimize the risk of tilting, slipping, or damaging the insulation panel, which can be particularly advantageous when handling lightweight, delicate, or large-format panels.

[0034] Each opposite arm comprises a proximal end and a distal end, wherein the proximal end of each of the opposite arms advantageously is hingedly connected with the connector. One or more hinges may be used on the connector to facilitate the pivotal connection between the opposite arms and the connector. The hinged connection enables each arm to rotate or pivot relative to the connector, allowing the mounting tool to adapt to panels of varying sizes and to accommodate slight misalignments during pick-up. For example, a mounting tool may comprise a plurality of opposite arms, such as two, four, or six opposite arms, wherein each arm comprises one or more attachment elements. The attachment elements can attach and secure an insulation panel. Further information about the attachment elements is provided in the sections below.

[0035] In addition to picking and securing the panel, the opposite arms may also assist in providing accurate positioning during the installation process. By adjusting the relative positions of the arms, the mounting tool can finely adjust the panel's orientation, tilt, or vertical alignment, enabling precise placement on a target surface. This flexibility improves the quality of installation and reduces the need for manual correction.

[0036] The connector can facilitate the coordination and the motion of the opposite arms. For example, the connector can enable synchronized or coordinated movement of the opposite arms, ensuring a balanced gripping action. The connector may also serve as a structural node that maintains the spatial relationship between the opposite arms, providing rigidity when a panel is secured. Depending on the type of insulation material, different kinds of attachment elements may be utilized. In an embodiment, the robot can be configured, such that at least one attachment element comprises a penetrating element, such as a needle, configured to pierce through an insulating material, thereby securing the insulation material to the mounting tool. For example, a needle can be positioned on each attachment element, allowing the mounting tool to easily pick-up a foam-type insulation material or panel, and install the insulation material or panel on a surface. Furthermore, the robot can be configured, such that at least one attachment element comprises at least one needle.

[0037] In addition, the robot can be configured to provide partial vacuum through at least one attachment element, thereby securing the insulation material to the mounting tool. For example, at least one attachment element may comprise a suction cup or a pipe, thereby providing partial vacuum. It may be advantageous to utilize partial vacuum, as such a process can be effective to pick-up and install robust insulation materials. A combination of attachment elements may also be utilized. For example the robot can be configured such that each attachment element comprises either a penetrating element or a suction element. The attachment element configured to be provided with partial vacuum from e.g. a pump of the robot will be especially useful for handling an insulation panel having a foil, like a plastic foil, on at least one side.

[0038] In another embodiment, the attachment element may comprise a plurality of pliers, which can be configured to grasp an insulation material, such as a panel, and move it towards a surface to be installed.

[0039] The robot can be further configured, such that the attachment elements of the mounting tool comprise plates configured to apply pressure on two opposing sides of the insulation material, thereby securing the insulation material to the mounting tool. Depending on the type of insulation material that is to be installed on a surface, different combinations of attachment elements and mounting tool configurations can be utilized. The mounting tool may be a modular part that can be temporarily removed from the robotic arm, in order to modify the attachment elements. Then, the mounting tool can be installed again on the robotic arm, continuing the insulation installing operations.

[0040] Furthermore, the robot can be configured, such that the robotic arm comprises a telescopic unit. A telescopic unit can be beneficial, as the telescopic unit can allow the mounting tool to reach surfaces at heights, for example for tall buildings or other objects that require insulation. An example of a robot 300 comprising a robotic arm 303 with a telescopic unit 301 can be seen in Fig. 3. The robotic arm may comprise a boom with a fixed length 302, where the boom can be controlled and navigated in three dimensions. The boom with the fixed length can be equipped with a telescopic unit 301 , allowing the robotic arm to reach elevated heights. The boom with the fixed length 302 and the a telescopic unit 301 may be hinged to each other by a hinge 304. In one embodiment, the boom with the fixed length may have another hinge for further increasing the manoeuvrability of the robot arm.

[0041] Sensors

[0042] Moreover, the robot can further comprise at least one external sensor connected to the robot, wherein the external sensor is configured for collecting position and / or status data of the platform, of the robotic arm and / or the mounting tool from an external view. Alternatively, the robot can be part of a system, the system comprising the robot according to any embodiments presented in this disclosure, and the external sensor. In one embodiment, the external sensor may be totally detached from the robot, and / or the external sensor may be a standalone unit. An example of an external sensor 111 can be seen in Fig. 1 . Using an external sensor can be very beneficial, as the external sensor can provide valuable information to the control module, in order to assess properly the status of the robot, as well as the environment of the robot. For example, an external sensor can provide information about any possible obstacles in the surroundings of the robot, as well as any possible workers that may approach the robot. Having that information, the control module can adjust the operations of the robot accordingly, in order to prevent any possible damage or injury. The external sensor can provide an overview of the robotic arm, the mounting tool, the insulation panel controlled by the mounting tool and the surface to be provided or being provided with insulation panel. The overview provided by the external sensor can e.g. provide information to the control module 102 that a row of insulation panels is extending from one end of the surface to another end of the surface without the robotic arm and the mounting tool with the plurality of sensors 106 having to be moved along the row of insulation panels for the control module to find out that the row of insulation panels is complete. The external sensor will reduce the time needed for the robot to fill the surface with insulation panels. The robot can be configured, such that each of the plurality of sensors are selected from the group of: optical sensors, inertial measurement unit sensors, acceleration sensors or proximity sensors. Optical sensors can be any type of cameras that can collect data regarding the position of the robot and the surface that is to be installed with insulation material. Inertial measurement unit (IMII) sensors can track the acceleration and angular velocity of the robotic arm over a period of time. Therefore, an IMU sensor can provide important data to the control module, allowing the optimal operation of the robot. Proximity sensors can provide information regarding any objects or persons that may be near the robot. Therefore, such information can be used by the control module to prevent any possible injury or damage during the installation of an insulation material.

[0043] The robot can be configured, such that the position data comprise data related to the three-dimensional position of the platform, of the robotic arm and / or the mounting tool. Such type of data may allow the sensors to monitor the behaviour of the system. For example, the local sensors can guide the robot to the work area on the target object, monitor the execution of the insulation installation, and monitor the quality of the insulation result.

[0044] Moreover, the robot can be configured, such that the position data comprise data related to the morphology and / or characteristics of the surface, thereby facilitating in the correct alignment and installation of the insulation material. For example, the various sensors can collect information regarding the surface roughness of the surface to be processed, or possibly the curvature of the surface. Such information can be processed by the control module, and specialized commands can be provided to the mounting tool in order to correctly align an insulation material on the surface.

[0045] In addition, the robot can be configured, such that the position data comprise data related to a three-dimensional relative position between the mounting tool and the surface and / or between the mounting tool and an installed insulation panel.

[0046] Furthermore, the robot can be configured, such that the status data comprise data related to the stability of the platform, of the robotic arm and / or of the mounting tool. For example, the status data can be related to vibrations of various parts of the robot, and possible swaying of various parts during operation. Such data can be provided to the control module in order to provide the necessary commands to counteract such vibrations or swaying. For example, a set of status data may comprise coordinate data of the robotic arm, which robotic arm is vibrating around a central position. The period and amplitude of vibration can be provided to the control module, and the software of the control module can provide certain commands to the robotic arm in order to reduce said unwanted vibrations.

[0047] In addition, the control module can be configured to process computer-aided design (CAD) data, comprising a digital representation of the surface. CAD data and / or scans may be used and treated in order to retrieve a smooth, continuous digital description of the surface. Based on the digital description of the surface and shape of the object that is being insulated, modules for production planning and motion planning may generate a sequence of waypoints for the platform, and the robotic arm to move across the surface in a manner that allows for executing the insulation installation operations while achieving the given quality requirements, and while avoiding collisions and safety hazards.

[0048] The robot can be configured, such that the control module comprises a model, said model is configured to predict kinodynamic reactions of the robot given an input. As described in the sections above, the plurality of sensors can collect position and / or status data of the various parts of the robot and the environment, and that data can be continuously forwarded to the control module. The control module may comprise a mathematical model of the robot, which can predict the kinodynamic reactions of the robot given a specific input. The model encompasses the prediction of the wanted reactions - i.e. to guide the tools of the robot to a given Cartesian target location - as well as the most prominent unwanted reactions - i.e. the vibrations / swinging of the robotic arm, and deflections of various components of the robotic arm, such as crane links. An example of a model used by the control module in order to collect all the data from the sensors and provide commands to the robot is shown in Fig. 4. A control module 400 may collect position and status data 407 from the platform 401 , the robotic arm 402, the crane part of the robotic arm 403, the local sensors 404, the global sensors 405 and the mounting tool 406. The control module may be in communication with a safety system 408, a motion planning and control system 409 and a model, simulation and data-based compensation system 410. The control module may send motion and status control commands 411 to the plurality of sensors, mounting tool, platform and robotic arm. The control module may also be in communication with digital twin system 412, a production planning system 413, and a human-machine interface operator 414. Furthermore, the present disclosure relates to a method for installing a plurality of insulation panels on a surface, using the robot according to any of the embodiments described above, wherein the method comprises positioning a first insulation panel on the surface in a first position, collecting coordinate data of the first position, based on the coordinate data of the first position, positioning a second insulation panel on the surface adjacent to the first panel, repeating the above steps, thereby insulating the surface. For example, the above method can be applied when an extended surface needs to be insulated. Utilizing the control module, it is possible to continuously monitor the status of the surface, and position with high alignment each next insulation panel on the surface.

[0049] Items

[0050] 1 . An insulation-panel installing robot for installing insulation panels on a surface, the robot comprising,

[0051] • a platform,

[0052] • a robotic arm comprising a distal end and a proximal end, wherein the proximal end is attached to the platform, the robotic arm comprising at a distal end o a mounting tool configured for installing an insulation panel on a surface, and o a plurality of sensors, configured to collect position data and / or status data of the robot and / or of the surface, and

[0053] • a control module, wherein the control module is configured

[0054] • to process the collected position data and / or status data from the plurality of sensors and

[0055] • to navigate and control the robotic arm based on the processed data for installing the insulation panels on the surface.

[0056] 2. The robot according to item 1 , wherein the mounting tool comprises at least two attachment elements, configured for securing an insulation panel to the mounting tool.

[0057] 3. The robot according to item 2, wherein at least one attachment element comprises a penetrating element, such as a needle or several parallel needles, configured to pierce through an insulating panel, thereby securing the insulation panel to the mounting tool. The robot according to any one of the preceding items, wherein the mounting tool comprises at least two opposite arms hinged by a first hinge at a proximal arm end. The robot according to any one of the items 2-3, wherein the at least two opposite first arms each has a second hinge. The robot according to any one of the items 2-5, wherein the two attachment elements are positioned at a distal arm end of the at least two opposite arms. The robot according to item 4 or 5, wherein the mounting tool comprises yet another two attachment elements, configured for securing an insulation panel to the mounting tool, wherein the yet another two attachment elements are positioned at the second hinges. The robot according to any one of the items 2-7, wherein the robot is configured to provide partial vacuum through at least one attachment element, thereby securing the insulation panel to the mounting tool. The robot according to item 7, wherein at least one attachment element comprises a suction cup or a pipe, thereby providing partial vacuum. The robot according to any one of the items 2-9, wherein each attachment element comprises either a penetrating element or a suction element. The robot according to any one of the items 2-10, wherein at least one opposite arm is configured to control the distance and the angle among each two attachment elements. The robot according to any one of the preceding items, wherein the mounting tool comprises plates configured to apply pressure on two opposing sides of the insulation panel, thereby securing the insulation panel to the mounting tool. The robot according to any one of the preceding items, wherein the robotic arm comprises a telescopic unit. The robot according to any one of the preceding items, further comprising at least one external sensor connected to the robot, wherein the external sensor is configured for collecting position and / or status data of the platform of the robotic arm and / or the mounting tool from an external view. The robot according to any one of the preceding items, wherein each of the plurality of sensors are selected from the group of: optical sensors, inertial measurement unit sensors, acceleration sensors or proximity sensors. The robot according to any one of the preceding items, wherein the position data comprise data related to a three-dimensional position of the platform, the robotic arm and / or the mounting tool. The robot according to any one of the preceding items, wherein the position data comprise data related to a three-dimensional relative position between the mounting tool and the surface and / or between the mounting tool and an installed insulation panel. The robot according to any one of the preceding items, wherein the position data comprise data related to the morphology and / or characteristics of the surface, thereby facilitating in the correct alignment and installation of the insulation panel. The robot according to any one of the preceding items, wherein the status data comprise data related to the stability of the platform, of the robotic arm and / or of the mounting tool. The robot according to any one of the preceding items, wherein the control module is further configured to process computer-aided design data, comprising a digital representation of the surface.

[0058] 21 . The robot according to any one of the preceding items, wherein the control module comprises a model, configured to predict kinodynamic reactions of the robot given an input.

[0059] 22. The robot according to any one of the preceding items, wherein the platform is a mobile platform.

[0060] 23. The robot according to any one of the preceding items, wherein the control module is configured to control and navigate the platform.

[0061] 24. The robot according to any one of the preceding items, wherein the mounting tool comprises a connector, and wherein the proximal end of each of the opposite arms is hingedly connected with the connector,

[0062] 25. The robot according to item 24, wherein the connector comprises a plurality of hinges, thereby enabling a plurality of opposite arms to be hingedly connected to the connector.

[0063] 26. The robot according to any one of the items 24-25, wherein the connector is collapsed on a single hinge, thereby enabling two opposite arms to be hingedly connected on the same hinge.

[0064] 27. A method for installing a plurality of insulation panels on a surface, using the robot according to any one of the preceding items, wherein the method comprises

[0065] • positioning a first insulation panel on the surface in a first position,

[0066] • collecting coordinate data of the first position,

[0067] • based on the coordinate data of the first position, positioning a second insulation panel on the surface adjacent to the first panel, repeating the above steps, thereby insulating the surface.

Claims

Claims1 . An insulation-panel installing robot for installing insulation panels on a surface, the robot comprising,• a platform,• a robotic arm comprising a distal end and a proximal end, wherein the proximal end is attached to the platform, the robotic arm comprising at a distal end o a mounting tool configured for installing an insulation panel on a surface, wherein the mounting tool comprises at least two opposite arms hinged by a first hinge at a proximal arm end, and o a plurality of sensors, configured to collect position data and / or status data of the robot and / or of the surface, and• a control module, wherein the control module is configured• to process the collected position data and / or status data from the plurality of sensors and• to navigate and control the robotic arm based on the processed data for installing the insulation panels on the surface.

2. The robot according to claim 1 , wherein the mounting tool comprises at least two attachment elements, configured for securing an insulation panel to the mounting tool.

3. The robot according to claim 2, wherein at least one attachment element comprises a penetrating element, such as a needle or several parallel needles, configured to pierce through an insulating panel, thereby securing the insulation panel to the mounting tool.

4. The robot according to any one of the claims 2-3, wherein the at least two opposite first arms each has a second hinge.

5. The robot according to any one of the claims 2-4, wherein the two attachment elements are positioned at a distal arm end of the at least two opposite arms.

6. The robot according to claim 4, wherein the mounting tool comprises yet another two attachment elements, configured for securing an insulation panel to the mounting tool, wherein the yet another two attachment elements are positioned at the second hinges.

7. The robot according to any one of the preceding claims, wherein the robot is configured to provide partial vacuum through at least one attachment element, thereby securing the insulation panel to the mounting tool.

8. The robot according to claim 7, wherein at least one attachment element comprises a suction cup or a pipe, thereby providing partial vacuum.

9. The robot according to any one of the claims 2-8, wherein each attachment element comprises either a penetrating element or a suction element.

10. The robot according to any one of the claims 2-9, wherein at least one opposite arm is configured to control the distance and the angle among each two attachment elements.11 . The robot according to any one of the preceding claims, wherein the mounting tool comprises plates configured to apply pressure on two opposing sides of the insulation panel, thereby securing the insulation panel to the mounting tool.

12. The robot according to any one of the preceding claims, wherein the robotic arm comprises a telescopic unit.

13. The robot according to any one of the preceding claims, further comprising at least one external sensor connected to the robot, wherein the external sensor is configured for collecting position and / or status data of the platform of the robotic arm and / or the mounting tool from an external view.

14. The robot according to any one of the preceding claims, wherein each of the plurality of sensors are selected from the group of: optical sensors, inertial measurement unit sensors, acceleration sensors or proximity sensors.

15. The robot according to any one of the preceding claims, wherein the position data comprise data related to a three-dimensional position of the platform, the robotic arm and / or the mounting tool.

16. The robot according to any one of the preceding claims, wherein the position data comprise data related to a three-dimensional relative position between the mounting tool and the surface and / or between the mounting tool and an installed insulation panel.

17. The robot according to any one of the preceding claims, wherein the position data comprise data related to the morphology and / or characteristics of the surface, thereby facilitating in the correct alignment and installation of the insulation panel.

18. The robot according to any one of the preceding claims, wherein the status data comprise data related to the stability of the platform, of the robotic arm and / or of the mounting tool.

19. The robot according to any one of the preceding claims, wherein the control module is further configured to process computer-aided design data, comprising a digital representation of the surface.

20. The robot according to any one of the preceding claims, wherein the control module comprises a model, configured to predict kinodynamic reactions of the robot given an input.21 . The robot according to any one of the preceding claims, wherein the platform is a mobile platform.

22. The robot according to any one of the preceding claims, wherein the control module is configured to control and navigate the platform.

23. The robot according to any one of the preceding claims, wherein the mounting tool comprises a connector, and wherein the proximal end of each of theopposite arms is hingedly connected with the connector,24. The robot according to claim 23, wherein the connector comprises a plurality of hinges, thereby enabling a plurality of opposite arms to be hingedly connected to the connector.

25. The robot according to any one of the claims 23-24, wherein the connector is collapsed on a single hinge, thereby enabling two opposite arms to be hingedly connected on the same hinge.

26. A method for installing a plurality of insulation panels on a surface, using the robot according to any one of the preceding claims, wherein the method comprises• positioning a first insulation panel on the surface in a first position, • collecting coordinate data of the first position,• based on the coordinate data of the first position, positioning a second insulation panel on the surface adjacent to the first panel,• repeating the above steps, thereby insulating the surface.

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