Rope-Suspended Climbing Robot for Obstacle-Crossing Facade Processing
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Solution Overview
Problem
Existing robotic systems struggle to automatically navigate and perform processes on structures with obstacles such as balconies or other irregular terrains without human intervention.
Innovation Solution
An apparatus with a main body suspended from a rope, articulated legs, and a processing end effector that adjusts elevation and leg contact to traverse vertical surfaces, using hip actuators and suction cups for support, allowing it to ascend/descend and maneuver around obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If existing robotic systems are used to perform automated processes on structures, then productivity is improved, but they cannot automatically navigate obstacles such as balconies or irregular terrains
Solution Approach 1:
The robotic apparatus employs dynamically adjustable articulated legs with multiple degrees of freedom that can adapt their configuration in real-time to navigate around obstacles such as balconies and irregular terrains. The legs can extend, retract, and articulate at multiple joints to accommodate varying structural geometries, enabling the robot to maintain mobility and perform automated processes across diverse building surfaces without requiring human intervention for obstacle avoidance.
2Adaptability or versatility
If manual processing is used on large structures, then adaptability to obstacles is maintained, but labor intensity increases and safety risks arise
Solution Approach 1:
The robotic apparatus autonomously navigates and adapts to irregular terrains and obstacles through its articulated leg mechanism, eliminating the need for human operators to physically maneuver around obstacles. The system self-adjusts its configuration to maintain contact with the structure surface while performing automated processes, thereby removing operators from hazardous environments and eliminating safety risks associated with manual processing on tall or difficult-to-reach structures.
3Adaptability or versatility
If articulated legs with multiple degrees of freedom are used, then ability to navigate obstacles is improved, but device complexity increases
Solution Approach 1:
The robotic apparatus divides its locomotion system into segmented articulated legs, each comprising multiple independent joints and degrees of freedom. This segmentation allows each leg to independently adapt to obstacles while the overall system maintains coordinated movement. The modular segmented structure enables complex obstacle navigation capabilities while keeping individual component complexity manageable through standardized joint designs.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables autonomous and efficient processing on vertically spaced locations of structures, including cleaning and inspection, while overcoming obstacles and ensuring safety without human intervention.
Implementation Method 1
The foot end may include a structure-adhering end effector configured to cause temporary attachment of the foot end to the structure
Data Source
AI summary
An apparatus and method for performing a process on a structure is disclosed. The apparatus includes a main body suspended in a vertical direction from an elevated portion of the structure using rope. The apparatus also includes first and second articulated legs attached to the main body from a hip joint and articulates the legs using hip actuators which are coupled to the hip joints. Each of the legs include a foot end to facilitate establishing contact between the apparatus and the surface of the structure to support the main body on the structure's surface. The apparatus further includes a processing end effector to perform a process on the structure's surface. The apparatus goes through a sequence of actions to move along various surfaces of the structure and perform a process on the surface using the end effector. The sequence of actions may be performed autonomously using a control unit.