• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of renovating a building facade (F), comprising the step of moving on the facade a robot (30) facade treatment to perform successively at least two operations including a cleaning operation of the facade and at minus one additional operation chosen from a machining of the facade and / or a deposition of material, based on cement, plaster or earth, a filling or sealing resin, on the facade.
    公开号:FR3058175A1
    申请号:FR1660508
    申请日:2016-10-28
    公开日:2018-05-04
    发明作者:Damien Bahon
    申请人:GTM BATIMENT；
    IPC主号:
    专利说明:

    ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE © Publication number:
    (to be used only for reproduction orders)
    ©) National registration number
    058 175
    60508 © Int Cl 8 : E 04 G 23/02 (2017.01)
    PATENT INVENTION APPLICATION
    A1
    ©) Date of filing: 28.10.16. (© Applicant (s): GTM BATIMENT Joint-stock company (© Priority: simplified - FR. @ Inventor (s): BAHON DAMIEN. ©) Date of public availability of the request: 04.05.18 Bulletin 18/18. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ©) Holder (s): GTM BATIMENT Joint-stock company related: simplified. ©) Extension request (s): © Agent (s): CABINET NONY.
    Pty ROBOTIZED RENOVATION PROCESS OF FAÇADE.
    Method for renovating a building facade (F), comprising the step of moving a facade treatment robot (30) over the facade to successively carry out at least two operations, including a facade cleaning operation and at minus an additional operation chosen from a machining of the facade and / or a deposit of material, based on cement, plaster or earth, a filling or sealing resin, on the facade.
    FR 3 058 175 - A1
    i
    ROBOTIZED FAÇADE RENOVATION PROCESS
    The present invention relates to an automated method for renovating the facade of existing buildings.
    Today, the renovations of existing facades are carried out on the basis of a peripheral facade scaffolding from which the operations are carried out manually, in particular with regard to the restoration. The cost and duration of these works are high, and moreover the inconvenience for residents and occupants is significant.
    Methods and systems have already been proposed for cleaning a facade of a building.
    Thus, US patent 5,240,503 discloses an installation for the treatment of a facade comprising a column and cables suspended from brackets. A horizontal beam is connected to the column so that it can move vertically on it. A processing tool is carried by a beam oriented perpendicular to the horizontal beam. The system can receive a tool for cleaning the facade with a water jet, and depositing a paint or a sealant.
    US 2001/0173773 and US 8,298,347 disclose facade cleaning systems comprising a tool carried by a beam or a horizontal cable, held between two vertical cables.
    These known systems are suitable for work that does not require high precision, such as cleaning, painting or applying a sealant. However, the renovation of certain facades involves ancillary operations which must be carried out with precision, such as the reconstruction of gaps, the production of holes intended for the installation of facings, or a finishing machining after the addition of a filling mortar for example. .
    The invention aims to automate facade restoration and renovation work to eliminate the need for scaffolding and reduce the duration of the site, in order to improve the impact of this work on residents and occupants.
    The invention achieves this objective by a method of renovating a building facade, comprising the step of moving a facade treatment robot on the facade to successively carry out at least two operations including a cleaning operation of the facade and at least one additional operation chosen from a machining of the facade and / or a deposit of material, in particular based on cement, plaster or earth, a sealing or filling resin, on the facade.
    Thanks to the invention, all operations related to the facelift and renovation of the facade can be carried out without the installation of a peripheral scaffolding, which reduces the duration of the work.
    Preferably, the robot is guided in its movement by a rigid guide structure, comprising a rigid horizontal support structure and a vertical support structure comprising two rigid vertical elements. Guidance accuracy is improved.
    Preferably, the robot is moved to clean the entire facade before the start of at least one of the ancillary operations. This cleaning can be done by spraying water or a mixture containing water or air. It can be high pressure water cleaning or sandblasting.
    Among the additional operations that can be carried out by the robot, is the making of holes on the facade or machining other than drilling.
    The robot can deposit material by an additive process on the facade. The material is for example extruded in contact with the surface on which it is to be deposited. This is for example an operation consisting of repointing by depositing a jointing mortar between facade elements. The material can still be deposited by projection.
    The deposit of material can target any repair operation of the facade, for example cracks, or reconstruction of volumes. The robot can remove material according to a predefined operation plan, as well as add material according to a predefined operation plan.
    Preferably, the robot is automatically controlled from 3D data of the facade, in particular from 3D data generated using a drone acquisition.
    The robot can be controlled so as to work line by line according to a horizontal displacement, with a vertical offset once a horizontal line is swept. As a variant, the robot is controlled so as to work line by line according to a vertical displacement, with a horizontal offset once a vertical line has been swept.
    Advantageously, the robot is movable in a direction perpendicular to the facade, in particular over a stroke less than or equal to 200 cm. This can take into account the hooks and overhangs of the facade.
    Another subject of the invention, according to another of its aspects, is an installation comprising a robot and a guidance system making it possible to move it on the facade, and at least two tools which can equip the robot, including at least one cleaning tool. and at least one tool making it possible to carry out at least one additional operation chosen from a machining of the facade and / or a deposit of material, in particular based on cement, plaster or earth or a sealing or filling resin, on the facade.
    The two tools can be carried simultaneously by the robot. As a variant, the robot includes a tool holder which allows it to exchange the tools between the facade treatment phases.
    Preferably, the guidance system comprises at least one horizontal support structure, in particular a metal frame, on which the robot can move horizontally. Preferably also, the guidance system comprises at least one vertical support structure making it possible to move the robot vertically.
    It is very particularly advantageous that the vertical support structure comprises two vertical elements along which the horizontal support structure can move, in particular two vertical metal beams. In fact, as indicated above, the rigidity of the guidance system contributes to the precision of guiding the robot, and makes it possible to perform operations requiring high precision, such as the deposition of material or machining. In addition, the rigidity of the guide structure makes it possible to easily take up the reaction forces generated by certain operations such as piercing. A rigid structure also provides robustness and can support more load than a cable structure. The risk of falling is reduced.
    The subject of the invention is also a facade of a building renovated by implementing the method according to the invention, as defined above.
    The invention can be better understood on reading the detailed description which follows, of non-limiting examples of implementation thereof, and on examining the appended drawing, in which:
    - Figure 1 shows schematically and partially, in perspective, an example of installation according to the invention,
    - Figure 2 shows a detail of the installation of Figure 1.
    There is shown in Figure 1 very schematically a facade F of a building to be restored and renovated.
    To carry out the renovation and renovation, a robotic installation 10 is installed on the building as illustrated in FIG. 1.
    This installation comprises a guide structure 20 and a robot 30 mobile on the facade, which can move relative to the latter thanks to the guide structure.
    The latter comprises a primary metal framework composed of two vertical and parallel beams 21, fixed to the building at their upper end and placed on the ground at their lower end. The beams 21 can also, as illustrated, be connected to the building at their lower end.
    The guide structure also includes a secondary metal frame 22, composed for example of a horizontal beam, connected to the beams of the primary frame by motorized connecting means configured to move vertically on the latter.
    The secondary frame 22 carries the robot 30 and the latter can move both horizontally along the secondary frame 22 and in the depth direction, perpendicular to the plane of the facade F.
    The robot 30 is for example positioned on a platform movable horizontally along the secondary frame and movable on rails present on the platform in the direction of the depth. This movement in depth can be limited to a few tens of centimeters.
    The robot 30 is moved automatically using, for example, control data generated from a 3D reconstruction of the facade.
    The aforementioned primary framework, the secondary framework and the platform are linked in such a way that the range of possible movements of the platform makes it possible to cover the entire vertical surface of the facade F lying between the two vertical axes of the primary framework.
    The robot is arranged to carry out the necessary cleaning and renovation operations.
    The robot may include a tool holder equipped with the tools corresponding to the operations to be carried out.
    In particular, the robot can be equipped with a tool for cleaning the facade, by spraying water, if necessary mixed with a chemical adjuvant and / or an abrasive, or by sandblasting with a high pressure air jet .
    The supply of water and / or compressed air is preferably carried out from the ground, using a pump and suitable piping, or alternatively the platform carries a water reserve and / or a compressor.
    The robot 30 can also be equipped with a tool such as an extrusion head making it possible to deposit a cement-based material to reconstitute, for example, gaps on the facade, repoint or change its appearance. The extrusion head can deposit the material in successive thin overlapping layers, depending on the geometry to be produced.
    The robot 30 can also be used to perform a machining of the facade, for example holes or a finish on previously deposited material.
    To this end, the robot can include a tool holder 33 driven in rotation about an axis X, as illustrated in FIG. 2. This tool holder 33 can be equipped with the tooling adapted to perform the desired operation.
    The data necessary for controlling the robot 30 is for example generated from a 3D scan of the facade by a drone.
    The robot 30 can be equipped with various sensors allowing it to locate itself in relation to the facade, such as one or more cameras, rangefinders, feelers, ... The robot 30 can have the intelligence allowing it to remain at a predefined distance from the plan of the facade, and bypass openings, balconies, windows and openings, if present.
    If necessary, the primary framework is put in place so that it can be translated along the facade. This translation can be allowed in several ways, for example by mounting it on carriages moving along two rails parallel to the facade, or manually by dismantling and then reassembling the primary framework.
    To treat facade F, you can start by cleaning it with a high-pressure water jet or by sandblasting, depending for example on the nature of the facade.
    During cleaning, the robot 30 is moved for example to scan the facade horizontally with an offset progressively downward. During this operation, the openings are for example avoided, and only the stone is cleaned.
    Then, the robot 30 can be selectively moved on the facade in locations identified as requiring a specific intervention.
    For example, the scan of the facade revealed jointing defects in certain locations or cracks which should be scratched and filled.
    To scrape the cracks, the robot can be equipped with a grinding wheel or a brush, then the cracks can be filled by injecting a cement-based material or a filling resin.
    If necessary, after injection of the filling material, and hardening thereof, a finishing operation is carried out by the robot using a surfacing tool.
    Then the robot can be used to apply a plaster or paint on the facade.
    The robot can also be used, if necessary, to make holes necessary for the thermal renovation of the facade or for the laying of facing tiles.
    When the robot is used to deposit a cement-based material or a sealing or filling material, the material may be a high-performance or ultra-high-performance concrete, fiber-reinforced or not, or a resin, in particular a mixture of resin and wood.
    The invention is not limited to the example which has just been described. In particular, the tooling present on the robot can be chosen to carry out other operations, such as pickling, brushing, demolition or the injection of water or material.
    In a variant, the robot is autonomous and able to move itself relative to the facade to carry out the necessary facelift and / or renovation operations.
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1. A method of renovating a facade (F) of a building, comprising the step of moving a facade treatment robot (30) over the facade to successively carry out at least two operations, including a facade cleaning operation. and at least one additional operation chosen from machining the facade and / or depositing a material, based on cement, plaster or earth, a filling or sealing resin, on the facade.
    [2" id="c-fr-0002]
    2. Method according to claim 1, the robot being guided in its movement by a rigid guide structure, comprising a rigid horizontal support structure (22) and a vertical support structure comprising two rigid vertical elements (21).
    [3" id="c-fr-0003]
    3. Method according to one of claims 1 and 2, the robot (30) being moved to clean the entire facade before the start of at least one of the additional operations.
    [4" id="c-fr-0004]
    4. Method according to any one of the preceding claims, the robot making holes on the facade or machining other than drilling.
    [5" id="c-fr-0005]
    5. Method according to one of the preceding claims, the robot depositing material by an additive process on the facade or by projection.
    [6" id="c-fr-0006]
    6. Method according to any one of the preceding claims, the robot being controlled automatically from 3D data of the facade, in particular from 3D data generated using an acquisition by drone.
    [7" id="c-fr-0007]
    7. Method according to any one of the preceding claims, the robot being controlled so as to work line by line according to a horizontal displacement, with a vertical offset once a horizontal line has been swept.
    [8" id="c-fr-0008]
    8. Method according to any one of claims 1 to 6, the robot being controlled so as to work line by line according to a vertical displacement, with a horizontal offset once a vertical line swept.
    [9" id="c-fr-0009]
    9. Method according to any one of the preceding claims, the robot being movable in a direction perpendicular to the facade, in particular over a stroke less than or equal to 200 cm.
    [10" id="c-fr-0010]
    10. Method according to any one of the preceding claims, the facade being renovated without the installation of scaffolding on the facade.
    [11" id="c-fr-0011]
    11.. Installation for the implementation of the method according to any one of the preceding claims, comprising a robot and a guidance system making it possible to move it on the facade, and at least two tools which can equip the robot, including at least one cleaning tool and at least one tool for performing at least one operation
    5 annex chosen from a machining of the facade and / or a deposit of material on the facade, this material being chosen from a material based on cement, plaster or earth, a sealing or filling resin.
    [12" id="c-fr-0012]
    12. Installation according to the preceding claim, the two tools being carried simultaneously by the robot.
    10
    [13" id="c-fr-0013]
    13. Installation according to one of claims 11 and 12, the guide system comprising at least one horizontal support structure, in particular a metal frame, on which the robot can move horizontally.
    [14" id="c-fr-0014]
    14. Installation according to one of claims 11 to 13, the guidance system comprising at least one vertical support structure for moving the robot
    [15" id="c-fr-0015]
    15 vertically.
    15. Installation according to claim 14, the vertical support structure comprising two vertical elements (21) along which the horizontal support structure (22) can move, in particular two vertical metal beams (21).
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    同族专利:
    公开号 | 公开日
    FR3058175B1|2019-03-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4993913A|1988-07-15|1991-02-19|Nihon Biso Kabushiki Kaisha|Robot for a work on a wall surface|
    GB2460279A|2008-05-23|2009-11-25|Ibrahim Ghulam Murad Ali|A Method And System For Cleaning Buildings|
    GB2518807A|2013-07-03|2015-04-08|Q Bot Ltd|Computer controlled system for 3D printing of building materials|CN110080549A|2019-03-04|2019-08-02|苏州科技大学|A kind of protection decision-making technique of gallows timber ancient building in Architectural Heritage|
    CN110123189A|2019-05-08|2019-08-16|北京中恒欧嘉节能环保科技有限公司|A kind of automatic scrubbing glass device|
    CN111593864A|2020-04-20|2020-08-28|上海建工四建集团有限公司|Outer wall spraying device and spraying method thereof|
    法律状态:
    2017-10-30| PLFP| Fee payment|Year of fee payment: 2 |
    2018-05-04| PLSC| Search report ready|Effective date: 20180504 |
    2018-10-30| PLFP| Fee payment|Year of fee payment: 3 |
    2019-10-30| PLFP| Fee payment|Year of fee payment: 4 |
    2020-08-26| PLFP| Fee payment|Year of fee payment: 5 |
    2021-07-26| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1660508|2016-10-28|
    FR1660508A|FR3058175B1|2016-10-28|2016-10-28|ROBOTIZED FACADE RENOVATION METHOD|FR1660508A| FR3058175B1|2016-10-28|2016-10-28|ROBOTIZED FACADE RENOVATION METHOD|
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