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Robot for a work on a wall surface

  • US 4,993,913 A
  • Filed: 07/11/1989
  • Issued: 02/19/1991
  • Est. Priority Date: 07/15/1988
  • Status: Expired due to Fees
First Claim
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1. A robot for performing work on a wall surface comprising:

  • (a) a main module hung by ropes and comprising means capable of moving said main module vertically and horizontally to a desired position on the wall surface;

    (b) an arm module mounted on the main module and being movable with one or more degrees of freedom with respect to the wall surface, said arm module comprising a slide base extending horizontally along substantially the entire width of the main module, a slide table slidably mountable on the slide base and a parallel link type arm mounted movably on the slide table; and

    (c) a wrist module mounted on a foremost end portion of the arm module and comprising an assembly including a first rotary portion rotatable about a vertical axis of the wrist module, a second rotary portion rotatable about a horizontal axis of the wrist module, and a third rotary portion rotatable about a central axis of the wrist module, and an automatic tool changer for detachably mounting a tool thereon.

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