Surface preparation robot with closed-loop force grinding.
A 3-axis robot traverses a temporary rail frame attached to the building. A force-controlled tool head executes grinding (PID 1 kHz, ±0.05 N), HEPA-filtered dust capture (99.97% quartz dust), automated crack detection via OpenCV and direct crack filling — all without scaffold, all without workers at height. The novelty is the kinematic combination: rail-frame substrate + force-closed-loop grinding + integrated dust capture + automatic crack workflow.
- Status
- US Provisional + DPMA drafted
- Independent claims
- 3
- Dependent claims
- 17
- Filing cost (US+DE)
- ~€210
- PCT-ready
- 12-month priority window
- Engineering validation
- 57 independent checks
- FEM safety factor
- 127× column · 59× bracket
- Force resolution
- ±0.05 N at 1 kHz
- C1Robotic system for facade surface preparation, comprising a rigid 3D rail frame removably attached to a building structure, a 3-axis carriage, and a closed-loop force-controlled grinding head.
- C7Integrated tangential vacuum hood with HEPA-H14 filtration achieving ≥99.97% capture of respirable quartz dust at the abrasion site.
- C12Vision-based crack detection using OpenCV pipeline executing in real-time on the moving carriage, followed by automated electric crack-filling tool head in a single traverse.
- C18Force-control loop achieving ≥1 kHz update rate and ±0.05 N resolution via combined load-cell and motor-current signal fusion.