US 12,384,047 B2
Apparatus and method for performing a process on a structure
Mohammad Dabiri, Vancouver (CA); and Seyed Hossein Kamali, Vancouver (CA)
Assigned to Autonopia Technologies Inc., Vancouver (CA)
Appl. No. 18/549,278
Filed by Autonopia Technologies Inc., Vancouver (CA)
PCT Filed Mar. 4, 2022, PCT No. PCT/CA2022/050312
§ 371(c)(1), (2) Date Sep. 6, 2023,
PCT Pub. No. WO2022/187936, PCT Pub. Date Sep. 15, 2022.
Claims priority of provisional application 63/157,686, filed on Mar. 6, 2021.
Prior Publication US 2024/0165821 A1, May 23, 2024
Int. Cl. B25J 11/00 (2006.01)
CPC B25J 11/0085 (2013.01) 20 Claims
OG exemplary drawing
 
1. An apparatus for performing a process on a structure, the apparatus comprising:
a main body configured to be suspended in a generally vertical direction from an anchor device using a tether coupled at a first end to the main body at a hanging point and at a second end to the anchor device wherein retracting and extending the tether shortens and lengthens, respectively, the length of the tether between the main body and the anchor device for ascending and descending the apparatus in the generally vertical direction;
first and second articulated legs, each of the first and second articulated legs having a hip end and a foot end, wherein the first and second articulated legs are coupled to the main body at the hip end of the corresponding articulated leg, and wherein the first articulated leg at its corresponding foot end is operably configured to make contact with a first portion of the structure to provide support for the main body and the second articulated leg at its corresponding foot end is operably configured to make contact with a second portion of the structure to provide support for the main body;
a hip actuator operably coupled to the hip end of each of the first and second articulated legs, the hip actuator configured to cause rotational movement between the main body and the respective first and second articulated legs; and
at least one processing end effector operably connected to the main body and configured to perform the process on the structure;
a control unit operably connected to the apparatus and configured to generate control commands, the control commands when executed by the apparatus cause the apparatus to one or more of contact the structure, adjust a disposition of the apparatus relative to the structure, and perform the process on the structure using the processing end effector,
wherein adjusting the disposition of the apparatus comprises one or more of:
adjusting the elevation of the apparatus by one or more of retracting or extending the tether and actuating the hip actuator for causing the apparatus to ascend or descend in the generally vertical direction; and
rotating the apparatus relative to the structure by one or more of actuating the hip actuator and retracting or extending the tether; and
wherein contacting the structure comprises one or more of:
actuating the hip actuator to establish contact between the foot end of the first articulated leg and the first portion of the structure;
actuating the hip actuator to establish contact between the foot end of the second articulated leg and the second portion of the structure.