A self-propelled robot platform and system and method of moving a tool over a support surface.

摘要

A self-propelled robot consists of a platform (24a) with a plurality of castors (26a) to support the platform on and space the platform from a supporting surface, as well as permitting any selected direction of movement over the support surface. The magnetic field generating means (20a to 23a) of at least two linear motors are arranged on the platform transversely to one another and generally parallel to the support surface and so that their flux links with the support surface or a magnetic backing thereof. The motor fluxes linking the supporting surface drive the platform. The platform is provided with tool support means (46) and that tool support means includes articulation structure (42a) with associated drive means (44a) which permits tool positoning. As a consequence, the robot platform (24a) may be moved over the surface in a predetermined pattern doing work with a supported tool or it may be moved from point to point where work is to be done where the tool is actuated either manually or by programmed information. If the support surface is magnetic, the surface need not be horizontal to hold the platform.