WO2006111827A1

WO2006111827A1 - Aid device for the construction of walls and/or treatment of surfaces

Info

Publication number: WO2006111827A1
Application number: PCT/IB2006/000926
Authority: WO
Inventors: Mathieu Leclercq
Original assignee: Mathieu Leclercq
Priority date: 2005-04-21
Filing date: 2006-04-19
Publication date: 2006-10-26
Also published as: FR2884845A1; WO2006111825A1; FR2884845B1

Abstract

The invention relates to a device for assisting an operator in the manipulation and displacement of his tools, particularly for building work, said device being compact and easy to operate. The aid device (100) comprises a support structure (20) to which a manipulating arm (30) is fixed, provided at the end thereof with a tool holder (33), to house a tool for the work to be carried out. Said manipulating arm (30) comprises a primary arm (31) coupled to the support structure (20, 50) by means of a central pivot (B), a secondary arm (32) coupled to the primary arm (31) by a pivoting connection (A), and a tool holder (33) coupled to the secondary arm (32) by a pivot (C), characterised in that the joint axes (A, B, C) are parallel to each other and coupled to each other by means of a transmission (34-38), such that said manipulating arm (30) moves the tool holder (33) parallel to itself in a plane perpendicular to said joint axes (A, B, C) and parallel to the surface (1) for treatment or the wall (2) for construction.

Description

DEVICE FOR ASSISTING THE CONSTRUCTION OF WALLS AND / OR THE TREATMENT OF SURFACES

Technical area :

The present invention relates to a device for assisting the construction of walls and / or the treatment of surfaces, more particularly, of vertical surfaces of buildings, to perform, for example, sandblasting or cleaning, repointing, filling of joints, an embodiment coating, a coating removal, a surfacing, a paint or the like, this device comprising at least one supporting structure on which is articulated a manipulator arm provided at its free end with a tool holder adapted to receive a tool adapted to work to perform, the manipulator arm having at least one primary arm coupled to the supporting structure by a central pivot, a secondary arm coupled to the primary arm by a pivot connection, and a tool holder coupled to the secondary arm by a pivot.

Prior art:

Virtually all techniques for removing and depositing material on walls rely on the use of manually moved tools or apparatus. There may be mentioned, for example, sanding or plaster deposit, which involve holding and moving at arm's length a nozzle or projection lance. The paint application also requires manual movement of the brush, roller or spray gun. Another example is the repointing of brick walls: this work is carried out by manually moving a chisel, a pneumatic hammer or a power tool for grooving and surfacing.

These working methods induce considerable physical effort, especially since the surface on which they are applied is, in general, important. Moreover, the quality of realization of these works, which relies on the skill and the precision of the gesture of the operator, can be degraded with the fatigue that these efforts cause. In the field of construction machinery, systems that can provide assistance to the operator use Cartesian slides for guiding their movements, as in the case of vertical concrete saws for civil engineering constructions. . These devices are particularly bulky, since their Cartesian guidance uses perpendicular slides whose dimensions are equal to those of the surface to be treated. In addition, they impose a relatively heavy installation to undertake. In particular, they require a mooring surface to be treated or being assembled by means of fasteners that require additional installation time, not to mention that they are likely to damage the surface.

The aid device described in the publication FR 2 146 075 is intended for shipyards and comprises an extensible arm carrying at its free end a working tool pivotally mounted about an axis perpendicular to the working surface on a moving vehicle. along a rail. The aid device described in US Pat. No. 4,545,156 is intended for sandblasting surfaces and comprises a multiple arm, each section being pivotable with respect to the other and controlled independently, this arm being carried by a mobile frame at the end of 'Matt. These solutions are not satisfactory and do not make it possible to obtain a movement of the tool in a plane parallel to the surface to be treated with a minimum of deflection.

Presentation of the invention

The invention proposes to overcome these disadvantages by providing a device capable of assisting an operator in the handling and movement of his tools, while being compact and easy to implement.

For this purpose, the invention relates to a device of assistance of the kind indicated in the preamble, characterized in that the axes of articulation are parallel to each other so that the manipulator arm moves the tool holder in a plane perpendicular to said axes articulated and parallel to the surface to be treated or to the wall to be constructed and in that the manipulator arm comprises means for connecting the tool holder and the primary arm in rotation so that the tool holder moves parallel to itself. whatever the orientation of the primary arm.

In a manual embodiment of the manipulator arm, the pivot C of the tool carrier comprises a first pulley connected by a cable to a second pulley located at the pivot, this second pulley being itself connected by a cable to a third pulley located at the central pivot B.

In an automated embodiment of the manipulator arm, this device comprises actuators at the hinge pins arranged to assist the movements of the manipulator arm, these actuators can be controlled by a centralized control unit.

Advantageously, the manipulator arm comprises balancing means arranged to compensate the weight of the manipulator arm and tool assembly regardless of its position in space and ensure the stability of said assembly.

These balancing means may comprise at least a first articulated counterweight on the bearing structure around the central pivot B, extending on an axis substantially parallel to the secondary arm and coupled thereto by a transmission, the position of this counterweight being adjustable along its axis. These balancing means may also comprise a second counterweight secured to the primary arm and extending opposite the pivot connection A.

In some embodiments, the manipulator arm comprises means for adjusting the distance of the tool holder from the surface to be treated or to the wall during assembly, such as the secondary arm split into a deformable parallelogram associated with a bar adjustment of the diagonal of this parallelogram to move the tool holder in the axis of the pivot C.

In a preferential manner, the device comprises means for adjusting the orientation of the tool holder relative to the bearing structure around its pivot C.

In a first variant, the supporting structure comprises a fastening profile adapted to carry the manipulator arm suspended from a cable.

In a second variant, the supporting structure comprises a base adapted to rest on the ground by three support points formed of adjustable legs allowing at least the adjustment of the verticality of the tool holder.

The supporting structure may include rolling means capable of allowing its movement by rolling on the ground and / or on the surface to be treated or the wall under construction.

The device may comprise support means of the base on the surface to be treated or wall being mounted, these means providing at least three support points: a fixed point and concentric with the axis of the central pivot B and two adjustable points formed by stabilizers.

The support means may be supplemented by a mast providing a ground support point located in the background of said surface by a mobile machine equipped with ground immobilization means.

The device may further comprise a platform for access of an operator to the work area, this platform being arranged to move vertically relative to the base. In this case, the device advantageously comprises an elevator adapted to raise the base and / or the platform relative to the ground and bring the tool holder and / or the operator to the height of work, this elevator may include several connected telescopic sections between them by at least one cable arranged to deploy the sections relative to each other as the cable is pulled.

The device preferably comprises leveling means arranged to facilitate the positioning in the space of the tool holder.

Brief description of the drawings:

The present invention and its advantages will appear better in the following description of several embodiments given as non-limiting examples, with reference to the appended drawings, in which:

FIG. 1 is a perspective view of a first embodiment of the aid device according to the invention,

FIG. 2 is a plan view of a second embodiment of the aid device according to the invention, FIG. 3 is a perspective view of the device of FIG. 2 in a construction aid application. of a wall,

FIG. 4 is a perspective view of a third embodiment of the aid device according to the invention in a grooving application of a surface, FIG. 5 is a plan view of the device of FIG. 4. elevated by an elevator and stowed on the surface to be treated,

FIG. 6 is a diagram illustrating the kinematics of the elevator of FIG. 5, and

- Figure 7 is a perspective view of a fourth embodiment of the aid device according to the invention carried by a mast resting against a surface to be treated. Illustrations of the invention:

The aid device 100 according to the invention mainly comprises a manipulator arm 30 articulated, ensuring the maintenance and guidance of a working tool 10-12 in space. This manipulator arm 30 is supported by a bearing structure 20, 50, 70 which can be in various forms depending on whether the manipulator arm 30 is suspended, placed on the ground, pressed against a surface 1 or maintained in elevation. Thus, the supporting structure takes the form of a hooking support 20 designed to be suspended at the end of a cable 21 as in Figure 1, a mobile base 50 or rolling frame as in Figures 2 to 4, an elevator 70 combined with said base 50 and / or a platform 75 to bring the work tool and / or operator height as in Figures 5 to 7.

The manipulator arm 30 is described in detail with reference to FIG. 1 and comprises two beams 31, 32, called primary arm 31 and secondary arm 32, interconnected by a pivot connection of axis A. The manipulator arm 30 is articulated on a bearing structure 20, 50 about a central pivot axis B and receives at its free end a tool holder 33 pivotally mounted about an axis C. The articulation axes A, B, C connecting these different elements are parallel, whereby the tool holder 33 moves in a plane perpendicular to said axes. The maximum extension of the manipulator arm 30 being the same in all directions, the envelope of the theoretical positions that can reach the tool holder 33 is a circle. This manipulator arm 30 is not limited to two articulated beams 31, 32, the essential part being to respect the construction described below.

To maintain the tool holder 33 horizontal, it is provided with a first pulley 34 connected by a cable 35 to a second pulley 36 mounted free on the axis A of the pivot of the two arms 31, 32, itself connected by a cable 37 to a third pulley 38 secured to the supporting structure at the axis B of the central pivot. With this arrangement, the angular orientation of the tool holder 33 is maintained regardless of the position of the arm manipulator 30. Its horizontality is obtained by a setting that allows a coupling for example conical existing between the tool holder 33 and pulley 34.

Another function that the manipulator arm 30 must fulfill is to support its own weight as well as that of the tool. Indeed, it must not exert effort on the surface treatment or the wall 2 under construction. It must not move under the effect of its weight or that of the manipulator arm 30, but instead remain immobile regardless of where it is placed. To do this, two solutions arise: either the weight of the tool / manipulator arm assembly 30 is taken from a fixed element of the device 100 ie the bearing structure, or it is balanced by a counterweight system. Since the bearing structure is in most cases simply placed on the ground, we can not use the first solution because to prevent the device from tilting, it is necessary that the center of gravity of the entire device 100 remains at all. moment inside the zone delimited by the support of the supporting structure. It is therefore the solution of balancing that is retained and described below.

Given the ever-changing geometry of the manipulator arm 30, it is not possible to use only one counterweight to achieve balancing. It is necessary to use two counterweights 40, 41 which are articulated around the central axis B of the base 50. The first counterweight 40 is intended to balance the weight of the tool / secondary arm assembly 32. For this reason , its axis D is kept parallel with that of the secondary arm 32. It uses for this a transmission of movement by pulleys 43, 44 and cable 42. To prevent slippage which would cause a parallelism defect between the counterweight 40 and the secondary arm 32 , the cable 42 is attached and then wound around each pulley 43, 44. The number of turns made on either side of the attachment is determined so as to perform a nearly complete turn. The tension of the cable 42 and the adjustment of parallelism between the counterweight 40 and the secondary arm 32 are effected by means of tensioners (not shown) arranged on the two strands of the cable 42. To achieve the balancing of the assembly tool / secondary arm 32, the distance separating the counterweight 40 from the axis B of the central pivot is adjusted using a flywheel 45. The balance of the assembly is reached when the barycentre of the two centers of gravity coincides with the axis of the primary arm 31. When this adjustment is obtained, the position of this barycentre on the primary arm 31 becomes independent of the deflections of the together. There is then only to equip the primary arm 31 with a counterweight 41 to align the center of gravity of the entire manipulator arm 30 with the axis B of the central pivot connected to the supporting structure. With this balancing system, the tool carried by the tool holder 33 remains static without exerting any effort on the surface to be treated or the wall 2 in construction. The weight of the entire device 100 remains at all times concentrated in the center of the supporting structure, at the level of the axis B, and this whatever the deflections of the manipulator arm 30. The device 100 therefore presents no risk of failover.

The tool holder 33 being capable of receiving tools of different sizes and weights, a slight friction torque is introduced with the aid of friction elements at the articulation of the counterweights 40, 41. to free from a systematic modification of the adjustment of the two counterweights 40, 41 with each assembly of a new tool.

In Figure 1, the manipulator arm 30 of the aid device 100 is suspended or hooked to a scaffold for example in the context of a sanding operation. The bearing structure is limited to an attachment profile 20 fixed to the end of a cable 21. Any other support and attachment mode are possible. The tool holder 33 may comprise a sandblasting lance 11 or the like. In this application, the aid device 100 is used for its function of taking over the weight of the tool only.

In FIGS. 2 to 4, the manipulator arm 30 is articulated on the base 50 resting on the ground on three support points in order to orient the aid device 100 with respect to a wall 2 to be constructed or to a surface 1 to be treated. This base 50 consists of a mechanically welded frame for example, bearing bearings B axis for the central pivot of the manipulator arm 30. It rests on the ground on three supports 51, 52, 53. In this way, the conditions of iso-droop are respected and the base 50 is never wobbly. It is also equipped with wheels 60, 61 to facilitate its movement on the ground.

Two of these supports are located symmetrically at the front of the base 50 and formed of front crutches 51, 52 which unfold independently to adapt to the uneven terrain. Their adjustment is obtained by any known means such as a ratchet rack, a pin, etc. They also comprise transverse adjustment screws 54 which make it possible to adjust the distance or the orientation of the base 50 relative to the wall 2 according to whether they are actuated in the same direction or in the opposite direction. The third support is a vertical telescopic rear stand 53. It is located in the middle position at the rear of the base 50 and allows the device 100 to rock back and forth. This crutch 50 requires precise adjustment, because it is it that ensures the verticality of the wall 2 to build or the parallelism of the movement of the tool relative to the surface 1 to be treated. For this reason, this adjustment is carried out by a rack driven by a crank 55 or by any other equivalent system. When the front legs 51, 52 and rear 53 are retracted, the base 50 rests at the rear on two inflatable wheels 60 and at the front on two wheels 61 orientable. This configuration allows it to be easily moved on construction sites, the position and spacing of the rear wheels 60 allowing it to move flat or devil.

In FIG. 2, the tool holder 33 is equipped with a laying guide 10 mounted on two guide bars 15 allowing it to be moved parallel to itself. This laying guide 10 is used to construct a wall 2 of bricks as illustrated in FIG. 3. The laying guide 10 can also be replaced by two parallel plates (not shown) arranged on the remote guide rods 15. the other is equal to the thickness of the wall 2 to be built. These plates make it possible to delimit the position of the stones and to prevent mortar flows and are displaced step by step as the mortar is taken and the wall 2 is moved forward. This application constitutes a mobile formwork which is very useful in the construction of a wall 2 of old stones. In these two applications, the aid device 100 is used for its functions of taking up the weight of the tool, maintaining the angular orientation of the tool, moving the tool in a plane parallel to the surface, adjusting the distance of the tool to the surface through to guide rods 15.

In order to precisely adjust the distance between the tool and the surface 1 to be treated or the core 2 to be constructed, the monoblock secondary arm 32 is converted into a deformable parallelogram, as in FIG. 4, in particular for grooving and surfacing applications. or similar. In this type of application, the aid device 100 is used for its functions of taking up the weight of the tool, maintaining the angular orientation of the tool, and moving the tool in a plane parallel to the tool. the surface, the precise adjustment of the distance of the tool to the surface 1. The tool holder 33 receives a grooving tool 12 for example. In the example shown, the tool holder 33 also receives a probe 13 engaged in the groove made by the grooving tool 12 to ensure the automatic guidance of this tool by reproduction. The secondary arm 32 forms with a link 23 a parallelogram whose small side corresponding to the tool holder 33 consists of a short link 24. The four elements constituting this parallelogram are connected by pivot links so that the parallelogram is articulated and that its diagonal is variable. An adjustment bar 25 makes it possible to modify the length of this diagonal, for example by means of a worm system, and thus to position the tool in depth while maintaining the parallelism between the hinge pins A, B, C .

For this type of application, it is possible to equip the articulations of the aid device 100 with actuators of different types (pneumatic, hydraulic, electromechanical) and with a control system so that the movements of the tool can be made in automatic or semi-automatic mode following more or less complex predefined trajectories. In this case, the actuators are slaved together to allow movement of the tool holder 33 parallel to itself regardless of the movement of the manipulator arm 30. The deployment height of the manipulator arm 30 being limited, it may be necessary to raise the base 50 to continue the work, as in Figure 5, by means of the elevator 70, the base 50 can roll on the surface 1 to be treated by its retractable complementary wheels 62 provided in its upper part. The positioning of the base 50 is then no longer on the ground, but directly on the surface 1 to be treated as shown in Figure 5. To do this, the front legs 51, 52 are placed in the high position. Their adjusting screw 54 carries a hook (not shown) which penetrates inside the horizontal mortar joints of the surface 1, thus preventing the sliding of the aid device 100 on the wall. The base 50 can be held in position thanks to the plating force which results from the bracing of the elevator 70 on the surface 1. Nevertheless, for reasons of safety and to guarantee the absence of movement, installs through the surface 1 one or more threaded rods (not shown) for clamping the base 50 against the wall. These threaded rods can pass through the surface 1 in the mortar joints and be stowed on the base 50 for example in its upper part. The mode of adjusting the orientation of the base 50 is the same as on the ground by means of the adjusting screws 54. The third support is no longer provided by the rear stand 53 but by a frontal stop 58 (see FIG. 2) provided in the lower part of the base 50 and can be adjustable.

The elevator 70 makes it possible to bring the aid device 100 to the desired working height. It consists of several telescopic sections 71 through which runs a cable 72. The latter joins two by two the opposite ends of each section 71. It deploys all the sections 71 as we pull on the cable 72 as shown schematically in Figure 6. The cable 72 is blocked in the lower part of the elevator 70 on tabs (not shown) or any other suitable means to ensure the locking in the deployed position of the elevator 70. One of the sections 71 upper of the elevator 70 comprises a plate or any other means adapted to carry the base 50 and to allow its orientation relative to the wall 2. This means can be a pivot connection or a ball joint, an elastomer member or similar s nesting in a complementary housing (not shown) provided on the base 50. The base 50 can also be brought upwardly by a mast 26, preferably telescopic, which connects the base 50 to the ground, so that a jam is established, as in Figure 7. By the decomposition the weight of the assembly, a force appears, pressing the base 50 against the surface 1 to be treated. The telescopic mast 26 may belong to a mobile machine 27 such as a four-wheel drive truck capable of standing on the ground. With this type of machine, the aid device 100 can be moved easily on the site, but most importantly, it can be positioned and maintained on the surface 1 to be treated or on the wall 2 during assembly in conditions of maximum security. The base 50 rests on the surface 1 with three supports, so that the conditions of iso-droop are respected and the base 50 is never wobbly. The first support is a fixed support (not shown) located on the median plane, rigidly connected to the base 50 and concentric with the central axis of articulation B: it is therefore in the center of the envelope of the trajectories of the end of the manipulator arm 30, then serving as a reference for positioning the base 50. The other two supports are adjustable supports located below the fixed support, on either side of the median plane, provided by two stabilizers 73 formed telescopic arms. They have an independent adjustment in all three axes by a pivot connection or ball joint on the chassis of the elevator 70 carried by the mast 26. The depth adjustment of these stabilizers 73 allows to position the base 50 in a plane parallel to the surface 1 to be treated or to the wall 2 under construction. When the two stabilizers 73 are actuated in the same direction, the base 50 inclines with respect to said surface along a horizontal axis. If, on the other hand, they are actuated differentially, the base 50 inclines with respect to said surface along a vertical axis.

Even in the case of operation in an automatic mode, the aid device 100 requires the presence of an operator, if only for control and monitoring actions. Therefore, it is provided with a platform 75 allowing the operator to access the work area. The width of this platform 75 is equal to or greater than that of the zone accessible by the manipulator arm 30. The aid device 100 being able to work at a certain height, the platform 75 is equipped with guardrails 76 on the rear and side sides to prevent the risk of falls. It does not have on its front part because they would be particularly troublesome for the realization of the works. However, the space separating it from the surface 1 to be treated or being assembled is small enough to prevent the fall of a person or an object. To allow the operator to return to the ground while leaving the base 50 on the wall, the platform 75 has the ability to move vertically independently through the elevator 70. In working position, the platform 75 is located above the stabilizers 73. To reach the ground, it must be able to pass between them, which its transverse size does not allow it. To achieve this action, the platform 33 is provided with movable side portions that are folded before any descent operation. By raising them vertically, it reduces considerably its width, allowing then its descent between the stabilizing arms 73.

Of course, the elevator 70 may be sufficient to carry both the base 50 and the platform 75 to overcome the use of a machine 27, especially for working in hard to reach places. The elevator 70 and / or the mast 26 only allow the elevation of the base 50. Its holding against the wall continues to require a restraint system as explained with reference to Figure 5. Nothing prevents however to put a solution lighter than the mast 26, for example by equipping each side of the base 50 with a telescopic jack or any other equivalent system.

The aid device 100 can also be equipped with levels (not shown) to facilitate its positioning. A level of verticality can be provided on the rear stand 53 ensuring the verticality of the plane in which the manipulator arm 30 moves. A level of horizontality can be provided on the tool holder 33 or on the tool itself. A laser may be rotatably mounted on the base 50 parallel to the axis B to adjust the orientation of the base 50 relative to the pins of the construction. Industrial application

A preferred mode of operation when working on existing constructions (high-pressure cleaning, sandblasting, grooving, repointing, surfacing, plastering, painting or others) is to follow the following steps:

- The base 50 is brought to the bottom of the surface 1 to be treated (or during assembly), vertically to the area to be treated;

when this zone is in height, the base 50 is raised to its level thanks to a machine 27 equipped with the mast 26 or thanks to its own elevator system; the orientation of the two stabilizers 73 is controlled from the ground so as to have a distance between each largest possible support; they are then extended to come into contact with the surface 1 to be treated (or during assembly);

- The machine 27 plate the frame against the wall via the mast 26. In the absence of such a machine, the base 50 is connected to the ground by two struts or two portable telescopic cylinders;

- The base 50 being firmly resting on the wall, it is commanded from the ground descent platform 75 (only in the case of the use of a machine 27);

- The operator takes place with his equipment inside the platform 75 which folds the moving side parts; the platform 75 is raised up to its working position;

the platform 75 being positioned above the stabilizers 73, it is possible to deploy its mobile lateral parts so as to be able to move freely over its entire width;

the orientation of the action plane of the manipulator arm 30 with respect to the surface to be treated or during assembly is controlled. To do this, the tool holder 33 of the manipulator arm 30 is moved in three positions so as to control that the distance to the wall is constant; according to the previous surveys, the orientation of the platform 75 is adjusted by adjusting the output of the stabilizers 73;

- We equip the tool holder 33 of the tool specific to the work that we want to perform;

- we also adjust the horizontality (and, therefore, the verticality) if this work requires to respect a horizontality or verticality; adjusting the working depth of the tool by varying the length of the adjustment bar 25;

- the work can be done on the whole area covered by the machine.

With modes of manual, semi-automatic or fully automatic operation, the device according to the invention provides a notorious physical assistance to the operator and ensures the precision and the quality of the work, in particular by offering possibilities of linear displacements with a distance or adjustable depth of action guaranteeing the flatness and regularity of the generated surface. In the particular case of the application of paint, the invention may, for example, be useful for drawing lines, outlines or patterns, or even the reproduction of images, requiring great regularity. But the advantage of this arrangement is especially at the level of space, particularly small, which allows the claimed device to advantageously distinguish Cartesian guidance machines.

The present invention is not limited to the embodiments and applications described but extends to any modification and variation obvious to a person skilled in the art while remaining within the scope of protection defined in the appended claims.

Claims

claims

1. Device for assisting the construction of walls and / or surface treatment, especially of vertical surfaces of buildings, comprising at least one supporting structure (20, 50) on which is articulated a manipulator arm (30) provided with its free end of a tool holder (33) adapted to receive a tool adapted to the work to be performed, said manipulator arm (30) comprising at least one primary arm (31) coupled to the supporting structure (20, 50) by a central pivot (B), a secondary arm (32) coupled to the primary arm (31) by a pivot connection (A), and a tool carrier (33) coupled to the secondary arm (32) by a pivot (C), characterized in that said hinge pins (A, B, C) are parallel to one another so that said manipulator arm (30) moves the tool holder (33) in a plane perpendicular to said hinge pins (A, B, C) and parallel to the surface (1) to be treated or to the wall (2) to be constructed and in that said manipulator arm (30) comprises means rotating connection of the tool holder (33) and the primary arm (31) so that the tool holder (33) moves parallel to itself regardless of the orientation of said primary arm (31).

2. Device according to claim I ₅ characterized in that said manipulator arm (30) comprises balancing means (40, 41) arranged to compensate for the weight of the manipulator arm assembly (30) and tool whatever its position. in space and ensure the stability of the set.

3. Device according to claim 2, characterized in that the balancing means comprise at least a first counterweight (40) articulated on said supporting structure (20, 50) around the central pivot (B), extending on an axis. (D) substantially parallel to said secondary arm (32) and coupled thereto by a transmission (42- 44).

4. Device according to claim 3, characterized in that said counterweight (40) is coupled to adjustment means (45) arranged to change its position along its axis (D).

5. Device according to claim 3, characterized in that the balancing means comprise a second counterweight (41) integral with said primary arm (31) and extending opposite the pivot connection (A).

6. Device according to claim 1, characterized in that the pivot (C) of the tool holder (33) comprises a first pulley (34) connected by a cable (35) to a second pulley

(36) located at the pivot (A), the second pulley (36) being itself connected by a cable (37) to a third pulley (38) located at the central pivot (B).

7. Device according to any one of claims 1 to 5, characterized in that it comprises actuators at the hinge pins (A, B, C) arranged to assist the movements of the manipulator arm (30), these actuators being controlled by a centralized control unit.

8. Device according to claim 1, characterized in that the manipulator arm (30) comprises adjustment means (15, 23-25) the distance of the tool holder (33) to the surface (1) to be treated or to wall (2) being mounted.

9. Device according to claim 8, characterized in that the adjustment means are constituted by said secondary arm (32) split into a deformable parallelogram (23, 24) associated with a control bar (25) of the diagonal of this parallelogram for moving said tool holder (33) parallel to the pivot (C).

10. Device according to claim I ₃ characterized in that it comprises means for adjusting the orientation of the tool holder (33) relative to the bearing structure (20, 50) around the pivot (C).

11. Device according to claim I ₅ characterized in that said bearing structure comprises a fastening profile (20) adapted to carry said manipulator arm (30) suspended from a cable (21).

12. Device according to claim 1, characterized in that said bearing structure comprises a base (50) adapted to rest on the ground by three support points (51-53) formed of adjustable legs allowing at least the adjustment of the verticality of said tool holder (33).

13. Device according to claim 1, characterized in that said bearing structure (20, 50) comprises rolling means (60, 61, 62) adapted to allow its movement by rolling on the ground and / or on the surface (1). to be treated or the wall (2) under construction.

14. Device according to claim 12, characterized in that it comprises support means (26, 73) of said base (50) on the surface (1) to be treated or wall (2) during assembly, these means providing at least three points of support: a fixed and concentric point with the axis of the central pivot (B) and two adjustable points formed by stabilizers (73).

15. Device according to claim 14, characterized in that the support means comprise a mast (26) providing a ground support point located in the background of said surface (1).

16. Device according to claim 15, characterized in that the ground support is provided by a mobile machine (27) equipped with immobilization means on the ground.

17. Device according to any one of claims 14 to 16, characterized in that it comprises a platform (75) for the access of an operator to the work area, this platform (75) being arranged to move vertically with respect to said base (50).

18. Device according to one of claims 14 or 17, characterized in that it comprises an elevator (70) adapted to elevate said base (50) and / or said platform (75) relative to the ground and bring said tool holder (33) and / or the operator at work height.

19. Device according to claim 18, characterized in that said elevator (70) comprises a plurality of telescopic sections (71) interconnected by a cable (72) arranged to deploy said sections (71) relative to each other as and when required. as the cable (72) is pulled.

20. Device according to claim 1, characterized in that it comprises leveling means arranged to facilitate the positioning in the space of said tool holder (33).