Robot for a work on a wall surface

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.