A two-degree-of-freedom vibration suppression system for high-altitude construction robot work platforms

Abstract

A two-freedom-degree vibration restraining system applied to a high-altitude building robot operating platform comprises a force sensor, two driving rods with the same length, two driven rods with the same length, a horizontal adjusting motor, a magnetic powder clutch, a rotary type magneto-rheological damper, an installing plate and a vertical vibration reducing mechanism. The two-freedom-degree vibration restraining system is characterized in that two installing seat area arranged on the inner surface of the installing plate; each installing seat is connected with the front end of one driving rod through a driving rod controlling shaft, the tail end of each driving rod is connected with the front end of one driven rod, and the tail ends of the two driven rods are connected together; the installing plate, the driving rods and the driven rods form a planar five-connecting-rod mechanism; and the planar five-connecting-rod mechanism can move in a plane perpendicular to the inner surface of the installing plate and has two freedom degrees. The vertical vibration reducing mechanism is arranged on the outer surface of the installing plate.

Description

technical field [0001] The invention relates to a vibration suppression technology for a high-altitude building robot, in particular to a two-degree-of-freedom vibration suppression mechanism suitable for high-altitude building exterior wall operations and suppressing the vibration of an operating platform system and a robot. Background technique [0002] Using building exterior wall decoration robots to replace manual construction of building exterior wall decoration has already had many engineering examples at home and abroad. However, compared with manual work, due to the heavy weight of the robot, the concentrated load, and the complex environment for aerial work, the aerial work platform carrying the robot has a corresponding increase in weight and area compared with the existing aerial work platforms. , due to the complex environment of high-rise building exterior wall decoration, high-altitude wind load, installation robot movement, staff movement, etc. will cause the...

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Problems solved by technology

The Chinese patent CN2015201793763 previously applied by the applicant discloses a work platform for high-altitude construction robots with a two-dimensional vibration suppression system, wherein the shock absorber as the vibration suppression system includes a vacuum suction cup and a shock absorber seat, and the vacuum suction cup can be directed towards the working platform. The facade is extended and retracted. The vacuum suction cup is connected with the shock absorber seat by a rotating pair. There are two cross-arranged dampers in the shock absorber seat. There are degrees of freedom of movement in one direction, but the structure of this vibration suppression system is difficult to carry out the layout and control of active vibration reduction equipment, and cannot achieve the ideal real-time vibration suppression effect.

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