Research On Vibration Suppression Method Of Hoisting Building Robot High Altitude Work Platform

In the exterior wall construction of high buildings,the hanging platform is the main vehicle to ensure the safe and effective implementation of the operation.The application of robot technology in high buildings construction is expected to improve working efficiency,construction precision and safety,but the hoisting platform is still the main platform form available at present.Compared with manual operation,the robot has higher requirements for the stability of the platform,and the platform needs better vibration suppression performance and faster vibration suppression instantaneity.This paper is to meet these requirements.Firstly,the vibration causes of the high-altitude work platform are studied.The modal analysis of the hoisting platform is carried out by the finite element analysis method.According to the vibration mode,the multi-dimensional vibration is mainly three translational directions.The vibration model of hoisting platform system is established.A dual vibration suppression method,active and passive,is proposed as the high-altitude work platform vibration suppression method.Secondly,a fuzzy neural network vibration suppression system is designed according to the active vibration suppression scheme.The simulation of the hoisting cable with and without vibration suppression system is carried out by using simulation software.By comparing the vibration curves under different conditions,it is verified that the active vibration suppression system can suppress the vibration of the midpoint of the hoisting cable well,and also analyze the influence of different external load excitation on the vibration suppression effect.Thirdly,according to the passive vibration suppression scheme,the damper is simulated by finite element analysis software,and its damping characteristics are studied.The damping vibration suppression system is designed and the hoisting cable is simulated with and without damping and vibration suppression system by using simulation software.By comparing the vibration curves under different conditions,it is verified that the damping vibration suppression system can suppress the vibration of the end of the hoisting cable well,and also analyze the influence of different external load excitation on the vibration suppression effect.Finally,test the effect of vibration suppression system by experiment.Experiments were carried out on the active vibration suppression part and the damping vibration suppression part,respectively.The experiment of hoisting cable under the action of the whole vibration suppression system is carried out.Through comparison,the correctness of the simulation is verified,and the vibration suppression system can suppress the vibration of the end of the hoisting cable well,which ensures the necessary stability of the platform.Curtain wall installation robot can achieve good installation accuracy.