Research On The Wall Grinding Robot Grinding Actuator And Vibration Reduction Characteristic

The traditional wall polishing work involves high intensity,inconsistent craft requirements,and poor working conditions,which cannot meet the increasing demand for wall precision in the construction industry.With the weakening of the demographic dividend and the rapid development of artificial intelligence technology,there is a trend in the construction industry of using robots to replace manual labor in intensive work types.However,the wall polishing robot needs to maintain high-precision positioning in real-time during operation,and the vibration generated during wall polishing will greatly affect the quality of the polishing operation.Firstly,the structural characteristics of vibration-free actuators and the influence of vibrations during polishing on the detection accuracy and posture retention of wall robots were analyzed.Through experiments,the vibration of non-vibration-damped polishing actuators was quantitatively studied,and based on the actual vibration reduction requirements,a polishing actuator with a specified frequency range isolation function was developed.Secondly,combined with the working conditions of wall polishing,the static analysis of the heavily loaded components and the polishing actuator structure was conducted.The vibration reduction mechanism with radial damping was used for simulation of wall bulging polishing,and the adaptive adjustment function of the actuator was verified through calculations.Modal analysis and excitation influence analysis were conducted on key components such as the motor fixing bracket and spring,and the motion differential equations of the radial and axial isolation systems were established and their isolation effects were analyzed.Thirdly,a wall polishing actuator equipment prototype was built,and wall surface smoothness,wall bulging material,component performance parameters,etc.were taken as variables.Systematic polishing experiments were carried out under various working conditions,conditions,and parameters to obtain the vibration,noise,and other variation laws of the polishing actuator.The key factors affecting the vibration reduction effect of the polishing actuator were analyzed.Finally,a wall polishing actuator with an active magnetorheological damping device was designed.A motion control model of the system was established,and a composite control strategy for the wall polishing actuator was studied.The vibration of the wall polishing actuator was compared under passive,active,and composite control.The analysis showed that the proposed method improved the damping effect by more than 50%.The polishing actuator of the wall polishing robot developed in this paper can effectively reduce the impact of polishing vibration on the robot body,improve the overall lifespan and reliability of the equipment,and provide a reference and theoretical basis for the development of automated polishing equipment in the construction industry.