An automated grinding device for interior walls and a constant pressure control method

Abstract

This invention discloses an automated grinding device and constant pressure control method for interior walls, comprising a grinding head mechanism, a two-stage longitudinal movement mechanism, a transverse movement mechanism, a main body, and a traveling mechanism. The grinding head mechanism is mounted on the transverse movement mechanism, which drives its left-right transverse movement. The transverse movement mechanism is mounted on the two-stage longitudinal movement mechanism, which drives its up-and-down movement. The two-stage longitudinal movement mechanism is located on the main body. The traveling mechanism is installed at the bottom of the main body and drives the overall movement of the main body, the two-stage longitudinal movement mechanism, the transverse movement mechanism, and the grinding head mechanism. The traveling mechanism, the two-stage longitudinal movement mechanism, the transverse movement mechanism, and the grinding head mechanism are all connected to a control system installed within the main body. This invention utilizes a constant pressure control method to maintain a constant pressure on the wall surface from the grinding head mechanism, enabling automated constant pressure grinding and dust removal of the flat area of ​​interior walls. This significantly improves the smoothness of the ground surface. The structure is relatively simple, the cost is low, and it has a wide range of applications, which is beneficial for accelerating the mechanization and automation process in the building decoration industry.

Description

Technical Field

[0001] This invention relates to the field of building decoration machinery, specifically to an automated grinding device for interior walls and a constant pressure control method. Background Technology

[0002] Wall sanding refers to the sanding of the wall surface after putty has been applied, to achieve a smoother, finer, and more even finish. Currently, wall sanding in home renovations is typically done manually, with workers using wall sanders. This is a high-intensity task that generates a large amount of dust, and prolonged exposure to this dusty environment can be harmful to health. The smoothness of the sanded walls is crucial for subsequent painting, wallpapering, and tiling; a flatness of no more than 3mm is generally required to ensure the final finish. However, current manual methods are inefficient, resulting in inconsistent quality and failing to effectively guarantee the quality of wall treatment.

[0003] Currently available wall sanding devices mostly use six-degree-of-freedom robotic arms as the sanding actuators. These arms are flexible, versatile, and can sand various interior wall surfaces such as walls, window sills, and door frames. However, for interior walls covering more than 80% of their surface area and ceilings, the robotic arm solution has high equipment purchase and maintenance costs, complex control algorithms, and requires highly skilled operators. Furthermore, in dusty environments, the wear and tear and failure rate of the robotic arm's joints are relatively high, and the sanding process is significantly affected by the original wall surface, resulting in poor sanding stability.

[0004] Therefore, there is an urgent need for a new type of interior wall sanding device that is suitable for sanding large areas of interior walls, has a low cost, a high degree of automation, and can effectively control the sanding quality to solve the above problems. Summary of the Invention

[0005] To address the technical deficiencies of existing technologies, this invention proposes an automated grinding device and constant pressure control method for interior walls. By utilizing the constant pressure control method, the grinding head mechanism maintains a constant pressure on the wall surface, enabling automated constant pressure grinding and dust removal of the flat area of ​​the interior wall, greatly improving the smoothness of the grinding. The device has a relatively simple structure, low cost, and wide applicability, which is conducive to accelerating the mechanization process in the building decoration industry.

[0006] The main technical solution adopted in this invention is as follows:

[0007] An automated interior wall polishing device includes a polishing head mechanism, a two-stage longitudinal movement mechanism, a transverse movement mechanism, a device body, and a traveling mechanism. The polishing head mechanism is mounted on the transverse movement mechanism and is driven to move laterally left and right. The transverse movement mechanism is mounted on the two-stage longitudinal movement mechanism and is driven to move up and down. The two-stage longitudinal movement mechanism is located on the device body. The traveling mechanism is installed at the bottom of the device body and is used to drive the overall movement of the device body, the two-stage longitudinal movement mechanism, the transverse movement mechanism, and the polishing head mechanism. The traveling mechanism, the two-stage longitudinal movement mechanism, the transverse movement mechanism, and the polishing head mechanism are all connected to a control system installed within the device body.

[0008] Preferably, the grinding head mechanism includes a grinding disc, a dust brush, a pressure sensor, a buffer spring, a grinding motor, a vacuum fan, and a dust collection pipe. The grinding head mechanism has a grinding disc with sandpaper attached to its grinding surface and several suction holes. A ring of suction ports is located around the outer periphery of the grinding disc, and a dust brush is positioned around the outer periphery of the suction ports. A grinding motor is located at the end of the grinding head mechanism furthest from the grinding disc, driving the grinding disc to rotate. The vacuum fan is installed outside the grinding head mechanism and communicates with it via the suction pipe. The vacuum fan is connected to the dust collection pipe. Several buffer springs are evenly arranged between the housing of the grinding head mechanism and the dust brush. The pressure sensor is installed inside the grinding head mechanism to monitor the grinding pressure. The motor shaft of the grinding motor is connected to the fan shaft of the vacuum fan via a bevel gear, thereby drawing the grinding dust into the dust collection pipe.

[0009] Preferably, the transverse movement mechanism includes a transverse movement frame, a transverse movement motor, a transverse movement helical gear, a transverse movement helical rack, and a platform. The platform is slidably mounted on the transverse movement frame and moves laterally left and right along the X-axis direction of the transverse movement frame. The transverse movement motor and the transverse movement helical gear are respectively mounted on the front and back sides of the platform, and the transverse movement motor is drivenly connected to the transverse movement helical gear. The transverse movement helical rack is arranged on the transverse movement frame along the X-axis direction, and the transverse movement helical gear meshes with the transverse movement helical rack. The platform is also provided with a right-angle boss for mounting the grinding head mechanism.

[0010] Preferably, a transverse track is also provided on the transverse frame along the X-axis direction, and a transverse slider is provided on the reverse side of the platform. The transverse slider and the transverse track cooperate to form a transverse moving pair.

[0011] Preferably, the dual-stage longitudinal movement mechanism includes a primary longitudinal movement assembly and a secondary longitudinal movement assembly. The primary longitudinal movement assembly includes a longitudinal movement frame, a longitudinal movement track, a longitudinal movement slider, a longitudinal movement screw, a longitudinal movement screw nut, a longitudinal movement drive sprocket, a longitudinal movement driven sprocket, a longitudinal movement chain, and a longitudinal movement motor. The longitudinal movement motor is mounted on the upper side of the longitudinal movement frame and is drivenly connected to the longitudinal movement drive sprocket. The longitudinal movement driven sprocket is mounted on the top of the longitudinal movement frame. The longitudinal movement chain is mounted on the longitudinal movement drive sprocket and the longitudinal movement driven sprocket. The longitudinal movement screw is vertically mounted on the longitudinal movement frame and is drivenly connected to the longitudinal movement driven sprocket. The longitudinal movement screw works in conjunction with the longitudinal movement screw nut located on the back of the transverse movement frame. A longitudinal movement track is provided on the longitudinal movement frame in the vertical direction for cooperating with the longitudinal movement slider located on the back of the transverse movement frame to form a longitudinal movement pair.

[0012] The secondary longitudinal movement assembly includes a bottom frame, a bottom motor, a bottom drive sprocket, a bottom driven sprocket, a bottom chain, a bottom lead screw, and a bottom track. The bottom motor is mounted on the upper side of the bottom frame and is driven by the bottom drive sprocket. The bottom driven sprocket is mounted on the top of the bottom frame. The bottom chain is mounted on the bottom drive sprocket and the bottom driven sprocket. The bottom lead screw is vertically mounted on the bottom frame and is driven by the bottom driven sprocket. The bottom lead screw works in conjunction with a bottom lead screw nut located on the back of the longitudinal movement frame. A bottom track is provided vertically on the bottom frame to cooperate with a bottom slider located on the back of the longitudinal movement frame to form a bottom moving pair.

[0013] Preferably, the system further includes a dustproof mechanism, which comprises two sets of transverse accordion windproof covers, two sets of longitudinal accordion windproof covers, and one set of roller shutter dustproof covers. The two sets of transverse accordion windproof covers are respectively located at the left and right ends of the transverse frame and are respectively connected to the left and right sides of the platform. The two sets of longitudinal accordion windproof covers are respectively located at the upper and lower ends of the longitudinal frame and are respectively connected to the middle of the upper and lower sides of the transverse frame. The roller shutter dustproof cover is installed on the bottom frame, and one end of the roller shutter dustproof cover is connected to the bottom end of the longitudinal frame.

[0014] Preferably, the main body of the device includes a housing, a first electric cylinder is provided on the top of the housing, the piston rod of the first electric cylinder is connected to the upper part of the bottom frame, a second electric cylinder is installed at the bottom of the housing, the piston rod of the second electric cylinder is connected to the lower part of the bottom frame, a frame push-pull guide rail is installed at the lower front end of the housing, the frame push-pull guide rail and the frame push-pull slider fixed on the plate form a push-pull moving pair, the bottom frame is installed on the plate, and the first electric cylinder and the second electric cylinder work together to make the bottom frame move back and forth along the frame push-pull guide rail to adjust the pressure of the grinding head mechanism on the wall;

[0015] The box is also equipped with a dust collection box, which contains an ultrasonic sensor for detecting dust volume. The dust collection box is connected to the dust collection pipe of the grinding head mechanism.

[0016] The housing is also equipped with a power supply system and a control system. The power supply system is connected to the grinding head mechanism, the transverse movement mechanism, the dual-stage longitudinal movement mechanism, the first electric cylinder, the second electric cylinder, and the control system. The control system is connected to the grinding head mechanism, the transverse movement mechanism, the longitudinal movement mechanism, the first electric cylinder, and the second electric cylinder for control.

[0017] Preferably, the walking mechanism includes a first steering wheel, a second steering wheel, a first omnidirectional wheel, a second omnidirectional wheel, a first omnidirectional wheel pad, and a second omnidirectional wheel pad. The first steering wheel, the second steering wheel, the first omnidirectional wheel pad, and the second omnidirectional wheel pad are all installed at the bottom of the housing. The first steering wheel and the first omnidirectional wheel pad are located at the same end of the bottom of the housing, and the second steering wheel and the second omnidirectional wheel pad are located at the other end of the bottom of the housing. The first steering wheel and the second steering wheel are diagonally distributed. The first omnidirectional wheel and the second omnidirectional wheel are respectively installed on the first omnidirectional wheel pad and the second omnidirectional wheel pad, keeping the first steering wheel, the second steering wheel, the first omnidirectional wheel, and the second omnidirectional wheel at the same height.

[0018] A constant pressure control method for an automated interior wall grinding device, characterized by employing a constant pressure grinding control method based on an adaptive fuzzy PID controller to maintain the grinding pressure at a constant level. The specific method includes:

[0019] S1: Obtain the relationship between the displacement change of the first electric cylinder and the displacement change of the second electric cylinder, wherein the first electric cylinder is installed at an upward tilt and has an angle with the bottom frame, and the second electric cylinder is placed horizontally. To ensure synchronous movement, the speed relationship between the two satisfies formula (1):

[0020]

[0021] in, v1 is the piston rod speed of the first electric cylinder; v2 is the piston rod speed of the second electric cylinder; L is the sum of the cylinder body length of the first electric cylinder and the extension of the piston rod inside the cylinder in the initial state; α is the initial angle formed between the first electric cylinder and the bottom frame; θ is the process angle formed between the first electric cylinder and the bottom frame during movement; H is the distance from the connection point between the first electric cylinder and the bottom frame to the connection point between the second electric cylinder and the bottom frame; h is the distance from the connection point between the first electric cylinder and the housing to the connection point between the second electric cylinder and the housing.

[0022] S2: Real-time grinding pressure value F is collected using a pressure sensor installed inside the grinding head mechanism;

[0023] S3: Calculate the real-time grinding pressure value F and the desired pressure F d The deviation e and the rate of change of deviation ec are used as the input of the system fuzzy controller; the displacement change of the second electric cylinder is used as the system control quantity of the constant pressure grinding control method for the wall surface, and the real-time grinding pressure value of the grinding head mechanism is used as the system output.

[0024] S4: Establish a fuzzy rule table and set up a fuzzy controller. Input the input quantity into the fuzzy controller for adaptive fuzzification and defuzzification processing, and obtain the PID controller parameter correction value K. p2 ,K i2 ,K d2 ;

[0025] S5: Correction value K obtained from the PID controller parameters p2 ,K i2 ,K d2 The initial parameters K of the PID controller p1 ,K i1 ,K d1 Perform real-time corrections;

[0026] S6: The PID controller outputs a corresponding control signal to the servo motor of the second electric cylinder, thereby controlling the displacement of the second electric cylinder. At the same time, the control signal is converted into a real-time displacement ratio according to formula (1) and then output to the first electric cylinder, thereby adjusting the displacement of the first electric cylinder so that the bottom frame remains in a constant vertical state.

[0027] Preferably, the adaptive fuzzification process uses a Gaussian membership function with a bell-shaped smooth curve to perform fuzzification, which meets the requirements of the electric cylinder push-pull motion in constant pressure grinding control; the defuzzification process uses the centroid method to calculate the weighted average of the membership degree, providing a smooth and continuous defuzzification result.

[0028] Beneficial effects: This invention provides an automated grinding device and constant pressure control method for building interior walls, which has the following advantages:

[0029] (1) The present invention adopts a constant pressure grinding control algorithm based on an adaptive fuzzy PID controller, which can ensure the stability of grinding force in real time and ensure the flatness requirements of grinding.

[0030] (2) The present invention adopts a gear and rack transverse movement mechanism and a double-stage screw and nut longitudinal movement mechanism to form a two-way adjustment system for the grinding head, which can realize the free adjustment of the grinding head mechanism in the plane, while reducing the overall height of the device itself and expanding the grinding range; the structure is simple and easy to use, and has good maintainability, avoiding the complexity of grinding adjustment and maintenance of multi-degree-of-freedom robotic arms, effectively reducing equipment production costs and equipment failure rate.

[0031] (3) The grinding head mechanism of the present invention integrates a fan and a dust suction port, which can absorb most of the dust generated during the grinding process, realize low-dust and environmentally friendly grinding, and reduce the damage to the body of construction workers during construction. In addition, accordion dust covers are used on both the transverse and longitudinal frames, which can effectively prevent dust from entering the transverse / longitudinal mechanism and affecting the normal movement of the mechanism. The bottom frame adopts a roller shutter dust cover, which is small in size and can block dust without affecting the normal movement of the longitudinal frame on the bottom frame. Attached Figure Description

[0032] Figure 1 A schematic diagram of an automated interior wall grinding device;

[0033] Figure 2 This is a schematic diagram of the grinding head mechanism;

[0034] Figure 3 An exploded view of the grinding head mechanism;

[0035] Figure 4 This is a schematic diagram of the transverse movement mechanism;

[0036] Figure 5 Schematic diagram of a two-stage longitudinal traverse mechanism Figure I ;

[0037] Figure 6 Schematic diagram of a two-stage longitudinal traverse mechanism Figure II ;

[0038] Figure 7 Schematic diagram of the main structure of the automated interior wall grinding device Figure I ;

[0039] Figure 8 Schematic diagram of the main structure of the automated interior wall grinding device Figure II ;

[0040] Figure 9 This is a schematic diagram of the chassis structure of an automated interior wall grinding device.

[0041] Figure 10 This is a schematic diagram of the grinding head trajectory;

[0042] Figure 11 The system structure block diagram is shown for the constant pressure grinding control method for walls based on adaptive fuzzy PID.

[0043] Figure 12 The diagram shows the system control model of the constant pressure grinding control method for walls based on adaptive fuzzy PID.

[0044] Figure 13 The simulation comparison diagram shows the wall constant pressure grinding control method based on adaptive fuzzy PID and the conventional PID control system.

[0045] In the diagram: Grinding head mechanism 1, Grinding disc 1-1, Dust broom 1-2, Grinding motor 1-3, Dust suction fan 1-4, Buffer spring 1-5, Pressure sensor 1-6, Dust collection pipe 1-7, Horizontal movement mechanism 2, Horizontal movement frame 2-1, Horizontal movement track 2-2, Horizontal movement slider 2-3, Horizontal movement helical rack 2-4, Horizontal movement helical gear 2-5, Platform 2-6, Horizontal movement motor 2-7, Right angle boss 2-8, Double-stage longitudinal movement mechanism 3, Longitudinal movement frame 3-1, Longitudinal movement track 3-2, Longitudinal movement slider 3-3, Longitudinal movement screw 3-4, Longitudinal movement screw nut 3-5, Longitudinal movement drive sprocket 3-6, Longitudinal movement driven sprocket 3-7, Longitudinal movement chain 3-8, Longitudinal movement motor 3-9, Bottom motor 3-10, Bottom frame 3-11, Bottom rail 3-12, Bottom slider 3-13, Bottom lead screw 3-14, Bottom lead screw nut 3-15, Bottom drive sprocket 3-16, Bottom driven sprocket 3-17, Bottom chain 3-18, Main body of device 4, Box 4-1, First electric cylinder 4-2, Second electric cylinder 4-3, Dust collection box 4-4, Power supply system 4-5, Control system 4-6, Frame push-pull guide rail 4-7, Frame push-pull slider 4-8, Flat plate 4-9, Walking mechanism 5, First universal wheel pad 5-1, First universal wheel 5-2, Second universal wheel pad 5-3, Second universal wheel 5-4, First steering wheel 5-5, Second steering wheel 5-6, Dustproof mechanism 6, Horizontal accordion dust cover 6-1, Longitudinal accordion windproof cover 6-2, Roller shutter dust cover 6-3. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. The description of the specific embodiments below is merely exemplary and should be understood as being used only to explain the invention, and not in any way to limit the invention or its applications or uses.

[0047] It should be noted that when an element is said to be "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly on" another element, there is no intervening element. Conversely, when an element is said to be "directly" connected to another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0048] In the description of this invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] Example 1:

[0050] An automated sanding device for building interior walls, such as Figure 1 As shown, the device includes a grinding head mechanism 1, a transverse movement mechanism 2, a double-stage longitudinal movement mechanism 3, a main body 4, and a traveling mechanism 5. The grinding head mechanism 1 is mounted on the transverse movement mechanism 2 and is driven by the transverse movement mechanism 2 to move horizontally along the X-axis. The transverse movement mechanism 2 is mounted on the double-stage longitudinal movement mechanism 3 and is driven by the double-stage longitudinal movement mechanism 3 to move vertically along the Y-axis. The double-stage longitudinal movement mechanism is located on the main body 4. The traveling mechanism 5 is installed at the bottom of the main body 4 and is used to drive the overall movement of the main body 4, the double-stage longitudinal movement mechanism 3, the transverse movement mechanism 2, and the grinding head mechanism 1. The traveling mechanism 5, the double-stage longitudinal movement mechanism 3, the transverse movement mechanism 2, and the grinding head mechanism 1 are respectively connected to a control system installed in the main body 4.

[0051] like Figure 2-3 As shown, the grinding head mechanism 1 includes a grinding disc 1-1, a dust broom 1-2, a grinding motor 1-5, a dust collector 1-6, a buffer spring 1-7, a pressure sensor 1-8, and a dust collection pipe 1-9. The grinding head mechanism 1 is equipped with a grinding disc 1-1, on which sandpaper is attached. Several dust collection holes 1-2 are arranged on the grinding disc 1-1. A ring of dust collection ports 1-3 is provided around the outer periphery of the grinding disc 1-1, and dust brooms 1-2 are arranged around the outer periphery of the dust collection ports 1-3. A grinding motor 1-5 is located at the end of the grinding head mechanism 1 furthest from the grinding disc 1-1. The grinding motor 1-5 is connected to the grinding disc 1-1... -1 drives the grinding disc 1-1 to rotate. The vacuum fan 1-6 is installed outside the grinding head mechanism 1 and is connected to the grinding head mechanism 1 through a vacuum pipe. The vacuum fan 1-6 is connected to the dust collection pipe. Several buffer springs 1-7 are evenly arranged between the housing of the grinding head mechanism 1 and the dust broom 1-2 to buffer the grinding disc and the dust broom 1-2. The pressure sensor 1-8 is installed inside the grinding head mechanism 1 to monitor the grinding pressure. The motor shaft of the grinding motor 1-5 is connected to the fan shaft of the vacuum fan 1-6 through a bevel gear, thereby sucking the grinding dust into the dust collection pipe 1-9. In this embodiment 1, the number of buffer springs is preferably 4.

[0052] During the sanding process, the sanding motor 1-5 drives the sanding disc 1-1 to rotate, performing constant pressure sanding on the wall. At the same time, the sanding motor 1-5 transmits torque to the dust extraction fan 1-6 through the bevel gear, thereby sucking the sanded dust into the dust collection pipe 1-9. Several buffer springs 1-7 are evenly arranged between the housing of the sanding head mechanism 1 and the dust baffle 1-2, which can make the sanding force of the sanding head mechanism 1 more uniform. When sanding an abnormal protrusion, it can automatically retract to prevent damage to the sanding head mechanism 1.

[0053] like Figure 4 As shown, the transverse movement mechanism 2 includes a transverse movement frame 2-1, a transverse movement helical rack 2-4, a transverse movement helical gear 2-5, a platform 2-6, and a transverse movement motor 2-7. The platform 2-6 is slidably mounted on the transverse movement frame 2-1 and moves left and right along the X-axis direction of the transverse movement frame 2-1. The transverse movement motor 2-7 and the transverse movement helical gear 2-5 are respectively mounted on the front and back sides of the platform 2-6, and the transverse movement motor 2-7 passes through the platform 2-6 and is driven by the transverse movement helical gear 2-5. The transverse movement helical rack 2-4 is arranged on the transverse movement frame 2-1 along the X-axis direction, and the transverse movement helical gear 2-5 meshes with the transverse movement helical rack 2-4. The platform 2-6 is also provided with a right-angle boss 2-8 for mounting the grinding head mechanism 1.

[0054] To further ensure the stability of the movement of the stage 2-6, a transverse track 2-2 is also provided on the transverse frame 2-1 along the X-axis direction. A transverse slider 2-3 is provided on the opposite side of the stage 2-6. The transverse slider 2-3 and the transverse track 2-2 cooperate to form a transverse moving pair.

[0055] The specific working process of the transverse movement mechanism is as follows: the transverse movement motor 2-2 drives the transverse movement helical gear 2-5 to move along the transverse movement helical rack 2-4, and cooperates with the transverse movement pair to realize the stable left and right sliding of the stage 2-6 on the transverse movement frame 2 along the X-axis, thereby driving the grinding head mechanism 1 on the stage 2-6 to move left and right.

[0056] like Figure 5-6As shown, the dual-stage longitudinal movement mechanism 3 includes a primary longitudinal movement assembly and a secondary longitudinal movement assembly. The primary longitudinal movement assembly includes a longitudinal movement frame 3-1, a longitudinal movement track 3-2, a longitudinal movement slider 3-3, a longitudinal movement lead screw 3-4, a longitudinal movement lead screw nut 3-5, a longitudinal movement drive sprocket 3-6, a longitudinal movement driven sprocket 3-7, a longitudinal movement chain 3-8, and a longitudinal movement motor 3-9. The longitudinal movement motor 3-9 is mounted on the upper side of the longitudinal movement frame 3-1. The longitudinal movement motor 3-9 is driven by the longitudinal movement drive sprocket 3-6. The longitudinal movement driven sprocket 3-7 is mounted on the longitudinal movement track 3-1. At the top of the frame 3-1, the longitudinal moving chain 3-8 is mounted on the longitudinal moving drive sprocket 3-6 and the longitudinal moving driven sprocket 3-7. The longitudinal moving screw 3-4 is vertically mounted on the longitudinal moving frame 3-1 and is drivenly connected to the longitudinal moving driven sprocket 3-7. The longitudinal moving screw 3-4 works in conjunction with the longitudinal moving screw nut 3-5 mounted on the back of the transverse moving frame 2-1. The longitudinal moving frame 3-1 is provided with a longitudinal moving track 3-2 in the vertical direction, which is used to cooperate with the longitudinal moving slider 3-3 mounted on the back of the transverse moving frame 2-1 to form a longitudinal moving pair.

[0057] The secondary longitudinal movement assembly includes a bottom frame 3-11, a bottom track 3-12, a bottom slider 3-13, a bottom lead screw 3-14, a bottom lead screw nut 3-15, a bottom drive sprocket 3-16, a bottom driven sprocket 3-17, a bottom chain 3-18, and a bottom motor 3-10. The bottom motor 3-10 is mounted on the upper side of the bottom frame 3-11. The bottom motor 3-10 is driven by the bottom drive sprocket 3-16. The bottom driven sprocket 3-17 is mounted on the top of the bottom frame 3-11. Strip 3-18 is installed on the bottom drive sprocket 3-16 and the bottom driven sprocket 3-17. The bottom lead screw 3-14 is vertically installed on the bottom frame 3-11 and is drivenly connected to the bottom driven sprocket 3-17. The bottom lead screw 3-14 works in conjunction with the bottom lead screw nut 3-15 located on the back of the longitudinal frame 3-1. The bottom frame 3-11 is provided with a bottom track 3-12 in the vertical direction, which is used to cooperate with the bottom slider 3-13 located on the back of the longitudinal frame 3-1 to form a bottom moving pair.

[0058] The specific working process of the double-stage longitudinal movement mechanism is as follows: The longitudinal movement motor 3-9 drives the longitudinal movement chain 3-8 to move through the longitudinal movement drive sprocket 3-6, which causes the longitudinal movement driven sprocket 3-7 to rotate. The longitudinal movement driven sprocket 3-7 then drives the longitudinal movement screw 3-4 to move, thereby transmitting the torque to the longitudinal movement screw nut 3-5 behind the transverse movement frame 2-1. The longitudinal movement slider 3-3 set behind the transverse movement frame 2-1 forms a longitudinal movement pair with the longitudinal movement track 3-2 on the longitudinal movement frame 3-1. Together with the longitudinal movement screw, the transverse movement frame 2-1 can slide stably up and down on the longitudinal movement frame 3-1.

[0059] The bottom motor drives the bottom drive sprocket 3-16, which in turn drives the bottom chain 3-18 to move, causing the bottom driven sprocket 3-17 to rotate. The rotation of the bottom driven sprocket 3-17 drives the bottom lead screw 3-14 to move, transmitting torque to the bottom lead screw nut 3-15 behind the longitudinal transfer frame 3-1. The bottom slider 3-13 behind the longitudinal transfer frame 3-1 and the bottom track 3-12 on the bottom frame 3-11 form a bottom moving pair, which, together with the lead screw, enables the longitudinal transfer frame 3-1 to slide stably up and down on the bottom frame 3-11.

[0060] like Figure 1 , 4 As shown in Figure 6, the dustproof mechanism 6 includes two sets of transverse accordion windproof covers 6-1, two sets of longitudinal accordion windproof covers 6-2, and one set of roller shutter dustproof covers 6-3. The two sets of transverse accordion windproof covers 6-1 are respectively located at the left and right ends of the transverse frame 2-1 and are respectively connected to the left and right sides of the platform 2-6. The two sets of longitudinal accordion windproof covers 6-2 are respectively located at the upper and lower ends of the longitudinal frame 3-1 and are respectively connected to the middle of the upper and lower sides of the transverse frame 2-1. The roller shutter dustproof cover 6-3 is installed on the bottom frame 3-11, and one end of the roller shutter dustproof cover 6-3 is connected to the bottom end of the longitudinal frame 3-1.

[0061] The specific working method of the dust prevention mechanism 6 during the actual grinding process is as follows: The left and right sides of the platform 2-6 are connected to the left and right sides of the transverse frame 2-1 by transverse accordion dust covers 6-1. As the platform 2-6 moves left and right, the transverse accordion dust covers 6-1 stretch or compress accordingly, always covering the transverse frame 2-1 to prevent grinding dust from entering the transverse frame 2-1 and affecting the normal movement of the platform 2-6. The upper and lower sides of the middle of the transverse frame 2-1 are connected to the upper and lower sides of the longitudinal frame 3-1 by longitudinal accordion windproof covers 6-2. As the transverse frame 2-1 moves up and down, the longitudinal accordion windproof covers 6-2 stretch or compress accordingly, always covering the transverse frame 2-1 to prevent grinding dust from entering the longitudinal frame 3-1 and affecting the normal movement of the transverse frame 2-1. A roller shutter dust cover 6-3 is connected to the bottom of the longitudinal transfer frame 3-1. The roller shutter dust cover 6-3 will extend and retract as the longitudinal transfer frame 3-1 moves up and down, always covering the bottom frame 3-11 to prevent grinding dust from entering the bottom frame 3-11 and affecting the normal movement of the longitudinal transfer frame 3-1.

[0062] like Figure 7-8As shown, the main body 4 of the device includes a housing 4-1. A first electric cylinder 4-2 is installed on the top of the housing 4-1. The piston rod of the first electric cylinder 4-2 is connected to the upper part of the bottom frame 3-11. A second electric cylinder 4-3 is installed on the bottom of the housing 4-1. The piston rod of the second electric cylinder 4-3 is connected to the lower part of the bottom frame 3-11. A frame push-pull guide rail 4-7 is installed at the lower front end of the housing 4-1. The main track and the frame push-pull slider 4-8 fixed on the plate 4-9 form a push-pull moving pair. The bottom frame 3-11 is also fixed on the plate 4-9. The first electric cylinder 4-2 and the second electric cylinder 4-3 work together to make the bottom frame 3-11 move back and forth stably on the frame push-pull guide rail 4-7, thereby adjusting the grinding pressure of the grinding head mechanism 1 on the wall.

[0063] The chamber is also equipped with a dust collection box 4-4, which contains an ultrasonic sensor to detect the dust volume and can sound an alarm when the dust is full; the dust collection box 4-4 is connected to the dust collection pipe 1-9 of the grinding head mechanism 1.

[0064] The housing is also equipped with a power supply system 4-5 and a control system 4-6. The power supply system 4-5 is connected to the grinding head mechanism 1, the transverse movement mechanism 2, the double-stage longitudinal movement mechanism 3, the first electric cylinder 4-2, the second electric cylinder 4-3, and the control system 4-6 respectively. The control system 4-6 is connected to the grinding head mechanism 1, the transverse movement mechanism 2, the double-stage longitudinal movement mechanism 3, the first electric cylinder 4-2, and the second electric cylinder 4-3 respectively.

[0065] like Figure 9 As shown, the walking mechanism 5 includes a first universal wheel pad 5-1, a first universal wheel 5-2, a second universal wheel pad 5-3, a second universal wheel 5-4, a first steering wheel 5-5, and a second steering wheel 5-6. The first steering wheel 5-5, the second steering wheel 5-6, the first universal wheel pad 5-1, and the second universal wheel pad 5-3 are all installed at the bottom of the housing 4-1. The first steering wheel 5-5 and the first universal wheel pad 5-1 are located at the same end of the bottom of the housing 4-1, while the second steering wheel 5-6 and the second universal wheel pad 5-3 are located at the other end of the bottom of the housing 4-1. The first steering wheel 5-5 and the second steering wheel 5-6 are diagonally distributed. The first universal wheel 5-2 and the second universal wheel 5-4 are respectively installed on the first universal wheel pad 5-1 and the second universal wheel pad 5-3, maintaining the same height for the first steering wheel 5-5, the second steering wheel 5-6, the first universal wheel 5-2, and the second universal wheel 5-4.

[0066] In this invention, the first steering wheel 5-5 and the second steering wheel 5-6 of the traveling mechanism are arranged diagonally, which saves costs and can give full play to the omnidirectional movement characteristics of the steering wheels, realizing the omnidirectional movement functions of the grinding head mechanism 1, such as forward / backward movement, left and right translation, and turning in place.

[0067] Using the aforementioned automated sanding device (1m wide transverse frame, 0.25m diameter sanding disc), automated sanding is performed on a wall surface measuring 5m x 3m. The specific sanding trajectory is as follows: Figure 10 As shown, the specific polishing steps are as follows:

[0068] Step A1: Control the leftmost end of the horizontal moving frame 2-1 of the automated sanding device to correspond to the leftmost end of its sanding area, and control the sanding disc to be close to the wall surface to be sanded and maintain a distance of 0.5-0.8m;

[0069] Step A2: Set the lifting speed to 0.3m / s, the lateral movement speed to 0.3m / s, the grinding width to be consistent with the width of the lateral movement frame, the grinding height to 0.2m-3m, the number of cycles to 3, the grinding pressure to 50N, the step distance to 0.25m, and the grinding disc 1-1 rotation speed to 1100r / min. After setting the parameters, you can start the device to begin grinding.

[0070] Step A3: Control the bottom motor 3-10 to work, drive the bottom drive sprocket 3-16, bottom chain 3-18, and bottom driven sprocket 3-17 to move, thereby causing the bottom lead screw 3-14 to rotate, driving the bottom lead screw nut 3-15 to move and causing the longitudinal frame 3-1 to rise to the top.

[0071] Step A4: Control the longitudinal movement motor 3-9 to work, drive the longitudinal movement drive sprocket 3-6, the longitudinal movement driven sprocket 3-7, and the longitudinal movement chain 3-8 to move, thereby causing the longitudinal movement screw 3-4 to rotate, driving the longitudinal movement screw nut 3-5 to move, causing the transverse movement frame 2-1 to rise to a distance of 3m above the ground;

[0072] Step A5: Control the transverse motor 2-7 to work, drive the transverse helical gear 2-5 to move along the transverse helical rack 2-4, so that the grinding head mechanism 1 moves to the leftmost end of the transverse frame 2-1;

[0073] Step A6: Control the extension of the first electric cylinder 4-2 and the second electric cylinder 4-3 to bring the grinding disc close to and press it against the wall, and maintain a pressure of 50N;

[0074] Step A7: Control the grinding motor 1-5 to drive the grinding disc 1-1 to rotate and start grinding. At the same time, control the transverse motor 2-7 to work, drive the transverse helical gear 2-5 to rotate, so that the grinding head mechanism 1 moves back and forth 3 times along the transverse track 2-2. During the grinding process, the grinding pressure is monitored in real time by the pressure sensor 1-6 of the grinding head mechanism 1. With the help of the wall constant pressure grinding control method based on the adaptive fuzzy PID controller, the grinding pressure is always 50N, thereby ensuring the smoothness of the grinding.

[0075] Step A8: Control the longitudinal movement motor 3-9 to work, the longitudinal movement drive sprocket 3-6, the longitudinal movement driven sprocket 3-7, and the longitudinal movement chain 3-8 move, thereby causing the longitudinal movement screw 3-4 to rotate, which drives the longitudinal movement screw nut 3-5 to lower the transverse movement frame 2-1 by 0.25m. Repeat steps A7-A8 until the transverse movement frame 2-1 moves to the bottom of the longitudinal movement frame 3-1.

[0076] Step A9: Control the bottom motor 3-10 to work, drive the bottom drive sprocket 3-16, the bottom driven sprocket 3-17, and the bottom chain 3-18 to move, thereby causing the bottom lead screw 3-14 to rotate, driving the bottom lead screw nut 3-15, so that the longitudinal frame 3-1 and the transverse frame 2-1 descend synchronously by 0.25m. Repeat steps A7 and A9 until the longitudinal frame 3-1 moves to the bottom end of the bottom frame 3-11.

[0077] Step A10: Control the first electric cylinder 4-2 to retract, the grinding disc will detach from the wall and stop rotating.

[0078] Step A11: Control the first steering wheel 5-5 and the second steering wheel 5-6 to rotate, so that the entire grinding device moves 1m to the right. Repeat steps A3-A11 until the entire wall surface is ground.

[0079] To maintain a constant sanding pressure and ensure the smoothness of the wall surface, step A7 of this invention employs a constant pressure sanding control method based on an adaptive fuzzy PID controller. The system structure diagram is shown below. Figure 11 As shown. The displacement change of the first electric cylinder 4-2 can be obtained from the displacement change of the second electric cylinder 4-3 and the velocity relationship between the two mentioned above. Therefore, the desired pressure F is... d The deviation *e* and the rate of change of deviation *ec* are used as inputs to the system fuzzy controller. The displacement change of the second electric cylinder 4-3 is used as the system control quantity for the constant pressure grinding control method on the wall surface. The real-time grinding pressure value of the grinding head mechanism 1 is used as the system output quantity to achieve constant pressure grinding on the wall surface, ensuring the consistency of grinding amount and thus guaranteeing the flatness of the wall surface. Specific methods include:

[0080] S1: Obtain the relationship between the displacement change of the first electric cylinder 4-2 and the displacement change of the second electric cylinder 4-3. In this invention, the first electric cylinder 4-2 and the second electric cylinder 4-3 are installed at different angles. The first electric cylinder 4-2 is installed at an upward tilt and has a certain angle with the bottom frame 3-11. The second electric cylinder 4-3 is placed horizontally. In order to ensure synchronous movement, the speed relationship between the two satisfies formula (1):

[0081]

[0082] in, v1 is the piston rod speed of the first electric cylinder; v2 is the piston rod speed of the second electric cylinder; L is the sum of the cylinder body length of the first electric cylinder and the extension of the piston rod inside the cylinder in the initial state; α is the initial angle formed between the first electric cylinder and the bottom frame; θ is the process angle formed between the first electric cylinder and the bottom frame during movement; H is the distance from the connection point between the first electric cylinder and the bottom frame to the connection point between the second electric cylinder and the bottom frame; h is the distance from the connection point between the first electric cylinder and the housing to the connection point between the second electric cylinder and the housing.

[0083] In this embodiment 1, the initial state is set as follows: the sum of the cylinder length and piston rod extension L of the first electric cylinder is 360mm; the initial angle α between the first electric cylinder and the bottom frame is 40°; the distance H from the connection point between the first electric cylinder and the bottom frame to the connection point between the second electric cylinder and the bottom frame is 1500mm; and the distance h from the connection point between the first electric cylinder and the housing to the connection point between the second electric cylinder and the housing is 1300mm. Substituting the above known parameters into formula (1), the specific speed relationship between the first and second electric cylinders is as follows:

[0084]

[0085] in,

[0086] S2: Real-time grinding pressure value F is collected using a pressure sensor installed inside the grinding head mechanism;

[0087] S3: Calculate the real-time pressure data F and the expected pressure F d The deviation e and the rate of change of deviation ec are used as the input quantities of the fuzzy controller of the system;

[0088] S4: Establish a fuzzy rule table and set up a fuzzy controller. Input the input quantity into the fuzzy controller for adaptive fuzzification and defuzzification processing, and obtain the PID controller parameter correction value K. p2 ,K i2 ,K d2 The adaptive fuzzification process employs a Gaussian membership function with a bell-shaped smooth curve for fuzzification, which features good continuity and strong adaptability, meeting the requirements of speed and frequency of electric cylinder push-pull motion in constant pressure grinding control. The defuzzification process uses the centroid method to calculate the weighted average of membership degrees, providing smooth and continuous defuzzification results with high response speed.

[0089] S5: Correction value K obtained from the PID controller parameters p2 ,K i2 ,K d2 The initial parameters K of the PID controller p1 ,K i1 ,K d1 Perform real-time corrections;

[0090] S6: The PID controller outputs a corresponding control signal to the servo motor of the second electric cylinder, thereby controlling the displacement of the second electric cylinder. At the same time, the control signal is converted into a real-time displacement ratio according to formula (1) and then output to the first electric cylinder, thereby adjusting the displacement of the first electric cylinder so that the bottom frame remains in a constant vertical state.

[0091] In Example 1, the fuzzification process in step S4 is applied to the pressure deviation e, the pressure deviation change rate ec, and the PID parameter correction value K. p2 ,K i2 ,K d2 A fuzzy subset {NB, NM, NS, ZO, PS, PM, PB} is established. Through multiple experimental data collection and analysis, the fuzzy universe of discourse for the input pressure deviation e and the rate of change of pressure deviation ec is [-3, 3], and the output value K is... p2 K i2 K d2 The domain of discourse is [-2,2].

[0092] In this embodiment 1, the fuzzy rule table in step S4 is determined based on the pressure deviation e and the pressure deviation change rate ec, establishing a correspondence between the input and output quantities. The fuzzy value of the output quantity can be obtained by looking up the table. Among these, the PID parameter correction value K... p2 ,K i2 ,K d2 The fuzzy rule tables are shown in Table 1, Table 2 and Table 3, respectively.

[0093] Table 1: K p2 Fuzzy rule table

[0094]

[0095]

[0096] Table 2K i2 Fuzzy rule table

[0097]

[0098] Table 3K d2 Fuzzy rule table

[0099]

[0100] In this embodiment 1, the defuzzification process in step S4 takes into account the rapid and frequent nature of the electric cylinder push-pull motion in constant pressure grinding control. The centroid method is used to calculate the weighted average of membership degrees, providing a smooth and continuous defuzzification result. Its expression is as follows:

[0101]

[0102] Where z0 is the precise value of the variable input to the fuzzy controller after defuzzification; z i μ is the value within the domain of the fuzzy control quantity. c (z i z is calculated using the centroid method. i The membership degree value; n is the number of values ​​in the fuzzy control quantity's domain;

[0103] Since the second electric cylinder is placed horizontally, its working state is easier to analyze. At the same time, the displacement relationship between the first and second electric cylinders can be obtained through formula (1). Therefore, the mechanical system of the entire second electric cylinder can be abstracted as a mass-spring-damping system. Let J be the equivalent rotational inertia of the electric cylinder system, C be the equivalent viscous damping coefficient of the system, and K be the equivalent stiffness coefficient of the system. The differential equations of the displacement X(t) of the second electric cylinder and the torque M(t) of the motor inside the electric cylinder are as follows:

[0104]

[0105] The transfer function is obtained by performing a Laplace transform on the above equation:

[0106] Js 2 X(s)+CsX(s)+KX(s)=M(s) (4);

[0107]

[0108] Where X(s) and M(s) are parameters after Laplace transform, and their actual meanings are equivalent to the displacement X(t) and torque M(t) mentioned above. G1(s) refers to the transfer function of the second electric cylinder displacement X(t) and the motor torque M(t) inside the electric cylinder, and s is the Laplace operator.

[0109] The relationship between the electric cylinder thrust F(t) and the electric cylinder motor torque M(t) can be expressed as:

[0110]

[0111] Wherein, K is the fixed transmission coefficient of the lead screw for the servo electric cylinder selected in this embodiment, with a specific value of 5.338; i is the system reduction ratio, and p is the lead screw lead.

[0112] Substituting the Laplace transform of equation (6) relating the electric cylinder thrust F(t) to the motor torque M(t) into the transfer function shown in equation (5), we can obtain the transfer functions of the second electric cylinder displacement X(t) and the electric cylinder thrust F(t):

[0113]

[0114] Where X(s) and F(s) are parameters after Laplace transformation, and their actual meanings are equivalent to the second electric cylinder displacement X(t) and electric cylinder thrust F(t) mentioned above. G2(s) refers to the transfer function of the second electric cylinder displacement X(t) and electric cylinder thrust F(t).

[0115] Based on the aforementioned adaptive fuzzy PID control method and the traditional PID control method with invariant proportional-integral-derivative parameters, simulation system control models were built in the Simulink environment, such as... Figure 12 The diagram shown is the system control model of the adaptive fuzzy PID control method in Embodiment 1. Simulations were performed based on the above simulation system control model, and waveforms under different control methods were acquired using an oscilloscope, as shown below. Figure 13 As shown in the figure, the adaptive fuzzy PID control system used in this invention has a slower initial response speed compared to the traditional PID control system. However, the response speed is significantly improved after approximately 0.362 seconds, and it approaches the desired pressure more quickly and smoothly, achieving better control performance. When a step signal disturbance is introduced after the 5th second, the traditional PID control system is significantly disturbed and deviates from the target value in a short period of time, while the adaptive fuzzy PID control system remains stable, demonstrating better robustness.

[0116] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0117] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automated grinding device for interior walls of buildings, characterized in that, The device includes a grinding head mechanism, a two-stage longitudinal movement mechanism, a transverse movement mechanism, a main body, a traveling mechanism, and a dustproof mechanism. The grinding head mechanism is mounted on the transverse movement mechanism, which drives it to move laterally. The transverse movement mechanism is mounted on the two-stage longitudinal movement mechanism, which drives it to move vertically. The two-stage longitudinal movement mechanism is located on the main body. The traveling mechanism is installed at the bottom of the main body and drives the main body, the two-stage longitudinal movement mechanism, the transverse movement mechanism, and the grinding head mechanism to move as a whole. The traveling mechanism, the two-stage longitudinal movement mechanism, the transverse movement mechanism, and the grinding head mechanism are all connected to a control system installed within the main body. The grinding head mechanism includes a grinding disc, a dust brush, a pressure sensor, a buffer spring, a grinding motor, a vacuum fan, and a dust collection pipe. The grinding head mechanism has a grinding disc with sandpaper attached to its grinding surface and several suction holes. A ring of suction ports is located around the outer periphery of the grinding disc, and a dust brush is positioned around the outer periphery of these ports. A grinding motor is located at the end of the grinding head mechanism furthest from the grinding disc, driving the grinding disc to rotate. The vacuum fan is installed outside the grinding head mechanism and connected to it via the suction pipe. The vacuum fan is also connected to the dust collection pipe. Several buffer springs are evenly arranged between the housing of the grinding head mechanism and the dust brush. The pressure sensor is installed inside the grinding head mechanism to monitor the grinding pressure. The motor shaft of the grinding motor is connected to the fan shaft of the vacuum fan via a bevel gear, thereby drawing the grinding dust into the dust collection pipe. The transverse movement mechanism includes a transverse movement frame, a transverse movement motor, a transverse movement helical gear, a transverse movement helical rack, and a platform. The platform is slidably mounted on the transverse movement frame and moves laterally left and right along the X-axis of the transverse movement frame. The transverse movement motor and the transverse movement helical gear are respectively mounted on the front and back sides of the platform, and the transverse movement motor is drivenly connected to the transverse movement helical gear. The transverse movement helical rack is arranged on the transverse movement frame along the X-axis, and the transverse movement helical gear meshes with the transverse movement helical rack. The platform is also provided with a right-angle boss for mounting a grinding head mechanism. The dual-stage longitudinal movement mechanism includes a primary longitudinal movement assembly and a secondary longitudinal movement assembly. The primary longitudinal movement assembly includes a longitudinal movement frame, a longitudinal movement track, a longitudinal movement slider, a longitudinal movement screw, a longitudinal movement screw nut, a longitudinal movement drive sprocket, a longitudinal movement driven sprocket, a longitudinal movement chain, and a longitudinal movement motor. The longitudinal movement motor is mounted on the upper side of the longitudinal movement frame and is drivenly connected to the longitudinal movement drive sprocket. The longitudinal movement driven sprocket is mounted on the top of the longitudinal movement frame. The longitudinal movement chain is mounted on the longitudinal movement drive sprocket and the longitudinal movement driven sprocket. The longitudinal movement screw is vertically mounted on the longitudinal movement frame and is drivenly connected to the longitudinal movement driven sprocket. The longitudinal movement screw works in conjunction with the longitudinal movement screw nut located on the back of the transverse movement frame. A longitudinal movement track is provided on the longitudinal movement frame along the vertical direction for cooperating with the longitudinal movement slider located on the back of the transverse movement frame to form a longitudinal movement pair. The secondary longitudinal movement assembly includes a bottom frame, a bottom motor, a bottom drive sprocket, a bottom driven sprocket, a bottom chain, a bottom screw, and a bottom rail. The bottom motor is mounted on the upper side of the bottom frame and is driven by the bottom drive sprocket. The bottom driven sprocket is mounted on the top of the bottom frame. The bottom chain is mounted on the bottom drive sprocket and the bottom driven sprocket. The bottom screw is vertically mounted on the bottom frame and is driven by the bottom driven sprocket. The bottom screw works in conjunction with a bottom screw nut located on the back of the longitudinal movement frame. A bottom rail is provided vertically on the bottom frame for cooperating with a bottom slider located on the back of the longitudinal movement frame to form a bottom moving pair. The dustproof mechanism includes two sets of transverse accordion windproof covers, two sets of longitudinal accordion windproof covers, and one set of roller shutter dustproof covers. The two sets of transverse accordion windproof covers are respectively located at the left and right ends of the transverse frame and are respectively connected to the left and right sides of the platform. The two sets of longitudinal accordion windproof covers are respectively located at the upper and lower ends of the longitudinal frame and are respectively connected to the middle of the upper and lower sides of the transverse frame. The roller shutter dustproof cover is installed on the bottom frame, and one end of the roller shutter dustproof cover is connected to the bottom end of the longitudinal frame.

2. The automated interior wall grinding device according to claim 1, characterized in that, A transverse track is also provided on the transverse frame along the X-axis direction, and a transverse slider is provided on the reverse side of the stage. The transverse slider and the transverse track cooperate to form a transverse moving pair.

3. The automated interior wall grinding device according to claim 1, characterized in that, The main body of the device includes a housing. A first electric cylinder is installed on the top of the housing, and the piston rod of the first electric cylinder is connected to the upper part of the bottom frame. A second electric cylinder is installed on the bottom of the housing, and the piston rod of the second electric cylinder is connected to the lower part of the bottom frame. A frame push-pull guide rail is installed at the lower front end of the housing. The frame push-pull guide rail and the frame push-pull slider fixed on the plate form a push-pull moving pair. The bottom frame is installed on the plate. The first electric cylinder and the second electric cylinder work together to make the bottom frame move back and forth along the frame push-pull guide rail, thereby adjusting the pressure of the grinding head mechanism on the wall. The box is also equipped with a dust collection box, which contains an ultrasonic sensor for detecting dust volume. The dust collection box is connected to the dust collection pipe of the grinding head mechanism. The housing is also equipped with a power supply system and a control system. The power supply system is connected to the grinding head mechanism, the transverse movement mechanism, the dual-stage longitudinal movement mechanism, the first electric cylinder, the second electric cylinder, and the control system. The control system is connected to the grinding head mechanism, the transverse movement mechanism, the longitudinal movement mechanism, the first electric cylinder, and the second electric cylinder for control.

4. The automated grinding device for interior walls of buildings according to claim 3, characterized in that, The traveling mechanism includes a first steering wheel, a second steering wheel, a first universal wheel, a second universal wheel, a first universal wheel pad, and a second universal wheel pad. The first steering wheel, the second steering wheel, the first universal wheel pad, and the second universal wheel pad are all installed at the bottom of the housing. The first steering wheel and the first universal wheel pad are located at the same end of the bottom of the housing, while the second steering wheel and the second universal wheel pad are located at the other end of the bottom of the housing. The first steering wheel and the second steering wheel are diagonally distributed. The first universal wheel and the second universal wheel are respectively installed on the first universal wheel pad and the second universal wheel pad, keeping the first steering wheel, the second steering wheel, the first universal wheel, and the second universal wheel at the same height.

5. A constant pressure control method for an automated interior wall grinding device according to any one of claims 1-4, characterized in that, A constant-pressure sanding control method based on an adaptive fuzzy PID controller is adopted to maintain the sanding pressure at a constant level. Specific methods include: S1: Obtain the relationship between the displacement change of the first electric cylinder and the displacement change of the second electric cylinder, wherein the first electric cylinder is installed at an upward tilt and has an angle with the bottom frame, and the second electric cylinder is placed horizontally. To ensure synchronous movement, the speed relationship between the two satisfies formula (1): （1）； in, ； The piston rod speed of the first electric cylinder; The piston rod speed of the second electric cylinder; It is the sum of the cylinder length of the first electric cylinder in the initial state and the extension of the piston rod inside the cylinder; The initial angle formed by the first electric cylinder and the bottom frame; The angle formed between the first electric cylinder and the bottom frame during its movement; The distance from the connection point between the first electric cylinder and the bottom frame to the connection point between the second electric cylinder and the bottom frame; The distance from the connection point between the first electric cylinder and the housing to the connection point between the second electric cylinder and the housing; S2: Real-time grinding pressure value F is collected using a pressure sensor installed inside the grinding head mechanism; S3: Calculate the real-time grinding pressure value F and the desired pressure F d The deviation e and the rate of change of deviation ec are used as the input of the system fuzzy controller; the displacement change of the second electric cylinder is used as the system control quantity of the constant pressure grinding control method for the wall surface, and the real-time grinding pressure value of the grinding head mechanism is used as the system output. S4: Establishes the fuzzy rule table and sets the fuzzy controller, inputs the input quantity into the fuzzy controller to perform adaptive fuzzification and defuzzification, and obtains the PID controller parameter correction value K p2 ,K i2 ,K d2 ; S5: Correcting the initial parameter K of the PID controller by the acquired parameter correction value K p2 ,K i2 ,K d2 , of the PID controller p1 ,K i1 ,K d1 in real time S6: The PID controller outputs a corresponding control signal to the servo motor of the second electric cylinder, thereby controlling the displacement of the second electric cylinder. At the same time, the control signal is converted into a real-time displacement ratio according to formula (1) and then output to the first electric cylinder, thereby adjusting the displacement of the first electric cylinder so that the bottom frame remains in a constant vertical state.

6. The constant pressure control method for the automated interior wall grinding device according to claim 5, characterized in that, In step S4, the adaptive fuzzification process uses a Gaussian membership function with a bell-shaped smooth curve to perform fuzzification, which meets the requirements of the electric cylinder push-pull motion in constant pressure grinding control; the defuzzification process uses the centroid method to calculate the weighted average of the membership degree, providing a smooth and continuous defuzzification result.

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