Wall grinding device for housing building construction and method for grinding wall

Abstract

The invention discloses a wall polishing device for house building construction and a wall polishing method, and belongs to the technical field of building construction equipment. The device comprises a movable main body and a grinding unit, and the grinding unit is connected to the side face of the main body through a multi-stage lifting mechanism. The multi-stage lifting mechanism comprises a first-stage lifting assembly and a second-stage lifting assembly; the first-stage lifting assembly comprises a connecting piece, a guide piece fixed on the main body and a first driving mechanism, and is used for driving the connecting piece to perform height adjustment along the guide piece; the second-stage lifting assembly comprises a mounting base and a second driving mechanism and is used for driving the mounting base to conduct height adjustment along the connecting piece, and the mounting base is connected with the grinding unit. Through cooperative work of the two stages of lifting assemblies, large-range and continuous height adjustment of the grinding unit in the vertical direction is achieved, the whole working face from the bottom to the top of a wall can be effectively covered, grinding dead corners are eliminated, and the efficiency and convenience of grinding operation are improved.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, specifically to a wall grinding device and a method for wall grinding in building construction. Background Technology

[0002] In the construction and decoration process of buildings such as houses, grinding devices are needed to smooth the walls to meet the project quality requirements. Existing wall grinding devices have the following shortcomings: First, the lifting range is limited, making it difficult to effectively grind the top and bottom of the wall, resulting in grinding dead spots; second, the degree of automation is low, requiring frequent manual adjustments to the device position and grinding height, which is labor-intensive and inefficient.

[0003] For example, Chinese patent application CN202510924174.5 discloses a wall grinding device for resettlement housing construction. This device adjusts the grinding height through a lifting module, but the lifting range is limited by the height of the lifting frame and cannot cover the entire wall surface. Furthermore, the device requires manual pushing and operation, and its automation level needs improvement. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art by providing a wall grinding device and a method for wall grinding in building construction, which can achieve a wider range of continuous height adjustment, cover the entire height range of the wall surface, and simplify the height adjustment operation.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a wall grinding device for building construction, comprising a movable main body and a grinding unit, wherein the grinding unit is connected to the side of the main body via a multi-stage lifting mechanism; the multi-stage lifting mechanism includes a first-stage lifting component and a second-stage lifting component; the first-stage lifting component includes a connector; two vertical and side-by-side guides located on both sides of the connector, the guides being fixed to the main body and extending from the bottom to the top of the main body; and a first drive mechanism disposed on the guides; the first drive mechanism drives the connector to adjust its height within a continuous area from the bottom to the top of the guides; the second-stage lifting component includes a mounting base and a second drive mechanism disposed on the connector, the mounting base being connected to the grinding unit, the second drive mechanism driving the mounting base to adjust its height within a continuous area from the bottom to the top of the connector; the bottom of the main body is provided with electric casters.

[0006] Furthermore, the guide member is a vertical rod, the first driving mechanism includes a servo motor 1 mounted on the vertical rod and a lead screw 1 driven by the servo motor 1; the connecting member is a rectangular frame with sliding members fixedly connected to both sides, the sliding members being threadedly engaged with the lead screw 1; the second driving mechanism includes a servo motor 2 mounted on the connecting member and a lead screw 2 driven by the servo motor 2, the mounting base being threadedly engaged with the lead screw 2.

[0007] Furthermore, vertical grooves are provided on adjacent sides of the two vertical rods, and the servo motor and the lead screw are both set in the vertical grooves, with the sliding parts on the connector being movably inserted into the vertical grooves.

[0008] Furthermore, the polishing unit includes a polishing motor, a rotating shaft driven by the polishing motor, and a polishing disc mounted on the front end of the rotating shaft; the rotating shaft passes through the mounting base and is connected to the polishing disc via a quick-release connection structure.

[0009] Furthermore, the quick-release connection structure includes a rectangular groove at the front end of the rotating shaft, a threaded hole coaxial with the rectangular groove, a rectangular rod fixed to the center of the grinding disc and matching the shape of the rectangular groove, and a threaded shaft coaxial with the rectangular rod and adapted to the threaded hole; the rectangular rod passes through the center of the grinding disc and is fixedly connected to the grinding disc, and the rectangular rod is provided with a threaded through hole extending along its axial direction, and the threaded shaft is threadedly connected to the threaded through hole; a tool interface is provided at the front end of the threaded shaft.

[0010] Furthermore, it also includes a dust removal system, which includes a dust collection hood, a negative pressure generating device, and a filter dust collection device; the dust collection hood is installed around the grinding disc from the back and is mounted on the mounting base; a dust collection space is formed between the grinding disc and the dust collection hood; the grinding disc has several dust collection holes that communicate with the dust collection space; the negative pressure generating device is connected to the dust collection space and the filter dust collection device through a pipe.

[0011] Furthermore, the dust collection device is a filter bag, which is connected to the outlet pipe of the negative pressure generating device through a quick-connect coupling; the quick-connect coupling includes an external threaded ring at the outlet end of the negative pressure generating device and an internal threaded ring at the inlet of the filter bag that is adapted to the external threaded ring; the filter bag is disposed in the inner cavity of the main body, and a door is provided on the rear side of the inner cavity of the main body, and multiple exhaust holes are provided on the door.

[0012] Furthermore, it also includes an intelligent control system; the intelligent control system includes a controller with a control program stored in it and a laser camera mounted on the main body; the controller is connected to the laser camera, the electric omnidirectional wheel, the first drive mechanism, the second drive mechanism and the grinding unit respectively.

[0013] Furthermore, the controller includes a central processing unit, a receiving module, an instruction module, a map storage device, and a control module; the output terminal of the laser camera is connected to the input terminal of the receiving module; a touch screen is installed on the controller, and the output terminal of the touch screen is connected to the input terminal of the instruction module; the output terminals of the receiving module, the instruction module, and the map storage device are connected to the input terminal of the central processing unit; the output terminal of the central processing unit is connected to the map storage device and the control module respectively; the output terminal of the control module is connected to the first drive mechanism, the second drive mechanism, the grinding unit, the electric universal wheel, and the negative pressure generating device in the dust removal system respectively.

[0014] The method for sanding walls using a wall sanding device for building construction includes the following steps:

[0015] Steps for establishing a work environment map: Control the wall grinding device used for building construction to move within the construction area, collect environmental data through the laser camera, and generate a work environment map containing the location and size of the wall by the controller;

[0016] Automatic sanding steps: The controller plans the sanding operation path based on the working environment map; controls the electric universal wheel drive device to move along the planned path, and at the same time coordinates the first drive mechanism and the second drive mechanism to adjust the height of the sanding unit, and controls the sanding unit to sand the wall.

[0017] The present invention has the following beneficial effects: First, the present invention achieves a wide range and precise position adjustment of the grinding unit in the vertical direction through a multi-stage lifting mechanism, which can effectively cover the entire working surface from the base of the wall to the top, eliminating grinding dead corners.

[0018] Next, the invention integrates a laser camera, a central processing unit, electric omnidirectional wheels, and an intelligent control system, which can realize automatic environmental mapping, automatic path planning, autonomous movement, and automatic execution of grinding tasks, greatly improving the degree of automation, reducing manual intervention, reducing labor intensity, and improving work efficiency and consistency.

[0019] Furthermore, by setting up a quick-release grinding disc connection structure and a threaded dust collection bag, the present invention makes the replacement and maintenance of key components more convenient, thereby improving the ease of use and maintenance efficiency of the equipment.

[0020] Finally, the present invention, through the cooperation of a fan and a dust collection device, can effectively collect the dust generated during the grinding process, improve the working environment, and meet the requirements of green construction. Attached Figure Description

[0021] Figure 1 A three-dimensional structural diagram of the wall grinding device for the invention;

[0022] Figure 2 This is a three-dimensional structural diagram of the multi-stage lifting mechanism in the wall grinding device of the present invention;

[0023] Figure 3 This is a three-dimensional structural diagram of the grinding disc of the present invention;

[0024] Figure 4 This is a schematic diagram of the back structure of the dust collection hood of the present invention;

[0025] Figure 5 for Figure 2 Enlarged view of point A in the middle;

[0026] Figure 6 for Figure 3 Enlarged view of point B in the middle;

[0027] Figure 7 This is a three-dimensional structural diagram of the wall grinding device of the present invention from another angle;

[0028] Figure 8 This is a schematic diagram of the bag structure of the present invention;

[0029] Figure 9 This is a schematic diagram of the control system of the present invention.

[0030] In the diagram, 1. Main body; 2. Dust collection hood; 3. Grinding disc; 4. Negative pressure generating device; 5. Multi-stage lifting mechanism; 6. Controller; 7. Laser camera; 8. Touch screen; 9. Long flexible hose; 10. Electric caster wheel; 11. Grinding block; 12. Grinding motor; 13. Shaft; 14. Mounting rod one; 15. Mounting rod two; 16. Dust collection hole; 17. Round hole; 18. Rectangular rod; 19. Threaded shaft; 20. Exhaust pipe; 21. Rectangular groove; 22. Threaded hole; 23. Tool interface; 24. Cloth bag; 25. Connecting pipe; 26. Door; 27. Exhaust pipe. 27. Air hole; 28. Mounting ring; 29. ​​Internal threaded ring; 30. External threaded ring; 31. Central processing unit; 32. Receiving module; 33. Command module; 34. Map storage; 35. Control module; 36. Control unit 1; 37. Control unit 2; 38. Control unit 3; 39. Control unit 4; 40. Connector; 51. Guide; 52. Mounting base; 53. Vertical groove; 54. Servo motor 1; 55. Lead screw 1; 56. Sliding component; 57. Servo motor 2; 58. Lead screw 2; 59. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The terms "front," "rear," "left," "right," "back," "front," "top," and "bottom" indicate directions or positional relationships based on Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description, and are not intended to 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, the terms used to describe positional relationships in the figures are for illustrative purposes only and should not be construed as limiting the present invention. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0034] like Figures 1 to 9 As shown, the wall grinding device for building construction provided by the present invention includes a movable main body 1 and a grinding unit. Electric casters 10 are provided at the four corners of the bottom of the main body 1. The main body 1 is preferably a box-type structure, capable of accommodating some components of a dust removal system and some control components. A fan is fixedly installed on the top of the main body 1, and a controller 6 is embedded on one side, with a touch screen 8 on its surface. Multiple laser cameras 7 are evenly arranged along the outer edge of the top of the main body 1 for 360-degree scanning of the surrounding environment.

[0035] The polishing unit is connected to the front side of the main body 1 via a multi-stage lifting mechanism 5. The main body 1 has a box-like structure, including a front side and a rear side opposite to the front side. In this text, the front side is the side facing the wall to be polished. The box-like structure of the main body 1 serves as a support for the polishing unit, controller 6, etc., and also as a storage box to accommodate some components.

[0036] The multi-stage lifting mechanism 5 is used to drive the grinding unit to make multiple levels of relatively independent displacement adjustments in the vertical direction, so that the working surface of the grinding unit covers a continuous area from the bottom to the top of the wall to be ground.

[0037] like Figure 1-4 As shown, the multi-stage lifting mechanism 5 includes a first-stage lifting component and a second-stage lifting component.

[0038] The first-stage lifting assembly includes a connector 51, two vertically and side-by-side guide members 52 fixed to the main body 1, the guide members 52 extending from the bottom to the top of the main body 1, and a first driving mechanism disposed on the guide members 52. The first driving mechanism drives the connector 51 to adjust its height within a continuous area from the bottom to the top of the guide members 52. Unlike traditional methods that use a dedicated base, in this invention, the main body 1 directly supports the grinding unit, and the first driving mechanism drives the connector 51 to adjust its height within a continuous area from the bottom to the top of the guide members 52. This means the grinding unit can reach the bottom of the wall to be ground, eliminating the problem of the bottom of the wall being ungrindable due to a base.

[0039] The second-stage lifting assembly includes a mounting base 53 and a second drive mechanism disposed on the connector 51. The mounting base 53 is fixed to the grinding unit, and the second drive mechanism drives the mounting base 53 to adjust its height within a continuous area from the bottom end to the top end of the connector 51.

[0040] Specifically, the guide member 52 is a vertical rod, which is firmly connected to the main body 1 via two sets of mounting rods 14. A vertical groove 54 is formed on the adjacent inner side (i.e., the faces of two opposing vertical rods) of each vertical rod. A servo motor 55 is fixedly installed in the groove 54, with its output shaft facing downwards and connected to the top of a lead screw 56. The lower end of the lead screw 56 is rotatably connected to the bottom inner wall of the groove 54 via a bearing. A rectangular frame serves as a connector 51, with sliding members 57 fixedly connected to both sides. The sliding members 57 are threadedly engaged with the lead screw 56. The sliding members 57 can slide up and down along the groove 54, so that when the servo motor 55 drives the lead screw 56 to rotate, it can drive the entire rectangular frame to move up and down along the vertical rod, achieving the first stage of lifting.

[0041] The rectangular frame, serving as connector 51, forms a vertical guide rail frame. Servo motors 58 are fixedly mounted on both sides of its top inner wall, with their output shafts facing downwards, connecting to the top of lead screw 59. The lower end of lead screw 59 is rotatably connected to the bottom inner wall of the rectangular frame. A mounting base 53 engages with the lead screws 59 on both sides via its threaded holes. The mounting base 53 can slide up and down along the rectangular frame. When the servo motors 58 drive the lead screws 59 to rotate, they can cause the mounting base 53 to move up and down within the rectangular frame, achieving the second stage of lifting of the grinding unit.

[0042] Through the coordinated operation of two-stage lifting, the grinding unit installed on the mounting base 53 can achieve full height coverage from near the ground to near the ceiling.

[0043] The polishing unit includes a polishing motor 12, a rotating shaft 13 driven by the polishing motor 12, and a polishing disc 3 mounted on the front end of the rotating shaft 13. The rotating shaft 13 passes through a mounting base 53 and is connected to the polishing disc 3 via a quick-release connection structure. Specifically, the polishing motor 12 is fixedly mounted on the rear side of the mounting base 53. The output shaft of the polishing motor 12 is horizontally forward and its output end is connected to the rotating shaft 13. The rear side of the polishing disc 3 is connected to the front end of the rotating shaft 13 via a quick-release structure, such as... Figure 5 and Figure 6 As shown, the quick-release connection structure includes a rectangular groove 21 located at the front end of the rotating shaft 13, a threaded hole 22 coaxial with the rectangular groove 21 and located at the bottom of the groove 21, a rectangular rod 18 located at the center of the back of the grinding disc 3 and adapted to the rectangular groove 21, and a threaded shaft 19 coaxial with the rectangular rod 18 and adapted to the threaded hole 22. The rectangular rod 18 passes through the center of the grinding disc 3 and is fixedly connected to the grinding disc 3. The rectangular rod 18 is provided with a threaded through hole that extends along its axial direction. The threaded shaft 19 is connected to the threaded shaft 19 through the threaded through hole. The rear end of the threaded shaft 19 is installed into the threaded hole 22, and the front end has a hexagonal tool interface 23. During installation, the rectangular rod 18 is inserted into the rectangular groove 21. Then, a hex wrench is inserted into the hexagonal tool interface 23 and the threaded shaft 19 is rotated clockwise to pass the threaded shaft 19 through the threaded through hole in the center of the rectangular rod 18 and screw it into the threaded hole 22 to tighten it. During disassembly, insert a hex wrench into the hexagonal tool interface 23 and rotate the threaded shaft 19 counterclockwise to unscrew the rear end of the threaded shaft 19 out of the threaded hole 22. Then pull the grinding disc 3 forward to move the rectangular rod 18 out of the rectangular groove 21, thus removing the grinding disc 3. This increases the ease of installation and disassembly of the grinding disc 3 and makes it convenient to replace the grinding disc 3.

[0044] The front surface of the grinding disc 3 has a multi-ring array of grinding blocks 11 arranged radially from the inside out. For example... Figure 3As shown, the front surface of the grinding disc 2 is arranged radially from the inside out with three rings of grinding blocks 11: an inner ring, a middle ring, and an outer ring. Each ring contains a ring array of grinding blocks 11. It should be noted that the number of grinding blocks 11 is not limited to three rings. Compared to a single-ring distribution, the three-ring dense ring array in this embodiment can greatly increase the instantaneous contact area between the grinding disc 3 and the wall. During each rotation of the grinding disc, a larger area of ​​the wall surface can be processed, thereby directly improving the grinding efficiency per unit time. Furthermore, since the linear velocity is different at different radii on the grinding disc (the outer ring has the highest linear velocity, and the inner ring has the lowest), the three rings of grinding blocks naturally possess different grinding intensities. The grinding blocks 11 in each radial ring decrease in grit size from the inside out. For example, the inner ring uses fine-grained material with a grit of 180 to 220 mesh, mainly for fine grinding and polishing; the middle ring uses medium-grained material with a grit of 80 to 100 mesh, for transitional grinding; and the outer ring uses coarse-grained material with a grit of 40 to 60 mesh, for efficient removal of wall protrusions. This configuration allows the grinding disc to complete the composite process from coarse grinding to fine grinding in a single rotation. Furthermore, the material hardness of the grinding blocks 11 increases radially from the inside out, better adapting to the division of labor for coarse grinding on the outer ring and fine grinding and polishing on the inner ring. This allows for the composite completion of coarse grinding, fine grinding, and polishing in a single operation, greatly improving the integration of the grinding process and the final smoothness and gloss of the wall surface. Moreover, the symmetrical and balanced layout ensures stable operation of the grinding disc, reduces vibration, and extends the equipment's service life.

[0045] During operation, servo motor 2 58 drives lead screw 2 59 to rotate, and lead screw 2 59 drives mounting base 53 to move vertically along the inside of rectangular frame. Servo motor 1 55 drives lead screw 1 56 to rotate, and lead screw 1 56 drives rectangular frame to move vertically through sliding member 57, increasing the vertical movement range of grinding disc 3. Grinding motor 12 drives rotating shaft 13 and grinding disc 3 to rotate, realizing the grinding operation on the wall.

[0046] During fully automated sanding, if dust rapidly disperses, it can obstruct lidar / cameras, leading to mapping failures, path planning errors, and even paralyzing the intelligent system. Furthermore, dust adhering to the wall surface can act as a barrier, affecting sanding quality. Moreover, dust pollution violates green construction principles and is detrimental to occupational health. Based on these reasons, if... Figure 7 and Figure 8As shown, a dust removal system is also provided, which includes a dust collection hood 2, a negative pressure generating device 4, and a filter dust collection device. The dust collection hood 2 covers the back of the grinding disc 3 and is installed on the mounting base 53, forming a dust collection space between the grinding disc 3 and the dust collection hood 2. The grinding disc 3 has several dust collection holes 16 communicating with the dust collection space. The negative pressure generating device 4 is connected to the dust collection space and the filter dust collection device through a pipe. The negative pressure generating device 4 generates negative pressure within the dust collection space formed by the dust collection hood 2 and the grinding disc 3 to automatically draw the dust generated at the grinding position into the dust collection space. The negative pressure generating device 4 can be a fan, such as a high-pressure centrifugal fan. Alternatively, the negative pressure generating device 4 can be other devices capable of generating negative pressure, such as a vacuum pump or an ejector based on the Venturi principle, as long as it can generate the required negative pressure airflow in the system. In this embodiment, a fan is used as the negative pressure generating device 4.

[0047] Specifically, the grinding disc 3 has several arc-shaped holes as dust collection holes 16. A disc is fixed to the front of the mounting base 53 by two mounting rods 15 as a dust collection hood 2, with a circular hole 17 in the center of the disc for a rectangular rod 18 to pass through. The dust collection hood 2 is used to constrain and guide the flow of dust, and an exhaust pipe 20 is connected to its rear side. The dust collection device is a filter bag 24, used to collect wall grinding dust. The filter bag 24 is set in the inner cavity of the main body 1, and its top is fixed with an internally threaded ring 29 by a mounting ring 28. The negative pressure generating device 4 is a fan, which provides power for collecting wall grinding dust. The air inlet of the fan is connected to the exhaust pipe 20 on the rear side of the dust collection hood 2 through a long flexible hose 9. The exhaust end of the fan is connected to a connecting pipe 25, and an externally threaded ring 30 welded to the lower end of the connecting pipe 25 is fitted thereon. By rotating the filter bag 24, the internal threaded ring 29 can be screwed onto the external threaded ring 30, achieving a sealed connection and quick assembly / disassembly. A door 26 is hinged to the rear of the main body 1, and multiple exhaust holes 27 are opened on the door 26, through which filtered air is discharged. When the fan operates, the dust generated from wall grinding and surrounding air are sequentially introduced into the interior of the filter bag 24 through the arc-shaped hole, exhaust pipe 20, long flexible hose 9, and connecting pipe 25. The dust is trapped inside the filter bag 24, while the air passes through the filter bag 24 and exits through the exhaust holes 27 on the door 16, preventing wall grinding dust from polluting the air.

[0048] To achieve intelligent polishing, such as Figure 9 As shown, it also includes an intelligent control system, which is the core of the automated wall sanding operation. For example... Figure 7 As shown, the intelligent control system mainly includes the following parts:

[0049] The controller 6 is an independent hardware module integrating a processor, memory, and multiple communication interfaces. It is installed on the side of the main body 1 and stores the control program. Specifically, it includes a central processing unit 31, a receiving module 32, an instruction module 33, a map storage device 34, and a control module 35.

[0050] The laser camera 7 is fixed to the outer edge of the top of the main body 1 and is used to scan the working environment in 360 degrees to collect point cloud data.

[0051] The touch screen 8 is located on the outer surface of the main body 1 and is electrically connected to the controller 6 via data cables or other means. It is used to receive user commands and display system status.

[0052] The controlled actuators include electric casters 10 that drive the mobile chassis, servo motor 55 that drives the first stage of lifting, servo motor 58 that drives the second stage of lifting, grinding motor 12 that drives the grinding disc, and negative pressure generating device 4 (i.e., fan) of the dust removal system.

[0053] The output of laser camera 7 is connected to the input of receiver module 32, the output of touch screen 8 is connected to the input of instruction module 33, and the outputs of receiver module 32, instruction module 33, and map storage 34 are connected to the input of central processing unit 31. The output of central processing unit 31 is connected to map storage 34 and control module 35 respectively. Control module 35 includes control unit 1 36, control unit 2 37, control unit 38, control unit 4 39, and control unit 5 40. The output of control unit 1 36 is connected to the input of servo motor 1 55; the output of control unit 2 37 is connected to the input of servo motor 2 58; the output of control unit 3 38 is connected to the input of grinding motor 12; the output of control unit 4 39 is connected to the input of fan; and the output of control unit 5 40 is connected to the input of electric caster wheel 10. The control system generates a working environment map and a polishing path based on the information collected by the laser camera 7, controls the controlled drive wheel 10 to move the device along the polishing path, and coordinates the control of the multi-stage lifting mechanism and the polishing unit to perform automatic polishing operations.

[0054] During operation, the laser camera 7 scans environmental point cloud data and sends it to the central processing unit 31 via the receiving module 32. Operators input commands via the touchscreen 8, and the central processing unit 31 processes the information, calling up or generating digital maps and storing them in the map storage 34. Commands are then transmitted to various actuators via the control module 35. Control unit 5 40 controls the electric casters 10 to move the polishing device. The laser camera 7 scans information from each room and transmits it to the central processing unit 31 via the receiving module 32. The central processing unit 31 generates maps from the room information and stores them in the map storage 34. A wall polishing command is then issued via the touchscreen 8. The central processing unit 31 exports the map from the map storage 34 and applies the polishing operation command via the control module 35. Control units 1 36, 2 37, 3 38, 4 39, and 5 40 respectively control servo motor 1 55, servo motor 2 58, polishing motor 12, fan, and electric casters 10, achieving automatic generation of building wall map information and automatic polishing functions with a high degree of intelligence and automation.

[0055] The method for sanding walls using the aforementioned wall sanding device for building construction includes the following steps:

[0056] The steps for establishing the work environment map are as follows: The wall grinding device used for building construction is controlled to move within the construction area. Environmental data is collected by the laser camera 7, and the controller 6 generates a work environment map containing the location and dimensions of the walls. The specific process is as follows: First, a map generation command is issued via the touch screen 8. The central processing unit 31 transmits the command to the control module 35. The control unit 40 controls the electric caster wheel 10 to move the grinding device. The laser camera 7 scans the outline of each room, the location of doors and windows, and the wall information, and transmits it to the central processing unit 31 via the receiving module 32. The central processing unit 31 integrates and processes this room information and generates a map, which is then stored in the map storage 34.

[0057] Automatic sanding steps: The controller 6 plans the sanding operation path based on the working environment map; it controls the electric omnidirectional wheel 10 to move along the planned path, and simultaneously coordinates with the first and second drive mechanisms to adjust the height of the sanding unit, and controls the sanding unit to sand the wall. The specific process is as follows:

[0058] The wall grinding command is issued through the touch screen 8. The central processing unit 31 exports the map in the map storage 34 and applies the grinding operation command through the control module 35. The control unit 1 36 controls the servo motor 1 55 to work, the control unit 2 37 controls the servo motor 2 58 to work, the control unit 3 38 controls the grinding motor 12 to work, the control unit 4 39 controls the fan to work, and the control unit 5 40 controls the electric caster 10 to work.

[0059] Next, the electric caster wheel 10 moves the grinding device to the wall to be ground. The grinding motor 12 drives the grinding disc 3 to rotate via the shaft 13 to grind the wall. The servo motor 2 58 drives the lead screw 2 59 to rotate. The lead screw 2 59 drives the mounting base 53 to move vertically along the inside of the rectangular frame. The servo motor 1 55 drives the lead screw 1 56 to rotate. The lead screw 1 56 drives the rectangular frame to move vertically via the sliding member 57, increasing the vertical movement range of the grinding disc 3. The fan operates to input the dust generated by the wall grinding and the surrounding air into the inside of the cloth bag 24 through the arc-shaped hole, exhaust pipe 20, long hose 9 and connecting pipe 25. The dust is blocked inside the cloth bag 24, and the air is discharged through the cloth bag 24.

[0060] Although the present invention has been described herein with reference to embodiments thereof, the above embodiments are merely general implementations of the present invention, and the implementation of the present invention is not limited to the above embodiments. It should be understood that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wall grinding device for building construction, comprising a movable main body (1) and a grinding unit, characterized in that, The polishing unit is connected to the side of the main body (1) via a multi-stage lifting mechanism (5); the multi-stage lifting mechanism includes a first-stage lifting component and a second-stage lifting component; The first-stage lifting assembly includes a connector (51); two vertical guides (52) located side by side on both sides of the connector (51), the guides (52) being fixed to the main body (1) and extending from the bottom end to the top end of the main body (1); and a first drive mechanism disposed on the guides (52); the first drive mechanism drives the connector (51) to adjust its height within a continuous area from the bottom end to the top end of the guides (52); The second-stage lifting assembly includes a mounting base (53) and a second drive mechanism disposed on the connector (51). The mounting base (53) is connected to the grinding unit, and the second drive mechanism drives the mounting base (53) to adjust its height in a continuous area from the bottom end to the top end of the connector (51). The main body (1) is equipped with electric casters (10) at the bottom.

2. The wall grinding device for building construction according to claim 1, characterized in that, The guide member (52) is a vertical rod, and the first driving mechanism includes a servo motor (55) mounted on the vertical rod and a lead screw (56) driven by the servo motor (55); the connecting member (51) is a rectangular frame with sliding members (57) fixedly connected on both sides, and the sliding members (57) are threadedly engaged with the lead screw (56). The second drive mechanism includes a second servo motor (58) mounted on the connector (51) and a second lead screw (59) driven by the second servo motor (58), and the mounting base (53) is threadedly engaged with the second lead screw (59).

3. The wall grinding device for building construction according to claim 2, characterized in that, Vertical grooves (54) are provided on adjacent sides of the two vertical rods. The servo motor (55) and lead screw (56) are both located in the vertical grooves (54), and the sliding member (57) on the connector (51) is movably inserted into the vertical grooves (54).

4. The wall grinding device for building construction according to any one of claims 1-3, characterized in that, The polishing unit includes a polishing motor (12), a rotating shaft (13) driven by the polishing motor (12), and a polishing disc (3) installed at the front end of the rotating shaft (13); the rotating shaft (13) passes through the mounting base (53) and is connected to the polishing disc (3) by a quick-release connection structure.

5. The wall grinding device for building construction according to claim 4, characterized in that: The quick-release connection structure includes a rectangular groove (21) at the front end of the rotating shaft (13), a threaded hole (22) coaxial with the rectangular groove (21), a rectangular rod (18) fixed to the center of the grinding disc (3) and matching the shape of the rectangular groove (21), and a threaded shaft (19) coaxial with the rectangular rod (18) and adapted to the threaded hole (22); the rectangular rod (18) passes through the center of the grinding disc (3) and is fixedly connected to the grinding disc (3), and the rectangular rod (18) is provided with a threaded through hole that passes through it along its axial direction; the threaded shaft (19) passes through the threaded through hole of the rectangular rod (18) and is screwed into the threaded hole (22) at the front end of the rotating shaft (13); the front end of the threaded shaft (19) is provided with a tool interface (23).

6. The wall grinding device for building construction according to claim 5, characterized in that: It also includes a dust removal system, which includes a dust collection hood (2), a negative pressure generating device (4), and a filter dust collection device; the dust collection hood (2) is installed around the grinding disc (3) from the back of the grinding disc (3) and mounted on the mounting base (53); a dust collection space is formed between the grinding disc (3) and the dust collection hood (2); a number of dust collection holes (16) communicating with the dust collection space are opened on the grinding disc (3); the negative pressure generating device (4) is connected to the dust collection space and the filter dust collection device through a pipe.

7. The wall grinding device for building construction according to claim 6, characterized in that: The dust collection device is a filter bag (24), which is connected to the outlet pipe of the negative pressure generating device (4) through a quick-connect coupling; the quick-connect coupling includes an external threaded ring (30) provided at the outlet end of the negative pressure generating device (4) and an internal threaded ring (29) provided at the inlet of the filter bag (24) and adapted to the external threaded ring (30); the filter bag (24) is located in the inner cavity of the main body (1), and a door (26) is provided on the rear side of the inner cavity of the main body (1), and multiple exhaust holes (27) are provided on the door (26).

8. The wall grinding device for building construction according to claim 6, characterized in that, It also includes an intelligent control system; the intelligent control system includes a controller (6) with a control program stored in it and a laser camera (7) installed on the main body (1); the controller (6) is connected to the laser camera (7), the electric universal wheel (10), the first drive mechanism, the second drive mechanism and the grinding unit respectively.

9. The wall grinding device for building construction according to claim 8, characterized in that, The controller (6) includes a central processing unit (31), a receiving module (32), an instruction module (33), a map storage unit (34), and a control module (35). The output terminal of the laser camera (7) is connected to the input terminal of the receiving module (32); The controller (6) is equipped with a touch screen (8), and the output end of the touch screen (8) is connected to the input end of the instruction module (33); The output terminals of the receiving module (32), the instruction module (33), and the map storage (34) are connected to the input terminal of the central processing unit (31); The output of the central processing unit (31) is connected to the map storage (34) and the control module (35) respectively; The output of the control module (35) is connected to the first drive mechanism, the second drive mechanism, the grinding unit, the electric universal wheel (10), and the negative pressure generating device (4) in the dust removal system.

10. A method for wall grinding using the wall grinding device for building construction as described in claim 9, characterized in that, Includes the following steps: Steps for establishing a work environment map: control the wall grinding device for building construction to move within the construction area, collect environmental data through the laser camera (7), and generate a work environment map containing the location and size of the wall by the controller (6); Automatic sanding steps: The controller (6) plans the sanding operation path based on the working environment map; controls the electric universal wheel (10) drive device to move along the planned path, and at the same time coordinates the first drive mechanism and the second drive mechanism to adjust the height of the sanding unit, and controls the sanding unit to sand the wall.

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