Movable wall surface polishing robot and using method thereof

Abstract

The invention discloses a movable wall surface polishing robot and a using method thereof. The movable wall surface polishing robot comprises a vehicle platform, a fixed frame, a lifting angle control device, a rotary driving device and a polishing device. Walking wheels are installed at the bottom of the trolley table, the fixing frame is installed on the trolley table, the lifting angle control device is installed on the fixing frame, and the multiple grinding devices are fixed to the lifting angle control device. The polishing device is further provided with a rotation driving device used for driving the polishing device to rotate in a matched mode, and the rotation driving device is fixed to the lifting angle control device. The movable wall surface grinding robot is reasonable in structural design, the multiple grinding devices can be adjusted at different heights and different angles through the lifting angle control device so as to meet the grinding requirements of wall surfaces at different heights and different angles, efficient grinding of the wall surfaces can be completed by matching the grinding devices with the movable vehicle table, and the grinding efficiency is improved. And the grinding operation efficiency is high, the operation automation degree is high, and the application prospect is good.

Description

Technical Field

[0001] The invention relates to the technical field of wall polishing, and in particular to a mobile wall polishing robot and a use method thereof. Background Art

[0002] After the construction is completed, there may be uneven areas on the walls of the building. At present, in order to facilitate the subsequent coating and decoration of the wall, the wall usually needs to be polished. At present, the most common method is manual polishing, but the traditional manual wall polishing is inefficient, time-consuming, and labor-intensive. At the same time, the construction quality is greatly affected by the workers' technical level. The polishing effect is closely related to the workers' technical level. In addition, the operation process is dusty.

[0003] In order to solve the above defects of manual wall polishing, CN 202410910393.3 discloses a wall polishing device for construction, which can adjust the initial rotation friction of the steel ball according to the required pressure mechanism, so as to achieve the effect of different degrees of wall polishing according to the user's needs, effectively improving the convenience and flexibility of the device. At the same time, the polishing pressure of the polishing disc can be automatically adjusted according to the roughness of the wall, effectively improving the effect of polishing the wall with the polishing disc; CN 202410957344.5 discloses a wall polishing device, which is suitable for polishing walls of various angles, and can control the size of the polishing surface according to the polishing angle and effectively avoid dust, thereby improving the overall polishing efficiency of the wall; CN 202411099376.2 discloses a wall grinding machine for decoration engineering with multiple dust reduction mechanisms, which uses a closed component to make the bottom plate fit on the wall, and sucks the smoke generated by grinding the wall into the dust box body through the dust suction pipe on the outer plate, so as to achieve the effect of double dust reduction, and prevent workers from inhaling too much smoke and dust when grinding the wall, which is harmful to their health; the dust cleaning component is used to sweep up the smoke and dust left after the grinding sheet grinds the wall, and then the dust box body sucks the smoke and dust away, so as to avoid the smoke and dust left after the wall is polished, and reduce the labor cost consumption of the wall finishing later; when the grinder is not in use, the handrail is fixed in the slot by a card block, and the closed component and the grinding sheet are removed and placed in the storage box, and the storage and carrying of the dust-free grinder are more convenient through the hand grip on the top of the dust box body and the pulley at the bottom. Although the above equipment has overcome some of the defects of the prior art to a certain extent, its working surface is small, and a large amount of manual operation is still required, and the degree of automation is low, which leads to relatively low working efficiency.

[0004] Therefore, it is of great practical significance to develop a wall grinding equipment with high operating efficiency and high automation. Summary of the invention

[0005] Due to the above-mentioned defects in the prior art, the present invention provides a wall polishing equipment with high operating efficiency and high automation, specifically a mobile wall polishing robot and a method of using the same, which overcomes the defects of the existing wall polishing equipment, such as small working surface, large amount of manual operation, low degree of automation and relatively low operating efficiency.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A mobile wall polishing robot comprises a platform, a fixed frame, a lifting angle control device, a rotating drive device and a polishing device;

[0008] Travel wheels are installed at the bottom of the platform, the fixed frame is installed on the platform, a lifting angle control device is installed on the fixed frame, there are multiple grinding devices and multiple grinding devices are fixed on the lifting angle control device, the grinding device is also equipped with a rotating drive device for driving the grinding device to rotate, and the rotating drive device is fixed on the lifting angle control device.

[0009] The mobile wall polishing robot of the present invention has a reasonable structural design. Multiple polishing devices can be adjusted to different heights and angles through a lifting angle control device to meet the polishing needs of walls of different heights and angles. The polishing device can cooperate with a movable platform to complete efficient wall polishing. The polishing operation is efficient and the operation is highly automated, and the application prospect is good.

[0010] As the preferred technical solution:

[0011] A mobile wall polishing robot as described above, wherein the platform includes a platform frame;

[0012] There are two pairs of running wheels, and the two pairs of running wheels are installed under the vehicle platform frame;

[0013] The platform frame is provided with a steering wheel, on which a speed control device for controlling the rotation speed of the running wheels is provided, and the steering wheel is connected to the running wheels through a steering transmission assembly, and the steering of the platform can be realized through the steering wheel. The platform is a mobile platform, and the mobile platform can be controlled through the steering wheel.

[0014] A mobile wall polishing robot as described above, wherein the fixed frame comprises a fixed base frame and a lifting frame;

[0015] The fixed base frame is fixed on the platform frame, and the fixed base frame is a cylindrical structure. The lifting frame is arranged on the fixed base frame, and the lifting frame is provided with a strip groove for the grinding device to rotate at an angle, so as to facilitate the rotation of the grinding device.

[0016] In the mobile wall polishing robot as described above, the lifting angle control device comprises a plurality of supporting telescopic tubes arranged in parallel at intervals;

[0017] The supporting telescopic tube includes a telescopic straight tube, a deformable right-angle bent tube and a connecting straight tube. The telescopic straight tube is vertically fixed on the vehicle platform frame. The top of the telescopic straight tube is connected to the horizontally arranged connecting straight tube through the deformable right-angle bent tube. The connecting straight tube is connected to the rotating drive device away from the end of the deformable right-angle bent tube.

[0018] A horizontal connecting tube perpendicular to the supporting telescopic tube is provided at the bending part of the multiple supporting telescopic tubes, a fixed pulley is provided at the intersection of the supporting telescopic tube and the horizontal connecting tube, the fixed pulley comprises two fixed pulley outer edges arranged in parallel with each other, the two fixed pulley outer edges are connected by a cross bar located therebetween, a through hole for the horizontal connecting tube to pass through is opened in the middle of the fixed pulley outer edges, the horizontal connecting tube passes through the through hole and the supporting telescopic tube is located between the two fixed pulley outer edges, at least two cross bars are provided between the two fixed pulley outer edges and the supporting telescopic tube passes through between the two cross bars, a knob is mounted on one end of the horizontal connecting tube, the knob is connected to the fixed pulley installed at the end, and a telescopic control button for controlling the state of the telescopic straight tube is provided on the knob. The deformable right-angle bend can be deformed under pressure and restore its shape after the pressure is released. The fixed pulley can be rotated by turning the knob. At this time, the cross bar presses the deformable right-angle bend to make the deformable right-angle bend straight (i.e. rotate 90°), thereby realizing the rotation of the grinding device. The existence of the cross bar can ensure that the deformable right-angle bend can maintain a certain state for a long time.

[0019] In the mobile wall polishing robot as described above, a dashboard for marking the rotation angle is provided on the outer edge of the fixed pulley outside the fixed pulley connected to the knob, so as to determine the rotation angle of the connected straight pipe.

[0020] A mobile wall polishing robot as described above, wherein the telescopic straight tube comprises an outer straight tube and an inner straight tube which are sleeved together, the outer straight tube and the inner straight tube are provided with a row of telescopic fixing holes arranged along the length direction thereof, a fixed marble plate is provided in the inner straight tube, and the fixed marbles on the fixed marble plate match the telescopic fixing holes;

[0021] The telescopic control button is connected to the control steel bar, and the control steel bar includes a horizontal bar and a vertical bar. The horizontal bar is located in the horizontal connecting tube, and one end of the horizontal bar is fixedly connected to the telescopic control button. A supporting telescopic tube is equipped with a vertical bar. The vertical bar is arranged close to the telescopic straight tube and contacts the fixed marbles of the fixed marble board. The top of the vertical bar is connected to the horizontal bar through a connecting bar, and the connecting bar penetrates into the horizontal connecting tube from the outside of the horizontal connecting tube. When the telescopic control button is pressed, the horizontal bar drives the vertical bar to move, and the vertical bar presses down the fixed marbles on the fixed marble board, that is, the outer straight tube and the inner straight tube are out of the fixed state, and the telescopic adjustment of the telescopic straight tube can be achieved by pulling the outer straight tube. After the adjustment is completed, the telescopic control button is released, and the fixed marbles on the fixed marble board pop up, and the outer straight tube and the inner straight tube are in a locked state, completing the telescopic adjustment of the telescopic straight tube.

[0022] A mobile wall polishing robot as described above, wherein the rotary drive device comprises a large steering wheel and a crawler track;

[0023] The large steering wheel is fixed on the end of the connecting straight pipe away from the deformable right-angle bend pipe, and the large steering wheel is connected to the grinding device through a crawler track.

[0024] A mobile wall polishing robot as described above, wherein the polishing device comprises a connecting rod;

[0025] The connecting rod is provided with a fixed sleeve, a telescopic sleeve core is fixed on the fixed sleeve and the telescopic sleeve core can rotate along its symmetry axis, a small steering wheel is fixed on the fixed sleeve, the crawler is mounted on the small steering wheel and the large steering wheel, that is, the large steering wheel is connected to the small steering wheel through the crawler, and a sandpaper fixing box is installed on the end of the telescopic sleeve away from the fixed sleeve, and sandpaper is fixed on the sandpaper fixing box. The length of the telescopic sleeve core can be adjusted, and its applicability is stronger.

[0026] In the mobile wall polishing robot as described above, the sandpaper fixing box is a square frame structure, and the sandpaper is arranged in the square frame structure;

[0027] The connecting rod is arranged horizontally, and the connecting rod is connected to the connecting straight pipe through multiple fixed support rods respectively. The connecting rod is provided with multiple fixed sleeves, that is, the connecting rod is fixed to multiple telescopic sleeves through the fixed sleeves. The fixed sleeves are threadedly connected to the telescopic sleeves.

[0028] In addition, the present invention also provides a method for using the mobile wall polishing robot as described above, comprising the following steps:

[0029] (1) Move the mobile wall polishing robot to the working position;

[0030] (2) Adjust the lifting angle control device according to the position of the wall to be polished, that is, adjust the height and state of the polishing device;

[0031] (3) The grinding device is placed close to the wall to be polished, and the rotary drive device is turned on to start grinding the wall to be polished. At the same time, the mobile wall grinding robot is controlled to move back and forth according to the grinding fineness until the wall to be polished is polished.

[0032] Specifically, before polishing the wall, first move the wall polishing robot to the designated location, clarify the polishing fineness requirements, place the sandpaper fixing box close to the wall to be polished, rotate the telescopic sleeve to adjust its length, make the sandpaper close to the wall, start the large steering wheel to drive the small steering wheel and the fixed sleeve to rotate through the track, and then drive the telescopic sleeve that is threadedly fastened to the fixed sleeve to rotate, drive the sandpaper fixing box and sandpaper that are threadedly fixed to the telescopic sleeve to rotate, and polish the wall; adjust the steering wheel to control the movement of the walking wheel, and then control the polishing fineness; according to the polishing height requirements, press the telescopic control button on the top of the knob to unlock the supporting telescopic tube, and pull it up and down to realize the telescopic stretching of the supporting telescopic tube, thereby driving the lifting and lowering work of the lifting angle control device, the rotating drive device and the polishing device, and the lifting angle The angle control device and the rotation drive device fix and connect multiple wall grinding devices through horizontal connecting pipes and connecting rods to achieve synchronous control. At the same time, the lifting frame will be driven by the horizontal connecting pipes and connecting rods to lift and lower synchronously. When ceiling and wall grinding is required, the rotary knob rotates counterclockwise along the instrument panel to control the connecting straight pipe supporting the telescopic tube to rotate counterclockwise to the upper cross bar. The lifting angle control device, the rotation drive device and the grinding device are driven by the horizontal connecting pipe and the connecting rod to rotate as a whole to the vertical ceiling and wall. The wall grinding robot is started to grind the ceiling and walls. There are gaps between the sandpaper fixing box and the edge of the sandpaper, and the sandpaper fixing box has a certain thickness. During the grinding process, the sandpaper fixing box is in close contact with the wall, which can partially collect the grinding dust, avoid dust, and purify the construction environment.

[0033] The above technical solution is only a feasible technical solution of the present invention, and the protection scope of the present invention is not limited thereto. Those skilled in the art can reasonably adjust the specific design according to actual needs.

[0034] The above invention has the following advantages or beneficial effects:

[0035] The mobile wall polishing robot of the present invention has a reasonable structural design. Multiple polishing devices can be adjusted to different heights and angles through a lifting angle control device to meet the polishing needs of walls of different heights and angles. The polishing device can cooperate with a movable platform to complete efficient wall polishing. The polishing operation is efficient and highly automated, and has great application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention and its features, appearance and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not drawn to scale, and emphasis is placed on illustrating the subject matter of the present invention.

[0037] Figure 1 and Figure 2 They are schematic diagrams of the overall structure of the mobile wall polishing robot of the present invention from different viewing angles;

[0038] Figure 3 and Figure 4 They are schematic diagrams of the internal structure of the mobile wall polishing robot of the present invention from different viewing angles;

[0039] Figure 5 It is a structural schematic diagram of the platform and the fixed frame;

[0040] Figure 6 It is a structural schematic diagram of the lifting angle control device;

[0041] Figure 7 It is a structural schematic diagram of a lifting angle control device;

[0042] Figure 8 is a schematic diagram of the structure of the grinding device;

[0043] Numbers in the figure: 1, platform; 2, fixed frame; 3, lifting angle control device; 4, rotation drive device; 5, grinding device; 101, steering wheel; 1011, speed control device; 102, walking wheel; 103, platform frame; 201, fixed base frame; 202, lifting frame; 301, knob; 302, outer edge of fixed pulley; 303, cross bar; 304, horizontal connecting pipe; 305, supporting telescopic pipe; 306; instrument panel; 401, large steering wheel; 402, crawler track; 501, small steering wheel; 502, telescopic sleeve core; 503, sandpaper fixing box; 504, sandpaper; 505, connecting rod; 506, fixed sleeve. DETAILED DESCRIPTION

[0044] The structure of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but is not intended to limit the present invention.

[0045] Example 1

[0046] A mobile wall polishing robot, such as Figures 1 to 8 As shown, it includes a lathe 1, a fixed frame 2, a lifting angle control device 3, a rotation drive device 4 and multiple grinding devices 5;

[0047] The vehicle platform 1 includes a vehicle platform frame 103, two pairs of running wheels 102 are installed at the bottom of the vehicle platform frame 103, a steering wheel 101 is installed on the vehicle platform frame 103, and a speed control device 1011 for controlling the rotation speed of the running wheels 102 is provided on the steering wheel 101. The steering wheel 101 is connected to the running wheels 102 through a steering transmission assembly, and the steering of the vehicle platform 1 can be achieved through the steering wheel 101;

[0048] The fixed frame 2 includes a fixed base frame 201 and a lifting frame 202. The fixed base frame 201 is fixed on the vehicle platform frame 103. The fixed base frame 201 is a cylindrical structure. The lifting frame 202 is arranged on the fixed base frame 201. The lifting frame 202 is provided with a strip groove for the grinding device 5 to rotate at an angle.

[0049] The lifting angle control device 3 includes a plurality of supporting telescopic tubes 305 arranged in parallel at intervals, and the supporting telescopic tubes 305 include telescopic straight tubes, deformable right-angle bent tubes and connecting straight tubes. The telescopic straight tubes are vertically fixed on the vehicle platform frame 103, and the top ends of the telescopic straight tubes are connected to the horizontally arranged connecting straight tubes through the deformable right-angle bent tubes, and the connecting straight tubes are connected to the rotating drive device 4 away from the ends of the deformable right-angle bent tubes;

[0050] The telescopic straight tube comprises an outer straight tube and an inner straight tube which are sleeved together. The outer straight tube and the inner straight tube are provided with a row of telescopic fixing holes arranged along the length direction thereof. A fixed marble plate is arranged in the inner straight tube. The fixed marbles on the fixed marble plate match the telescopic fixing holes.

[0051] A horizontal connecting tube 304 perpendicular to the supporting telescopic tube 305 is provided at the bend of the plurality of supporting telescopic tubes 305, a fixed pulley is provided at the intersection of the supporting telescopic tube 305 and the horizontal connecting tube 304, the fixed pulley comprises two fixed pulley outer edges 302 arranged in parallel and spaced apart, the two fixed pulley outer edges 302 are connected by a cross bar 303 located therebetween, a through hole for the horizontal connecting tube 304 to pass through is opened in the middle of the fixed pulley outer edges 302, the horizontal connecting tube 304 passes through the through hole and the supporting telescopic tube 305 is located between the two fixed pulley outer edges 302, two cross bars 303 are provided between the two fixed pulley outer edges 302 and the supporting telescopic tube 305 passes through between the two cross bars 303, a knob 303 is sleeved on one end of the horizontal connecting tube 304 1. The knob 301 is connected to the outer edge 302 of the fixed pulley on which the fixed pulley at the end is installed. The knob 301 is provided with a telescopic control button for controlling the state of the telescopic straight tube. The outer edge 302 of the fixed pulley outside the fixed pulley connected to the knob 301 is provided with a dashboard 306 for marking the rotation angle. The telescopic control button is connected to a control steel bar. The control steel bar includes a horizontal bar and a vertical bar. The horizontal bar is located in the horizontal connecting tube. One end of the horizontal bar is fixedly connected to the telescopic control button. A supporting telescopic tube is equipped with a vertical bar. The vertical bar is arranged close to the telescopic straight tube and contacts with the fixed marbles of the fixed marble board. The top of the vertical bar is connected to the horizontal bar through a connecting bar. The connecting bar penetrates into the horizontal connecting tube 304 from the outside of the horizontal connecting tube 304.

[0052] The rotary drive device 4 includes a large steering wheel 401 and a crawler 402. The large steering wheel 401 is fixed to the end of the connecting straight pipe away from the deformable right-angle bend pipe. The large steering wheel 401 is connected to the grinding device 5 through the crawler 402.

[0053] The grinding device 5 includes a horizontally arranged connecting rod 505, which is connected to each connecting straight pipe through a plurality of fixed support rods. A plurality of fixed sleeves 506 are provided on the connecting rod 505. A telescopic sleeve core 502 is threadedly fixed on the fixed sleeve 506 and the telescopic sleeve core 502 can rotate along its symmetry axis. A small steering wheel 501 is fixedly sleeved on the fixed sleeve 506. The track 402 is sleeved on the small steering wheel 501 and the large steering wheel 401, that is, the large steering wheel 501 is connected to the small steering wheel 401 through the track 402. A sandpaper fixing box 503 (square frame structure) is installed at the end of the telescopic sleeve 502 away from the fixed sleeve 506, and sandpaper 504 is fixed on the sandpaper fixing box 503.

[0054] The method for using the mobile wall polishing robot comprises the following steps:

[0055] (1) Move the mobile wall polishing robot to the working position;

[0056] (2) Adjust the lifting angle control device according to the position of the wall to be polished, that is, adjust the height and state of the polishing device;

[0057] (3) The grinding device is placed close to the wall to be polished, and the rotary drive device is turned on to start grinding the wall to be polished. At the same time, the mobile wall grinding robot is controlled to move back and forth according to the grinding fineness until the wall to be polished is polished.

[0058] It has been verified that the mobile wall polishing robot of the present invention has a reasonable structural design. Multiple polishing devices can be adjusted to different heights and angles through a lifting angle control device to meet the polishing needs of walls of different heights and angles. The polishing device can cooperate with a movable platform to complete efficient wall polishing. The polishing operation is efficient and highly automated, and has great application prospects.

[0059] Those skilled in the art should understand that those skilled in the art can implement variations by combining the prior art and the above embodiments, which will not be described in detail here. Such variations do not affect the essential content of the present invention, and will not be described in detail here.

[0060] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A mobile wall polishing robot, characterized in that: It includes a lathe, a fixed frame, a lifting angle control device, a rotating drive device and a grinding device; Travel wheels are installed at the bottom of the platform, the fixed frame is installed on the platform, a lifting angle control device is installed on the fixed frame, there are multiple grinding devices and multiple grinding devices are fixed on the lifting angle control device, the grinding device is also equipped with a rotating drive device for driving the grinding device to rotate, and the rotating drive device is fixed on the lifting angle control device.

2. A mobile wall polishing robot according to claim 1, characterized in that: The vehicle platform includes a vehicle platform frame; There are two pairs of running wheels, and the two pairs of running wheels are installed under the vehicle platform frame; A steering wheel is installed on the platform frame, and a speed control device for controlling the rotation speed of the running wheels is provided on the steering wheel. The steering wheel is connected to the running wheels through a steering transmission assembly, and the steering of the platform can be achieved through the steering wheel.

3. A mobile wall polishing robot according to claim 2, characterized in that: The fixed frame includes a fixed base frame and a lifting frame; The fixed base frame is fixed on the platform frame, and the fixed base frame is a cylindrical structure. The lifting frame is arranged on the fixed base frame, and the lifting frame is provided with a strip groove for the grinding device to rotate at an angle.

4. A mobile wall polishing robot according to claim 2, characterized in that: The lifting angle control device comprises a plurality of supporting telescopic tubes arranged in parallel at intervals; The supporting telescopic tube includes a telescopic straight tube, a deformable right-angle bent tube and a connecting straight tube. The telescopic straight tube is vertically fixed on the vehicle platform frame. The top of the telescopic straight tube is connected to the horizontally arranged connecting straight tube through the deformable right-angle bent tube. The connecting straight tube is connected to the rotating drive device away from the end of the deformable right-angle bent tube. A horizontal connecting tube perpendicular to the supporting telescopic tube is provided at the bending part of the multiple supporting telescopic tubes, a fixed pulley is provided at the intersection of the supporting telescopic tube and the horizontal connecting tube, the fixed pulley comprises two fixed pulley outer edges arranged in parallel with each other, the two fixed pulley outer edges are connected by a cross bar located therebetween, a through hole for the horizontal connecting tube to pass through is opened in the middle of the fixed pulley outer edges, the horizontal connecting tube passes through the through hole and the supporting telescopic tube is located between the two fixed pulley outer edges, at least two cross bars are provided between the two fixed pulley outer edges and the supporting telescopic tube passes through between the two cross bars, a knob is mounted on one end of the horizontal connecting tube, the knob is connected to the fixed pulley installed at the end, and a telescopic control button for controlling the state of the telescopic straight tube is provided on the knob.

5. A mobile wall polishing robot according to claim 4, characterized in that: An instrument panel for marking the rotation angle is arranged on the outer edge of the fixed pulley outside the fixed pulley connected to the knob.

6. The mobile wall polishing robot according to claim 4, characterized in that: The telescopic straight tube comprises an outer straight tube and an inner straight tube which are sleeved together. The outer straight tube and the inner straight tube are provided with a row of telescopic fixing holes arranged along the length direction thereof. A fixed marble plate is arranged in the inner straight tube. The fixed marbles on the fixed marble plate match the telescopic fixing holes. The telescopic control button is connected to the control steel bar, and the control steel bar includes a horizontal bar and a vertical bar. The horizontal bar is located in the horizontal connecting tube, and one end of the horizontal bar is fixedly connected to the telescopic control button. A supporting telescopic tube is equipped with a vertical bar, and the vertical bar is arranged close to the telescopic straight tube and is in contact with the fixed marbles of the fixed marble board. The top of the vertical bar is connected to the horizontal bar through a connecting bar, and the connecting bar penetrates into the horizontal connecting tube from the outside of the horizontal connecting tube.

7. The mobile wall polishing robot according to claim 4, characterized in that: The rotary drive device comprises a large steering wheel and a crawler track; The large steering wheel is fixed on the end of the connecting straight pipe away from the deformable right-angle bend pipe, and the large steering wheel is connected to the grinding device through a crawler track.

8. The mobile wall polishing robot according to claim 7, characterized in that: The grinding device comprises a connecting rod; The connecting rod is provided with a fixed sleeve, a telescopic sleeve core is fixed on the fixed sleeve and the telescopic sleeve core can rotate along its symmetry axis, a small steering wheel is fixed on the fixed sleeve, the track is sleeved on the small steering wheel and the large steering wheel, that is, the large steering wheel is connected to the small steering wheel through the track, and a sandpaper fixing box is installed on the end of the telescopic sleeve core away from the fixed sleeve, and sandpaper is fixed on the sandpaper fixing box.

9. The mobile wall polishing robot according to claim 8, characterized in that: The sandpaper fixing box is a square frame structure, and the sandpaper is arranged in the square frame structure; The connecting rod is arranged horizontally, and the connecting rod is respectively connected to the connecting straight pipe through a plurality of fixed support rods. A plurality of fixed sleeves are arranged on the connecting rod, that is, the connecting rod is fixed to a plurality of telescopic sleeve cores through the fixed sleeves.

10. The method for using a mobile wall polishing robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: (1) Move the mobile wall polishing robot to the working position; (2) Adjust the lifting angle control device according to the position of the wall to be polished, that is, adjust the height and state of the polishing device; (3) The grinding device is placed close to the wall to be polished, and the rotary drive device is turned on to start grinding the wall to be polished. At the same time, the mobile wall grinding robot is controlled to move back and forth according to the grinding fineness until the wall to be polished is polished.

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