Automatic abrasive paper grinding equipment for wall surface

Abstract

The invention relates to the technical field of building decoration equipment, in particular to automatic wall abrasive paper grinding equipment which comprises a base, a walking device and a rotating device are installed on the base, a longitudinal moving device is installed on the rotating device, a transverse moving device is installed on the longitudinal moving device, and a mechanical arm is installed on the transverse moving device. A polishing device is mounted on the mechanical arm; a dust removal device connected with the polishing device is mounted on the rotating device; a control system electrically connected with the walking device, the rotating device, the longitudinal moving device, the transverse moving device, the mechanical arm, the polishing device and the dust removal device is installed in the rotating device. By means of automatic control and multi-device collaborative design, automation of the whole process from equipment moving and position adjusting to grinding operation and dust treatment is achieved, the labor intensity of operators is reduced, the grinding quality is improved, the working environment is improved, and a grinding solution with practicability and advancement is provided for the field of building construction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building decoration equipment, and particularly relates to a wall sandpaper automatic polishing equipment. BACKGROUND

[0002] In building decoration, wall renovation and other projects, wall sandpaper polishing is a key process to ensure the quality of subsequent wall painting. At present, the industry mainly relies on two ways for wall sandpaper polishing: one is pure manual polishing, and the operator holds sandpaper or a small polishing tool to complete the wall treatment by manually controlling the polishing force and angle; the other is semi-automatic polishing, which uses a simple support to fix the polishing equipment, and still needs manual operation to move and adjust the polishing position. However, the existing methods have obvious pain points: manual polishing is greatly affected by the physical strength and experience of the operator, which not only has high labor intensity, but also easily causes arm fatigue after long-time operation, and problems such as uneven polishing force and angle deviation, resulting in poor wall flatness and unstable polishing quality. Especially in large-area wall operation, the efficiency is extremely low and it is easy to miss some areas; although semi-automatic polishing reduces part of the physical consumption, it still needs frequent manual adjustment of the equipment position, and cannot achieve full coverage. When facing complex structures such as wall corners and inclined surfaces, the adaptability is poor, and it is difficult to ensure the polishing accuracy. More importantly, both methods cannot effectively solve the dust pollution problem. A large amount of dust generated during polishing diffuses in the working environment, which can easily cause respiratory diseases after long-term inhalation by the operator, and the dust attached to the surface of the equipment and the wall also needs additional manpower to clean, further increasing the operation cost.

[0003] Therefore, how to realize the automation and high precision of wall sandpaper polishing, efficiently handle dust pollution, and improve the operation efficiency and safety is a problem that needs to be solved by the technical personnel in the field. SUMMARY

[0004] In order to overcome the problems of high labor dependence, high labor intensity, unstable polishing quality, low operation efficiency, serious dust pollution and poor adaptability to complex walls in the current wall sandpaper polishing operation, solve the problem that the semi-automatic equipment cannot achieve full coverage and still needs frequent manual intervention, and meet the needs of efficient, accurate and clean polishing operation in building decoration, wall renovation and other projects, the present application provides a wall sandpaper automatic polishing equipment.

[0005] The wall sandpaper automatic polishing equipment provided by the present application adopts the following technical scheme: The application discloses an automatic wall sandpaper polishing device, which comprises a base, wherein a walking device extending to the outer side of the base is arranged in the base, and a rotating device extending to the top of the base is arranged in the base; a longitudinal moving device is arranged on the rotating device, a transverse moving device is arranged on the longitudinal moving device, a mechanical arm is arranged on the transverse moving device, and a polishing device is arranged on the mechanical arm; a dust removal device is arranged on the rotating device and connected with the polishing device; a control system is arranged in the rotating device and electrically connected with the walking device, the rotating device, the longitudinal moving device, the transverse moving device, the mechanical arm, the polishing device and the dust removal device.

[0006] Further, the walking device comprises two groups of symmetrical rotating shafts, the rotating shafts are rotatably connected to the positions close to the two end portions of the two side surfaces of the base, a walking driving motor is fixedly arranged at one end of the base corresponding to the rotating shafts in the base, the walking driving motor is electrically connected with the control system, the walking driving motor is in transmission connection with the rotating shafts, and a track wheel is fixedly arranged at one end of the rotating shafts outside the base, a track belt is arranged on the two track wheels on the same side, and the two walking driving motors on the same side are synchronously operated.

[0007] Further, the rotating device comprises a rotating seat, a rotating seat mounting hole is formed in the top of the base, a rotating bearing is arranged on the top of the base corresponding to the rotating seat mounting hole, the rotating seat is arranged on the rotating bearing, a rotating driving gear ring is fixedly arranged at the lower end of the rotating seat extending into the base, two symmetrical rotating driving motors are fixedly arranged in the base corresponding to the rotating driving gear ring, the rotating driving motors are electrically connected with the control system, a rotating driving gear is fixedly arranged on the output shaft of the rotating driving motor, and the rotating driving gear is in mesh with the rotating driving gear ring; an installation seat is fixedly arranged on the top of the rotating seat, the control system is arranged in the installation seat, and the longitudinal moving device and the dust removal device are arranged on the installation seat.

[0008] Further, the longitudinal moving device comprises a longitudinal mounting frame fixedly mounted on the rotating device, an outer side of the longitudinal mounting frame is fixedly mounted with a vertically arranged sliding rail, a longitudinal sliding plate is slidably connected to the sliding rail, a driving block is fixedly mounted on the longitudinal sliding plate, a vertically arranged driving screw is rotationally connected to the longitudinal mounting frame and corresponds to the driving block, a screw hole in threaded transmission connection with the driving screw is formed in the driving block, a longitudinal driving motor is fixedly mounted on the bottom of the longitudinal mounting frame and corresponds to the driving screw, the longitudinal driving motor is electrically connected to the control system, a driven gear is fixedly mounted on the driving screw, a longitudinal driving gear is fixedly mounted on the output shaft of the longitudinal driving motor and is in meshing transmission with the driven gear; the transverse moving device is mounted on the longitudinal sliding plate.

[0009] Further, the transverse moving device comprises a transverse mounting frame fixedly mounted on the longitudinal moving device, a sliding groove is formed in the transverse mounting frame, a transverse sliding plate is slidably connected to the sliding groove, a transverse driving motor is fixedly mounted on the transverse sliding plate and faces the transverse mounting frame, the transverse driving motor is electrically connected to the control system, a transverse driving gear is fixedly mounted on the output shaft of the transverse driving motor, a transverse rack is fixedly mounted on the transverse mounting frame and corresponds to the transverse driving gear, and the transverse driving gear is in meshing transmission with the transverse rack; the mechanical arm is fixedly mounted on the transverse sliding plate.

[0010] Further, the mechanical arm comprises an arm seat fixedly mounted on the transverse moving device, a first swing arm servo motor is fixedly mounted on the arm seat, a first swing arm is fixedly mounted on the first swing arm servo motor, a second swing arm servo motor is fixedly mounted on the first swing arm, a second swing arm is fixedly mounted on the second swing arm servo motor, a polishing swing servo motor is fixedly mounted on the second swing arm, and the polishing device is fixedly mounted on the polishing swing servo motor; the first swing arm servo motor, the second swing arm servo motor and the polishing swing servo motor are electrically connected to the control system, and the central axes of the first swing arm servo motor, the second swing arm servo motor and the polishing swing servo motor are arranged in space to be parallel to each other.

[0011] Further, the polishing device comprises a polishing motor fixedly mounted on the mechanical arm, the polishing motor is electrically connected to the control system, a power shaft is fixedly connected to the output shaft of the polishing motor, a shell is fixedly mounted on the outer shell of the polishing motor and covers the outside of the power shaft, a polishing disc is mounted on the end of the power shaft away from the polishing motor, a sandpaper sticking disc is fixedly mounted on the polishing disc, and sandpaper is fixedly attached to the sandpaper sticking disc.

[0012] Furthermore, a duct mounting plate is fixedly installed inside the housing between the inner end face of the grinding disc and the inner end face of the housing. The duct mounting plate has several annularly distributed duct mounting holes, and ducts are rotatably connected inside each duct mounting hole. Several annularly distributed fan blades are fixedly connected to the inner side of the duct. A duct gear ring is fixedly connected to one end of the duct. A central gear is fixedly installed on the power shaft corresponding to the duct gear ring. The central gear meshes with all the duct gear rings. An air outlet is opened at one end of the housing near the robotic arm. An air guide box is fixedly and sealed on the housing corresponding to the air outlet. An air guide pipe is fixedly installed on the air guide box. The air guide pipe is connected to a spring protection tube, which is connected to the dust removal device.

[0013] Furthermore, the dust removal device includes a dust removal box fixedly installed on the rotating device, the dust removal box is filled with washing water, a box cover is detachably installed on the top of the dust removal box, a water inlet pipe is fixedly installed on the box cover and connected to the grinding device, a drain pipe is fixedly connected to the bottom of the dust removal box, a drain valve is fixedly installed on the drain pipe, and an exhaust hole communicating with the inside of the dust removal box is opened on the box cover.

[0014] Furthermore, the control system includes a controller and a battery fixedly installed inside the rotating device. The controller and the battery are electrically connected, and the controller is electrically connected to the walking device, the rotating device, the longitudinal moving device, the lateral moving device, the robotic arm, the grinding device, and the dust removal device.

[0015] Beneficial effects achieved: This application uses a control system as its core, coordinating the operation of walking devices, rotating devices, longitudinal and lateral moving devices, robotic arms, grinding devices, and dust removal devices. From equipment movement and position adjustment to grinding operations and dust removal, no manual operation is required throughout the entire process, reducing labor intensity and human error. It is especially suitable for grinding large-area walls, significantly improving work efficiency.

[0016] This application offers a wide operating range and adapts to complex wall surfaces. The tracked structure of the walking device ensures flexible movement of the equipment on complex terrain; the rotating device enables omnidirectional turning of the upper structure; the longitudinal and lateral movement devices work together to drive the grinding device to cover wall areas of different heights and widths; the robotic arm, through the coordinated swing of three parallel-axis servo motors, flexibly adjusts the spatial posture of the grinding device, adapting to various wall shapes such as vertical, horizontal, and inclined surfaces, ensuring thorough grinding without blind spots.

[0017] This application not only achieves high grinding precision but also consistent quality. The longitudinal movement device employs a screw-and-hole transmission system with a slide rail, while the lateral movement device uses a gear and rack transmission system with a slide groove, both enabling precise position control. The multi-degree-of-freedom adjustment of the robotic arm ensures consistent contact angle between the sandpaper and the wall surface. Combined with stable speed control of the grinding motor, this results in high wall surface flatness and consistent quality, avoiding quality problems caused by uneven force and angle deviations during manual grinding.

[0018] This application incorporates a dust collection structure linked to the power shaft within the grinding device. Airflow is generated through the air duct and fan blades to draw in grinding dust in real time and transport it to the dust removal device via the air guide assembly. The washing water in the dust removal box works in conjunction with the filter screen to efficiently adsorb dust. At the same time, the air pressure regulation through the piston plate and electric telescopic rod enhances the contact purification effect between dust and water, reduces dust overflow, significantly improves the construction environment, and reduces the impact of dust on the health of operators.

[0019] This application features a modular design for each device. For example, sandpaper is connected to the sandpaper tray via Velcro for easy and quick replacement. The dust collection box cover is removable, and the drain pipe and drain valve facilitate wastewater discharge and internal cleaning. The spring protection tube adapts to the movement of the robotic arm to ensure unobstructed dust collection path. The overall structure is compact and easy to maintain, reducing equipment downtime and improving continuous operation capability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of one embodiment of this application.

[0021] Figure 2 This is a structural exploded view of one embodiment of this application.

[0022] Figure 3 This is a schematic diagram of the internal structure of one embodiment of this application.

[0023] Figure 4 This is an exploded view of the walking device in one embodiment of this application.

[0024] Figure 5 This is a schematic diagram of the internal structure of the rotating device in one embodiment of this application.

[0025] Figure 6 This is an exploded view of the structure of the longitudinal moving device in one embodiment of this application.

[0026] Figure 7 This is an exploded view of the structure of the lateral moving device in one embodiment of this application.

[0027] Figure 8 This is a schematic diagram of the installation structure of the robotic arm in one embodiment of this application.

[0028] Figure 9 This is an exploded view of the structure of the grinding device in one embodiment of this application.

[0029] Figure 10 yes Figure 3 Enlarged schematic diagram of Part I of the structure.

[0030] Explanation of reference numerals in the attached drawings: 100, base; 101, rotating seat mounting hole; 200, traveling device; 201, rotating shaft; 202, traveling drive motor; 203, track wheel; 204, track; 300, rotating device; 301, rotating seat; 302, rotating bearing; 303, rotating drive gear ring; 304, rotating drive motor; 305, rotating drive gear; 306, mounting base; 400, longitudinal moving device; 401, longitudinal mounting bracket; 402, slide rail; 403, longitudinal... 404. Slide plate; 405. Drive block; 406. Drive screw; 407. Screw hole; 408. Longitudinal drive motor; 409. Driven gear; 500. Lateral movement device; 501. Lateral mounting bracket; 502. Slide groove; 503. Lateral slide plate; 504. Lateral drive motor; 505. Lateral drive gear; 506. Lateral rack; 600. Robotic arm; 601. Arm base; 602. First swing arm servo; 603. First swing arm; 604. Second swing arm Servo motor; 605, Second swing arm; 606, Grinding swing servo motor; 700, Grinding device; 701, Grinding motor; 702, Power shaft; 703, Housing; 704, Grinding disc; 705, Sandpaper tray; 706, Sandpaper; 707, Air duct mounting plate; 708, Center mounting hole; 709, Air duct mounting hole; 710, Air duct; 711, Fan blade; 712, Air duct gear ring; 713, Center gear; 714, Gear sealing plate; 715, Vent; 716, Air outlet; 7 17. Air guide box; 718. Air guide duct; 719. Spring protection tube; 800. Dust removal device; 801. Dust removal box; 802. Box cover; 803. Water inlet pipe; 804. Drain pipe; 805. Drain valve; 806. Exhaust port; 807. Filter screen; 808. Piston plate; 809. First electric telescopic rod; 810. Valve groove; 811. Valve sealing plate; 812. Second electric telescopic rod; 813. Electric control valve; 900. Control system; 901. Controller; 902. Battery. Detailed Implementation

[0031] The following is in conjunction with the appendix Figures 1-10 This application will be described in further detail.

[0032] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present 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, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] This application discloses an automatic wall sanding device.

[0035] Please refer to the above as well. Figures 1 to 10 In one embodiment of this application, an automatic wall sanding device includes a base 100, a walking device 200 extending to its outer side installed inside the base 100, and a rotating device 300 extending to its top installed inside the base 100. A longitudinal moving device 400 is installed on the rotating device 300, a lateral moving device 500 is installed on the longitudinal moving device 400, a robotic arm 600 is installed on the lateral moving device 500, and a sanding device 700 is installed on the robotic arm 600. A dust removal device 800 is installed on the rotating device 300 and connected to the sanding device 700. A control system 900 is installed inside the rotating device 300 and electrically connected to the walking device 200, the rotating device 300, the longitudinal moving device 400, the lateral moving device 500, the robotic arm 600, the sanding device 700, and the dust removal device 800.

[0036] During operation, the control system 900 controls the walking device 200 to move the base 100 to the vicinity of the wall to be sanded. Subsequently, the rotating device 300 adjusts its direction so that the longitudinal moving device 400, the lateral moving device 500, the robotic arm 600, and the sanding device 700 are aligned with the area to be sanded. The longitudinal moving device 400 and the lateral moving device 500 work together to move the robotic arm 600 and the sanding device 700 in the longitudinal and lateral directions. The robotic arm 600 can further adjust the posture of the sanding device 700 to make it fit the wall. The sanding device 700 starts to sand the wall, and at the same time, the dust removal device 800 operates to collect and treat the dust generated during sanding. The entire process is coordinated and controlled by the control system 900.

[0037] This embodiment achieves autonomous movement of the equipment through the walking device 200, improving flexibility; the cooperation of the rotating device 300, the longitudinal moving device 400, the lateral moving device 500, and the robotic arm 600 enables the grinding device 700 to cover a wider area and flexibly adjust the grinding angle, ensuring comprehensive and accurate grinding; the dust removal device 800 reduces dust pollution and improves the working environment; the control system 900 achieves automated control, reduces manual intervention, and improves grinding efficiency and consistency.

[0038] Please refer to the above as well. Figures 1 to 10 In one specific embodiment of this application, the walking device 200 includes two sets of symmetrically arranged rotating shafts 201. The rotating shafts 201 are rotatably connected to the two sides of the base 100 near their two ends. A walking drive motor 202 is fixedly installed inside the base 100 at one end corresponding to the rotating shaft 201. The walking drive motor 202 is electrically connected to the control system 900 and is drively connected to the rotating shaft 201. Track wheels 203 are fixedly installed at one end of the rotating shaft 201 outside the base 100. Tracks 204 are installed on the two track wheels 203 on the same side. The two walking drive motors 202 on the same side operate synchronously.

[0039] During operation, the control system 900 controls the start of the travel drive motor 202, which drives the rotating shaft 201 to rotate. The rotating shaft 201 then drives the track wheel 203 to rotate, and the track wheel 203 drives the track 204 to rotate, thereby realizing the movement of the base 100. Since the two travel drive motors 202 on the same side operate synchronously, the track 204 on the same side can be stably transmitted, and the speed difference between the two travel drive motors 202 can realize the turning of the equipment.

[0040] This embodiment improves the equipment's mobility on complex terrains such as construction sites and enhances its stability by setting up two sets of symmetrical rotating shafts 201, a travel drive motor 202, track wheels 203, and tracks 204, and using the track 204 for transmission. The synchronous operation of the travel drive motors 202 on the same side ensures the consistency of movement on one side, and the speed adjustment of the motors on both sides can flexibly achieve steering, improving the equipment's mobility and maneuverability.

[0041] Please refer to the above as well. Figures 1 to 10 In one specific embodiment of this application, the rotating device 300 includes a rotating seat 301. A rotating seat mounting hole 101 is provided on the top of the base 100. A rotating bearing 302 is mounted on the top of the base 100 corresponding to the rotating seat mounting hole 101. The rotating seat 301 is mounted on the rotating bearing 302. A rotating drive gear ring 303 is fixedly mounted on the lower end of the rotating seat 301 extending into the base 100. Two symmetrically arranged rotating drive motors 304 are fixedly mounted inside the base 100 corresponding to the rotating drive gear ring 303. The rotating drive motors 304 are electrically connected to the control system 900. A rotating drive gear 305 is fixedly mounted on the output shaft of the rotating drive motor 304, and the rotating drive gear 305 meshes with the rotating drive gear ring 303. A mounting base 306 is fixedly mounted on the top of the rotating seat 301. The control system 900 is installed inside the mounting base 306. The longitudinal moving device 400 and the dust removal device 800 are both mounted on the mounting base 306.

[0042] During operation, the control system 900 controls the start of the rotary drive motor 304. The output shaft of the rotary drive motor 304 drives the rotary drive gear 305 to rotate. Since the rotary drive gear 305 meshes with the rotary drive ring gear 303, it drives the rotary drive ring gear 303 and the rotating seat 301 fixed thereto to rotate. The rotating seat 301 rotates stably at the rotating seat mounting hole 101 through the rotary bearing 302, thereby realizing the directional adjustment of the mounting seat 306 and the longitudinal moving device 400, dust removal device 800 and other components mounted on it.

[0043] This embodiment, by setting up a rotating seat 301, a rotating bearing 302, a rotating drive gear ring 303, a rotating drive motor 304, and a rotating drive gear 305, utilizes two symmetrical rotating drive motors 304 to drive the rotating drive gear 305 to mesh with the rotating drive gear ring 303, which can smoothly drive the rotating seat 301 and the upper structure to rotate, ensuring the stability and accuracy of the rotation process; the setting of the rotating bearing 302 reduces the frictional resistance when the rotating seat 301 rotates, improves the smoothness of rotation, facilitates flexible adjustment of the orientation of the grinding device 700, and expands the working coverage of the equipment.

[0044] Please refer to the above as well. Figures 1 to 10 In one specific embodiment of this application, the longitudinal moving device 400 includes a longitudinal mounting frame 401, which is fixedly mounted on the mounting base 306 in the rotating device 300. A vertically arranged slide rail 402 is fixedly mounted on the outer side of the longitudinal mounting frame 401. A longitudinal sliding plate 403 is slidably connected to the slide rail 402. A driving block 404 is fixedly mounted on the longitudinal sliding plate 403. A vertically arranged driving screw 405 is rotatably connected to the longitudinal mounting frame 401 corresponding to the driving block 404. The longitudinal mounting bracket 401 has a threaded hole 406 that is threadedly connected to the drive screw 405. A longitudinal drive motor 407 is fixedly mounted on the bottom of the longitudinal mounting bracket 401 corresponding to the drive screw 405. The longitudinal drive motor 407 is electrically connected to the control system 900. A driven gear 408 is fixedly mounted on the drive screw 405. A longitudinal drive gear 409 is fixedly mounted on the output shaft of the longitudinal drive motor 407. The longitudinal drive gear 409 meshes with the driven gear 408. The lateral moving device 500 is mounted on the longitudinal sliding plate 403.

[0045] During operation, the control system 900 controls the longitudinal drive motor 407 to start. The output shaft of the longitudinal drive motor 407 drives the longitudinal drive gear 409 to rotate. Since the longitudinal drive gear 409 meshes with the driven gear 408, it drives the driven gear 408 and the drive screw 405 to rotate. The drive screw 405 is threadedly driven by the screw hole 406 on the drive block 404, causing the drive block 404 to drive the longitudinal slide plate 403 to slide along the slide rail 402 in the vertical direction, thereby driving the lateral moving device 500 installed on the longitudinal slide plate 403 to achieve longitudinal movement.

[0046] This embodiment, by setting up a longitudinal mounting bracket 401, a slide rail 402, a longitudinal sliding plate 403, a drive block 404, a drive screw 405, a longitudinal drive motor 407, and a gear transmission structure, utilizes the threaded transmission of the screw and the screw hole, combined with the guiding effect of the slide rail, to enable the longitudinal movement of the longitudinal sliding plate 403 to have high precision and stability. The gear transmission ensures the high efficiency of power transmission, facilitating the control system 900 to accurately control the distance and speed of the longitudinal movement, thereby driving the grinding device 700 to achieve stable vertical position adjustment and meet the grinding needs of walls of different heights.

[0047] Please refer to the above as well. Figures 1 to 10In one specific embodiment of this application, the lateral moving device 500 includes a lateral mounting frame 501, which is fixedly mounted on the longitudinal sliding plate 403 in the longitudinal moving device 400. The lateral mounting frame 501 has a sliding groove 502, and the lateral sliding plate 503 is slidably connected inside the sliding groove 502. A lateral drive motor 504 facing the lateral mounting frame 501 is fixedly mounted on the lateral sliding plate 503. The lateral drive motor 504 is electrically connected to the control system 900. A lateral drive gear 505 is fixedly mounted on the output shaft of the lateral drive motor 504. A lateral rack 506 is fixedly mounted on the lateral mounting frame 501 corresponding to the lateral drive gear 505. The lateral drive gear 505 and the lateral rack 506 mesh and transmit power. The robotic arm 600 is fixedly mounted on the lateral sliding plate 503.

[0048] During operation, the control system 900 controls the horizontal drive motor 504 to start. The output shaft of the horizontal drive motor 504 drives the horizontal drive gear 505 to rotate. Since the horizontal drive gear 505 meshes with the horizontal rack 506 on the horizontal mounting frame 501, under the action of meshing transmission, the horizontal drive motor 504 drives the horizontal slide plate 503 to slide along the slide groove 502, thereby driving the robotic arm 600 mounted on the horizontal slide plate 503 to move laterally.

[0049] This embodiment, by setting up a horizontal mounting frame 501, a slide 502, a horizontal sliding plate 503, a horizontal drive motor 504, a horizontal drive gear 505, and a horizontal rack 506, utilizes the meshing transmission of the gear and rack combined with the guiding effect of the slide 506 to make the horizontal movement of the horizontal sliding plate 503 rapid and stable, facilitating precise control of the movement distance. This structural design enables the robotic arm 600 and the grinding device 700 to flexibly adjust their positions in the horizontal direction, expanding the horizontal coverage of the grinding operation and improving the equipment's adaptability to walls of different widths.

[0050] Please refer to the above as well. Figures 1 to 10In one specific embodiment of this application, the robotic arm 600 includes an arm base 601, which is fixedly mounted on the transverse sliding plate 503 in the transverse moving device 500. A first swing arm servo 602 is fixedly mounted on the arm base 601, a first swing arm 603 is fixedly mounted on the first swing arm servo 602, a second swing arm servo 604 is fixedly mounted on the first swing arm 603, a second swing arm 605 is fixedly mounted on the second swing arm servo 604, and a grinding swing servo 606 is fixedly mounted on the second swing arm 605. The grinding device 700 is fixedly mounted on the grinding swing servo 606. The first swing arm servo 602, the second swing arm servo 604, and the grinding swing servo 606 are all electrically connected to the control system 900. The central axes of the first swing arm servo 602, the second swing arm servo 604, and the grinding swing servo 606 are arranged to be parallel to each other in space.

[0051] During operation, the control system 900 controls the operation of the first swing arm servo 602, the second swing arm servo 604, and the grinding swing servo 606 respectively: the first swing arm servo 602 drives the first swing arm 603 to swing, the second swing arm servo 604 drives the second swing arm 605 to swing, and the grinding swing servo 606 directly drives the grinding device 700 to swing; since the central axes of the three first swing arm servos 602, second swing arm servos 604, and grinding swing servos 606 are parallel to each other in space, their coordinated action can flexibly adjust the spatial attitude and position of the grinding device 700, so that it can effectively conform to the vertical, horizontal and inclined surfaces of the wall.

[0052] This embodiment, by setting up an arm base 601, a first swing arm servo 602, a first swing arm 603, a second swing arm servo 604, a second swing arm 605, and a grinding swing servo 606, utilizes the coordinated swing of multiple servos to achieve multi-degree-of-freedom adjustment. This allows for precise adjustment of the angle and position of the grinding device 700, adapting to changes in the flatness of the wall surface or complex shapes. The parallel arrangement of the servo central axes ensures the coordination of movements, improves the flexibility and control precision of the robotic arm 600, and ensures that the grinding device 700 always contacts the wall surface in a suitable posture, thereby improving the grinding quality.

[0053] Please refer to the above as well. Figures 1 to 10In one specific embodiment of this application, the grinding device 700 includes a grinding motor 701, which is fixedly mounted on the grinding swing servo 606 in the robotic arm 600. The grinding motor 701 is electrically connected to the control system 900. A power shaft 702 is fixedly connected to the output shaft of the grinding motor 701. A housing 703 covering the power shaft 702 is fixedly mounted on the housing of the grinding motor 701. A grinding disc 704 is mounted on one end of the power shaft 702 away from the grinding motor 701. A sandpaper tray 705 is fixedly mounted on the grinding disc 704. Sandpaper 706 is fixedly attached to the sandpaper tray 705. The sandpaper 706 and the sandpaper tray 705 are fixedly connected by Velcro.

[0054] During operation, the control system 900 controls the start of the grinding motor 701. The output shaft of the grinding motor 701 drives the power shaft 702 to rotate. The power shaft 702 then drives the grinding disc 704, the sandpaper tray 705, and the sandpaper 706 to rotate synchronously. The rotating sandpaper 706 contacts the wall surface to perform the grinding operation. The housing 703 protects the power shaft 702 and other components. The sandpaper 706 is connected to the sandpaper tray 705 via Velcro for easy replacement.

[0055] This embodiment uses a sanding motor 701, a power shaft 702, a sanding disc 704, a sandpaper tray 705, and sandpaper 706 to drive the sandpaper to rotate at high speed for sanding. The structure is simple and the sanding efficiency is high. The housing 703 enhances the safety of the device. The sandpaper 706 and the sandpaper tray 705 are connected by Velcro, which makes it convenient and quick to replace the sandpaper, reduces equipment downtime for maintenance, improves the continuity of operation, and allows for flexible replacement of different types of sandpaper according to sanding needs, adapting to different wall sanding scenarios.

[0056] Please refer to the above as well. Figures 1 to 10In one specific embodiment of this application, a dust suction gap is left between the outer surface of the grinding disc 704 and the inner surface of the housing 703. A duct mounting plate 707 is fixedly installed inside the housing 703 between the inner end face of the grinding disc 704 and the inner end face of the housing 703. A central mounting hole 708 is provided in the center of the duct mounting plate 707, and the duct mounting plate 707 is rotatably connected to the power shaft 702 through the central mounting hole 708. A plurality of annularly distributed duct mounting holes 709 are provided on the duct mounting plate 707, and ducts 710 are rotatably connected inside each of the duct mounting holes 709. A plurality of annularly distributed fan blades 711 are fixedly connected to the inner surface of the duct 710, and the fan blades 711 are all obliquely arranged. A duct gear ring 712 is fixedly connected to one end of the duct 710. A central gear 713 is fixedly mounted on the power shaft 702 corresponding to the wind duct gear ring 712. The central gear 713 meshes with all the wind duct gear rings 712. A gear sealing plate 714 is fixedly installed inside the housing 703 at the end of the central gear 713 away from the wind duct mounting plate 707. The gear sealing plate 714 is rotatably connected to the power shaft 702. A ventilation opening 715 is opened on the gear sealing plate 714 corresponding to the wind duct 710. An air outlet 716 is opened at the end of the housing 703 near the robotic arm 600. An air guide box 717 is fixedly and sealed on the housing 703 corresponding to the air outlet 716. An air guide pipe 718 is fixedly installed on the air guide box 717. A spring protection pipe 719 is connected to the air guide pipe 718. The spring protection pipe 719 is connected to the dust removal device 800.

[0057] During operation, when the grinding motor 701 drives the power shaft 702 to rotate, the power shaft 702 simultaneously drives the central gear 713 to rotate. Since the central gear 713 meshes with all the air duct gear rings 712, it drives the air duct 710 to rotate within the air duct mounting hole 709. The fan blades 711, which are obliquely arranged on the air duct 710, generate airflow as they rotate. The airflow draws the dust generated by grinding into the housing 703 through the dust suction gap, and enters the air guide box 717 through the air duct 710, the vent 715, and the air outlet 716. Then, it is transported to the dust removal device 800 through the air guide pipe 718 and the spring protection pipe 719. The gear sealing plate 714 protects and seals the central gear 713 and the air duct gear rings 712, ensuring the airtightness of the airflow path.

[0058] This embodiment incorporates a dust collection structure within the grinding device 700, consisting of a blower 710, fan blades 711, and a central gear 713. The power shaft 702 synchronously drives the grinding and dust collection actions, eliminating the need for an additional power source, saving energy, and resulting in a compact structure. The design of the angled fan blades 711 and the dust collection gap enhances dust collection efficiency, enabling timely intake of grinding dust and its transport to the dust removal device 800 via the air guide structure, effectively reducing dust spillage. The spring protection tube 719 accommodates the flexible movement of the robotic arm 600, ensuring a continuously unobstructed dust collection path, further improving the dust removal effect and enhancing the working environment.

[0059] Please refer to the above as well. Figures 1 to 10 In one specific embodiment of this application, the dust removal device 800 includes a dust removal box 801 fixedly installed on the mounting base 306 in the rotating device 300. The dust removal box 801 is filled with washing water. A box cover 802 is detachably installed on the top of the dust removal box 801. A water inlet pipe 803 is fixedly installed on the box cover 802. The water inlet pipe 803 is detachably connected to the spring protection tube 719 in the grinding device 700. A drain pipe 804 is fixedly connected to the bottom of the dust removal box 801. A drain valve 805 is fixedly installed on the drain pipe 804. An exhaust hole 806 communicating with the interior of the dust removal box 801 is opened on the box cover 802.

[0060] During operation, the dust-laden airflow generated by the grinding device 700 enters the dust collection box 801 through the spring protection tube 719 and the water inlet pipe 803. The washing water inside the dust collection box 801 adsorbs and settles the dust in the airflow, and the purified air is discharged through the exhaust hole 806 on the box cover 802. When the washing water becomes turbid and needs to be replaced, the drain valve 805 can be opened to discharge the wastewater through the drain pipe 804, and then the new washing water can be discharged through the water inlet pipe 803. The box cover 802 can be removed for cleaning and maintenance of the inside of the dust collection box 801.

[0061] This embodiment utilizes a dust collection box 801, washing water, a water inlet pipe 803, and a drain pipe 804 to achieve efficient dust removal by adsorbing dust with water. The purification effect is good and can effectively prevent dust from spreading into the air and polluting the environment. The water inlet pipe 803 is connected to the spring protection pipe 719 and can directly receive the dust-laden airflow delivered by the grinding device 700, with a simple path. The drain pipe 804 and drain valve 805 facilitate wastewater discharge, and the detachable box cover 802 facilitates equipment maintenance. The overall structure is simple and practical, improving the cleanliness and safety of the working environment.

[0062] Please refer to the above as well. Figures 1 to 10 In one specific embodiment of this application, a filter screen 807 is fixedly installed inside the dust collection box 801 near its bottom.

[0063] During operation, the dust-laden airflow enters the dust collection box 801 through the water inlet pipe 803 and comes into full contact with the washing water inside the box. At this time, the filter screen 807 can not only filter out larger dust particles mixed in the airflow, but also effectively break up the larger bubbles formed by the airflow impact. If these bubbles are not broken, they may carry some dust particles that have not been adsorbed by the water and float directly out. However, the blocking and dividing effect of the filter screen 807 can disperse the bubbles into smaller bubbles, prolong their contact time with the washing water, ensure that the dust is fully adsorbed, and further improve the dust removal effect of the washing water.

[0064] This embodiment incorporates a filter 807, which not only directly intercepts large dust particles in the dust-laden airflow but also addresses the issue of dust escape caused by air bubbles in traditional water-washing dust removal by utilizing the splitting effect of air bubbles. By dispersing large bubbles into smaller bubbles, the filter maximizes the contact area and time between the bubbles and the washing water, allowing the dust to be adsorbed and settled by the water more fully. This significantly improves the purification efficiency of a single dust removal process and ensures a substantial reduction in the dust content of the discharged air. Please refer to the above as well. Figures 1 to 10 In one specific embodiment of this application, a piston plate 808 is slidably connected to the interior of the dust collector 801 near its top. A first electric telescopic rod 809 is installed between the piston plate 808 and the cover 802. A valve groove 810 is provided on the piston plate 808. A valve sealing plate 811 is rotatably connected inside the valve groove 810. A second electric telescopic rod 812 is installed between the valve sealing plate 811 and the cover 802. An electric control valve 813 is installed on the water inlet pipe 803. The first electric telescopic rod 809, the second electric telescopic rod 812, and the electric control valve 813 are all electrically connected to the control system 900.

[0065] During operation, the control system 900 can precisely control the extension and retraction of the first electric telescopic rod 809 and the second electric telescopic rod 812. The valve sealing plate 811 is initially closed on the valve groove 810, and the electric control valve 813 is initially open.

[0066] When the first electric telescopic rod 809 and the second electric telescopic rod 812 shorten synchronously, the valve groove 810 will remain open, and the piston plate 808 will move upward, reducing the air pressure inside the dust collector 801, thereby assisting the dust-laden airflow to enter the dust collector 801 through the water inlet pipe 803.

[0067] When the first electric telescopic rod 809 extends a set distance and then extends synchronously with the second electric telescopic rod 812, the valve sealing plate 811 rotates to open the valve groove 810, and then keeps the valve groove 810 in the open state, and drives the piston plate 808 to move down and reset, thereby preventing the air pressure in the dust collector 801 from increasing, which in turn hinders the dust-laden airflow from entering the dust collector 801 through the water inlet pipe 803.

[0068] When the first electric telescopic rod 809 and the second electric telescopic rod 812 extend synchronously and control the electric control valve 813 to close, the valve groove 810 will remain closed, and the piston plate 808 will move down, increasing the air pressure inside the dust collector 801, which in turn can help the sewage to be discharged from the drain pipe 804 and the drain valve 805.

[0069] This embodiment achieves automated and precise control of the dust removal process through the linkage control design of the first electric telescopic rod 809, the second electric telescopic rod 812 and the electric control valve 813. During the airflow intake phase, both shorten synchronously, opening the valve groove 810 and moving the piston plate 808 upward. This utilizes negative pressure to actively attract dust-laden airflow, solving the problem of insufficient suction power when relying solely on the grinding device 700 in dusty conditions, ensuring stable airflow into the dust collector 801. During the piston plate 808 reset phase, the timing control—first extending the first electric telescopic rod 809 and then simultaneously extending it—avoids a sudden increase in air pressure inside the chamber when the piston plate 808 moves downward, preventing airflow from entering and ensuring the continuity of the dust removal process. During the wastewater discharge phase, both shorten synchronously, closing the valve groove 810 and cooperating with the closing of the electric control valve 813 to form a closed space. The positive pressure generated by the downward movement of the piston plate 808 quickly forces wastewater out of the drain pipe 804, significantly reducing discharge time compared to natural drainage and emptying as much residual wastewater as possible from the bottom of the dust collector 801, reducing cleaning dead zones.

[0070] Please refer to the above as well. Figures 1 to 10 In one specific embodiment of this application, the control system 900 includes a controller 901 and a battery 902 fixedly installed inside the mounting base 306 in the rotating device 300. The controller 901 and the battery 902 are electrically connected. The controller 901 is electrically connected to the walking drive motor 202 in the walking device 200, the rotation drive motor 304 in the rotating device 300, the longitudinal drive motor 407 in the longitudinal moving device 400, the lateral drive motor 504 in the lateral moving device 500, the first swing arm servo motor 602 and the second swing arm servo motor 604 in the robotic arm 600, the grinding swing servo motor 606, the grinding motor 701 in the grinding device 700, and the first electric telescopic rod 809 and the second electric telescopic rod 812 in the dust removal device 800.

[0071] During operation, the battery 902 provides stable power support to the controller 901, ensuring the controller 901 operates continuously and normally; as the core control unit, the controller 901 sends electrical signals to the execution components of each device according to instructions.

[0072] For the walking device 200, the controller 901 sends a signal to the walking drive motor 202 to control its start / stop and speed, thereby adjusting the moving direction and speed of the base 100. For the rotating device 300, a signal is sent to the rotation drive motor 304 to control its operation, driving the rotating seat 301 to rotate and adjusting the orientation of the upper structure. For the longitudinal moving device 400, a signal is sent to the longitudinal drive motor 407 to control the rotation of the drive screw 405, realizing the vertical movement of the longitudinal slide plate 403. For the lateral moving device 500, a signal is sent to the lateral drive motor 504 to control the rotation of the lateral drive gear 505, driving the lateral slide plate 503 to slide horizontally. For the robotic arm 600, signals are sent to the first swing arm servo 602, the second swing arm servo 604, and the grinding swing servo 606 to control the swing angle of each servo, adjusting the spatial posture of the grinding device 700. For the grinding device 700, a signal is sent to the grinding motor 701 to control its start / stop and speed, realizing the wall grinding operation. For the dust removal device 800, signals are sent to the first electric telescopic rod 809 and the second electric telescopic rod 812 to control their extension and retraction sequence, adjust the movement of the piston plate 808 and the opening and closing of the valve groove 810, and ensure the dust removal and sewage discharge effect. This embodiment establishes a unified central control system by setting up a controller 901 and a battery 902, and electrically connecting the controller 901 to all electrically driven components of the equipment. The battery 902 provides independent and stable power, avoiding the impact of external power supply fluctuations on equipment operation and ensuring continuous operation. The controller 901 enables centralized management and control of each device, eliminating the need for manual operation of each component, significantly improving the automation level of the equipment, and reducing manual intervention costs and operational errors. At the same time, the controller 901 can precisely coordinate the timing of the actions of each device. For example, during sanding operations, it can simultaneously control the walking, rotating, and moving devices to adjust their positions, the robotic arm to adjust its posture, the sanding device to start sanding, and the dust removal device to remove dust simultaneously, ensuring seamless connection of each link, improving overall work efficiency and sanding quality, and perfectly adapting to the automated operation requirements of automatic wall sanding equipment.

[0073] The implementation principle of the automatic wall sanding equipment in this application is as follows: This application uses the control system 900 as the core central hub, the storage battery 902 to provide stable power to the entire equipment, and the controller 901 to drive the coordinated operation of each device according to the preset sanding program and operation instructions, so as to realize the full automation of wall sanding. The first stage is the preparation phase. The controller 901 sends a signal to the walking drive motor 202 in the walking device 200, controlling the walking drive motor 202 on the same side to operate synchronously, driving the rotating shaft 201, track wheel 203 and track 204 to move the base 100 to the designated area of ​​the wall to be polished. At the same time, the controller 901 controls the two rotating drive motors 304 in the rotating device 300 to start. Through the meshing transmission of the rotating drive gear 305 and the rotating drive gear ring 303, the rotating seat 301 is driven to rotate along the rotating bearing 302 at the rotating seat mounting hole 101. This causes the longitudinal moving device 400, the lateral moving device 500, the robotic arm 600 and the polishing device 700 on the mounting seat 306 to turn as a whole towards the wall to be polished, completing the initial positioning of the work position and direction. Next, the precision adjustment stage for grinding position begins: Controller 901 first sends a signal to the longitudinal drive motor 407 in the longitudinal moving device 400. The longitudinal drive motor 407 drives the drive screw 405 to rotate through the meshing of the longitudinal drive gear 409 and the driven gear 408. Under the action of threaded transmission, the drive block 404 drives the longitudinal slide plate 403 to slide vertically along the slide rail 402, adjusting the height of the transverse moving device 500 and subsequent components. Then, a signal is sent to the transverse drive motor 504 in the transverse moving device 500. The transverse drive motor 504 drives the transverse drive gear 505 to rotate, adjusting the height of the transverse moving device 500 and subsequent components through the meshing of the longitudinal drive gear 409 and the driven gear 408. The engagement of strip 506 causes the transverse slide plate 503 to slide horizontally along the slide groove 502, further adjusting the horizontal position of the robotic arm 600 and the grinding device 700. Finally, the controller 901 controls the first swing arm servo 602, the second swing arm servo 604 and the grinding swing servo 606 in the robotic arm 600 respectively. Through the coordinated swing of the three parallel axis servos, the first swing arm 603, the second swing arm 605 and the grinding device 700 are driven to adjust their spatial posture, so that the sandpaper 706 in the grinding device 700 can accurately fit the vertical, horizontal or inclined surface of the wall to be ground, ensuring that the grinding contact angle and pressure are matched. Then, the grinding and dust removal are carried out simultaneously: the controller 901 starts the grinding motor 701 in the grinding device 700. The grinding motor 701 drives the power shaft 702, grinding disc 704, sandpaper disc 705 and sandpaper 706 to rotate at high speed. The sandpaper 706 contacts the wall surface to achieve sanding. At the same time, the power shaft 702 drives the central gear 713 to rotate. Through the meshing with the air duct gear ring 712, it drives the air duct 710 and the inclined fan blades 711 to rotate. The airflow generated draws the grinding dust into the housing 703 through the dust suction gap. Then, it is transported to the water inlet pipe 803 of the dust removal device 800 in sequence through the air duct 710, the vent 715, the air outlet 716, the air guide box 717, the air guide pipe 718 and the spring protection pipe 719. During the operation of the dust removal device 800, the controller 901 controls the electric control valve 813 to remain open, while simultaneously coordinating the synchronous shortening of the first electric telescopic rod 809 and the second electric telescopic rod 812. This causes the valve sealing plate 811 to open the valve groove 810 and the piston plate 808 to move upward, reducing the air pressure inside the dust removal box 801 and assisting the dust-laden airflow to enter quickly. After entering the dust removal box 801 through the water inlet pipe 803, the dust-laden airflow first passes through the filter screen 807 to filter large dust particles and break large air bubbles. Then, it comes into full contact with the washing water to achieve dust adsorption and sedimentation. The purified air is discharged through the valve groove 810 and the exhaust port 806. When the piston plate 808 needs to be reset, the controller 901 controls the first electric telescopic rod 809 to extend a set distance first, and then extends synchronously with the second electric telescopic rod 812 to avoid a sudden increase in air pressure inside the box that would hinder the airflow and ensure the continuity of dust removal. Finally, in the finishing stage: when the sanding area is completed or the washing water is cloudy, the controller 901 first shuts off the sanding motor 701 and the electric control valve 813, and then controls the first electric telescopic rod 809 and the second electric telescopic rod 812 to extend synchronously, so that the valve sealing plate 811 closes the valve groove 810 and the piston plate 808 moves down to increase the air pressure in the dust collection box 801; at this time, the drain valve 805 is opened, and the positive pressure in the box pushes the sewage out through the drain pipe 804 to complete the sewage discharge; if the sandpaper 706 needs to be replaced, it can be quickly replaced directly through the Velcro connection between the sandpaper pad 705 and the sandpaper 706. The whole process does not require a lot of manual intervention, realizing the automation, efficiency and cleanliness of wall sanding. The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic wall sanding device, characterized in that: The device includes a base (100), inside which a walking device (200) extending to its outer side is installed, and inside which a rotating device (300) extending to its top is installed; a longitudinal moving device (400) is installed on the rotating device (300), a lateral moving device (500) is installed on the longitudinal moving device (400), a robotic arm (600) is installed on the lateral moving device (500), and a grinding device (700) is installed on the robotic arm (600); A dust removal device (800) is installed on the rotating device (300), and the dust removal device (800) is connected to the grinding device (700); a control system (900) is installed inside the rotating device (300), and the control system (900) is electrically connected to the walking device (200), the rotating device (300), the longitudinal moving device (400), the lateral moving device (500), the robotic arm (600), the grinding device (700), and the dust removal device (800).

2. The automatic wall sanding equipment according to claim 1, characterized in that: The walking device (200) includes two sets of symmetrically arranged rotating shafts (201). The rotating shafts (201) are rotatably connected to the two sides of the base (100) near their two ends. A walking drive motor (202) is fixedly installed inside the base (100) at one end corresponding to the rotating shaft (201). The walking drive motor (202) is electrically connected to the control system (900). The walking drive motor (202) is drive-connected to the rotating shaft (201). Track wheels (203) are fixedly installed at one end of the rotating shaft (201) outside the base (100). Tracks (204) are installed on the two track wheels (203) on the same side. The two walking drive motors (202) on the same side run synchronously.

3. The automatic wall sanding equipment according to claim 1, characterized in that: The rotating device (300) includes a rotating seat (301). A rotating seat mounting hole (101) is provided on the top of the base (100). A rotating bearing (302) is mounted on the top of the base (100) corresponding to the rotating seat mounting hole (101). The rotating seat (301) is mounted on the rotating bearing (302). A rotating drive gear ring (303) is fixedly mounted on the lower end of the rotating seat (301) extending into the base (100). Two symmetrically arranged rotating gears are fixedly mounted inside the base (100) corresponding to the rotating drive gear ring (303). A drive motor (304) is electrically connected to the control system (900). A drive gear (305) is fixedly mounted on the output shaft of the drive motor (304), and the drive gear (305) meshes with the drive gear ring (303). A mounting base (306) is fixedly mounted on the top of the rotating seat (301). The control system (900) is installed inside the mounting base (306). The longitudinal moving device (400) and the dust removal device (800) are both mounted on the mounting base (306).

4. The automatic wall sanding equipment according to claim 1, characterized in that: The longitudinal moving device (400) includes a longitudinal mounting frame (401), which is fixedly mounted on the rotating device (300). A vertically arranged slide rail (402) is fixedly mounted on the outer side of the longitudinal mounting frame (401). A longitudinal sliding plate (403) is slidably connected to the slide rail (402). A driving block (404) is fixedly mounted on the longitudinal sliding plate (403). A vertically arranged driving screw (405) is rotatably connected to the longitudinal mounting frame (401) corresponding to the driving block (404). The driving block (404) has a portion that corresponds to the driving screw (405). 5) The threaded hole (406) of the threaded drive connection, the bottom of the longitudinal mounting bracket (401) is fixedly mounted with a longitudinal drive motor (407) corresponding to the drive screw (405), the longitudinal drive motor (407) is electrically connected to the control system (900), the driven gear (408) is fixedly mounted on the drive screw (405), the longitudinal drive gear (409) is fixedly mounted on the output shaft of the longitudinal drive motor (407), the longitudinal drive gear (409) meshes with the driven gear (408); the transverse moving device (500) is mounted on the longitudinal slide plate (403).

5. The automatic wall sanding equipment according to claim 1, characterized in that: The lateral moving device (500) includes a lateral mounting frame (501), which is fixedly mounted on the longitudinal moving device (400). A groove (502) is provided on the lateral mounting frame (501), and a lateral sliding plate (503) is slidably connected inside the groove (502). A lateral drive motor (504) facing the lateral mounting frame (501) is fixedly mounted on the lateral sliding plate (503). The lateral drive motor (504) is electrically connected to the control system (900). A lateral drive gear (505) is fixedly mounted on the output shaft of the lateral drive motor (504). A lateral rack (506) is fixedly mounted on the lateral mounting frame (501) corresponding to the lateral drive gear (505). The lateral drive gear (505) and the lateral rack (506) mesh and drive each other. The robotic arm (600) is fixedly mounted on the lateral sliding plate (503).

6. The automatic wall sanding equipment according to claim 1, characterized in that: The robotic arm (600) includes an arm base (601), which is fixedly mounted on the lateral movement device (500). A first swing arm servo motor (602) is fixedly mounted on the arm base (601), a first swing arm (603) is fixedly mounted on the first swing arm servo motor (602), a second swing arm servo motor (604) is fixedly mounted on the first swing arm servo motor (604), and a second swing arm (605) is fixedly mounted on the second swing arm servo motor (604). A grinding swing servo (606) is fixedly installed on (605), and the grinding device (700) is fixedly installed on the grinding swing servo (606); the first swing arm servo (602), the second swing arm servo (604), and the grinding swing servo (606) are all electrically connected to the control system (900), and the central axes of the first swing arm servo (602), the second swing arm servo (604), and the grinding swing servo (606) are set to be parallel to each other in space.

7. The automatic wall sanding equipment according to claim 1, characterized in that: The polishing device (700) includes a polishing motor (701), which is fixedly mounted on the robotic arm (600). The polishing motor (701) is electrically connected to the control system (900). A power shaft (702) is fixedly connected to the output shaft of the polishing motor (701). A housing (703) covering the power shaft (702) is fixedly mounted on the outer shell of the polishing motor (701). A polishing disc (704) is mounted on one end of the power shaft (702) away from the polishing motor (701). A sandpaper tray (705) is fixedly mounted on the polishing disc (704), and sandpaper (706) is fixedly pasted on the sandpaper tray (705).

8. The automatic wall sanding equipment according to claim 7, characterized in that: A duct mounting plate (707) is fixedly installed inside the housing (703) between the inner end face of the grinding disc (704) and the inner end face of the housing (703). The duct mounting plate (707) has several annularly distributed duct mounting holes (709). A duct (710) is rotatably connected inside each duct mounting hole (709). Several annularly distributed fan blades (711) are fixedly connected to the inner surface of the duct (710). A duct gear ring (712) is fixedly connected to one end of the duct (710). A corresponding fan blade is mounted on the power shaft (702). A central gear (713) is fixedly mounted on the top of the cylindrical gear ring (712), and the central gear (713) meshes with all the cylindrical gear rings (712). An air outlet (716) is opened at one end of the housing (703) near the mechanical arm (600). A guide box (717) is fixedly and sealed on the housing (703) corresponding to the air outlet (716). A guide pipe (718) is fixedly mounted on the guide box (717). A spring protection pipe (719) is connected to the guide pipe (718). The spring protection pipe (719) is connected to the dust removal device (800).

9. The automatic wall sanding equipment according to claim 1, characterized in that: The dust removal device (800) includes a dust removal box (801) fixedly installed on the rotating device (300). The dust removal box (801) is filled with washing water. A box cover (802) is detachably installed on the top of the dust removal box (801). A water inlet pipe (803) is fixedly installed on the box cover (802). The water inlet pipe (803) is connected to the grinding device (700). A drain pipe (804) is fixedly connected to the bottom of the dust removal box (801). A drain valve (805) is fixedly installed on the drain pipe (804). An exhaust hole (806) communicating with the inside of the dust removal box (801) is opened on the box cover (802).

10. The automatic wall sanding equipment according to claim 1, characterized in that: The control system (900) includes a controller (901) and a battery (902) fixedly installed inside the rotating device (300). The controller (901) and the battery (902) are electrically connected. The controller (901) is electrically connected to the walking device (200), the rotating device (300), the longitudinal moving device (400), the lateral moving device (500), the robotic arm (600), the grinding device (700), and the dust removal device (800).

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