CN217530264U - Automatic grinding device of wall - Google Patents

Abstract

The utility model relates to an automatic wall surface polishing device, which comprises a walking mechanism, a lifting mechanism, a two-axis rotating arm mechanism, a polishing head mechanism and a laser radar, wherein the fixed end of the lifting mechanism is connected with the walking mechanism, and the lifting end is connected with the two-axis rotating arm mechanism; the two-shaft rotating arm mechanism comprises a first rotating device, a first rotating arm, a second rotating device and a second rotating arm, the first rotating device is fixedly arranged on the lifting mechanism, the output end of the first rotating device is fixedly connected with the first rotating arm, one end of the first rotating arm is fixedly connected with the second rotating device, the output end of the second rotating device is fixedly connected with the second rotating arm, and the polishing head mechanism is fixedly arranged at one end of the second rotating arm. The utility model discloses in, adopt the structure of two-stage swinging boom, not only can realize polishing on a large scale the wall, avoid appearing the dead angle of polishing, and swinging boom simple structure, it is with low costs, the practicality is strong.

Description

Automatic grinding device of wall

Technical Field

The utility model belongs to the technical field of the wall is polished, a automatic grinding device of wall is related to.

Background

At present, most of original wall surfaces of buildings are formed by concrete pouring, brick laying, wall plates and the like, the flatness and the verticality of the original wall surfaces have certain deviation, and the surfaces are uneven. One way to deal with the defects of the flatness of the wall surface is to adopt manual plastering for finishing, after the wall surface adopts a manual plastering process, certain deviation still exists in the flatness, the verticality, the squareness and the like of the wall surface, and the local part of the wall surface still needs to be treated during finish decoration; when the wall is plastered, due to the difference of plastering mortar, wall base layers and construction processes, local hollowing and cracking of the wall can be caused, and the later maintenance cost is increased. The other scheme is that the wall surface is polished to meet the flatness requirement, the wall surface is operated by a polishing machine held by a construction worker or other wall surface processing machines, the operation intensity is high, the wall surface processing process generates large dust, the decoration environment is poor, the dust space is located for a long time, and the human body is easily injured. Meanwhile, errors of a manual polishing mode are extremely large, and the flatness of the wall surface cannot be well controlled.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an automatic grinding device of wall.

In order to achieve the above purpose, the utility model provides a following technical scheme:

an automatic wall surface polishing device comprises a travelling mechanism, a lifting mechanism, a two-shaft rotating arm mechanism, a polishing head mechanism and a laser radar, wherein the fixed end of the lifting mechanism is connected with the travelling mechanism, and the lifting end is connected with the two-shaft rotating arm mechanism; the two-shaft rotating arm mechanism comprises a first rotating device, a first rotating arm, a second rotating device and a second rotating arm, the first rotating device is fixedly arranged on the lifting mechanism, the output end of the first rotating device is fixedly connected with the first rotating arm, one end of the first rotating arm is fixedly connected with the second rotating device, the output end of the second rotating device is fixedly connected with the second rotating arm, and the polishing head mechanism is fixedly arranged at one end of the second rotating arm.

Furthermore, the first rotating device comprises a first rotating arm servo motor, a first rotating arm speed reducer and a first rotary speed reducer, the first rotating arm servo motor is arranged on the lifting mechanism, the output end of the first rotating arm servo motor is connected with the input end of the first rotating arm speed reducer, the output end of the first rotating arm speed reducer is connected with the first rotary speed reducer, and the output end of the first rotary speed reducer is connected with the first rotating arm.

Furthermore, the second rotating device comprises a second rotating arm servo motor, a second rotating arm speed reducer and a second rotating speed reducer, the second rotating arm servo motor is arranged at one end of the first rotating arm, the output end of the second rotating arm servo motor is connected with the input end of the second rotating arm speed reducer, the output end of the second rotating arm speed reducer is connected with the second rotating speed reducer, and the output end of the second rotating speed reducer is connected with the second rotating arm.

Further, the head mechanism of polishing includes installation piece, telescopic link connecting plate, cylinder, connecting piece, polisher mounting panel and polisher, the fixed one end that sets up at the second rotor arm of installation piece, the cylinder sets up on the installation piece, the output of cylinder passes through connecting piece and telescopic link connecting plate fixed connection, the telescopic link connecting plate is connected with the polisher mounting panel through a plurality of elastic components, the polisher mounting panel is equipped with relative first side and second side, first side is towards the telescopic link connecting plate, the polisher sets up on first side, just the head of polishing of polisher outwards emits the vertical plane at second side place.

Furthermore, the polishing head mechanism comprises a plurality of guiding telescopic rods, one ends of the guiding telescopic rods are connected with the mounting block, and the other ends of the guiding telescopic rods are connected with the telescopic rod connecting plate.

Further, the polishing head mechanism further comprises a dust hood wrapped outside the polisher, a dust suction pipe is arranged on the dust hood in a communicated mode, and one end of the dust suction pipe is connected with negative pressure equipment.

Furthermore, the travelling mechanism comprises a chassis and a plurality of steering wheel modules arranged on the chassis, each steering wheel module comprises a steering wheel fixing plate, each steering wheel fixing plate is connected with the chassis through a damping unit, a steering motor is arranged on each steering wheel fixing plate, and the output end of each steering motor is connected with a first steering gear; a vertical wheel mounting plate is also rotatably arranged on the steering wheel fixing plate, a traveling motor is arranged on the vertical wheel mounting plate, and the output end of the traveling motor is connected with a vertical wheel; a second steering gear is fixedly arranged at the upper part of the vertical wheel mounting plate; the first steering gear is meshed with the second steering gear.

Further, the shock attenuation unit is including setting up the shock absorber support on the steering wheel fixed plate, be provided with the extension that the level stretches out to the seat dish top on the shock absorber support, be provided with the bolt mounting panel under the extension, the bolt mounting panel is fixed to be set up on the chassis, the fixed vertical bolt that upwards stretches out that is provided with on the bolt mounting panel, the one end of bolt upwards wear to establish chassis and extension in proper order and with a nut spiro union, the cover is equipped with damping spring on the bolt, damping spring's lower extreme and extension butt, upper end and nut butt, the last cover of damping spring is equipped with the sheath, damping spring's upper end upwards emits the up end of sheath.

Further, the lifting mechanism comprises a lifting mechanism fixing support arranged on the travelling mechanism, a first lifting mechanism fixing plate is vertically arranged on the lifting mechanism fixing support, a second lifting mechanism fixing plate is connected to the first lifting mechanism fixing plate in a sliding mode, and a first lifting device is arranged on the second lifting mechanism fixing plate; the second lifting mechanism fixing plate is connected with a rotating arm mechanism fixing plate in a sliding mode, the two shafts of rotating arm mechanisms are arranged on the rotating arm mechanism fixing plate, and a second lifting device is arranged on the rotating arm mechanism fixing plate.

Furthermore, two first slide rails are vertically arranged on the first lifting mechanism fixing plate, a first slide groove matched with the first slide rails in shape is arranged at a position, corresponding to the first slide rails, on the second lifting mechanism fixing plate, the first slide groove is sleeved on the first slide rails, a first baffle plate is further arranged on the outer sides of the two first slide rails, two sides of the second lifting mechanism fixing plate are provided with L-shaped first sliding sleeves, and one end of each first sliding sleeve extends into a gap between the first baffle plate and the first lifting mechanism fixing plate; the vertical two second slide rails that are provided with on the second elevating system fixed plate, the position department that corresponds the second slide rail on the swinging boom mechanism fixed plate is provided with the second spout with the shape looks adaptation of second slide rail, the second spout cover is established on the second slide rail, two the outside of second slide rail still is provided with the second plate washer, the both sides of swinging boom mechanism fixed plate are provided with the second sliding sleeve of "L" shape, the one end of second sliding sleeve stretches into in the space between second plate washer and the second elevating system fixed plate.

In the utility model, the chassis can not be damaged by uneven and bumpy road surface when the chassis is walking by additionally arranging the damping unit on the walking mechanism; adopt two-stage elevating gear can effectively enlarge the ascending scope of polishing in vertical side, can realize that wall on a large scale is polished through the two-stage swinging boom, avoid appearing the dead angle of polishing, and the swinging boom simple structure, with low costs, the practicality is strong.

Drawings

For the purposes of promoting a better understanding of the objects, features and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

fig. 1 is a schematic structural diagram of a preferred embodiment of the automatic wall surface grinding device of the present invention.

Fig. 2 is a schematic structural diagram of the traveling mechanism.

Fig. 3 and 4 are schematic structural views of the steering wheel module.

Fig. 5 is a schematic structural diagram of the lifting mechanism.

Fig. 6 is a schematic structural view of the sliding connection between the first lifting mechanism fixing plate, the second lifting mechanism fixing plate and the rotating arm mechanism fixing plate.

Fig. 7 is a schematic structural view of the two-axis rotary arm mechanism.

Fig. 8 is a schematic diagram of the sanding range of the two-axis rotary arm mechanism.

Fig. 9 is a schematic structural view of the sanding head mechanism.

In the figure: 100. the lifting mechanism comprises a travelling mechanism, 101, a chassis, 110, a steering wheel module, 111, a steering wheel fixing plate, 112, a vertical wheel mounting plate, 113, a travelling motor, 114, a vertical wheel, 115, a second steering gear, 116, a steering motor, 117, a first steering gear, 121, a shock absorption bracket, 122, an extension part, 123, a bolt mounting plate, 124, a bolt, 125, a nut, 126, a shock absorption spring, 127, a sheath, 200, a lifting mechanism, 201, a lifting mechanism fixing bracket, 210, a first lifting mechanism fixing plate, 211, a first sliding rail, 212, a first baffle plate, 213, a first sliding sleeve, 220, a second lifting mechanism fixing plate, 211, a second sliding rail, 222, a second baffle plate, 223, a second sliding sleeve, 230, a rotating arm mechanism fixing plate, 240, a first lifting device, 250, a second lifting device, 300, a two-shaft rotating arm mechanism, 311, a first rotating arm servo motor, 312, a first rotating arm speed reducer, 313, a first rotary speed reducer, 314, a first rotating arm, 315, a second rotating arm servo motor, 316, a second rotating arm speed reducer, 317, a second rotary speed reducer, 318, a second rotating arm, 400, a polishing head mechanism, 411, a mounting block, 412, a guiding telescopic rod, 413, a cylinder, 414, a connecting piece, 415, a telescopic rod connecting plate, 416, an elastic piece, 417, a polishing head mounting plate, 418, a dust hood, 419, a polishing machine, 420, a polishing head, 500, a laser radar.

Detailed Description

The embodiments of the invention are explained below by means of specific examples, the illustrations provided in the following examples are merely illustrative of the basic idea of the invention, and features in the following examples and examples can be combined with one another without conflict.

As shown in fig. 1, the utility model relates to an automatic grinding device of wall's a preferred embodiment includes running gear 100, elevating system 200, diaxon swinging boom mechanism 300, polishes head mechanism 400 and laser radar 500, and of course, the automatic grinding device of wall still can include the controller (not shown in the figure), running gear 100, elevating system 200, diaxon swinging boom mechanism 300, polishes head mechanism 400 and laser radar 500 all are connected with the controller electricity to realize the control to each mechanism through the controller.

As shown in fig. 2, 3 and 4, the running gear 100 preferably includes a chassis 101 and a plurality of steering wheel modules 110 disposed on the chassis 101, and the steering wheel modules 110 include a steering wheel fixing plate 111, and the steering wheel fixing plate 111 is connected to the chassis 101 through a damping unit. The damping unit is including setting up the shock absorber support 121 on steering wheel fixed plate 111, be provided with the level on the shock absorber support 121 and stretch out to the extension 122 of tray top, be provided with bolt mounting panel 123 under the extension 122, bolt mounting panel 123 is fixed to be set up on chassis 101, the fixed vertical upwards bolt 124 that stretches out that is provided with on bolt mounting panel 123, the one end of bolt 124 upwards wears to establish chassis 101 and extension 122 in proper order and with a nut 125 spiro union. A damping spring 126 is sleeved on the bolt 124, the lower end of the damping spring 126 is abutted with the extension part 122, the upper end of the damping spring 126 is abutted with a nut 125, a sheath 127 is sleeved on the damping spring 126, and the upper end of the damping spring 126 protrudes upwards out of the upper end surface of the sheath 127; so that damping of the device can be achieved by the damping spring 126. In addition, because the unevenness of the road surface may cause jolting to cause equipment damage, and may also cause the driving wheel to suspend in the air or skid, so that the walking chassis 101 loses power or is jacked up, at this time, the damping spring 126 can make the driving wheel always cling to the ground, and when the road surface is raised, because of the floatability of the steering wheel module 110 and the compressibility of the damping spring 126, the whole jacking up of the walking chassis 101 driven by the steering wheel module 110 can be avoided. The reaction force of the damping spring 126 makes the driving wheel always cling to the ground, and the ground provides friction force and adhesive force required by traction of the driving wheel all the time, so that the damage of the body structure of the walking chassis 101 caused by uneven and bumpy road surfaces is avoided, and the power loss caused by suspension of the driving wheel is also avoided.

A steering motor 116 is arranged on the steering wheel fixing plate 111, and the steering motor 116 is electrically connected with a controller; the output end of the steering motor 116 is connected with a first steering gear 117; the steering wheel fixing plate 111 is also rotatably provided with a vertical wheel mounting plate 112, the vertical wheel mounting plate 112 is provided with a traveling motor 113, and the traveling motor 113 is electrically connected with the controller; the output end of the walking motor 113 is connected with a vertical wheel 114 (i.e. a driving wheel), so that the vertical wheel 114 can be driven by the walking motor 113 to rotate to realize the movement of the equipment. A second steering gear 115 is fixedly arranged at the upper part of the vertical wheel mounting plate 112; the first steering gear 117 is engaged with the second steering gear 115, so that the steerable motor 116 drives the vertical wheel mounting plate 112 to steer to realize a steering function.

As shown in fig. 5 and 6, the fixed end of the lifting mechanism 200 is connected to the traveling mechanism 100, and the lifting end is connected to the two-axis rotating arm mechanism 300. Preferably, the lifting mechanism 200 includes a lifting mechanism fixing bracket 201 disposed on the traveling mechanism 100, a first lifting mechanism fixing plate 210 is vertically disposed on the lifting mechanism fixing bracket 201, and a second lifting mechanism fixing plate 220 is slidably connected to the first lifting mechanism fixing plate 210. Specifically, two first sliding rails 211 are vertically arranged on the first lifting mechanism fixing plate 210, a first sliding groove matched with the first sliding rail 211 in shape is arranged at a position, corresponding to the first sliding rail 211, on the second lifting mechanism fixing plate 220, and the first sliding groove is sleeved on the first sliding rail 211. Two the outside of first slide rail 211 still is provided with first fender 212, the both sides of second elevating system fixed plate 220 are provided with the first sliding sleeve 213 of "L" shape, the one end of first sliding sleeve 213 stretches into in the space between first fender 212 and the first elevating system fixed plate 210. A first lifting device 240 is arranged on the second lifting mechanism fixing plate 220, and the first lifting device 240 is electrically connected with the controller; so that the second lifting mechanism fixing plate 220 slides up and down along the first lifting mechanism fixing plate 210 under the driving of the first lifting device 240. The first lifting device 240 can use a motor as a driving source, and drive the second lifting mechanism fixing plate 220 to move in a gear and rack transmission manner; of course, other transmission methods such as sprocket transmission may be used to drive the second lifting mechanism fixing plate 220 to move.

There are swinging boom mechanism fixed plate 230 on the second elevating system fixed plate 220, it is concrete, vertically on the second elevating system fixed plate 220 be provided with two second slide rails 211, the position department that corresponds second slide rail 211 on the swinging boom mechanism fixed plate 230 is provided with the second spout with the shape looks adaptation of second slide rail 211, the second spout cover is established on second slide rail 211. The outer sides of the two second sliding rails 211 are further provided with second baffles 222, two sides of the rotating arm mechanism fixing plate 230 are provided with "L" -shaped second sliding sleeves 223, and one ends of the second sliding sleeves 223 extend into a gap between the second baffles 222 and the second lifting mechanism fixing plate 220. The two-axis rotating arm mechanism 300 is arranged on the rotating arm mechanism fixing plate 230, a second lifting device 250 is arranged on the rotating arm mechanism fixing plate 230, and the second lifting device 250 is electrically connected with the controller; so that the rotating arm mechanism fixing plate 230 slides up and down along the second lifting mechanism fixing plate 220 under the driving of the second lifting device 250. The lifting mechanism 200 adopts two-stage lifting travel, so that the polishing range in the vertical direction can be increased, and polishing dead angles are avoided. For example, when the stroke distance of the second lifting mechanism fixing plate 220 driven by the first lifting device 240 is 1 meter, and the stroke distance of the rotating arm mechanism fixing plate 230 driven by the second lifting device 250 is 0.5 meter, the rotating arm mechanism fixing plate 230 can have a moving range of 1.5 meters in the vertical direction.

As shown in fig. 7, the two-axis rotating arm mechanism 300 includes a first rotating device, a first rotating arm 314, a second rotating device, and a second rotating arm 318, the first rotating device is fixedly disposed on the rotating arm mechanism fixing plate 230, an output end of the first rotating device is fixedly connected to the first rotating arm 314, one end of the first rotating arm 314 is fixedly connected to the second rotating device, and an output end of the second rotating device is fixedly connected to the second rotating arm 318.

Specifically, the first rotating device includes a first rotating arm servo motor 311, a first rotating arm speed reducer 312 and a first rotation speed reducer 313, and the first rotating arm speed reducer 312 is preferably a planetary speed reducer; the first turning arm servo motor 311 is disposed on the turning arm mechanism fixing plate 230, an output end of the first turning arm servo motor 311 is connected to an input end of a first turning arm reducer 312, an output end of the first turning arm reducer 312 is connected to a first turning reducer 313, and an output end of the first turning reducer 313 is connected to a first turning arm 314. The output torque of the first rotary arm servo motor 311 can be increased by additionally arranging a speed reducer and a rotary speed reducer two-stage speed reducing mechanism at the output end of the first rotary arm servo motor 311; the sum of the weight of the first rotating arm and associated hardware is made much less than the maximum output rotational load at the end of the first rotating arm 314 arm.

The second rotating device comprises a second rotating arm servo motor 315, a second rotating arm reducer 316 and a second rotary reducer 317, and the second rotating arm reducer 316 is preferably a planetary reducer; the second rotating arm servo motor 315 is disposed at one end of the first rotating arm 314, an output end of the second rotating arm servo motor 315 is connected to an input end of a second rotating arm reducer 316, an output end of the second rotating arm reducer 316 is connected to a second rotation reducer 317, and an output end of the second rotation reducer 317 is connected to a second rotating arm 318. The output torque of the second rotating arm servo motor 315 can be increased by additionally arranging a speed reducer and a rotary speed reducer two-stage speed reducing mechanism at the output end of the second rotating arm servo motor 315; the combined weight of the sanding head, dust cap, second pivoting arm, and associated tooling is made much less than the maximum output rotational load at the arm end of second pivoting arm 318. In this embodiment, to the condition application scene of wall polishing, adopted the structure of diaxon swinging boom, rotary mechanism's simple structure, and can realize the effect of polishing on a large scale equally. As shown in fig. 8, for example, when the effective length of the first and second swing arms 314 and 318 is 0.45 m, wall surface grinding in a rectangular range of 1 m × 1.5 m can be achieved when neither the travel mechanism 100 nor the lifting mechanism 200 moves, and when the two-stage lifting stroke of the lifting mechanism 200 is 1.5 m, wall surface grinding in a rectangular range of 1 m × 3 m can be achieved when the travel mechanism 100 does not move. The first rotating arm 314 and the second rotating arm 318 can rotate 360 degrees, and when the grinding range is a rectangular range of 1 m × 1.5 m, the output angle of the first rotating arm 314 and the second rotating arm 318 can be limited to 320 degrees.

As shown in fig. 9, the sanding head mechanism 400 is fixedly provided at one end of the second rotating arm 318; the sanding head mechanism 400 comprises a mounting block 411, an expansion link connecting plate 415, an air cylinder 413, a connecting piece 414, a sander mounting plate 417 and a sander 419, wherein the mounting block 411 is fixedly arranged at one end of the second rotating arm 318, the air cylinder 413 is arranged on the mounting block 411, and the output end of the air cylinder 413 is fixedly connected with the expansion link connecting plate 415 through the connecting piece 414, so that the expansion link connecting plate 415 can be driven to move horizontally through the air cylinder 413. In order to achieve better guiding when the telescopic rod connecting plate 415 moves horizontally, the sanding head mechanism 400 may further include a plurality of guiding telescopic rods 412, wherein one end of each guiding telescopic rod 412 is connected to the mounting block 411, and the other end of each guiding telescopic rod 412 is connected to the telescopic rod connecting plate 415. The telescoping pole attachment plate 415 is connected to a sander mounting plate 417 by a plurality of springs 416, thereby allowing the sander 419 to better accommodate different wall surfaces. The elastic member 416 is preferably an elastic telescopic rod, but may be other elastic members such as a compression spring. The polisher mounting plate 417 is provided with a first side and a second side which are opposite, the first side faces the telescopic rod connecting plate 415, the polisher 419 is arranged on the first side, and the polishing head 420 of the polisher 419 protrudes outwards to form a vertical plane where the second side is located, so that the wall surface can be polished. In order to collect dust generated by polishing, the polishing head mechanism 400 may further include a dust hood 418 wrapped outside the polishing machine 419, the dust hood 418 is communicated with a dust suction pipe (not shown), and one end of the dust suction pipe is connected to a negative pressure device (not shown), so that dust generated by polishing is absorbed by negative pressure generated in the dust suction hood 418.

The working principle of the embodiment is as follows:

as shown in fig. 1 to 9, place the automatic grinding device of wall indoor, the automatic grinding device of wall fixes a position self through laser radar 500 to upper barrier to the walking route is surveyed, plans the trip walking route, and it is ripe prior art to fix a position and plan the walking route through laser radar 500, does not give unnecessary details here. After the automatic wall grinding device moves to the wall needing to be ground, the output end of the air cylinder 413 stretches out, the grinding head 420 of the grinding machine 419 is abutted to the wall, the position of the grinding head 420 can be finely adjusted through the elastic piece 416, and the grinding head 420 is attached to the wall. Then, the sander 419 is started to buff the wall surface, and by rotating the two rotary arms, the wall surface can be buffed in a rectangular range of 1 × 1.5 meters centering on the first rotary arm servo motor 311. After the polishing in the range is finished, the output end of the air cylinder 413 retracts, so that the polishing head 420 of the polishing machine 419 is separated from the wall surface; afterwards, two-stage lifting of 1.5 meters in total can be carried out to sanding head mechanism 400 through first elevating gear 240 and second elevating gear 250, afterwards, the output of cylinder 413 stretches out once more, can polish the wall in the 1 m 1.5 m rectangular range of the regional top of polishing before, and two regions of polishing seamless joint, can accomplish the wall in the 1 m 3 m rectangular range and polish under the inoperative condition of running gear 100, afterwards, make the automatic grinding device translation of wall 1 m through running gear 100, it can to continue to polish.

In this embodiment, by additionally installing the damping unit on the walking mechanism 100, the chassis 101 does not lose power due to uneven road surface during walking; adopt two-stage elevating gear can effectively enlarge the ascending scope of polishing in vertical side, can realize that wall on a large scale is polished through the two-stage swinging boom, avoid appearing the dead angle of polishing, and the swinging boom simple structure, with low costs, the practicality is strong.

Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the scope of the claims of the present invention.

Claims (10)

1. The automatic wall surface polishing device is characterized by comprising a travelling mechanism, a lifting mechanism, a two-shaft rotating arm mechanism, a polishing head mechanism and a laser radar, wherein the fixed end of the lifting mechanism is connected with the travelling mechanism, and the lifting end is connected with the two-shaft rotating arm mechanism; the two-shaft rotating arm mechanism comprises a first rotating device, a first rotating arm, a second rotating device and a second rotating arm, the first rotating device is fixedly arranged on the lifting mechanism, the output end of the first rotating device is fixedly connected with the first rotating arm, one end of the first rotating arm is fixedly connected with the second rotating device, the output end of the second rotating device is fixedly connected with the second rotating arm, and the polishing head mechanism is fixedly arranged at one end of the second rotating arm.

2. The automatic wall surface grinding device according to claim 1, wherein the first rotating device comprises a first rotating arm servo motor, a first rotating arm speed reducer and a first rotation speed reducer, the first rotating arm servo motor is arranged on the lifting mechanism, an output end of the first rotating arm servo motor is connected with an input end of the first rotating arm speed reducer, an output end of the first rotating arm speed reducer is connected with the first rotation speed reducer, and an output end of the first rotation speed reducer is connected with the first rotating arm.

3. The automatic wall surface grinding device according to claim 2, wherein the second rotating device comprises a second rotating arm servo motor, a second rotating arm speed reducer and a second rotation speed reducer, the second rotating arm servo motor is arranged at one end of the first rotating arm, an output end of the second rotating arm servo motor is connected with an input end of the second rotating arm speed reducer, an output end of the second rotating arm speed reducer is connected with the second rotation speed reducer, and an output end of the second rotation speed reducer is connected with the second rotating arm.

4. The automatic wall surface grinding device according to claim 1, wherein the grinding head mechanism comprises a mounting block, a telescopic rod connecting plate, a cylinder, a connecting piece, a grinding machine mounting plate and a grinding machine, the mounting block is fixedly arranged at one end of the second rotating arm, the cylinder is arranged on the mounting block, the output end of the cylinder is fixedly connected with the telescopic rod connecting plate through the connecting piece, the telescopic rod connecting plate is connected with the grinding machine mounting plate through a plurality of elastic pieces, the grinding machine mounting plate is provided with a first side surface and a second side surface which are opposite to each other, the first side surface faces the telescopic rod connecting plate, the grinding machine is arranged on the first side surface, and the grinding head of the grinding machine protrudes outwards to form a vertical plane where the second side surface is located.

5. The automatic wall surface grinding device according to claim 4, wherein the grinding head mechanism comprises a plurality of telescopic guide rods, one end of each telescopic guide rod is connected with the mounting block, and the other end of each telescopic guide rod is connected with the telescopic rod connecting plate.

6. The automatic wall surface grinding device according to claim 4, wherein the grinding head mechanism further comprises a dust hood wrapped outside the grinding machine, a dust suction pipe is arranged on the dust hood in a communication mode, and one end of the dust suction pipe is connected with a negative pressure device.

7. The automatic wall surface grinding device according to claim 1, wherein the traveling mechanism comprises a chassis and a plurality of steering wheel modules arranged on the chassis, each steering wheel module comprises a steering wheel fixing plate, each steering wheel fixing plate is connected with the chassis through a damping unit, a steering motor is arranged on each steering wheel fixing plate, and an output end of each steering motor is connected with a first steering gear; a vertical wheel mounting plate is also rotatably arranged on the steering wheel fixing plate, a traveling motor is arranged on the vertical wheel mounting plate, and the output end of the traveling motor is connected with a vertical wheel; a second steering gear is fixedly arranged at the upper part of the vertical wheel mounting plate; the first steering gear is meshed with the second steering gear.

8. The automatic wall grinding device according to claim 7, wherein the damping unit comprises a damping support arranged on the steering wheel fixing plate, an extending portion extending horizontally to the position above the seat plate is arranged on the damping support, a bolt mounting plate is arranged under the extending portion, the bolt mounting plate is fixedly arranged on the chassis, a vertical bolt extending upwards is fixedly arranged on the bolt mounting plate, one end of the bolt sequentially penetrates through the chassis and the extending portion and is in threaded connection with a nut, a damping spring is sleeved on the bolt, the lower end of the damping spring abuts against the extending portion, the upper end of the damping spring abuts against the nut, a sheath is sleeved on the damping spring, and the upper end of the damping spring upwards emits out of the upper end face of the sheath.

9. The automatic wall surface grinding device according to claim 1, wherein the lifting mechanism comprises a lifting mechanism fixing support arranged on the traveling mechanism, a first lifting mechanism fixing plate is vertically arranged on the lifting mechanism fixing support, a second lifting mechanism fixing plate is connected to the first lifting mechanism fixing plate in a sliding manner, and a first lifting device is arranged on the second lifting mechanism fixing plate; and a rotating arm mechanism fixing plate is connected to the second lifting mechanism fixing plate in a sliding manner, the two-shaft rotating arm mechanism is arranged on the rotating arm mechanism fixing plate, and a second lifting device is arranged on the rotating arm mechanism fixing plate.

10. The automatic wall surface grinding device according to claim 9, wherein two first slide rails are vertically arranged on the first lifting mechanism fixing plate, a first slide groove matched with the first slide rails in shape is arranged at a position, corresponding to the first slide rails, on the second lifting mechanism fixing plate, the first slide groove is sleeved on the first slide rails, first baffle plates are further arranged on the outer sides of the two first slide rails, L-shaped first slide sleeves are arranged on two sides of the second lifting mechanism fixing plate, and one end of each first slide sleeve extends into a gap between each first baffle plate and the corresponding first lifting mechanism fixing plate; the vertical two second slide rails that are provided with on the second elevating system fixed plate, the position department that corresponds the second slide rail on the swinging boom mechanism fixed plate is provided with the second spout with the shape looks adaptation of second slide rail, the second spout cover is established on the second slide rail, two the outside of second slide rail still is provided with the second plate washer, the both sides of swinging boom mechanism fixed plate are provided with the second sliding sleeve of "L" shape, the one end of second sliding sleeve stretches into in the space between second plate washer and the second elevating system fixed plate.

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