Autonomous repairing device for wall skin with bumped indoor top surface

Abstract

The invention discloses an indoor top surface bulging wall skin self-repairing device which comprises a moving platform, a first moving pair moving in the vertical direction and a second moving pair moving in the horizontal direction are arranged on the moving platform, the second moving pair is connected to the first moving pair through a rotating pair, and a grinding mechanism and a painting mechanism are integrated on the top surface of the second moving pair. A laser positioning module and an identification module which are arranged on the second sliding pair are used for pointing the lost wall skin; and a collecting mechanism is arranged below a polishing area of the polishing mechanism and comprises a coating film which is encircled into a circle in the circumferential direction. According to the automatic wall surface polishing and repairing device, wall surface bumps can be automatically polished and repaired, and the efficiency is greatly improved; laser positioning and precision mechanical transmission are adopted to ensure the repair precision and avoid damage to surrounding wall surfaces; the device can be suitable for different wall surfaces to cope with various indoor conditions, and has high adaptability; the device is stable in structure and reliable in operation, and manual operation risks are effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of construction devices, and specifically to an indoor ceiling bulging wall skin self-repairing device. Background Art

[0002] Long-term dampness or water penetration of the wall is one of the main reasons for the bulging of the wall skin. Water penetrates into the interior of the wall, causing the wall materials to expand, thus forming a bulging phenomenon. According to industry experience, slight bulges (diameter < 10 cm) are relatively common, and their proportion may be around 60%-70%. They are mostly caused by local construction defects or material shrinkage and can be solved by local repair. Moderate to severe bulges (diameter > 20 cm or large-area peeling), accounting for about 20%-30%. It is worth noting that a considerable part of these cases gradually evolve from slight bulges that were not treated in a timely manner initially and need to be removed and redone, with a relatively high repair cost.

[0003] The existing technology repairs the bulging wall skin by removing and redoing it, which requires damaging the original decoration and involves steps such as sealing the bottom, applying putty, and multiple coatings, consuming time, labor, and being costly. Traditional repair methods also have the risk of falling during manual high-altitude operations and the health risk of inhaling harmful dust, especially for the repair of indoor ceiling bulging wall skin, which is more difficult.

[0004] To solve the above problems, this case was born. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] In view of the deficiencies of the existing technology, the present invention provides an indoor ceiling bulging wall skin self-repairing device, which solves the problems raised in the above background art.

[0007] (2) Technical Solutions

[0008] In view of the problems such as the bulging and peeling of the ceiling wall skin in the room due to water leakage or other reasons, affecting the cleanliness and aesthetics, an indoor ceiling bulging wall skin self-repairing device has been developed, which can accurately lock the area to be repaired by laser positioning, complete the limit for different ceiling heights with one key, programmatic grinding of the affected area, slag collection, and self-feeding and painting.

[0009] To achieve the above object, the present invention is realized through the following technical solutions: An indoor ceiling bulging wall paint self-repair device, including a mobile platform, on which there is a first moving pair moving in the vertical direction and a second moving pair moving in the horizontal direction. The second moving pair is connected to the first moving pair through a rotating pair. The top surface of the second moving pair integrates a grinding mechanism and a painting mechanism, and the laser positioning module and recognition module provided on the second moving pair are used to identify the lost wall paint; a collection mechanism is arranged below the grinding area of the grinding mechanism. The collection mechanism includes a coating film surrounding a circumferential circle, which wraps the outer circle of the grinding area and forms a closed bearing area, and the bearing area is larger than the grinding area; there is a paint storage bucket on one side of the painting mechanism. When the painting part of the painting mechanism is dipped into the paint storage bucket, the open mouth of the paint storage bucket is opened. The relative rear side of the paint storage bucket is hinged with a cover plate through a hinge seat, and the cover plate covers the open mouth of the paint storage bucket to form a shield, and a return spring is arranged at the hinge seat.

[0010] As a preferred solution, further, the grinding mechanism includes a bearing plate connected to a screw slide table. A second rotary stepping motor is installed on one side of the bearing plate, and its output end is connected to a disc and is located at the center of the disc. A crank is hinged to the outer edge of the disc, and the other end of the crank is hinged to a second connecting rod. The position of the second connecting rod is restricted by a limiting groove vertically opened on the bearing plate. A grinding head is installed at the upper end of the second connecting rod.

[0011] As a preferred solution, further, the collection mechanism includes an annular bearing platform connected to the upper side of the bearing plate. Support rods are installed at intervals in the circumferential direction of the bearing platform. The second connecting rod passes through the middle of the bearing platform and is fixedly sleeved with a support at the upper side position. The outer circle of the support is circumferentially hinged with dust collection connecting rods corresponding to the positions of the support rods one by one. A long strip-shaped moving groove is opened at the middle position of the dust collection connecting rod. A crank-slider is installed at the upper end of the support rod and is slidably connected to the moving groove.

[0012] As a preferred solution, further, the dust collection connecting rods are all inclined and surround a circumferential circle. The coating film is sleeved at both ends of the dust collection connecting rods. The coating film and the support together form a relatively closed bearing area below. The support is fixed on the second connecting rod and moves up and down periodically with the second connecting rod to drive the coating film to vibrate.

[0013] As a preferred solution, further, the coating film is made of any one of polyester material and polyurethane material.

[0014] As a preferred solution, further, the painting mechanism includes a bracket installed on the lead screw slide table. A rotary stepper motor III is installed on the bracket. The output end of the motor is hinged to a connecting rod I through a crank. The other end of the connecting rod I is hinged to a rocker. The rocker and the connecting rod I are coaxially pivotally connected to the bracket. The upper end of the connecting rod I is fixedly connected to a painting roller, which is the painting roller of the painting mechanism. The bracket is installed obliquely relative to the lead screw slide table, so that the painting roller can be immersed in the paint storage bucket on one side during the rotation of the rocker.

[0015] As a preferred solution, further, a support block is installed on the relative rear side of the paint storage bucket. The cover plate is hinged to the support block. The cover plate covers the open mouth of the paint storage bucket in an inclined manner to form a shield.

[0016] As a preferred solution, further, the cover plate is divided into two independent plates, and they are respectively connected by means of hinges. A spring is installed at the hinge.

[0017] (III) Beneficial effects

[0018] After adopting the above technical solutions, the indoor top surface bulging wall paint self-repair device provided by the present invention has the following beneficial effects compared with the prior art:

[0019] 1. Automatic positioning: The image recognition and laser module locate the platform below the repair area; the compound transmission of the belt pulley, worm and gear, and rack and pinion realizes stable lifting in the height direction; the 360-degree rotating turntable at the top cooperates with the lead screw slide table for horizontal movement to locally fine-tune the repair area. Self-repair: The grinding head is driven by a crank mechanism to remove the damaged wall paint, and the brush head is driven by a crank connecting rod mechanism to dip the material and complete painting; the movement of the lead screw slide table enables the two mechanisms to alternately operate in sequence. Safe and environmentally friendly use: A link-type dust collection mechanism is mounted at the position of the grinding head, and the dust is automatically collected when the grinding head works; the risk of high-altitude manual operation is avoided.

[0020] 2. The device is mainly composed of a movable platform, a worm and gear lifting mechanism, a servo turntable mechanism, a crank mechanism, a swing arm mechanism, and a control system. The device can independently complete the grinding and repair of the bulging wall paint, greatly improving the efficiency; the laser positioning and precise mechanical transmission are adopted to ensure the repair accuracy and avoid damage to the surrounding wall surfaces. The device can be applied to different wall surfaces to cope with various indoor situations, and has strong adaptability; the device has a stable structure and reliable operation, effectively reducing the risk of manual operation. Description of the drawings

[0021] Figure 1 It is a schematic diagram of the present invention;

[0022] Figure 2 It is a working schematic diagram of the present invention;

[0023] Figure 3Schematic diagram of the repair part of the present invention;

[0024] Figure 4 Schematic diagram of the painting mechanism solution of the present invention;

[0025] Figure 5 Schematic diagram of the transmission angle of the painting mechanism of the present invention;

[0026] Figure 6 Schematic diagram of the grinding mechanism of the present invention;

[0027] Figure 7 Schematic diagram of the crank-slider of the present invention;

[0028] Figure 8 Schematic diagram of the transmission angle of the crank-slider of the present invention;

[0029] Figure 9 Schematic diagram of the movement range of the dust collection connecting rod of the present invention;

[0030] Figure 10 Schematic diagram of the improved paint storage barrel of the present invention;

[0031] Figure 11 Front side schematic diagram of the improved paint storage barrel of the present invention.

[0032] In the figure, 1. Lead screw; 2. Rotary stepping motor 1; 3. Transmission motor; 4. Painting mechanism; 41. Painting roller; 42. Rocker; 43. Link 1; 44. Bracket; 5. Lead screw slide; 6. Rotary stepping motor 3; 7. Grinding mechanism; 71. Grinding head; 72. Disc; 73. Crank; 74. Link 2; 75. Bearing plate; 8. Dust collection connecting rod; 9. Crank-slider; 10. Laser positioning and recognition module; 11. Rotary stepping motor 2; 12. Rack; 13. Round table; 14. Transmission belt; 15. Synchronous belt pulley; 16. Support rod; 17. Paint storage barrel; 18. Cover plate; 19. Support block; 20. Hinge seat; 21. Bearing platform; 22. Coating film; 23. Support. Detailed implementation manners

[0033] To make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the following further describes the present invention in detail with reference to specific embodiments and the accompanying drawings.

[0034] As shown in the attach Figures 1-3As shown, the autonomous repair device for indoor ceiling bulge wall skin comprises a moving platform at the bottom, a gear rack mechanism is arranged on the moving platform, a self-rotating round table 13 is installed on the upper end thereof (a conventional servo round table mechanism is adopted to realize self-rotation), a screw slide 5 is installed on the round table 13 and can rotate with the round table 13, a grinding mechanism 2 and a painting mechanism 4 are respectively installed at adjacent positions on the screw slide 5, and they are translated along the axial direction with the help of them (the grinding mechanism 2 and the painting mechanism are specifically installed on the ball nut which moves axially on the screw 1, and the grinding mechanism 2 and the painting mechanism 4 can translate along the axial direction of the screw 1 to realize accurate positioning of the repair area).

[0035] The grinding mechanism 4 includes a supporting plate 75 connected to the screw slide 5, and a rotating stepping motor 2 is installed on one side of the supporting plate 75, and its output end is connected to a disc 72 and is located at the center of the disc 72. A crank 73 is hinged on the outer edge of the disc 72, and a connecting rod 2 74 is hinged on the other end of the crank 73, wherein the position of the connecting rod 2 74 is limited by a limiting groove or limiting guide rail in the vertical direction so that it can only move in the vertical direction. A grinding head 71 is installed on the upper end of the connecting rod, and then the grinding head 71 can be indirectly driven by the rotation of the disc 72 to perform up and down periodic lifting to complete the grinding.

[0036] Since the bulging wall skin that has been knocked off can easily pollute the indoor environment on a large scale, in this embodiment, a collecting mechanism for collecting the wall skin is set under the grinding head 71, and the collecting mechanism can cover the outer circle of the grinding head 71 to completely receive the knocked off wall skin, and at the same time gather the flying wall dust, putty layer, and topcoat layer to complete the collection as much as possible.

[0037] Specifically, the collecting mechanism includes a circular support platform 21 connected to the upper side of the carrier plate 75, support rods 16 are installed at intervals in the circumference of the support platform 21, and the connecting rod 24 passes through the middle of the support platform 21 and is fixedly sleeved with a support seat 23 at the upper position. The outer ring of the support seat 23 is circumferentially hinged with a dust collecting connecting rod 8 corresponding to the position of the support rod 16, wherein a long strip of moving groove is opened in the middle of the dust collecting connecting rod 8, and a crank slider 9 is installed at the upper end of the support rod 16 and is slidably connected in the moving groove. All dust collecting connecting rods 8 are surrounded by a circumferential circle and are fixedly sleeved with a covering film 22 (similar to the umbrella cover of a supporting umbrella) at both ends (fixed by adhesion or similar sewing).

[0038] The coating film 22 and the support 23 together form a relatively enclosed bearing area below, and this bearing area is much larger than the grinding area of the grinding head 71. Secondly, since the support 23 is fixed to the second connecting rod 74, it can perform up and down periodic movements along with the second connecting rod 74, thereby driving the dust collecting connecting rod 8 to rotate up and down, and finally realizing the slight shaking of the coating film 22. The advantage of this connection method is that it can gather the wall skin on the relatively outer side of the coating film 22 inward by shaking (similar to the vibration principle). On the one hand, it can bear more falling wall skin, and on the other hand, it can reduce the bearing gravity of the outer coating film 22 to a certain extent (the inner side is supported by the support 23 and the position of the dust collecting connecting rod is in the converging area).

[0039] The coating film 22 is made of a soft and deformable material with high bearing strength and not easy to break, such as polyester material, polyurethane material, etc.

[0040] The painting mechanism 4 includes a bracket 44 installed on the screw slide 5. A rotary stepping motor three 6 is installed on the bracket 44. The output end of the motor is hinged to a first connecting rod 43 through a crank 73. The other end of the first connecting rod 43 is hinged to a rocker 42. The rocker 42 and the first connecting rod 43 are coaxially pivoted on the bracket 44. A painting roller 41 is fixedly connected to the upper end of the first connecting rod 43. A paint storage bucket 17 for storing paint is installed outside the bracket 44 and on the screw slide 5. The bracket 44 is installed obliquely relative to the screw slide 5, so that the painting roller 41 can be immersed in one side of the paint storage bucket during the rotation of the rocker 42 driven by the motor to complete the paint dipping.

[0041] Considering that during the above paint dipping process, the wall skin at the next position is ground and then repaired, the paint storage bucket 17 needs to be open. Since the entire painting mechanism 4 is located on one side of the grinding mechanism, a large amount of wall ash and putty layer are likely to be immersed in the paint storage bucket 17 during use, resulting in paint pollution. Therefore, further design improvements are made for this problem.

[0042] As shown in the appendix Figure 10 Specifically, as shown in the figure, a support block 19 is installed on the relative rear side of the paint storage bucket 17. The upper end of the support block 19 is hinged to a cover plate 18 through a hinge seat 20. The cover plate 18 covers the open mouth of the paint storage bucket 17 in an inclined manner to form a shield (or directly lift the rear side of the paint storage bucket 17, and the cover plate 18 is directly hinged and covers the open mouth of the paint storage bucket 17 in an inclined manner).

[0043] Secondly, a reset spring is provided at the hinge base 20 (a conventional design, that is, a spring is installed at the hinge. When an external force acts, the spring is compressed or stretched to store elastic potential energy. When the external force is released, the spring releases energy to restore the hinge to its initial position), that is, when the painting roller 41 rotates to the paint storage bucket, the cover plate 18 is pressed downward to be immersed, and when leaving the paint storage bucket 17, the cover plate 18 can quickly reset to its initial state by means of the reset spring, thereby ensuring that the paint is not contaminated and can be effectively used.

[0044] Furthermore, when the painting roller 41 rotates out, it is easily blocked by the cover plate 18. As shown in the attached figure Figure 11 The cover plate 18 can be divided into two independent plates and connected by means of hinges respectively. At the same time, a spring is installed at the hinge joint, so that the lower plate is turned upward relative to the upper plate when the painting roller 41 rotates out, and then can automatically rotate downward and reset by means of the spring and continue to cover the paint storage bucket 17.

[0045] As shown in the attached figure Figure 2 The positioning mechanism (laser positioning module and recognition module, which uses a conventional module and can accurately lock the area to be repaired for the wall paint with point loss) is specifically installed on the lead screw slide 5. The kinematic pair consists of two translation pairs (a worm and gear lifting mechanism for up and down movement and a crank-slider 9 mechanism for horizontal movement) and a rotational pair (a servo turntable 13 mechanism that can rotate itself). The grinding mechanism and the painting mechanism 4 achieve horizontal, up and down, and circumferential position adjustments through the kinematic pair. Specifically, a gear-rack 12 mechanism is used to achieve lifting in the height direction and 360° rotation of the turntable. The grinding mechanism and the painting mechanism 4 are installed on the lead screw slide 5.

[0046] Device working process: The laser positioning module and the recognition module will detect the wall paint with point loss. The stepping motor 3 drives the synchronous pulley 15 combination mechanism to raise the rack 12. At the same time, the rotating stepping motor 1 drives the lead screw to rotate, so that the grinding mechanism 7 is aligned. The crank mechanism (the part of the structure that drives the grinding head 71 to move) will achieve periodic lifting through the rotating stepping motor 2, realizing periodic high-speed friction. At the same time, both ends of the dust collection connecting rod 8 are connected with films to form an enclosed shape, realizing the opening and closing of the film to collect dust. Then the rotating stepping motor 3 drives in the reverse direction to align the painting assembly. The rotating stepping motor 3 rotates the crank rocker device to drive the painting roller 41 to paint the wall surface. At the same time, the turntable 13 can be rotated to adjust the repair position around the device. After the processing is completed, the lead screw 1 is restored, and the rack 12 descends to complete the repair of the wall bulge.

[0047] 1. The specific design of the painting mechanism 4 is as follows

[0048] As shown in the attached figure Figures 3-4As shown in the figure, (1) Stroke requirement: The angle of the painting roller 41 from the paint bucket to the contact point on the wall should be not less than 110°. (2) Transmission angle requirement: In the design of the painting mechanism 4, considering the prevention of self-locking and effective component forces, the transmission angle should be as large as possible and greater than 30°. (3) Power requirement: Considering the self-weight of the mechanism and the normal pressure of the wall on the mechanism during operation, the MG310 DC geared motor is selected as the main power source. Through the force analysis of the existing component weights and motion states, F τmax ≤20N; According to the design requirements of the painting mechanism 4, through the analysis of the transmission angle, extreme position angle, and stroke, the rocker of the painting mechanism 4 is 20mm, the first connecting rod is 110m, the rocker is 205mm, and the frame length is 111mm.

[0049] As attached Figure 5 shown, (1) Analysis of the transmission angle of the painting mechanism

[0050] The formula for the theoretical transmission angle γ is as follows:

[0051] where the minimum transmission angle

[0052] α max = 90° - γ min , when the rocker 42 rotates to Figure 5 in the position shown in Figure a2, cosγ is the largest, γ min = 44.3°, at this time the pressure angle is the largest, α max = 45.7°. When the rocker 42 rotates to Figure 5 in the position shown in Figure a1, similarly, the minimum pressure angle and the maximum transmission angle can be obtained. Finally, the dynamic range of the pressure angle and the transmission angle is obtained: 33.5° ≤ α ≤ 45.7°, 44.3° ≤ γ ≤ 56.5°. It meets the design requirements of the minimum transmission angle of the first connecting rod and the rocker 4 in the mechanical manual. The actual minimum transmission angle γ min ≥ 30°, ensuring good transmission performance of the mechanism.

[0053] 2. The specific design scheme of the grinding mechanism is as follows

[0054] See attached Figures 6-7 shown, the main structure of the grinding head is a crank-slider 9 mechanism. When the crank 73 moves, it drives the grinding head to move up and down. When the grinding head moves upward, the dust collection connecting rod swings outward, and the film pasted on it unfolds to collect dust; when the grinding head 71 moves downward, the film folds up.

[0055] Design requirements for the grinding mechanism, transmission angle requirement: In the design of the crank-slider mechanism, the transmission angle should be as large as possible greater than 40° to ensure good transmission performance of the mechanism. Torque requirement: Considering the diameter of the disk 72 and the force, select the MG310 DC reduction motor as the main power source. Through the force analysis of the weight and motion state of the existing components, F τmax ≤1N.

[0056] According to the design requirements of the crank-slider mechanism, through the analysis of the transmission angle, torque, and extreme position angle, it is determined that the length of the crank 73 of the crank-slider mechanism is 15mm, the length of the connecting rod two is 51mm, and the stroke is 30mm.

[0057] Kinematic analysis of the mechanism,

[0058] (1) Analysis of the stroke of the guide rail slider: Since the crank-slider 9 mechanism is centric, its stroke is:

[0059] S = 2r = 2×15 = 30mm. After verification, the stroke meets the design requirements.

[0060] (2) Pressure angle analysis is shown in the appendix Figure 8 as follows: The transmission angle γ of the crank-slider mechanism can be expressed by the following formula:

[0061] where ψ is the angle between the crank 73 and the horizontal direction, e is the eccentricity, α is the length of the crank 73, and b is the length of the connecting rod.

[0062]

[0063] α max = 90° - Y min = 16.86°

[0064] That is, the pressure angle: α max ≤37°, and the transmission angle γ min > 40°, ensuring good transmission performance of the mechanism. At the same time, the actual transmission angle γ min > 0°, and the mechanism has no dead point.

[0065] (3) The movement range of the dust collection connecting rod 8 mechanism is shown in the appendix Figure 9 as follows: According to the cosine theorem:

[0066]

[0067] α max = arccos0.5 = 85°

[0068]

[0069] Therefore, the expansion angle of the connecting rod is 45° < α < 60°, meeting the actual requirements.

[0070] 3. The specific design of the lifting part is as follows

[0071] Lifting speed: Based on considerations of gears, synchronous pulleys, etc., as well as the transmission ratios and transmission accuracies of each mechanism, the lifting speed is adjusted to v = 0.05 m / s. Lifting load capacity: Based on the strength of the rod, the load-bearing capacities of worm gears, gears, and synchronous pulleys, as well as the normal pressure requirements necessary for wall processing, the lifting load limit of the equipment is <200 N.

[0072] The materials selected are a synchronous pulley 15 with a transmission ratio of 2:1, a worm gear with a transmission ratio of 15, a rack and pinion 12 with a transmission ratio of 1:6, and the power source is a 57-step drive motor 3 with an actual output power of approximately 10.8 W to 32.4 W.

[0073] The transmission efficiency (η) and transmission ratio (i) ranges of each level of transmission mechanism: The transmission efficiency range of the arc-tooth synchronous pulley 15 is 98% to 99%, and the transmission ratio range is from 1:1 to 10:1; the rotational efficiency of the arc cylindrical worm is 85% to 95%, and the transmission ratio range is from 10:1 to 40:1; the transmission efficiency of the gear and rack is 90% to 95%, and the transmission ratio range is from 1:1 to 1:10; in summary, a synchronous pulley 15 with a transmission ratio of 2:1, a worm gear with a transmission ratio of 15, and a gear and rack with a transmission ratio of 1:6 are selected (the specific design ideas of the worm gear mechanism, etc. are not elaborated).

[0074] Regarding the lifting part, it is relatively conventional. It mainly uses a power source to drive the rotation of the gear meshing with the rack 12 to achieve the lifting of the rack 12. Its structure and positional relationship can be seen in the appendix Figure 1 No further description will be given.

[0075] It should be noted that this embodiment mainly describes the components shown, the installation positions of the components, and the connection relationships between the component structures. Therefore, the specific designs of the above-mentioned grinding mechanism, painting mechanism, and lifting part mainly involve actual manufacturing, and the rest of the specific data formulas will not be elaborated.

[0076] In the above-mentioned specific embodiments, the purpose, technical solutions, and beneficial effects of the present invention have been further described in detail. It should be understood that the above-mentioned are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An indoor ceiling bulging wall covering self-repairing device, comprising a mobile platform, on which there is a first moving pair moving in the vertical direction and a second moving pair moving in the horizontal direction, and the second moving pair is connected to the first moving pair through a rotating pair, characterized in that: The top surface of the second sliding pair is integrated with a grinding mechanism and a painting mechanism, and the laser positioning module and the recognition module provided on the second sliding pair are used to identify the damaged wall paint; A collection mechanism is arranged below the grinding area of the grinding mechanism. The collection mechanism includes a coating film that encloses a circumferential circle, covers the outer circle of the grinding area and forms a closed bearing area, and the bearing area is larger than the grinding area; One side of the painting mechanism is provided with a paint storage bucket. When the painting part of the painting mechanism is placed in the paint storage bucket for dipping, the opening of the paint storage bucket is opened. A cover plate is hinged to the relative rear side of the paint storage bucket through a hinge seat, and the cover plate covers the opening of the paint storage bucket to form a shield, and a return spring is provided at the hinge seat.

2. The indoor top surface bulging wall covering self-repairing device according to claim 1, characterized in that: The grinding mechanism includes a bearing plate connected to the lead screw slide table. A rotary stepping motor II is installed on one side of the bearing plate, and its output end is connected to a disc and is located at the center of the disc. A crank is hinged to the outer edge of the disc, and the other end of the crank is hinged to a connecting rod II. The position of the connecting rod II is restricted by a limiting groove vertically opened on the bearing plate, and a grinding head is installed at the upper end of the connecting rod II.

3. The indoor top surface bulging wall paint self-repairing device according to claim 2, characterized in that: The collection mechanism includes an annular bearing platform connected to the upper side of the bearing plate. Support rods are installed at intervals in the circumferential direction of the bearing platform. The connecting rod II passes through the middle of the bearing platform and is fixedly sleeved with a support at the upper side position. The outer circle of the support is circumferentially hinged with dust collection connecting rods corresponding to the positions of the support rods one by one. A long strip-shaped moving groove is opened at the middle position of the dust collection connecting rod. A crank-slider is installed at the upper end of the support rod and is slidably connected in the moving groove.

4. The indoor top surface bulging wall skin self-repairing device according to claim 3, characterized in that: The dust collection connecting rods are all inclined and enclose a circumferential circle. The coating film is sleeved at both ends of the dust collection connecting rod. The coating film and the support jointly form a relatively closed bearing area below.

5. The indoor ceiling bulging wall paint self-repairing device according to claim 3, wherein: The support is fixed on the connecting rod II and moves up and down periodically with the connecting rod II to drive the coating film to vibrate.

6. The indoor ceiling bulging wall paint self-repairing device according to claim 1, characterized in that: The coating film is made of any one of polyester material and polyurethane material.

7. The indoor top surface bulging wall paint self-repairing device according to claim 1, wherein: The painting mechanism includes a bracket installed on the lead screw slide table. A rotary stepping motor III is installed on the bracket, and its output end is hinged to a connecting rod I through a crank. The other end of the connecting rod I is hinged to a rocker. The rocker and the connecting rod I are coaxially pivoted on the bracket. The upper end of the connecting rod I is fixedly connected to a painting roller, and the painting roller is the painting roller of the painting mechanism. The bracket is installed obliquely relative to the lead screw slide table so that the painting roller can be immersed in the paint storage bucket on one side during the rotation of the rocker.

8. The indoor top surface bulging wall paint self-repairing device according to claim 7, characterized in that: A support block is installed on the relative rear side of the paint storage bucket, and the cover plate is hinged to the support block. The cover plate covers the opening of the paint storage bucket in an inclined manner to form a shield.

9. The indoor ceiling bulging wall paint self-repairing device according to claim 8, characterized in that: The cover plate is divided into two independent plates and is respectively connected by a hinge method, and a spring is installed at the hinge.

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