CN115338860B - Automatic maintenance robot and maintenance method for fan blades - Google Patents

Abstract

The invention discloses an automatic maintenance robot for a fan blade, which comprises a walking unit, wherein the walking unit is provided with a patrol unit, a hoisting adjustment unit, a tool library, a consumable library and a repair unit, and adopts a double-layer nested structure, and the robot is moved on the fan blade along the X axis and the Y axis direction by the cooperation of an adsorption mechanism, an X axis moving mechanism and a Y axis moving mechanism; the hoisting adjusting unit adopts a symmetrical traction driving structure to realize the self-lifting motion of the robot along the traction rope direction, and simultaneously is matched with an asymmetrical rotor wing accommodating structure to realize the posture adjustment, flight control and self-accommodating of the robot, so that the robot can be ensured to stably fall onto the fan blade; the tool library and the consumable library are respectively used for storing tools and raw materials required by repairing the fan blade; the repairing unit adopts an image processing technology, and realizes repairing operation on the defect position on the fan blade through the cooperation of the mechanical arm and the tool library.

Description

A fan blade automatic maintenance robot and maintenance method

Technical Field

The invention belongs to the technical field of aerial work equipment, and in particular relates to an automatic maintenance robot and a maintenance method for fan blades.

Background Art

Against the background of intelligent operation and maintenance of wind turbine blades, relevant enterprises, institutes and universities have carried out research work and conceived or designed relevant automated operation and maintenance equipment, laying the foundation for realizing mechanization instead of manpower and intelligentization instead of manpower.

Looking at the Chinese patents CN113245128A, CN113289832A, and CN113290464A, these three patents respectively disclose a painting robot, a puttying robot, and a polishing robot for wind turbine blades. These three robots perform a repair operation process respectively, and the related operation processes have not been integrated together, making it difficult to promote and apply them in actual applications. At the same time, the above patents still have the following deficiencies in practical application: 1) The above device lacks safety redundancy design. Once the suction cup leaks or the air source fails, the robot will fall from a high altitude, causing a safety accident; 2) The robot's adsorption walking mechanism adopts a suction cup adsorption method, and explains that the number of moving mechanisms with suction cups can be six, eight or more, and the patent uses eight moving mechanisms as an example to explain its movement method, indicating that the patent does not pay attention to the balance problem of robot walking; 3) The main driving force of the robot arm in the patent comes from hydraulic drive. Although the force of the hydraulic drive is relatively large, the efficiency of the hydraulic drive is low (about 50%), which will reduce the utilization rate of energy, reduce the working time of the robot, and reduce the working efficiency; 4) The operating robot does not consider how to hoist it onto the fan blades; 5) The robot arm of the robot is an industrial robot arm, and the collaborative robot arm that is more flexible, has a stronger load-bearing capacity and is lighter in weight has not been adopted.

According to Chinese patent CN105082143A, a wind turbine blade dust removal robot is disclosed, which includes a body, three pairs of walking legs, a control system and a power supply system. The robot moves by grabbing the edge of the blade with its walking legs, which makes it more difficult to grab the edge of the thicker blade. As the blade size increases, the blade width becomes larger, which makes the walking legs wider, which is not conducive to the robot's walking and weight reduction. In order to stably grab the blade, a large grab force is required, which may cause the walking legs to damage the blade.

According to Chinese patent CN111941211A, a wind turbine blade grinding robot is disclosed, including a chassis and a grinding device. The robot uses four steering wheels on the chassis to carry out blade grinding related operations on the ground, and cannot carry out operations in the air; the main driving power source of the robot is hydraulic drive, but hydraulic drive has the disadvantages of low energy conversion efficiency, large space required for the hydraulic power source and oil tank, and easy leakage of hydraulic oil; the main actuator of the grinding component is a roller, and since the roller is 800mm wide, it is not conducive to grinding the curved surface of the wind turbine blade.

Summary of the invention

In the context of mechanized human evolution, in order to realize intelligent operation and maintenance of blade robots, the present invention provides a wind turbine blade maintenance robot and maintenance method to solve the problems of complex structure, poor stability, single operation mode and low efficiency of existing robots.

The present invention can be achieved through the following technical solutions:

A wind turbine blade automatic maintenance robot comprises a walking unit, on which an inspection unit, a hoisting adjustment unit, a repair unit, a tool library and a consumables library are arranged.

The walking unit adopts a double-layer nested structure, and realizes the movement of the robot along the X-axis and Y-axis directions on the fan blades through the cooperation of the adsorption mechanism, the X-axis moving mechanism and the Y-axis moving mechanism;

The hoisting adjustment unit adopts a symmetrical traction drive structure to realize the self-lifting movement of the robot along the direction of the traction rope, and cooperates with the asymmetrical rotor storage structure to realize the posture adjustment, flight control and self-storage of the robot, ensuring that the robot can land stably on the wind turbine blades;

The tool library is used to store tools required for repairing wind turbine blades;

The consumables library is used to store the raw materials required for repairing the fan blades;

The repair unit adopts image processing technology, and realizes the repair operation of the defect position on the wind turbine blade through the cooperation of the mechanical arm and the tool library;

The inspection unit is used to perform close-range on-site inspections of defects on the fan blades;

The walking unit, hoisting adjustment unit, and repair unit are all connected to the processor. The processor is used to control the hoisting adjustment unit to drive the robot to stably reach the wind turbine blades according to the defect information detected by the drone. During this period, the inspection unit is started to inspect the defects on the wind turbine blades, and then the walking unit is controlled to drive the robot to the defect position. Finally, the repair unit is controlled to complete the repair operation on the defect position, thereby realizing fully automated repair.

Furthermore, the walking unit includes a workbench, on which a lifting adjustment unit, a tool library, a consumables library, and a repair unit are arranged. The bottom surface of the workbench is connected to the inner frame through an X-axis moving mechanism and to the outer frame through a Y-axis moving mechanism. The inner frame and the outer frame adopt a nested structure with a gap between the two. An inner adsorption unit and an outer adsorption unit are correspondingly arranged on the bottom surface. The X-axis moving mechanism is used to drive the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction when the inner adsorption unit and the outer adsorption unit work alternately. The Y-axis moving mechanism is used to drive the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, thereby realizing the free movement of the robot on the fan blades.

Further, the X-axis moving mechanism includes a plurality of first linear slides and one or more first ball screws arranged along the X-axis direction, the slider of each of the first linear slides is connected to the workbench, the screw nut of each of the first ball screws is connected to the workbench, and one end of the screw is connected to the X-axis motor.

When the inner adsorption unit is working and the outer adsorption unit is not working, the inner frame is fixed, and the X-axis motor is used to drive the lead screw nut together with the workbench to move along the X-axis direction, and drive the slider connected to the workbench to move along the first linear slide rail, and drive the outer frame connected to the workbench to move along the X-axis direction.

When the outer adsorption unit is working and the inner adsorption unit is not working, the workbench is fixed, and the X-axis motor is used to drive the lead screw together with the inner frame to move along the X-axis direction, and drive the first linear slide connected to the inner frame to move along the X-axis direction, so as to realize the reciprocating motion of the slider on the first linear slide and the lead screw nut on the first ball screw, thereby driving the adsorption walking device to move in the X-axis direction;

The Y-axis moving mechanism includes a plurality of second linear guide rails and one or more second ball screws arranged along the Y-axis direction, wherein the slider of each second linear guide rail is connected to the workbench, the screw nut of each second ball screw is connected to the workbench, and one end of the screw is connected to the Y-axis motor.

When the outer adsorption unit is working and the inner adsorption unit is not working, the outer frame is fixed, and the Y-axis motor is used to drive the lead screw nut together with the workbench to move along the Y-axis direction, and drive the slider connected to the workbench to move along the second linear slide rail, and drive the inner frame connected to the workbench to move along the X-axis direction.

When the inner adsorption unit is working and the outer adsorption unit is not working, the workbench is fixed, and the Y-axis motor is used to drive the lead screw together with the outer frame to move along the Y-axis direction, and drive the second linear slide connected to the outer frame to move along the Y-axis direction, so as to realize the reciprocating motion of the slider on the second linear slide and the lead screw nut on the second ball screw, thereby driving the adsorption walking device to move in the Y-axis direction.

Furthermore, the outer frame and the inner frame are both square structures, and their length in the X-axis direction is greater than their length in the Y-axis direction. A protrusion is provided on the side of the outer frame corresponding to the inner frame in the X-axis direction. The length of the protrusion is greater than that of the inner frame, and a gap is left between its top surface and the bottom surface of the workbench.

Furthermore, the hoisting adjustment unit includes a lifting unit arranged at one end of the chassis of the walking mechanism and an adjustment unit arranged around the chassis of the walking mechanism.

The adjustment unit includes a plurality of rotors arranged around the chassis and an attitude detection module arranged on the bottom surface of the chassis, the attitude detection module is used to detect the distance information between different positions of the chassis and the fan blades, and the center of gravity position offset. Each rotor is connected to the walking mechanism through a storage rotating mechanism, and the storage rotating mechanism is used to adjust the distance between each rotor and the chassis periphery, the rotation speed, and the contraction and extension.

The attitude detection module and the storage rotation mechanism are both connected to the processor. The processor is used to control the extension of each group of rotors through the storage rotation mechanism. According to the center of gravity position offset detected by the detection unit, the storage rotation mechanism is used to adjust the distance between the corresponding rotor and the periphery of the chassis, so that the center of gravity position is always located at the geometric center of all rotors. According to the distance information detected by the detection unit, the rotation speed of each group of rotors is controlled by the storage rotation mechanism, thereby adjusting the distance between different positions of the chassis and the fan blades, realizing the attitude adjustment of the robot, ensuring that the robot can stably land on the fan blades, and then controlling the retraction of each group of rotors through the storage rotation mechanism, thereby preparing for the subsequent operation of the robot.

Furthermore, the storage rotating mechanism includes a base, on which a first motor is arranged, and an output shaft of the first motor is connected to a corresponding rotor through a folding mechanism, and the first motor is used to drive the folding mechanism and the rotor to rotate;

The base is connected to one end of the connecting arm, the connecting arm adopts an electrically driven telescopic structure, and the other end is connected to the second motor, the output shaft of the second motor is fixedly connected to the opening of the U-shaped bracket, the closed end of the U-shaped bracket is connected to the chassis, and the second motor is used to drive the connecting arm and the base to fold from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, so as to realize the storage of the entire storage rotating mechanism;

The folding mechanism includes two parallel plates, each of which has a through hole in the center that cooperates with the output shaft of the first motor, and a third motor is arranged at each end of the gap between the two plates, and the output shaft of each third motor is connected to a rotor for driving the rotor to fold from the axial direction of the connecting arm to the direction vertical to the axial direction of the connecting arm or from the direction vertical to the axial direction of the connecting arm to the axial direction of the connecting arm.

Furthermore, the lifting unit includes a left rope collecting wheel arranged at the left end of the chassis, and a right rope collecting wheel arranged at the right end of the chassis. The central axis of the left rope collecting wheel is connected to the output shaft of the left driver, and the central axis of the right rope collecting wheel is connected to the output shaft of the right driver. The left driver and the right driver are respectively used to control the left rope collecting wheel and the right rope collecting wheel to rotate forward or reverse, so as to control the pulling out or retracting of the traction rope wound thereon.

A left wire guide and a left metering unit are arranged in front of the left rope receiving wheel, and a right wire guide and a right metering unit are arranged in front of the right rope receiving wheel. The left metering unit and the right metering unit are respectively used to calculate the length of the traction rope pulled out or retracted through the left rope receiving wheel and the right rope receiving wheel, and the left wire guide and the right wire guide are used to evenly wind the traction rope around the left rope receiving wheel and the right rope receiving wheel;

The left metering unit, the right metering unit, the left driver and the right driver are all connected to the processor. The processor is used to control the rotation direction or rotation speed of the left driver or the right driver respectively according to the length of the traction rope detected by the left metering unit and the right metering unit, so that the length of the traction rope pulled out or taken back by the left rope taking-up wheel and the right rope taking-up wheel is the same, thereby ensuring the balance of the robot during the entire lifting process.

Furthermore, the repair unit includes a multi-degree-of-freedom collaborative robotic arm, at the end of which are arranged an image acquisition module and a quick-change main disk, and the tool library is evenly spaced with a plurality of quick-change sub-disks that cooperate with the quick-change main disk, each of which is connected to a tool, thereby realizing quick replacement between various tools and the end of the robotic arm, and the image acquisition unit and the driving module of the robotic arm are connected to the processor, which is used to perform image recognition using image processing technology based on the defect image information detected by the image acquisition module, and then control the robotic arm through the driving module to select appropriate tools and materials to repair the defective position, and feed back the repair results to the host computer.

Further, the tool library includes a T-shaped three-dimensional frame, and a plurality of elastic locking mechanisms are arranged at intervals on both sides of the vertical portion of the T-shaped three-dimensional frame. The elastic locking mechanisms are arranged one by one in correspondence with the tools and are used to lock the corresponding tools or unlock the corresponding tools. Each of the tools is arranged correspondingly to the quick-change device at the end of the robot.

The consumables library is arranged at the transverse part of the T-shaped three-dimensional frame, and includes a plurality of storage tanks, each of which is used to store raw materials required for repairing defects. The transverse part adopts an open hollow structure, and a plurality of annular clamps are arranged inside it, each of which is used to fix a storage tank. Each storage tank is connected to a vacuum pump, and an electromagnetic valve and a conducting pipe are arranged at the opening thereof. The free side of the conducting pipe extends to the nozzle at the end of the robotic arm along the mechanical arm.

The vacuum pump, electromagnetic valve, and elastic locking mechanism are all connected to the processor, and the processor is used to control the locking or unlocking of the corresponding tool through the elastic locking mechanism, thereby realizing the connection or disconnection between the quick-changing device at the end of the robotic arm and the corresponding tool. Through the coordinated work of the vacuum pump and the electromagnetic valve, the liquid inside the corresponding storage tank is transported to the nozzle through the conducting pipe and sprayed to the defective position.

A maintenance method based on the above-mentioned wind turbine blade automatic maintenance robot comprises the following steps:

Step 1: Use drones to perform overall flaw detection on wind turbine blades, determine and upload defect information to the host computer;

Step 2: The host computer sends a control instruction to the robot's processor, and the processor controls the hoisting adjustment unit to drive the robot to rise, fly and land on the wind turbine blade. During this period, the inspection unit is started to conduct a close-range on-site inspection of the defects on the wind turbine blade, and then the walking unit is controlled to drive the robot to the defect location;

Step 3: Analyze and process the image detected by the image acquisition module at the end of the robot arm, and perform cleaning, grinding, spraying, surface shaping, heating and curing operations on the defective position according to the analysis results to achieve surface modification;

Step 4: Perform a flatness test on the defective position after surface shaping. If it meets the standard, the robot is driven to the next defective position by the walking unit or the auxiliary adjustment unit to continue surface shaping. If it does not meet the standard, repeat step 3 until the flatness meets the standard.

The beneficial technical effects of the present invention are as follows:

1. The blade maintenance robot disclosed in the present invention can realize the whole process operation. Combined with the tool library, consumables library and the quick-change device of the mechanical arm, a whole set of operation processes such as blade defect inspection, grinding, spraying, shaping, drying and shaping re-inspection are integrated into the maintenance robot. Different tools are used to complete different types of repairs. This is not a simple combination of functions that can be achieved by robots with single operation functions, but an integrated design based on the needs of wind blade maintenance. The maintenance robot can continuously perform repair operations with high operation efficiency.

2. The hoisting adjustment unit of the robot disclosed in the present invention can provide traction for the lifting of the robot, and can be combined with the adjustment unit to adjust the robot's posture and realize flight control, so that the robot can meet the hoisting requirements under the condition of tilted wind turbine blades and better adapt to land and sea operating environments.

3. The rotor storage structure disclosed in the present invention has a telescopic function, which can adjust the arm span of the rotor so that the center of gravity of the robot is located as close to the geometric center of the rotor as possible, so that the rotor can give full play to its efficiency, avoid excessive redundant design, and lay the foundation for reducing the space occupied by the robot and the weight of the whole machine.

4. The walking unit disclosed in the present invention adopts a double-layer chassis design, so that the robot can still be stably adsorbed on the blade during walking, and can achieve adaptive movement according to the curved surface shape of the blade and the operation requirements. The moving direction and moving distance are not limited by the mechanism, and combined with the rotor design of the adjustment unit, the robot can be collaboratively walked according to the actual needs of the operation, so the operation mode is more flexible and the application range is wider;

A ball screw and a slide rail are used as the driving mechanism of the walking unit, and the thickness of the chassis can be less than 100 mm. The small thickness reduces the center of gravity of the entire robot and improves the stability of the whole machine. With the help of the raised design on the side of the outer frame, the distance that the inner frame extends outward can be extended, the length of the resistance arm of the entire base can be increased, and the stability of the robot during operation can be increased. In addition, when there are guide vanes on the fan blades, the height of the chassis can be raised to cross the guide vanes to achieve obstacle-crossing walking.

5. The repair unit disclosed in the present invention is composed of an elastic locking mechanism of the tool library of the robot's end quick-change device structure. It has good adaptability, can meet the surface shaping requirements of blades at different positions, improve the adaptability of the shaping tools and the entire robot, and can ensure the safety and reliability of the robot's picking and placing of tools in different operation stages, laying the foundation for realizing the integration of the robot's operation functions.

6. The robot lifting unit disclosed in the present invention ensures the safety of the robot lifting process through two independent traction drive structures; accurately calculates the length of the retracted and released ropes through the encoding disk, thereby solving the balance problem of the robot lifting; and adopts a mechanical and electronically controlled dual insurance device design to ensure the safety of the robot during operation and sudden power failure.

BRIEF DESCRIPTION OF THE DRAWINGS

Figures 1 and 2 are schematic diagrams of the overall structure of the present invention, respectively;

FIG3 is a schematic structural diagram of a walking unit of the present invention;

FIG4( a ) is a schematic diagram of the state of the walking unit of the present invention in the first stage of rightward movement along the X-axis direction;

FIG4( b ) is a schematic diagram of the state of the adsorption walking device of the present invention in the second stage of rightward movement, i.e., returning to the initial position;

FIG5( a ) is a schematic diagram of the state of the walking unit of the present invention moving forward along the Y-axis direction in the first stage;

FIG5( b ) is a schematic diagram of the state of the walking unit of the present invention in the second stage of forward movement, i.e., returning to the initial position;

FIG6 is a schematic diagram of a state in which the inner frame of the present invention moves into the protrusion to change the center of gravity position of the entire device;

FIG7 is a schematic diagram of the overall structure of the adjustment unit in the extended state of the present invention;

FIG8 is a schematic diagram of the overall structure of the adjustment unit in the storage state of the present invention;

FIG9 is a schematic structural diagram of a storage rotating mechanism of the present invention;

FIG10 is a schematic diagram of the installation state of the posture detection unit of the present invention on the chassis;

FIG11 is a schematic diagram of the overall structure of the lifting unit of the present invention;

FIG12 is a schematic structural diagram of a right metering unit of the present invention;

FIG13 is a schematic diagram of the matching structure of the electromagnetic micro telescopic rod and the limiting groove of the present invention;

FIG14 is a schematic diagram of a partial structure of a tool library of the present invention;

FIG15 is a schematic diagram of the structure of the fastening claw hand and the elastic locking mechanism of the present invention;

FIG16( a ) is a schematic diagram of a state in which the fastening claw of the present invention is retracted;

FIG16( b ) is a schematic diagram of the fastening claw of the present invention in an open state;

FIG17 is a schematic diagram of the structure of the consumables library of the present invention;

Among them, 1-travel unit, 101-workbench, 102-inner frame, 103-outer frame, 1031-protrusion, 104-first linear slide, 105-first ball screw, 106-X-axis motor, 107-second linear slide, 108-second ball screw, 109-Y-axis motor, 110-vacuum suction cup, 2-repair unit, 201-quick change device, 3-tool library, 301-tool, 302-T-shaped three-dimensional frame, 303-C-shaped tray, 304-fastening claw, 3041-movable part, 3042-fixed part, 305-baffle, 306-first push rod, 307-second push rod, 308-flexible steel wire, 309-first return spring, 310-second return spring, 311-locking mechanism, 4-consumption Material warehouse, 401-storage tank, 402-ring clamp, 5-lifting unit, 501-left rope wheel, 502-right rope wheel, 503-left drive, 504-right drive, 505-left cable arranger, 506-right cable arranger, 507-left metering unit, 508-right metering unit, 5081-encoder, 5082-groove wheel, 509-guide, 510-limiting groove, 511-electromagnetic micro telescopic rod, 512-support plate, 6-adjustment unit, 601-rotor, 602-storage rotating mechanism, 6021-base, 6022-first motor, 6023-second motor, 6024-connecting arm, 6025-U-shaped bracket, 6026-clamp, 6027-third motor, 6028-movable support rod.

DETAILED DESCRIPTION

The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

As shown in Figures 1-2, the present invention provides an automatic maintenance robot for wind turbine blades, including a walking unit 1, on which are arranged an inspection unit, a hoisting adjustment unit, a repair unit 2, a tool library 3 and a consumables library 4. The walking unit 1 adopts a double-layer nested structure, and the robot moves along the X-axis and Y-axis directions on the wind turbine blades through the cooperation of an adsorption mechanism, an X-axis moving mechanism and a Y-axis moving mechanism; the hoisting adjustment unit adopts a symmetrical traction drive structure to realize the self-lifting movement of the robot along the direction of the traction rope, and at the same time cooperates with an asymmetrical rotor storage structure to realize the posture adjustment, flight control and self-storage of the robot, so as to ensure that the robot can stably land on the wind turbine blades; the tool library 3 is used to store the repair Tools required for fan blades; the consumables library 4 is used to store the raw materials required for repairing fan blades; the repair unit 2 adopts image processing technology, and realizes the repair operation of the defective position on the fan blade through the cooperation of machinery and tool library; the inspection unit is used to perform close-range on-site inspection of defects on the fan blades; the walking unit, the hoisting adjustment unit, and the repair unit are all connected to the processor, and the processor is used to control the hoisting adjustment unit to drive the robot to stably reach the fan blades according to the defect information detected by the drone, during which time the inspection unit is started to inspect the defects on the fan blades, and then the walking unit is controlled to drive the robot to the defect position, and finally the repair unit is controlled to complete the repair operation of the defect position, thereby realizing fully automated repair. In this way, with the help of a symmetrical driving and traction structure, the balance and stability of the robot during the lifting and hoisting process are ensured, and then the asymmetrical rotor structure is used to achieve stable landing of the robot. At the same time, the storage function is used to store the adjustment unit, reducing the occupied space and avoiding unnecessary damage to the adjustment unit or even the entire robot. Then, the walking unit can be used to realize the free movement of the robot on the wind turbine blades, which improves the convenience and application scope of maintenance. Finally, the repair unit is combined with the tool library and consumables library to perform the repair operation, completing the full automation of the entire process from lifting to repair. It has a high level of intelligence, comprehensively reduces human participation, lowers the threshold for operator experience, improves work efficiency and safety, saves a lot of material resources, and has broad application prospects. The details are as follows:

As shown in Figures 3-6, the walking unit 1 includes a workbench 101, the bottom surface of the workbench 101 is connected to the inner frame 102 through an X-axis moving mechanism, and is connected to the outer frame 103 through a Y-axis moving mechanism. The workbench 101, the inner frame 102, and the outer frame 103 together constitute the chassis of the robot. A tool library 3, a consumables library 4, a repair unit 2, and a traction drive structure are arranged on the top surface of the chassis, and a rotor storage structure is arranged around them.

The inner frame 102 and the outer frame 103 adopt a nested structure with a gap between them, and an inner adsorption unit and an outer adsorption unit are correspondingly arranged on their bottom surfaces. The X-axis moving mechanism is used to drive the workbench 101 together with the outer frame 103 and the inner frame 102 to move alternately along the X-axis direction when the inner adsorption unit and the outer adsorption unit work alternately. The Y-axis moving mechanism is used to drive the workbench 101 together with the inner frame 102 and the outer frame 103 to move alternately along the Y-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, thereby realizing the free movement of the robot on the wind turbine blades, expanding the convenience and application scope of the robot repair operation, wherein the gap between the inner frame 102 and the outer frame 103 is the moving step length of the Y-axis moving mechanism and the X-axis moving mechanism, which can be determined according to actual conditions.

In order to reduce the complexity of the structure and ensure the stability of the robot's walking, the X-axis moving mechanism includes a plurality of first linear guide rails 104 and one or more first ball screws 105 arranged along the X-axis direction. The slider of each first linear guide rail 104 is connected to the workbench 101, and the screw nut of each first ball screw 105 is connected to the workbench 101. One end of the screw is connected to the X-axis motor 106. The specific position arrangement can be that the first ball screw 105 is arranged in the central position of the plurality of first linear guide rails 104, or it can be arranged on both sides of the workbench 101.

As shown in FIG4 , when the inner adsorption unit is working and the outer adsorption unit is not working, the inner frame 102 is fixed, and the X-axis motor 106 is used to drive the lead screw nut together with the workbench 101 to move along the X-axis direction, and drive the slider connected to the workbench 101 to move along the first linear slide rail 104, and drive the outer frame 102 connected to the workbench 101 to move along the X-axis direction.

When the outer adsorption unit is working and the inner adsorption unit is not working, the workbench 101 is fixed, and the X-axis motor 106 is used to drive the lead screw together with the inner frame 102 to move along the X-axis direction, and drive the first linear slide 104 connected to the inner frame 102 to move along the X-axis direction, so as to realize the reciprocating motion of the slider on the first linear slide 104 and the lead screw nut on the first ball screw 105, thereby driving the adsorption walking device to move in the X-axis direction;

As shown in FIG5 , similarly, the Y-axis moving mechanism includes a plurality of second linear guide rails 107 and one or more second ball screws 108 arranged along the Y-axis direction. The slider of each second linear guide rail 107 is connected to the workbench 101, and the screw nut of each second ball screw 108 is connected to the workbench 101. One end of the screw is connected to the Y-axis motor 109.

When the outer adsorption unit is working and the inner adsorption unit is not working, the outer frame 103 is fixed, and the Y-axis motor 109 is used to drive the lead screw nut together with the workbench 101 to move along the Y-axis direction, and drive the slider connected to the workbench 101 to move along the second linear slide rail 107, and drive the inner frame 102 connected to the workbench 101 to move along the X-axis direction.

When the inner adsorption unit is working and the outer adsorption unit is not working, the workbench 101 is fixed, and the Y-axis motor 109 is used to drive the lead screw together with the outer frame 103 to move along the Y-axis direction, and drive the second linear slide 107 connected to the outer frame 103 to move along the Y-axis direction, so as to realize the reciprocating motion of the slider on the second linear slide 107 and the lead screw nut on the second ball screw 108, thereby driving the adsorption walking device to move in the Y-axis direction.

In order to improve the obstacle avoidance capability of the entire device, an obstacle avoidance detection unit is arranged around the outer frame 103. The obstacle avoidance detection unit may include a camera, various ranging sensors, etc., which are used to detect the obstacle conditions around the adsorption walking device, and cooperate with the X-axis moving mechanism and the Y-axis moving mechanism to realize the obstacle avoidance operation of the adsorption walking device. If an obstacle is found 5 cm in front of the left, the X-axis moving mechanism and the Y-axis moving mechanism can be used to make the adsorption walking device pass over the obstacle from the right side and continue to move forward.

At the same time, taking into account that there are multiple guide vanes fixedly installed on the fan blades, which extend horizontally and vertically across the entire fan blades and cannot be crossed by the above-mentioned obstacle avoidance method, we have added a height adjustment mechanism to the adsorption unit, that is, the inner adsorption unit includes a plurality of vacuum suction cups 110, which are respectively arranged on the bottom surface of the inner frame at intervals by respective height adjustment mechanisms, and the outer adsorption unit also includes a plurality of vacuum suction cups 110, which are respectively arranged on the bottom surface of the outer frame at intervals by respective height adjustment mechanisms. The height adjustment mechanism is used to adjust the height of the vacuum suction cup 110 from the outer frame 103 or the inner frame 102. In this way, when the obstacle avoidance detection unit identifies that the obstacle in front is a guide vane, the outer frame or the inner frame is raised through the height adjustment mechanism, even if the workbench is raised, and the guide vane is passed and then moved forward, thereby realizing the obstacle crossing operation of the adsorption walking device.

Taking into account the requirements of the moving direction, the outer frame 103 and the inner frame 102 are designed to have a square structure. The first linear slide 104 and the first ball screw 105 can be arranged on the two side edges of the inner frame 103 in the X-axis direction. Similarly, the second linear slide 107 and the second ball screw 108 can also be arranged on the two side edges of the outer frame in the Y-axis direction. Considering that the ball screw is an active component, it can be arranged in the middle position of the inner frame and the outer frame. For example, a tongue extending toward the center is arranged on the edge of the inner frame and the outer frame, and the ball screw can be arranged on the corresponding tongue. The first linear slide 104 and the second linear slide 107 are divided into two groups, which are symmetrically distributed on both sides of the ball screw. Of course, a group of ball screws can also be arranged on the two parallel sides of the inner frame and the two parallel sides of the outer frame to ensure that the inner frame 102 and the outer frame are subjected to uniform force. Of course, the specific situation needs to be determined according to the actual situation. For example, if the area of the workbench is small, it can be not arranged in the middle position.

In order to adapt to the actual layout requirements of the device, the outer frame 103 and the inner frame 102 may be in the shape of long strips, such as the length in the X-axis direction is greater than the length in the Y-axis direction, and the robotic arm may extend to the side of the device during operation. At this time, the center of gravity of the device will change, and there will be a risk of tipping over. Therefore, as shown in Figure 6, we have provided protrusions 1031 on the sides of the outer frame 103 corresponding to the inner frame 102 in the X-axis direction. The length of the protrusion 1031 is greater than the length of the inner frame, and its top surface is in contact with the bottom surface of the workbench 101, so that the movement range of the inner frame 102 relative to the outer frame 103 is not just the gap between the two, and it can move as far as possible toward the inner edge of the outer frame 103 until the protrusion 1031 abuts against the slide rail component on the inner frame 102, thereby changing the center of gravity of the entire device so that it can be as close as possible to the offset position of the robotic arm, thereby improving the stability of the entire device and reducing the risk of tipping over.

The hoisting adjustment unit includes a lifting unit 5 and an adjustment unit 6. The lifting unit 5 is arranged at one end of the chassis and is used to lift the robot by a traction rope to realize the self-lifting of the robot. The adjustment unit 6 is arranged around the chassis and is used to realize the flight control and attitude adjustment of the robot through the cooperation of multiple sets of rotors to ensure that the robot can stably land on the wind turbine blades.

As shown in FIGS. 7-10 , the adjustment unit 6 includes a plurality of groups of rotors 601 arranged around the workbench 101 and a posture detection module arranged on the bottom surface of the inner frame 102. The posture detection module is used to detect the distance information between different positions of the chassis and the fan blades and the center of gravity position offset of the robot. Each group of rotors 602 is connected to the workbench through a storage rotating mechanism 602. The storage rotating mechanism 602 is used to adjust the distance, rotation speed, contraction and extension of each group of rotors 601 and the periphery of the workbench 101. The posture detection module and the storage rotating mechanism 602 are connected to the processor, which is used to control each group of rotors 601 through the storage rotating mechanism 602. The extension of the rotor 601 is based on the center of gravity position offset detected by the attitude detection unit, and the spacing between the corresponding rotor 601 and the chassis periphery is adjusted by the storage rotation mechanism 602, so that the center of gravity position is at the geometric center of all the rotors 601. According to the distance information detected by the attitude detection unit, the rotation speed of each group of rotors 601 is controlled by the storage rotation mechanism 602, so as to adjust the distance between different positions of the chassis and the fan blades, realize the attitude adjustment of the robot, ensure that the robot can stably land on the fan blades, and then control the contraction of each group of rotors 601 through the storage rotation mechanism 602, so as to prepare for the subsequent operation of the robot. As for the flight control of the robot, it can be controlled by a method similar to the control of a quad-rotor drone.

As shown in FIG9 , the storage rotating mechanism 602 includes a base 6021, on which a first motor 6022 is arranged, and an output shaft of the first motor 6022 is connected to a corresponding rotor through a folding mechanism, so as to drive the folding mechanism and the rotor to rotate. The base 6021 and the first motor 6022 can both adopt a flat cylindrical structure to reduce the occupied space; the base 6021 is connected to one end of a connecting arm 6024, and the connecting arm 6024 adopts an electrically driven telescopic structure, and the other end thereof is connected to a second motor 6023, and an output shaft of the second motor 6023 is fixedly connected to an opening of a U-shaped bracket 6025, and a closed end of the U-shaped bracket 6025 is connected to a workbench, and the second motor 6023 is used to drive the connecting arm 6024 and the base 6021 to fold from a horizontal direction to a vertical direction or from a vertical direction to a horizontal direction, thereby realizing the storage of the entire storage rotating mechanism. The second motor 6023 adopts a dual-axis output structure to match the through holes of the two side plates of the U-shaped bracket 6025, and the connecting parts are reduced as much as possible. At the same time, in order to facilitate the maintenance of the second motor 6023, we can design a cylindrical structure with one end sealed, and the unsealed end is sleeved on the connecting arm 6024. The sealed end is connected to the second motor 6023, and then it can be locked on the connecting arm 6024 with the help of fasteners, which is also convenient for disassembly. In this way, the entire second motor 6023 can be formed into an independent module structure, which is convenient for maintenance. In this way, with the help of the rotation of the second motor 6023, the entire storage and rotation mechanism is driven to rotate and store or rotate and extend toward the workbench. At the same time, the telescopic function of the connecting arm 6024 can be used to adjust the spacing between the rotor and the workbench, which can further reduce the volume of the entire storage and rotation mechanism. Of course, the telescopic function of the connecting arm 6024 can also adjust the arm span length of the rotor according to the displacement of the center of gravity of the robot, so as to provide a basis for subsequent stable landing.

The folding mechanism includes two parallel clamps 6026, each of which has a through hole in the center that cooperates with the output shaft of the first motor 6022. A third motor is arranged at each end of the gap between the two clamps 6026. The output shaft of each third motor 6027 is connected to a rotor, which also adopts a flat cylindrical structure, and is used to drive the rotor to fold from the axial direction of the connecting arm 6024 to the vertical direction or from the vertical and axial direction of the connecting arm 6024 to the axial direction of the connecting arm 6024.

In order to save space, the first motor 6022, the third motor 6027 and the base 6021 all adopt a flat cylindrical structure. The clamping plate 6026 is arranged as a long strip structure. The first motor 6022 is arranged on the top of the base 6021, and its output shaft passes through the through holes in the center of the two clamping plates 6026 and is fixedly connected to them to drive the rotor to rotate. The third motor 6027 is arranged in the gap between the two clamping plates 6026 and can be fixed on one clamping plate 6026. Its output shaft is arranged on the other clamping plate 6026 through a bearing, and the rotor is mounted on the output shaft, so that the rotor can be folded and stored under the drive of the third motor 6027.

The second motor 6023 adopts a dual-axis output structure, which is convenient for cooperating with the open end of the U-shaped bracket 6025. The second motor 6023 can be set at one end of a sleeve, and the other end of the sleeve is mounted on the other end of the connecting arm 6024, which can be locked by fasteners, and is also convenient for disassembly and maintenance. One end of the connecting arm 6024 is directly connected to the side of the base 6021, and together with the folding mechanism forms an L-shaped structure, which is convenient for folding and storage while not affecting the rotation of the rotor. At the same time, we can also set a movable support rod 6028 that cooperates with the connecting arm 6024. One end of the movable support rod 6028 is provided with a C-shaped opening, which can be clamped on the connecting arm 6024, and the other end is provided with a rectangular frame, which can accommodate each group of rotors after folding. When the folding and storage is completed, the movable support rod 6028 can be pushed by hand along the connecting arm 6024 to insert each group of rotors into the rectangular frame, thereby further improving the safety of the rotors.

When the rotor is required to work, the third motor 6027 drives the rotor to rotate to a position colinear with the clamping plate 6026. At the same time, driven by the second motor 6023, the connecting arm 6024 and the base 6021 are rotated away from the chassis to make them perpendicular to the side of the chassis, so as to achieve the extension of the entire storage rotating mechanism, and facilitate the first motor 6022 to drive the clamping plate 6026 to rotate together with the rotor, so as to prepare for the subsequent lifting posture adjustment;

When the rotor is not needed to work, such as during the hoisting process, the third motor 6027 drives the rotor to rotate to a position perpendicular to the clamping plate 6026 and in line with the connecting arm 6024, completing the folding and storage of the rotor. At the same time, driven by the second motor 6023, the connecting arm 6024 and the base 6021 are rotated toward the chassis to make them parallel to the side of the chassis, so as to achieve the folding and storage of the entire storage and rotation mechanism, reduce the occupied space, protect the entire hoisting posture adjustment device, and facilitate the hoisting operation of the aerial work robot by equipment such as winches. In order to increase the support force of the storage and rotation mechanism after storage, we set a support frame at the position of the connecting arm 6024 after storage around the chassis, and its opening cooperates with the connecting arm 6024 to play a supporting role.

As shown in FIG10 , the attitude detection unit includes five groups of distance measuring sensors 6029, which are respectively arranged at the front, rear, left, right and central positions of the chassis. We set a group of rotors at the positions corresponding to the distance measuring sensors at the front, rear, left and right ends of the chassis periphery, so that the lift adjustment in the front, rear, left and right directions can be achieved according to the distance test in the front, rear, left and right directions of the aerial work robot, and then the attitude adjustment is completed. Considering the actual operation of the aerial work robot, the chassis of the aerial work robot in this embodiment is a rectangular parallelepiped structure, and its front end is used to assemble the traction rope for hoisting. The four groups of rotors 601 structures are only divided into two groups, distributed on the left and right sides of the chassis periphery. They are arranged asymmetrically, and the five groups of distance measuring sensors 6029 at this time are still in the front, rear, left, right and central positions of the chassis, so as to accurately detect the distance between the chassis and the blades. The specific adjustment method will be described in detail below.

When the adjustment unit of the present invention is used for attitude adjustment, the processor controls the corresponding rotor 601 to retract through the storage rotating mechanism 602. When reaching the target position, the processor controls the corresponding rotor 601 to extend through the storage rotating mechanism 602, and then adjusts the rotation speed of the corresponding rotor 601 through the storage rotating mechanism 602 according to the distance information detected by the attitude detection unit, so that the chassis is parallel to the corresponding position of the fan blade, thereby ensuring that the aerial work robot can stably land on the fan blade; or according to the center of gravity position offset detected by the attitude detection unit, the distance between the corresponding rotor and the chassis periphery is adjusted through the storage rotating mechanism, so that the center of gravity position is always located at the geometric center of all rotors, and then the rotation speed of the corresponding rotor is adjusted through the storage rotating mechanism, so that the chassis is parallel to the corresponding position of the fan blade, thereby ensuring that the aerial work robot can stably land on the fan blade. As for flight control, it is similar to the control method of a four-rotor drone, which will not be described in detail here.

Considering that the chassis area of the aerial work robot is much smaller than that of the wind turbine blades, when adjusting the posture, we use the distance information detected by the central position ranging sensor as the benchmark, and adjust the rotation speed of the corresponding rotor according to the set frequency through the storage rotating mechanism, so that the difference between the distance information detected by the front, rear, left and right end ranging sensors and the benchmark is always within an acceptable range, until the aerial work robot can land stably on the wind turbine blades.

Since the closer to the fan blades, the higher the stability requirement, the set frequency can be set larger and larger as the base becomes smaller and smaller.

If the distance information detected by the front, rear, left or right end ranging sensor is smaller than the benchmark, it means that the corresponding end of the aerial work robot is closer to the wind blades. The rotation speed of the corresponding rotor is increased by adjusting the storage rotating mechanism to increase the lift of the corresponding end until the difference with the benchmark is within an acceptable range; if the distance information detected by the front, rear, left or right end ranging sensor is larger than the benchmark, it means that the corresponding end of the aerial work robot is far from the wind blades. The rotation speed of the corresponding rotor is reduced by adjusting the storage rotating mechanism to reduce the lift of the corresponding end until the difference with the benchmark is within an acceptable range.

As the robot's operation progresses, the situations where the robot's center of gravity changes significantly include but are not limited to: 1) the position of the robot arm has not completely returned to the initial position; 2) when the robot is operating, some materials are consumed, resulting in changes in the center of gravity; 3) in order to meet the task requirements, tools for different purposes are carried, resulting in changes in the robot's center of gravity, etc. At this time, if the robot's balance problem is only met by changing the lift of the rotor, it will require a large redundant space to be reserved for the lift of the rotor, which will not only increase the size of the rotor, but also prevent the rotor's power from being fully released. At the same time, if the robot's center of gravity deviates greatly, the rotor will consume too much energy when adjusting its posture, which is not conducive to the allocation of the entire machine's electrical energy, affecting the robot's operating time and work efficiency. Therefore, the present invention adopts an asymmetric rotor arrangement and a power mechanism that drives the rotor to extend and retract to work in conjunction with each other to cope with posture adjustments when the center of gravity shifts too much, as follows:

First, considering that the layout of the components on the chassis of the aerial work robot is not necessarily uniform in many cases, each set of rotors is arranged around the chassis in an asymmetric structure;

Secondly, the connecting arm 6024 in each rotating storage mechanism adopts an electric telescopic structure, and the posture detection unit includes a center of gravity position detection module, which is used to detect the offset of the center of gravity position of the aerial work robot, such as weighing sensors respectively arranged at the front, rear, left and right ends of the chassis. In this way, as the operation progress of the aerial work robot, the center of gravity position of the aerial work robot changes. At this time, the detection data of the four weighing sensors will change. The center of gravity position detection module and the drivers of each connecting arm 6024 are connected to the processor, which is used to receive the offset of the center of gravity position and adjust the length of the corresponding connecting arm 6024 through the driver of each connecting arm 6024 to adapt to the change of the center of gravity position, so that it can basically be at the geometric center of all rotors, thereby ensuring the stability of the aerial work robot during the posture adjustment process.

As shown in FIGS. 11-13, the lifting unit 5 includes a left rope-collecting wheel 501 arranged on the left side of the workbench 101, and a right rope-collecting wheel 502 arranged on the right side of the workbench. The central axis of the left rope-collecting wheel 501 is connected to the output shaft of the left driver 503, and the central axis of the right rope-collecting wheel 502 is connected to the output shaft of the right driver 504. The left driver 503 and the right driver 504 are respectively used to control the forward or reverse rotation of the left rope-collecting wheel 501 and the right rope-collecting wheel 502, so as to control the pulling out or retracting of the traction rope. A left wire-discharging device 505 and a left metering unit 507 are arranged in front of the left rope-collecting wheel 501, and a right wire-discharging device 506 and a right metering unit 508 are arranged in front of the right rope-collecting wheel 502. The left metering unit 507 and the right metering unit 508 are arranged in front of the left rope-collecting wheel 501. Unit 508 is used to calculate the length of the traction rope pulled out or taken back through the left rope wheel 501 and the right rope wheel 502 respectively. The left cable arranger 505 and the right cable arranger 506 are used to evenly wind the traction rope around the left rope wheel 501 and the right rope wheel 502; the left metering unit 507, the right metering unit 508, the left driver 503 and the right driver 504 are all connected to the processor, and the processor is used to control the rotation direction or rotation speed of the left driver 503 or the right driver 504 according to the length of the traction rope detected by the left metering unit 507 and the right metering unit 508, so that the length of the traction rope pulled out or taken back through the left rope wheel 501 and the right rope wheel 502 is the same, thereby ensuring the balance of the robot during the entire lifting process. The lifting unit uses two symmetrically distributed traction ropes to assist in providing traction, and cooperates with the left driver 503, the right driver 504 and the metering unit to realize the lifting operation of the robot. Compared with a conventional traction rope, it has better balance and higher safety.

In order to reduce the overall volume and weight, the right driver 504 and the left driver 503 both adopt a servo motor and a harmonic reducer structure, which can achieve a large transmission ratio while being smaller in volume and weight than conventional reducers; the left metering unit 507 and the right metering unit 508 adopt an encoder 5081 plus a groove wheel 5082 structure such as a V-groove wheel, and the traction rope is wound around the V-groove wheel. The encoder 5081 detects the rotation angle of the V-groove wheel, and then combined with its circumference, the length of the traction rope passing through the V-groove wheel can be obtained, that is, the length of the traction rope driven by the left and right drivers 504, which is convenient for the processor to perform comprehensive control.

In order to ensure the uniformity of the winding of the traction rope on the right rope taking-up wheel 502 and the left rope taking-up wheel 501, we have also added a wire arranger. The structure of the wire arranger is similar to the wire arranger structure in the winch, including a reciprocating screw parallel to the central axis of the rope taking-up wheel. A movable guide unit is installed on the reciprocating screw, which is similar to a ball screw structure. The traction rope passes through the movable guide unit and is wound around the central axis of the rope taking-up wheel. A belt transmission is passed between the central axis and the reciprocating screw. With the help of the belt transmission and the limiting effect of the movable guide unit, the central axis drives the reciprocating screw to rotate synchronously, thereby driving the movable guide unit on the reciprocating screw to reciprocate at both ends of the reciprocating screw, thereby driving the traction rope to wind from one end of the central axis of the rope taking-up wheel to the other end, and evenly wind around the central axis.

In addition, a guide 509 is mounted on the traction rope. The guide 509 is a bell-mouth structure arranged just above the V-groove wheel of the metering unit and fixedly connected to the rope-collecting wheel to ensure that the traction rope entering the V-groove wheel and the cable arranger can be at a fixed angle, thereby improving the test accuracy.

In order to improve the safety performance of the left rope collecting wheel 501 and the right rope collecting wheel 502 when the self-lifting device is not working, a plurality of limit grooves 510 are evenly spaced on a side plate of the left rope collecting wheel 501 and the right rope collecting wheel 502 and on a circumference concentric with the central axis. An electromagnetic micro telescopic rod 511 is arranged opposite to one of the limit grooves 510. The electromagnetic micro telescopic rod 511 is arranged on a support plate 512. In order to ensure symmetry, four support plates 512 can be arranged, which are respectively arranged in parallel on the left rope collecting wheel 501 and the right rope collecting wheel 502. The electromagnetic micro-telescopic rod 511 is connected to the processor on the outer side of the side plate of the rope wheel 501 and the right rope collecting wheel 502, so that when the self-lifting device is not working, the processor can control the extension or retraction of the electromagnetic micro-telescopic rod 511 to insert the electromagnetic micro-telescopic rod 511 into the limiting groove 510 or retract it from the limiting groove 510, thereby completing the locking or unlocking of the left rope collecting wheel 501 or the right rope collecting wheel 502 to prevent the rope collecting wheel from rotating accidentally.

As shown in Figures 1-2 and 14-16, the repair unit 2 includes a multifunctional wide-degree-of-freedom collaborative robotic arm, at the end of which an image acquisition module and a quick-change main disk of a quick-change device 201 are provided, and a plurality of quick-change sub-disks cooperating with the quick-change main disk are evenly spaced on the tool library 3, each of which is connected to a tool 301, thereby realizing quick replacement of various tools 301 with the end of the robotic arm. The robot's quick-change device 201 can well meet the tool requirements for repairing defects, which is simple and fast; the image acquisition unit and the driving module of the robotic arm are connected to a processor, which is used to perform image recognition using image processing technology based on the defect image information detected by the image acquisition module, and then control the robotic arm through the driving module to select appropriate tools and materials to repair the defect position, and feed back the repair results to the host computer.

The tool library 3 includes a T-shaped three-dimensional frame 302, and a plurality of elastic locking mechanisms are arranged at intervals on both sides of the T-shaped three-dimensional frame 302. The elastic locking mechanisms are arranged one by one in correspondence with the tools, and are used to lock the corresponding tools 301 or unlock the corresponding tools 301. Each tool 301 is arranged corresponding to the quick-changing device at the end of the robot. The tools connected to the quick-changing sub-disc can be appropriately adjusted according to the requirements of the repair operation. Similarly, the liquid inside each storage tank below is also determined according to the needs.

As shown in Figure 17, the consumables library 4 is arranged on the transverse part of the T-shaped three-dimensional frame 302, including a plurality of storage tanks 401 for storing raw materials required for repairing blades. The transverse part adopts an open hollow structure, and a plurality of annular clamps 402 are arranged inside it. Each annular clamp 402 is used to fix a storage tank 401. Each storage tank 401 is connected to a vacuum pump, and an electromagnetic valve and a conveying pipe are arranged at its opening. The free end of the conveying pipe extends along the robot arm to the nozzle at the end of the robot arm. The vacuum pump, the electromagnetic valve, and the elastic locking mechanism are all connected to the processor. The processor is used to control the locking or unlocking of the corresponding tool through the elastic locking mechanism to realize the connection or disconnection between the quick-change main disk at the end of the robot arm and the corresponding quick-change sub-disk. Through the cooperation of the vacuum pump and the electromagnetic valve, the liquid inside the corresponding storage tank is transported to the nozzle through the conducting pipe and sprayed to the defective position.

Considering that liquid delivery requires pipelines, the delivery pipeline is arranged along the entire robotic arm all the way to the nozzle at the end. When liquids such as paint and water are needed, the vacuum pump and solenoid valve can be directly controlled without having to replace them back and forth like repair tools to avoid interfering with the movement of the robotic arm.

Each tool is carried by a C-shaped tray 303, and a fastening gripper 304 cooperating with the tool is arranged below the C-shaped tray 303. The fastening gripper 304 is connected to an elastic locking mechanism, and the elastic locking mechanism is used to drive the fastening gripper 304 to open or retract, so as to lock or unlock the tool placed in the C-shaped tray 303.

The fastening gripper 304 includes a movable part 3041 and a fixed part 3042 which are rotatably connected, and a baffle 305 is arranged in the internal space of the fixed part 3042. The elastic locking mechanism includes a telescopic mechanism, which passes through the fixed part 3042 and is respectively connected to the baffle 305 and the movable part 3041, and a locking mechanism 311 is also arranged thereon. The telescopic mechanism is used to drive the movable part 3041 to open or retract, and at the same time drive the baffle 305 to move toward the fixed part 3042 or away from the fixed part 3042, so as to facilitate the tool to enter the fastening gripper 304 and retract the movable part 3041 or leave the fastening gripper 304 and open the movable part. The locking mechanism 311 is used to lock or unlock the retracted movable part 3041.

The telescopic mechanism includes a first push rod 306 and a second push rod 307 which are sleeved together. The free end of the second push rod 307 is connected to the fixed bracket, the free end of the first push rod 306 is connected to the baffle 305, and its non-free end is connected to the movable part 401 through a flexible steel wire 308, and is also connected to the fixed bracket through a first return spring 309. The first return spring 309 is sleeved on the second push rod 307, and a locking mechanism is arranged on the non-free end of the first push rod 306. A second return spring 10 is arranged between the movable part 3401 and the fixed part 3402. The first return spring 309 is used to drive the first push rod 306 and the baffle 305 connected thereto to reset, and the second return spring 310 is used to drive the movable part 3401 to reset.

In this way, when the tool is placed into the C-shaped tray 303, the tool 3 entering the fastening claw hand 304 will push the baffle plate 305 to move in the direction close to the fixed part 3402, driving the first push rod 306 connected to the baffle plate 305 to move in the direction of the fixed bracket, and the corresponding first return spring 309 is compressed. At the same time, the movable part 3401 is driven to rotate and retract through the flexible steel wire 308, so that the second return spring 310 is stretched and locked with the help of the locking mechanism, so that the tool can be firmly locked in the fastening claw hand 304, and the tool and the C-shaped tray 303 can be more closely matched, and the safety is higher;

When the tool needs to be removed, after the main disk of the robot end quick-change device and the sub-disk on the corresponding tool are connected, the locking mechanism is first used to release the lock on the movable part 3401, and the tool gradually leaves the fastening claw 304. The first return spring 309 in the compressed state has no binding force and can be gradually reset. The baffle 305 is driven by the first push rod 306 to gradually move away from the fixed part 3402 and the fixed bracket. At the same time, the second return spring 310 in the stretched state is gradually reset, driving the movable part 3401 to gradually open, so as to facilitate the removal of the tool.

The movable part 3401 of the fastening claw 304 is provided with two symmetrical arc-shaped parts, and the fixed part 3402 is semi-circular, which together constitute an open circle shape, which is arranged corresponding to the C-shaped tray 303 above and below, and the two ends of the fixed part 3402 are provided with U-shaped parts, that is, with two ears, and one end of the two arc-shaped parts is provided with an inverted T-shaped part that cooperates with the U-shaped part, so that the U-shaped part and the inverted T-shaped part can be rotatably connected together through a rotating shaft, and then one end of the second reset spring 310 is connected to the inverted T-shaped part, and the other end is connected to the fixed part 3402, and when the second reset spring 310 is in a naturally extended state, the corresponding movable part 3401 is in an open state, so that when the telescopic mechanism drives the movable part 3401 to retract, the reset pulling force of the second reset spring 310 can be used to prompt the movable part 3401 to open.

Since the fixing portion 3402 is in an arc shape, a recess corresponding to the baffle 305 is provided on the inner wall in the middle thereof, and the baffle 305 can also be designed to be in an arc shape, so as to facilitate the placement of the tool into the interior of the fastening gripper 304; at the same time, an opening is provided on the fixing portion 3402 for the flexible steel wire 308 to pass through. The flexible steel wire 308 is provided with two pieces, which are symmetrically arranged, one end of which is connected to the non-free end of the first push rod, and the other end passes through the opening and is connected to the inner wall of the elastic member, so as to facilitate pulling the elastic member to realize the retraction operation.

The present invention also provides a maintenance method for wind turbine blades based on the above-mentioned automatic maintenance robot, comprising the following steps:

Step 1: Use a drone to perform overall flaw detection on the fan blades, determine and upload defect information to the host computer. Due to the huge size of the fan blades, it takes a long time and is too inefficient to rely solely on robot flaw detection. Therefore, the present invention first uses a drone to collect images, and after the image is processed by the host computer, the approximate location of the defect is determined, and then the robot is used for repair.

Step 2: The host computer sends control instructions to the robot's processor, which controls the lifting adjustment to drive the robot to rise and land on the wind turbine blade. During this period, the inspection unit is started to conduct close-range on-site inspections of the defects of the wind turbine blades, and then the walking unit is controlled to drive the robot to move to the defective position. The specific control process is described above.

Considering that most of the fan blades have an inclination angle with the vertical plane, they are not completely vertical, and the traction rope hoisting needs to be arranged vertically, so there is a certain angle between the two. Therefore, when the lifting unit drives the machine to the vicinity of the defect position, the adjustment unit can be started to perform flight control. Its control method is similar to that of a four-rotor drone. With the auxiliary support of the traction rope of the lifting unit, the robot is driven to the surface of the blade, and then the attitude adjustment function is started so that the robot can land stably on the fan blade, or when the lifting unit hoists the robot to the edge of the fan blade, the flight control is started so that the robot can fly along the blade surface at a close distance until the defect position. During this period, the inspection unit can be started to conduct a close-range field inspection of the defects of the fan blade to obtain more detailed and accurate defect information than the drone inspection, which is convenient for the arrangement of subsequent repair operations. In addition, when the two defect positions to be repaired are far apart, the rotor flight can be used instead of the adsorption walking of the walking unit to reach the vicinity of the target position, and then the adsorption walking can be used to reach the target position. In this way, the long-distance rotor flight and close-distance adsorption walking method are used to make the operation more efficient and more flexible.

Step three, analyze and process the image detected by the image acquisition module at the end of the robot arm, and according to the analysis results, clean, polish, spray, reshape the surface, and heat and cure the defective position to achieve surface modification; the specific repair operation can be determined according to the actual situation. If the defect is small and can be solved by spraying alone, there is no need for polishing, curing and other operations.

Step 4: Perform a flatness test on the defective position after surface shaping. If it meets the standard, the robot is driven to the next defective position by the walking unit to continue surface shaping. If it does not meet the standard, repeat step 3 until the flatness meets the standard.

With the help of the wind turbine blade automatic repair robot of the present invention, the traditional manual repair method that requires the wind turbine to be disassembled has been changed, the use of large lifting machinery has been reduced, and the cost has been greatly reduced. The operation process is highly automated, reducing the manual workload. It adopts a modular design and can replace different functional modules according to different repair conditions. It has a wider range of applications and has great application prospects.

Although specific embodiments of the present invention are described above, those skilled in the art will appreciate that these are merely examples and that various changes or modifications may be made to these embodiments without departing from the principles and essence of the present invention. Therefore, the scope of protection of the present invention is limited by the appended claims.

Claims (8)

1. A wind turbine blade automatic maintenance robot, characterized in that it comprises a walking unit, on which an inspection unit, a hoisting adjustment unit, a repair unit, a tool library and a consumables library are arranged, The walking unit adopts a double-layer nested structure, and realizes the movement of the robot along the X-axis and Y-axis directions on the fan blades through the cooperation of the adsorption mechanism, the X-axis moving mechanism and the Y-axis moving mechanism; The hoisting adjustment unit adopts a symmetrical traction drive structure to realize the self-lifting movement of the robot along the direction of the traction rope, and cooperates with the asymmetrical rotor storage structure to realize the posture adjustment, flight control and self-storage of the robot, ensuring that the robot can land stably on the wind turbine blades; The tool library is used to store tools required for repairing wind turbine blades; The consumables library is used to store the raw materials required for repairing the fan blades; The repair unit adopts image processing technology, and realizes the repair operation of the defect position on the wind turbine blade through the cooperation of the mechanical arm and the tool library; The inspection unit is used to perform close-range on-site inspections of defects on the fan blades; The walking unit, the hoisting adjustment unit, and the repair unit are all connected to the processor. The processor is used to control the hoisting adjustment unit to drive the robot to stably reach the wind turbine blade according to the defect information detected by the drone, during which the inspection unit is started to inspect the defects on the wind turbine blade, and then the walking unit is controlled to drive the robot to the defect position, and finally the repair unit is controlled to complete the repair operation of the defect position, thereby realizing fully automated repair; The repair unit includes a multi-degree-of-freedom collaborative robot arm, an image acquisition module and a quick-change main disk are arranged at the end of the robot arm, and a plurality of quick-change sub-disks that cooperate with the quick-change main disk are evenly spaced on the tool library, each of the quick-change sub-disks is connected to a tool, so as to realize the quick change between various tools and the end of the robot arm, the image acquisition unit and the driving module of the robot arm are connected to the processor, and the processor is used to perform image recognition by using image processing technology according to the defect image information detected by the image acquisition module, and then control the robot arm through the driving module to select appropriate tools and raw materials to repair the defect position, and feed back the repair result to the host computer; The tool library comprises a T-shaped three-dimensional frame, and a plurality of elastic locking mechanisms are arranged at intervals on both sides of the vertical part of the T-shaped three-dimensional frame. The elastic locking mechanisms are arranged one by one in correspondence with the tools, and are used to lock the corresponding tools or unlock the corresponding tools. Each of the tools is arranged in correspondence with the quick-change device at the end of the robot. The consumables library is arranged at the transverse part of the T-shaped three-dimensional frame, and includes a plurality of storage tanks, each of which is used to store raw materials required for repairing defects. The transverse part adopts an open hollow structure, and a plurality of annular clamps are arranged inside it, each of which is used to fix a storage tank. Each storage tank is connected to a vacuum pump, and an electromagnetic valve and a conducting pipe are arranged at the opening thereof. The free side of the conducting pipe extends to the nozzle at the end of the robotic arm along the mechanical arm. The vacuum pump, electromagnetic valve, and elastic locking mechanism are all connected to the processor, and the processor is used to control the locking or unlocking of the corresponding tool through the elastic locking mechanism, thereby realizing the connection or disconnection between the quick-changing device at the end of the robotic arm and the corresponding tool. Through the coordinated work of the vacuum pump and the electromagnetic valve, the liquid inside the corresponding storage tank is transported to the nozzle through the conducting pipe and sprayed to the defective position. 2. The automatic maintenance robot for fan blades according to claim 1 is characterized in that: the walking unit includes a workbench, on which a hoisting adjustment unit, a tool library, a consumables library, and a repair unit are arranged, and its bottom surface is connected to the inner frame through an X-axis moving mechanism and to the outer frame through a Y-axis moving mechanism, the inner frame and the outer frame adopt a nested structure with a gap between them, and an inner adsorption unit and an outer adsorption unit are correspondingly arranged on their bottom surfaces, the X-axis moving mechanism is used to drive the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, and the Y-axis moving mechanism is used to drive the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, thereby realizing the free movement of the robot on the fan blades. 3. The automatic inspection robot for wind turbine blades according to claim 2 is characterized in that: the X-axis moving mechanism comprises a plurality of first linear guide rails and one or more first ball screws arranged along the X-axis direction, the slider of each first linear guide rail is connected to the workbench, the screw nut of each first ball screw is connected to the workbench, and one end of the screw is connected to the X-axis motor, When the inner adsorption unit is working and the outer adsorption unit is not working, the inner frame is fixed, and the X-axis motor is used to drive the lead screw nut together with the workbench to move along the X-axis direction, and drive the slider connected to the workbench to move along the first linear slide rail, and drive the outer frame connected to the workbench to move along the X-axis direction. When the outer adsorption unit is working and the inner adsorption unit is not working, the workbench is fixed, and the X-axis motor is used to drive the lead screw together with the inner frame to move along the X-axis direction, and drive the first linear slide connected to the inner frame to move along the X-axis direction, so as to realize the reciprocating motion of the slider on the first linear slide and the lead screw nut on the first ball screw, thereby driving the adsorption walking device to move in the X-axis direction; The Y-axis moving mechanism includes a plurality of second linear guide rails and one or more second ball screws arranged along the Y-axis direction, wherein the slider of each second linear guide rail is connected to the workbench, the screw nut of each second ball screw is connected to the workbench, and one end of the screw is connected to the Y-axis motor. When the outer adsorption unit is working and the inner adsorption unit is not working, the outer frame is fixed, and the Y-axis motor is used to drive the lead screw nut together with the workbench to move along the Y-axis direction, and drive the slider connected to the workbench to move along the second linear slide rail, and drive the inner frame connected to the workbench to move along the X-axis direction. When the inner adsorption unit is working and the outer adsorption unit is not working, the workbench is fixed, and the Y-axis motor is used to drive the lead screw together with the outer frame to move along the Y-axis direction, and drive the second linear slide connected to the outer frame to move along the Y-axis direction, so as to realize the reciprocating motion of the slider on the second linear slide and the lead screw nut on the second ball screw, thereby driving the adsorption walking device to move in the Y-axis direction. 4. The automatic wind blade maintenance robot according to claim 3 is characterized in that: the outer frame and the inner frame are both square structures, the length of which in the X-axis direction is greater than the length in the Y-axis direction, and protrusions are provided on the sides of the outer frame corresponding to the inner frame in the X-axis direction, the length of the protrusions is greater than the length of the inner frame, and the top surface of the protrusions is in contact with the bottom surface of the workbench. 5. The wind turbine blade automatic maintenance robot according to claim 1, characterized in that: the hoisting adjustment unit comprises a lifting unit arranged at one end of the chassis of the walking mechanism and an adjustment unit arranged around the chassis of the walking mechanism, The adjustment unit includes a plurality of rotors arranged around the chassis and an attitude detection module arranged on the bottom surface of the chassis, the attitude detection module is used to detect the distance information between different positions of the chassis and the fan blades, and the center of gravity position offset. Each rotor is connected to the walking mechanism through a storage rotating mechanism, and the storage rotating mechanism is used to adjust the distance between each rotor and the chassis periphery, the rotation speed, and the contraction and extension. The attitude detection module and the storage rotation mechanism are both connected to the processor. The processor is used to control the extension of each group of rotors through the storage rotation mechanism. According to the center of gravity position offset detected by the detection unit, the storage rotation mechanism is used to adjust the distance between the corresponding rotor and the periphery of the chassis, so that the center of gravity position is always located at the geometric center of all rotors. According to the distance information detected by the detection unit, the rotation speed of each group of rotors is controlled by the storage rotation mechanism, thereby adjusting the distance between different positions of the chassis and the fan blades, realizing the attitude adjustment of the robot, ensuring that the robot can stably land on the fan blades, and then controlling the retraction of each group of rotors through the storage rotation mechanism, thereby preparing for the subsequent operation of the robot. 6. The automatic inspection robot for wind turbine blades according to claim 5, characterized in that: the storage and rotation mechanism comprises a base, a first motor is arranged on the base, an output shaft of the first motor is connected to the corresponding rotor through a folding mechanism, and the first motor is used to drive the folding mechanism and the rotor to rotate; The base is connected to one end of the connecting arm, the connecting arm adopts an electrically driven telescopic structure, and the other end is connected to the second motor, the output shaft of the second motor is fixedly connected to the opening of the U-shaped bracket, the closed end of the U-shaped bracket is connected to the chassis, and the second motor is used to drive the connecting arm and the base to fold from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, so as to realize the storage of the entire storage rotating mechanism; The folding mechanism includes two parallel plates, each of which has a through hole in the center that cooperates with the output shaft of the first motor, and a third motor is arranged at each end of the gap between the two plates, and the output shaft of each third motor is connected to a rotor for driving the rotor to fold from the axial direction of the connecting arm to the direction vertical to the axial direction of the connecting arm or from the direction vertical to the axial direction of the connecting arm to the axial direction of the connecting arm. 7. The automatic inspection robot for wind turbine blades according to claim 5 is characterized in that: the lifting unit comprises a left rope-collecting wheel arranged at the left end of the chassis, and a right rope-collecting wheel arranged at the right end of the chassis, the central axis of the left rope-collecting wheel is connected to the output shaft of the left driver, and the central axis of the right rope-collecting wheel is connected to the output shaft of the right driver, and the left driver and the right driver are respectively used to control the left rope-collecting wheel and the right rope-collecting wheel to rotate forward or reverse, thereby controlling the pulling out or retracting of the traction rope wound thereon, A left wire guide and a left metering unit are arranged in front of the left rope receiving wheel, and a right wire guide and a right metering unit are arranged in front of the right rope receiving wheel. The left metering unit and the right metering unit are respectively used to calculate the length of the traction rope pulled out or retracted through the left rope receiving wheel and the right rope receiving wheel, and the left wire guide and the right wire guide are used to evenly wind the traction rope around the left rope receiving wheel and the right rope receiving wheel; The left metering unit, the right metering unit, the left driver and the right driver are all connected to the processor. The processor is used to control the rotation direction or rotation speed of the left driver or the right driver respectively according to the length of the traction rope detected by the left metering unit and the right metering unit, so that the length of the traction rope pulled out or taken back by the left rope taking-up wheel and the right rope taking-up wheel is the same, thereby ensuring the balance of the robot during the entire lifting process. 8. A maintenance method for wind turbine blades based on the automatic maintenance robot according to claim 1, characterized by comprising the following steps: Step 1: Use drones to perform overall flaw detection on wind turbine blades, determine and upload defect information to the host computer; Step 2: The host computer sends a control instruction to the robot's processor, and the processor controls the hoisting adjustment unit to drive the robot to rise and land on the fan blade. During this period, the inspection unit is started to conduct a close-range on-site inspection of the defects on the fan blade, and then the walking unit is controlled to drive the robot to the defect location; Step 3: Analyze and process the image detected by the image acquisition module at the end of the robot arm, and perform cleaning, grinding, spraying, surface shaping, heating and curing operations on the defective position according to the analysis results to achieve surface modification; Step 4: Perform a flatness test on the defective position after surface shaping. If it meets the standard, the robot is driven to the next defective position by the walking unit or the auxiliary adjustment unit to continue surface shaping. If it does not meet the standard, repeat step 3 until the flatness meets the standard.