Wind power blade repairing robot system

Abstract

The invention provides a wind power blade repairing robot system which comprises a bottom plate, a mechanical arm module, a putty smearing module, a spraying module, a polishing and cleaning module and a consumable library, the mechanical arm module comprises an RGB-D camera, an adapter ring, a robot tail end quick change disc and a mechanical arm, and the mechanical arm is arranged on the bottom plate. The adapter ring is arranged at the tail end of the mechanical arm, the RGB-D camera and the robot tail end quick-change disc are both installed on the adapter ring, and the putty smearing module, the spraying module and the polishing and cleaning module can be connected with the robot tail end quick-change disc through the tail end quick-change disc. A'coating and scraping 'putty integrated polishing and cleaning module and a spraying module are designed, repairing work of putty coating and putty scraping is carried out at the same time, the size and the weight are saved, meanwhile, the repairing efficiency is improved, according to the repairing method, no manual operation in the whole process can be achieved, real full-automatic blade repairing is achieved, unmanned replacement is achieved, and the repairing efficiency is improved. And the repairing time is obviously reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade repair, and in particular to a wind turbine blade repair robot system. Background Art

[0002] Currently, wind turbine blade inspection and repair rely primarily on manual labor, a method with numerous limitations. These methods are not only time-consuming and labor-intensive, but also pose safety risks when working at height. Furthermore, because the repair process relies on the operator's skill and experience, consistent repair quality is often difficult to achieve, subject to significant variability and uncertainty, leading to extended repair times.

[0003] Therefore, developing automated wind turbine blade inspection and repair robots is not only a technological development trend but also a key step in improving wind farm operational efficiency and safety. Currently, most wind turbine blade robot research focuses on single-function automated inspection and repair robots. Automatic inspection robots include patents CN119861135A, CN119619229A, CN119527450A, CN119370358A, CN119412286A, and CN119062526A. Automatic repair robots include patents CN222386771U, CN118219292A, CN220312359U, CN116039134A, and CN109333995A. These robotic systems lack both automated inspection and repair capabilities, making them unable to independently complete the entire wind turbine blade inspection and repair process, resulting in cumbersome workflows and lengthy work schedules.

[0004] Therefore, a robotic system capable of automatically inspecting and repairing wind turbine blades is a development trend. Currently, there are some related studies, such as patents CN115533690A, CN115338860A, and CN118952247A. The robotic systems designed by these patents are capable of completing inspection and repair work, but these designs still have the problem of incomplete repair work. Basically, they can only repair some small defects. There is basically no puttying work, only simple grinding, spraying, and shaping work. When faced with larger and deeper defects, it is impossible to apply putty to fill the defects. In addition, the system carries fewer repair consumables and cannot perform large-scale repair work or large defects at one time. Repair consumables need to be frequently replenished, which increases the repair process and time.

[0005] Furthermore, existing wind turbine blade repair methods also have limitations. For example, methods such as those described in patents CN108544771A, CN105283303A, CN116587640A, and CN118404839A rely primarily on manual labor and can only be repaired by removing the blades, not in situ. In recent years, some semi-automated wind turbine blade repair methods have emerged, such as those described in patents CN116950858A, CN117634072A, and CN117634072A. However, these methods are unable to completely eliminate manual intervention and achieve fully automated blade repair.

[0006] This aims to address issues such as unstable repair quality and long repair times during manual wind turbine blade repair. Furthermore, in the equipment area, this aims to address issues such as the limited availability of equipment and the inability to repair large and deep blade defects in one go in current automated wind turbine blade inspection and repair robotic systems. Furthermore, in the repair method area, this aims to address issues such as the limited availability of automated wind turbine blade repair methods and the inability of existing automated blade repair methods to achieve in-situ repair, fully automated blade repair, and the ability to repair only one blade type and size, or one blade defect.

[0007] Based on the above issues, this case arose. Summary of the Invention

[0008] (1) Technical problems solved

[0009] In view of the shortcomings of the existing technology, the present invention provides a wind turbine blade repair robot system, which can repair various types and sizes of blade defects at one time.

[0010] (2) Technical solution

[0011] To achieve the above objectives, the present invention is implemented through the following technical solutions: A wind turbine blade repair robot system, comprising a base plate, a robotic arm module, a putty module, a spraying module, a polishing and cleaning module, and a consumables library for placing sandpaper and scouring pads, the robotic arm module comprising an RGB-D camera, an adapter ring, a robot end quick-change disk, and a robotic arm, the robotic arm is arranged on the base plate, the adapter ring is arranged at the end of the robotic arm, the RGB-D camera and the robot end quick-change disk are both installed on the adapter ring, the RGB-D camera is used to collect data on the defect position, the putty module, the spraying module, and the polishing and cleaning module can all be connected to the robot end quick-change disk through the end quick-change disk, a pneumatic flexible positioner is provided on the base plate, the putty module, the spraying module, and the polishing and cleaning module can all be connected to the pneumatic flexible positioner through the pneumatic flexible positioner.

[0012] Preferably, the puttying module includes an electric cylinder, a puttying frame, a putty storage tank, a cylinder, a guide rail and two groups of guide sliders, a connecting rod and a flexible puttying claw. The electric cylinder, putty storage tank, cylinder and guide rail are all arranged on the puttying frame. A plastic plug is adapted for axial sliding in the putty storage tank. The output end of the electric cylinder is connected to the plastic plug. Two groups of guide sliders are adapted for transverse sliding on the guide rail. One end of the flexible puttying claw is hinged to the top of the guide rail. The two groups of guide sliders are respectively hinged to the back of the flexible puttying claw through a connecting rod. The flexible puttying claw is used to install a flexible puttying plate. A nozzle is provided at the bottom outlet of the putty storage tank, and the nozzle corresponds to the flexible puttying plate.

[0013] Preferably, the back of the puttying frame is provided with a terminal quick-change plate 1 connected to the terminal quick-change plate of the robot, and the bottom of the puttying frame is provided with a pneumatic flexible positioner 1 connected to the pneumatic flexible positioner.

[0014] Preferably, the top end of the flexible putty-scraping jaw is provided with a fingertip fixer for fixing the flexible putty-scraping plate.

[0015] Preferably, the spraying module includes a spraying frame and a spray gun and a spray pot arranged on the spraying frame, and the spray gun and the spray pot are connected by a pipe.

[0016] Preferably, a second terminal quick-change disc connected to the terminal quick-change disc of the robot is provided on the back of the spray frame, and a second pneumatic flexible positioner connected to the pneumatic flexible positioner is provided on the bottom of the spray frame.

[0017] Preferably, the polishing and cleaning module includes a polishing and cleaning frame and a floating air polishing head arranged on the polishing and cleaning frame, the back of the polishing and cleaning frame is provided with an end quick change disc three connected to the robot end quick change disc, and the bottom of the polishing and cleaning frame is provided with a pneumatic flexible positioner three connected to the pneumatic flexible positioner.

[0018] Preferably, a material changing device is provided on the bottom plate.

[0019] Preferably, a plurality of Forma wheels or suction cups are provided at the bottom of the base plate.

[0020] A repair method for a wind turbine blade repair robot system comprises the following steps:

[0021] S1 uses an RGB-D camera and a defect recognition algorithm to identify defects in wind turbine blades;

[0022] S2, based on the spatial location and shape of the defect, completes the trajectory planning and execution of the defect grinding work to achieve the removal of the defective part of the blade;

[0023] S3, based on the polished blade area, completes the trajectory planning and execution of the cleaning work to remove the remaining grinding debris on the polished surface;

[0024] S4, based on the cleaned surface, the trajectory of the putty application work is planned and executed to complete the defective area of ​​the blade;

[0025] S5, after the putty is cured, the trajectory of the putty sanding work is planned and executed according to the area where the putty is applied, so as to achieve the shape-conforming repair of the blade repair area and make a smooth transition between the repaired part and the unrepaired part;

[0026] S6, based on the polished blade area, completes the trajectory planning and execution of the cleaning work to remove the remaining grinding debris on the polished surface;

[0027] S7, finally, the trajectory planning for spraying work is carried out according to the repair area. It is required to spray the entire repair area with epoxy primer first, and then spray two coats of polyurethane topcoat. The paint on the next side can only be sprayed after the previous spray paint has solidified.

[0028] (3) Beneficial effects

[0029] The present invention provides a wind turbine blade repair robot system. It has the following beneficial effects:

[0030] 1. The wind turbine blade repair robot system is designed with an integrated "coating + scraping" putty grinding and cleaning module and a spraying module. The putty coating and scraping repair work are carried out simultaneously, which not only saves volume and weight, but also improves the repair efficiency. The repair method can achieve no manual operation throughout the process, realizing truly fully automated blade repair and unmanned replacement, significantly reducing repair time.

[0031] 2. The system features a puttying function. Practical experiments have demonstrated that this patented automated wind turbine blade inspection and repair robot can repair large and deep blade defects in a single operation. Compared to traditional manual inspection and repair work, this robotic system delivers improved repair quality and shortens repair time, saving approximately 34% of the time. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 Schematic diagram of the structure of the bottom plate of the present invention;

[0034] Figure 3 Schematic diagram of the structure of the robot arm module of the present invention;

[0035] Figure 4 This is a schematic structural diagram of the puttying module of the present invention;

[0036] Figure 5 This is an assembly diagram of the flexible putty-scraping plate and the flexible putty-scraping clamp of the present invention;

[0037] Figure 6 Schematic diagram of the structure of the spray module of the present invention;

[0038] Figure 7 This is a schematic structural diagram of the polishing and cleaning module of the present invention;

[0039] Figure 8 Flow chart of the repair method of the present invention.

[0040] In the figure: 1 base plate, 2 robotic arm module, 3 puttying module, 4 spraying module, 5 polishing and cleaning module, 6 consumables library, 7 sandpaper, 8 scouring pad, 9 material changing device, 10 Formazan wheel, 11 pneumatic flexible positioner, 21 RGB-D camera, 22 adapter ring, 23 robot end quick change plate, 24 robotic arm, 301 electric cylinder, 302 puttying frame, 303 putty storage tank, 304 cylinder, 305 end quick change plate, 30 6 guide rails, 307 guide slider, 308 connecting rod, 309 flexible puttying gripper, 310 fingertip holder, 311 nozzle, 312 flexible puttying plate, 313 plastic plug, 314 pneumatic flexible positioner one, 41 spray gun, 42 spray pot, 43 spray frame, 44 end quick change plate two, 45 pneumatic flexible positioner two, 51 floating air grinding head, 52 grinding and cleaning frame, 53 end quick change plate three, 54 pneumatic flexible positioner three. DETAILED DESCRIPTION

[0041] The embodiment of the present invention provides a wind turbine blade repair robot system, such as Figure 1-8 As shown, it includes a base plate 1, a robotic arm module 2, a puttying module 3, a spraying module 4, a polishing and cleaning module 5, a material changing device 9, and a consumables library 6 for placing sandpaper 7 and scouring pads 8.

[0042] The consumables library 6 and the material changing device 7 are installed on the base plate 1 by bolt connection, and the sandpaper 7 and the scouring pad 8 are placed in the consumables library 6. The material changing device 7 is a wedge-shaped structure for assisting in scraping off the sandpaper 7 or the scouring pad 8 on the floating air grinding head 51.

[0043] Several removable Forma wheels 10 or suction cups are installed at the four corners of the base plate 1. Installation varies depending on the application scenario. For example, the device can be used for onshore wind turbine blade repairs, with Forma wheels 10 installed beneath the base plate 1. Alternatively, for in-situ repairs, suction cups or a travel mechanism can be installed beneath the base plate to secure the blade to the blade.

[0044] like Figure 3As shown, the robotic arm module 2 includes an RGB-D camera 21, an adapter ring 22, a robot end quick-change disk 23 and a robotic arm 24. The robotic arm 24 is set on the base plate 1, the adapter ring 22 is set on the flange at the end of the robotic arm 24, the RGB-D camera 21 is installed on the adapter ring 22 through a camera bracket, and the robot end quick-change disk 23 is installed on the adapter ring 22. The RGB-D camera 21 is used to collect data on the defect position.

[0045] The puttying module 3, the spraying module 4, and the polishing and cleaning module 5 can all be connected to the robot end quick-change disk 23 through the end quick-change disk.

[0046] A pneumatic flexible positioner 11 is provided on the base plate 1 at each module, and the pneumatic flexible positioner 11 is installed on the base plate 1 by bolt connection. The puttying module 3, the spraying module 4, and the polishing and cleaning module 5 can all be connected to the pneumatic flexible positioner 11 through the pneumatic flexible positioner.

[0047] like Figure 4-5 As shown, the puttying module 3 includes an electric cylinder 301, a puttying frame 302, a putty storage tank 303, a cylinder 304, a guide rail 306 and two sets of guide sliders 307, a connecting rod 308, and a flexible puttying clamp 309. The electric cylinder 301, the putty storage tank 303, the cylinder 304, and the guide rail 306 are all arranged on the puttying frame 302. The putty storage tank 303 is axially slidably adapted with a plastic plug 313. The output end of the electric cylinder 301 is connected to the plastic plug 313. The two sets of guide sliders 307 are adapted to slide laterally in the puttying frame 302. On the guide rail 306, one end of the flexible putty scraping jaw 309 is hinged to the top of the guide rail 306, and the two sets of guide sliders 307 are hinged to the back of the flexible putty scraping jaw 309 through the connecting rod 308 respectively. The output end of the cylinder 304 is connected to the guide slider 307, and the opening and closing of the two flexible putty scraping jaws 309 are driven by the cylinder 304. The flexible putty scraping jaw 309 is used to install a flexible putty scraping plate 312. A nozzle 311 is provided at the bottom outlet of the putty storage tank 303, and the nozzle 311 corresponds to the flexible putty scraping plate 312.

[0048] like Figure 5 As shown, the top of the flexible putty-scraping jaw 309 is provided with a fingertip holder 310 for fixing the flexible putty-scraping plate 312 , and the tip of the fingertip holder 310 is a fingertip cover for fixing the flexible putty-scraping plate 312 .

[0049] The back of the puttying frame 302 is provided with an end quick-change plate 305 connected to the robot end quick-change plate 23, and the bottom of the puttying frame 302 is provided with a pneumatic flexible positioner 314 connected to the pneumatic flexible positioner 11.

[0050] like Figure 6As shown, the spraying module 4 includes a spraying frame 43 and a spray gun 41 and a spray pot 42 arranged on the spraying frame 43. The spray gun 41 and the spray pot 42 are connected by a pipe. The spray gun 41 is an existing commercial product.

[0051] The back of the spray frame 43 is provided with a second end quick change plate 44 connected to the robot end quick change plate 23 , and the bottom of the spray frame 43 is provided with a second pneumatic flexible positioner 45 connected to the pneumatic flexible positioner 11 .

[0052] like Figure 7 As shown, the polishing and cleaning module 5 includes a polishing and cleaning frame 52 and a floating air polishing head 51 mounted on the polishing and cleaning frame 52. A third quick-change plate 53 connected to the robot's end quick-change plate 23 is mounted on the back of the polishing and cleaning frame 52. A third pneumatic flexible positioner 54 connected to the pneumatic flexible positioner 11 is mounted on the bottom of the polishing and cleaning frame 52. The floating air polishing head 51 has a certain floating stroke to achieve constant-force polishing.

[0053] The robot's end-of-line quick-change plate 23 and pneumatic flexible positioner 11 are pneumatic fixtures. The end-of-line quick-change plate and the robot's end-of-line quick-change plate 23 are connected by a sleeve connection. Once the sleeve connection is complete, the pneumatic positioning pins on the robot's end-of-line quick-change plate 23 are pushed out to form the connection. The pneumatic flexible positioner and the pneumatic flexible positioner 11 are also connected by a sleeve connection. Once the sleeve connection is complete, the pneumatic positioning pins on the pneumatic flexible positioner 11 are pushed out to form the connection.

[0054] A repair method for a wind turbine blade repair robot system comprises the following steps:

[0055] S1 uses an RGB-D camera to identify defects in wind turbine blades through a defect recognition algorithm. The defect recognition algorithm is not the focus of this case, which mainly explains the actions of each module and the entire repair process.

[0056] S2, according to the spatial position and shape of the defect, completes the trajectory planning and execution of the defect grinding work, and realizes the removal of the defective part of the blade; specifically, controls the robotic arm 24 to realize the connection between the robot end quick-change disc 23 of the robotic arm module 2 and the end quick-change disc three 53 of the grinding and cleaning module 5, and completes the connection between the floating air grinding head 51 and the robotic arm 24. Then control the pneumatic flexible positioner three 54 of the grinding and cleaning module 5 and the pneumatic flexible positioner 11 of the base plate 1 to loosen, and control the robotic arm 24 to remove the floating air grinding head 51 from the base plate 1. Then control the robotic arm 24 to reach the consumables warehouse 6 and install the sandpaper 7 on the floating air grinding head 51. Then control the robotic arm 24 to align the floating air grinding head 51 with the blade defect and grind according to the planned grinding trajectory to remove the defect.

[0057] S3, according to the polished blade area, completes the trajectory planning and execution of the cleaning work, and realizes the removal of the grinding chips retained on the polished surface; specifically, controls the robot arm 24 to reach the material changing device 9 to remove the sandpaper 7. Then controls the robot arm 24 to reach the consumables warehouse 6, and installs the scouring pad 8 on the floating air grinding head 51. Then controls the robot arm 24 to use the floating air grinding head 51 to clean the polished area according to the planned cleaning trajectory to remove the grinding chips remaining on the polished surface. After the cleaning is completed, controls the robot arm 24 to reach the material changing device 9 to remove the scouring pad 8. After removing the scouring pad 8, controls the robot arm 24 to put the polishing and cleaning module 5 back to its original place, controls the pneumatic flexible positioner 3 54 of the polishing and cleaning module 5 to clamp with the pneumatic flexible positioner 11 of the base plate 1, and fixes the polishing and cleaning module 5 on the base plate 1.

[0058] S4, based on the cleaned surface, the trajectory planning and execution of the putty application work are carried out to complete the defective area of ​​the blade; specifically, the robot arm 24 is controlled to realize the connection between the robot end quick change disc 23 of the robot arm module 2 and the robot end quick change disc 305 of the putty module 3. Then the pneumatic flexible positioner 314 of the putty module 3 is controlled to loosen the pneumatic flexible positioner 11 of the base plate 1, and the robot arm 24 is controlled to remove the putty module 3 from the base plate 1. Then, based on the cleaned surface, the trajectory planning of the putty application work is completed. Then the robot arm 24 is controlled to align the flexible puttying plate 312 of the puttying module 3 with the blade defect and apply putty according to the planned puttying trajectory to repair the defect. First, the robot arm 24 is controlled to make the flexible puttying plate 312 contact the lower boundary of the defective area that needs to be repaired. Next, the push rod of the pneumatic cylinder 304 is controlled to extend, driving the guide slider 307 forward, thereby pushing the connecting rod 308 forward and clamping the flexible puttying jaws 309. This, in turn, allows the flexible puttying plate 312 to adhere to the leading edge of the blade to be repaired via the fingertips. The push rod of the electric cylinder 301 is then controlled to slowly extend, driving the plastic plug 313 to slowly squeeze out the putty from the putty storage tank 303. The robotic arm 24 is then controlled to slowly move the leading edge puttying repair device along the leading edge of the blade, ensuring that the flexible puttying plate 312 remains in contact with the blade's leading edge. After the puttying of the defect on the leading edge is completed, the push rod of the pneumatic cylinder 304 is controlled to retract, releasing the flexible puttying jaws 309 from contact with the blade's leading edge. Finally, the robotic arm 24 is controlled to return the leading edge puttying repair device to its original position, clamping the pneumatic flexible positioner 11, and disconnecting the quick-change plate 23 at the end of the robot. The robotic arm 24 returns to its original position, completing the puttying repair. The pneumatic flexible positioner 314 of the puttying module 3 is controlled to clamp with the pneumatic flexible positioner 11 of the base plate module 1 to fix the puttying module 3 on the base plate 1.

[0059] S5, after the putty solidifies, the trajectory of the puttying work is planned and executed according to the area where the putty has been applied, so as to achieve the shape-matching repair of the blade repair area and make a smooth transition between the repaired part and the unrepaired part; specifically, the robot arm 24 is controlled to achieve the connection between the robot end quick-change disc 23 of the robot arm module 2 and the end quick-change disc 3 53 of the polishing and cleaning module 5, and complete the connection between the floating air grinding head 51 and the robot arm 24. Then the pneumatic flexible positioner 3 54 of the polishing and cleaning module 5 is controlled to loosen the pneumatic flexible positioner 11 of the base plate 1, and the robot arm 24 is controlled to remove the floating air grinding head 51 from the base plate 1. Then the robot arm 24 is controlled to reach the consumables warehouse 6 and install the sandpaper 7 on the floating air grinding head 51. Then the robot arm 24 is controlled to align the floating air grinding head 51 with the repair area and polish it according to the planned polishing trajectory, so as to perform the shape-matching repair of the blade repair area and make a smooth transition between the repaired part and the unrepaired part.

[0060] S6, according to the polished blade area, completes the trajectory planning and execution of the cleaning work, and realizes the removal of the grinding chips retained on the polished surface; specifically, controls the robot arm 24 to reach the material changing device 9 to remove the sandpaper 7. Then controls the robot arm 24 to reach the consumables warehouse 6, and installs the scouring pad 8 on the floating air grinding head 51. Then controls the robot arm 24 to use the floating air grinding head 51 to clean the polished area according to the planned cleaning trajectory to remove the grinding chips remaining on the polished surface. After the cleaning is completed, controls the robot arm 24 to reach the material changing device 9 to remove the scouring pad 8. After removing the scouring pad 8, controls the robot arm 24 to put the polishing and cleaning module 5 back to its original place, controls the pneumatic flexible positioner 3 54 of the polishing and cleaning module 5 to clamp with the pneumatic flexible positioner 11 of the base plate 1, and fixes the polishing and cleaning module 5 on the base plate 1.

[0061] S7. Finally, the trajectory planning for the spraying work is performed based on the repair area. The entire repair area is required to be sprayed with epoxy primer first, followed by two coats of polyurethane topcoat. The paint applied on the previous coat must have solidified before the next coat can be sprayed. Specifically, the robot arm 24 is controlled to connect the robot end quick-change plate 23 of the robot arm module 2 with the end quick-change plate 44 of the spraying module 4. The pneumatic flexible positioner 2 45 of the spraying module 4 is then controlled to release the pneumatic flexible positioner 11 of the base plate 1, and the robot arm 24 is controlled to remove the spraying module 4 from the base plate 1. The robot arm 24 is then controlled to aim the two spray guns 41 of the spraying module 4 at the blade defects in sequence and spray the epoxy primer once and the polyurethane topcoat on both sides according to the planned spraying trajectory. After the spraying is completed, the robot arm 24 is controlled to return the spraying module 4 to its original position and the pneumatic flexible positioner 2 45 of the spraying module 4 is controlled to clamp with the pneumatic flexible positioner 11 of the base plate 1 to fix the spraying module 4 on the base plate 1. Then the robot arm 24 is controlled to return to its original position.

[0062] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A wind turbine blade repair robot system, characterized by: The invention comprises a base plate (1), a robotic arm module (2), a puttying module (3), a spraying module (4), a polishing and cleaning module (5), and a consumables library (6) for storing sandpaper (7) and a scouring pad (8). The robotic arm module (2) comprises an RGB-D camera (21), an adapter ring (22), a robot end quick-change plate (23), and a robotic arm (24). The robotic arm (24) is arranged on the base plate (1), the adapter ring (22) is arranged at the end of the robotic arm (24), the RGB-D camera (21), the robotic arm (24) and the robotic arm (24) are connected to each other. The robot terminal quick-change disc (23) is installed on the adapter ring (22); the RGB-D camera (21) is used to collect data on the defect position; the puttying module (3), the spraying module (4), and the polishing and cleaning module (5) can be connected to the robot terminal quick-change disc (23) through the terminal quick-change disc; a pneumatic flexible positioner (11) is provided on the base plate (1); the puttying module (3), the spraying module (4), and the polishing and cleaning module (5) can be connected to the pneumatic flexible positioner (11) through the pneumatic flexible positioner.

2. The wind turbine blade repair robot system according to claim 1, characterized in that: The puttying module (3) comprises an electric cylinder (301), a puttying frame (302), a putty storage tank (303), an air cylinder (304), a guide rail (306), two sets of guide sliders (307), a connecting rod (308), and a flexible puttying clamp (309). The electric cylinder (301), the putty storage tank (303), the air cylinder (304), and the guide rail (306) are all arranged on the puttying frame (302). A plastic plug (313) is axially slidably adapted in the putty storage tank (303). The output end of the electric cylinder (301) is connected to the plastic plug (313). The material plug (313) is connected, two groups of guide sliders (307) are adapted to slide transversely on the guide rail (306), one end of the flexible putty scraping clamp (309) is hinged to the top of the guide rail (306), the two groups of guide sliders (307) are hinged to the back of the flexible putty scraping clamp (309) through a connecting rod (308), the flexible putty scraping clamp (309) is used to install a flexible putty scraping plate (312), and a nozzle (311) is provided at the bottom outlet of the putty storage tank (303), and the nozzle (311) corresponds to the flexible putty scraping plate (312).

3. The wind turbine blade repair robot system according to claim 2, characterized in that: The back of the puttying frame (302) is provided with a terminal quick-change disc (305) connected to the robot terminal quick-change disc (23), and the bottom of the puttying frame (302) is provided with a pneumatic flexible positioner (314) connected to the pneumatic flexible positioner (11).

4. The wind turbine blade repair robot system according to claim 2, characterized in that: The top end of the flexible putty-scraping jaw (309) is provided with a fingertip holder (310) for fixing a flexible putty-scraping plate (312).

5. The wind turbine blade repair robot system according to claim 1, characterized in that: The spraying module (4) comprises a spraying frame (43) and a spray gun (41) and a spray pot (42) arranged on the spraying frame (43); the spray gun (41) and the spray pot (42) are connected via a pipeline.

6. The wind turbine blade repair robot system according to claim 5, characterized in that: The back of the spray frame (43) is provided with a second terminal quick-change disc (44) connected to the robot terminal quick-change disc (23), and the bottom of the spray frame (43) is provided with a second pneumatic flexible positioner (45) connected to the pneumatic flexible positioner (11).

7. The wind turbine blade repair robot system according to claim 1, characterized in that: The polishing and cleaning module (5) includes a polishing and cleaning frame (52) and a floating pneumatic polishing head (51) arranged on the polishing and cleaning frame (52); the back of the polishing and cleaning frame (52) is provided with a terminal quick-change disc three (53) connected to the robot terminal quick-change disc (23); the bottom of the polishing and cleaning frame (52) is provided with a pneumatic flexible positioner three (54) connected to the pneumatic flexible positioner (11).

8. The wind turbine blade repair robot system according to claim 1, characterized in that: A material changing device (9) is provided on the bottom plate (1).

9. The wind turbine blade repair robot system according to claim 1, characterized in that: A plurality of Forma wheels (10) or suction cups are provided at the bottom of the base plate (1).

10. A repair method for a wind turbine blade repair robot system, characterized in that: The repair method adopts the wind turbine blade repair robot system according to any one of claims 1 to 9, and comprises the following steps: S1 uses an RGB-D camera and a defect recognition algorithm to identify defects in wind turbine blades; S2, based on the spatial location and shape of the defect, completes the trajectory planning and execution of the defect grinding work to achieve the removal of the defective part of the blade; S3, based on the polished blade area, completes the trajectory planning and execution of the cleaning work to remove the remaining grinding debris on the polished surface; S4, based on the cleaned surface, the trajectory of the putty application work is planned and executed to complete the defective area of ​​the blade; S5, after the putty is cured, the trajectory of the putty sanding work is planned and executed according to the area where the putty is applied, so as to achieve the shape-conforming repair of the blade repair area and make a smooth transition between the repaired part and the unrepaired part; S6, based on the polished blade area, completes the trajectory planning and execution of the cleaning work to remove the remaining grinding debris on the polished surface; S7, finally, the trajectory planning for spraying work is carried out according to the repair area. It is required to spray the entire repair area with epoxy primer first, and then spray two coats of polyurethane topcoat. The paint on the next side can only be sprayed after the previous spray paint has solidified.

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