A four-legged wall-climbing robot for wind blade inspection with an adaptive curved surface adsorption structure

Abstract

The present invention provides a four-legged wall-climbing robot for inspecting fan blades with an adaptive curved surface adsorption structure. The robot comprises a main body, a control motherboard, a micro vacuum pump, a solenoid valve, a high-definition camera, and mechanical legs. The main body comprises an upper, side, middle, and lower body panels. The mechanical legs comprise a hip joint servo, a hip joint connecting plate, a thigh joint servo, a thigh joint connecting plate, a calf joint servo, a buffer mechanism, a calf joint connecting plate, and foot-end suction cups. The hip joint connecting plate is connected to the hip joint servo and the thigh joint servo, respectively; the thigh joint connecting plate is connected to the thigh joint servo and the calf joint servo, respectively; the calf joint servo is connected to the calf joint connecting plate; the buffer mechanism is connected to the calf joint connecting plate via a nut; and the foot-end suction cups are connected to the buffer mechanism. This device enhances the robot's adsorption force and reduces damage to fan blades during climbing.

Description

Technical Field

[0001] The present invention relates to the technical field of detection robots, in particular to a fan blade detection wall-climbing robot with a four-legged adaptive curved surface adsorption structure. Background Art

[0002] The wind power industry has experienced rapid growth in recent years. With the increasing number of wind turbines, reducing wind turbine operation and maintenance costs has become a key challenge in wind energy development. As a key component of wind turbines, wind turbine blade inspection and maintenance are crucial. Traditional blade inspection methods typically rely on manual labor, which not only carries significant risks but also is time-consuming and costly. Wall-climbing robots are currently being used to replace manual labor. Wall-climbing robots employ three types of adsorption methods: magnetic, biomimetic, and negative pressure.

[0003] Traditional negative pressure adsorption wall-climbing robots rely on an external negative pressure source, which is not conducive to improving the robot's range of motion and speed. Furthermore, they are noisy and have low adsorption force during operation. Therefore, it is necessary to design a four-legged wall-climbing robot with an adaptive curved surface adsorption structure for wind blade inspection. Summary of the Invention

[0004] The purpose of the present invention is to provide a fan blade detection wall-climbing robot with a four-legged adaptive curved surface adsorption structure to enhance the robot's adsorption force and reduce damage to the fan blades during the crawling process.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A four-legged wall-climbing robot for wind turbine blade inspection with a curved surface adsorption structure comprises: a main body, a control motherboard built into the main body, a micro vacuum pump, a solenoid valve, a high-definition camera fixed to the outer side of the main body, and mechanical legs threadedly connected to the main body;

[0007] The fuselage body includes: fuselage upper panel, fuselage side panel, fuselage middle panel and fuselage lower panel; the fuselage side panel is connected to the fuselage upper panel and fuselage middle panel respectively, and the fuselage middle panel is connected to the fuselage lower panel;

[0008] The main body of the fuselage is made of aluminum alloy structure;

[0009] The mechanical leg includes: a hip joint servo, a hip joint connecting plate, a thigh joint servo, a thigh joint connecting plate, a calf joint servo, a buffer mechanism, a calf joint connecting plate, and a foot-end suction cup; the hip joint connecting plate is threadedly connected to the hip joint servo and the thigh joint servo, respectively; the thigh joint connecting plate is threadedly connected to the thigh joint servo and the calf joint servo, respectively; the calf joint servo is threadedly connected to the calf joint connecting plate; the buffer mechanism is connected to the calf joint connecting plate via a nut; and the foot-end suction cup is connected to the buffer mechanism;

[0010] The foot end suction cup includes: an upper support block, a vacuum suction cup skirt, a lower support block and a sponge pad; the upper support block, the vacuum suction cup skirt and the lower support block are connected in sequence by bolts, and the sponge pad is attached to the bottom of the vacuum suction cup skirt;

[0011] A micro vacuum pump is used to extract the air from the foot-end suction cup;

[0012] The solenoid valve is used to control the on / off of the system circuit in the control main board;

[0013] The buffer mechanism includes a translation unit and a rotation unit; the rotation unit includes: a first slide rod and a first sleeve; the first sleeve is used to rotate around the first slide rod; the translation unit includes: a second slide rod, a second sleeve and a spring; both ends of the second sleeve are equipped with springs; the second sleeve is used to translate along the axial direction of the second slide rod, and the spring is used to reduce the impact force generated between the mechanical leg and the surface of the fan blade.

[0014] Optionally, the calf joint connecting plate is fixed with double nuts, and the nuts are used to tightly connect the calf joint connecting plate and the buffer mechanism to prevent the buffer mechanism from loosening.

[0015] A method for determining suction cups on the foot ends of a wall-climbing robot with a four-legged adaptive curved surface adsorption structure for detecting fan blades comprises the following steps:

[0016] The surface of the fan blade is regarded as a circular arc surface;

[0017] Calculate the deformation angle of the foot-end suction cup. The calculation formula for the deformation angle is: tanα = Δh / d, where α is the deformation angle, Δh is the maximum deformation height along the axis, and d is the diameter of the foot-end suction cup.

[0018] The foot-end suction cup for adsorption on the arc surface is selected according to the comparison result of the suction cup deformation angle and the angle between the axis of the foot-end suction cup and the normal of the arc surface; the specific steps are: when the suction cup deformation angle is greater than or equal to the angle, the foot-end suction cup is selected.

[0019] A four-legged wall-climbing robot system for wind turbine blade inspection with an adaptive curved surface adsorption structure comprises: a control system, an adsorption system, and a motion system;

[0020] The control system includes: a PC host computer, a robot host, a control mainboard, a servo control board, a high-definition camera, sensors, and a power module. The PC host computer, high-definition camera, and control mainboard are all connected to the robot host computer, and the sensors and servo control board are also connected to the control mainboard. The power module uses a dual-battery power supply mode. The sensors include: an ultrasonic sensor and an IMU.

[0021] The control board is used to send action sequences to the servo control board; the robot host is used to analyze the data collected by the high-definition camera; the PC host is used to save the collected data;

[0022] The adsorption system includes: air pressure sensor, micro vacuum pump, solenoid valve and foot-end suction cup; the air pressure sensor is used to detect and feedback the negative pressure level inside the robot system in real time;

[0023] The servo control board is used to control the servo angle and action mode of the motion system and the switch status of the micro vacuum pump and solenoid valve;

[0024] The motion system includes: the main body and mechanical legs.

[0025] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: the four-legged adaptive curved surface adsorption structure of the fan blade detection wall-climbing robot provided by the present invention includes: a fuselage main body, a control main board built into the fuselage main body, a micro vacuum pump, an electromagnetic valve, a high-definition camera fixed to the outer side of the fuselage main body and a mechanical leg threadedly connected to the fuselage main body; the fuselage main body includes: a fuselage upper plate, a fuselage side plate, a fuselage middle plate and a fuselage lower plate; the fuselage side plates are respectively connected to the fuselage upper plate and the fuselage middle plate, and the fuselage middle plate is connected to the fuselage lower plate; the mechanical leg includes: a hip joint servo, a hip joint connecting plate, a thigh joint servo, a thigh joint connecting plate, a calf joint servo, a buffer mechanism, a calf joint connecting plate and a foot-end suction cup; the hip joint connecting plate is respectively threadedly connected to the hip joint servo and the thigh joint servo, the thigh joint connecting plate is respectively threadedly connected to the thigh joint servo and the calf joint servo, the calf joint servo is threadedly connected to the calf joint connecting plate, the buffer mechanism is connected to the calf joint connecting plate through a nut, and the foot-end suction cup is connected to the buffer mechanism. The device enhances the robot's adsorption force and reduces the damage to the wind turbine blades caused by the robot during crawling. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1This is a structural diagram of a wall-climbing robot for wind blade detection with a four-legged adaptive curved surface adsorption structure according to an embodiment of the present invention;

[0028] Figure 2 This is a structural diagram of the mechanical legs of a wall-climbing robot according to an embodiment of the present invention;

[0029] Figure 3 This is a structural diagram of the suction cup at the end of the mechanical leg of an embodiment of the present invention;

[0030] Figure 4 This is a flow chart of a method for determining the suction cup at the foot end of a wall-climbing robot according to an embodiment of the present invention;

[0031] Figure 5 Schematic diagram of curved surface adaptation of the suction cup at the foot end of a wall-climbing robot according to an embodiment of the present invention;

[0032] Figure 6 A physical picture of a wall-climbing robot according to an embodiment of the present invention;

[0033] Figure 7 Graph showing changes in the minimum suction force of the suction cup under four failure scenarios according to an embodiment of the present invention;

[0034] Figure 8 This is a graph showing changes in the minimum suction force required by the foot-end suction cup according to an embodiment of the present invention;

[0035] Figure 9 This is a graph showing the change in minimum adsorption force when α is constant according to an embodiment of the present invention.

[0036] Figure numerals: 1. Mechanical leg; 11. Hip joint servo; 12. Hip joint connecting plate; 13. Thigh joint servo; 14. Thigh joint connecting plate; 15. Calf joint servo; 16. Buffer mechanism; 17. Calf joint connecting plate; 18. Foot end suction cup; 181. Upper support block; 182. Vacuum suction cup skirt; 183. Lower support block; 184. Bolt; 185. Sponge pad; 2. High-definition camera; 3. Robot host; 4. Control main board; 5. Fuselage body; 51. Fuselage upper panel; 52. Fuselage side panel; 53. Fuselage middle panel; 54. Fuselage lower panel; 6. Miniature vacuum pump; 7. Solenoid valve. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figure 1 As shown, an embodiment of the present invention provides a four-legged wall-climbing robot for detecting fan blades with an adaptive curved surface adsorption structure, comprising: a body 5, a control main board 4 built into the body 5, a miniature vacuum pump 6, an electromagnetic valve 7, a high-definition camera 2 fixed to the outer side of the body 5, and a mechanical leg 1 threadedly connected to the body 5; the miniature vacuum pump 6 is used to extract air from the foot-end suction cup 18; the electromagnetic valve 7 is used to control the on-off of the system circuit in the control main board 4.

[0040] Specifically, the main body 5 comprises an upper panel 51, side panels 52, a middle panel 53, and a lower panel 54. The side panels 52 are connected to the upper panel 51 and the middle panel 53, respectively, while the middle panel 53 is connected to the lower panel 54, forming a semi-enclosed space for components such as the control main board 4, the micro vacuum pump 6, and the solenoid valve 7. The main body 5 is constructed of aluminum alloy, ensuring the overall strength of the wall-climbing robot while reducing its overall weight.

[0041] Specifically, the high-definition camera 2 is fixed to one end of the fuselage side panel 52 and is used to collect image data on the surface of the wind turbine blade and detect defects and damage on the surface.

[0042] like Figure 2 As shown, the mechanical leg 1 includes: a hip joint servo 11, a hip joint connecting plate 12, a thigh joint servo 13, a thigh joint connecting plate 14, a calf joint servo 15, a buffer mechanism 16, a calf joint connecting plate 17 and a foot-end suction cup 18; the hip joint servo 11 is fixed between the fuselage middle plate 53 and the fuselage lower plate 54 by a threaded connection, the hip joint connecting plate 12 is threadedly connected to the hip joint servo 11 and the thigh joint servo 13 respectively, the thigh joint connecting plate 14 is threadedly connected to the thigh joint servo 13 and the calf joint servo 15 respectively, the calf joint servo 15 is threadedly connected to the calf joint connecting plate 17, the buffer mechanism 16 is connected to the calf joint connecting plate 17 by a nut, and the foot-end suction cup 18 is connected to the buffer mechanism 16.

[0043] The hip joint servo 11 is used to control the rotation of the entire robotic leg 1; the thigh joint servo 13 is used to control the lifting movement of the robotic leg 1; and the calf joint servo 15 is used to adjust the rotation angle of the foot end suction cup 18 to ensure that the foot end suction cup 18 can better fit the surface of the wind turbine blade.

[0044] Specifically, the calf joint connecting plate 17 is fixed with double nuts, and the nuts are used to tightly connect the calf joint connecting plate 17 and the buffer mechanism 16 to prevent the buffer mechanism 16 from loosening.

[0045] Specifically, the buffer mechanism 16 includes a translation unit and a rotation unit. The rotation unit includes a first slide bar and a first sleeve. The first sleeve is configured to rotate about the first slide bar. The rotation unit provides the robotic leg 1 with the ability to rotate about the foot-end suction cup 18, allowing the robotic leg 1 to flexibly rotate about the suction point even when the foot-end suction cup 18 is attached. The translation unit includes a second slide bar, a second sleeve, and a spring. The second sleeve is equipped with a spring at each end. The second sleeve is configured to translate along the axis of the second slide bar, and the spring is configured to reduce the impact force generated between the robotic leg 1 and the surface of the wind turbine blade.

[0046] like Figure 3 As shown, the foot-end suction cup 18 includes: an upper aluminum support block 181, a vacuum suction cup skirt 182 with double-layer silicone pleats, an aluminum lower support block 183 and a sponge pad 185; the upper support block 181, the vacuum suction cup skirt 182 and the lower support block 183 are connected in sequence by bolts 184, and the sponge pad 185 is adhered to the bottom of the vacuum suction cup skirt 182; the foot-end suction cup 18 is used to provide stable adsorption force for the robot.

[0047] Specifically, the sponge pad 185 not only plays a cushioning role, but also greatly reduces the contact area required to form a closed cavity between the foot-end suction cup 18 and the surface of the fan blade, which is conducive to better operation of the adsorption system. At the same time, it also improves the deformation ability of the foot-end suction cup 18 so that it can better adapt to the surface of the fan blade.

[0048] The working principle of the foot-end suction cup 18 is: when the sponge pad 185 and the vacuum suction cup skirt 182 come into contact with the surface of the fan blade, they adaptively deform and form a closed cavity. The gas in the foot-end suction cup 18 is extracted through the central air hole of the upper support block 181, thereby forming the negative pressure required by the robot's foot.

[0049] like Figure 4 As shown, the embodiment of the present invention further provides a method for determining the foot-end suction cup 18 of a fan blade detection wall-climbing robot with a four-legged adaptive curved surface adsorption structure, comprising the following steps:

[0050] Step 100: Consider the surface of the fan blade as an arc surface; the specific implementation process is as follows Figure 5As shown, when the foot-end suction cup 18 is adsorbed on the arc surface, figure ABC is a quarter curvature circle at the adsorption point, which is approximately the free-form surface of the fan blade at the adsorption point; the solid line part where points I, G and D are located represents the foot-end suction cup 18; plane a is perpendicular to the current plane. Assuming that the robot's thigh joint servo 13, calf joint servo 15, buffer mechanism 16 and foot-end suction cup 18 are all located in plane a, the robot's foot-end suction cup 18 can be fully controlled in plane a. When the axis vector DE passes through point F, the angle β between the axis direction DE of the robot's foot-end suction cup 18 and the normal direction AD of the free-form surface at the adsorption point is the smallest.

[0051] Step 200: Calculate the suction cup deformation angle of the foot end suction cup 18 . The calculation formula for the suction cup deformation angle is: tanα = Δh / d, where α is the suction cup deformation angle, Δh is the maximum deformation height in the axial direction, and d is the diameter of the foot end suction cup 18 .

[0052] Step 300: Select a foot-end suction cup 18 that can be adsorbed on the arc surface based on the comparison result of the suction cup deformation angle and the angle β between the axis of the foot-end suction cup 18 and the normal of the arc surface; the specific steps are: when the suction cup deformation angle is greater than or equal to the angle β, select the foot-end suction cup 18 so that the foot-end suction cup 18 can be adsorbed on the arc surface. This judgment method is conducive to designing the size of the foot-end suction cup 18 for different fan blades, making it easier for the robot to select a suitable landing point using online gait during gait planning. The suction cup diameter can determine the magnitude of the adsorption force of a single suction cup, and the small holes in the sponge pad 185 can reduce the contact area required to form a closed cavity between the foot-end suction cup 18 and the surface of the fan blade, which is conducive to better operation of the adsorption system.

[0053] The embodiment of the present invention also provides a four-legged adaptive curved surface adsorption structure wind turbine blade detection wall-climbing robot system, comprising: a control system, an adsorption system and a motion system;

[0054] The control system includes: a PC host computer, a robot host 3, a control mainboard 4, a servo control board, a high-definition camera 2, sensors, and a power module; the PC host computer, the high-definition camera 2, and the control mainboard 4 are all connected to the robot host 3, and the sensors and the servo control board are all connected to the control mainboard 4;

[0055] The PC host computer is used to save the collected data and generate an action sequence based on the collected data and task requirements; the control board 4 is used to send the action sequence to the servo control board and collect information from the ultrasonic sensor and inertial measurement unit (IMU);

[0056] Specifically, the power module adopts a dual-battery power supply mode, which is powered by a 12V power supply and a 7.4V lithium battery respectively; the sensors include: an ultrasonic sensor and an IMU; the control mainboard 4 communicates with the servo control board via UART; the robot host 3 communicates with the control mainboard 4 via USB, and is used to analyze the collected data of the high-definition camera 2.

[0057] The adsorption system includes: an air pressure sensor, a micro vacuum pump 6, an electromagnetic valve 7 and a foot-end suction cup 18; the air pressure sensor is used to detect and feedback the negative pressure level inside the robot system in real time;

[0058] The steering gear control board is used to control the steering gear angle and action mode of the motion system and the switch status of the micro vacuum pump 6 and the solenoid valve 7;

[0059] The motion system includes: a body 5 and mechanical legs 1.

[0060] An example wall climbing robot of the present invention is as follows Figure 6 As shown, the servos on each mechanical leg 1 are connected in series and powered by a lithium battery. The main body has a length, width and height of 500*220*150mm. The total mass is approximately 3.2kg when not equipped with detection equipment, and approximately 5kg when equipped with detection equipment.

[0061] This example defines two key angle parameters, α and β, to describe the robot's adhesion to the wind turbine blade surface during the robot's adsorption state analysis. β is the angle between the robot body and the horizontal plane. When the robot body is horizontal, β reaches its minimum value. When the robot body is vertical, β reaches 90°. As the robot continues to flip itself, β increases further until it reaches 180°. α is the angle between the robot body and the tangent plane of the wind turbine blade at the center of the suction cup. For a cross-section of the wind turbine blade surface, α decreases where the curvature is smaller, and vice versa. In this example, the ranges for α and β are α∈[0°,15°] and β∈[0°,180°].

[0062] As the robot crawls along the surface of a wind turbine blade, the specific values ​​of α and β vary depending on its position on the blade, affecting the robot's suction capacity. The suction cup diameter D is a key parameter affecting suction force. This example simulates the suction performance of a suction cup with a diameter of D = 80 mm.

[0063] When the robot mass m = 5kg and the acceleration of gravity g = 9.8N / kg, since the surface of the fan blade is generally coated with primer and topcoat, the surface roughness is relatively low. Therefore, the friction coefficient between the foot end suction cup 18 and the fan blade surface is μ = 0.35, and the distance H between the center of gravity of the robot and the bottom of the robot is g= 0.15m, the distance between the center points of the two foot-end suction cups 18 of the robot is L1 = 0.42m. The changes in the minimum suction force of the suction cups under the four failure scenarios can be obtained, as shown in the following example: Figure 7 As shown. F' min and F” min Represent two overturning failure cases, F'' min and F” min They represent the failure of the robot sliding along the x-axis and y-axis of the body coordinate system respectively.

[0064] Understandably, F' min and F” min The value of is always the smallest, indicating that overturning failure generally does not occur, F"' min and F” min The larger the value of , the more likely the robot is to fail due to slippage.

[0065] The minimum adsorption force required by the foot end suction cup 18 changes as shown in the figure Figure 8 As shown, when the angle β is kept constant, the increase of α will lead to a corresponding increase in the minimum adsorption force W. In this example, α is 15°, and the minimum adsorption force changes when α is constant as shown in Figure 9 As shown, the coordinates of the highest point of the curve are (72.7273°, 42.7000N), that is, when the angle β between the robot body and the horizontal plane is 72.7273°, the minimum suction force required by the suction cup is W = 42.7000N, and the minimum diameter D required by the foot end suction cup 18 can be obtained. min =73.7529mm.

[0066] The beneficial effects of the present invention are as follows:

[0067] 1) Enhanced the robot's adsorption capacity;

[0068] 2) Reduce the damage to the wind turbine blades caused by the robot during the crawling process;

[0069] 3) Enhanced the robot's adaptability to curved surfaces.

[0070] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0071] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A four-legged wall-climbing robot for wind turbine blade inspection with an adaptive curved surface adsorption structure, characterized in that: include: A body, a control board built into the body, a micro vacuum pump, a solenoid valve, a high-definition camera fixed to the outer side of the body, and a mechanical leg threadedly connected to the body; The fuselage body comprises: a fuselage upper panel, a fuselage side panel, a fuselage middle panel and a fuselage lower panel; the fuselage side panel is connected to the fuselage upper panel and the fuselage middle panel respectively, and the fuselage middle panel is connected to the fuselage lower panel; The fuselage body is made of aluminum alloy structure; The mechanical leg includes: a hip joint servo, a hip joint connecting plate, a thigh joint servo, a thigh joint connecting plate, a calf joint servo, a buffer mechanism, a calf joint connecting plate and a foot-end suction cup; the hip joint connecting plate is threadedly connected to the hip joint servo and the thigh joint servo, respectively; the thigh joint connecting plate is threadedly connected to the thigh joint servo and the calf joint servo, respectively; the calf joint servo is threadedly connected to the calf joint connecting plate; the buffer mechanism is connected to the calf joint connecting plate via a nut; and the foot-end suction cup is connected to the buffer mechanism; The foot-end suction cup includes: an upper support block, a vacuum suction cup skirt, a lower support block and a sponge pad; the upper support block, the vacuum suction cup skirt and the lower support block are connected in sequence by bolts, and the sponge pad is attached to the bottom of the vacuum suction cup skirt; the method of using the foot-end suction cup includes: The surface of the fan blade is regarded as a circular arc surface; Calculate the deformation angle of the foot-end suction cup; the calculation formula of the suction cup deformation angle is: ;in, is the deformation angle of the suction cup, is the maximum deformation height in the axial direction, is the diameter of the foot end suction cup; The foot-end suction cup for adsorption on the arc surface is selected according to a comparison result of the suction cup deformation angle and the angle between the axis of the foot-end suction cup and the normal of the arc surface. The specific steps are: when the suction cup deformation angle is greater than or equal to the angle, the foot-end suction cup is selected; The micro vacuum pump is used to extract air from the foot-end suction cup; The solenoid valve is used to control the on / off of the system circuit in the control main board; The buffer mechanism includes a translation unit and a rotation unit; the rotation unit includes: a first slide rod and a first sleeve; the first sleeve is used to rotate around the first slide rod; the translation unit includes: a second slide rod, a second sleeve and a spring; both ends of the second sleeve are equipped with the spring; the second sleeve is used to translate along the axial direction of the second slide rod, and the spring is used to reduce the impact force generated between the mechanical leg and the surface of the fan blade.

2. The four-legged wall-climbing robot for wind turbine blade inspection with an adaptive curved surface adsorption structure according to claim 1 is characterized in that: The calf joint connecting plate is fixed with double nuts, and the nuts are used to tightly connect the calf joint connecting plate and the buffer mechanism to prevent the buffer mechanism from loosening.

3. A four-legged adaptive curved surface adsorption structure wall-climbing robot system for detecting fan blades, applied to the four-legged adaptive curved surface adsorption structure wall-climbing robot for detecting fan blades according to any one of claims 1-2, characterized in that: include: Control system, adsorption system and motion system; The control system includes: a PC host computer, a robot host, the control motherboard, a steering gear control board, the high-definition camera, a sensor and a power module; the PC host computer, the high-definition camera and the control motherboard are all connected to the robot host, and the sensor and the steering gear control board are all connected to the control motherboard; the power module adopts a dual battery power supply mode; the sensors include: an ultrasonic sensor and an IMU; The control main board is used to send an action sequence to the servo control board; the robot host is used to analyze the collected data of the high-definition camera; the PC host is used to save the collected data; The adsorption system includes: an air pressure sensor, the micro vacuum pump, the solenoid valve and the foot-end suction cup; the air pressure sensor is used to detect and feedback the negative pressure level inside the robot system in real time; The steering gear control board is used to control the steering gear rotation angle and action mode of the motion system and the switching status of the micro vacuum pump and the solenoid valve; The motion system includes: the fuselage body and the mechanical legs.

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