Falling speed reducer for wind driven generator blade cleaning robot

Abstract

The invention discloses a falling speed reducer for a wind driven generator blade cleaning robot, and relates to the field of falling speed reducers. A falling speed reduction device for a wind driven generator blade cleaning robot comprises a driving head, two vehicle bodies and a climbing rope, two rope clamping rollers are installed in the driving head, the climbing rope is located between the two rope clamping rollers, two driving motors are fixedly connected to the driving head, the output ends of the driving motors are fixedly connected with rotating shafts, and the rotating shafts are fixedly connected with the vehicle bodies. The falling speed of the robot is effectively reduced through the arrangement of the brake disc, meanwhile, the contact area of the robot and air during falling is increased through the arrangement of the rotatable vehicle body, the speed reduction effect is improved by increasing air resistance, and the robot is prevented from falling off. And gas can be reused, the position of the robot in the air is adjusted, and use of follow-up recycling work is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of falling deceleration devices, and in particular relates to a falling deceleration device for a wind turbine blade cleaning robot. Background Art

[0002] A wind turbine is an electrical device that converts wind energy into mechanical work, which drives the rotor to rotate and ultimately outputs alternating current.

[0003] After a wind turbine has been used for a period of time, the blades need to be cleaned to prevent dirt from affecting the rotation of the blades and to facilitate long-term use.

[0004] The existing wind turbine blade cleaning robot is similar to a small car. It adopts the method of a rope-climbing robot. It is moved manually through the lifting device inside the wind turbine. The climbing rope is installed on the top of the wind turbine, and then the other end of the rope is thrown down. The rope-climbing robot is then installed on the climbing rope and moved until it reaches the fan blade. At this time, the robot is adsorbed on the fan blade through the wheels equipped with electromagnets, and then it can be cleaned. After the cleaning is completed, it will fall down along the climbing rope.

[0005] During the falling process, the existing cleaning robots generally use a parachute to reduce the falling speed so that the robot can land more stably. At this time, after use, the parachute needs to be folded and collected for subsequent use. At this time, it is easy for the parachute to fail to open during subsequent use due to improper storage, which affects the falling of the robot. There are certain shortcomings. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a falling deceleration device that can overcome the above problems or at least partially solve the above problems.

[0007] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: a falling deceleration device for a wind turbine blade cleaning robot, comprising a driving head, two sets of vehicle bodies, and a climbing rope, wherein two sets of rope clamping rollers are installed in the driving head, and the climbing rope is located between the two sets of rope clamping rollers, and the driving head is fixedly connected to two sets of driving motors, and the output end of the driving motor is fixedly connected to a rotating shaft, and the rope clamping roller is fixedly connected to the rotating shaft, and the vehicle body is rotatably connected to a moving wheel, and further comprises,

[0008] Two groups of rotating parts are respectively fixedly connected to the two groups of vehicle bodies, the rotating parts are rotatably connected in the driving head, and the two groups of vehicle bodies are rotatably connected to the driving head;

[0009] A cam, fixedly connected to the rotating shaft of the rope clamping roller;

[0010] Two groups of side deceleration airbags are respectively installed on the two groups of vehicle bodies, the side deceleration airbags are located on the sides of the vehicle bodies, and the side deceleration airbags are installed obliquely;

[0011] A piston device is disposed in the drive head, and the piston device is used to inflate the side deceleration airbag;

[0012] The brake disc is fixedly connected to the rotating shaft of the rope clamping roller. A brake drum is fixedly connected in the driving head. A brake pad is installed in the brake drum. The brake pad is used to brake and decelerate the brake disc.

[0013] In order to facilitate the use of the piston device, it further includes: the piston device includes a piston cylinder, the piston cylinder is fixedly connected in the driving head, a piston rod is slidably connected in the piston cylinder, one end of the piston rod passes through the piston cylinder, and the through end of the piston rod is in contact with the cam, a spring part is connected in the piston cylinder, the other end of the spring part is connected to the piston rod, and an air inlet and an air outlet are provided on the piston cylinder, and a one-way valve is provided in the air inlet and the air outlet.

[0014] In order to facilitate the replenishment of gas to the side deceleration airbag, further, the air outlet is connected to an air outlet pipe 1, the air outlet pipe 1 is connected to an air outlet pipe 2, and the air outlet pipe 1 is communicated with the side deceleration airbag.

[0015] In order to facilitate the adjustment of the falling position of the cleaning robot and avoid the cleaning robot being blown away from the preset landing point by the wind, two groups of exhaust pipes are further arranged on the side deceleration airbag, and the two groups of exhaust pipes are used to change the position of the robot when it falls by blowing out gas, and an electronic valve is arranged in the exhaust pipe.

[0016] In order to increase the contact area between the vehicle body and the air and increase the deceleration effect, further, multiple groups of circular holes are provided on the two groups of vehicle bodies, and connecting pipes are provided on the circular holes. The connecting pipes of the multiple groups of circular holes are connected to each other, and two air outlet ends are provided on the connecting pipe, one group of the air outlet ends is connected to a connecting air pipe, and an electronic valve is provided in the connecting air pipe.

[0017] In order to warn the surrounding staff through sound, informing them that the robot is falling and needs to stay away from the preset landing area in time, further, a whistle is provided on the air outlet end of the other group of connecting pipes.

[0018] In order to prevent the brake drum from reducing the braking effect due to high temperature, further, the outlet pipe one is connected to the outlet pipe two, the outlet end of the outlet pipe two is located on the brake drum, and an electronic valve is arranged in the outlet pipe two.

[0019] In order to facilitate the control of the braking force of the brake pad through the change of current, further, a resistor is fixedly connected in the driving head, a conductive rod is slidably connected to the resistor, a pull rope is connected to the rotating part, and the other end of the pull rope is connected to the conductive rod.

[0020] In order to facilitate the force exerted on the robot when landing, further, both groups of vehicle bodies are fixedly connected with inflatable airbags, the inflatable airbags are communicated with an air outlet pipe, an extension pipe is connected to the air outlet pipe, and an electronic valve is provided on the air inlet end of the inflatable airbags.

[0021] In order to keep the two groups of vehicle bodies from being separated during normal cleaning, further, both groups of vehicle bodies are fixedly connected with electromagnets, and the two groups of electromagnets are attached to each other.

[0022] After adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art: the present invention effectively reduces the falling speed of the robot by setting a brake disc, and at the same time increases the contact area between the robot and the air when falling by setting a rotatable body, thereby increasing the deceleration effect by increasing the air resistance, and can reuse the gas, adjust the position of the robot in the air, and facilitate the use of subsequent recovery work. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In the attached picture:

[0024] Figure 1 A schematic diagram of the structure of a falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention Figure 1 ;

[0025] Figure 2 A schematic structural diagram of a falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention in an unfolded state during the falling process;

[0026] Figure 3 A schematic diagram of the structure of a falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention Figure 2 ;

[0027] Figure 4 A schematic diagram of the structure of the driving head in the falling deceleration device for the wind turbine blade cleaning robot proposed by the present invention Figure 1 ;

[0028] Figure 5 A falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention Figure 4 The structural diagram of part A in the figure;

[0029] Figure 6A schematic diagram of the structure of the driving head in the falling deceleration device for the wind turbine blade cleaning robot proposed by the present invention Figure 2 ;

[0030] Figure 7 A falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention Figure 6 The structural diagram of part B;

[0031] Figure 8 This is a schematic diagram of the structure of a circular hole in a falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention;

[0032] Fig. 9 This is a schematic structural diagram of a vehicle body in a falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention;

[0033] Fig.10 This is a schematic diagram of the structure of a side deceleration airbag in a falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention after it is inflated and deployed;

[0034] Fig.11 A schematic diagram of the structure of a falling deceleration device for a wind turbine blade cleaning robot proposed by the present invention Figure 3 .

[0035] In the figure: 1. driving head; 101. rope clamping roller; 102. cam; 103. brake disc; 1031. brake drum; 1032. brake pad; 104. driving motor; 1051. piston cylinder; 10511. air inlet; 10512. air outlet; 1052. spring member; 1053. piston rod; 1061. air outlet pipe 1; 1062. air outlet pipe 2; 1063. extension pipe; 107. resistor; 1071. conductive rod; 2. vehicle body; 201. moving wheel; 202. rotating part; 2021. pull rope; 301. circular hole; 302. whistle; 303. connecting pipe; 304. connecting air pipe; 4. inflatable airbag; 5. side deceleration airbag; 501. exhaust pipe; 6. electromagnet. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0037] Example 1: Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6A falling deceleration device for a wind turbine blade cleaning robot comprises a driving head 1, two sets of vehicle bodies 2, and a climbing rope. Two sets of rope clamping rollers 101 are installed in the driving head 1. The climbing rope is located between the two sets of rope clamping rollers 101. Two sets of driving motors 104 are fixedly connected to the driving head 1. The output end of the driving motor 104 is fixedly connected to a rotating shaft. The rope clamping roller 101 is fixedly connected to the rotating shaft. A moving wheel 201 is rotatably connected to the vehicle body 2. The moving wheel 201 is provided with an adsorption magnet for easy adsorption on the fan blade. The device also comprises two sets of rotating parts 202, which are respectively fixedly connected to the two sets of vehicle bodies 2. The rotating parts 202 are rotatably connected to the driving head 1. Both sets of vehicle bodies 2 are rotatably connected On the driving head 1; the cam 102 is fixedly connected to the rotating shaft of the rope clamping roller 101; two groups of side deceleration airbags 5 are respectively installed on the two groups of vehicle bodies 2, the side deceleration airbags 5 are located on the sides of the vehicle bodies 2, and the side deceleration airbags 5 are installed obliquely; a piston device is arranged in the driving head 1, and the piston device is used to inflate the side deceleration airbags 5; a brake disc 103 is fixedly connected to the rotating shaft of the rope clamping roller 101, a brake drum 1031 is fixedly connected in the driving head 1, a brake pad 1032 is installed in the brake drum 1031, a hydraulic rod for moving the brake pad 1032 is provided in the brake drum 1031, and the brake pad 1032 is used to brake and decelerate the brake disc 103.

[0038] When the device is in use, the climbing rope is first carried manually, and is moved to the equipment room of the wind turbine through the small lifting device inside the wind turbine, and then moved to the outside and the climbing rope is thrown down. At this time, one end of the climbing rope will be fixed on the wind turbine, and the other end will be on the ground. At this time, the staff on the ground can install the cleaning robot on the climbing rope, and drive the rope clamping roller 101 to rotate through the driving motor 104, and then move the cleaning robot, so that the cleaning robot is gradually moved to the fan blade, and through the moving wheel 201 provided with an adsorption magnet, the cleaning robot is adsorbed on the fan blade, and the rope clamping roller 101 will rotate with the moving wheel 201, and at this time, the cleaning robot can be cleaned by the cleaning heads on both sides of the cleaning robot. The fan blades are cleaned, generally by moving down gradually from the top, and the fan blades are cleaned. After cleaning, the cleaning robot will continue to fall, and the moving wheel 201 will leave the fan blades. At this time, under the action of gravity, the robot will fall relatively vertically. There are two ways to fall at this time. One is to control the rope clamping roller 101 by driving the motor 104, so that the robot falls slowly. This process is relatively slow. Generally, the robot falls quickly by gravity, and is equipped with a deceleration device, such as a parachute, to decelerate the robot as a whole. However, the parachute needs to be stored after use, which is cumbersome, and incorrect storage causes the parachute to be unable to open. There are certain deficiencies, so this device adopts a new type of falling deceleration device.

[0039] During the actual fall, the driving motor 104 is not in working state. The natural fall of the robot will cause the rope clamping roller 101 to rotate rapidly. The rotation at this time will cause the cam 102 to rotate rapidly, so that the piston device continuously inhales the external gas, and the internal gas is quickly discharged into the side deceleration airbag 5. The side deceleration airbag 5 is as shown in FIG. Fig. 9 , Fig.10 As shown, it is located on the side of the vehicle body 2 and is inclined so that it will protrude from the vehicle body 2 after being filled with gas, thereby increasing the contact area between the vehicle body 2 and the outside world, and will play a role in blocking the gas generated during the fall, similar to a wind stop, and produce a certain resistance (the resistance at this time will have a certain deceleration effect. The specific deceleration effect will be related to the size of the contact area between the side deceleration airbag 5 and the air. The larger the contact area, the stronger the deceleration effect. At the same time, the material of the side deceleration airbag 5 needs to be relatively hard. After inflation, it will not produce drastic deformation due to external influences, otherwise it will affect the deceleration effect). Moreover, since the vehicle body 2 is rotatably connected to the drive head 1, the vehicle body 2 will rotate at this time, and the final state will be as shown in the figure. Figure 2 As shown, at this time, the two groups of vehicle bodies 2 will be relatively unfolded. At this time, the unfolded vehicle bodies 2 will increase the contact area with the air and play a certain buffering role. Later, when the vehicle bodies 2 are fully unfolded, the staff on the ground will control the hydraulic rod through remote control, and then the brake pads 1032 will continuously reduce the falling speed of the robot through point braking. At this time, the robot first slowly reduces the falling speed from the rapid descent of the blades until it lands.

[0040] The vehicle body 2 may be formed as follows: Fig.11 The single vehicle body 2 shown in FIG. 1 , the rotational position between the vehicle body 2 and the drive head 1 will be changed by Fig.11 As shown, such a configuration can further increase the contact area between the robot and the air. At this time, in order to facilitate the rotation of the vehicle body 2, the configuration of the side deceleration airbag 5 will be somewhat different from the initial configuration. It can be configured to protrude from the bottom of the vehicle body 2 as shown in the figure, and it is also configured to be inclined. At this time, the side deceleration airbag 5 is inflated, which will also play the role of a wind baffle, and then the vehicle body can be rotated through the impact of the airflow. In order to facilitate the rotation of the vehicle body 2, the weight of the vehicle body 2 needs to be reduced. At this time, the vehicle body 2 can be made of carbon fiber plates.

[0041] Example 2: Reference Figure 4 , Figure 5 , Figure 6 , Figure 7A falling deceleration device for a wind turbine blade cleaning robot is basically the same as that of Example 1, and furthermore, the piston device includes a piston cylinder 1051, the piston cylinder 1051 is fixedly connected to the driving head 1, a piston rod 1053 is slidably connected to the piston cylinder 1051, one end of the piston rod 1053 passes through the piston cylinder 1051, and the through end of the piston rod 1053 is in contact with the cam 102, a spring member 1052 is connected to the piston cylinder 1051, and the other end of the spring member 1052 is connected to the piston rod 1053, The piston cylinder 1051 is provided with an air inlet 10511 and an air outlet 10512, and both the air inlet 10511 and the air outlet 10512 are provided with a one-way valve, the air outlet 10512 is connected to an air outlet pipe 1 1061, and the air outlet pipe 1 1061 is connected to an air outlet pipe 2 1062, the air outlet pipe 1 1061 is communicated with the side deceleration airbag 5, and the air outlet pipe 1 1061 is connected to an air outlet pipe 2 1062, the air outlet end of the air outlet pipe 2 1062 is located on the brake drum 1031, and an electronic valve is provided in the air outlet pipe 2 1062.

[0042] When the device is in use, the cam 102 rotates to continuously squeeze the piston rod 1053, so that the piston cylinder 1051 continuously sucks in external gas and discharges it through the air outlet pipe until it enters the side deceleration airbag 5, causing the side deceleration airbag 5 to fill and expand, thereby causing the cleaning robot upper body 2 to rotate, increasing the contact area with the air.

[0043] At the same time, through the setting of the second outlet pipe 1062, a part of the gas can be discharged through the manual opening of the rear electronic valve, thereby continuously cooling the brake pad 1032 and the brake disc 103, facilitating normal deceleration.

[0044] Example 3: Reference Fig. 9 , a falling deceleration device for a wind turbine blade cleaning robot, is basically the same as Example 2, and further: two groups of exhaust pipes 501 are provided on the side deceleration airbag 5, and the two groups of exhaust pipes 501 are used to change the position of the robot when falling by blowing out gas, and an electronic valve is provided in the exhaust pipe 501.

[0045] like Fig. 9 As shown, an exhaust pipe 501 is provided on the side deceleration airbag 5. At this time, the exhaust pipe 501 can discharge the gas in the side deceleration airbag 5 to prevent the continuous entry of gas and damage to the side deceleration airbag 5. At the same time, the ejected gas can be remotely controlled by the staff on the ground through the remote device, such as Figure 2As shown, the robot will present a T-shape when falling. At this time, the exhaust pipe 501 can indirectly spray a strong airflow, thereby slightly changing the position of the robot when falling. Since the height of a wind turbine is generally one hundred meters, a slight adjustment at this time can effectively change the landing range of the robot during subsequent movement, thereby preventing the robot from being seriously deviated from the preset landing ground due to the influence of external wind force during the falling process, thereby causing damage to the surrounding environment.

[0046] In order to avoid leakage of gas in the side deceleration airbag 5, the electronic valves in the device can be controlled remotely.

[0047] Example 4: Reference Figure 8 , Fig. 9 , a falling deceleration device for a wind turbine blade cleaning robot, which is basically the same as Example 3, and further: multiple groups of circular holes 301 are provided on the two groups of car bodies 2, and connecting pipes 303 are provided on the circular holes 301. The connecting pipes 303 of the multiple groups of circular holes 301 are connected to each other, and two air outlet ends are provided on the connecting pipe 303, one of which is connected to a connecting air pipe 304, and the connecting air pipe 304 is communicated with an air outlet pipe 1061. At this time, the connecting air pipe 304 is communicated with the air outlet pipe 1061 to introduce the gas in the connecting pipe 304 into the air outlet pipe 1061, and then introduce the gas into the side deceleration airbag 5 through the air outlet pipe 1061, an electronic valve is provided in the connecting air pipe 304, and a whistle 302 is provided on the air outlet end of the other group of connecting pipes 303, wherein an electronic valve can also be provided at the whistle 302, which is used to concentrate the use of gas and replenish the gas in the side deceleration airbag 5.

[0048] When the robot falls, as the body 2 rotates and unfolds, the circular hole 301 will face the ground. At this time, the circular hole 301 can further increase the area of ​​the robot in contact with the air, increase the resistance, and increase the deceleration effect.

[0049] At the same time, through the setting of the connecting pipe 303, the gas received by the circular hole 301 is guided, and a part of the gas will be directly discharged through the whistle 302. At this time, the whistle 302 will make a sound to remind the surrounding people to get away from the preset landing ground as soon as possible to avoid the occurrence of safety accidents. At the same time, most of the gas will enter the side deceleration airbag 5 through the connecting air pipe 304, so as to provide additional supplement to the gas in the side deceleration airbag 5.

[0050] When using Fig.11 When the second mode is used, the circular hole 301 will be located at the bottom of the vehicle body 2, and the circular hole 301 will increase the contact area with the air. At this time, the exhaust pipe 501 on the side deceleration airbag 5 will be located on both sides of the vehicle body 2 (the state at this time is as shown in FIG. Fig.11As shown, the circular hole 301 faces the ground, and at this time, the side deceleration airbags 5 are located on both sides of the vehicle body 2 and are used to move the vehicle body 2 in two directions).

[0051] Example 5: Reference Figure 5 , Figure 6 , a falling deceleration device for a wind turbine blade cleaning robot, is basically the same as Example 3, and further: a resistor 107 is fixedly connected inside the driving head 1, one end of the resistor 107 is connected to one end of a wire, a conductive rod 1071 is slidably connected to the resistor 107, and the other end of the wire is connected to the conductive rod 1071. At this time, the current passes through the resistor 107 and will change with the movement of the conductive rod 1071. A pull rope 2021 is connected to the rotating part 202, and the other end of the pull rope 2021 is connected to the conductive rod 1071.

[0052] When the robot is in use, as the body 2 rotates, the pull rope 2021 will drive the conductive rod 1071 to move. In the initial state, the position of the conductive rod 1071 is as follows: Figure 6 As shown, in the default state, the resistance is high and the current is small. As the body 2 rotates, the pull rope 2021 will gradually pull the conductive rod 1071, thereby changing the current passing through the resistor 107. At this time, the brake pad 1032 can be automatically controlled by the change in current. First, as the robot falls, the body 2 will gradually rotate. At this time, the brake pad 1032 has a low braking frequency, and the robot's falling speed is only reduced by air resistance and occasional braking. At this time, the gas will quickly pass through the piston device and the circular hole 301 to enter the side airbag 5. Subsequently, as the body 2 is fully unfolded, the current becomes larger. At this time, the braking frequency of the brake pad 1032 increases, and the robot's falling speed is significantly reduced. At this time, the gas in the side deceleration airbag 5 will be ejected, thereby adjusting the falling location.

[0053] Example 6: Reference Figure 2 , Fig. 9 , a falling deceleration device for a wind turbine blade cleaning robot, which is basically the same as Example 3, and further: an inflatable airbag 4 is fixedly connected to the two groups of car bodies 2, the inflatable airbag 4 is communicated with an air outlet pipe 1061, and an extension pipe 1063 is connected to the air outlet pipe 1061, and the other end of the extension pipe 1063 is communicated with the connecting air pipe 304, and the extension pipe 1063 is used to connect the air outlet pipe 1061 and the connecting air pipe 304, so as to replenish the gas in the side deceleration airbag 5, and an electronic valve is provided on the air inlet end of the inflatable airbag 4, and the electronic valve is used to control the gas entering and discharging from the inflatable airbag 4. After the landing is completed, the electronic valve is opened, and the gas will be discharged under the pressure of the weight, thereby shrinking the inflatable airbag 4, and the two groups of electromagnets 6 are fixedly connected to the two groups of car bodies 2, and the two groups of electromagnets 6 are attached to each other.

[0054] By setting the inflatable airbag 4, when the robot is about to fall to the ground, the inflatable airbag 4 can play a cushioning role to avoid severe vibration caused by direct landing and damage to the internal components of the robot. At the same time, the setting of the electromagnet 6 can avoid the two groups of car bodies 2 from being separated when cleaning the fan blades, which is convenient for practical use.

[0055] The present invention effectively reduces the falling speed of the robot by setting the brake disc 103. At the same time, by setting the rotatable body 2, the contact area between the robot and the air during falling is increased, thereby increasing the air resistance and improving the deceleration effect. The gas can be reused and the position of the robot in the air can be adjusted to facilitate subsequent recovery work.

[0056] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. A falling deceleration device for a wind turbine blade cleaning robot, comprising a driving head (1), two sets of vehicle bodies (2), and a climbing rope, wherein two sets of rope clamping rollers (101) are installed in the driving head (1), and the climbing rope is located between the two sets of rope clamping rollers (101). The driving head (1) is fixedly connected to two sets of driving motors (104), and the output end of the driving motor (104) is fixedly connected to a rotating shaft, and the rope clamping roller (101) is fixedly connected to the rotating shaft. The vehicle body (2) is rotatably connected to a moving wheel (201), characterized in that: Also includes, Two groups of rotating parts (202) are respectively fixedly connected to the two groups of vehicle bodies (2); the rotating parts (202) are rotatably connected inside the driving head (1); and the two groups of vehicle bodies (2) are rotatably connected to the driving head (1); A cam (102) fixedly connected to the rotating shaft of the rope clamping roller (101); Two groups of side deceleration airbags (5) are respectively installed on the two groups of vehicle bodies (2), the side deceleration airbags (5) are located on the sides of the vehicle bodies (2), and the side deceleration airbags (5) are installed at an angle; A piston device is arranged in the driving head (1), and the piston device is used to inflate the side deceleration airbag (5); The brake disc (103) is fixedly connected to the rotating shaft of the rope clamping roller (101); a brake drum (1031) is fixedly connected inside the driving head (1); a brake pad (1032) is installed inside the brake drum (1031); and the brake pad (1032) is used to brake and decelerate the brake disc (103).

2. The falling deceleration device for a wind turbine blade cleaning robot according to claim 1, characterized in that: The piston device comprises a piston cylinder (1051), wherein the piston cylinder (1051) is fixedly connected in the driving head (1), a piston rod (1053) is slidably connected in the piston cylinder (1051), one end of the piston rod (1053) passes through the piston cylinder (1051), and the through end of the piston rod (1053) is in contact with the cam (102), a spring member (1052) is connected in the piston cylinder (1051), and the other end of the spring member (1052) is connected to the piston rod (1053), and an air inlet (10511) and an air outlet (10512) are provided on the piston cylinder (1051), and both the air inlet (10511) and the air outlet (10512) are provided with a one-way valve.

3. The falling deceleration device for a wind turbine blade cleaning robot according to claim 2, characterized in that: The air outlet (10512) is connected to an air outlet pipe 1 (1061), the air outlet pipe 1 (1061) is connected to an air outlet pipe 2 (1062), and the air outlet pipe 1 (1061) is in communication with the side deceleration airbag (5).

4. The falling deceleration device for a wind turbine blade cleaning robot according to claim 1, characterized in that: Two groups of exhaust pipes (501) are arranged on the side deceleration airbag (5), and the two groups of exhaust pipes (501) are used to change the position of the robot when it falls by blowing out gas, and an electronic valve is arranged inside the exhaust pipe (501).

5. The falling deceleration device for a wind turbine blade cleaning robot according to claim 3, characterized in that: Multiple groups of circular holes (301) are provided on both groups of the vehicle bodies (2), and connecting pipes (303) are provided on the circular holes (301). The connecting pipes (303) of the multiple groups of circular holes (301) are connected to each other, and two air outlet ends are provided on the connecting pipes (303), one of which is connected to a connecting air pipe (304), and an electronic valve is provided in the connecting air pipe (304).

6. The falling deceleration device for a wind turbine blade cleaning robot according to claim 5, characterized in that: A whistle (302) is provided on the air outlet end of the other group of connecting pipes (303).

7. The falling deceleration device for a wind turbine blade cleaning robot according to claim 3, characterized in that: The first air outlet pipe (1061) is connected to the second air outlet pipe (1062), the air outlet end of the second air outlet pipe (1062) is located on the brake drum (1031), and an electronic valve is arranged in the second air outlet pipe (1062).

8. The falling deceleration device for a wind turbine blade cleaning robot according to claim 1, characterized in that: A resistor (107) is fixedly connected inside the driving head (1), a conductive rod (1071) is slidably connected to the resistor (107), a pull rope (2021) is connected to the rotating part (202), and the other end of the pull rope (2021) is connected to the conductive rod (1071).

9. The falling deceleration device for a wind turbine blade cleaning robot according to claim 1, characterized in that: Both groups of vehicle bodies (2) are fixedly connected with inflatable airbags (4), the inflatable airbags (4) are in communication with an air outlet pipe (1061), an extension pipe (1063) is connected to the air outlet pipe (1061), and an electronic valve is provided on the air inlet end of the inflatable airbags (4).

10. The falling deceleration device for a wind turbine blade cleaning robot according to claim 1, characterized in that: The two groups of vehicle bodies (2) are both fixedly connected with electromagnets (6), and the two groups of electromagnets (6) are attached to each other.

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