Bionic crawling type wind power blade detection robot

Abstract

The invention provides a bionic crawl type wind power blade detection robot, and relates to the technical field of automatic detection equipment for a wind power plant, the bionic crawl type wind power blade detection robot comprises a main body, and a control panel for controlling the whole device is arranged on the front surface of the main body; the display screen is arranged on the front face of the control panel, a plurality of buttons are arranged on the front face of the control panel and located below the display screen, and a network module is further arranged in the control panel and used for remotely controlling the control panel and the main body. According to the robot, the climbing assembly is used for enabling the robot to stably climb on the surface of a vertical or inclined wind turbine, and different conditions are flexibly coped with through a dynamic adsorption and release mechanism. The anti-falling assembly provides additional adsorption force and friction force under the strong wind condition, and falling is prevented. The detection assembly ensures that clear images are obtained under various illumination and surface conditions by flexibly adjusting the camera shooting angle, a light supplementing lamp and a light reflecting plate, and the detection precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic detection equipment for wind power plants, in particular to a bionic crawling wind turbine blade detection robot. Background Art

[0002] With the rapid development of the wind energy industry, the scale and number of wind turbines are increasing. As a key component, the operating status of wind turbine blades directly affects the efficiency and safety of wind turbines. In order to ensure the normal operation of wind turbines, it is particularly important to regularly inspect and maintain the blades. Traditional inspection methods mainly rely on manual climbing, which is not only inefficient but also has high safety risks. In recent years, with the development of drone technology, using drones for wind turbine blade inspection has become a new trend.

[0003] Although the existing wind turbine blade inspection robots have improved the inspection efficiency and safety to a certain extent, there are still some shortcomings. First, the existing robots have poor stability during the climbing process, especially in strong wind conditions, and are prone to falling off, which not only affects the inspection work, but also may cause equipment damage and personal injury. Secondly, the existing robots still need to be improved in terms of inspection accuracy and range, especially in low light or complex surface conditions, it is difficult to obtain clear inspection images. Summary of the invention

[0004] The present invention aims to solve the shortcomings of the background technology, provide a bionic crawling wind turbine blade inspection robot, improve the common blade inspection technical solutions on the market, and provide an accurate inspection effect with strong adaptability and high stability.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bionic crawling wind turbine blade inspection robot, comprising: a main body, a control panel for controlling the entire device is provided on the front of the main body; a display screen, a display screen is provided on the front of the control panel, a plurality of buttons are provided on the front of the control panel below the display screen, and a network module is also provided inside the control panel for remotely controlling the control panel and the main body; a climbing component, the climbing component is provided on the back of the main body, and is used for bionic crawling on the surface of the wind turbine to transport the main body to the top; a detection component, the detection component is provided on the top of the main body, and is used for monitoring and inspecting the fan blades of the wind turbine; and an anti-falling component, the anti-falling component is provided on both sides of the main body, and is used to prevent the main body from falling off from high altitude when the airflow is large.

[0006] Furthermore, the climbing component includes: a plurality of equidistantly arranged driving platforms on the back side of the main body, a movable warehouse being provided inside the driving platforms; a driving rod rotatably connected to both sides of the movable warehouse, a driving disk being provided at the bottom of the driving rod, and threads being provided on the surfaces of the two driving rods; a driving motor provided at the bottom of the driving platform, a driving gear being connected to the top of the driving motor through a driving shaft, and the driving gear is meshingly connected to the driving disks on both sides; a driving block meshingly connected to the driving rod through threads, and two driving blocks located inside the movable warehouse are respectively provided on the top inner wall and the bottom inner wall of the movable warehouse; an adsorption chamber provided on one side of the driving platform in principle of the driving block, an air inlet pipe and an air outlet pipe passing through the driving block are respectively provided on one side of the adsorption chamber, and solenoid valves are provided inside the air inlet pipe and the air outlet pipe; a blower provided at the inlet and outlet entrances.

[0007] Furthermore, the inspection component includes: a detection rod arranged on the top of the main body, a camera rod is arranged on the top of the detection rod, and a rotating joint is arranged at the connection portion between the detection rod and the camera rod, which is used to adjust the angle between the camera rod and the detection rod so as to extend the camera rod laterally for video detection; a detection head is arranged at the top of the camera rod, a detection chamber is opened on the side of the detection head away from the main body, and a camera is arranged inside the detection chamber.

[0008] Furthermore, the anti-slip assembly includes: an anti-slip ring arranged on one side of the main body, the anti-slip ring is arranged in a semicircular arc structure as a whole, and connecting rods are provided at both ends of the anti-slip ring; a pressurizing platform is arranged on both sides of the main body, a mounting bolt passing through the pressurizing platform is provided on one side of the pressurizing platform, and the mounting bolt is threadedly engaged with the connecting rod; an isolation spring is arranged between the connecting rod and the pressurizing platform; and a plurality of fitting suction cups are arranged on the inner wall of the anti-slip ring.

[0009] Furthermore, a leak-proof platform is provided on one side of the adsorption chamber, and the leak-proof platform is arranged along the edge of the adsorption chamber. An adsorption pad is provided on one side of the leak-proof platform, and the adsorption pad is made of rubber material.

[0010] Furthermore, two positioning rods are provided inside the movable bin, and the two driving blocks are slidably connected to the positioning rods respectively.

[0011] Furthermore, a plurality of fill lights are provided inside the detection chamber, and the plurality of fill lights are arranged around the camera. A plurality of obliquely arranged reflectors are provided on the inner wall of the detection chamber, and the reflectors are made of reflective lenses.

[0012] Furthermore, an electric push rod is provided on the inner wall of the detection chamber, a sliding platform is provided on the back of the reflector, and the top end of the electric push rod is slidably connected to the sliding platform.

[0013] Furthermore, two pressure plates are provided on the side of the anti-slip ring away from the main body, and a trapezoidal slot is formed between the two pressure plates.

[0014] Furthermore, a plurality of vents are provided on the surface of the pressure plate, and the plurality of vents are equidistantly distributed along the circumference of the anti-slip ring.

[0015] The present invention provides a bionic crawling wind turbine blade inspection robot, which has the following beneficial effects:

[0016] The advantage of the present invention is that the climbing component is used to enable the robot to stably climb on the vertical or inclined surface of the wind turbine, and through the dynamic adsorption and release mechanism, it can flexibly respond to different surface and environmental conditions to ensure the smooth progress of the detection work.

[0017] Secondly, the anti-drop component provides additional adsorption and friction force under strong wind conditions to prevent the robot from falling off, ensuring the safety of the inspection process. The inspection component that can flexibly adjust the camera angle is used to achieve all-round inspection of wind turbine blades, especially in low light or complex surfaces. Fill lights and reflectors are used to ensure clear images, thereby improving the accuracy and reliability of inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 It is a cross-sectional view of the overall structure of the present invention.

[0020] Figure 3 It is a schematic top view of the overall structure of the present invention.

[0021] Figure 4 It is a cross-sectional schematic diagram of the detection head of the present invention.

[0022] Figure 5 Schematic diagram of the detection head of the present invention.

[0023] Figure 6 It is a schematic diagram of the structure of the driving block of the present invention.

[0024] Figure 7 For the present invention Figure 3 A in the figure is an enlarged structural diagram.

[0025] Figure 8 It is a schematic diagram of the workflow of the present invention.

[0026] Figure 1-8Middle: 1-main body; 101-pressurized platform; 102-isolation spring; 103-installation bolt; 104-anti-slip ring; 105-fitting suction cup; 106-pressurized plate; 107-vent; 108-connecting rod; 2-driving platform; 201-movable bin; 202-driving rod; 203-driving disk; 204-driving motor; 205-driving gear; 206-positioning rod; 207-driving block; 208-adsorption chamber; 209-leakage prevention Table; 210-adsorption pad; 211-inlet pipe; 212-exhaust pipe; 213-blower; 214-solenoid valve; 3-detection rod; 301-rotating joint; 302-camera rod; 303-detection head; 304-detection chamber; 305-camera; 306-fill light; 307-reflector; 308-electric push rod; 309-sliding table; 4-control panel; 401-display screen; 402-button; 403-network module. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0028] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0029] The embodiment of the present application provides a bionic crawling wind turbine blade inspection robot, which can utilize a climbing component to enable the robot to stably climb on a vertical or inclined wind turbine surface, and through a dynamic adsorption and release mechanism, it can flexibly respond to different surfaces and environmental conditions to ensure the smooth progress of the inspection work, and through an anti-detachment component to provide additional adsorption force and friction force under strong wind conditions to prevent the robot from falling off, thereby ensuring the safety of the inspection process, and utilizing a detection component that can flexibly adjust the camera angle to achieve all-round inspection of wind turbine blades, especially in the case of insufficient light or complex surfaces, by using a fill light and a reflector to ensure a clear image, thereby improving the accuracy and reliability of the inspection. The following is a detailed description of the bionic crawling wind turbine blade inspection robot. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments.

[0030] The present application is described in detail below with reference to the accompanying drawings and specific implementation methods.

[0031] See also Figure 1-8 middle:

[0032] Example 1

[0033] The present embodiment provides a bionic crawling wind turbine blade inspection robot, comprising: a main body 1, a control panel 4 for controlling the entire device is provided on the front of the main body 1; a display screen 401, a display screen 401 is provided on the front of the control panel 4, a plurality of buttons 402 are provided on the front of the control panel 4 below the display screen 401, and a network module 403 is further provided inside the control panel 4 for remotely controlling the control panel 4 and the main body 1; a climbing component, the climbing component is provided on the back of the main body 1, and is used for bionic crawling on the surface of the wind turbine to transport the main body 1 to the top; a detection component, the detection component is provided on the top of the main body 1, and is used for monitoring and inspecting the fan blades of the wind turbine; and an anti-slip component, the anti-slip component is provided on both sides of the main body 1, and is used to prevent the main body 1 from falling off from high altitude when the airflow is large;

[0034] During use, the main body 1 is the basic structure of the entire robot and carries all functional components. The control panel 4 is integrated on the front of the main body 1, including a display screen 401, multiple buttons 402 and a network module 403. The display screen 401 is used to display operation information, test results and system status. The button 402 allows the user to perform local operations, such as starting, stopping and mode switching. At the same time, the network module 403 supports remote control and can send and receive instructions through a wireless network to achieve remote monitoring and operation, thereby realizing remote and local dual-end operations, providing an intuitive operation interface, and facilitating users to perform local and remote operations. The above process enhances the operability and flexibility of the robot and adapts to the operating requirements in different environments. The remote control function enables the robot to perform tasks in dangerous or difficult-to-reach environments, thereby improving safety.

[0035] Furthermore, the climbing assembly includes: a plurality of equally spaced drive platforms 2 arranged on the back of the main body 1, wherein a movable bin 201 is provided inside the drive platform 2; drive rods 202 rotatably connected to both sides of the movable bin 201, a drive disk 203 is provided at the bottom of the drive rods 202, and threads are provided on the surfaces of the two drive rods 202; a drive motor 204 is arranged at the bottom of the drive platform 2, a drive gear 205 is connected to the top of the drive motor 204 through a drive shaft, and the drive gear 205 is meshedly connected to the drive disks 203 on both sides; A driving block 207 threadedly connected to the driving rod 202, two driving blocks 207 located inside the movable bin 201 are respectively arranged on the top inner wall and the bottom inner wall of the movable bin 201; an adsorption chamber 208 is opened on one side of the driving platform 2 of the driving block 207, and one side of the adsorption chamber 208 is respectively provided with an air inlet pipe 211 and an air outlet pipe 212 penetrating the driving block 207, and an electromagnetic valve 214 is arranged inside the air inlet pipe 211 and the air outlet pipe 212; a blower 213 is arranged at the entrance of the air inlet pipe 211 and the air outlet pipe 212;

[0036] During use, the driving platform 2 is installed on the back of the main body 1, and a movable warehouse 201 is provided inside. Drive rods 202 are provided on both sides of the movable warehouse 201, and a drive disk 203 is provided at the bottom. The surface of the drive rod 202 is threaded. The drive motor 204 is installed at the bottom of the driving platform 2, and the drive gear 205 is driven by the drive shaft. The drive gear 205 is meshed with the drive disk 203, and the drive block 207 is meshed with the drive rod 202 through the thread, and can move up and down on the drive rod 202. An adsorption chamber 208 is provided inside the drive block 207, and the adsorption chamber 208 is connected to the blower 213 through the air inlet pipe 211 and the air outlet pipe 212. When the drive block 207 moves downward, the blower 213 extracts the air in the adsorption chamber 208 through the air outlet pipe 212 to form a vacuum adsorption. When it is necessary to climb up, the blower 213 inflates the adsorption chamber 208 through the air inlet pipe 211 to release the adsorption state;

[0037] Through the above process, one of the two opposite driving blocks 207 located on the top will be adsorbed and fixed to the surface of the wind turbine, and then driven by the motor, the driving block 207 located on the bottom will move upward, and at the same time, the driving block 207 located on the top will also move downward under the drive of the motor. Since the driving block 207 is fixed to the surface of the wind turbine, it will drive the main body 1 to move upward, thereby driving the main body 1 to move upward and allowing the main body 1 to crawl like a living being. By imitating the crawling of living beings, the robot can stably climb on the vertical or inclined surface of the wind turbine, thereby improving the accessibility and safety of detection and reducing the risk of manual operation. The dynamic adsorption and release mechanism enables the robot to flexibly respond to different surfaces and environmental conditions.

[0038] Furthermore, a leak-proof platform 209 is provided on one side of the adsorption chamber 208, and the leak-proof platform 209 is arranged along the edge of the adsorption chamber 208. An adsorption pad 210 is provided on one side of the leak-proof platform 209, and the adsorption pad 210 is made of rubber material; during use, an adsorption pad 210 is provided on one side of the leak-proof platform 209, and the adsorption pad 210 is made of rubber material and has good sealing performance. The adsorption pad 210 is tightly attached to the surface of the wind turbine to prevent air leakage, thereby enhancing the sealing between the adsorption chamber 208 and the surface of the wind turbine, ensuring the adsorption effect, and effectively avoiding the risk of accidental falling of the robot in the case of strong wind, thereby improving safety.

[0039] Furthermore, two positioning rods 206 are provided inside the movable warehouse 201, and two driving blocks 207 are respectively slidably connected to the positioning rods 206. During use, the driving blocks 207 are slidably connected to the positioning rods 206 to ensure that the driving blocks 207 maintain linear motion when moving up and down, thereby ensuring the movement accuracy of the driving blocks 207, preventing adsorption failure due to offset, improving the stability and reliability of the mechanical action, and enhancing the overall performance of the robot.

[0040] Example 2

[0041] On the basis of Example 1, the inspection component includes: a detection rod 3 arranged at the top of the main body 1, a camera rod 302 is arranged at the top of the detection rod 3, and a rotating joint 301 is arranged at the connection between the detection rod 3 and the camera rod 302, which is used to adjust the angle between the camera rod 302 and the detection rod 3 so as to extend the camera rod 302 horizontally for camera detection; a detection head 303 arranged at the top of the camera rod 302, a detection chamber 304 is opened on the side of the detection head 303 away from the main body 1, and a camera 305 is arranged inside the detection chamber 304;

[0042] During use, the user issues a detection instruction through the control panel 4, and the instruction is transmitted to the control system of the detection rod 3 and the camera rod 302 through the internal circuit. The rotating joint 301 adjusts the angle between the camera rod 302 and the detection rod 3 according to the instruction, so that the camera rod 302 extends laterally for video detection. The camera 305 is installed in the detection compartment 304, and the image of the wind turbine blade is captured by the camera 305. The image data is transmitted back to the control panel 4 through the internal communication module and displayed on the display screen 401. The captured image can be used to determine and analyze the damage on the blade surface through program comparison. Compared with the method of using drone photography, it has the advantages of being more stable and able to provide monitoring protection for a longer time.

[0043] Furthermore, a plurality of fill lights 306 are provided inside the detection chamber 304, and the plurality of fill lights 306 are arranged around the camera 305. A plurality of inclined reflectors 307 are provided on the inner wall of the detection chamber 304, and the reflectors 307 are made of reflective lenses. An electric push rod 308 is provided on the inner wall of the detection chamber 304, and a sliding platform 309 is provided on the back of the reflector 307. The top of the electric push rod 308 is slidably connected to the sliding platform 309.

[0044] During use, the fill light 306 is automatically turned on according to the lighting conditions to provide sufficient lighting to ensure that the camera 305 can obtain clear images even in insufficient light conditions. The reflector 307 is installed on the inner wall of the detection chamber 304. The sliding table 309 is pushed by the electric push rod 308 to adjust the angle of the reflector 307, change the reflection path of the light, and optimize the image quality.

[0045] Example 3

[0046] On the basis of Example 1, the anti-slip assembly includes: an anti-slip ring 104 arranged on one side of the main body 1, the anti-slip ring 104 is arranged in a semicircular arc structure as a whole, and connecting rods 108 are arranged at both ends of the anti-slip ring 104; a pressurizing platform 101 is arranged on both sides of the main body 1, and a mounting bolt 103 penetrating the pressurizing platform 101 is arranged on one side of the pressurizing platform 101, and the mounting bolt 103 is threadedly engaged with the connecting rod 108; an isolation spring 102 is arranged between the connecting rod 108 and the pressurizing platform 101; and a plurality of fitting suction cups 105 are arranged on the inner wall of the anti-slip ring 104;

[0047] During use, when the robot is climbing, the isolation spring 102 will push the anti-slip ring 104 and the connecting rod 108 away from the surface of the fan. When encountering strong winds, the anti-slip ring 104 will move toward the direction of the fan under the action of wind force. At this time, the fitting suction cup 105 on the inner wall of the anti-slip ring 104 will fit on the surface of the fan support column. In this way, the anti-slip ring 104 can fit on the surface of the fan, so that the anti-slip ring 104 and the surface of the fan have greater friction and adsorption force, further preventing the robot from falling off. The effect of threaded connection allows the user to more conveniently install the anti-slip ring 104 on one side of the pressurized platform 101, thereby improving the convenience of installation.

[0048] Furthermore, two pressure plates 106 are provided on the side of the anti-slip ring 104 away from the main body 1, and a trapezoidal groove is formed between the two pressure plates 106. A plurality of vents 107 are provided on the surface of the pressure plate 106, and the plurality of vents 107 are equidistantly distributed along the circumference of the anti-slip ring 104; two pressure plates 106 are provided on the side of the anti-slip ring 104 away from the main body 1, and a trapezoidal groove is formed between the two pressure plates 106;

[0049] Utilizing the above structure, under high airflow conditions, the pressure plate 106 is pushed by the wind to apply greater pressure to the fan surface, thereby increasing the adsorption and friction between the anti-slip ring 104 and the fan surface. Under low airflow conditions, the vent 107 can guide the airflow to discharge, preventing excessive pressure inside the pressure plate 106, thereby ensuring that the robot can climb smoothly.

[0050] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0051] The above is a detailed introduction to a bionic crawling wind turbine blade inspection robot provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solution and its core idea of ​​the present application. Ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A bionic crawling wind turbine blade inspection robot, characterized in that: include: A main body (1), wherein a control panel (4) for controlling the entire device is provided on the front of the main body (1); A display screen (401), the control panel (4) is provided with a display screen (401) on its front side, a plurality of buttons (402) are provided on its front side below the display screen (401), and a network module (403) is also provided inside the control panel (4) for remotely controlling the control panel (4) and the main body (1); A climbing component, the climbing component is arranged on the back of the main body (1) and is used to perform bionic crawling on the surface of the wind turbine to transport the main body (1) to an upper side; A detection component, which is arranged on the top of the main body (1) and is used to monitor and detect the fan blades of the wind turbine; and An anti-falling component is arranged on both sides of the main body (1) and is used to prevent the main body (1) from falling from a high altitude when the airflow is strong.

2. The bionic crawling wind turbine blade inspection robot according to claim 1, characterized in that: The climbing assembly comprises: A plurality of equally spaced drive platforms (2) are arranged on the back of the main body (1), wherein a movable chamber (201) is provided inside the drive platform (2); A driving rod (202) is rotatably connected to both sides of the movable bin (201), a driving disc (203) is provided at the bottom of the driving rod (202), and threads are provided on the surfaces of the two driving rods (202); A driving motor (204) is arranged at the bottom of the driving platform (2), the top of the driving motor (204) is connected to a driving gear (205) through a driving shaft, and the driving gear (205) is meshedly connected to the driving disks (203) on both sides; A driving block (207) connected to the driving rod (202) by threaded engagement, wherein two driving blocks (207) located inside the movable bin (201) are respectively arranged on the top inner wall and the bottom inner wall of the movable bin (201); An adsorption chamber (208) is provided on one side of the driving block (207) and the driving platform (2); an air inlet pipe (211) and an air outlet pipe (212) penetrating the driving block (207) are provided on one side of the adsorption chamber (208); and electromagnetic valves (214) are provided inside the air inlet pipe (211) and the air outlet pipe (212); A blower (213) is provided at the inlet of the air inlet pipe (211) and the air outlet pipe (212).

3. The bionic crawling wind turbine blade inspection robot according to claim 1, characterized in that: The inspection component comprises: A detection rod (3) is arranged on the top of the main body (1), a camera rod (302) is arranged on the top of the detection rod (3), and a rotating joint (301) is arranged at the connection portion between the detection rod (3) and the camera rod (302), which is used to adjust the angle between the camera rod (302) and the detection rod (3) so as to extend the camera rod (302) laterally for camera detection; A detection head (303) is arranged at the top end of the camera rod (302), and a detection chamber (304) is provided on a side of the detection head (303) away from the main body (1), and a camera (305) is arranged inside the detection chamber (304).

4. The bionic crawling wind turbine blade inspection robot according to claim 1, characterized in that: The anti-drop assembly comprises: An anti-slip ring (104) is arranged on one side of the main body (1), the anti-slip ring (104) is arranged in a semicircular arc structure as a whole, and connecting rods (108) are arranged at both ends of the anti-slip ring (104); A pressurizing platform (101) is arranged on both sides of the main body (1), a mounting bolt (103) penetrating the pressurizing platform (101) is arranged on one side of the pressurizing platform (101), and the mounting bolt (103) is threadedly engaged with the connecting rod (108); an isolation spring (102) disposed between the connecting rod (108) and the pressurizing platform (101); A plurality of fitting suction cups (105) are arranged on the inner wall of the anti-slip ring (104).

5. The bionic crawling wind turbine blade inspection robot according to claim 2, characterized in that: A leak-proof platform (209) is provided on one side of the adsorption chamber (208), and the leak-proof platform (209) is arranged along the edge of the adsorption chamber (208). An adsorption pad (210) is provided on one side of the leak-proof platform (209), and the adsorption pad (210) is made of rubber material.

6. The bionic crawling wind turbine blade inspection robot according to claim 2, characterized in that: Two positioning rods (206) are arranged inside the movable bin (201), and the two driving blocks (207) are respectively slidably connected to the positioning rods (206).

7. The bionic crawling wind turbine blade inspection robot according to claim 3, characterized in that: A plurality of fill lights (306) are arranged inside the detection chamber (304), and the plurality of fill lights (306) are arranged around the camera (305). A plurality of obliquely arranged reflectors (307) are arranged on the inner wall of the detection chamber (304), and the reflectors (307) are made of reflective lenses.

8. The bionic crawling wind turbine blade inspection robot according to claim 7, characterized in that: An electric push rod (308) is provided on the inner wall of the detection chamber (304), a sliding platform (309) is provided on the back of the reflector (307), and the top end of the electric push rod (308) is slidably connected to the sliding platform (309).

9. The bionic crawling wind turbine blade inspection robot according to claim 4, characterized in that: Two pressure plates (106) are provided on the side of the anti-slip ring (104) away from the main body (1), and a trapezoidal-shaped hollow groove is formed between the two pressure plates (106).

10. The bionic crawling wind turbine blade inspection robot according to claim 9, characterized in that: A plurality of vents (107) are provided on the surface of the pressure plate (106), and the plurality of vents (107) are equidistantly distributed along the circumference of the anti-slip ring (104).

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