Bionic spider deicing robot for fan blades and working method

Abstract

The invention belongs to the technical field of wind power generation maintenance, and particularly relates to a bionic spider deicing robot for fan blades and a working method.The robot comprises a mother robot, spider legs, a walking mechanism, two sets of son robots and a deicing mechanism, the spider legs are installed on the mother robot, and adsorption force needed when the robot works on the blades is provided for the robot; the walking mechanism is used for increasing the moving speed of the robot when the spider legs are not used; the deicing mechanism enables the robot to complete lossless deicing work on the fan blade; when the sub-robot works, the sub-robot is in butt joint with the sub-robot on the other side, the sub-robot surrounds the fan blade to form a cable track, the robot can conduct deicing by only using the walking mechanism to surround the fan blade without the help of a spider leg, the deicing efficiency of the blade is improved, and the deicing work safety of the robot is enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of wind power generation maintenance, and in particular relates to a bionic spider deicing robot for wind turbine blades and a working method thereof. Background Art

[0002] As a clean, pollution-free, renewable, widely distributed and huge energy source, wind energy has attracted people's attention and attention. Onshore wind farms are mostly built in high-altitude mountainous areas with low temperature and high humidity in winter. In low temperature and high humidity environments, ice is easily formed on the surface of wind turbine blades. When the blades are covered with ice, their aerodynamic shape will change, affecting the aerodynamic performance of the blades and reducing the power generation efficiency of the wind turbine. Ice on the blades will also increase the burden on the blades due to the weight of ice, shorten the service life of the blades, and cause safety hazards such as mechanical failure and ice falling from high altitude. Therefore, removing ice from wind turbine blades is of great significance to ensure the normal operation of wind farms.

[0003] Currently common blade deicing technologies include electric deicing, coating method, and manual or mechanical deicing. Electric deicing uses electric heating wires added to the blade surface to remove accumulated ice through resistive heating, which poses certain fire hazards and lightning risks. The coating method adds a layer of hydrophobic coating on the blade surface to prevent ice formation, but has problems such as poor durability and environmental pollution. Manual deicing is inefficient and dangerous. When the machine is performing deicing operations, it cannot adapt to the irregular shape of the blade, which can easily lead to incomplete deicing and the existence of dead corners.

[0004] Chinese patent CN116985153A discloses a split deicing robot for wind turbine blades. The vacuum adsorption module of the robot enables the robot to crawl from the wind turbine body to the wind turbine blades for deicing. However, when the wind turbine enters the shutdown state and prepares for deicing, the blades become feathered, with one side facing up and the other side facing down. When the robot deices the lower part of the blade, the vacuum adsorption is unstable, which may cause the robot to fall.

[0005] Therefore, it is necessary to design a bionic spider deicing robot and working method for wind turbine blades to solve the above problems. Summary of the invention

[0006] The object of the present invention is to provide a bionic spider deicing robot and working method for wind turbine blades to solve the above-mentioned problems, so as to adapt to the irregular blade surface and de-ice efficiently, completely and safely.

[0007] To achieve the above object, the present invention provides the following solution: a bionic spider deicing robot for wind turbine blades, comprising:

[0008] Mother robot;

[0009] A plurality of spider legs, fixedly arranged on the mother robot, the spider legs being used to drive the mother robot to climb from the wind turbine body to the blade root of the wind turbine blade;

[0010] A walking mechanism, arranged on the mother robot, and used for driving the mother robot to move on the surface of the wind turbine blade;

[0011] Two groups of sub-robots are detachably arranged inside the two ends of the mother robot, each group of the sub-robots is fixedly connected to a traction mechanism, and the traction mechanism is fixedly arranged inside the mother robot. After one group of the sub-robots is detached from the mother robot, it drives the traction mechanism to wrap around the fan blades and is clamped with another group of the sub-robots to form an adjustable ring belt, and the adjustable ring belt is used for the mother robot to prevent it from falling when moving on the surface of the fan blades;

[0012] A deicing mechanism is arranged on the mother robot, and is used to remove ice from the surface of the fan blades.

[0013] A bionic spider de-icing robot for wind turbine blades based on the present invention, the sub-robot includes a chassis, a body is arranged on the top of the chassis, one end of the body is fixedly connected to the traction mechanism, and the other end of the body is arranged with a hook, four stepper motors are fixedly arranged on the chassis, the four stepper motors are arranged in groups of two on the long sides of the chassis, the output shafts of the stepper motors in each group are fixedly connected with gears, and the outer sides of the two gears in the same group are transmission-engaged with tracks, and the top of the body is fixedly connected with two vacuum air pumps, and the air intake port of the two vacuum air pumps is fixedly connected with one end of two vacuum pipes, and the other end of the two vacuum pipes passes through the chassis and is fixedly connected with two suction cups.

[0014] A bionic spider de-icing robot for wind turbine blades based on the present invention, the hook includes a hook body, one end of the hook body is fixedly connected to the vehicle body, the other end of the hook body is rotatably connected to a hook tongue through a pin, a locking pin is provided on the hook body, the locking pin is fixedly connected to the telescopic end of a telescopic rod, and the fixed end of the telescopic rod is fixedly connected to the vehicle body.

[0015] According to the bionic spider deicing robot for wind turbine blades of the present invention, a transformer and a backup power supply are arranged inside the vehicle body, a camera is fixedly connected to the outer wall of the vehicle body, and the camera and the hook are located at the same end of the vehicle body.

[0016] According to a bionic spider de-icing robot for wind blades of the present invention, the traction mechanism includes a traction machine, the traction machine is fixedly arranged inside the mother robot, the traction machine is fixedly connected to one end of a cable, the cable is stored in the traction machine, and the other end of the cable is fixedly connected to the vehicle body.

[0017] A bionic spider de-icing robot for wind turbine blades based on the present invention, the spider leg comprises a three-section mechanical body, one end of the three-section mechanical body is movably connected to a mechanical leg base, the mechanical leg base is fixedly arranged on the mother robot, a servo is arranged on the joint of the three-section mechanical body, the other end of the three-section mechanical body is fixedly connected to a suction cup one, the suction cup one is fixedly connected to one end of a vacuum pipe one, the other end of the vacuum pipe one is fixedly connected to an air intake port of a vacuum air pump one, and the vacuum air pump one is fixedly arranged on the mother robot.

[0018] According to the bionic spider deicing robot for wind turbine blades of the present invention, the walking mechanism comprises a dual-output shaft motor, the dual-output shaft motor is fixedly arranged on the mother robot, and one output shaft of the dual-output shaft motor is fixedly connected to a wheel.

[0019] A bionic spider deicing robot for wind blades according to the present invention, the deicing mechanism includes a main battery, the main battery is fixedly arranged inside the mother robot, the main battery is electrically connected to an ultrasonic generator, and the ultrasonic generator is fixedly arranged on the side wall of the mother robot close to the surface of the wind blade.

[0020] A bionic spider de-icing robot for wind blades based on the present invention, the mother robot includes a square plate and two curved plates, the two curved plates are rotatably connected to the two ends of the square plate through metal parts, the curved plates are rotatably connected with a movable clamping plate, the sub-robot is detachably arranged on the movable clamping plate, and the top ends of the square plate and the curved plates are provided with shells.

[0021] A working method of a bionic spider deicing robot for wind turbine blades comprises the following steps:

[0022] The mother robot crawls from the wind turbine body to the blade root, and the child robot at one end detaches from the mother robot and is adsorbed and fixed on the surface of the blade root;

[0023] The mother robot moves around the blade root to the other side of the sub-robot fixed on the blade root surface, and then the other sub-robot on the mother robot detaches from the mother robot, and the sub-robot fixed on the blade root surface cancels the adsorption and snaps into another sub-robot to form an adjustable ring belt, which is in a relaxed state. The mother robot drives the sub-robot to move to the de-icing position together with the adjustable ring belt;

[0024] The sub-robot is adsorbed and fixed on the de-icing position surface of the fan blade, and the adjustable ring belt changes from a loose state to a tight state;

[0025] The spider legs of the mother robot are retracted, and the walking mechanism and one traction mechanism are retracted while the other traction mechanism is extended to surround the fan blades for de-icing.

[0026] Compared with the prior art, the present invention has the following advantages and technical effects:

[0027] 1. The present invention has a high degree of freedom of movement: the mother robot can smoothly crawl from the wind turbine body to the wind turbine blades through its spider legs.

[0028] 2. The present invention can fully cover and de-ice the fan blades: the mother robot can be applied to the irregular surface of the fan blades, and the de-icing mechanism can be close to the iced area to perform non-destructive de-icing work; the mother robot can gradually move forward on the fan blades to achieve full coverage and de-icing of the fan blades by the robot.

[0029] 3. The present invention can de-ice efficiently and safely: the sub-robots can dock and form a cable track around the fan blades. When de-icing the blades, the robot does not rely on spider legs to slowly climb, but only relies on the extension and retraction of the traction mechanism and the wheeled walking mechanism to completely de-ice the fan blades, which has higher efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0031] Figure 1 A schematic diagram of the robot and the fan blade of the present invention;

[0032] Figure 2 It is an overall schematic diagram of the robot of the present invention;

[0033] Figure 3 This is a schematic diagram of the interior of the robot of the present invention;

[0034] Figure 4 This is a schematic diagram of the robot spider leg of the present invention;

[0035] Figure 5 This is a schematic diagram of the bottom of the robot of the present invention;

[0036] Figure 6 This is a schematic diagram of the sub-robot of the present invention;

[0037] Figure 7 This is a schematic diagram of the interior of the sub-robot of the present invention;

[0038] Figure 8 It is the overall schematic diagram of the fan blade;

[0039] Fig. 9 for Figure 8 A partial enlarged view of middle A;

[0040] Fig.10 The working process of the robot of the present invention is shown in FIG. Figure 1 ;

[0041] Fig.11 The working process of the robot of the present invention is shown in FIG. Figure 2 ;

[0042] Fig.12 The working process of the robot of the present invention is shown in FIG. Figure 3 ;

[0043] Fig.13 The working process of the robot of the present invention is shown in FIG. Figure 3 ;

[0044] Fig.14 The working process of the robot of the present invention is shown in FIG. Figure 4 .

[0045] Among them, 1. fan blade; 11. blade root; 12. blade center; 13. blade tip; 2. shell; 3. arc plate; 31. square plate; 32. metal parts; 4. spider leg; 41. vacuum air pump; 42. mechanical leg base; 43. three-stage mechanical body; 44. steering gear; 45. suction cup; 46. vacuum suction tube; 5. wheel; 51. dual output shaft motor; 6. ultrasonic generator; 61. main battery; 7. submachine Robot; 71. Movable splint; 72. Cable; 73. Tractor; 74. Chassis; 75. Car body; 76. Camera; 77. Hook; 771. Pin; 772. Hook tongue; 773. Lock pin; 78. Telescopic rod; 79. Stepper motor; 710. Gear; 711. Track; 712. Vacuum air pump 2; 713. Vacuum suction tube 2; 714. Suction cup 2; 715. Transformer; 716. Backup power supply. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0047] 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.

[0048] Reference Figures 1 to 14As shown, the present invention provides a bionic spider deicing robot for wind turbine blades, comprising

[0049] Mother robot;

[0050] A plurality of spider legs 4 are fixedly mounted on the mother robot, and the spider legs 4 are used to drive the mother robot to climb from the wind turbine body to the blade root 11 of the wind turbine blade 1;

[0051] A walking mechanism is arranged on the mother robot, and is used to drive the mother robot to move on the surface of the fan blade 1;

[0052] Two groups of sub-robots 7 are detachably arranged inside the two ends of the mother robot. Each group of sub-robots 7 is fixedly connected to a traction mechanism, which is fixed inside the mother robot. After one group of sub-robots 7 is detached from the mother robot, it drives the traction mechanism to wrap around the fan blade 1 and is clamped with another group of sub-robots 7 to form an adjustable ring belt. The adjustable ring belt is used to prevent the mother robot from falling when moving on the surface of the fan blade 1. Each group of sub-robots 7 includes two robots;

[0053] The de-icing mechanism is arranged on the mother robot, and is used to remove ice on the surface of the fan blade 1.

[0054] Furthermore, the sub-robot 7 includes a chassis 74, a body 75 is arranged on the top of the chassis 74, one end of the body 75 is fixedly connected to the traction mechanism, and a hook 77 is arranged on the other end of the body 75, and four stepper motors 79 are fixedly arranged on the chassis 74, and the four stepper motors 79 are arranged in groups of two on the long sides of the chassis 74, and the output shafts of the stepper motors 79 in each group are fixedly connected to the gears 710, and the outer sides of the two gears 710 of the same group are transmission-engaged with crawlers 711, and a vacuum air pump 712 is fixedly connected to the top of the body 75, and the suction port of the vacuum air pump 712 is fixedly connected to one end of a vacuum pipe 713, and the other end of the vacuum pipe 713 passes through the chassis 74 and is fixedly connected to a suction cup 714.

[0055] The four stepper motors 79 on both sides of the body 75 transmit torque to a pair of tracks 711 on both sides of the body 75 through adjacent gears 710. The sub-robot 7 can control each stepper motor 79 to work independently to realize the forward, backward, differential steering, and stop of the body 75, so that the sub-robot 7 can walk freely on the surface of the fan blade 1.

[0056] Furthermore, the coupler 77 includes a hook body, one end of which is fixedly connected to the vehicle body 75, and the other end of the hook body is rotatably connected to the hook tongue 772 through a pin 771. A locking pin 773 is provided on the hook body, and the locking pin 773 is fixedly connected to the telescopic end of the telescopic rod 78, and the fixed end of the telescopic rod 78 is fixedly connected to the vehicle body 75.

[0057] When the two sub-robots 7 are facing each other, the hook tongue 772 enters a clamping state under the collision, and the locking pin 773 will fall down to lock the hook tongue 772, so that the sub-robots 7 complete the docking; when the sub-robot 7 needs to detach, the telescopic rod 78 pulls up the locking pin 773, so that the clamped hook tongue 772 can naturally detach.

[0058] Furthermore, a transformer 715 and a backup power supply 716 are provided inside the vehicle body 75 , and a camera 76 is fixedly connected to the outer side wall of the vehicle body 75 . The camera 76 and the coupler 77 are located at the same end of the vehicle body 75 .

[0059] The camera 76 is matched with the three-dimensional depth sensor inside the sub-robot 7 to detect when the sub-robot 7 is docking and walking on the wind turbine blades 1.

[0060] Wires are arranged in the cable 72 to supply power to the sub-robot 7, and the transformer 715 processes the current to supply energy to the stepper motor 79 and the vacuum air pump 2 712; the backup power supply 716 provides emergency energy when the power supply of the cable 72 fails.

[0061] Furthermore, the traction mechanism includes a traction machine 73, which is fixedly arranged inside the mother robot. The traction machine 73 is fixedly connected to one end of a cable 72, the cable 72 is stored in the traction machine 73, and the other end of the cable 72 is fixedly connected to the vehicle body 75.

[0062] Furthermore, the spider leg 4 includes a three-section mechanical body 43, one end of the three-section mechanical body 43 is movably connected to a mechanical leg base 42, the mechanical leg base 42 is fixedly set on the mother robot, a servo 44 is set on the joint of the three-section mechanical body 43, the other end of the three-section mechanical body 43 is fixedly connected to a suction cup 45, the suction cup 45 is fixedly connected to one end of a vacuum pipe 46, the other end of the vacuum pipe 46 is fixedly connected to the suction port of a vacuum air pump 41, and the vacuum air pump 41 is fixedly set on the mother robot.

[0063] After the robot receives the command, the vacuum air pump 41 starts working, and the air in the suction cup 45 is extracted through the vacuum pipe 46, forming a vacuum area in the columnar area between the suction cup 45 and the surface of the fan blade 1, generating suction, so that the robot is tightly attached to the surface of the fan blade 1. When the spider leg 4 needs to move, the vacuum pressure is reduced, and when the spider leg 4 needs to be fixed on the surface of the fan blade 1, the vacuum pressure is increased.

[0064] Furthermore, the walking mechanism includes a dual-output shaft motor 51 , which is fixedly arranged on the mother robot, and one output shaft of the dual-output shaft motor 51 is fixedly connected to a wheel 5 .

[0065] Anti-skid grooves are added on the surface of the wheel 5 to ensure the robot's grip on the icy area of ​​the wind turbine blade 1.

[0066] Furthermore, the de-icing mechanism includes a main battery 61, which is fixedly arranged inside the mother robot. The main battery 61 is electrically connected to an ultrasonic generator 6, which is fixedly arranged on the side wall of the mother robot close to the surface of the fan blade 1.

[0067] The main battery 61 can provide power for the ultrasonic generator 6 and other components of the robot.

[0068] Furthermore, the mother robot includes a square plate 31 and two curved plates 3. The two curved plates 3 are rotatably connected to the two ends of the square plate 31 through metal parts 32. A movable clamp 71 is rotatably connected to the curved plate 3. The sub-robot 7 is detachably set on the movable clamp 71. A shell 2 is set at the top of the square plate 31 and the curved plate 3.

[0069] The metal piece 32 can enable the arc-shaped plate 3 and the square plate 31 to rotate to adapt to the multi-angle planes of the fan blade 1.

[0070] The sub-robot 7 is dormant on the upper surface of the movable clamping plate 71 during non-working periods; the movable clamping plate 71 can be rotated to rise and fall to facilitate the sub-robot 7 to enter and exit.

[0071] The shell 2 has openings at the positions of the spider legs 4 and the sub-robot 7.

[0072] The housing 2 is separated above the connection between the arc plate 3 and the square plate 31 and consists of three parts to facilitate relative rotation between the arc plate 3 and the square plate 31 .

[0073] A working method of a bionic spider deicing robot for wind turbine blades comprises the following steps:

[0074] The mother robot crawls from the wind turbine body to the blade root 11, and the child robot 7 at one end detaches from the mother robot and is adsorbed and fixed on the surface of the blade root 11;

[0075] The robot crawls from the wind turbine body to the blade root 11 of the wind turbine blade 1. One side of the robot first releases the sub-robot 7 on the upper part of the blade root 11. The vacuum air pump 2 712 in the sub-robot 7 is adsorbed and fixed on the surface of the blade root 11.

[0076] The mother robot moves around the blade root 11 to the other side of the sub-robot 7 fixed on the surface of the blade root 11, and then the other sub-robot 7 on the mother robot detaches from the mother robot, and the sub-robot 7 fixed on the surface of the blade root 11 cancels the adsorption and engages with the other sub-robot 7 to form an adjustable ring belt, which is in a relaxed state. The mother robot drives the sub-robot 7 to move to the de-icing position together with the adjustable ring belt;

[0077] The robot uses the spider legs 4 to circle the blade root 11. The traction machine 73 on one side of the released sub-robot 7 continues to spit out the cable 72 to keep the cable 72 in a relaxed state. When the robot reaches the upper part of the blade root 11 again, the sub-robot 7 on the other side is released.

[0078] The sub-robot 7 cancels the adsorption fixation, and the robot and the sub-robot 7 move together toward the middle 12 of the blade at the upper part of the fan blade 1, and the cable 72 continues to remain in a relaxed state to adapt to the widened fan blade 1;

[0079] The sub-robot 7 is adsorbed and fixed on the de-icing position surface of the fan blade 1, and the adjustable ring belt changes from a loose state to a tight state;

[0080] When arriving at the de-icing area, the sub-robots 7 on both sides are docked and fixed by the hooks 77, and the vacuum air pump 2 712 in the sub-robot 7 is adsorbed and fixed on the surface of the fan blade 1, and the cable 72 is recovered by the traction machine 73, changing from a loose state to a taut state, forming a cable track around the fan blade 1;

[0081] The spider leg 4 of the mother robot contracts, and relies on the walking mechanism and one traction mechanism to contract and the other traction mechanism to extend to surround the fan blade 1 for de-icing.

[0082] The robot's spider legs 4 retract, and rely on the wheels 5 and the traction machine 73 to spit out the cable 72 on one side and retract the cable 72 on the other side to wrap around the fan blade 1 for de-icing. When passing from the trailing edge of the fan blade 1, the spider legs 4 are used to help cross the surface of the fan blade 1 with a large angle turn. After the robot completes de-icing, it returns to the upper part of the fan blade 1, and the sub-robot 7 is undocking.

[0083] When the tip 13 of the fan blade 1 and other areas need to be de-iced, the above steps are repeated.

[0084] The robot of the present invention also includes another working method:

[0085] The robot crawls from the wind turbine body to the blade root 11 of the wind turbine blade. One side of the robot first releases the sub-robot 7 on the upper part of the blade root 11. The vacuum air pump 2 712 in the sub-robot 7 is adsorbed and fixed on the surface of the blade root 11.

[0086] The robot uses the spider leg structure to circle the blade root 11. The traction machine 73 on one side of the released sub-robot 7 continues to spit out the cable 72 to keep the cable 72 in a relaxed state. When the robot reaches the upper part of the blade root 11 again, the sub-robot 7 on the other side is released.

[0087] The sub-robot 7 cancels the adsorption fixation, and the robot and the sub-robot 7 move together on the upper part of the fan blade 1 toward the middle 12 of the fan blade, and the cable 72 continues to remain in a relaxed state to adapt to the widened fan blade 1;

[0088] When arriving at the deicing area, the sub-robots 7 on both sides are docked and fixed by the hooks 77. The robots use the spider leg structure to adsorb and fix on the surface of the fan blade 1. After the sub-robots 7 drive to the vicinity of the upper part of the trailing edge of the fan blade 1 in the docked state, they are adsorbed and fixed on the surface of the fan blade 1. Then the traction machine 73 recycles the cable 72, so that the cable 72 changes from a loose state to a taut state, forming a cable track around the fan blade 1.

[0089] The spider leg structure stops vacuum adsorption and shrinks. The robot relies on the wheeled walking structure and the traction machine 73 to spit out the cable 72 on one side and retract the cable 72 on the other side to surround the fan blade 1 for de-icing. The robot only passes through the leading edge of the fan blade 1 to transition between the upper and lower parts.

[0090] After the robot completes de-icing, it returns to the upper part of the fan blade 1 and uses the spider leg structure to adsorb and fix on the surface of the fan blade 1. The sub-robot 7 cancels the adsorption and fixation, drives back to the robot in a docked state, and then undocks.

[0091] When other areas of the fan blade 1 need to be de-iced, repeat the above steps.

[0092] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0093] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. A bionic spider deicing robot for wind turbine blades, characterized in that: include Mother robot; A plurality of spider legs (4) fixedly arranged on the mother robot, the spider legs (4) being used to drive the mother robot to climb from the wind turbine body to the blade root (11) of the wind turbine blade (1); A walking mechanism, arranged on the mother robot, the walking mechanism being used to drive the mother robot to move on the surface of the fan blade (1); Two groups of sub-robots (7) are detachably arranged inside the two ends of the mother robot, each group of the sub-robots (7) is fixedly connected to a traction mechanism, and the traction mechanism is fixedly arranged inside the mother robot. After one group of the sub-robots (7) is detached from the mother robot, it drives the traction mechanism to wrap around the fan blade (1) and is clamped with another group of the sub-robots (7) to form an adjustable ring belt, and the adjustable ring belt is used to prevent the mother robot from falling when moving on the surface of the fan blade (1); A deicing mechanism is arranged on the mother robot, and is used to remove ice from the surface of the fan blade (1).

2. The bionic spider deicing robot for wind turbine blades according to claim 1, characterized in that: The sub-robot (7) comprises a chassis (74), a body (75) is arranged at the top of the chassis (74), one end of the body (75) is fixedly connected to the traction mechanism, and the other end of the body (75) is arranged with a hook (77). Four stepper motors (79) are fixedly arranged on the chassis (74), and the four stepper motors (79) are arranged in groups of two on the long side of the chassis (74). The output shafts of the stepper motors (79) in each group are fixedly connected with gears (710), and the outer sides of the two gears (710) in the same group are transmission-engaged with crawlers (711). The top of the body (75) is fixedly connected with a second vacuum air pump (712), and the air intake port of the second vacuum air pump (712) is fixedly connected with one end of a second vacuum suction pipe (713), and the other end of the second vacuum suction pipe (713) passes through the chassis (74) and is fixedly connected with a second suction cup (714).

3. The bionic spider deicing robot for wind turbine blades according to claim 2, characterized in that: The vehicle coupler (77) comprises a hook body, one end of which is fixedly connected to the vehicle body (75), and the other end of which is rotatably connected to a hook tongue (772) via a pin (771). A locking pin (773) is provided on the hook body, and the locking pin (773) is fixedly connected to the telescopic end of a telescopic rod (78), and the fixed end of the telescopic rod (78) is fixedly connected to the vehicle body (75).

4. The bionic spider deicing robot for wind turbine blades according to claim 2, characterized in that: A transformer (715) and a backup power supply (716) are arranged inside the vehicle body (75), and a camera (76) is fixedly connected to the outer wall of the vehicle body (75), and the camera (76) and the coupler (77) are located at the same end of the vehicle body (75).

5. The bionic spider deicing robot for wind turbine blades according to claim 2, characterized in that: The traction mechanism includes a traction machine (73), which is fixedly arranged inside the mother robot. The traction machine (73) is fixedly connected to one end of a cable (72), and the cable (72) is stored in the traction machine (73). The other end of the cable (72) is fixedly connected to the vehicle body (75).

6. The bionic spider deicing robot for wind turbine blades according to claim 1, characterized in that: The spider leg (4) includes a three-section mechanical body (43), one end of the three-section mechanical body (43) is movably connected to a mechanical leg base (42), the mechanical leg base (42) is fixedly arranged on the mother robot, the joints of the three-section mechanical body (43) are provided with a servo (44), the other end of the three-section mechanical body (43) is fixedly connected to a suction cup (45), the suction cup (45) is fixedly connected to one end of a vacuum suction pipe (46), the other end of the vacuum suction pipe (46) is fixedly connected to the suction port of a vacuum air pump (41), and the vacuum air pump (41) is fixedly arranged on the mother robot.

7. The bionic spider deicing robot for wind turbine blades according to claim 1, characterized in that: The walking mechanism comprises a dual-output shaft motor (51), the dual-output shaft motor (51) is fixedly arranged on the mother robot, and one output shaft of the dual-output shaft motor (51) is fixedly connected to a wheel (5).

8. The bionic spider deicing robot for wind turbine blades according to claim 1, characterized in that: The de-icing mechanism comprises a main battery (61), the main battery (61) is fixedly arranged inside the mother robot, the main battery (61) is electrically connected to an ultrasonic generator (6), and the ultrasonic generator (6) is fixedly arranged on a side wall of the mother robot close to the surface of the fan blade (1).

9. The bionic spider deicing robot for wind turbine blades according to claim 1, characterized in that: The mother robot comprises a square plate (31) and two curved plates (3); the two curved plates (3) are rotatably connected to the two ends of the square plate (31) via metal parts (32); a movable clamping plate (71) is rotatably connected to the curved plate (3); the child robot (7) is detachably arranged on the movable clamping plate (71); and a shell (2) is arranged at the top of the square plate (31) and the curved plate (3).

10. A working method of a bionic spider deicing robot for wind turbine blades according to any one of claims 1 to 9, characterized in that: The following steps are involved: The mother robot crawls from the wind turbine body to the blade root (11), and the child robot (7) at one end detaches from the mother robot and is adsorbed and fixed on the surface of the blade root (11); The mother robot moves around the blade root (11) to the other side of the sub-robot (7) fixed on the surface of the blade root (11), and then the other sub-robot (7) on the mother robot detaches from the mother robot, and the sub-robot (7) fixed on the surface of the blade root (11) cancels the adsorption and is engaged with the other sub-robot (7) to form an adjustable ring belt, the adjustable ring belt is in a relaxed state, and the mother robot drives the sub-robot (7) to move to the de-icing position together with the adjustable ring belt; The sub-robot (7) is adsorbed and fixed on the de-icing position surface of the fan blade (1), and the adjustable ring belt changes from a loose state to a tight state; The spider legs (4) of the mother robot are retracted, and the walking mechanism and one traction mechanism are retracted while the other traction mechanism is extended to surround the fan blades (1) to remove ice.

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