A bionic spider de-icing robot for wind turbine blades and its working method

Abstract

The present invention belongs to the technical field of wind power generation maintenance, and particularly relates to a bionic spider de-icing robot for wind turbine blades and a working method. The robot includes a mother robot, spider legs, a walking mechanism, two groups of sub-robots, and a de-icing mechanism. The spider legs are installed on the mother robot to provide the adsorption force required for the robot to work on the blade. The walking mechanism is used to increase the moving speed of the robot when the spider legs are not needed. The de-icing mechanism enables the robot to complete the non-destructive de-icing work of the wind turbine blade. When working, the sub-robots are docked with the sub-robots on the other side to form a cable track around the wind turbine blade, so that the robot can de-ice around the wind turbine blade only with the walking mechanism without using the spider legs, improving the de-icing efficiency of the blade and enhancing the safety of the robot's de-icing work.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind power generation maintenance, and particularly relates to a bionic spider de-icing robot for wind turbine blades and a working method thereof. Background Art

[0002] As a clean, pollution-free, renewable, widely distributed and huge in reserves energy, wind energy has attracted people's attention and emphasis. Onshore wind farms are mostly built in high-altitude, mountainous areas with low temperature and high humidity in winter. When the wind turbine is in an environment with low temperature and high humidity, ice is likely to form on the surface of the blades. After the blades are covered with ice, their aerodynamic shape will be changed, affecting the aerodynamic performance of the blades and reducing the power generation efficiency of the wind turbine; the ice on the blades will also increase the burden on the blades due to the increase in ice weight, shorten the service life of the blades, and cause safety hazards such as mechanical failures and high-altitude ice falling. Therefore, removing the ice accumulation on the wind turbine blades is of great significance for ensuring the normal operation of the wind farm.

[0003] Currently, common blade de-icing technologies include electrothermal de-icing, coating method, and manual or mechanical de-icing, etc.: Electrothermal de-icing uses heating wires on the blade surface to remove the ice accumulation by resistance heating, which has certain fire hazards and lightning induction risks; the coating method adds a hydrophobic coating on the blade surface to prevent ice formation, which has problems such as poor durability and environmental pollution; manual de-icing has low work efficiency and high danger, and when the machine is used for de-icing operations, it cannot adapt to the irregular blade shape, which easily leads to incomplete de-icing and dead corners.

[0004] Chinese Patent CN116985153A discloses a split de-icing robot for wind turbine blades. The vacuum adsorption module of this robot enables the robot to crawl from the wind turbine body to the wind turbine blades for de-icing. However, when the wind turbine enters the shutdown state for de-icing preparation, the blades become feathered, with one side facing up and the other side facing down. When the robot de-ices the lower part of the blade, there is a safety hazard that the vacuum adsorption is unstable and the robot may fall.

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

[0006] The purpose of the present invention is to provide a bionic spider de-icing robot for wind turbine blades and a working method to solve the above problems, and achieve the purpose of adapting to the irregular blade surface for efficient, complete and safe de-icing.

[0007] To achieve the above purpose, the present invention provides the following solution: A bionic spider de-icing robot for wind turbine blades, comprising

[0008] a mother robot;

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

[0010] A walking mechanism, arranged on the mother robot, which is used to drive the mother robot to move on the surface of the wind turbine blade;

[0011] Two groups of sub-robots, detachably arranged inside both ends of the mother robot. Each group of sub-robots is fixedly connected with a traction mechanism, and the traction mechanism is fixedly arranged inside the mother robot. After a group of sub-robots are separated from the mother robot, they drive the traction mechanism to wind the wind turbine blade and are clamped with the other group of sub-robots to form an adjustable annular belt, and the adjustable annular belt is used to prevent the mother robot from falling when moving on the surface of the wind turbine blade;

[0012] An ice removal mechanism, arranged on the mother robot, which is used to remove the ice on the surface of the wind turbine blade.

[0013] For a bionic spider ice removal robot for wind turbine blades based on the present invention, the sub-robot includes a chassis, a vehicle body is arranged at the top of the chassis, one end of the vehicle body is fixedly connected with the traction mechanism, a coupler is arranged at the other end of the vehicle body, four stepping motors are fixedly arranged on the chassis, and the four stepping motors are arranged in pairs on the long sides of the chassis. The output shafts of each group of stepping motors are fixedly connected with gears, and the outer sides of the two gears in the same group are meshed with a crawler belt. A vacuum air pump two is fixedly connected to the top of the vehicle body, one end of a vacuum suction pipe two is fixedly communicated with the air suction port of the vacuum air pump two, and the other end of the vacuum suction pipe two passes through the chassis and is fixedly communicated with a suction cup two.

[0014] For a bionic spider ice removal robot for wind turbine blades based on the present invention, the coupler includes a hook body, one end of the hook body is fixedly connected with the vehicle body, the other end of the hook body is rotatably connected with a hook tongue through a pin, a locking pin is arranged on the hook body, the locking pin is fixedly connected with the telescopic end of a telescopic rod, and the fixed end of the telescopic rod is fixedly connected with the vehicle body.

[0015] For a bionic spider ice removal robot for wind turbine blades based on the present invention, a transformer and a backup power supply are arranged inside the vehicle body, and a camera is also fixedly connected to the outer side wall of the vehicle body. The camera and the coupler are located at the same end of the vehicle body.

[0016] For a bionic spider ice removal robot for wind turbine blades based on the present invention, the traction mechanism includes a traction machine, the traction machine is fixedly arranged inside the mother robot, one end of a cable is fixedly connected with the traction machine, the cable is stored in the traction machine, and the other end of the cable is fixedly connected with the vehicle body.

[0017] A bionic spider de-icing robot for a wind turbine blade according to the present invention, wherein the spider leg includes 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 motor 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, one end of the vacuum suction pipe is fixedly communicated with the suction cup one, and the other end of the vacuum suction pipe is fixedly communicated with the suction port of a vacuum air pump one, and the vacuum air pump one is fixedly arranged on the mother robot.

[0018] A bionic spider de-icing robot for a wind turbine blade according to the present invention, wherein the traveling mechanism includes a double-output shaft motor, the double-output shaft motor is fixedly arranged on the mother robot, and one output shaft of the double-output shaft motor is fixedly connected to a wheel.

[0019] A bionic spider de-icing robot for a wind turbine blade according to the present invention, wherein the de-icing 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 turbine blade.

[0020] A bionic spider de-icing robot for a wind turbine blade according to the present invention, wherein the mother robot includes a square plate and two arc plates, the two arc plates are rotatably connected to both ends of the square plate through metal parts, a movable clamping plate is rotatably connected to the arc plate, the sub-robot is detachably arranged on the movable clamping plate, and a housing is arranged at the top of the square plate and the arc plate.

[0021] A working method of a bionic spider de-icing robot for a wind turbine blade includes the following steps:

[0022] The mother robot crawls from the wind turbine generator body to the blade root, and a sub-robot at one end detaches from the mother robot and adsorbs and fixes on the surface of the blade root;

[0023] The mother robot travels around the blade root for one week to the other side of the sub-robot fixed on the surface of the blade root. Then, another sub-robot on the mother robot detaches from the mother robot, the sub-robot adsorbed and fixed on the surface of the blade root cancels the adsorption and is clamped with another sub-robot to form an adjustable ring belt. The adjustable ring belt is in a relaxed state, and the mother robot drives the sub-robot and the adjustable ring belt to move to the de-icing position;

[0024] The sub-robot adsorbs and fixes on the surface of the de-icing position of the wind turbine blade, and the adjustable ring belt changes from a relaxed state to a tightened state;

[0025] The spider legs of the mother robot contract. Relying on the walking mechanism and a traction mechanism, one traction mechanism contracts and the other extends to surround the wind turbine blade 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 blade through its spider legs.

[0028] 2. The present invention can de-ice the entire surface of the wind turbine blade: The mother robot can be applied to the irregular surface of the wind turbine blade, and the de-icing mechanism can closely approach the icing area for non-destructive de-icing work; the mother robot can gradually advance on the wind turbine blade to achieve full coverage de-icing of the wind turbine blade by the robot.

[0029] 3. The present invention can de-ice efficiently and safely: The sub-robots can be docked to form a cable track around the wind turbine blade. When the robot de-ices the blade, it does not rely on the spider legs to slowly climb, but only relies on the telescopic traction mechanism and the wheeled walking mechanism to complete a full circle of de-icing of the wind turbine blade, with higher efficiency and safety. Description of the Drawings

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

[0031] Figure 1 Schematic diagram of the robot of the present invention and the wind turbine blade;

[0032] Figure 2 Overall schematic diagram of the robot of the present invention;

[0033] Figure 3 Internal schematic diagram of the robot of the present invention;

[0034] Figure 4 Schematic diagram of the spider legs of the robot of the present invention;

[0035] Figure 5 Bottom schematic diagram of the robot of the present invention;

[0036] Figure 6 Schematic diagram of the sub-robot of the present invention;

[0037] Figure 7 Internal schematic diagram of the sub-robot of the present invention;

[0038] Figure 8 Overall schematic diagram of the wind turbine blade;

[0039] Figure 9 is Figure 8 a partial enlarged view of A in

[0040] Figure 10 a schematic diagram of the working process of the robot of the present invention Figure 1 ;

[0041] Figure 11 a schematic diagram of the working process of the robot of the present invention Figure 2 ;

[0042] Figure 12 a schematic diagram of the working process of the robot of the present invention Figure 3 ;

[0043] Figure 13 a schematic diagram of the working process of the robot of the present invention Figure 3 ;

[0044] Figure 14 a schematic diagram of the working process of the robot of the present invention Figure 4 .

[0045] Among them, 1, fan blade; 11, blade root; 12, middle of blade; 13, blade tip; 2, housing; 3, arc plate; 31, square plate; 32, metal part; 4, spider leg; 41, vacuum pump one; 42, mechanical leg base; 43, three - section mechanical body; 44, servo; 45, suction cup one; 46, vacuum suction pipe one; 5, wheel; 51, double - output - shaft motor; 6, ultrasonic generator; 61, main battery; 7, sub - robot; 71, movable splint; 72, cable; 73, traction machine; 74, chassis; 75, vehicle body; 76, camera; 77, coupler; 771, pin; 772, coupler tongue; 773, locking pin; 78, telescopic rod; 79, stepping motor; 710, gear; 711, crawler; 712, vacuum pump two; 713, vacuum suction pipe two; 714, suction cup two; 715, transformer; 716, backup power supply. Specific embodiments

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] To make the above - mentioned objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0048] Refer to Figures 1 to 14As shown in the figure, the present invention provides a bionic spider de-icing robot for a wind turbine blade, including

[0049] a mother robot;

[0050] a plurality of spider legs 4, fixedly arranged 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 traveling mechanism, arranged on the mother robot, and the traveling mechanism is used to drive the mother robot to move on the surface of the wind turbine blade 1;

[0052] two groups of sub-robots 7, detachably arranged inside both ends of the mother robot, each group of sub-robots 7 is fixedly connected with a traction mechanism, the traction mechanism is fixedly arranged inside the mother robot, and after a group of sub-robots 7 are separated from the mother robot, they drive the traction mechanism to wind the wind turbine blade 1 and are clamped with the other group of sub-robots 7 to form an adjustable belt, and the adjustable belt is used to prevent the mother robot from falling when moving on the surface of the wind turbine blade 1, and each group of sub-robots 7 contains two robots;

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

[0054] Furthermore, the sub-robot 7 includes a chassis 74, a vehicle body 75 is arranged at the top of the chassis 74, one end of the vehicle body 75 is fixedly connected with the traction mechanism, a coupler 77 is arranged at the other end of the vehicle body 75, four stepping motors 79 are fixedly arranged on the chassis 74, and the four stepping motors 79 are arranged in pairs on the long sides of the chassis 74, and the output shafts of the stepping motors 79 in each group are fixedly connected with gears 710, and a crawler 711 is meshed with the outside of the two gears 710 in the same group, a vacuum air pump two 712 is fixedly connected to the top of the vehicle body 75, one end of an air suction port of the vacuum air pump two 712 is fixedly communicated with one end of a vacuum suction pipe two 713, and the other end of the vacuum suction pipe two 713 passes through the chassis 74 and is fixedly communicated with a suction cup two 714.

[0055] The 4 stepping motors 79 on both sides of the vehicle body 75 respectively transmit the torque to a pair of crawlers 711 on both sides of the vehicle body 75 through the adjacent gears 710. The sub-robot 7 can control each stepping motor 79 to work independently, so as to realize the forward movement, backward movement, differential steering and stop of the vehicle body 75, so that the sub-robot 7 can freely walk on the surface of the wind turbine blade 1.

[0056] Furthermore, the coupler 77 includes a hook body, one end of the hook body is fixedly connected with the vehicle body 75, the other end of the hook body is rotatably connected with a hook tongue 772 through a pin 771, a locking pin 773 is arranged on the hook body, the locking pin 773 is fixedly connected with the telescopic end of a telescopic rod 78, and the fixed end of the telescopic rod 78 is fixedly connected with 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] Further, the de-icing mechanism includes a main battery 61 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 the side wall of the mother robot close to the surface of the fan blade 1.

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

[0068] Further, the mother robot includes a square plate 31 and two arc plates 3. The two arc plates 3 are rotatably connected to both ends of the square plate 31 through metal parts 32. An active clamping plate 71 is rotatably connected to the arc plate 3, and the sub-robot 7 is detachably arranged on the active clamping plate 71. A housing 2 is arranged at the top of the square plate 31 and the arc plate 3.

[0069] The metal parts 32 can enable the arc plate 3 and the square plate 31 to rotate relative to each other to adapt to the multi-angle plane of the fan blade 1.

[0070] The sub-robot 7 is dormant on the upper surface of the active clamping plate 71 during the non-working period; the active clamping plate 71 can rotate up and down to facilitate the entry and exit of the sub-robot 7.

[0071] The housing 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 the relative rotation between the arc plate 3 and the square plate 31.

[0073] A working method of a bionic spider de-icing robot for a fan blade includes the following steps:

[0074] The mother robot crawls from the wind turbine body to the blade root 11, and the sub-robot 7 at one end detaches from the mother robot and adsorbs and fixes on the surface of the blade root 11.

[0075] The robot crawls from the wind turbine body to the blade root 11 of the fan blade 1. The sub-robot 7 is released first on the upper part of the blade root 11 on one side of the robot, and the vacuum pump two 712 in the sub-robot 7 adsorbs and fixes on the surface of the blade root 11.

[0076] The mother robot travels around the blade root 11 for one week to the other side of the sub-robot 7 fixed on the surface of the blade root 11. Then, another sub-robot 7 on the mother robot detaches from the mother robot. The sub-robot 7 adsorbed and fixed on the surface of the blade root 11 cancels the adsorption and is clamped with another sub-robot 7 to form an adjustable belt. The adjustable belt is in a relaxed state, and the mother robot drives the sub-robot 7 and the adjustable belt to move to the de-icing position.

[0077] The robot wraps around the blade root 11 once with its spider legs 4. The tractor 73 on one side of the released sub-robot 7 continuously spits out the cable 72, keeping the cable 72 in a slack state. When the robot reaches the upper part of the blade root 11 again, it releases the sub-robot 7 on the other side;

[0078] The sub-robot 7 cancels the adsorption fixation. The robot and the sub-robot 7 move forward together to the blade middle 12 on the upper part of the wind turbine blade 1. The cable 72 continuously remains in a slack state to adapt to the widened wind turbine blade 1;

[0079] The sub-robot 7 adsorbs and fixes on the surface of the ice removal position of the wind turbine blade 1, and the adjustable band changes from a slack state to a taut state;

[0080] When reaching the ice removal area, the two side sub-robots 7 are docked and fixed through the coupler 77. And the vacuum pump two 712 in the sub-robot 7 adsorbs and fixes on the surface of the wind turbine blade 1. The cable 72 is recycled by the tractor 73, changing from a slack state to a taut state, and forming a cable track around the wind turbine blade 1;

[0081] The spider legs 4 of the mother robot contract. Relying on the walking mechanism and one traction mechanism to contract and the other traction mechanism to extend, it wraps around the wind turbine blade 1 for ice removal.

[0082] The spider legs 4 of the robot contract. Relying on the wheels 5 and the tractor 73 to spit out the cable 72 on one side and recycle the cable 72 on the other side to wrap around the wind turbine blade 1 for ice removal. When passing over the trailing edge of the wind turbine blade 1, use the spider legs 4 to help cross the surface of the wind turbine blade 1 with a large angle turn. After the robot finishes ice removal, it returns to the upper part of the wind turbine blade 1 again, and the docking of the sub-robot 7 is released.

[0083] When the remaining areas such as the blade tip 13 of the wind turbine blade 1 need ice removal, repeat the above steps.

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

[0085] The robot crawls from the wind turbine generator body to the blade root 11 of the wind turbine blade. The robot releases the sub-robot 7 on the upper part of the blade root 11 on one side first. The vacuum pump two 712 in the sub-robot 7 adsorbs and fixes on the surface of the blade root 11;

[0086] The robot wraps around the blade root 11 once with its spider leg structure. The tractor 73 on one side of the released sub-robot 7 continuously spits out the cable 72, keeping the cable 72 in a slack state. When the robot reaches the upper part of the blade root 11 again, it releases the sub-robot 7 on the other side;

[0087] The sub-robot 7 cancels the adsorption fixation. The robot and the sub-robot 7 move forward together to the blade middle 12 of the wind turbine blade on the upper part. The cable 72 continuously remains in a slack state to adapt to the widened wind turbine blade 1;

[0088] When arriving at the de-icing area, the two sub-robots 7 are fixed by docking through the coupler 77. The robot uses the spider leg structure to adsorb and fix on the surface of the wind turbine blade 1. After the sub-robots 7 travel to the upper part near the trailing edge of the wind turbine blade 1 in the docked state, they adsorb and fix on the surface of the wind turbine blade 1. Then, the tractor 73 retracts the cable 72, making the cable 72 change from a slack state to a taut state, and forming a cable track around the wind turbine blade 1.

[0089] The spider leg structure stops vacuum adsorption and contracts. The robot relies on the wheeled walking structure and the tractor 73 to spit out the cable 72 on one side and retract the cable 72 on the other side to de-ice around the wind turbine blade 1. The robot only passes through the leading edge of the wind turbine blade 1 to transition between the upper and lower parts.

[0090] After the robot finishes de-icing, it returns to the upper part of the wind turbine blade 1 again, uses the spider leg structure to adsorb and fix on the surface of the wind turbine blade 1. The sub-robots 7 cancel the adsorption and fixation, and travel to the side of the robot in the docked state, and then undock.

[0091] When there are other areas of the wind turbine blade 1 that need de-icing, repeat the above steps.

[0092] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying 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 construed as a limitation of the present invention.

[0093] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall 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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