Interior inspection robot for blades of wind generating set

Abstract

The invention provides a wind generating set blade interior inspection robot, and relates to the technical field of wind power generation, the wind generating set blade interior inspection robot comprises a robot body, the robot body is composed of a Mecanum wheel chassis, a robot tower bottom cabinet and a robot cabin cabinet, and the robot tower bottom cabinet is arranged at the top end of the Mecanum wheel chassis; a robot cabin cabinet is arranged at the top end of the robot tower bottom cabinet, and a monitoring sensing device is arranged on the outer side of the robot cabin cabinet. According to the invention, the monitoring sensing device is arranged, and the interior of the cabin of the generator set is effectively monitored by monitoring the operation of a sensor, so that the problems that the existing wind turbine generator inspection robot is mainly an unmanned aerial vehicle, and the appearance and blades of the wind turbine generator are monitored in the prior art are effectively improved; the problems that the interiors of the wind turbine generator blades cannot be continuously monitored in real time, and meanwhile, the interiors and important positions of the wind turbine generator blades cannot be monitored and daily maintenance requirements cannot be met are solved.

Description

Technical Field

[0001] The invention relates to the technical field of wind power generation, and in particular to an internal inspection robot for blades of a wind power generator set. Background Art

[0002] Intelligent robots can understand and interpret image and video data. Using computer vision technology, intelligent robots can perform tasks such as target detection, target tracking, and posture estimation, thereby realizing functions such as environmental perception, object recognition, and autonomous navigation. In addition, they can obtain environmental information such as vision, sound, and mechanics through sensors, and analyze and process this information through perception technology.

[0003] However, the existing wind turbine inspection robots are mainly drones, which monitor the appearance and blades of wind turbines, and cannot meet the requirements of uninterrupted real-time monitoring of the inside of wind turbine blades, and cannot detect defects and daily maintenance needs of the inside and important positions of wind turbine blades. Therefore, in view of the above situation, it is urgent to develop a wind turbine blade internal inspection robot to overcome the shortcomings in current practical applications. Summary of the invention

[0004] The present invention provides a wind turbine blade internal inspection robot to solve the problem raised by the above background technology: the existing wind turbine inspection robots are mainly drones, which monitor the appearance and blades of the wind turbine, but cannot meet the requirements of uninterrupted real-time monitoring of the inside of the wind turbine blades, and cannot monitor the defects and daily maintenance needs of the inside and important positions of the wind turbine blades.

[0005] To solve the above technical problems, the present invention discloses a wind turbine blade internal inspection robot, comprising: a robot body, the robot body consisting of a Mecanum wheel chassis, a robot tower bottom cabinet and a robot cabin cabinet, a robot tower bottom cabinet is arranged on the top of the Mecanum wheel chassis, a robot cabin cabinet is arranged on the top of the robot tower bottom cabinet, and a monitoring sensor device is arranged on the outside of the robot cabin cabinet.

[0006] Preferably, the monitoring sensor device includes: an infrared night vision camera, a thermal imaging camera, a smoke sensor, a sound sensor and a temperature and humidity sensor, and the monitoring sensor device is used to monitor the generator, high-speed shaft, gearbox, main shaft, main shaft bolts and cabin cabinet inside the generator set cabin.

[0007] Preferably, the robot cabin cabinet is also provided with an intelligent inspection robot system, and the intelligent inspection robot system comprises:

[0008] The posture and distance sensing module is used to obtain the robot posture information and obstacle position information, and send it to the controller for corresponding calculation and processing;

[0009] Environmental information sensing module, used to detect environmental information around the robot;

[0010] Camera, used to collect facial information;

[0011] Voice interaction module, used to realize the interaction between managers and robots;

[0012] Ultra-wideband positioning module, used to determine the robot's position indoors;

[0013] A controller is electrically connected to the attitude and distance sensing module, the environmental information sensing module, the camera, the voice interaction module and the ultra-wideband positioning module.

[0014] Preferably, it also includes: a remote monitoring station for an intelligent inspection robot, and the remote monitoring station for an intelligent inspection robot is used to control the operation of the inspection robot.

[0015] Preferably, the intelligent inspection robot system further includes:

[0016] Data processing module: used to analyze and process the data collected by the monitoring sensor device, detect damage, cracks, fatigue problems inside the blade, and generate inspection reports;

[0017] Communication module: used to enable the robot body to communicate with the remote monitoring station of the intelligent inspection robot in real time, and to remotely transmit inspection data, receive instructions and report abnormal conditions;

[0018] Remote control and autonomous control module: used to realize remote control of the robot body, the operator controls its movement and inspection, and the robot body can automatically inspect on a predetermined path;

[0019] Safety assurance module: By adopting obstacle avoidance technology and safety protection devices, the safety of the inspection process is ensured to avoid secondary damage to the blades;

[0020] Data management and analysis module: used to store, manage and analyze the inspection data collected by the robot body.

[0021] Preferably, a patrol fire extinguishing device is provided in the bottom cabinet of the robot tower, and the patrol fire extinguishing device comprises: a drive box, the drive box is fixedly installed in the bottom cabinet of the robot tower, the fixed end of the drive motor is fixedly installed at the bottom of the drive box, and a turntable is fixedly installed at the output end of the drive motor, a movable rod is fixedly installed on the turntable, one end of support rod one is connected with one end of the movable rod, the other end of support rod one is movably connected with one end of support rod two, the left and right ends of support rod one are fixedly installed on the inner wall of the drive box, and a sliding sleeve is fixedly installed between the support rods one, the other end of the support rod two passes through the sliding sleeve and is connected to the trapezoidal block one by one, and the left and right ends of the trapezoidal block one are symmetrically provided with fire extinguishing mechanisms.

[0022] Preferably, the fire extinguishing mechanism includes: a water pump, which is fixedly mounted on the front inner wall of a cavity provided at the rear end of the bottom cabinet of the robot tower, and the input end of the water pump is connected to a connecting pipe, and the other end of the connecting pipe is connected to a cavity, and the output end of the water pump is connected to one end of a hose, and the other end of the hose is connected to one end of a connecting pipe, a nozzle is fixedly mounted on the other end of the connecting pipe, a fixing block is fixedly mounted on the connecting pipe, and the fixing block is connected to the angle adjustment assembly.

[0023] Preferably, the angle adjustment assembly comprises: a second support rod, one end of the second support rod is fixedly mounted on the outer wall of a driving box, and the other end of the second support rod is movably connected with a long rod, one end of the long rod is fixedly mounted with an electric telescopic rod, the output end of the electric telescopic rod is fixedly mounted with a slider, one end of the slider is slidably connected to a slide groove 1 provided on the long rod, the other end of the slider is fixedly mounted on a fixed block, one end of the short rod is movably connected in a slide groove 2 provided on the long rod, and the other end of the short rod passes through the driving box and is fixedly connected to trapezoidal block 2, and the trapezoidal block 2 is in contact with trapezoidal block 1, one end of a return spring is fixedly mounted on the long rod, and the other end of the return spring is fixedly mounted on the driving box.

[0024] Preferably, the front end of the robot tower bottom cabinet is provided with an opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the installation of the inspection robot provided in an embodiment of the present invention;

[0027] Figure 2 The embodiment of the present invention provides Figure 1 A top view of the internal structure of the robot tower base cabinet.

[0028] Reference numerals:

[0029] 1. Mecanum wheel chassis; 2. Robot tower bottom cabinet; 3. Robot cabin cabinet; 4. Thermal imaging camera; 5. Infrared night vision camera; 6. Drive box; 7. Drive motor; 8. Turntable; 9. Movable rod; 10. Support rod one; 11. Support rod two; 12. Support rod one; 13. Sleeve; 14. Trapezoidal block one; 15. Water pump; 16. Cavity one; 17. Connecting pipe one; 18. Hose; 19. Connecting pipe two; 20. Nozzle; 21. Fixed block; 22. Support rod two; 23. Long rod; 24. Electric telescopic rod; 25. Slider; 26. Slide slot one; 27. Short rod; 28. Trapezoidal block two; 29. ​​Reset spring; 30. Opening; 31. Slide slot two; 32. Smoke sensor; 33. Sound sensor; 34. Temperature and humidity sensor. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0031] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] The present invention provides the following embodiments

[0033] Example 1

[0034] The embodiment of the present invention provides a wind turbine blade internal inspection robot, such as Figure 1As shown, it includes: a robot body, which is composed of a Mecanum wheel chassis 1, a robot tower bottom cabinet 2 and a robot cabin cabinet 3. The robot tower bottom cabinet 2 is arranged on the top of the Mecanum wheel chassis 1, and the robot cabin cabinet 3 is arranged on the top of the robot tower bottom cabinet 2, and a monitoring sensor device is arranged on the outside of the robot cabin cabinet 3.

[0035] The beneficial effect of the above technical solution is that the present invention effectively monitors the inside of the generator cabin by setting a monitoring sensor device and monitoring the operation of the sensor. This effectively improves the problem raised in the background technology that the existing wind turbine inspection robots are mainly drones, which monitor the appearance and blades of wind turbines and cannot meet the requirements of uninterrupted real-time monitoring of the inside of wind turbine blades, and cannot monitor the defects and daily maintenance needs of the inside and important positions of wind turbine blades.

[0036] Example 2

[0037] Based on Example 1, a wind turbine blade internal inspection robot is provided.

[0038] The monitoring sensor device includes: an infrared night vision camera 5, a thermal imaging camera 4, a smoke sensor 32, a sound sensor 33 and a temperature and humidity sensor 34, and the monitoring sensor device is used to monitor the generator, high-speed shaft, gear box, main shaft, main shaft bolts and cabin cabinet inside the generator set cabin.

[0039] Optionally, the robot cabin cabinet 3 is also provided with an intelligent inspection robot system, and the intelligent inspection robot system includes:

[0040] The posture and distance sensing module is used to obtain the robot posture information and obstacle position information, and send it to the controller for corresponding calculation and processing;

[0041] Environmental information sensing module, used to detect environmental information around the robot;

[0042] Camera, used to collect facial information;

[0043] Voice interaction module, used to realize the interaction between managers and robots;

[0044] Ultra-wideband positioning module, used to determine the robot's position indoors;

[0045] A controller is electrically connected to the attitude and distance sensing module, the environmental information sensing module, the camera, the voice interaction module and the ultra-wideband positioning module.

[0046] Optionally, it also includes: a remote monitoring station for an intelligent inspection robot, wherein the remote monitoring station for the intelligent inspection robot is used to control the operation of the inspection robot.

[0047] Optionally, the intelligent inspection robot system further includes:

[0048] Data processing module: used to analyze and process the data collected by the monitoring sensor device, detect damage, cracks, fatigue problems inside the blade, and generate inspection reports;

[0049] Communication module: used to enable the robot body to communicate with the remote monitoring station of the intelligent inspection robot in real time, and to remotely transmit inspection data, receive instructions and report abnormal conditions;

[0050] Remote control and autonomous control module: used to realize remote control of the robot body, the operator controls its movement and inspection, and the robot body can automatically inspect on a predetermined path;

[0051] Safety assurance module: By adopting obstacle avoidance technology and safety protection devices, the safety of the inspection process is ensured to avoid secondary damage to the blades;

[0052] Data management and analysis module: used to store, manage and analyze the inspection data collected by the robot body.

[0053] The beneficial effects of the above technical solution are:

[0054] 1. Improve inspection efficiency: The blade internal inspection robot can move autonomously inside the narrow and complex blade and accurately obtain the internal status information of the blade. Compared with the traditional manual inspection method, the robot can complete the inspection task more quickly and greatly improve the inspection efficiency;

[0055] 2. Reduce the risk of manual inspection: Traditional blade internal inspection requires technicians to enter the wind turbine and face high-risk working environments, such as high-altitude work, narrow spaces and high temperatures. The use of blade internal inspection robots can avoid exposure to risky environments and reduce the potential risk of personal injury;

[0056] 3. Reduce manpower and time costs: The robot can perform inspection tasks without human driving and monitoring, effectively reducing the demand for human resources and time costs. At the same time, the robot can inspect multiple blades at the same time, saving inspection cycles and the use of human resources;

[0057] 4. Improve the accuracy and credibility of inspection data: The robot is equipped with a variety of sensors and image processing technologies, which can provide more accurate information on the internal status of the blades. It uses machine learning and image processing algorithms to analyze and identify data, which can more accurately detect defects and problems inside the blades and improve the credibility of inspection data.

[0058] 5. Discover and prevent potential problems in advance: The blade internal inspection robot can conduct comprehensive and detailed inspections inside the blade. By real-time monitoring of the blade's condition and data analysis of the early warning system, the robot can detect problems inside the blade early, predict the health of the blade, and take repair measures in time to avoid further deterioration of potential problems;

[0059] The present invention is provided with a Mecanum wheel chassis 1, which is conducive to realizing the robot turning in place and horizontally moving left and right, so that the robot has the ability to adapt to the special shapes in the blade, such as creeping, tire walking, etc. At the same time, the robot also has sufficient balance and stability to ensure movement on a slope or uneven blade surface;

[0060] In short, the application of blade internal inspection robots can improve inspection efficiency, reduce manual inspection risks, reduce costs, improve data accuracy and prevent potential problems, which will provide more effective support for the operation and maintenance of wind power equipment and improve power production capacity and reliability.

[0061] Example 3

[0062] On the basis of Example 1 or 2, Figure 2 As shown, a patrol fire extinguishing device is arranged in the bottom cabinet 2 of the robot tower, and the patrol fire extinguishing device comprises: a drive box 6, the drive box 6 is fixedly installed in the bottom cabinet 2 of the robot tower, the fixed end of the drive motor 7 is fixedly installed at the bottom end of the drive box 6, and a turntable 8 is fixedly installed at the output end of the drive motor 7, a movable rod 9 is fixedly installed on the turntable 8, one end of a support rod 10 is connected to one end of the movable rod 9, the other end of the support rod 10 is movably connected to one end of a support rod 2 11, the left and right ends of the support rod 12 are fixedly installed on the inner wall of the drive box 6, and a sliding sleeve 13 is fixedly installed between the support rods 12, the other end of the support rod 2 11 passes through the sliding sleeve 13 and is connected to a trapezoidal block 14, and the left and right ends of the trapezoidal block 14 are symmetrically provided with fire extinguishing mechanisms.

[0063] Optionally, the fire extinguishing mechanism includes: a water pump 15, the water pump 15 is fixedly mounted on the front inner wall of a cavity 16 provided at the rear end of the robot tower bottom cabinet 2, and the input end of the water pump 15 is connected to a connecting pipe 17, and the other end of the connecting pipe 17 is connected to the cavity 16, and the output end of the water pump 15 is connected to one end of a hose 18, and the other end of the hose 18 is connected to one end of a connecting pipe 19, and a nozzle 20 is fixedly mounted on the other end of the connecting pipe 19, and a fixing block 21 is fixedly mounted on the connecting pipe 19, and the fixing block 21 is connected to the angle adjustment assembly.

[0064] Optionally, the angle adjustment assembly includes: a support rod 22, one end of which is fixedly mounted on the outer wall of the drive box 6, and the other end of the support rod 22 is movably connected to a long rod 23, one end of the long rod 23 is fixedly mounted with an electric telescopic rod 24, the output end of the electric telescopic rod 24 is fixedly mounted with a slider 25, one end of the slider 25 is slidably connected to a slide groove 26 provided on the long rod 23, the other end of the slider 25 is fixedly mounted on the fixed block 21, one end of the short rod 27 is movably connected in a slide groove 21 provided on the long rod 23, and the other end of the short rod 27 passes through the drive box 6 and is fixedly connected to a trapezoidal block 28, and the trapezoidal block 28 is in contact with the trapezoidal block 14, one end of a return spring 29 is fixedly mounted on the long rod 23, and the other end of the return spring 29 is fixedly mounted on the drive box 6.

[0065] Optionally, an opening 30 is provided at the front end of the robot tower bottom cabinet 2 .

[0066] The working principle of the above technical solution is as follows: when the monitoring sensor device detects a fire inside the generator cabin, the controller controls the electric telescopic rod 24 to start, and the electric telescopic rod 24 starts to drive the slider 25 fixedly connected thereto to move forward, thereby driving the slider 25 and the fixed block 21 fixedly connected to the slider 25 to move forward in the slide groove 26, thereby moving the connecting pipe 21 out of the robot tower bottom cabinet 2 through the opening 30, and then the controller controls the driving motor 7 to operate, and the driving motor 7 rotates to drive the turntable 8 to rotate, and the rotation of the turntable 8 drives the movable rod 9 fixedly connected thereto to rotate, and the rotation of the movable rod 9 drives the support rod 10 movably connected thereto to move, and the support rod 1 The movement of 10 drives the support rod 2 11 movably connected thereto to move forward and backward in the sliding sleeve 13, and the forward and backward movement of the support rod 2 11 drives the trapezoidal block 14 to move accordingly, and the movement of the trapezoidal block 14 drives the trapezoidal block 28 in contact therewith to move to both sides, and the movement of the trapezoidal block 28 drives the short rod 27 fixedly connected thereto to move to both sides, and the movement of the short rod 27 drives the long rod 23 movably connected thereto to change direction accordingly, thereby realizing the change of the angle of the nozzle 20, and finally starting the water pump 15. The water pump 15 starts to spray the water in the cavity 16 through the connecting pipe 17, the hose 18 and the connecting pipe 2 19, and finally sprays it out through the nozzle 20, thereby extinguishing the fire inside the engine room of the generator set.

[0067] The beneficial effects of the above technical scheme are as follows: by setting the driving motor 7 and the turntable 8, it is conducive to realizing the movement of the movable rod 9 and the support rod 10, thereby realizing the forward and backward movement of the support rod 2 11, further realizing the forward and backward movement of the trapezoidal block 14, and finally realizing the operation of the angle adjustment component; by setting the water pump 15, it is conducive to realizing the transportation of water in the cavity 16; by setting the electric telescopic rod 24, it is conducive to realizing the movement of the nozzle 20, thereby moving it to the outside of the robot tower bottom cabinet 2; by setting the support rod 12, it is conducive to realizing the adjustment of the position of the support rod 2 11; by setting the reset spring 29, it is conducive to realizing the reset processing of the long rod 23; by setting the support rod 22 and the long rod 23, it is conducive to realizing the effective support and positioning processing of the long rod 23; by setting the cavity 16 in the patrol fire extinguishing device, it is conducive to realizing that when a fire occurs inside the generator set cabin, fire extinguishing activities can be realized in time to prevent the fire from being too large and causing a larger fire, which is very convenient and practical.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind turbine blade internal inspection robot, characterized in that: include: A robot body, the robot body comprising a Mecanum wheel chassis (1), a robot tower bottom cabinet (2) and a robot cabin cabinet (3), the robot tower bottom cabinet (2) being arranged at the top of the Mecanum wheel chassis (1), the robot cabin cabinet (3) being arranged at the top of the robot tower bottom cabinet (2), and a monitoring sensor device being arranged at the outside of the robot cabin cabinet (3).

2. A wind turbine blade internal inspection robot according to claim 1, characterized in that: The monitoring sensor device comprises: an infrared night vision camera (5), a thermal imaging camera (4), a smoke sensor (32), a sound sensor (33) and a temperature and humidity sensor (34), and the monitoring sensor device is used to monitor the generator, high-speed shaft, gear box, main shaft, main shaft bolts and cabin cabinet inside the generator set cabin.

3. The wind turbine blade internal inspection robot according to claim 1, characterized in that: The robot cabin cabinet (3) is also provided with an intelligent inspection robot system, and the intelligent inspection robot system comprises: The posture and distance sensing module is used to obtain the robot's posture information and obstacle position information, and send it to the controller for corresponding calculation and processing; Environmental information sensing module, used to detect environmental information around the robot; Camera, used to collect facial information; Voice interaction module, used to realize the interaction between managers and robots; Ultra-wideband positioning module, used to determine the robot's position indoors; A controller is electrically connected to the attitude and distance sensing module, the environmental information sensing module, the camera, the voice interaction module and the ultra-wideband positioning module.

4. The wind turbine blade internal inspection robot according to claim 1, characterized in that: Also includes: An intelligent inspection robot remote monitoring station is used to control the operation of the inspection robot.

5. The wind turbine blade internal inspection robot according to claim 3, characterized in that: The intelligent inspection robot system also includes: Data processing module: used to analyze and process the data collected by the monitoring sensor device, detect damage, cracks, fatigue problems inside the blade, and generate inspection reports; Communication module: used to enable the robot body to communicate with the remote monitoring station of the intelligent inspection robot in real time, and to remotely transmit inspection data, receive instructions and report abnormal conditions; Remote control and autonomous control module: used to realize remote control of the robot body, the operator controls its movement and inspection, and the robot body can automatically inspect on a predetermined path; Safety assurance module: By adopting obstacle avoidance technology and safety protection devices, the safety of the inspection process is ensured to avoid secondary damage to the blades; Data management and analysis module: used to store, manage and analyze the inspection data collected by the robot body.

6. The wind turbine blade internal inspection robot according to claim 1, characterized in that: A patrol fire extinguishing device is arranged in the robot tower bottom cabinet (2), and the patrol fire extinguishing device comprises: a drive box (6), the drive box (6) is fixedly installed in the robot tower bottom cabinet (2), the fixed end of the drive motor (7) is fixedly installed at the bottom end of the drive box (6), and a turntable (8) is fixedly installed at the output end of the drive motor (7), a movable rod (9) is fixedly installed on the turntable (8), one end of a support rod (10) is connected to one end of the movable rod (9), the other end of the support rod (10) is movably connected to one end of a support rod (11), the left and right ends of the support rod (12) are fixedly installed on the inner wall of the drive box (6), and a sliding sleeve (13) is fixedly installed between the support rods (12), the other end of the support rod (11) passes through the sliding sleeve (13) and is connected to a trapezoidal block (14), and the left and right ends of the trapezoidal block (14) are symmetrically provided with fire extinguishing mechanisms.

7. The wind turbine blade internal inspection robot according to claim 6, characterized in that: The fire extinguishing mechanism comprises: a water pump (15), the water pump (15) is fixedly mounted on the front inner wall of a cavity (16) provided at the rear end of the robot tower bottom cabinet (2), the input end of the water pump (15) is connected to a connecting pipe (17), the other end of the connecting pipe (17) is connected to the cavity (16), the output end of the water pump (15) is connected to one end of a hose (18), the other end of the hose (18) is connected to one end of a connecting pipe (19), a nozzle (20) is fixedly mounted on the other end of the connecting pipe (19), a fixing block (21) is fixedly mounted on the connecting pipe (19), and the fixing block (21) is connected to an angle adjustment component.

8. The wind turbine blade internal inspection robot according to claim 7, characterized in that: The angle adjustment assembly comprises: a second support rod (22), one end of the second support rod (22) is fixedly mounted on the outer wall of the driving box (6), and the other end of the second support rod (22) is movably connected to a long rod (23), one end of the long rod (23) is fixedly mounted with an electric telescopic rod (24), an output end of the electric telescopic rod (24) is fixedly mounted with a slider (25), one end of the slider (25) is slidably connected to a slide groove (26) provided on the long rod (23), The other end of the slider (25) is fixedly mounted on the fixed block (21), one end of the short rod (27) is movably connected in the second slide groove (31) provided on the long rod (23), and the other end of the short rod (27) passes through the driving box (6) and is fixedly connected to the second trapezoidal block (28), and the second trapezoidal block (28) is in contact with the first trapezoidal block (14), one end of the return spring (29) is fixedly mounted on the long rod (23), and the other end of the return spring (29) is fixedly mounted on the driving box (6).

9. The wind turbine blade internal inspection robot according to claim 1, characterized in that: The front end of the robot tower bottom cabinet (2) is provided with an opening (30).

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