Wind power operation and maintenance robot control system based on intermittent negative pressure adsorption device

Abstract

The invention provides a wind power operation and maintenance robot control system based on an intermittent negative pressure adsorption device. The wind power operation and maintenance robot control system comprises a central control unit, a signal detection unit and a wind power operation and maintenance robot. The wind power operation and maintenance robot comprises a frame, a moving chassis and an intermittent negative pressure adsorption device. The intermittent negative pressure adsorption device comprises two suction cups alternately adsorbed to the wind turbine blade in an intermittent mode. The signal detection unit comprises an air cylinder position sensor, a contact type position sensor, a direction sensor and a camera. The central control unit comprises a main control unit and an element control unit; the main control unit is used for controlling the brushless direct current motor to rotate forwards or reversely or stop working through the element control unit according to the signal fed back by the signal detection unit, controlling the suction cup air cylinder to be powered on or powered off and controlling the suction cup to be powered on or powered off through the element control unit. The motion module and the working module of the robot are remotely controlled in a wireless remote control mode, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power operation and maintenance robots, and more particularly, to a control system for a wind power operation and maintenance robot based on an intermittent negative pressure adsorption device. Background Art

[0002] In recent years, the global wind power generation technology has developed rapidly, and the installed capacity has increased significantly. Wind power generation has become an important part of clean energy. However, at present, the maintenance of most wind power equipment mainly relies on manual labor, which is costly and dangerous. Therefore, it is a good solution to remotely control a wind power operation and maintenance robot to complete the operation and maintenance work. At present, most of the operation and maintenance robots developed by domestic and foreign technology companies adopt the form of a magnetic adsorption chassis, but the wind turbine blades are not magnetic conductive and cannot meet the use requirements. Summary of the Invention

[0003] According to the technical problems existing in the existing wind power equipment operation and maintenance robots mentioned above, a control system for a wind power operation and maintenance robot based on an intermittent negative pressure adsorption device is provided.

[0004] The technical means adopted by the present invention are as follows:

[0005] A control system for a wind power operation and maintenance robot based on an intermittent negative pressure adsorption device, comprising a central control unit, a signal detection unit and a wind power operation and maintenance robot;

[0006] The wind power operation and maintenance robot includes a frame, a moving chassis and an intermittent negative pressure adsorption device; four rubber wheels driven by brushless DC motors are installed on the moving chassis; the frame is fixedly installed above the moving chassis; the intermittent negative pressure adsorption device is installed on the side of the frame, and the intermittent negative pressure adsorption device includes two suction cups that intermittently and alternately adsorb on the wind turbine blade; the intermittent negative pressure adsorption device further includes a suction cup cylinder and a suction cup mounting plate; the two suction cups are slidably installed on the suction cup mounting plate; the cylinder body of the suction cup cylinder is fixedly installed on the frame; the suction cup mounting plate is fixedly connected to the cylinder rod of the suction cup cylinder;

[0007] The signal detection unit includes a cylinder position sensor, a contact position sensor, a direction sensor and a camera; the cylinder position sensor is installed on the cylinder body of the suction cup cylinder for real-time detection of the position of the cylinder rod of the suction cup cylinder; the contact position sensor is installed on the suction cup mounting plate for real-time detection of the position of the suction cup; the direction sensor is installed on the moving chassis for real-time detection of the motion posture of the wind power operation and maintenance robot, including the position and motion direction of the wind power operation and maintenance robot; the camera is installed on the moving chassis for shooting the picture information of the motion and working state of the wind power operation and maintenance robot;

[0008] The central control unit includes a main control unit and an element control unit; the signal detection unit and the element control unit are electrically connected to the main control unit respectively; the main control unit is configured to control the forward rotation, reverse rotation or stop of the brushless DC motor, control the on / off of the air supply of the suction cup cylinder, and control the air supply or vacuum extraction of the suction cup according to the signals fed back by the signal detection unit through the element control unit.

[0009] Further, the main control unit adopts a PLC controller; the element control unit includes a relay and a solenoid valve which are electrically connected to the PLC controller respectively; the relay is electrically connected to the brushless DC motor, and the PLC controller controls the forward rotation, reverse rotation or stop of the brushless DC motor by controlling the operation of the relay; the solenoid valves are respectively installed on the air pressure circuit of the suction cup cylinder and the vacuum circuit of the suction cup, and the PLC controller controls the on / off of the air supply to the suction cup cylinder in the air pressure circuit and controls the air supply or vacuum extraction of the suction cup in the vacuum circuit by controlling the operation of the solenoid valves.

[0010] Further, the central control unit further includes a wireless control unit and a power supply unit which are electrically connected to the main control unit respectively; the wireless control unit is used for remotely controlling the operation of the main control unit; the power supply unit is used for supplying power to the main control unit.

[0011] Further, the wireless control unit is a Bluetooth module; the power supply unit is a storage battery.

[0012] Further, the cylinder position sensor, the contact position sensor, the direction sensor and the camera are electrically connected to the PLC controller respectively.

[0013] Further, two intermittent negative pressure adsorption devices are symmetrically installed on both sides of the vehicle frame; the intermittent negative pressure adsorption device further includes an intermediate gear, an air nozzle, a transmission rack and a suction cup; the suction cup is provided with the air nozzle for making the suction cup ventilate or extract vacuum; long strip-shaped mounting holes are respectively formed on both sides of the suction cup mounting plate, and each mounting hole is internally provided with a suction cup, and the suction cup is slidably mounted in the mounting hole through a suction cup rod and a bolt; the intermediate gear is located below the suction cup mounting plate and is rotatably mounted on the cylinder rod of the suction cup cylinder through a bearing; each suction cup has a corresponding transmission rack, one end of the transmission rack is fixedly mounted on the suction cup rod of the suction cup; the rack structures on the two transmission racks are opposite, and the intermediate gear meshes with the rack structures on the two transmission racks.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] The wind power operation and maintenance robot control system based on the intermittent negative pressure adsorption device provided by the present invention determines the position of the sucker movement through a contact position sensor, and then controls the vacuum on and off by a solenoid valve to achieve the intermittent movement of the negative pressure adsorption device and realize the stable walking of the robot; the robot is remotely controlled by a wireless remote control method, improving the work efficiency.

[0016] For the above reasons, the present invention can be widely promoted in the field of wind power operation and maintenance robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 for the description of the embodiments or the prior art. Obviously, the drawings in the following description are 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 efforts.

[0018] Figure 1 It is the working principle diagram of the control system described in the present invention.

[0019] Figure 2 It is the control logic diagram of the main control unit described in the present invention.

[0020] Figure 3 It is the action logic and feedback diagram of the intermittent negative pressure adsorption device described in the present invention.

[0021] Figure 4 It is the structural schematic diagram of the wind power operation and maintenance robot described in the present invention.

[0022] Figure 5 It is the structural schematic diagram of the intermittent negative pressure adsorption device described in the present invention.

[0023] Figure 6 It is the working process schematic diagram of the intermittent vacuum adsorption device described in the present invention.

[0024] Figure 7 It is the structural schematic diagram of the lifting platform and the cleaning device described in the present invention.

[0025] Figure 8 It is the structural schematic diagram of the grinding device described in the present invention.

[0026] In the figure: 1. Lifting platform; 101. Connecting plate; 102. Linear slide rail; 103. Double-rod cylinder; 104. Platform bottom plate; 105. Slide block; 2. Cleaning device; 201. Driving motor; 202. Belt pulley drive set; 203. Cleaning mounting plate; 204. Water spraying frame; 205. Water spraying nozzle; 206. Disc brush; 3. Intermittent negative pressure adsorption device; 301. Suction cup cylinder; 302. Intermediate gear; 303. Air nozzle; 304. Suction cup mounting plate; 305. Driving rack; 306. Suction cup; 4. Moving chassis; 5. Battery module; 6. Vacuum generator; 7. Water pump; 8. Air compressor; 9. Grinding device; 901. Rotary slide; 902. Linear slide; 903. Grinder. Detailed implementation manners

[0027] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, rather than all of the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way restrictive of the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, steps, operations, devices, components and / or their combinations.

[0030] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof in subsequent drawings is not required.

[0031] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present invention: the orientation terms "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0032] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" etc. can be used here to describe the spatial positional relationships of one device or feature and other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0033] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above words have no special meanings, and thus should not be construed as limiting the protection scope of the present invention.

[0034] Embodiment 1

[0035] As Figure 1-3 shown, the present invention provides a control system for a wind power operation and maintenance robot based on an intermittent negative pressure adsorption device, including a central control unit, a signal detection unit, and a wind power operation and maintenance robot;

[0036] The wind power operation and maintenance robot includes a motion device and a working device. The motion device includes a vehicle frame, a motion chassis 4, and an intermittent negative pressure adsorption device 3. Four independently suspended rubber wheels driven by brushless DC motors are installed on the motion chassis 4. The vehicle frame is fixedly installed above the motion chassis 4. The intermittent negative pressure adsorption device 3 is installed on the side of the vehicle frame. The intermittent negative pressure adsorption device 3 includes two suction cups 306 that intermittently and alternately adsorb on the wind turbine blade. The intermittent negative pressure adsorption device 3 further includes a suction cup cylinder 301 and a suction cup mounting plate 304. The two suction cups 306 are slidably installed on the suction cup mounting plate 304. The cylinder body of the suction cup cylinder 301 is fixedly installed on the vehicle frame. The suction cup mounting plate 304 is fixedly connected to the cylinder rod of the suction cup cylinder 301. The suction cup cylinder 301 is used to drive the suction cup mounting plate 304 to move up and down, thereby adjusting the height of the suction cup 306;

[0037] The signal detection unit includes a cylinder position sensor, a contact position sensor, a direction sensor, and a camera. The cylinder position sensor is installed on the cylinder body of the suction cup cylinder 301 for real-time detection of the position of the cylinder rod of the suction cup cylinder 301. The contact position sensor is installed on the suction cup mounting plate 304 for real-time detection of the position of the suction cup 306. The direction sensor is installed on the motion chassis 4 for real-time detection of the motion attitude of the wind power operation and maintenance robot, including the position and motion direction of the wind power operation and maintenance robot. The camera is installed on the motion chassis 4 for shooting the picture information of the motion and working state of the wind power operation and maintenance robot;

[0038] The central control unit includes a main control unit and an element control unit. The signal detection unit and the element control unit are respectively electrically connected to the main control unit. The main control unit is used to control the forward rotation, reverse rotation, or stop of the brushless DC motor, control the on / off of the suction cup cylinder 301, and control the ventilation or vacuum extraction of the suction cup 306 according to the signals fed back by the signal detection unit through the element control unit.

[0039] Further, the main control unit adopts a PLC controller; the component control unit includes a relay and a solenoid valve respectively electrically connected to the PLC controller; the relay is electrically connected to the brushless DC motor, and the PLC controller controls the forward rotation, reverse rotation or stop of the brushless DC motor by controlling the operation of the relay; solenoid valves are respectively installed on the air pressure circuit of the suction cup cylinder 301 and the vacuum circuit of the suction cup 306, and the PLC controller controls the on-off of the air pressure circuit to the suction cup cylinder 301 by controlling the operation of the solenoid valve, so as to control the extension or retraction of the cylinder rod of the suction cup cylinder 301, and controls the vacuum circuit to supply air to the suction cup 306 or evacuate the suction cup 306.

[0040] Further, the central control unit further includes a wireless control unit and a power supply unit respectively electrically connected to the main control unit; the wireless control unit is used for remotely controlling the operation of the main control unit; the power supply unit is used for supplying power to the main control unit.

[0041] Further, the wireless control unit is a Bluetooth module; the power supply unit is a storage battery.

[0042] Further, the cylinder position sensor, the contact position sensor, the direction sensor and the camera are respectively electrically connected to the PLC controller.

[0043] Further, two intermittent negative pressure adsorption devices 3 are symmetrically installed on both sides of the vehicle frame; the intermittent negative pressure adsorption device 3 further includes an intermediate gear 302, a nozzle 303, a transmission rack 305 and a suction cup 306; the suction cup 306 is provided with the nozzle 303 for supplying air or evacuating the suction cup 306, and the nozzle 303 is connected to the vacuum circuit; long strip-shaped mounting holes are respectively opened on both sides of the suction cup mounting plate 304, and each mounting hole is internally provided with a suction cup 306, and the suction cup 306 is slidably mounted in the mounting hole through a suction cup rod and a bolt, and bolts are respectively installed on the upper and lower sides of the suction cup mounting plate 304 on the suction cup rod; the intermediate gear 302 is located below the suction cup mounting plate 304 and is rotatably mounted on the cylinder rod of the suction cup cylinder 301 through a bearing; each suction cup 306 has a corresponding transmission rack 305, and one end of the transmission rack 305 is fixedly installed on the suction cup rod of the suction cup 306; the rack structures on the two transmission racks 305 are opposite, and the intermediate gear 302 meshes with the rack structures on the two transmission racks 305.

[0044] Further, as Figure 4As shown, the working device includes a lifting platform 1, a cleaning device 2, and a grinding device 9; the lifting platform 1 is installed on the vehicle frame and includes a double-rod cylinder 103 for driving the lifting of the lifting platform 1. The main control unit controls the on-off of the double-rod cylinder 103 by controlling the operation of the component control unit. The cleaning device 2 and the grinding device 9 are detachably installed on the lifting platform 1, and the double-rod cylinder 103 is used to drive the lifting of the cleaning device 2 or the grinding device 9 by driving the lifting of the lifting platform 1.

[0045] Further, a solenoid valve is installed on the air pressure circuit of the double-rod cylinder 103. The PLC controller controls the on-off of the air pressure circuit to the double-rod cylinder 103 by controlling the operation of the solenoid valve, thereby controlling the extension or retraction of the cylinder rod of the double-rod cylinder 103.

[0046] Further, as Figure 7 shown, the lifting platform 1 further includes a platform bottom plate 104, linear slide rails 102, sliders 105, and a connecting plate 101; the cylinder rod of the double-rod cylinder 103 is fixedly installed on the vehicle frame, and the cylinder body is fixedly connected to the platform bottom plate 104. The platform bottom plate 104 is vertically installed on the vehicle frame by the double-rod cylinder 103 and is driven to lift by the cylinder rod of the double-rod cylinder 103. Two vertical linear slide rails 102 are symmetrically installed on both sides of the front surface of the platform bottom plate 104. Two sliders 105 are slidably installed on each linear slide rail 102, and a connecting plate 101 is fixedly installed on the two sliders 105. The cleaning device 2 and the grinding device 9 are detachably installed on the connecting plate 101 and can move up and down along the linear slide rails 102 with the sliders 105.

[0047] Further, as Figure 7As shown in the figure, the cleaning device 2 includes a stepping motor 201, a belt drive group 202, a cleaning mounting plate 203, a water spraying frame 204, water spray nozzles 205 and a disc brush 206; the cleaning mounting plate 203 is used for detachably connecting with the connecting plate 101 of the lifting platform 1; the stepping motor 201 and the water spraying frame 204 are both fixedly installed on the cleaning mounting plate 203; the water spray nozzles 205 are fixedly installed on the water spraying frame 204 and are used for spraying water during cleaning; the belt drive group 202 includes a drive belt and several drive wheels, the belt is sleeved outside all the drive wheels, the drive wheels are rotationally installed on the cleaning mounting plate 203 through a rotating shaft and bearings, and the rotating shaft of one of the drive wheels is fixedly connected with the output shaft of the stepping motor 201, and the main control unit controls the forward rotation, reverse rotation or stop of the stepping motor 201 by controlling the operation of the component control unit; a disc brush 206 is installed at the bottom of the rotating shaft of each drive wheel.

[0048] Further, the stepping motor 201 is electrically connected with the relay, and the PLC controller controls the forward rotation, reverse rotation or stop of the stepping motor 201 by controlling the operation of the relay.

[0049] Further, as Figure 8 shown in the figure, the grinding device 9 includes a linear slide 902, a rotary slide 901 and a grinding machine 903; the linear slide 902 is used for detachably connecting with the connecting plate 101 of the lifting platform 1; the rotary slide 901 is fixedly installed on the sliding part of the linear slide 901 through a mounting plate, and the linear slide 902 is used for driving the rotary slide 901 to move horizontally through the sliding part; the grinding machine 903 is fixedly installed on the rotating part of the rotary slide 901, and the rotary slide 901 is used for adjusting the grinding angle of the grinding machine 903; the grinding machine 903 is used for grinding the welds, rust, etc. on the surface of the wind power blade.

[0050] Further, as Figure 4 shown in the figure, it further includes an air compressor 8, a water pump 7, a vacuum generator 6 and a battery module 5; the air compressor 7, the water pump 8, the vacuum generator 6 and the battery module 5 are all fixedly installed on the vehicle frame; the air compressor 7 is respectively connected to the suction cup 306 and the double-rod cylinder 103 through the air pressure circuit and is used for providing working air pressure for the suction cup 306 and the double-rod cylinder 103; the water pump 8 is used for providing water with a certain pressure for the water spray nozzles 205 of the cleaning device 2; the vacuum generator 6 is connected to the suction cup 306 through the vacuum circuit and is used for converting the atmospheric pressure into negative pressure to make the suction cup 306 vacuumize; the battery module 5 is installed on the moving chassis 4 and is used for providing a power source for the operation and maintenance robot.

[0051] The working process of the wind power operation and maintenance robot is as follows:

[0052] (1) Place the wind power operation and maintenance robot on the wind turbine blade through a sling or a drone;

[0053] (2) Control the operation of the relay through the PLC controller, and then control the operation of the brushless DC motor, so that the moving chassis 4 moves driven by the rubber wheels. During the movement of the robot, the movement posture of the moving chassis 4 is detected in real time by the direction sensor and fed back to the central control unit for real-time regulation;

[0054] (3) First, control the operation of the solenoid valve on the air pressure circuit of the suction cup cylinder 301 in the intermittent negative pressure adsorption device 3 through the PLC controller, adjust the cylinder rod to extend or retract, so as to adjust the height of the suction cup 306, and then manually adjust the two suction cups 306 to the Figure 6 front initial position in, so that the front suction cup 306 is at the front end of the mounting hole, and the rear suction cup 306 is at the rear end of the mounting hole. And the position information of the two suction cups 306 in the mounting hole is obtained in real time through the contact position sensor and transmitted to the central control unit. At this time, the position of the front suction cup 306 detected by the contact position sensor is l1, and the preset position of the suction cup (the front suction cup 306) for switching the negative pressure work of the two suction cups 306 is λ1. When in the front initial position, λ1 ≤ l1;

[0055] (4) Control the operation of the solenoid valve on the vacuum circuit of the suction cup 306 through the PLC controller, so that the front suction cup 306 is evacuated and adsorbed on the surface of the wind turbine blade, and the rear suction cup 306 is ventilated and can slide on the surface of the wind turbine blade;

[0056] (5) Taking the cleaning operation of the wind turbine blade as an example, install the cleaning device 2 on the lifting platform 1, and control the operation of the double-rod cylinder 103 through the PLC controller to adjust the position of the cleaning device 2 to reach the surface of the wind turbine blade and start the cleaning work;

[0057] (6) When the robot needs to move to the next working surface, repeat step (2) to make the robot move forward, and keep the front suction cup 306 adsorbed. Under the meshing transmission of the intermediate gear 302 and the transmission rack 305 on the two suction cups 306, the rear suction cup 306 moves forward, the suction cup mounting plate 304 moves forward with the robot, and the front suction cup 306 moves backward relative to the suction cup mounting plate 304 to the rear end of the mounting hole, while the rear suction cup 306 is at the front end of the mounting hole, which is the Figure 6 rear initial position in;

[0058] (7) Limit switches are installed at both ends of the installation holes. The limit switches are electrically connected to the PLC control. When the contact position sensor detects that λ1 > l1 and the front suction cup 306 touches the limit switch at the rear end of the installation hole, the PLC controller controls the operation of the solenoid valve on the vacuum circuit of the suction cup 306, allowing the front suction cup 306 to be ventilated, enabling it to slide on the surface of the wind turbine blade, and evacuating the rear suction cup 306 to adsorb it on the surface of the wind turbine blade;

[0059] Through the repeated execution of steps (4), (6), and (7), the intermittent operation of the front and rear suction cups 306 in the intermittent negative pressure adsorption device 3 can achieve the safe and stable movement of the robot.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The control system of the wind power operation and maintenance robot based on the intermittent negative pressure adsorption device, characterized in that, It includes a central control unit, a signal detection unit and a wind power operation and maintenance robot; The wind power operation and maintenance robot includes a vehicle frame, a motion chassis and an intermittent negative pressure adsorption device; four rubber wheels driven by brushless DC motors are installed on the motion chassis; the vehicle frame is fixedly installed above the motion chassis; the intermittent negative pressure adsorption device is installed on the side of the vehicle frame, and the intermittent negative pressure adsorption device includes two suction cups that intermittently and alternately adsorb on the wind turbine blade; the intermittent negative pressure adsorption device further includes a suction cup cylinder and a suction cup mounting plate; the two suction cups are slidably installed on the suction cup mounting plate; the cylinder body of the suction cup cylinder is fixedly installed on the vehicle frame; the suction cup mounting plate is fixedly connected to the cylinder rod of the suction cup cylinder; The signal detection unit includes a cylinder position sensor, a contact position sensor, a direction sensor and a camera; the cylinder position sensor is installed on the cylinder body of the suction cup cylinder for real-time detection of the position of the cylinder rod of the suction cup cylinder; the contact position sensor is installed on the suction cup mounting plate for real-time detection of the position of the suction cup; the direction sensor is installed on the motion chassis for real-time detection of the motion posture of the wind power operation and maintenance robot, including the position and motion direction of the wind power operation and maintenance robot; the camera is installed on the motion chassis for shooting the picture information of the motion and working state of the wind power operation and maintenance robot; The central control unit includes a main control unit and an element control unit; the signal detection unit and the element control unit are respectively electrically connected to the main control unit; the main control unit is used to control the forward rotation, reverse rotation or stop of the brushless DC motor, control the on / off of the suction cup cylinder and control the suction or evacuation of the suction cup through the element control unit according to the signals fed back by the signal detection unit.

2. The control system of the wind power operation and maintenance robot based on the intermittent negative pressure adsorption device according to claim 1, wherein, The main control unit adopts a PLC controller; the element control unit includes a relay and a solenoid valve respectively electrically connected to the PLC controller; the relay is electrically connected to the brushless DC motor, and the PLC controller controls the forward rotation, reverse rotation or stop of the brushless DC motor by controlling the operation of the relay; the solenoid valves are respectively installed on the air pressure circuit of the suction cup cylinder and the vacuum circuit of the suction cup, and the PLC controller controls the on / off of the air pressure circuit to the suction cup cylinder and controls the vacuum circuit to supply air to the suction cup or evacuate the suction cup by controlling the operation of the solenoid valves.

3. The control system of the wind power operation and maintenance robot based on the intermittent negative pressure adsorption device according to claim 1, wherein, The central control unit further includes a wireless control unit and a power supply unit respectively electrically connected to the main control unit; the wireless control unit is used to remotely control the operation of the main control unit; the power supply unit is used to supply power to the main control unit.

4. The control system of the wind power operation and maintenance robot based on the intermittent negative pressure adsorption device according to claim 1, characterized in that The wireless control unit is a Bluetooth module; the power supply unit is a storage battery.

5. The control system of the wind power operation and maintenance robot based on the intermittent negative pressure adsorption device according to claim 1, wherein The cylinder position sensor, the contact position sensor, the direction sensor and the camera are respectively electrically connected to the PLC controller.

6. The control system of the wind power operation and maintenance robot based on the intermittent negative pressure adsorption device according to claim 1, wherein, Two intermittent negative pressure adsorption devices are symmetrically installed on both sides of the frame; the intermittent negative pressure adsorption device further includes an intermediate gear, an air nozzle, a transmission rack and a suction cup; the suction cup is provided with the air nozzle for ventilating or evacuating the suction cup; long strip-shaped mounting holes are respectively formed on both sides of the suction cup mounting plate, and each mounting hole is internally provided with a suction cup, and the suction cup is slidably mounted in the mounting hole through a suction cup rod and a bolt; the intermediate gear is located below the suction cup mounting plate and is rotatably mounted on the cylinder rod of the suction cup cylinder through a bearing; each suction cup has a corresponding transmission rack, and one end of the transmission rack is fixedly mounted on the suction cup rod of the suction cup; the rack structures on the two transmission racks are opposite, and the intermediate gear meshes with the rack structures on the two transmission racks.

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