Automatic spraying and derusting robot for tower drum of wind generating set and operation method of automatic spraying and derusting robot

Abstract

The invention discloses an automatic spraying and derusting robot for a tower drum of a wind generating set and an operation method of the automatic spraying and derusting robot. The automatic spraying and derusting robot is designed for solving the problems that traditional manual spraying and derusting are low in efficiency, unstable in quality, high in high-altitude operation risk, substandard in environmental protection and the like. According to the robot system, the robot body, the flexible wheel driving system, the efficient spraying and rust removing device and the intelligent control system are integrated, and automatic spraying and rust removing operation on the surface of the tower drum can be achieved; through intelligent path planning and accurate control, the robot can stably move on the tower drum with the complex curved surface, spraying and rust removing tasks are efficiently completed, the working efficiency and quality are remarkably improved, meanwhile, the operation risk and environmental pollution are reduced, a reliable and efficient solution is provided for long-term maintenance of the wind power generation tower drum, and the application prospect is wide. The service life of the wind generating set is further prolonged, the downtime caused by poor maintenance is reduced, the overall operation benefit of a wind power plant is improved, the sustainable development of the wind power generation industry is promoted, and the popularization and application value is high.

Description

Technical Field

[0001] The present invention relates to the intersecting technical field of industrial automation and surface treatment technology of wind turbine generator sets, and in particular to an automated spraying and rust removal robot for a wind turbine generator set tower and an operating method thereof. Background Art

[0002] Wind power, a key component of renewable energy, has experienced rapid growth worldwide in recent years. With the increasing number of wind farms, the corrosion protection and maintenance of wind turbine towers, the supporting structures of wind turbines, exposed to the elements for extended periods, have become increasingly prominent. The tower surface is susceptible to corrosion, ultraviolet rays, windblown sand, and other factors, leading to cracking and detachment of the protective coating, which in turn affects the tower's structural safety and service life.

[0003] Currently, repairing protective coatings on wind farm tower surfaces primarily relies on traditional manual spraying. While this method can meet spraying requirements to a certain extent, it has numerous drawbacks. First, manual spraying is inefficient and cannot meet the rapid maintenance requirements of large-scale wind farms. Second, due to the varying skill levels of operators, spraying quality is difficult to guarantee and can be inconsistent. Furthermore, working at height carries significant risks, particularly in adverse weather conditions such as strong winds and heavy rain, which can seriously threaten the safety of operators. Furthermore, manual spraying presents environmental challenges, such as air pollution from volatile substances emitted during paint transport.

[0004] As tower height and diameter increase, especially for offshore wind turbine towers, the difficulty and risk of manual spraying also increase. In offshore wind power environments, natural factors such as wind speed and waves have a more significant impact on aerial work equipment, which may cause protective equipment to loosen or slip, further threatening the safety of workers. ^

[10] ^ In addition, key components such as wind turbine motor pipes are also susceptible to rust due to environmental factors such as moisture and salt spray, affecting equipment performance and life.

[0005] Based on the above background, the existing artificial spraying technology mainly has the following problems: 1. Low efficiency: Manual spraying is slow and cannot meet the needs of rapid maintenance of large-scale wind farms. Traditional manual spraying methods are limited by the speed and physical strength of operators, resulting in low efficiency and unable to meet the needs of rapid maintenance of large-scale wind farms.

[0006] 2. Unstable quality: Due to differences in operator skill levels, spraying quality is difficult to guarantee, resulting in uneven coating thickness, missed spraying, and other problems. The quality of manual spraying is affected by a variety of factors, including the operator's skill level, experience, and working conditions. This makes it difficult to maintain consistent spraying quality, resulting in uneven coating thickness, missed spraying, and other problems.

[0007] 3. High-altitude operations are risky: Especially in adverse weather conditions, the personal safety of operators is seriously threatened. High-altitude operations not only require high physical and mental qualities of operators, but also pose a serious threat to the personal safety of operators in adverse weather conditions such as strong winds and heavy rain.

[0008] 4. Environmental issues: The volatile substances transported by paint will pollute the air, which does not meet modern environmental protection requirements. During the manual spraying process, the volatile substances transported by paint will pollute the air, which does not meet modern environmental protection requirements and is not conducive to the health of operators.

[0009] 4. Poor adaptability and flexibility: Manual spraying is difficult to achieve precise spraying operations for tower structures with different specifications and complex curves. Tower structures with different specifications and complex curves place higher demands on spraying operations, and manual spraying methods are difficult to adapt to these changes and achieve precise spraying operations.

[0010] Compared with the wall-climbing robots and automatic climbing anti-corrosion spraying robots in the existing technology, such as CN113001567A discloses a wall-climbing robot for wind turbine tower maintenance operations, and CN214515519U discloses an automatic climbing anti-corrosion spraying robot for wind turbine towers, although these robot technologies have improved work efficiency and safety to a certain extent, they still have some defects and shortcomings: lack of flexible work path planning capabilities, unable to adapt to tower structures of different specifications and complex curves; the accuracy and stability of the spraying and rust removal system need to be improved, and the consistency of the spraying and rust removal quality cannot be guaranteed; in addition, the robot's intelligence level is low, and it cannot realize functions such as automatic path planning, real-time monitoring and adaptive adjustment.

[0011] In response to the above problems, the present invention proposes an automated spraying and rust removal robot for the tower of a wind turbine generator set and its operation method, aiming to achieve intelligent spraying and rust removal through automated solutions, improve spraying efficiency and quality, reduce the risk of high-altitude operations, reduce environmental pollution, and adapt to tower structures of different specifications and complex curves. Summary of the Invention

[0012] The technical problem to be solved by the present invention is to provide an automated spraying and rust removal robot for wind turbine towers and an operating method thereof, so as to solve the key technical problems existing in the traditional manual spraying and rust removal process of wind turbine towers, such as low efficiency, unstable quality, high risk of high-altitude operations and environmental protection issues.

[0013] To achieve the above objectives, the technical solutions adopted by the present invention are: The wind turbine tower automated spraying and rust removal robot of the present invention comprises a robot body, a wheel drive system, a spraying system, a rust removal system, and an intelligent control system. The robot body serves as the main load-bearing structure of the entire robot and is equipped with an internal battery to power the robot. The wheel drive system is mounted at the bottom of the robot body and is equipped with at least two wheels, which are connected to the robot body via transmission components. The wheels are made of high-quality rubber and are connected to the robot body via a suspension structure with an angle adjustment function, which can closely fit the tower surface, thereby improving the stability and reliability of the robot in performing tasks on the tower.

[0014] The spraying system is fixed to the robot body and consists of a nozzle, a functional mounting module, and a spray gun stand. The nozzle is used to spray the tower surface. It is connected to a paint delivery pipeline, which is connected to a paint storage device. A control valve is installed at the nozzle, which is connected to the intelligent control system through an electrical circuit, enabling instant spraying and precise control of paint output. The functional mounting module can be mounted with corresponding functional components according to different operation requirements, increasing the robot's functional scalability. The spray gun stand supports and secures tools such as the spray gun, facilitating specialized spraying or cleaning operations.

[0015] The rust removal system, integrated into the robot body, includes mechanical rust removal components that effectively remove rust and old coatings from the tower surface. After rust removal, the robot can also be used with a subsequent coating device to apply an anti-corrosion primer to prevent secondary rust.

[0016] The intelligent control system is installed inside the robot body and connected to the wheel drive system, spraying system, and rust removal system via circuits. It guides the robot to automatically plan a path on the tower surface, controls the wheel drive system to move the robot along the tower surface based on the planned path, and simultaneously controls the spraying and rust removal systems to perform their respective spraying and rust removal tasks.

[0017] The robot is also equipped with auxiliary positioning and detection components, such as gyroscopes, cameras, and ultrasonic radar, installed on the robot body and connected to the intelligent control system via circuits. These components monitor the operating environment in real time, providing accurate information to the intelligent control system so that it can adjust the robot's operating posture and path. This ensures the robot can operate stably in complex environments such as high humidity, strong winds, and curved surfaces, achieving efficient, accurate, and safe automated spraying and rust removal operations.

[0018] The operating method of the present invention includes the following steps: first, the robot is placed at the bottom of the tower and initialized through the intelligent control system; then, the intelligent control system is used to plan the spraying and rust removal path, and the path information is transmitted to the wheel drive system, spray system, and rust removal system; then, the robot is started, and the wheel drive system drives the robot to move on the tower surface according to the path information, and the spray system and rust removal system perform the spraying and rust removal tasks according to the path information; finally, after completing the task, the robot is controlled by the intelligent control system to stop working and remove the robot from the tower. During the spraying task, the intelligent control system controls the nozzle of the spraying system to evenly spray the tower surface according to the preset spraying requirements, and the spraying parameters can be adjusted as needed; during the rust removal task, the mechanical rust removal components of the rust removal system remove the rust layer, old coating, and marine biological attachments on the tower surface according to the path planned by the intelligent control system, and apply anti-corrosion primer as needed after rust removal.

[0019] The wind turbine tower automatic spraying and rust removal robot and its operation method provided by the present invention have the following beneficial effects: 1. The automated robot designed by the present invention has an operating speed several times higher than that of traditional manual labor, achieving an efficiency improvement of more than 3 times. It can operate quickly and continuously, greatly shortening the spraying and rust removal operation time.

[0020] 2. The spraying system of the present invention combines solenoid valve technology with an air compressor to accurately control the paint output and ensure smooth, continuous and uniform spraying. The control system accurately measures the spraying position, making the spraying accuracy reach 0.01 mm, avoiding spray distortion, and can adjust parameters according to the tower conditions to ensure stable spraying quality.

[0021] 3. The rust removal system of the present invention adopts an integrated design of "mechanical rust removal + intelligent detection" to efficiently remove the rust layer, old coating and marine biological attachments on the surface of the tower; a high-pressure water jet rust removal device is added, and the rust removal method can be selected according to the rust situation. The brushing device is integrated with the mechanical rust removal components to achieve continuous operation, ensure thorough rust removal, and can also adaptively adjust parameters to ensure stable quality.

[0022] 4. The robot of the present invention can replace manual high-altitude operations, reduce the time and intensity of manual high-altitude operations, avoid safety accidents such as people falling from high altitudes, and ensure the safety of workers; accurately control the output of paint, effectively reduce paint waste, and reduce production costs.

[0023] 5. The rust removal method adopted by the present invention reduces the generation of rust removal dust, solves the problems of paint waste and rust removal dust pollution that may exist in manual operation, and reduces the impact on the environment.

[0024] 6. The wheels of the present invention adopt an independent suspension structure and have an angle adjustment function, which can better adapt to different curvatures of the tower and realize efficient and accurate automated spraying and rust removal operations on complex curved tower structures.

[0025] 7. The spraying system function mounting module of the present invention is a detachable modular design with multiple standard interfaces. It can flexibly mount different spraying auxiliary tools and can also integrate a paint heating device to increase the robot's functional scalability and meet different operational requirements.

[0026] 8. In addition to conventional components such as gyroscopes, high-definition cameras, and ultrasonic radars, the auxiliary positioning and detection components of the present invention are equipped with an infrared thermal imager to detect the temperature distribution on the tower surface, providing more reference information for rust removal and spraying operations.

[0027] 9. The intelligent control system of the present invention combines information from a variety of auxiliary positioning and detection components to achieve automatic path planning, real-time monitoring and adaptive adjustment. It can adjust the operation mode and parameters according to various factors on the tower surface, and receive feedback information in real time for analysis and adjustment, thereby improving the intelligence level of the robot and making the operation more accurate and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 Schematic diagram of the overall structure of the device of the present invention; Figure 2 This is a schematic diagram of the wheel drive system of the present invention in the outward-toed working state; Figure 3 This is a schematic diagram of the wheel drive system of the present invention in the figure eight working state; Figure 4 Schematic diagram of the process of the present invention; In the figure: robot body 1, wheel drive system 2, spraying system 3, rust removal system 4, wheels 21, suspension system 22. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments: Example 1 like Figures 1 to 3 As shown, this embodiment provides a wind turbine tower automatic spraying and rust removal robot, and its structure and work flow are as follows: The wind turbine tower automatic spraying and rust removal robot of this embodiment includes a robot body 1 , a wheel drive system 2 , a spraying system 3 , and a rust removal system 4 .

[0030] The robot body 1 is made of high-strength aluminum alloy, specifically 6061-T6 aluminum alloy. This material has excellent strength and corrosion resistance, and can meet the long-term use requirements of the robot in harsh environments. The robot body 1 is rectangular in shape, formed as a whole through precision casting and machining processes, and the surface is anodized to further enhance corrosion and wear resistance. It is designed to be 800mm long, 600mm wide, and 400mm high. The internal hollow structure is rationally arranged to accommodate components such as batteries and intelligent control systems. Inspection windows are provided on the side of the robot body 1, which are sealed with sealing strips and bolts to facilitate inspection and maintenance of internal components.

[0031] The wheel drive system 2 is mounted at the bottom of the robot body 1 and is equipped with four wheels 21 in two sets. Made of high-quality rubber with a Shore A hardness of 70A, the wheels 21 exhibit excellent elasticity and wear resistance, effectively reducing vibration during movement on the tower surface. Each wheel 21 is connected to the robot body 1 via an independent suspension structure 22. The suspension structure 22 primarily consists of springs, shock absorbers, and adjustment bolts. The springs are made of high-strength carbon spring steel, with elastic coefficients precisely designed based on the robot's weight and operational requirements. The shock absorbers are hydraulic, filled with a specialized damping oil that effectively absorbs vibration energy. By adjusting the adjustment bolts of the suspension structure 22, the spring preload and shock absorber damping can be varied, ensuring that the wheels 21 conform closely to the tower surface and adapt to towers of varying curvatures. The transmission component is a chain drive, constructed of high-strength alloy steel with a pitch of 12.7mm, offering high transmission efficiency and strong load-bearing capacity. The chain is connected to the drive motor and wheel 21 through a sprocket. The drive motor uses a high-performance DC brushless motor with a power of 500W. The speed can be accurately adjusted through an intelligent control system to transmit the power of the drive motor to the wheel 21, thereby realizing stable movement of the robot on the surface of the tower.

[0032] The spraying system 3 is fixed to the upper portion of the robot body 1 and consists of a nozzle, a functional mounting module, and a paint gun stand. The nozzle uses a high-precision atomizing nozzle with a sophisticated internal flow channel design, which ensures a uniform atomization of the paint during spraying. The nozzle aperture can be selected according to different spraying requirements, with common specifications including 0.8mm, 1.0mm, and 1.2mm. The paint delivery pipeline connects the nozzle to the paint storage tank. The pipeline is made of corrosion-resistant polytetrafluoroethylene and has an inner diameter of 6mm. The pipeline is equipped with a control valve, a solenoid valve, which is connected to the intelligent control system through an electrical circuit. The intelligent control system can precisely control the opening and closing time and opening degree of the solenoid valve, thereby accurately controlling the paint output. The functional mounting module is a detachable modular design with multiple standard interfaces, which can be used to mount various spray auxiliary tools, such as spray gun filters and paint stirrers, according to different spraying requirements. The paint gun stand is used to hold the paint gun. The stand adopts a foldable design and is connected to the robot body 1 via a hinge. It can be folded up when not in use to reduce space usage. When needed, the cloth brush gun can be easily unfolded and taken out to spray or clean special parts.

[0033] The rust removal system 4 is integrated into the front end of the robot body 1 and includes a mechanical rust removal component, consisting of a high-speed rotating wire brush. The wire has a diameter of 0.3 mm and is made of stainless steel, offering high hardness and wear resistance. The wire brush is connected to the robot body 1's drive motor via a belt drive mechanism. A synchronous belt ensures accurate and stable transmission. The drive motor, also a high-performance 300W brushless DC motor, rotates the wire brush at high speed, removing rust, old coatings, and marine biofilm from the tower surface. After rust removal, a manually installed coating device can be used to apply anti-corrosion primer. This device is connected to the anti-corrosion primer storage tank via a 4mm inner diameter rubber hose. A flow control valve is installed on the pipeline. This flow control valve is electrically controlled and connected to the intelligent control system via an electrical circuit. This control system precisely controls the flow of anti-corrosion primer as needed, ensuring accurate application.

[0034] The intelligent control system, installed within the robot body 1, utilizes a high-performance STM32F407 microprocessor with powerful computing capabilities and extensive interface resources. It is connected to the wheel drive system 2, the spraying system 3, and the rust removal system 4 via circuitry. The intelligent control system receives external input for path planning and processes it using built-in algorithms to guide the robot to automatically plan a path along the tower surface. During robot movement, the intelligent control system adjusts the robot's operating posture and path in real time based on feedback from auxiliary positioning and detection components.

[0035] The robot is also equipped with auxiliary positioning and detection components, including a gyroscope, a high-definition camera, and an ultrasonic radar, all mounted on the front of the robot body 1. The gyroscope uses a high-precision MEMS (Micro ElectroMechanical Systems) gyroscope, which can detect the robot's posture angle in real time with an accuracy of up to 0.01°. The high-definition camera has 5 million pixels, autofocus, and night vision capabilities, and can capture real-time images of the tower surface. The images are transmitted to the intelligent control system via a data cable. The ultrasonic radar has a detection range of 0.1-5 meters and an accuracy of 1 cm, and is used to detect obstacles ahead. These components are connected to the intelligent control system via circuitry, providing accurate information for adjusting the robot's posture and path.

[0036] Example 2 In another preferred embodiment, based on the above embodiment 1, the wind turbine tower automatic spraying and rust removal robot of this embodiment is further optimized in structure and function, as follows: 1. Robot body 1 Made of high-strength, low-density carbon fiber composite material, compared to traditional metal materials, this significantly reduces the robot's weight, lowers energy consumption, and improves its flexibility on the tower surface while maintaining the robot's overall structural strength. The robot's main body 1 is designed to be suitable for movement on the tower surface. The entire structure is molded and treated with a special anti-slip and wear-resistant surface treatment to enhance its adhesion and durability on the tower surface. Multiple interfaces and slots are provided on the top and sides of the robot's main body 1 to facilitate the installation and replacement of various functional modules, such as battery modules and communication modules. At the same time, a modular circuit layout is adopted within the main body, with the circuits of each system being independent yet interconnected, facilitating maintenance and upgrades.

[0037] 2. Wheel drive system 2 The robot is equipped with six wheels 21 in three sets. These wheels are made of high-performance polyurethane rubber, which offers excellent elasticity, wear resistance, and tear resistance, making it suitable for the complex working environment of tower surfaces. Each wheel 21 is equipped with an independent hydraulic angle adjustment device consisting of a hydraulic pump, a hydraulic cylinder, and a control system. The hydraulic pump provides power, and the hydraulic cylinder propels the wheel 21 for angle adjustment within a range of ±15°. This allows the wheel 21 to precisely conform to tower surfaces of varying curvatures, ensuring stable movement on towers of all shapes.

[0038] The transmission components utilize a gear drive system. The gears are made of high-strength alloy steel and undergo precision machining and heat treatment, resulting in high hardness and wear resistance. The gear drive boasts a precise transmission ratio and an efficiency exceeding 98%, effectively transmitting power from the drive motor to wheels 21. The drive motor utilizes a high-performance 600W AC servo motor, offering fast response and high control accuracy. The motor is connected to the gear drive system via a speed reducer, further enhancing torque output and enabling the robot to easily navigate slopes and obstacles on the tower surface.

[0039] 3. Spraying system 3 The nozzle features an adjustable electromagnetically controlled nozzle with an angle adjustment range of 0-90°. This allows for real-time adjustment of the spray angle based on the tower surface curvature and coating requirements, ensuring uniform coating. The nozzle's internal flow path has been optimized, utilizing biomimetic principles to reduce paint flow resistance and improve spraying efficiency. The paint delivery pipeline utilizes a specially designed, high-pressure, corrosion-resistant polyurethane hose with an inner diameter of 8mm, capable of withstanding pressures up to 10 MPa, ensuring smooth paint delivery to the nozzle.

[0040] In addition to mounting auxiliary spraying tools, the functional mounting module also integrates a paint heater and a paint filter. The paint heater uses a highly efficient electric heating wire to quickly heat the paint. The heating temperature can be precisely adjusted within a range of 20-60°C to prevent the paint from solidifying in low temperatures and ensure spray quality. The paint filter uses a high-precision filter to filter out impurities and particles in the paint, preventing nozzle clogging.

[0041] The fabric brush gun gantry features an electrically retractable design, driven by an electric push rod, with a telescopic range of 0-300mm. A positioning sensor on the gantry precisely positions the fabric brush gun. When the gantry gun is not in use, the gantry automatically retracts into the robot body 1, minimizing space. When needed, it extends quickly and accurately for easy access by the operator.

[0042] 4. Rust removal system 4 In addition to a high-speed rotating wire brush, the mechanical rust removal system also incorporates a high-pressure water jet system. The wire brush has a diameter of 0.25mm and is made of high-strength stainless steel with a special surface treatment to enhance its hardness and wear resistance. The wire brush is connected to a 400W drive motor via a belt drive, capable of rotating at 3000-5000 rpm, effectively removing rust, old coatings, and marine growth from the tower surface.

[0043] The high-pressure water jet rust removal system consists of a high-pressure water pump, a nozzle, and a water tank. The high-pressure water pump is a plunger-type high-pressure pump with a pressure of up to 200 MPa and a flow rate of 20 L / min. The nozzle utilizes a unique structural design that produces a high-energy water jet, powerfully scouring heavily corroded areas. The water tank has a capacity of 50 L and is equipped with a water level sensor and water filtration device to monitor the water level in real time, ensure water cleanliness, and prevent nozzle clogging.

[0044] After rust removal, the coating device is integrated with the mechanical rust removal components, enabling continuous rust removal and anti-corrosion primer application. The coating device utilizes an automatic coating roller made of high-density sponge, which evenly picks up the anti-corrosion primer and applies it to the tower surface. The coating device is connected to the anti-corrosion primer storage tank via a pipeline equipped with a high-precision flow control valve. This flow control valve is connected to the intelligent control system via an electrical circuit, precisely controlling the flow of anti-corrosion primer based on the size of the rust removal area and the coating requirements, with a flow control accuracy of ±1ml / min.

[0045] 5. Intelligent control system The system utilizes a more advanced control system based on artificial intelligence algorithms, and its microprocessor uses a high-performance multi-core processor with powerful data processing capabilities. The system incorporates a built-in tower surface model database and a path planning algorithm. Based on high-definition camera images of the tower surface, it automatically identifies areas of rust, old coating, and areas requiring painting, and generates an optimal path. Operators can set parameters and issue operational commands for the intelligent control system via a touchscreen or remote terminal, and the system provides real-time feedback on the robot's operating status, location, and progress.

[0046] During the robot's operation, the intelligent control system receives real-time feedback from auxiliary positioning and detection components such as gyroscopes, high-definition cameras, and ultrasonic radars. Based on this information, the robot's operating posture, path, spray parameters, and rust removal methods are adjusted in real time. For example, if the system detects a change in the curvature of the tower surface, it automatically adjusts the angle and speed of wheels 21. If it detects severe rust, it automatically switches to high-pressure water jet rust removal mode and adjusts the pressure and flow of the water jet.

[0047] 6. Auxiliary positioning and detection components The gyroscope uses a high-precision fiber-optic gyroscope with an accuracy of up to 0.001°. It can accurately detect the robot's posture angle in real time, providing precise posture information for the intelligent control system. The high-definition camera has 10 million pixels and features wide-angle shooting and zoom capabilities, enabling clear capture of details on the tower surface. The camera is also equipped with an automatic cleaning device. If the lens is contaminated by dust or paint during recording, it will automatically clean it to ensure clear images.

[0048] The ultrasonic radar has been extended to a detection range of 0.05-8m with an accuracy of 0.5cm, enabling greater distance and precision in detecting obstacles ahead. Furthermore, an infrared thermal imager has been added to monitor the temperature distribution on the tower surface, helping the intelligent control system determine whether there are abnormally hot areas, such as localized heating caused by severe rust, providing more information for rust removal and spraying operations.

[0049] Example 3 In another preferred embodiment, based on Embodiments 1 and 2, this embodiment provides an operation method of an automated spraying and rust removal robot for a wind turbine tower, which is a method for performing tower surface treatment using the automated spraying and rust removal robot for a wind turbine tower, comprising the following steps: 1. Initialization settings Place the robot on a flat and stable surface at the bottom of the tower, ensuring it is level. Enter tower parameters, such as diameter (accurate to millimeters), height (accurate to centimeters), and surface material, manually or by importing electronic documents through the intelligent control system's interface. For example, if the tower is 4000mm in diameter, 80m in height, and made of steel, enter these specific data accurately.

[0050] After receiving the input parameters, the intelligent control system generates a preliminary work path plan based on its built-in algorithm. This plan considers the tower's geometry, divides the tower surface into multiple work zones, and assigns a reasonable sequence of spraying and rust removal tasks to each zone. The system also estimates the work time and the required amount of paint and anti-corrosion primer for each zone.

[0051] 2. Path Planning The operator climbs onto the maintenance platform near the tower and uses portable inspection equipment (such as rust detectors and coating thickness gauges) to conduct detailed inspections of the actual condition of the tower, recording the location, area, and degree of rust in the rusted area, as well as the location and requirements of the patterns and text to be sprayed.

[0052] Based on the test results, the intelligent control system's user interface further adjusts the path planning. For example, for heavily rusted areas, the robot's rust removal time and intensity are increased, and its dwell time and movement speed are adjusted. For areas requiring specific spray patterns, the robot's starting point, path, and spraying parameters are precisely set. This path information is transmitted via circuitry as digital signals to wheel drive system 2, spray system 3, and rust removal system 4.

[0053] 3. Start the job After confirming that there are no obstacles around the robot and that all connections are functioning properly, press the "Start" button on the intelligent control system's interface to start the robot. The drive motors in the wheel drive system 2 begin to rotate, driving wheels 21 through transmission components 22, allowing the robot to move along the pre-set path across the tower surface.

[0054] During movement, the auxiliary positioning and detection components monitor the operating environment in real time. The gyroscope measures the robot's posture angle 100 times per second. If the robot's posture deviates (for example, if its tilt exceeds 1°), the intelligent control system immediately adjusts the speed difference between the left and right wheels in the wheel drive system 2 to restore the robot to a level position.

[0055] A high-definition camera captures the tower's surface at 30 frames per second, transmitting the footage in real time to the intelligent control system. The system analyzes the footage, identifies new defects or areas that deviate from preset conditions, and promptly adjusts the operation path. Ultrasonic radar detects obstacles ahead 20 times per second. If the distance to an obstacle is less than 50 cm, the intelligent control system stops the robot, sounds an alarm, and attempts to circumvent the obstacle to continue operation.

[0056] 4. Spraying operation When the robot reaches the spraying area, the intelligent control system precisely controls the paint output according to preset spraying requirements, such as spray thickness (accurate to microns) and spray speed (accurate to centimeters per second). For example, if the preset spray thickness is 100μm, the system calculates the required paint volume per second based on the nozzle parameters and movement speed, and achieves precise spraying by controlling the opening of the solenoid valve.

[0057] During the spraying process, operators can observe the spraying results in real time through the intelligent control system's monitoring interface. If uneven spraying or missed spray spots are detected, operators can manually adjust spray parameters, such as increasing or decreasing the paint output or adjusting the nozzle angle. The intelligent control system also automatically adjusts subsequent spray paths and parameters based on the actual spraying conditions to ensure the quality of the entire spraying operation.

[0058] 5. Rust removal When the robot reaches the rust removal area, the mechanical rust removal component (wire brush) of rust removal system 4 follows the path planned by the intelligent control system and removes the rust layer, old coating, and marine biofilm from the tower surface at a set speed (e.g., 4000 rpm). During the rust removal process, the intelligent control system automatically adjusts the pressure of the wire brush based on the severity of the rust. For example, for lightly corroded areas, the pressure is set to 50N; for heavily corroded areas, the pressure is increased to 100N.

[0059] After rust removal, if anti-corrosion primer is required, the intelligent control system controls the coating device to carry out the coating operation. The flow control valve of the coating device accurately controls the flow rate of the anti-corrosion primer according to the preset coating volume (such as 200ml per square meter) to ensure uniform coating.

[0060] 6. Complete the task When the robot completes all pre-set spraying and rust removal tasks, the intelligent control system automatically stops the robot, slowly moves to its initial position at the bottom of the tower, and emits a sound prompt to indicate that the task is complete.

[0061] The operator arrives at the robot's location, turns off the robot's power, disconnects it from external equipment, removes the robot from the tower, and performs a simple visual inspection and cleaning.

[0062] Example 4 In another preferred embodiment, based on Example 3, this embodiment provides another method for operating a wind turbine tower automatic spraying and rust removal robot, comprising the following steps: 1. Initialization and remote monitoring settings Place the robot at the designated location at the base of the tower, ensuring it is positioned accurately and stable. Enter the tower's parameters, including its diameter, height, surface curvature, material, and ambient environment information (such as wind speed and humidity), through the intelligent control system's local interface or a remote monitoring terminal (e.g., a computer or tablet). For example, if the tower's diameter varies at different heights, enter detailed diameter data for each height segment.

[0063] In addition to routine initialization, the robot is connected to a remote monitoring terminal via a wireless communication network (such as Wi-Fi, 4G / 5G). Specialized monitoring software is installed on the remote monitoring terminal, and account login and device binding are performed to ensure that operators can remotely monitor the robot's status and operating status in real time.

[0064] 2. Intelligent path planning Using artificial intelligence algorithms, the intelligent control system performs image recognition and analysis based on images of the tower surface captured by a high-definition camera. The system labels and categorizes areas of rust, areas with old coating, and areas requiring painting. It also uses temperature information from an infrared thermal imager to determine whether there are any localized areas of heat caused by rust.

[0065] Based on the analysis results, the intelligent control system automatically generates the optimal operation path. When generating the path, it prioritizes areas with severe corrosion and abnormal temperatures to ensure that these areas are adequately treated. The system also simulates the robot's operation, estimates operation time and resource consumption, and displays detailed path planning information on the remote monitoring terminal for the operator to review and confirm. The operator can fine-tune the generated path based on actual conditions, such as adjusting the operation sequence and increasing or decreasing the operation time in certain areas.

[0066] 3. Adaptive job startup After the robot is activated, it adaptively adjusts its operating mode according to the path planned by the intelligent control system. When encountering a tower surface with varying curvature, the hydraulic angle adjustment device of wheel drive system 2 comes into play. Following instructions from the intelligent control system, the hydraulic pump supplies pressurized oil to the hydraulic cylinder, pushing wheel 21 for angle adjustment. During the adjustment process, an angle sensor monitors the wheel's angle changes in real time and feeds this data back to the intelligent control system, ensuring precise adjustment to the tower's curvature, with an accuracy of ±0.1°.

[0067] At the same time, the intelligent control system will automatically adjust the output torque of the drive motor in the wheel drive system 2 according to the slope and friction of the tower surface to ensure that the robot can move stably on the tower surface and avoid slipping or sliding.

[0068] 4. Precision spraying and rust removal During the spraying operation, the intelligent control system automatically adjusts spraying parameters based on the tower surface material and color, as well as historical spraying data. For example, for tower surfaces of different materials (such as steel and aluminum alloy), the appropriate coating type and spraying process are selected; for towers of different colors, the coating ratio and spray thickness are adjusted to ensure consistent spraying results.

[0069] The spray system's adjustable nozzle adjusts the spray angle in real time based on the tower's surface curvature and coating requirements. Upon receiving instructions from the intelligent control system, the nozzle's electromagnetic control device activates the nozzle's adjustment mechanism to adjust the angle from 0-90° at a speed of up to 10° per second. During the spraying process, the intelligent control system also adjusts the nozzle's movement speed and paint output in real time based on spray uniformity, ensuring even coverage of the tower surface.

[0070] During rust removal, the appropriate rust removal method is selected based on the degree of rust and the temperature detected by the infrared thermal imager. For areas with light rust and normal temperatures, a wire brush is used at a speed of 3000 r / min. The brush pressure is automatically adjusted between 30-50N based on the degree of rust. For areas with heavy rust or abnormally high temperatures, the intelligent control system automatically switches to high-pressure water jet rust removal mode and adjusts the water jet pressure and flow. Following system instructions, the high-pressure water pump gradually increases the pressure from 100 MPa to 200 MPa and the flow rate from 10 L / min to 20 L / min, powerfully flushing the rusted areas.

[0071] 5. Real-time feedback and adjustments During operation, the auxiliary positioning and detection components provide real-time feedback. The gyroscope monitors the robot's posture angle 200 times per second. If the robot detects a posture deviation exceeding 0.5°, the intelligent control system immediately adjusts the power distribution of the wheel drive system 2, changing the speed and torque of the left and right wheels to restore the robot to the correct posture.

[0072] High-definition cameras continuously capture the tower's surface, and the system analyzes the footage in real time, identifying new defects or areas that deviate from preset specifications. If inconsistent spray colors or incomplete rust removal are detected, the intelligent control system promptly adjusts operating parameters, such as increasing the number of spray coats or increasing the derusting pressure.

[0073] The ultrasonic radar detects obstacles ahead 50 times per second. If the robot detects an obstacle within 30 cm of the vehicle, the intelligent control system stops the robot and attempts to circumvent it. If the circumvention is unsuccessful, the robot pauses and sends an alarm to the remote monitoring terminal, notifying the operator to take corrective action.

[0074] Infrared thermal imaging cameras monitor temperature changes on the tower surface in real time. When an abnormal temperature rise or fall is detected, the intelligent control system analyzes the cause and takes appropriate measures. For example, if the temperature rise is due to frictional heat generated during rust removal, the system will appropriately reduce the rust removal speed or increase the cooling time. If the temperature change is caused by the spray paint drying too quickly, the system will adjust the spraying parameters and environmental control measures.

[0075] 6. End of work and data analysis After completing the task, the robot stops and returns to its initial position. Simultaneously, the intelligent control system transmits detailed data about the operation process, including the operation path, spraying parameters, rust removal results, temperature changes, and robot posture information, to a remote monitoring terminal via a wireless communication network.

[0076] Operators analyze the data on the remote monitoring terminal and generate detailed work reports. These reports include information on the completion status of each work area, quality assessment, resource consumption, and more. Based on these results, operators can determine whether re-spraying or rust removal is necessary and optimize the robot's operating parameters, such as adjusting spray thickness and rust removal pressure, to provide a reference for subsequent maintenance work.

[0077] Compared to the closest existing technology, the robot of this invention utilizes a unique wheel suspension structure 22 and a multifunctional integrated design. The independent suspension structure 22 of the wheels 21, coupled with angle adjustment, allows for better adaptation to the tower's curved surface, improving the robot's stability and reliability while maneuvering along the tower's surface. This is a significant difference from conventional wheel structures in the existing technology. The functional mounting module and adjustable nozzle of the spray system 3 increase the robot's functional scalability and spray uniformity, representing a non-obvious innovation.

[0078] In terms of method, the operating method of the present invention realizes automatic path planning, real-time monitoring and adaptive adjustment through an intelligent control system. It can flexibly adjust the operation mode and parameters according to the actual situation of the tower and operation requirements, greatly improving the efficiency and quality of the operation. This is essentially different from the method in the prior art that relies on manual operation and simple mechanical control.

[0079] In the preferred solution, the wheels 21 are made of high-quality rubber, and each wheel 21 is connected to the robot body 1 through an independent suspension system 22. The suspension system 22 has the function of adjusting the outer and inner toe shapes to fit closely to the surface of the tower, thereby improving the stability and reliability of performing tasks on the tower. The above settings ensure that the robot can maintain a stable grip when operating on towers with different inclination angles, effectively preventing skidding. At the same time, the adjustment function of the suspension system enables the robot to flexibly adapt to changes in the diameter of the tower, thereby improving operating efficiency and safety.

[0080] In the preferred solution, the independent suspension system 22 is fixed to the bottom of the robot body 1 by bolts; the wheels 21 are installed at the end of the independent suspension system 22 through bearings to achieve flexible rotation; the above settings enable the robot to maintain good stability and passability in complex terrain; in addition, the independent suspension system 22 has a shock-absorbing function, which effectively alleviates bumps during travel and improves the robot's operating stability and ride comfort.

[0081] In the preferred solution, the spraying system 3 includes a nozzle, a functional mounting module and a cloth brush gun stand. The nozzle is used to perform spraying operations on the tower surface. The functional mounting module can mount corresponding functional components according to different operation requirements. The cloth brush gun stand is used to support and fix tools, including but not limited to cloth brush guns. The above settings greatly improve the flexibility and applicability of the spraying system. The nozzle adopts a high-precision design to ensure uniform coating. The functional mounting module facilitates rapid replacement of components and adapts to diverse tasks. The cloth brush gun stand has a stable structure to ensure stability and safety during operation.

[0082] In the preferred solution, the nozzle of the spraying system 3 is connected to a paint delivery pipeline, the paint delivery pipeline is connected to a paint storage device, and a control valve is provided at the nozzle, which is connected to an intelligent control system through an electric circuit to realize instant spraying and precise control of the paint output; the above settings greatly improve the automation level of the spraying operation and ensure the uniformity and consistency of the coating; at the same time, the intelligent control system can also automatically adjust the spraying speed and pressure according to preset parameters to further optimize the spraying effect and improve production efficiency.

[0083] In the preferred solution, the rust removal system 4 includes a mechanical rust removal component and an intelligent detection module. The mechanical rust removal component is connected to the drive motor of the robot body 1 through a transmission mechanism, and is used to remove the rust layer and old coating on the surface of the tower. In the above setting, the intelligent detection module is responsible for real-time monitoring of the rust removal effect and the surface condition of the tower to ensure that the rust removal is uniform and does not excessively damage the substrate. At the same time, the working parameters of the mechanical rust removal component are dynamically adjusted according to the detection results to improve work efficiency and quality.

[0084] In the preferred solution, the robot adopts a battery-powered mode, and the battery is installed inside the robot body 1. The wheel drive system 2, the spraying system 3, the rust removal system 4, and the intelligent control system are powered by the circuit, and a safe voltage standard is selected to ensure the absolute safety of the operator. The above settings enable the robot to maintain stable operation for a long time when performing tasks. At the same time, the intelligent control system can accurately regulate the functions of each system, realize efficient spraying and rust removal operations, and improve work quality and efficiency.

[0085] The preferred solution also includes auxiliary positioning and detection components, which are installed on the robot body 1 and connected to the intelligent control system through circuits to assist the robot in stable movement and precise operation on the tower surface. The auxiliary positioning and detection components include but are not limited to gyroscopes, cameras and ultrasonic radars. The above settings greatly improve the robot's adaptability and operating accuracy in complex environments, ensuring the efficient and safe execution of tower inspection and maintenance tasks. At the same time, the collaborative work of these components also enhances the robot's environmental perception and decision-making capabilities.

[0086] In the preferred solution, the gyroscope, camera and ultrasonic radar for intelligent obstacle avoidance are all installed at the front end of the robot body 1 and connected to the intelligent control system through circuits to assist the robot in stable movement and precise operation on the tower surface; the gyroscope, high-definition camera and ultrasonic radar are all fixed to the front end bracket of the robot body 1 by bolts; the bracket is fixed to the front end of the robot body 1 by welding or bolting to ensure stability and reliability; the above settings enable the robot to perceive its own posture and surrounding environment in real time when performing tower inspection or maintenance, adjust the motion trajectory in time, and avoid collisions. At the same time, the detailed information captured by the high-definition camera provides strong support for precise operation.

[0087] In the preferred solution, in the spraying task of step 3 spraying and rust removal, the intelligent control system controls the nozzle of the spraying system 3 to perform uniform spraying on the tower surface according to the preset spraying requirements, and the spraying parameters can be adjusted according to demand; the above settings ensure that the thickness of each layer of coating is uniform, avoiding overspray or leakage. At the same time, the intelligent system can monitor the paint consumption in real time, replenish it in time, improve the spraying efficiency and quality, and ensure the anti-corrosion performance of the tower.

[0088] In the preferred solution, in the rust removal task of the spraying and rust removal task in step 3, the mechanical rust removal components of the rust removal system 4 remove the rust layer and old coating on the surface of the tower according to the path planned by the intelligent control system, and apply anti-corrosion primer as needed after rust removal to prevent secondary rust; the above settings effectively improve the efficiency and quality of rust removal. At the same time, the intelligent control system can monitor the rust removal progress and coating uniformity in real time to ensure that the surface treatment of the tower reaches the best state, laying a solid foundation for the subsequent installation of wind power equipment.

[0089] In the preferred solution, the robot can work stably in complex environments such as high humidity, strong wind, and curved surface operations. It monitors the working environment in real time through high-sensitivity gyroscopes, high-definition cameras, and ultrasonic radars with intelligent obstacle avoidance. The intelligent control system adjusts the robot's working posture and path according to the monitoring information to achieve efficient, accurate, and safe automated spraying and rust removal operations; the gyroscopes, high-definition cameras, and ultrasonic radars collect working environment information in real time; the intelligent control system analyzes and processes the collected information, adjusts the robot's working posture and path, and ensures safe and efficient operations; the above settings greatly enhance the robot's adaptability and working accuracy under harsh conditions, which not only reduces manual intervention, but also significantly improves work efficiency and work quality, bringing a revolutionary breakthrough in the field of industrial automation.

[0090] In the preferred solution, the spraying system 3 is fixed on the robot body 1, and includes a paint spraying device, a compressed air pipe and a paint delivery pipe. The paint spraying device is connected to the paint storage tank through a pipe, and the compressed air pipe is connected to the air compressor for performing spraying operations on the tower surface; the above settings effectively improve the spraying efficiency and uniformity; the paint delivery pipe has a built-in temperature control system to ensure that the paint is in the best spraying state, and the paint spraying device is equipped with a high-precision nozzle, which can flexibly adjust the spraying angle according to the shape of the tower surface to achieve precise spraying.

[0091] In the preferred solution, the paint spraying device integrates solenoid valve technology and an air compressor. The solenoid valve is installed at the connection between the paint spraying device and the compressed air pipeline and the paint delivery pipeline, and is connected to the intelligent control system through an electric circuit to achieve instant spraying and precise control of the paint output; the solenoid valve is fixed to the paint spraying device through a threaded connection; the compressed air pipeline and the paint delivery pipeline are connected to the paint spraying device through a quick connector, which is convenient for disassembly and maintenance; the above settings not only improve the spraying efficiency, but also ensure the economy of paint use; the intelligent control system automatically adjusts the opening and closing of the solenoid valve according to preset parameters to achieve uniform spray thickness. At the same time, the quick connector design simplifies the daily maintenance workflow and reduces operating costs.

[0092] In the preferred solution, after the rust removal operation of the mechanical rust removal component of the rust removal system 4, the intelligent detection module triggers the brushing device, and the brushing device is connected to the anti-corrosion primer storage tank through a pipeline, and the anti-corrosion primer is immediately applied to the tower surface after rust removal to prevent secondary rust; the brushing device is fixed to the rear of the mechanical rust removal component of the rust removal system by bolts; the anti-corrosion primer storage tank is connected to the brushing device through a pipeline, and a flow control valve is provided on the pipeline, which is connected to the intelligent control system through an electric circuit to achieve precise control of the brushing amount; the above settings ensure that the anti-corrosion primer is evenly covered on the tower surface, which not only improves the anti-corrosion efficiency but also avoids material waste; the intelligent control system can also adjust the brushing strategy according to the degree of tower corrosion, realize personalized anti-corrosion treatment, and greatly extend the service life of the wind power tower.

[0093] In the preferred solution, the robot adopts a battery-powered mode, the battery is installed inside the robot body 1, and is connected to the wheel drive system 2, the spraying system 3, the rust removal system 4, and the intelligent control system through the circuit, and a safe voltage standard is specially selected to ensure the absolute safety of the operator; the battery is fixed inside the robot body 1 through a battery box; the battery box is provided with a charging interface and a power switch for easy charging and operation; the above settings enable the robot to have convenient energy management while ensuring efficient operation; in addition, the battery box adopts a waterproof and dustproof design, which enhances the robot's adaptability in harsh environments and further ensures the stability and continuity of the operation.

[0094] In summary, the automated spraying and rust removal robot for wind turbine towers and the operating method thereof proposed in the present invention have successfully overcome many key technical difficulties in the repair of protective coatings on the surface of wind turbine towers, such as low efficiency, unstable quality, high risks of high-altitude operations, and environmental protection, and have brought a new solution to tower maintenance work.

[0095] In terms of product design, the robot's wheels 21 utilize an independent suspension structure 22 and feature angle adjustment. This unique design allows precise adjustment of the wheel 21 angle based on the varying curvature of the tower, allowing the robot to better conform to the tower surface and significantly improving its stability and adaptability when maneuvering on complex curved towers. This significantly contrasts with existing fixed-angle wheel 21 structures. The functional mounting module of the spraying system 3 utilizes a detachable modular design and is equipped with multiple standard interfaces. This allows for flexible mounting of tools such as spray gun filters and paint agitators, and can also integrate a paint heating device, enhancing the robot's functional expandability to meet diverse spraying needs. In addition to being equipped with a high-speed rotating wire brush, the rust removal system 4 also incorporates a high-pressure water jet rust removal device, allowing for the selection of the appropriate rust removal method based on the rust condition. The brushing device is integrated with the mechanical rust removal components, enabling continuous rust removal and anti-corrosion primer application, improving operational efficiency. In addition, the infrared thermal imager added in Example 2 works in conjunction with auxiliary positioning and detection components such as gyroscopes, high-definition cameras, and ultrasonic radars to provide more reference information for rust removal and spraying operations, helping the intelligent control system to accurately adjust operating parameters.

[0096] In terms of method design, intelligent path planning comprehensively considers tower surface images captured by high-definition cameras and temperature information detected by infrared thermal imagers to generate an optimal operation path that better matches the actual tower conditions. During operation, the robot adaptively adjusts its operating mode and parameters based on various factors such as the tower surface's curvature, slope, friction, corrosion level, and temperature, improving operational flexibility and precision. Simultaneously, the intelligent control system receives and analyzes real-time feedback from auxiliary positioning and inspection components, adjusting the robot's operating posture, path, spraying parameters, and rust removal methods in real time to ensure efficient and high-quality operations.

[0097] These innovative designs aren't simply a collection of technologies, but rather are based on a deep understanding of tower maintenance requirements. They address the challenges of stable robot movement, efficient spraying, and thorough rust removal on complex, curved tower surfaces, elevating the robot's intelligence to a new level and distinguishing it from similar products. The rust removal system's integration of a high-pressure water jet with a wire brush, as well as the integrated design of the brushing mechanism with mechanical rust removal components, eliminates intermediate steps, reduces costs, and reduces the need for manual intervention, fully demonstrating the invention's exceptional performance and practicality.

Claims

1. The wind turbine tower automatic spraying and rust removal robot is characterized by: include: The robot body (1) is the main bearing structure of the robot and has a battery inside to power the robot; A wheel drive system (2) is mounted on the bottom of the robot body (1), is equipped with at least two sets of wheels (21), is connected to the robot body (1) via a transmission component, and is used for stable movement on the tower surface; A spraying system (3) is fixed to the robot body (1) and is used to perform spraying operations on the tower surface; A rust removal system (4), integrated into the robot body (1), is used to remove rust and old coatings from the tower surface; The intelligent control system is installed inside the robot body (1) and is connected to the wheel drive system (2), the spraying system (3), and the rust removal system (4) through circuits, and is used to guide the robot to automatically plan a path on the tower surface and perform spraying and rust removal tasks.

2. The wind turbine tower automatic spraying and rust removal robot according to claim 1 is characterized in that: The wheel (21) is made of high-quality rubber, and each wheel (21) is connected to the robot body (1) via an independent suspension system (22). The suspension system (22) has an outward and inward adjustment function to closely fit the tower surface.

3. The wind turbine tower automatic spraying and rust removal robot according to claim 2 is characterized in that: The independent suspension system (22) is fixed to the bottom of the robot body (1) by bolts; the wheel (21) is installed at the end of the independent suspension system (22) by bearings to achieve flexible rotation.

4. The wind turbine tower automatic spraying and rust removal robot according to claim 3 is characterized by: The spraying system (3) comprises a nozzle, a functional mounting module and a brush gun stand, wherein the nozzle is used to perform the spraying operation on the tower surface, the functional mounting module can mount corresponding functional components according to different operation requirements, and the brush gun stand is used to support and fix tools, including but not limited to the brush gun.

5. The wind turbine tower automatic spraying and rust removal robot according to claim 4 is characterized in that: The nozzle of the spraying system (3) is connected to a paint delivery pipeline, which is connected to a paint storage device. A control valve is provided at the nozzle, which is connected to an intelligent control system through an electric circuit, thereby achieving instant spraying and precise control of the paint output.

6. The wind turbine tower automatic spraying and rust removal robot according to claim 5 is characterized in that: The rust removal system (4) comprises a mechanical rust removal component and an intelligent detection module. The mechanical rust removal component is connected to the drive motor of the robot body (1) via a transmission mechanism and is used to remove the rust layer and old coating on the tower surface.

7. The wind turbine tower automatic spraying and rust removal robot according to claim 6 is characterized in that: The robot adopts a battery power supply mode, wherein the battery is installed inside the robot body (1), and supplies power to the wheel drive system (2), the spraying system (3), the rust removal system (4), and the intelligent control system through the circuit, and a safe voltage standard is selected.

8. The wind turbine tower automatic spraying and rust removal robot according to claim 7 is characterized in that: It also includes auxiliary positioning and detection components, which are installed on the robot body (1) and connected to the intelligent control system through a circuit, and are used to assist the robot in stable movement and precise operation on the tower surface. The auxiliary positioning and detection components include but are not limited to gyroscopes, cameras and ultrasonic radars.

9. The wind turbine tower automatic spraying and rust removal robot according to claim 8, characterized in that: The gyroscope, camera and ultrasonic radar for intelligent obstacle avoidance are all installed at the front end of the robot body (1) and connected to the intelligent control system through circuits to assist the robot in stable movement and precise operation on the tower surface.

10. A method for operating a wind turbine tower automatic spraying and rust removal robot, comprising: using the wind turbine tower automatic spraying and rust removal robot according to claim 9 to perform tower surface treatment, characterized in that: The following steps are involved: Step 1: Place the robot at the bottom of the tower and initialize the settings through the intelligent control system; Step 2: The spraying and rust removal paths are planned by the intelligent control system, and the path information is transmitted to the wheel drive system (2), the spraying system (3), and the rust removal system (4); Step 3: Start the robot, the wheel drive system (2) drives the robot to move on the tower surface according to the path information, and the spraying system (3) and the rust removal system (4) perform the spraying and rust removal tasks according to the path information; Step 4: After completing the task, the robot is controlled by the intelligent control system to stop working and removed from the tower.

11. The method for operating the wind turbine tower automatic spraying and rust removal robot according to claim 10, characterized in that: In the spraying task of the spraying and rust removal task in step 3, the intelligent control system controls the nozzle of the spraying system (3) to perform a uniform spraying operation on the tower surface according to the preset spraying requirements, and the spraying parameters can be adjusted according to the needs.

12. The method for operating the wind turbine tower automatic spraying and rust removal robot according to claim 11, characterized in that: In the rust removal task of the spraying and rust removal task in step 3, the mechanical rust removal component of the rust removal system (4) removes the rust layer and old coating on the surface of the tower according to the path planned by the intelligent control system, and applies anti-corrosion primer as needed after rust removal to prevent secondary rust.

Images