Multi-mode rolling adsorption type bionic tentacle wind power blade operation and maintenance device

Abstract

The invention discloses a multi-mode rolling adsorption type bionic tentacle wind power blade operation and maintenance device which comprises a flight deployment assembly, a function integration assembly and a rolling adsorption assembly, the rolling adsorption assembly carries out adsorption rolling walking on a wind power blade, and the function integration assembly walks along with the rolling adsorption assembly and carries out maintenance work on the wind power blade. And the flight deployment assembly is used for integrally lifting and putting the function integration assembly and the rolling adsorption assembly. Ground-air cooperative operation can be carried out, the four-axis eight-rotation unmanned aerial vehicle is used for bearing the operation robot to carry out rapid delivery, the robot can reach a hundred-meter high-altitude blade operation area in a short time, and the problem is solved in time. Maintenance work can be completed through the bionic octopus tentacles driven by the wires, the mechanical arm is controlled by the micro servo motor to be automatically retracted and released, multi-degree-of-freedom movement can be conducted while rapid tool changing is achieved, and therefore accurate and flexible operation is guaranteed. The operation and maintenance flexibility is improved, and the operation and maintenance cost and the safety risk are reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wind turbine blade maintenance, and particularly relates to a multi-modal rolling adsorption type bionic tentacle wind turbine blade operation and maintenance device. BACKGROUND

[0003] As a core component of energy conversion, the blade is exposed to a complex environment of high altitude strong wind, day and night large temperature difference, salt spray and ultraviolet radiation for a long time, and is prone to structural defects such as cracks, delamination, bubbles and leading edge erosion. Industry statistics show that the annual occurrence rate of structural defects caused by environmental damage of the existing blade is about 35%, the crack detection rate of the unit running for more than 5 years is more than 60%, and the delamination defect ratio is 42%. If left unchecked, it may induce blade fracture and even tower collapse accident. The cost of single unit maintenance is usually more than 500,000 yuan, and if a chain shutdown is caused, the whole field loss can reach several million yuan.

[0004] Traditional manual inspection relies on telescopes, baskets or rope climbing, and 3-5 people are needed for a single operation. The detection of a single blade takes more than 2 hours, and the inspection cycle is generally lengthened to 3-6 months. The high altitude wind speed is variable, and the operation is forced to be interrupted when the wind speed is greater than 8 m / s, with high safety risk. Visual detection is limited by light, angle and personnel experience, and the recognition rate of early cracks below 0.3 mm is less than 30%, and only positioning can be achieved, without simultaneous repair. Although the unmanned aerial vehicle can quickly approach, it is unstable in hovering under the interference of sea gust and blade wake, and the endurance is only 20-30 minutes. The magnetic adsorption wall climbing robot is prone to falling when climbing obstacles due to the large curvature of the blade surface and the non-magnetic property of glass fiber, and the adsorption force decays obviously. Ultrasonic or infrared thermal imaging is affected by the anisotropy and thickness difference of the material, with high false positive rate. The existing equipment generally "detects but does not repair", and the defects still need to be manually rechecked and high-altitude glue supplementing, further lengthening the downtime. Most wind farms have not established a digital operation and maintenance system, and the fault information is transmitted by paper records or WeChat groups, with lagging response, blind spare parts scheduling, and high operation and maintenance cost. With the global wind power installation increasing at an annual rate of more than 10%, the traditional "manpower tactics" has been difficult to meet the comprehensive needs of safety, efficiency and cost of the industry, and the market urgently needs an intelligent operation and maintenance device that can complete detection and repair in all-weather and all-terrain in one station, providing technical support for long-term safe and stable operation of the unit.

[0005] Investigate and summarize the existing wind turbine blade maintenance robot research, most of which focuses on optimization and support based on manual maintenance, and has the following two defects: 1. The existing technology still relies on manual maintenance. Current research mainly focuses on optimizing detection methods or improving manual movement methods, but maintenance operations still need to rely on manual completion. For example, patent CN120312522A proposes a UAV-borne ultrasonic vision collaborative damage detection system, which can identify the area to be detected, but cannot perform specific maintenance measures and still needs manual intervention. In addition, although some research has optimized the movement method of maintenance personnel (such as the single-point lifting six-rope balanced maintenance device of patent CN212898806U and the double-layered basket device of patent CN212838188U), it still has not achieved mechanization and automation of maintenance operations; 2. The automatic maintenance technology has a single function and limited application. Some technologies have achieved autonomous maintenance, but the function is relatively single and only suitable for specific operation scenarios. For example, the lifting type double-body deicing device of patent CN120292029A and the deicing and snow prevention device of CN120292028A can only complete the blade deicing task and cannot meet other maintenance needs, with a large limitation in application range.

[0006] To solve the above problems of wind turbine blade maintenance machines and better meet the needs of wind turbine blade maintenance automation, it is urgent to design a multifunctional integrated wind turbine blade autonomous operation and maintenance device to compress the single-blade full-process maintenance time, effectively avoid safety accident risks, integrate multiple functions, and reduce step-by-step operation and maintenance costs. SUMMARY

[0007] The present application is proposed to solve the problems existing in the prior art, and the purpose is to provide a multi-modal rolling adsorption type bionic tentacle wind turbine blade operation and maintenance device.

[0008] The technical scheme of the present application is: a multi-modal rolling adsorption type bionic tentacle wind turbine blade operation and maintenance device, comprising a flight deployment assembly, a function integration assembly, and a rolling adsorption assembly. The rolling adsorption assembly performs adsorption rolling walking on the wind turbine blade. The function integration assembly walks with the rolling adsorption assembly and performs maintenance work on the wind turbine blade. The flight deployment assembly performs overall lifting and launching of the function integration assembly and the rolling adsorption assembly.

[0009] Further, the flight deployment assembly includes a UAV performing flight operations, a rigid rod for connection is arranged at the lower end of the UAV, and a locking buckle for connection is arranged at the lower end of the rigid rod.

[0010] Further, the rolling adsorption assembly includes a rolling robot main body, an adaptive device compression spring device is arranged outside the rolling robot main body, and the adaptive device compression spring device is connected with a wheel plate.

[0011] Further, a suction cup is arranged in the plate surface of the wheel plate, and the suction cup performs adsorption during the rolling of the wheel plate along the wind turbine blade.

[0012] Further, the functional integration assembly is installed in the rolling robot body, and the functional integration assembly comprises an automatic replacement operation tool device located in the middle part, and a silk driving bionic octopus tentacle is arranged on both sides of the automatic replacement operation tool device.

[0013] Further, the automatic replacement operation tool device is provided with an operation tool for maintenance.

[0014] Further, the silk driving bionic octopus tentacle comprises a movable joint, and the movable joint is connected with the rolling adsorption assembly.

[0015] Further, the silk driving bionic octopus tentacle further comprises an octopus tentacle component joint, the octopus tentacle component joint is connected with the movable joint, and overall pose adjustment is performed.

[0016] Further, the silk driving bionic octopus tentacle further comprises an octopus tentacle end, the octopus tentacle end is connected with the octopus tentacle component joint, and the operation tool is correspondingly assembled.

[0017] Further, the suction cup is communicated with the negative pressure adsorption device, and controllable negative pressure adsorption and separation are realized.

[0018] The beneficial effects of the present application are as follows: The present application can perform air-ground cooperative operation, and the unmanned aerial vehicle transportation + rolling robot operation type air-ground cooperative architecture uses a four-axle eight-rotation unmanned aerial vehicle to carry an operation robot for rapid delivery, and can reach a hundred-meter-high blade operation area in a short time to solve problems in time.

[0019] The present application can complete the maintenance work through the silk driving bionic octopus tentacle, the mechanical arm is controlled by a micro servo motor to be retracted and extended, the quick tool changing is realized, and multi-degree-of-freedom movement is performed, so that accurate and flexible operation is ensured.

[0020] The design concept of the multifunctional integrated design of the present application improves the flexibility of operation and maintenance, reduces the operation and maintenance cost and safety risk. DETAILED DESCRIPTION

[0021] Figure 1 is a whole machine structure schematic diagram of the present application; Figure 2 is a flight deployment assembly schematic diagram in the present application; Figure 3 is a functional integration assembly schematic diagram in the present application; Figure 4 is a rolling adsorption assembly schematic diagram in the present application; Figure 5 is a silk driving bionic octopus tentacle structure schematic diagram in the functional integration assembly of the present application; Figure 6 Figure 1 is a schematic diagram of the connection of the negative pressure adsorption device in the rolling adsorption assembly in the application; Among them: 1 flight deployment assembly 2 function integration assembly 3 rolling adsorption assembly 1-1 unmanned aerial vehicle 1-2 rigid rod 1-3 connecting buckle 2-1 automatic replacement operation tool device 2-2 silk drive bionic octopus tentacle 2-3 operation tool 3-1 negative pressure adsorption device 3-2 self-adaptive device compression spring device 3-3 rolling robot main body 3-4 wheel plate 3-5 driving gear 2-2-1 movable joint 2-2-2 octopus tentacle joint 2-2-3 octopus tentacle tip 3-1-1 gas-electric slip ring 3-1-2 vacuum pump 3-1-3 electromagnetic valve 3-1-4 vacuum generator 3-1-5 suction cup 3-1-6 air pipe DETAILED DESCRIPTION

[0022] Hereinafter, the application will be described in detail with reference to the drawings and examples: As Figures 1 to 6 shown, a multi-modal rolling adsorption type bionic tentacle wind power blade operation device, comprising a flight deployment assembly 1, a function integration assembly 2, a rolling adsorption assembly 3, the rolling adsorption assembly 3 adsorbs and rolls on the wind power blade, the function integration assembly 2 walks with the rolling adsorption assembly 3 and performs maintenance work on the wind power blade, and the flight deployment assembly 1 lifts and launches the function integration assembly 2 and the rolling adsorption assembly 3 as a whole.

[0023] The flight deployment assembly 1 comprises an unmanned aerial vehicle 1-1 for flight operation, the unmanned aerial vehicle 1-1 is provided with a rigid rod 1-2 at the lower end for connection, and the rigid rod 1-2 is provided with a connecting buckle 1-3 at the lower end for locking.

[0024] The rolling adsorption assembly 3 comprises a rolling robot main body 3-3, the rolling robot main body 3-3 is provided with a self-adaptive device compression spring device 3-2 outside, and the self-adaptive device compression spring device 3-2 is connected with a wheel plate 3-4.

[0025] The wheel plate 3-4 is provided with a suction cup 3-1-5 in the plate surface, and the suction cup 3-1-5 adsorbs during the rolling process of the wheel plate 3-4 along the wind power blade.

[0026] The function integrated assembly 2 is installed in the rolling robot body 3-3, and the function integrated assembly 2 comprises an automatic replacement operation tool device 2-1 located in the middle part, and a silk driving bionic octopus tentacle 2-2 is arranged on both sides of the automatic replacement operation tool device 2-1.

[0027] The automatic replacement operation tool device 2-1 is provided with an operation tool 2-3 for maintenance.

[0028] The silk driving bionic octopus tentacle 2-2 comprises a movable joint 2-2-1 connected with the rolling adsorption assembly 3.

[0029] The silk driving bionic octopus tentacle 2-2 further comprises an octopus tentacle component joint 2-2-2 connected with the movable joint 2-2-1 and performing overall pose adjustment.

[0030] The silk driving bionic octopus tentacle 2-2 further comprises an octopus tentacle tail end 2-2-3 connected with the octopus tentacle component joint 2-2-2 and corresponding to the operation tool 2-3.

[0031] The suction cup 3-1-5 is communicated with the negative pressure adsorption device 3-1 to realize controllable negative pressure adsorption and separation.

[0032] Specifically, as shown in Figure 1 , Figure 2 The flight deployment assembly 1 realizes long-distance exploration, rapid approach exploration and accurate deployment and release through the unmanned aerial vehicle 1-1, and realizes the connection and release of the unmanned aerial vehicle 1-1 and the rolling adsorption assembly 3 through the combination of the rigid rod 1-2 and the connecting buckle 1-3.

[0033] The unmanned aerial vehicle 1-1, the rigid rod 1-2, the connecting buckle 1-3 and the rolling adsorption assembly 3 in the flight deployment assembly 1 are connected. The flight deployment assembly 1 is responsible for quickly and accurately transporting the entire operation device to the wind turbine blade operation point at tens of meters or even hundreds of meters high.

[0034] More specifically, the connecting buckle 1-3 is provided with a wedge-shaped sliding block and a wedge-shaped ring sliding along the rigid rod 1-2, the wedge-shaped sliding block moves towards the wedge-shaped ring to realize the connection action, and the wedge-shaped sliding block moves away from the wedge-shaped ring to realize the release action. Through the relative movement between the wedge-shaped sliding block and the wedge-shaped ring, the quick and safe disengagement operation of the unmanned aerial vehicle and the rolling robot when needed is realized.

[0035] Specifically, as shown in Figure 1 , Figure 3 , Figure 5As shown, the function integration assembly 2 realizes specific maintenance functions through the silk-driven silk-driven bionic octopus tentacle 2-2, including but not limited to large-volume garbage picking, material hollow check, etc., and the corresponding maintenance work is completed through the automatic replacement of the operation tool device 2-1 to replace the tool 2-3.

[0036] Specifically, the silk-driven bionic octopus tentacle 2-2 has extremely high flexibility and adaptability. The front end of the silk-driven bionic octopus tentacle 2-2 is provided with a movable joint 2-2-1, which realizes connection with the rolling and adsorbing assembly 3. The octopus tentacle composition joint 2-2-2 can gently and non-destructively grab and adhere to the complex blade curved surface structure and realize accurate positioning. The octopus tentacle end 2-2-3 at the end carries a multifunctional operation interface, which can perform fine operations such as surface cleaning, close-range visual detection, bolt fastening, and damaged composite material repair. Its flexible feature can effectively avoid secondary damage to the blade during operation.

[0037] More specifically, the silk-driven bionic octopus tentacle 2-2 is an innovative soft robot inspired by the logarithmic spiral structure in nature. Through simple hardware design and low-cost 3D printing manufacturing, it realizes intelligent grasping capability with cross-scale, high adaptability and strong load. The silk-driven bionic octopus tentacle 2-2 is based on the geometric configuration of the logarithmic spiral, so that the body presents linear curvature change from the base to the tip, which can be tightly curled and dynamically unfolded, and can automatically fit the surface of any shaped object. After the unmanned aerial vehicle-mounted robot system reaches the target height, the silk-driven bionic octopus tentacle 2-2 arm is dynamically unfolded, and the suction cup installed at the octopus tentacle end 2-3 is actively adsorbed to the surface of the wind turbine blade, realizing accurate positioning and residence of the robot. During movement on the blade surface, the silk-driven bionic octopus tentacle 2-2 adjusts the pose through controllable curling and unfolding motion to implement acoustic knocking detection on the blade surface, stimulates stress waves to identify internal defects, and the octopus tentacle end 2-3 switches the operation tool 2-3 according to the maintenance requirements to perform blade bolt fastening and other repair operations.

[0038] The connection relationship of the octopus tentacle composition joint 2-2-2 is as follows: The joint 2-2-2 is a triangular keel joint, and the triangular corners are distributed with uniform holes. Three silk wires are connected in series through the holes, and the lengths of the three silk wires penetrating the octopus tentacle are adjusted (lengthened or shortened) by a servo motor, thereby adjusting the pose of the octopus tentacle to complete the specified action.

[0039] Specifically, the automatic replacement operation tool device 2-1 in the function deployment assembly 2 adopts a high-efficiency and reliable chain cutter structure. With this structure, a series of operation tools 2-3 with different functions and types can be equipped to fully meet the diversified needs and tasks in the blade maintenance operation. The operation tools 2-3 can be, but are not limited to, 3D printing pens, cross screw heads, and straight screw heads, to ensure the overall efficiency and quality of the maintenance work during the blade maintenance process.

[0040] Specifically, as shown in Figure 1 、 Figure 3 、 Figure 4 、 Figure 6 , the rolling adsorption assembly 3 includes a negative pressure adsorption device 3-1, an adaptive device compression spring device 3-2, a wheel plate 3-4, and a rolling robot main body 3-3, which together realize stable adsorption and rolling of the rolling adsorption assembly 3 on the wind turbine blade.

[0041] More specifically, in terms of rolling drive, the rolling robot main body 3-3 adopts a segmented structure as a whole, and the driving gear 3-5 drives the pinion to rotate, and the pinion meshes with the gear to drive the overall rolling movement.

[0042] More specifically, the rolling robot main body 3-3 includes two parallel circular frames, and a robot main device is arranged between the two circular frames. The robot main device is installed with the automatic replacement operation tool device 2-1 and the wire-driven bionic octopus tentacle 2-2 at the upper end, and the driving gear 3-5 is installed at the lower end of the transverse connecting plate and protrudes out of the circular frame. Three mounting seats are arranged outside the circular frame, and three pinions are correspondingly arranged in the mounting seats, and the driving gear 3-5 meshes with the pinions. The three pinions are externally meshed with a double-body wheel rolling ring. At the same time, a vertical support is arranged on the robot main device, which is coaxial with the circular frame, and is used to install the air-electric slip ring 3-1-1.

[0043] More specifically, the adaptive compression spring device 3-2 is arranged on the outer wall of the double-body wheel rolling ring corresponding to the wheel plate 3-4, and the adaptive compression spring device 3-2 is arranged on both sides of the gear rolling body, so that the wheel plate 3-4 has better adaptability.

[0044] Specifically, the adaptive device includes an adaptive compression spring device 3-2 and a flexible material polydimethylsiloxane (PDMS) based flexible composite material on the surface of the wheel plate 3-4. The composite material has good flexibility and elastic modulus, which maximizes the contact area of the rolling adsorption moving assembly on the surface of the wind turbine blade.

[0045] Specifically, the adaptive compression spring device 3-2 is combined with the wheel plate 3-4, so that the rolling and adsorbing assembly 3 can closely adhere to the complex blade surface, and adaptive adjustment is realized, so that the effective contact area between the rolling and adsorbing assembly 3 and the fan blade is increased.

[0046] Specifically, the negative pressure adsorption device 3-1 is composed of an air-electric slip ring 3-1-1, a vacuum pump 3-1-2, an electromagnetic valve 3-1-3, a vacuum generator 3-1-4, a suction cup 3-1-5, and an air pipe 3-1-6. The air-electric slip ring 3-1-1 effectively solves the problem of knot interference of the air pipe 3-1-6 during rolling. The air-electric slip ring 3-1-1 is arranged in the vertical support of the rolling robot main body 3-3, the air pipe 3-1-6 is connected with the air-electric slip ring 3-1-1, the electromagnetic valve 3-1-3 is arranged in the air pipe 3-1-6 to control the air path, and the vacuum pump 3-1-2 and the vacuum generator 3-1-4 provide negative pressure for the air path.

[0047] More specifically, two suction cups 3-1-5 are arranged in each wheel plate 3-4, and the two suction cups 3-1-5 are connected in parallel to the air pipe 3-1-6.

[0048] More specifically, the suction cup 3-1-5 in the negative pressure adsorption device 3-1 is made of soft and good sealing material, such as silica gel. When the suction cup 3-1-5 contacts the surface of the blade, the air in the suction cup 3-1-5 is rapidly extracted by the vacuum pump 3-1-2 to form a negative pressure environment, so that the suction cup 3-1-5 is tightly adsorbed on the blade. When the curvature of the blade surface changes greatly or there is an uneven area, the negative pressure adsorption can provide additional adsorption force to enhance the stability of the robot. In order to ensure the reliability of the negative pressure adsorption, multiple suction cups 3-1-5 are arranged, and a pressure sensor is arranged to monitor the pressure in the suction cup in real time. Once the pressure is insufficient, the vacuum pump 3-1-2 is started in time to supplement the negative pressure.

[0049] Specifically, the rolling and adsorbing assembly 3 adopts an innovative rolling and adsorbing design, so that the robot can move flexibly on the surface of the fan blade with large area and arc. The core negative pressure adsorption device 3-1 can reliably adhere to the surface of blades made of various materials, such as composite materials, and can stably climb on inclined or vertical surfaces to ensure the stability of the working device.

[0050] Specifically, the rolling robot main body 3-3 adopts a double-wheel type configuration design, adopts a segmented skeleton structure, and is connected to the rolling ring of the robot double-wheel through a pin shaft. The rolling robot main body 3-3 has a main device autonomous pose determination, a rolling and adsorbing moving assembly adaptive structure design, and an unmanned aerial vehicle integrated docking capability.

[0051] Specifically, the rolling robot main body 3-3 device is designed in one body with the double-body wheel support ring, is engaged with the inner gear of the double-body wheel rolling ring through a set of pinions, and ensures the reliable connection of the robot main device and the double-body wheel structure. The robot main device drives the driving gear 3-5 to rotate through the driving motor, and then drives the double-body wheel rolling ring to rotate. At the same time of rotation, the stable rolling of the rolling robot on the fan blade is realized by adjusting the adsorption air pressure of each suction cup 3-1-5.

[0052] In addition, after the rolling and adsorbing moving assembly on the double-body wheel rolling ring is fixed on the fan blade, the driving motor can also drive the driving gear 3-5 to rotate, so as to automatically adjust the working posture of the robot main device and realize the autonomous pose determination of the robot main device.

[0053] Compared with the traditional chain transmission, the rolling and adsorbing assembly 3 adopts a high-precision gear transmission system, which effectively improves the stability of the torque output, and significantly enhances the adaptability and reliability of the system in complex operating environments, such as significant temperature difference fluctuations or wind load disturbances.

[0054] The working process of the application is as follows: After the equipment is transported to the wind farm by the operation and maintenance personnel, the system is started in the designated take-off and landing area.

[0055] The unmanned aerial vehicle 1-1 is connected with the operation and maintenance device through the connecting socket 1-3, carries the whole machine to ascend, and monitors the high-altitude wind conditions and obstacles in real time through the on-board infrared and visual sensors. If the environmental parameters meet the safety operation threshold, the device will automatically navigate to the target fan blade maintenance area and realize stable hovering above the target point.

[0056] After the device hovers and positions, the bionic tentacle assembly is started. The silk-driven bionic octopus tentacle 2-2 extends to the surface of the blade and is attached to the complex blade curved surface structure without damage. After confirming the stable attachment, the connecting buckle 1-3 of the unmanned aerial vehicle 1-1 is released, the rolling and adsorbing moving assembly 3 takes over the control, and performs the first round of rolling inspection along the longitudinal axis direction of the blade.

[0057] When the inspection identifies loose bolts, surface cracks or composite material damage, the automatic replacement operation and maintenance tool device 2-1 responds immediately, and the specific operation and maintenance tool 2-3 is operated to the fixed position. The silk-driven bionic octopus tentacle 2-2 approaches the position, the octopus tentacle tail end 2-2-3 is connected to the required operation and maintenance tool 2-3 through magnetic adsorption, and then performs the work of tightening loose bolts, filling material damage, etc.

[0058] After all the maintenance tasks are completed, the silk-driven bionic octopus tentacle 2-2 is assisted to realize reliable docking with the unmanned aerial vehicle 1-1 again through the connecting buckle 1-3. At the same time, the blade adsorption state is switched to the flight mode, and the unmanned aerial vehicle returns to the take-off and landing device autonomously. After the operation quality is confirmed to meet the standard by the cloud report, the equipment is charged and maintained, and the next task is prepared.

[0059] The application initiates an air-ground collaborative architecture of "unmanned aerial vehicle transportation + rolling robot operation", uses the unmanned aerial vehicle to carry the operation robot for rapid delivery, and can reach the blade operation area in the air at a height of hundreds of meters in a short time, so that the problem can be solved in time.

[0060] The application adopts the silk-driven bionic octopus flexible mechanical arm, the mechanical arm is controlled by a micro servo motor to be retracted and extended, the mechanical arm can realize multi-degree-of-freedom movement while realizing quick tool changing, so that accurate and flexible operation is ensured.

[0061] The application realizes the organic integration of functions such as rolling inspection, repair and inspection, and automatic replacement of the operation and maintenance device, and forms a complete automatic operation and maintenance solution.

Claims

1. A multi-modal rolling adsorptive bionic tentacle wind turbine blade operation and maintenance device, characterized in that: Including flight deployment assembly (1), function integrated assembly (2), rolling adsorption assembly (3), the rolling adsorption assembly (3) is adsorbed and rolls on the wind power blade, the function integrated assembly (2) is walked with rolling adsorption assembly (3), and the wind power blade is maintained, the flight deployment assembly (1) carries out the overall lifting of function integrated assembly (2), rolling adsorption assembly (3) and is put.

2. The multi-modal rolling adsorptive bionic tentacle wind turbine blade operation and maintenance device according to claim 1, characterized in that: The flight deployment assembly (1) includes the unmanned aerial vehicle (1-1) for flight operation, the rigid rod (1-2) for connection is arranged at the lower end of the unmanned aerial vehicle (1-1), and the connecting buckle (1-3) for locking is arranged at the lower end of the rigid rod (1-2).

3. The multi-modal rolling adsorptive bionic tentacle wind blade operation and maintenance device according to claim 1, characterized in that: The rolling robot main body (3-3) is arranged outside the rolling robot main body (3-3), and the self-adapting device compression spring device (3-2) is connected with the wheel plate (3-4).

4. The multi-modal rolling adsorptive bionic tentacle wind blade operation and maintenance device according to claim 3, characterized in that: The suction disc (3-1-5) is arranged in the plate surface of the wheel plate (3-4), and the suction disc (3-1-5) is adsorbed during the rolling process of the wheel plate (3-4) along the wind power blade.

5. The multi-modal rolling adsorptive bionic tentacle wind blade operation and maintenance device according to claim 3, characterized in that: The function integrated assembly (2) is installed in the rolling robot main body (3-3), and the function integrated assembly (2) includes the automatic replacement operation tool device (2-1) located in the middle, and the silk drive bionic octopus tentacle (2-2) is arranged on both sides of the automatic replacement operation tool device (2-1).

6. The multi-modal rolling adsorptive bionic tentacle wind blade operation and maintenance device according to claim 5, characterized in that: The operation tool (2-3) for maintenance is arranged in the automatic replacement operation tool device (2-1).

7. The multi-modal rolling adsorptive bionic tentacle wind blade operation and maintenance device according to claim 5, characterized in that: The silk drive bionic octopus tentacle (2-2) includes the movable joint (2-2-1), and the movable joint (2-2-1) is connected with the rolling adsorption assembly (3).

8. The multi-modal rolling adsorptive bionic tentacle wind blade O&M device according to claim 7, characterized in that: The silk drive bionic octopus tentacle (2-2) further includes the octopus tentacle component joint (2-2-2), and the octopus tentacle component joint (2-2-2) is connected with the movable joint (2-2-1) and is integrally adjusted in pose.

9. The multi-modal rolling adsorptive bionic tentacle wind blade O&M device according to claim 8, characterized in that: The silk drive bionic octopus tentacle (2-2) further includes the octopus tentacle tail end (2-2-3), and the octopus tentacle tail end (2-2-3) is connected with the octopus tentacle component joint (2-2-2) and is correspondingly equipped with the operation tool (2-3).

10. The multi-modal rolling adsorptive bionic tentacle wind blade O&M device according to claim 4, characterized in that: The suction disc (3-1-5) is communicated with the negative pressure adsorption device (3-1), so as to realize controllable negative pressure adsorption and separation.

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