Rust removal spraying robot for wind turbine generator and method thereof

Abstract

The rust removal and spraying robot comprises a wall climbing robot, a sand blasting and rust removal mechanism and a coating spraying mechanism are mounted at the top of the wall climbing robot, the sand blasting and rust removal mechanism is used for removing rust on the surface of a tower drum of the wind turbine generator, and the coating spraying mechanism is used for spraying the rust-removed position. A negative pressure recovery mechanism is installed at the bottom of the wall-climbing robot and collects pollutants drifting away in the rust removal and spraying process. The sand blasting derusting mechanism comprises a sand tank, and an air compressor, a control valve and a sand nozzle are installed on the sand tank. The device has the advantages of being safe and efficient, and the problems that when rust removal and paint spraying are conducted on a tower drum of an existing wind turbine generator, falling accidents are likely to happen through manual rust removal and spraying, the safety is reduced, a wall-climbing robot needs to be independently provided with a rust removal mechanism and a spraying mechanism, the working efficiency is low, and the maintenance cost is increased are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wind power generation technology, in particular to a rust removal and spraying robot for wind turbine generators and a method thereof. BACKGROUND

[0002] A wind turbine generator is a complete power generation equipment that converts wind energy into electrical energy, mainly including blades, a nacelle and a tower drum, the tower drum is usually made of high-strength steel material, and is exposed to the outdoor environment for a long time, especially in harsh conditions such as high humidity, high salt fog, large temperature difference and strong ultraviolet light, which is prone to corrosion and rust. Rust can weaken the cross section of the steel material and reduce the carrying capacity of the tower drum, affecting the safety of the whole machine, so it is necessary to remove the oxide scale, old paint layer and rust marks by sand blasting, polishing and other methods to make the steel surface reach a certain cleanliness, and then re-spray a corrosion-resistant coating to ensure the structural safety, prolong the service life and reduce the operation and maintenance cost.

[0003] The rust removal and spraying robot for wind turbine generators is an automatic or semi-automatic device specially used for surface rust removal and corrosion prevention spraying operation of wind turbine generators. This kind of device aims to replace traditional manual high-altitude operation, improve construction efficiency, coating quality and operation safety. The tower drum of a wind turbine generator is usually 60-160 meters high, and manual climbing for rust removal and spraying is prone to falling accidents. The existing wall-climbing robot can be adsorbed on the outer wall of the tower drum to automatically climb and simultaneously complete rust removal and spraying, but the rust removal and spraying efficiency is low, so there is an urgent need for a high-efficiency rust removal and spraying robot for wind turbine generators. SUMMARY

[0004] The present application aims to provide a rust removal and spraying robot for wind turbine generators and a method thereof, which has the advantages of safety and efficiency, and solves the problems of existing wind turbine generators, such as manual rust removal and spraying prone to falling accidents, reducing safety, wall-climbing robots needing to be separately installed with rust removal and spraying mechanisms, low work efficiency, and increased maintenance cost.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a rust removal and spraying robot for wind turbine generators, comprising a wall-climbing robot, a sand blasting and rust removal mechanism and a coating spraying mechanism are installed on the top of the wall-climbing robot, the sand blasting and rust removal mechanism removes rust from the surface of the tower drum of the wind turbine generator, and the coating spraying mechanism sprays the position after rust removal, a negative pressure recovery mechanism is installed at the bottom of the wall-climbing robot, and the negative pressure recovery mechanism collects pollutants scattered during rust removal and spraying;

[0006] The sand blasting and rust removal mechanism comprises a sand tank, an air compressor, a control valve and a sand spraying head are installed on the sand tank;

[0007] The paint spraying mechanism comprises paint spraying heads, the number of the paint spraying heads is two, and the paint spraying heads are located on the left and right sides of the sand spraying head; one side of the paint spraying head is rotationally connected with a seat body, the seat body is fixedly installed with a mounting bracket at the bottom, a joint is arranged at the liquid inlet end of the paint spraying head, and a hose is communicated with the joint.

[0008] As a kind of wind turbine's derusting and spraying robot of the present application preferably, the wall-climbing robot comprises a wall-climbing robot body, a power module is installed inside the wall-climbing robot body, and motor-driven wheeled magnetic attraction structures are installed on the left and right sides of the wall-climbing robot body.

[0009] As a kind of wind turbine's derusting and spraying robot of the present application preferably, a line pipe arrangement device and a connecting cable are installed on the rear side of the wall-climbing robot body, one end of the connecting cable is electrically connected with the wall-climbing robot body, and the other end of the connecting cable penetrates through the line pipe arrangement device to connect a central control station.

[0010] As a kind of wind turbine's derusting and spraying robot of the present application preferably, an electromagnet and a rotating seat are installed on the top of the wall-climbing robot body, and an installation groove is formed on the front side of the wall-climbing robot body.

[0011] As a kind of wind turbine's derusting and spraying robot of the present application preferably, rotating members are installed on the left and right sides of the top of the sand tank, the rotating members are rotationally connected with the rotating seat, the bottom of the bottom plate is magnetically connected with the top of the electromagnet to fix the bottom plate in a horizontal state.

[0012] As a kind of wind turbine's derusting and spraying robot of the present application preferably, a hydraulic cylinder is rotationally connected with the bottom of the bottom plate, the piston rod of the hydraulic cylinder is rotationally connected with the bottom of the bottom plate, and the sandblasting and derusting mechanism is driven to rotate by the hydraulic cylinder to adjust the derusting and spraying angles.

[0013] As a kind of wind turbine's derusting and spraying robot of the present application preferably, the sand spraying head is installed at one end of the sand tank and is communicated with the inside of the sand tank, a feeding bolt is installed at one end of the sand tank, sand and water are added into the inside of the sand tank through the feeding bolt, the air outlet end of the air compressor is communicated with the air inlet end of the control valve, and the air outlet end of the control valve is communicated with the air inlet end of the sand tank to fill compressed air into the inside of the sand tank.

[0014] As a kind of wind turbine's derusting and spraying robot of the present application preferably, the mounting bracket is fixedly installed on the bottom plate, an adjusting motor is installed on one side of the seat body, belt pulleys are installed on the output shaft of the adjusting motor and one side of the paint spraying head, a belt is transmissionally connected with the two belt pulleys, a paint control station is communicated with the liquid inlet end of the hose, the paint control station is fixedly installed on the top of the wall-climbing robot body, a paint delivery pipe is communicated with the liquid inlet end of the paint control station, and one end of the paint delivery pipe penetrates through the line pipe arrangement device to connect a paint supply system.

[0015] Preferably, the negative pressure recovery mechanism comprises a collecting flat pipe, which is installed at the bottom of the wall-climbing robot body, a collecting head is sleeved on the surface of the collecting flat pipe, the collecting head is bolted to the bottom of the wall-climbing robot body, one end of the collecting flat pipe is communicated with a mounting bracket, and the other end of the collecting flat pipe is communicated with a recovery pipe, the recovery pipe penetrates through the line pipe arrangement device and is connected to the negative pressure recovery system.

[0016] A rust removal and spraying method for a wind turbine generator set, comprising the following steps:

[0017] S1, the wall-climbing robot is installed at the bottom of the wind turbine generator tower, the wall-climbing robot body is adsorbed to the steel surface of the tower by the wheel type magnetic attraction structures on the left and right sides, and is powered by the built-in power module, the connecting cable is connected to the ground central control station through the line pipe arrangement device to establish communication and energy channel;

[0018] S2, the wall-climbing robot walks on the surface of the tower and reaches the position where rust removal is needed, the electromagnet is de-energized to release the adsorption of the bottom plate, and then the hydraulic cylinder is started, the piston rod of the hydraulic cylinder is extended and retracted to drive the bottom plate to rotate around the rotating seat, so as to adjust the overall pitch angle of the sand blasting rust removal mechanism and the paint spraying mechanism, so that they fit the rust removal position of the tower;

[0019] S3, the mixture of abrasive and water is added in the sand tank through the feeding bolt in advance, the air compressor is started during rust removal, compressed air enters the inside of the sand tank through the control valve, so that the positive pressure is formed in the tank, under the action of air pressure, the water and sand mixture is sprayed out at high speed from the sand spraying head, impacts the surface of the tower, removes the oxide scale, rust layer and old coating, and achieves Sa. level cleanliness and forms suitable roughness;

[0020] S4, after the sand blasting rust removal is completed, the spraying anticorrosion is carried out, the two paint spraying heads are respectively located on the left and right sides of the sand spraying head and are inclined to the opposite side, the tower surface just removed rust is sprayed on both sides in a covering manner, the paint is delivered to the paint control station from the ground paint supply system through the paint delivery pipe, and then enters the paint spraying head through the hose and the joint;

[0021] S5, the spraying angle can be adjusted by the adjusting motor, the output shaft of the adjusting motor is driven through the belt pulley and the belt, the paint spraying head is slightly swung around the seat body, the uniform coverage of the coating is ensured, the paint control station can control the delivery amount of the paint and pressurize the delivered paint;

[0022] S6, the dust, splashed abrasive and paint mist pollutants generated in the sand blasting and spraying process are collected in real time by the negative pressure recovery mechanism located at the bottom of the wall-climbing robot body, the pollutants are sucked into the collecting head, are collected into the recovery pipe through the collecting flat pipe, and are then delivered to the ground negative pressure recovery system, so that the dust and waste are recovered in a closed manner, and environmental pollution is prevented;

[0023] S7, after rust removal and spraying are completed, the hydraulic cylinder drives the bottom plate to reset, the electromagnet is electrified to magnetically fix the bottom plate, the stability of the sand blasting rust removal mechanism and the paint spraying mechanism during movement is ensured, the wall climbing robot climbs along the tower at a uniform speed under the drive of the motor, the sand blasting rust removal mechanism, the paint spraying mechanism and the negative pressure recovery mechanism work cooperatively to form a continuous operation belt of rust removal, spraying and recovery, the central control station monitors the running state in real time, the whole surface treatment is automatically completed according to the height of the tower, after the whole tower operation is completed, the wall climbing robot slowly descends to the ground to complete the maintenance task.

[0024] Compared with the prior art, the beneficial effects of the present application are as follows:

[0025] 1、The present application significantly improves the safety, efficiency and environmental performance of the wind turbine tower rust removal and spraying operation through integrated structure design and collaborative operation process. The wall climbing robot uses a wheeled magnetic attraction structure to achieve stable adsorption and autonomous crawling, avoiding the risk of manual high-altitude operation. The sand blasting rust removal mechanism and the paint spraying mechanism integrated on the top form a "remove and spray immediately" process chain. After the surface treatment is completed by the sand blasting head, the paint spraying heads on both sides immediately perform double-sided coverage spraying on the clean area, effectively preventing rust return, improving the adhesion of the coating and the corrosion resistance and service life. Angle adjustment is realized by rotating the bottom plate around the rotating seat driven by the hydraulic cylinder, and the bottom plate is rigidly locked by the electromagnet in the non-operation state to ensure the stability of movement. At the same time, the paint spraying head realizes slight oscillation through the transmission mechanism composed of the adjusting motor, the belt pulley and the belt, and cooperates with the precise feeding and pressurization of the paint control station to ensure the uniform thickness of the coating.

[0026] 2、The present application constructs a closed-loop environmental protection operation system through the negative pressure recovery mechanism. The collection head is arranged close to the bottom of the tower to capture dust, abrasive debris and paint mist generated during sand blasting and spraying in real time. The pollutants are transported to the ground negative pressure recovery system through the collection flat tube and the recovery pipe, with high recovery rate and less overflow, meeting the strict environmental protection requirements. The energy and materials of the whole machine are managed uniformly through the line cable and the paint delivery pipe through the line pipe organizer, avoiding winding interference and improving the operation reliability. In summary, the present application takes the wall climbing robot main body as the platform, integrates the sand blasting rust removal mechanism, the paint spraying mechanism and the negative pressure recovery mechanism, realizes the automation, integration and greenization of wind turbine tower maintenance, greatly reduces the operation and maintenance cost and safety risk, and prolongs the service life of the tower. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 The present application is a structure diagram Figure 1 ;

[0028] Figure 2 The present application is a structure diagram Figure 2 ;

[0029] Figure 3 The present application is a wall climbing robot schematic diagram;

[0030] Figure 4 This is a schematic diagram of the sandblasting and rust removal mechanism of the present invention;

[0031] Figure 5 This is a schematic diagram of the coating spraying mechanism of the present invention. Figure 1 ;

[0032] Figure 6 This is a schematic diagram of the coating spraying mechanism of the present invention. Figure 2 ;

[0033] Figure 7 This is a schematic diagram of the negative pressure recovery mechanism of the present invention.

[0034] In the diagram: 1. Wall-climbing robot; 2. Sandblasting and rust removal mechanism; 3. Paint spraying mechanism; 4. Negative pressure recovery mechanism; 5. Hydraulic cylinder; 101. Main body of the wall-climbing robot; 102. Cable organizer; 103. Connecting cable; 104. Wheel magnetic suction structure; 105. Power module; 106. Rotating seat; 107. Mounting slot; 108. Electromagnet; 201. Sand tank; 202. Feed bolt; 203. Sand nozzle; 204. Control valve; 205. Air compressor; 206. Rotating component; 207. Base plate; 301. Paint nozzle; 302. Mounting bracket; 303. Base; 304. Paint delivery pipe; 305. Paint control station; 306. Hose; 307. Connector; 308. Adjusting motor; 309. Pulley; 310. Belt; 401. Collection flat tube; 402. Recovery tube; 403. Mounting bracket; 404. Collection head. Detailed Implementation

[0035] Example 1

[0036] Please see Figures 1-7 A rust removal and painting robot for wind turbines includes a wall-climbing robot 1. The top of the wall-climbing robot 1 is equipped with a sandblasting and rust removal mechanism 2 and a paint spraying mechanism 3. The sandblasting and rust removal mechanism 2 removes rust from the surface of the wind turbine tower, and the paint spraying mechanism 3 sprays paint onto the rust-removed area. The bottom of the wall-climbing robot 1 is equipped with a negative pressure recovery mechanism 4, which collects pollutants that are dispersed during the rust removal and painting process.

[0037] Furthermore, the sandblasting and rust removal mechanism 2 includes a sand tank 201, on which an air compressor 205, a control valve 204, and a sand nozzle 203 are installed.

[0038] Furthermore, the paint spraying mechanism 3 includes two paint nozzles 301 located on the left and right sides of the abrasive nozzle 203. A base 303 is rotatably connected to one side of the paint nozzle 301, and a mounting bracket 302 is fixedly installed at the bottom of the base 303. A connector 307 is provided at the liquid inlet end of the paint nozzle 301, and a hose 306 is connected to the connector 307.

[0039] Furthermore, the wall-climbing robot 1 includes a wall-climbing robot body 101, a power module 105 installed inside the wall-climbing robot body 101, and motor-driven wheel magnetic suction structures 104 installed on the left and right sides of the wall-climbing robot body 101.

[0040] Furthermore, a wiring conduit organizer 102 and a connecting cable 103 are installed on the rear side of the wall-climbing robot body 101. One end of the connecting cable 103 is electrically connected to the wall-climbing robot body 101, and the other end of the connecting cable 103 passes through the wiring conduit organizer 102 and connects to the central control station.

[0041] Furthermore, an electromagnet 108 and a rotating base 106 are installed on the top of the wall-climbing robot body 101, and an installation groove 107 is opened on the front side of the wall-climbing robot body 101.

[0042] Furthermore, rotating parts 206 are installed on the left and right sides of the top of the sand jar 201. The rotating parts 206 are rotatably connected to the rotating seat 106. The bottom of the base plate 207 is magnetically connected to the top of the electromagnet 108 to fix the horizontal base plate 207.

[0043] Furthermore, a hydraulic cylinder 5 is rotatably connected to the bottom of the mounting slot 107. The piston rod of the hydraulic cylinder 5 is rotatably connected to the bottom of the base plate 207. The hydraulic cylinder 5 drives the sandblasting and rust removal mechanism 2 to rotate and adjust the rust removal and spraying angle.

[0044] Furthermore, the sand nozzle 203 is installed at one end of the sand tank 201 and communicates with the inside of the sand tank 201. A feed bolt 202 is installed at one end of the sand tank 201. Sand and water are added into the sand tank 201 through the feed bolt 202. The air outlet of the air compressor 205 is connected to the air inlet of the control valve 204. The air outlet of the control valve 204 is connected to the inlet of the sand tank 201 to fill the sand tank 201 with compressed air.

[0045] Furthermore, the mounting bracket 302 is fixedly installed on the base plate 207. An adjusting motor 308 is installed on one side of the base 303. A pulley 309 is installed on the output shaft of the adjusting motor 308 and one side of the paint nozzle 301. A belt 310 is connected to the two pulleys 309. The inlet end of the hose 306 is connected to the paint control station 305. The paint control station 305 is fixedly installed on the top of the wall-climbing robot body 101. The inlet end of the paint control station 305 is connected to the paint delivery pipe 304. One end of the paint delivery pipe 304 passes through the pipeline organizer 102 and is connected to the paint supply system.

[0046] Furthermore, the negative pressure recovery mechanism 4 includes a collection flat tube 401, which is installed at the bottom of the wall-climbing robot body 101. A collection head 404 is sleeved on the surface of the collection flat tube 401, and the collection head 404 is installed at the bottom of the wall-climbing robot body 101 by bolts. One end of the collection flat tube 401 is connected to a mounting bracket 403, and the other end of the collection flat tube 401 is connected to a recovery tube 402. The recovery tube 402 passes through the pipeline organizer 102 and is connected to the negative pressure recovery system.

[0047] Through integrated structural design and collaborative operation process, the safety, efficiency and environmental performance of wind turbine tower rust removal and spraying operations are significantly improved. The wall-climbing robot 1 adopts a wheeled magnetic suction structure 104 to achieve stable adsorption and autonomous climbing, avoiding the risks of manual high-altitude operations. The sandblasting and rust removal mechanism 2 and the paint spraying mechanism 3 integrated on its top form a "removal and coating" process chain. After the sand spray nozzle 203 completes the surface treatment, the paint spray nozzles 301 on both sides immediately cover the clean area with double-sided spraying, effectively preventing rust return and improving coating adhesion and anti-corrosion life. The angle adjustment is achieved by the hydraulic cylinder 5 driving the base plate 207 to rotate around the rotating seat 106, and the electromagnet 108 rigidly locks the base plate 207 in the non-operation state to ensure movement stability. At the same time, the paint spray nozzle 301 achieves micro-oscillation through the transmission mechanism composed of the motor 308, pulley 309 and belt 310, which, together with the precise material supply and pressure of the paint control station 305, ensures uniform coating thickness.

[0048] Furthermore, the system constructs a closed-loop environmental protection operation system through the negative pressure recovery mechanism 4. The collection head 404 is arranged close to the bottom of the tower to collect dust, abrasive debris, and paint mist generated during sandblasting and spraying in real time. The pollutants are transported to the ground negative pressure recovery system through the collection flat pipe 401 and the recovery pipe 402. The recovery rate is high and the overflow is minimal, meeting stringent environmental protection requirements. The energy and materials of the whole machine are uniformly managed through the connecting cable 103 and the paint delivery pipe 304 via the line pipeline organizer 102 to avoid entanglement and interference, and improve the reliability of operation. In summary, this solution uses the wall-climbing robot body 101 as a platform and integrates three major functional modules: the sandblasting and rust removal mechanism 2, the paint spraying mechanism 3, and the negative pressure recovery mechanism 4. It realizes the automation, integration, and greening of wind turbine tower maintenance, significantly reduces operation and maintenance costs and safety risks, and extends the service life of the tower.

[0049] Example 2

[0050] Please see Figures 1-7 A rust removal spraying method for wind turbine units includes the following steps:

[0051] S1. The wall-climbing robot 1 is installed at the bottom of the wind turbine tower. The main body 101 of the wall-climbing robot is attached to the steel surface of the tower by the wheel magnetic structure 104 on the left and right sides, and is powered by the built-in power module 105. The connecting cable 103 is connected to the ground central control station through the line conduit organizer 102 to establish a communication and energy channel.

[0052] S2. The wall-climbing robot 1 walks on the surface of the tower and reaches the position where rust needs to be removed. The electromagnet 108 is de-energized and releases its adsorption on the base plate 207. Then the hydraulic cylinder 5 is activated. The piston rod of the hydraulic cylinder 5 extends and retracts, causing the base plate 207 to rotate around the rotating seat 106, thereby adjusting the overall pitch angle of the sandblasting and rust removal mechanism 2 and the paint spraying mechanism 3 so that they fit the rust removal position of the tower.

[0053] S3. A mixture of abrasive and water is pre-added to the sand tank 201 through the feed bolt 202. When removing rust, the air compressor 205 is started, and compressed air enters the sand tank 201 through the control valve 204, creating positive pressure inside the tank. Under the pressure of the air, the water-sand mixture is sprayed out at high speed from the sand nozzle 203, impacting the surface of the tower to remove oxide scale, rust layer and old coating, achieving a cleanliness level of Sa2.5 and forming a suitable roughness.

[0054] S4. After sandblasting and rust removal, anti-corrosion spraying is carried out. Two paint nozzles 301 are located on the left and right sides of the sand nozzle 203 and tilted towards the opposite side to spray the newly derusted tower surface with double-sided coverage. The paint is transported from the ground paint supply system to the paint control station 305 through the paint delivery pipe 304, and then enters the paint nozzle 301 through the hose 306 and connector 307.

[0055] S5. The spraying angle can be driven by the adjustable motor 308. Its output shaft is connected to the paint nozzle 301 through the pulley 309 and belt 310, so as to realize the micro-oscillation of the paint nozzle 301 around the seat 303, ensuring uniform coating coverage. The paint control station 305 can control the paint delivery amount and pressurize the delivered paint.

[0056] S6. Dust, splashed abrasive, and paint mist pollutants generated during sandblasting and spraying are collected in real time by the negative pressure recovery mechanism 4 located at the bottom of the wall-climbing robot body 101. The pollutants are sucked into the collection head 404, flow into the recovery pipe 402 through the collection flat pipe 401, and then transported to the ground negative pressure recovery system to achieve closed recovery of dust and waste materials and prevent environmental pollution.

[0057] S7. After rust removal and spraying are completed, hydraulic cylinder 5 drives base plate 207 to reset. Electromagnet 108 is energized to magnetically fix base plate 207, ensuring the stability of sandblasting and rust removal mechanism 2 and paint spraying mechanism 3 during movement. The wall-climbing robot 1 climbs the tower at a constant speed under the drive of motor. Sandblasting and rust removal mechanism 2, paint spraying mechanism 3 and negative pressure recovery mechanism 4 work together to form a continuous operation zone for rust removal, spraying and recovery. The central control station monitors the operation status in real time and automatically completes the surface treatment of the entire section according to the height of the tower. After the entire tower operation is completed, the wall-climbing robot 1 slowly descends to the ground to complete the maintenance task.

[0058] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rust removal spraying robot of a wind turbine generator unit, comprising a wall-climbing robot (1), characterized in that: The wall climbing robot (1) is provided with a sand blasting and rust removing mechanism (2) and a paint spraying mechanism (3) at the top, the sand blasting and rust removing mechanism (2) is used for removing rust on the surface of the wind turbine tower, the paint spraying mechanism (3) is used for spraying paint on the position after rust removal, the wall climbing robot (1) is provided with a negative pressure recovery mechanism (4) at the bottom, and the negative pressure recovery mechanism (4) is used for collecting pollutants scattered in the rust removal and spraying process. The sand blasting and rust removing mechanism (2) comprises a sand tank (201), and the sand tank (201) is provided with an air compressor (205), a control valve (204) and a sand spraying head (203). The paint spraying mechanism (3) comprises paint spraying heads (301), the number of the paint spraying heads (301) is two, and the paint spraying heads (301) are located on the left and right sides of the sand spraying head (203); one side of each paint spraying head (301) is rotationally connected with a seat body (303), the seat body (303) is fixedly installed with a mounting rack (302) at the bottom, a connector (307) is arranged on the liquid inlet end of the paint spraying head (301), and a hose (306) is connected to the connector (307).

2. A rust cleaning and painting robot of a wind turbine generator according to claim 1, characterized in that: The wall climbing robot (1) comprises a wall climbing robot body (101), and the wall climbing robot body (101) is internally provided with a power module (105); the wall climbing robot body (101) is provided with motor-driven wheel type magnetic attraction structures (104) on the left and right sides.

3. A rust cleaning and painting robot of a wind turbine generator unit according to claim 2, characterized in that: A line pipe arrangement device (102) and a connecting cable (103) are arranged on the rear side of the wall climbing robot body (101), one end of the connecting cable (103) is electrically connected with the wall climbing robot body (101), and the other end of the connecting cable (103) penetrates through the line pipe arrangement device (102) and is connected with a central control station.

4. A rust cleaning and painting robot of a wind turbine generator according to claim 3, characterized in that: An electromagnet (108) and a rotating seat (106) are arranged on the top of the wall climbing robot body (101), and an installation groove (107) is formed in the front side of the wall climbing robot body (101).

5. A rust cleaning and painting robot of a wind turbine generator unit according to claim 4, characterized in that: Rotating members (206) are arranged on the left and right sides of the top of the sand tank (201), the rotating members (206) are rotationally connected with the rotating seat (106), the bottom of a bottom plate (207) is magnetically connected with the top of the electromagnet (108), so that the bottom plate (207) in a horizontal state is fixed.

6. A rust cleaning and painting robot of a wind turbine generator unit according to claim 5, characterized in that: A hydraulic cylinder (5) is rotationally connected to the bottom of the installation groove (107), a piston rod of the hydraulic cylinder (5) is rotationally connected with the bottom of the bottom plate (207), and the sand blasting and rust removing mechanism (2) is driven to rotate by the hydraulic cylinder (5) to adjust the rust removing and spraying angle.

7. A rust cleaning and painting robot of a wind turbine generator unit according to claim 6, characterized in that: The sand spraying head (203) is arranged at one end of the sand tank (201) and communicates with the inside of the sand tank (201), a feeding bolt (202) is arranged at one end of the sand tank (201), sand and water are added into the sand tank (201) through the feeding bolt (202), an air outlet end of the air compressor (205) communicates with an air inlet end of the control valve (204), and an air outlet end of the control valve (204) communicates with an air inlet end of the sand tank (201), so that compressed air is filled into the sand tank (201).

8. A rust cleaning and painting robot of a wind turbine generator unit according to claim 7, characterized in that: The mounting frame (302) is fixedly installed on the bottom plate (207), the seat body (303) is installed with an adjusting motor (308) on one side, the output shaft of the adjusting motor (308) and one side of the paint spraying head (301) are installed with a belt pulley (309), two belt pulleys (309) are drivingly connected with a belt (310), the hose (306) is communicated with a paint control station (305) at the liquid inlet end, the paint control station (305) is fixedly installed on the top of the wall climbing robot main body (101), the paint control station (305) is communicated with a paint conveying pipe (304) at the liquid inlet end, one end of the paint conveying pipe (304) penetrates through the line pipe arrangement device (102) and is connected with a paint supply system.

9. A rust cleaning and painting robot of a wind turbine generator unit according to claim 8, characterized in that: The negative pressure recovery mechanism (4) comprises a collecting flat pipe (401), the collecting flat pipe (401) is installed on the bottom of the wall climbing robot main body (101), the collecting flat pipe (401) is sleeved with a collecting head (404) on the surface, the collecting head (404) is installed on the bottom of the wall climbing robot main body (101) through bolts, one end of the collecting flat pipe (401) is communicated with a mounting bracket (403), the other end of the collecting flat pipe (401) is communicated with a recovery pipe (402), and the recovery pipe (402) penetrates through the line pipe arrangement device (102) and is connected with a negative pressure recovery system.

10. A method of rust removal and painting of a wind turbine, suitable for use with a robot for rust removal and painting of a wind turbine according to any of the claims 1-9, characterized in that, The method comprises the following steps: S1, the wall climbing robot (1) is installed at the bottom of the wind turbine tower, the wall climbing robot main body (101) is adsorbed on the steel surface of the tower by the left and right wheel type magnetic attraction structures (104), and is powered by the built-in power supply module (105); the connecting cable (103) is connected to the ground central control station through the line pipe arrangement device (102), and the communication and energy channel are established; S2, the wall climbing robot (1) walks on the tower surface and reaches the position needing derusting, the electromagnet (108) is de-energized to release the adsorption of the bottom plate (207), and then the hydraulic cylinder (5) is started, the piston rod of the hydraulic cylinder (5) is retracted to drive the bottom plate (207) to rotate around the rotating seat (106), so that the overall pitch angle of the sand blasting derusting mechanism (2) and the paint spraying mechanism (3) is adjusted, and the derusting position of the tower is fitted; S3, the mixture of abrasive and water is added in the sand tank (201) through the feeding bolt (202) in advance, the air compressor (205) is started during derusting, compressed air enters the inside of the sand tank (201) through the control valve (204), a positive pressure is formed in the tank, under the action of air pressure, the water sand mixture is sprayed out at high speed from the sand blasting head (203), the tower surface is impacted, the oxide skin, rust layer and old coating are removed, the Sa2.5 level cleanliness is reached and the appropriate roughness is formed; S4, after the sand blasting derusting is completed, the painting and corrosion prevention are carried out, the two paint spraying heads (301) are located on the left and right sides of the sand blasting head (203) and are inclined to the opposite side, the tower surface just derusted is sprayed on both sides in a covering mode, the paint is delivered to the paint control station (305) from the ground paint supply system through the paint conveying pipe (304), and then enters the paint spraying head (301) through the hose (306) and the joint (307). S5, the spraying angle can be driven by adjusting the motor (308), the output shaft of which drives the paint spraying head (301) through the belt pulley (309) and the belt (310), realizing the slight swing of the paint spraying head (301) around the seat body (303), ensuring uniform coating coverage. The paint control station (305) can control the paint delivery amount and pressurize the delivered paint; S6, the dust, flying abrasive, and paint mist pollutants generated during sandblasting and spraying are collected in real time by the negative pressure recovery mechanism (4) located at the bottom of the wall climbing robot main body (101). The pollutants are sucked into the collection head (404), then through the collection flat pipe (401) into the recovery pipe (402), and then transported to the ground negative pressure recovery system, realizing the closed recovery of dust and waste, preventing environmental pollution; S7, after rust removal and spraying, the hydraulic cylinder (5) drives the bottom plate (207) to reset, the electromagnet (108) is energized to magnetically fix the bottom plate (207), ensuring the stability of the sandblasting and rust removal mechanism (2) and the paint spraying mechanism (3) during movement. The wall climbing robot (1) climbs the tower at a constant speed under the drive of the motor. The sandblasting and rust removal mechanism (2), the paint spraying mechanism (3), and the negative pressure recovery mechanism (4) work together to form a continuous operation belt for rust removal, spraying, and recovery. The central control station monitors the operating state in real time and automatically completes the surface treatment of the entire section according to the tower height. When the whole tower operation is completed, the wall climbing robot (1) slowly descends to the ground, completing the maintenance task.

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