Wind turbine generator detection flaw detection robot and maintenance method thereof

Abstract

The invention discloses a wind turbine generator detection flaw detection robot and a maintenance method thereof.The wind turbine generator detection flaw detection robot comprises a magnetic attraction wall-climbing robot, a lifting mechanism is installed on the magnetic attraction wall-climbing robot, a surveying and mapping flaw detection mechanism is installed on the lifting mechanism, and the surveying and mapping flaw detection mechanism detects a coating and a weld joint on the surface of a wind turbine generator tower; the surveying and mapping flaw detection mechanism comprises a detection seat, high-definition cameras are mounted on the left and right sides in the detection seat, a plate body is fixedly connected to the bottom of the detection seat, and illuminating lamps are mounted on the left and right sides of the plate body. The robot has the advantage of good flexibility, and solves the problems that the flexibility is poor, the detection range is inconvenient to flexibly adjust, the surface structure of a wind power tower drum is complicated, and if the robot cannot flexibly adjust the height, angle or distance of a probe, a key area is difficult to effectively scan, and the detection efficiency is low in the use process of an existing wind turbine generator system detection flaw detection robot. And the defect omission ratio is increased.

Description

Technical Field

[0001] This invention relates to the field of wind power generation technology, specifically to a wind turbine inspection and flaw detection robot and its maintenance method. Background Technology

[0002] A wind turbine is a complete set of power generation equipment that converts wind energy into electrical energy, and it is the core component of a wind power generation system. It is typically installed on land or at sea, capturing the kinetic energy of natural wind to drive a generator to produce electricity, which is then transmitted to the power grid for user consumption. The tower plays a crucial role in the core load-bearing structure of a wind turbine. The tower not only supports the nacelle and blades but also needs to withstand the long-term effects of harsh environments such as wind, rain, salt spray, and snow. Its surface coating and weld joints are highly susceptible to corrosion, cracking, and peeling. If these defects are not detected and repaired in time, they will rapidly expand, potentially leading to coating failure, accelerated steel corrosion, and even damage to the weld structure, ultimately seriously threatening the safety of the unit and causing significant economic losses and safety accidents.

[0003] Currently, the corrosion protection and weld inspection of wind turbine towers mainly rely on manual labor at a height of 100 meters using suspended platforms or ropes, or automated inspection using wall-climbing robots. These robots typically integrate multiple sensors, such as ultrasonic, infrared thermal imaging, laser scanning, high-definition cameras, and electromagnetic detection, which can identify defects in the surface coating and welds of wind turbine towers without disassembling or damaging the equipment.

[0004] Existing wind turbine inspection robots have poor flexibility during use and are not easy to adjust the inspection range. The surface structure of wind turbine towers is complex. If the robot cannot flexibly adjust the probe height, angle or distance, it will be difficult to effectively scan key areas, resulting in an increased rate of missed defects. Summary of the Invention

[0005] The purpose of this invention is to provide a wind turbine inspection and flaw detection robot and its maintenance method, which has the advantage of good flexibility. It solves the problem that existing wind turbine inspection and flaw detection robots have poor flexibility during use, making it inconvenient to flexibly adjust the detection range. The surface structure of wind turbine towers is complex, and if the robot cannot flexibly adjust the probe height, angle or distance, it is difficult to effectively scan key areas, resulting in an increased defect missed rate.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a wind turbine inspection and flaw detection robot, including a magnetic wall-climbing robot, wherein a lifting mechanism is installed on the magnetic wall-climbing robot, and a mapping and flaw detection mechanism is installed on the lifting mechanism, the mapping and flaw detection mechanism inspecting the coating and welds on the surface of the wind turbine tower.

[0007] The mapping and flaw detection mechanism includes a detection base, with high-definition cameras installed on the left and right sides inside the detection base. A plate is fixedly connected to the bottom of the detection base, and lighting lamps are installed on the left and right sides of the plate to provide supplementary lighting for the high-definition cameras. A rotating base is fixedly installed on one side of the plate, and a laser sensor is installed inside the rotating base. Navigation and detection are performed through the high-definition cameras and the laser sensor.

[0008] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, the high-definition camera has an electric zoom lens with a resolution of ≥5 million pixels and the laser sensor has a resolution of ≤5μm.

[0009] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, the magnetic climbing robot includes a magnetic climbing robot body, and motor-driven wheeled magnetic structures are installed on the left and right sides of the magnetic climbing robot body. The magnetic climbing robot body moves on the surface of the wind turbine tower through the wheeled magnetic structures.

[0010] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, a power module is installed inside the main body of the magnetic climbing robot, and a communication module is installed on one side of the main body of the magnetic climbing robot. The power module supplies power to the main body of the magnetic climbing robot, and the communication module connects to a cloud server to transmit data.

[0011] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, the lifting mechanism includes a support base, which is fixedly installed on the main body of the magnetic wall-climbing robot. A first link and a second link are rotatably connected to the surface of the support base. A lifting seat is rotatably connected to one end of the first link and the second link. A hydraulic rod is rotatably connected to the first link, and the bottom of the hydraulic rod is rotatably connected to the top of the main body of the magnetic wall-climbing robot.

[0012] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, a mounting base is fixedly installed on the top of the lifting seat, a first stepper motor is provided on one side of the inspection seat, the first stepper motor is fixedly installed on the mounting base, a connecting rod is fixedly installed on the output shaft of the first stepper motor, the connecting rod passes through the lifting seat and is equipped with a small gear, and the connecting rod and the lifting seat are rotatably connected by a bearing.

[0013] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, the small gear is meshed with a large gear, a rotating rod is fixedly installed on the top of the large gear, a connecting piece is fixedly connected to the top of the rotating rod, the connecting piece is fixedly installed on the rear side of the inspection seat, and a limiting sleeve is movably sleeved on the surface of the rotating rod, and the limiting sleeve is fixedly installed on the lifting seat.

[0014] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, a rod is rotatably connected to the rotating base, the rod is fixedly connected to a laser sensor, a driven pulley is fixedly sleeved on one end of the rod, an active pulley is provided on one side of the driven pulley, and a belt is drivingly connected to the surfaces of the driven pulley and the active pulley.

[0015] As a preferred embodiment of the wind turbine inspection and flaw detection robot of the present invention, a second stepper motor is fixedly installed on the rear side of the plate, and the output shaft of the second stepper motor is connected to the drive pulley.

[0016] A method for inspecting and repairing wind turbine generators using a flaw detection robot includes the following steps:

[0017] S1. Deploy the magnetic climbing robot at the bottom of the wind turbine tower. It is attached to the steel surface of the tower by the wheel-type magnetic structure on its left and right sides. The robot is powered by the power module inside the robot body and the communication module establishes a data link with the cloud server.

[0018] S2. The magnetic climbing robot climbs vertically along the surface of the tower. First, it uses the high-definition camera and laser sensor of the mapping and flaw detection mechanism to create a three-dimensional model of the surface of the wind turbine tower and plans the detection path. Then, according to the detection path, the planned detection nodes are set. The magnetic climbing robot performs coating and weld inspection on the appearance of the tower at the detection nodes.

[0019] S3. When performing inspections at the inspection nodes, the surveying and flaw detection mechanism is adjusted to achieve accurate inspections from multiple angles and positions. The inspection data is transmitted to the magnetic wall-climbing robot and then transmitted to the remote service terminal via the communication module. The magnetic wall-climbing robot passes through the planned inspection nodes in sequence and performs inspections on the positions of the inspection nodes to ultimately achieve comprehensive inspection of the tower.

[0020] S4. When adjusting the mapping and flaw detection mechanism using the lifting mechanism, the hydraulic rod in the lifting mechanism extends and retracts, thereby pushing the first link to rotate. The first link drives the lifting seat to rise or fall, and the second link assists the lifting seat to improve the stability during the adjustment process, so that the lifting seat drives the mapping and flaw detection mechanism above to get closer to the area to be inspected.

[0021] S5. During the inspection process, the first stepper motor drives the small gear to rotate through the connecting rod, which in turn drives the large gear and rotating rod to rotate, so that the connecting part drives the entire inspection seat to achieve angle adjustment, ensuring that the inspection surface is facing the tower surface. At the same time, the high-definition cameras on the left and right sides inside the inspection seat, together with the lighting lamps on both sides of the plate, provide high-brightness supplementary lighting to collect images of the coating status and macroscopic morphology of the tower surface and weld in real time.

[0022] S6. The second stepper motor drives the active pulley to rotate the driven pulley and rod via the belt, thereby adjusting the scanning angle of the laser sensor. The laser sensor performs a high-precision three-dimensional contour scan of the weld area. Working in conjunction with the high-definition camera and the laser sensor, on the one hand, it uses visual images to identify defects such as coating peeling, corrosion, and cracks; on the other hand, it uses laser point cloud data to accurately measure geometric deviations such as weld reinforcement, undercut, and misalignment. The fused detection data is then uploaded to the cloud server in real time via the communication module for analysis, realizing fully automatic, high-precision, and non-contact intelligent inspection of coating and weld defects on the surface of the wind turbine tower.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. This invention significantly improves the flexibility and adaptability of inspection operations by integrating an actively adjustable lifting mechanism and a multi-degree-of-freedom mapping and flaw detection mechanism into a magnetic wall-climbing robot. The lifting mechanism adopts a four-bar linkage lifting structure consisting of a support base, a first link, a second link, and a hydraulic rod, which can dynamically adjust the working height of the mapping and flaw detection mechanism according to the tower curvature and weld position. At the same time, the first stepper motor drives the small gear and the large gear to mesh, driving the rotating rod and the detection base to achieve angle adjustment, ensuring that the high-definition camera and laser sensor are always aligned with the surface being measured in the optimal posture. In addition, the second stepper motor controls the scanning tilt angle of the laser sensor via belt drive, enabling it to accurately cover different areas of the weld. This multi-dimensional adjustment capability effectively eliminates the detection blind spots existing in traditional fixed flaw detection equipment, greatly improving the coverage integrity of complex structures.

[0025] 2. The high-definition camera of this invention is equipped with an electric zoom lens. In conjunction with the lighting on both sides of the plate, it can acquire clear images of the coating and weld surfaces at different distances. The laser sensor, combined with flexible posture adjustment, can accurately reconstruct the three-dimensional morphology of the weld and accurately identify micron-level geometric defects. All detection data is uploaded to the cloud server in real time through the communication module, supporting remote analysis and digital twin management. The entire system is powered by a power module and moves stably on the tower surface using a wheeled magnetic suction structure, eliminating the need for manual climbing or scaffolding. This technology not only improves the defect detection rate and quantitative accuracy but also significantly shortens downtime and reduces the risks of high-altitude operations, providing reliable equipment support for the transformation of wind power operation and maintenance towards automation and intelligence. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention. Figure One ;

[0027] Figure 2 This is a schematic diagram of the structure of the present invention. Figure Two ;

[0028] Figure 3This is a schematic diagram of the magnetic wall-climbing robot of the present invention;

[0029] Figure 4 Schematic diagram of the lifting mechanism of the present invention Figure One ;

[0030] Figure 5 Schematic diagram of the lifting mechanism of the present invention Figure Two ;

[0031] Figure 6 This is a schematic diagram of the flaw detection mechanism of the present invention. Figure One ;

[0032] Figure 7 This is a schematic diagram of the flaw detection mechanism of the present invention (illustrated below).

[0033] Figure 8 This is a schematic diagram of the flaw detection mechanism of the present invention. Figure Three .

[0034] In the diagram: 1. Magnetic wall-climbing robot; 2. Lifting mechanism; 3. Surveying and flaw detection mechanism; 101. Main body of the magnetic wall-climbing robot; 102. Wheeled magnetic structure; 103. Power module; 104. Communication module; 201. Support base; 202. First link; 203. Lifting seat; 204. Second link; 205. Hydraulic rod; 206. Mounting seat; 301. Detection seat; 302. High-definition camera; 303. Connector; 304. Rotating rod; 305. First stepper motor; 306. Connecting rod; 307. Small gear; 308. Lighting lamp; 309. Active pulley; 310. Belt; 311. Driven pulley; 312. Rod body; 313. Rotating seat; 314. Laser sensor; 315. Plate body; 316. Second stepper motor; 317. Large gear; 318. Limiting sleeve. Detailed Implementation

[0035] Example 1

[0036] Please see Figures 1-8 A wind turbine inspection and flaw detection robot includes a magnetic wall-climbing robot 1, a lifting mechanism 2 installed on the magnetic wall-climbing robot 1, and a mapping and flaw detection mechanism 3 installed on the lifting mechanism 2. The mapping and flaw detection mechanism 3 inspects the coating and welds on the surface of the wind turbine tower.

[0037] Furthermore, the surveying and flaw detection mechanism 3 includes a detection base 301, with high-definition cameras 302 installed on the left and right sides inside the detection base 301. A plate 315 is fixedly connected to the bottom of the detection base 301, and lighting lamps 308 are installed on the left and right sides of the plate 315 to provide supplementary lighting for the high-definition cameras 302. A rotating base 313 is fixedly installed on one side of the plate 315, and a laser sensor 314 is installed inside the rotating base 313. Navigation and detection are performed through the high-definition cameras 302 and the laser sensor 314.

[0038] Furthermore, the high-definition camera 302 has a motorized zoom lens with a resolution of ≥5 megapixels, and the laser sensor 314 has a resolution of ≤5μm.

[0039] Furthermore, the magnetic climbing robot 1 includes a magnetic climbing robot body 101, and motor-driven wheeled magnetic structures 102 are installed on the left and right sides of the magnetic climbing robot body 101. The magnetic climbing robot body 101 walks on the surface of the wind turbine tower through the wheeled magnetic structures 102.

[0040] Furthermore, a power module 103 is installed inside the main body 101 of the magnetic climbing robot, and a communication module 104 is installed on one side of the main body 101 of the magnetic climbing robot. The power module 103 supplies power to the main body 101 of the magnetic climbing robot, and the communication module 104 connects to the cloud server to transmit data.

[0041] Furthermore, the lifting mechanism 2 includes a support base 201, which is fixedly installed on the main body 101 of the magnetic climbing robot. A first connecting rod 202 and a second connecting rod 204 are rotatably connected to the surface of the support base 201. A lifting seat 203 is rotatably connected to one end of the first connecting rod 202 and the second connecting rod 204. A hydraulic rod 205 is rotatably connected to the first connecting rod 202. The bottom of the hydraulic rod 205 is rotatably connected to the top of the main body 101 of the magnetic climbing robot.

[0042] Furthermore, a mounting base 206 is fixedly installed on the top of the lifting seat 203, and a first stepper motor 305 is provided on one side of the detection seat 301. The first stepper motor 305 is fixedly installed on the mounting base 206, and a connecting rod 306 is fixedly installed on the output shaft of the first stepper motor 305. The connecting rod 306 passes through the lifting seat 203 and is equipped with a pinion 307. The connecting rod 306 and the lifting seat 203 are rotatably connected through bearings.

[0043] Furthermore, a large gear 317 meshes with the surface of the small gear 307, a rotating rod 304 is fixedly installed on the top of the large gear 317, a connector 303 is fixedly connected to the top of the rotating rod 304, the connector 303 is fixedly installed on the rear side of the detection seat 301, and a limiting sleeve 318 is movably sleeved on the surface of the rotating rod 304, and the limiting sleeve 318 is fixedly installed on the lifting seat 203.

[0044] Furthermore, a rod 312 is rotatably connected to the rotating seat 313. The rod 312 is fixedly connected to the laser sensor 314. A driven pulley 311 is fixedly sleeved on one end of the rod 312. A driving pulley 309 is provided on one side of the driven pulley 311. A belt 310 is connected to the surfaces of the driven pulley 311 and the driving pulley 309.

[0045] Furthermore, a second stepper motor 316 is fixedly installed on the rear side of the plate 315, and the output shaft of the second stepper motor 316 is connected to the drive pulley 309.

[0046] By integrating an actively adjustable lifting mechanism 2 and a multi-degree-of-freedom mapping and flaw detection mechanism 3 onto the magnetic wall-climbing robot 1, the flexibility and adaptability of the inspection operation are significantly improved. The lifting mechanism 2 adopts a four-bar lifting structure consisting of a support base 201, a first connecting rod 202, a second connecting rod 204, and a hydraulic rod 205. It can dynamically adjust the working height of the mapping and flaw detection mechanism 3 according to the curvature of the tower and the position of the weld. At the same time, the first stepper motor 305 drives the small gear 307 to mesh with the large gear 317, thereby driving the rotating rod 304 and the detection base 301 to achieve angle adjustment, ensuring that the high-definition camera 302 and the laser sensor 314 are always aligned with the surface being measured in the optimal posture. In addition, the second stepper motor 316 controls the scanning tilt angle of the laser sensor 314 via the belt 310, enabling it to accurately cover different areas of the weld. This multi-dimensional adjustment capability effectively eliminates the detection blind spots existing in traditional fixed flaw detection equipment and greatly improves the coverage integrity of complex structures.

[0047] The high-definition camera 302 is equipped with an electric zoom lens. Together with the lighting lamps 308 on both sides of the plate 315, it can acquire clear images of the coating and weld surfaces at different distances. The laser sensor 314, combined with flexible attitude adjustment, can accurately reconstruct the three-dimensional morphology of the weld and accurately identify micron-level geometric defects. All detection data is uploaded to the cloud server in real time through the communication module 104, supporting remote analysis and digital twin management. The entire system is powered by the power module 103 and moves stably on the tower surface using the wheeled magnetic suction structure 102, eliminating the need for manual climbing or scaffolding. This technology not only improves the defect detection rate and quantitative accuracy but also significantly shortens downtime and reduces the risks of high-altitude operations, providing reliable equipment support for the transformation of wind power operation and maintenance towards automation and intelligence.

[0048] Example 2

[0049] Please see Figures 1-8 A method for inspecting and repairing wind turbines using a flaw detection robot includes the following steps:

[0050] S1. Deploy the magnetic climbing robot 1 at the bottom of the wind turbine tower. It is attached to the steel surface of the tower by the wheel magnetic structures 102 on its left and right sides. The robot is powered by the power module 103 in the main body 101 and the communication module 104 establishes a data link with the cloud server.

[0051] S2. The magnetic climbing robot 1 climbs vertically along the surface of the tower. First, it performs a three-dimensional model of the surface of the wind turbine tower through the high-definition camera 302 and laser sensor 314 of the mapping and flaw detection mechanism 3, and plans the detection path. Then, according to the detection path, the planned detection nodes are set, and the magnetic climbing robot 1 performs coating and weld inspection on the appearance of the tower at the detection nodes.

[0052] S3. When performing inspection at the inspection node, the surveying and flaw detection mechanism 3 is adjusted to achieve accurate inspection from multiple angles and positions. The inspection data is transmitted to the magnetic climbing robot 1 and then transmitted to the remote service terminal through the communication module 104. The magnetic climbing robot 1 passes through the planned inspection nodes in sequence and performs inspection on the position of the inspection nodes to finally achieve comprehensive inspection of the tower.

[0053] S4. When using the lifting mechanism 2 to adjust the mapping and flaw detection mechanism 3, the hydraulic rod 205 in the lifting mechanism 2 extends and retracts, thereby pushing the first connecting rod 202 to rotate. The first connecting rod 202 drives the lifting seat 203 to rise or fall. The second connecting rod 204 assists the lifting seat 203 to improve the stability during the adjustment process, so that the lifting seat 203 drives the mapping and flaw detection mechanism 3 above to get closer to the area to be inspected.

[0054] S5. During the inspection process, the first stepper motor 305 drives the pinion 307 to rotate through the connecting rod 306, which in turn drives the large gear 317 and the rotating rod 304 to rotate, so that the connecting piece 303 drives the entire inspection seat 301 to achieve angle adjustment, ensuring that the inspection surface is facing the tower surface. At the same time, the high-definition cameras 302 on the left and right sides inside the inspection seat 301, together with the lighting lamps 308 on both sides of the plate 315, provide high-brightness supplementary lighting to collect images of the coating status and macroscopic morphology of the weld on the tower surface in real time.

[0055] S6. The second stepper motor 316 drives the active pulley 309 to rotate the driven pulley 311 and the rod 312 via the belt 310, thereby adjusting the scanning angle of the laser sensor 314. The laser sensor 314 performs high-precision three-dimensional contour scanning of the weld area. The high-definition camera 302 works in conjunction with the laser sensor 314 to identify defects such as coating peeling, corrosion, and cracks using visual images. On the other hand, it accurately measures geometric deviations such as weld reinforcement, undercut, and misalignment using laser point cloud data. The fused detection data is then uploaded to the cloud server in real time via the communication module 104 for analysis, realizing fully automatic, high-precision, and non-contact intelligent inspection of coating and weld defects on the surface of the wind turbine tower.

[0056] 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 wind turbine detection and inspection robot, comprising a magnetic wall-climbing robot (1), characterized in that: The magnetic wall-climbing robot (1) is provided with a lifting mechanism (2), and the lifting mechanism (2) is provided with a surveying and defect detection mechanism (3); the surveying and defect detection mechanism (3) detects the coating and welds on the surface of the wind turbine tower drum. The surveying and defect detection mechanism (3) comprises a detection seat (301), high-definition cameras (302) are arranged on the left and right sides in the detection seat (301), a plate body (315) is fixedly connected to the bottom of the detection seat (301), illuminating lamps (308) are arranged on the left and right sides of the plate body (315) and provide light compensation for the high-definition cameras (302), a rotating seat (313) is fixedly arranged on one side of the plate body (315), and a laser sensor (314) is arranged in the rotating seat (313); the high-definition cameras (302) and the laser sensor (314) are used for navigation and detection.

2. The wind turbine detection and inspection robot of claim 1, wherein: The lens of the high-definition camera (302) is an electric zoom lens, and the resolution is greater than or equal to 5 million pixels; and the resolution of the laser sensor (314) is less than or equal to 5 μm.

3. The wind turbine detection and inspection robot of claim 1, wherein: The magnetic wall-climbing robot (1) comprises a magnetic wall-climbing robot body (101), motor-driven wheel-type magnetic attraction structures (102) are arranged on the left and right sides of the magnetic wall-climbing robot body (101), and the magnetic wall-climbing robot body (101) moves on the surface of the wind turbine tower drum through the wheel-type magnetic attraction structures (102).

4. A wind turbine inspection robot according to claim 3, wherein: A power module (103) is arranged in the magnetic wall-climbing robot body (101), a communication module (104) is arranged on one side of the magnetic wall-climbing robot body (101), the power module (103) supplies power to the magnetic wall-climbing robot body (101), and the communication module (104) is connected to a cloud server and transmits data.

5. A wind turbine inspection robot according to claim 4, wherein: The lifting mechanism (2) comprises a supporting seat (201), the supporting seat (201) is fixedly arranged on the magnetic wall-climbing robot body (101), a first connecting rod (202) and a second connecting rod (204) are rotatably connected to the surface of the supporting seat (201), a lifting seat (203) is rotatably connected to one end of the first connecting rod (202) and the second connecting rod (204), a hydraulic rod (205) is rotatably connected to the first connecting rod (202), and the bottom of the hydraulic rod (205) is rotatably connected to the top of the magnetic wall-climbing robot body (101).

6. A wind turbine inspection robot according to claim 5, wherein: A mounting seat (206) is fixedly arranged on the top of the lifting seat (203), a first stepping motor (305) is arranged on one side of the detection seat (301), the first stepping motor (305) is fixedly arranged on the mounting seat (206), a connecting rod (306) is fixedly arranged on the output shaft of the first stepping motor (305), the connecting rod (306) penetrates through the lifting seat (203) and is provided with a small gear (307), and the connecting rod (306) and the lifting seat (203) are rotatably connected through a bearing.

7. A wind turbine inspection robot according to claim 6, wherein: The pinion gear (307) is in surface engagement with a gear (317), and the gear (317) is fixedly installed at the top of a rotating rod (304), and the rotating rod (304) is fixedly connected with a connecting piece (303) at the top, and the connecting piece (303) is fixedly installed on the rear side of the detection seat (301), and the rotating rod (304) is movably sleeved with a limiting sleeve (318), and the limiting sleeve (318) is fixedly installed on the lifting seat (203).

8. A wind turbine inspection robot according to claim 7, wherein: The rotating seat (313) is rotatably connected with a rod body (312), and the rod body (312) is fixedly connected with a laser sensor (314), and the rod body (312) is fixedly sleeved with a driven belt pulley (311) at one end, and the driven belt pulley (311) is provided with a driving belt pulley (309) at one side, and the driven belt pulley (311) and the driving belt pulley (309) are drivingly connected with a belt (310) on the surfaces.

9. A wind turbine inspection robot according to claim 8, wherein: The plate body (315) is fixedly installed with a second stepping motor (316) at the rear side, and the output shaft of the second stepping motor (316) is connected with the driving belt pulley (309).

10. A method of inspecting a wind turbine detection inspection robot, characterized in that, The method comprises the following steps: S1, the magnetic wall climbing robot (1) is deployed at the bottom of the wind turbine tower, and the wheel type magnetic attraction structure (102) on the left and right sides of the magnetic wall climbing robot (1) is adsorbed on the surface of the tower steel, and the power module (103) in the magnetic wall climbing robot main body (101) is powered, and the communication module (104) establishes a data link with the cloud server; S2, the magnetic wall climbing robot (1) vertically climbs along the tower surface, first passes through the high-definition camera (302) and the laser sensor (314) of the surveying and mapping detection mechanism (3) to perform three-dimensional modeling on the surface of the wind turbine tower, plans a detection path, sets a planned detection node according to the detection path, and the magnetic wall climbing robot (1) detects the coating and the weld joint of the tower appearance at the detection node; S3, when detecting at the detection node, the surveying and mapping detection mechanism (3) is adjusted to realize accurate detection at multiple angles and multiple positions, and the detection data is transmitted to the magnetic wall climbing robot (1), and then transmitted to the remote service terminal through the communication module (104), and the magnetic wall climbing robot (1) sequentially passes through the detection node planned by the path, detects the position of the detection node, and finally realizes the comprehensive detection of the tower; S4, when the surveying and mapping detection mechanism (3) is adjusted by using the starting lifting mechanism (2), the hydraulic rod (205) in the lifting mechanism (2) is telescopic, thereby driving the first connecting rod (202) to rotate, the first connecting rod (202) drives the lifting seat (203) to rise or fall, the second connecting rod (204) assists the lifting seat (203), improves the stability in the adjustment process, and makes the lifting seat (203) drive the surveying and mapping detection mechanism (3) above to approach the detection area. S5, in the detection process, the first stepper motor (305) drives the pinion (307) to rotate through the connecting rod (306), and then drives the gear (317) and the rotating rod (304) to rotate, so that the connecting piece (303) drives the whole detection seat (301) to realize angle adjustment, and ensures that the detection surface is perpendicular to the surface of the tower, at the same time, the high-definition camera (302) on the left and right sides in the detection seat (301) cooperates with the illuminating lamp (308) on the two sides of the plate body (315) to realize high-brightness light compensation, and the coating state and the macroscopic image of the weld on the surface of the tower are collected in real time; S6, the second stepper motor (316) drives the driving pulley (309) to rotate through the belt (310), and drives the driven pulley (311) and the rod body (312) to rotate, so as to adjust the scanning angle of the laser sensor (314), the laser sensor (314) scans the weld area with high precision three-dimensional profile, the high-definition camera (302) and the laser sensor (314) work cooperatively, on the one hand, the coating peeling, rust, crack and other defects are identified by using visual image, on the other hand, the geometric deviation such as weld reinforcement, undercut and misalignment is measured accurately by laser point cloud data, and the fused detection data is uploaded to the cloud server in real time through the communication module (104) for analysis, so as to realize the full-automatic, high-precision and non-contact intelligent maintenance of the coating and weld defects on the surface of the wind turbine tower.

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