Disease monitoring and maintaining robot for tower drum of wind driven generator

Abstract

The invention belongs to the technical field of wind power facility operation and maintenance robots, particularly relates to a wind driven generator tower drum disease monitoring and maintenance robot, and provides the following scheme aiming at the problems that during existing wind power tower drum maintenance, blind areas exist in detection coverage, and the operation and maintenance work efficiency is low. Comprising an annular track assembly which is assembled in a split mode, a plurality of crawling assemblies which are evenly distributed in an annular mode and a monitoring assembly with an annular moving track. The crawling assembly 2 is provided with a unique steering unit, so that a crawling wheel unit can be switched between a vertical moving mode and a spiral moving mode, the robot is driven to spirally climb along the wall of the tower drum, and non-blind area continuous scanning is achieved. The monitoring assembly moves on the annular track through the carrying base, and drives the industrial camera, the ultrasonic positioning assembly, the grinding assembly and the paint spraying assembly through a three-dimensional adjusting mechanism composed of the Z-axis moving unit, the Y-axis moving unit and the X-axis moving unit, so that accurate positioning and operation are achieved. According to the invention, disease monitoring and maintenance of the tower drum of the wind driven generator can be efficiently completed.

Description

TECHNICAL FIELD

[0001] The application relates to a wind turbine tower disease monitoring and maintenance robot, and belongs to the technical field of wind power facility operation and maintenance robots. BACKGROUND

[0002] As a core component of clean energy, the large-scale development of wind power makes the efficient and safe operation and maintenance of wind turbine towers a key problem to be solved. The traditional manual operation mode relies on manual climbing or a basket, which has high safety risks, low efficiency and is greatly affected by the weather. Therefore, various wall-climbing robots have been developed to replace manual labor.

[0003] However, the existing technical solutions still have significant limitations in achieving full coverage, efficient disease monitoring and maintenance of the outer wall of the tower. For example, the wind turbine tower maintenance platform disclosed in CN113565707A keeps stable through a clamping module and is driven by a climbing module to segmentally lift the whole along the tower. The working module is installed on a working platform trolley that can slide along the annular track, and performs local maintenance through a telescopic working arm. The disadvantage of this solution is that the working process is discontinuous: the platform must frequently stop climbing to allow the working trolley to drive the tools to work circumferentially, resulting in low efficiency, and this stop-and-start mode is difficult to achieve seamless coverage of the outer wall, which is prone to maintenance blind spots. Although subsequent improved solutions attempt to introduce a spiral climbing concept to achieve climbing and working simultaneously, the core structure usually considers the climbing mechanism and the working platform as relatively independent systems, and the activity range and flexibility of the working module are limited by the predetermined track of the platform frame, making it difficult to perform multi-degree-of-freedom and high-precision point operations on specific disease points on complex curved surfaces. Secondly, the pull-arm type climbing robot for large wind turbine tower outer wall work disclosed in CN116176724A has a framework designed to resist mechanical tension, resulting in a complex and bulky structure. For example, the wind turbine tower maintenance robot disclosed in CN109850028B designs a complex system including a tower top holding ring, a tower bottom holding ring and a maintenance rack, and achieves fixation and lifting on the tower through a winch and a hoop structure. Although this solution provides a relatively stable aerial work platform, its structure is large and heavy, the installation and debugging process is complex, and the maneuverability is poor. The maintenance mobile vehicle can move circumferentially, radially and vertically on the rack, but this movement is limited to the annular rack guide installed at a certain height on the tower. If different height areas need to be detected, the entire bulky holding ring system must be driven to climb, which is a tedious and inefficient process, and the robot cannot carry out continuous and flexible compound motion along the tower surface with the working module.

[0004] In summary, the prior art mainly has two technical problems: one is the integrated scheme represented by the tracked or wheeled wall-climbing robot, which has small detection and maintenance tool activity freedom, limited coverage, and linear climbing of the robot body, which leads to blind areas in scanning; the second is the fixed scheme represented by the ring track clamp system, which is heavy and difficult to deploy, and the operation height is not flexible, making it difficult to achieve rapid and continuous full tower cylinder operation and maintenance. Therefore, there is an urgent need for a new technical solution that can have multiple advantages such as lightweight and rapid deployment, flexible operation around the circumference, efficient scanning without blind areas, and integrated and accurate maintenance, to overcome the shortcomings of the existing technology. SUMMARY

[0005] The present application provides a wind turbine tower disease monitoring and maintenance robot to solve the technical problems of blind areas in detection and coverage during existing wind turbine tower maintenance and low operation and maintenance efficiency.

[0006] The present application achieves the above-mentioned purposes through the following technical solutions: a wind turbine tower disease monitoring and maintenance robot, comprising a ring track assembly movably arranged on the tower cylinder body, the ring track assembly is split type assembled and connected, the ring track assembly integrally installs a plurality of climbing assemblies, and the ring track assembly further integrally installs a monitoring assembly with a ring-shaped movement track; The climbing assemblies are arranged in a ring shape at equal intervals, the climbing assembly comprises a climbing wheel unit and a clamping unit, the climbing wheel unit is connected to the movable front end of the clamping unit, a steering unit is arranged between the climbing wheel unit and the clamping unit, and the climbing wheel unit is provided with a vertical movement mode and a spiral movement mode through the steering unit; The monitoring assembly comprises a carrying base, a three-dimensional adjustment mechanism and a monitoring unit connected in sequence, the three-dimensional adjustment mechanism is connected to the carrying base, the three-dimensional adjustment mechanism comprises a Z-axis pushing unit, a Y-axis moving unit and an X-axis moving unit, the Z-axis pushing unit pushes the Y-axis moving unit to move along the Z-axis direction on the carrying base, the Y-axis moving unit moves along the Y-axis direction relative to the Z-axis pushing unit, and the X-axis moving unit moves along the X-axis direction relative to the Y-axis moving unit, the monitoring unit comprises a polishing assembly, a paint spraying assembly, an industrial camera and an ultrasonic positioning assembly for monitoring and maintaining the tower of the wind turbine, and the monitoring unit and each electrical element are electrically connected with an external power supply.

[0007] As a further embodiment of the present invention: the annular track assembly includes multiple arc-shaped guide rails, the outer surfaces of which are connected to arc-shaped racks, and the ends of the multiple arc-shaped guide rails are tightly joined to form an annular structure suitable for enclosing the wind turbine tower. Below the arc-shaped guide rails, upper and lower supports are arranged in parallel. Support connecting rods connect the arc-shaped guide rails, upper and lower supports. The end joints of the upper and lower supports are fixedly connected to detachable connecting slot plates, and slot plate connecting rods are fixedly connected between the upper and lower connecting slot plates.

[0008] As a further embodiment of the present invention: the clamping unit of the crawling assembly includes a crawling base and a crawling electric push rod. The crawling base is fixedly connected between the upper support and the lower support. The outer shell of the crawling electric push rod is fixedly connected to the crawling base. The front end of the push rod of the crawling electric push rod is connected to the steering unit. A crawling guide rod is movably provided through the body of the crawling base. The connection position of the crawling guide rod is located on both sides of the crawling electric push rod, and one end of the crawling guide rod is connected to the steering unit. The crawling electric push rod drives the steering unit and the crawling wheel unit to press against the tower wall.

[0009] As a further embodiment of the present invention: the crawling wheel unit of the crawling assembly includes a driven wheel, a driving wheel, a driven wheel mounting base, a reducer, and a crawling servo motor. The driven wheel mounting base and the reducer are arranged vertically. A driven wheel docking shaft is rotatably connected to the driven wheel mounting base, and driven wheels are coaxially fixedly connected to both ends of the driven wheel docking shaft. The output end of the reducer is coaxially fixedly connected to the driving wheel docking shaft, and driving wheels are coaxially fixedly connected to both ends of the driving wheel docking shaft. The motor shaft of the crawling servo motor is coaxially fixedly connected to the input shaft of the reducer. A distance measuring sensor is also connected to the driven wheel mounting base.

[0010] As a further embodiment of the present invention: the steering unit of the crawling assembly includes a fixed base plate and a movable base plate. The driven wheel fixing seat and the reducer are both fixedly connected to the movable base plate. The front ends of the crawling guide rod and the crawling electric push rod are both fixedly connected to the fixed base plate. A docking rotating rod is provided between the fixed base plate and the movable base plate. One end of the docking rotating rod is rotatably connected to the fixed base plate, and the other end of the docking rotating rod is fixedly connected to the movable base plate. A gear housing is fixedly connected to the side of the fixed base plate near the movable base plate. The rod body of the docking rotating rod movably passes through the gear housing. A driven gear is fixedly sleeved on the rod body of the docking rotating rod located in the gear housing. A steering servo motor is fixedly connected to the side of the fixed base plate away from the movable base plate. The motor shaft of the steering servo motor passes through the fixed base plate, and a driving gear is fixedly sleeved on the shaft body of the steering servo motor located in the gear housing. The driving gear and the driven gear are meshed and connected.

[0011] As a further embodiment of the present invention: an arc-shaped abutment and a liquid bladder are also provided inside the gear housing, located directly above the driven gear. The liquid bladder is fixedly connected to the lower surface of the arc-shaped abutment. A locking electric push rod is connected between the arc-shaped abutment and the inner top surface of the gear housing. A coil is embedded in the body of the arc-shaped abutment. The liquid bladder is filled with magnetorheological fluid. When the liquid bladder is in close contact with the tooth body of the driven gear, the coil is electrically connected to an external power source.

[0012] As a further embodiment of the present invention: an L-shaped clamping plate is connected to the bottom of the mounting base, the L-shaped clamping plate is movably clamped on both sides of the arc-shaped guide rail, a movable drive motor is fixedly connected inside the mounting base, the motor shaft of the movable drive motor movably passes through the bottom surface of the mounting base, and a drive gear is fixedly connected coaxially on the shaft of the movable drive motor located on one side of the arc-shaped guide rail, the drive gear meshes with the arc-shaped rack, and several guide pulleys are rotatably connected inside the L-shaped clamping plate, the guide pulleys are respectively clamped and connected to both sides of the arc-shaped guide rail.

[0013] As a further embodiment of the present invention: the Z-axis push unit of the three-dimensional adjustment mechanism includes a monitoring base, a monitoring electric push rod, and a monitoring guide rod. The monitoring base is fixedly connected to the mounting base. The outer shell of the monitoring electric push rod is fixedly connected to the monitoring base. The monitoring guide rod is arranged on both sides of the monitoring electric push rod. The push rod of the monitoring electric push rod and the rod body of the monitoring guide rod both movably penetrate through the monitoring base. The front end of the push rod of the monitoring electric push rod and the front end of the rod body of the monitoring guide rod are both connected to the Y-axis moving unit.

[0014] As a further embodiment of the present invention: the Y-axis moving unit of the three-dimensional adjustment mechanism includes a Y-axis moving base plate, a lifting rack, a Y-axis sliding guide rail, a push base plate, a motor base, a lifting drive motor, and a lifting gear. The lifting rack is fixedly connected to the side of the Y-axis moving base plate away from the X-axis moving unit. The Y-axis sliding guide rail is arranged on both sides of the lifting rack and is slidably connected to the Y-axis moving base plate. The motor base is fixedly connected between the Y-axis sliding guide rail and the push base plate. The side of the push base plate away from the motor base is fixedly connected to the monitoring electric push rod and the monitoring guide rod of the Z-axis push unit. The lifting drive motor is fixedly connected inside the motor base. The lifting gear is fixedly connected to the motor shaft of the lifting drive motor along the same axis. The lifting gear meshes with the lifting rack.

[0015] As a further embodiment of the present invention: the X-axis moving unit of the three-dimensional adjustment mechanism includes an X-axis moving base, an X-axis sliding guide rail, a slider, a lead screw, and a sliding drive motor. A grinding assembly and a painting assembly are fixedly connected to the side of the X-axis moving base near the tower body. A monitoring base plate is fixedly connected to the upper end of the X-axis moving base, and an industrial camera and an ultrasonic positioning assembly are fixedly connected to the monitoring base plate. The slider is fixedly connected to the side of the X-axis moving base away from the tower body, and the X-axis sliding guide rail is fixedly connected to the side of the Y-axis moving base near the X-axis moving base. The slider is slidably connected to the X-axis sliding guide rail. The body of the sliding drive motor is fixedly connected to the Y-axis moving base near the X-axis moving base. The lead screw is coaxially fixedly connected to the motor shaft of the sliding drive motor. The thread of the lead screw passes through the X-axis moving base. The grinding component is used to treat the rust on the tower surface; the painting component is used to spray the special anti-corrosion coating for wind turbine towers; the industrial camera is used to capture images of cracks and coating peeling on the tower surface; the ultrasonic positioning component is used to assist in the relative pose positioning of the robot in the wind noise environment of wind turbine operation.

[0016] The beneficial effects of this invention are: 1. This invention features a ring-shaped track assembly that is movably fitted onto the tower body. The ring-shaped track assembly is a modular assembly that integrates multiple crawling components and a monitoring component with a ring-shaped movement trajectory. The modular design of the ring-shaped track assembly allows for easy disassembly into multiple easily maneuverable units, reducing logistics difficulty and costs. On-site, only simple assembly and docking are required to quickly reconstruct the complete ring-shaped track assembly, shortening preparation time and improving maintenance response efficiency. The ring-shaped track assembly integrates multiple crawling components and a monitoring component with a ring-shaped movement trajectory, ensuring that the driving force and clamping force applied by the crawling components can be evenly transmitted through the rigid ring-shaped track assembly, while also ensuring the stable operation of the monitoring component on the ring-shaped movement trajectory. 2. The crawling components of this invention are arranged in a ring with equal spacing. Each crawling component includes a crawling wheel unit and a clamping unit. The crawling wheel unit is connected to the movable front end of the clamping unit. A steering unit is provided between the crawling wheel unit and the clamping unit. The crawling wheel unit has a vertical movement mode and a spiral movement mode through the steering unit. The ring-shaped and equally spaced arrangement of the crawling components ensures the symmetry of the force on the robot's ring track assembly when clamped to the tower, effectively preventing the risk of overturning due to eccentric loading and ensuring the fundamental safety of high-altitude operations. Each crawling component includes a crawling wheel unit and a clamping unit. The clamping unit is responsible for providing positive pressure perpendicular to the wall surface to generate sufficient frictional driving force and resist external disturbances such as wind loads. The crawling wheel unit is responsible for converting the rotational power of the motor into the linear or curvilinear motion of the robot. The two work together to ensure that the robot can move stably against the wall even in strong winds. The steering unit set between the crawling wheel unit and the clamping unit enables the crawling wheel unit to have two motion modes: vertical movement mode and spiral movement mode. The vertical movement mode is used for conventional rapid lifting and positioning, while the spiral movement mode can achieve panoramic detection without blind spots. By adjusting the angle of each crawling wheel unit through the steering unit and coordinating to control its rotation speed, the entire robot is driven to spirally climb along the tower wall, so that the onboard monitoring components can complete a full-coverage scan of the outer wall of the tower in a single continuous climb. 3. The monitoring component of this invention includes a mounting base, a three-dimensional adjustment mechanism, and a monitoring unit connected in sequence. The three-dimensional adjustment mechanism is connected to the mounting base and includes a Z-axis pushing unit, a Y-axis moving unit, and an X-axis moving unit. The Z-axis pushing unit pushes the Y-axis moving unit to move along the Z-axis direction on the mounting base. The Y-axis moving unit moves relative to the Z-axis pushing unit along the Y-axis direction, and the X-axis moving unit moves relative to the Y-axis moving unit along the X-axis direction. The monitoring unit includes a grinding component, a painting component, an industrial camera, and an ultrasonic positioning component for monitoring and maintaining the wind turbine tower. The monitoring unit and all electrical components are electrically connected to an external power supply. The monitoring component is connected to a circular track component via the mounting base, giving it a circular movement trajectory. This allows the monitoring function to move arbitrarily around the circumference of the tower, no longer limited to a fixed position, thus expanding the single-point operation range. The three-dimensional adjustment mechanism of the monitoring component... The system comprises a Z-axis push unit, a Y-axis movement unit, and an X-axis movement unit. The Z-axis push unit propels the entire Y-axis movement unit radially along the Z-axis to adjust the working distance between the work tool and the tower wall. The Y-axis movement unit moves relative to the Z-axis push unit along the Y-axis (tower axial direction), and combined with the X-axis movement unit moving relative to the Y-axis movement unit along the X-axis (tower circumferential direction), the two form a precision two-dimensional Cartesian coordinate motion platform covering a local curved surface of the tower. This enables the grinding, painting, industrial camera, and ultrasonic positioning components in the monitoring unit to achieve high-precision positioning. The industrial camera can perform multi-angle, close-range detailed imaging of suspected defects; the ultrasonic positioning component can perform closed-loop correction of the robot's own posture; and the grinding and painting components can perform repair work according to the planned path. Furthermore, the electrical connection between all electrical components and the external power supply ensures a continuous and stable energy supply. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural diagram of the annular track assembly of the present invention; Figure 3 This is a schematic diagram of the connection structure between the crawling component and the ring track component of the present invention; Figure 4 This is a schematic diagram of the connection structure between the monitoring component and the ring track component of the present invention; Figure 5 This is a schematic diagram of the crawling component structure of the present invention; Figure 6 This is a schematic diagram of the crawling wheel unit structure of the present invention; Figure 7 This is a schematic diagram of the steering unit structure of the present invention; Figure 8 This is a schematic diagram of the cross-sectional structure of the steering unit of the present invention; Figure 9 This is a cross-sectional schematic diagram of the driven gear of the present invention in both locked and open states; Figure 10 This is a schematic diagram of the cross-sectional structure of the arc-shaped abutment plate and the liquid bladder of the present invention; Figure 11 This is a schematic diagram of the monitoring component structure of the present invention; Figure 12 This is a schematic diagram of the connection structure between the X-axis moving unit and the monitoring unit of the present invention; Figure 13 This is a schematic diagram of the three-dimensional adjustment mechanism structure of the present invention; Figure 14 This is a schematic diagram of the Y-axis moving unit structure of the present invention.

[0018] In the diagram: 1. Circular track assembly; 11. Arc-shaped guide rail; 12. Arc-shaped rack; 13. Upper bracket; 14. Bracket connecting rod; 15. Lower bracket; 16. Connecting slot plate; 17. Slot plate connecting rod; 2. Crawling assembly; 21. Crawling base; 22. Crawling electric push rod; 23. Driven wheel; 24. Driven wheel; 25. Crawling guide rod; 26. Fixed base plate; 27. Movable base plate; 28. Driven wheel fixing seat; 29. ​​Driven wheel docking shaft; 210. Reducer; 211. Driven wheel docking shaft; 212. Distance sensor; 213. Crawling servo motor; 214. Dock rotating rod; 215. Driven gear; 216. Gear housing; 217. Driven gear; 218. Steering servo motor; 219. Arc-shaped abutment plate; 220. Liquid bladder; 221 1. Coil; 222. Magnetorheological fluid; 223. Locking electric push rod; 3. Monitoring component; 31. Mounting base; 32. Monitoring base; 33. Monitoring electric push rod; 34. Y-axis moving base; 35. X-axis moving base; 36. L-shaped clamping plate; 37. Moving drive motor; 38. Drive gear; 39. Guide pulley; 310. Monitoring guide rod; 311. Lifting rack; 312. Y-axis sliding guide rail; 313. X-axis sliding guide rail; 314. Slider; 315. Lead screw; 316. Sliding drive motor; 317. Monitoring base; 318. Push base plate; 319. Motor base; 320. Lifting drive motor; 321. Lifting gear; 4. Grinding component; 5. Painting component; 6. Industrial camera; 7. Ultrasonic positioning component. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1 like Figures 1 to 14 As shown, a wind turbine tower defect monitoring and maintenance robot includes a ring track assembly 1 movably mounted on the tower body. The ring track assembly 1 is a split-type assembly that can be assembled and connected separately. The ring track assembly 1 integrates multiple crawling components 2 and a monitoring component 3 with a ring-shaped movement trajectory. The split-type ring track assembly 1 can be easily disassembled into multiple individual components that are easy to handle manually, reducing logistics difficulty and cost. On-site, only simple assembly and connection are required to quickly reconstruct the complete ring track assembly 1, shortening the work preparation time and improving the operation and maintenance response efficiency. The ring track assembly 1 integrates multiple crawling components 2 and a monitoring component 3 with a ring-shaped movement trajectory, ensuring that the driving force and clamping force applied by the crawling components 2 can be evenly transmitted through the rigid ring track assembly 1, while also ensuring the stable operation of the monitoring component 3 on the ring-shaped movement trajectory. Multiple crawling components 2 are arranged in a ring at equal intervals. Each crawling component 2 includes a crawling wheel unit and a clamping unit. The crawling wheel unit is connected to the movable front end of the clamping unit. A steering unit is provided between the crawling wheel unit and the clamping unit. The crawling wheel unit has a vertical movement mode and a spiral movement mode through the steering unit. The ring-shaped and equally spaced arrangement of the crawling components 2 ensures the symmetry of the force on the robot's ring track component 1 when clamped to the tower, effectively preventing the risk of overturning due to eccentric loading and ensuring the fundamental safety of high-altitude operations. Each crawling component 2 includes a crawling wheel unit and a clamping unit. The clamping unit is responsible for providing positive pressure perpendicular to the wall surface to generate sufficient frictional driving force and resist external disturbances such as wind loads. The crawling wheel unit... The robot is responsible for converting the rotational power of the motor into linear or curvilinear motion. The two work together to ensure that the robot can move stably against the wall even in strong winds. The steering unit set between the crawling wheel unit and the clamping unit enables the crawling wheel unit to have two motion modes: vertical movement mode and spiral movement mode. The vertical movement mode is used for conventional rapid lifting and positioning, while the spiral movement mode can achieve panoramic detection without blind spots. By adjusting the angle of each crawling wheel unit through the steering unit and coordinating to control its rotation speed, the entire robot is driven to spirally climb along the tower wall, so that the onboard monitoring component 3 can complete a 360-degree full-coverage scan of the outer wall of the tower in a single continuous climb. The monitoring component 3 includes a mounting base 31, a three-dimensional adjustment mechanism, and a monitoring unit connected in sequence. The three-dimensional adjustment mechanism is connected to the mounting base 31 and includes a Z-axis push unit, a Y-axis movement unit, and an X-axis movement unit. The Z-axis push unit pushes the Y-axis movement unit to move along the Z-axis direction on the mounting base 31. The Y-axis movement unit moves relative to the Z-axis push unit along the Y-axis direction, and the X-axis movement unit moves relative to the Y-axis movement unit along the X-axis direction. The monitoring unit includes a grinding component 4, a painting component 5, an industrial camera 6, and an ultrasonic positioning component 7 for monitoring and maintaining the wind turbine tower. The monitoring unit and all electrical components are electrically connected to an external power supply. The monitoring component 3 is connected to the circular track component 1 via the mounting base 31, giving it a circular movement trajectory. This allows the monitoring function to move arbitrarily around the circumference of the tower, no longer limited to a fixed position, thus expanding the single-point operation range. The three-dimensional adjustment mechanism of the monitoring component 3... The system comprises a Z-axis push unit, a Y-axis movement unit, and an X-axis movement unit. The Z-axis push unit is responsible for driving the entire Y-axis movement unit to move radially along the Z-axis direction, thereby adjusting the working distance between the working tool and the tower wall. The Y-axis movement unit moves relative to the Z-axis push unit along the Y-axis direction, i.e., the tower axis. Combined with the X-axis movement unit moving relative to the Y-axis movement unit along the X-axis direction, i.e., the tower circumferentially, the two constitute a precision two-dimensional Cartesian coordinate motion platform covering the local curved surface of the tower. This enables the grinding component 4, painting component 5, industrial camera 6, and ultrasonic positioning component 7 in the monitoring unit to achieve high-precision positioning. The industrial camera 6 can perform multi-angle, close-range fine imaging of suspected defects; the ultrasonic positioning component 7 can perform closed-loop correction of the robot's own posture; the grinding component 4 and painting component 5 can perform repair operations according to the planned path; and the electrical connection of all electrical components to the external power supply ensures a continuous and stable energy supply.

[0021] Example 2 Improvements based on Example 1: like Figure 1 and Figure 2As shown, the annular track assembly 1 includes multiple arc-shaped guide rails 11. Arc-shaped racks 12 are connected to the outer surfaces of the arc-shaped guide rails 11. The ends of the multiple arc-shaped guide rails 11 are tightly joined to form an annular structure suitable for wrapping the wind turbine tower. Below the arc-shaped guide rails 11, an upper support 13 and a lower support 15 are arranged in parallel. A support connecting rod 14 connects the arc-shaped guide rails 11, the upper support 13, and the lower support 15. The end joints of the upper support 13 and the lower support 15 are fixedly connected to detachable connecting slot plates 16. A slot plate connecting rod 17 is fixedly connected between the upper and lower connecting slot plates 16. The multiple arc-shaped guide rails 11 form an annular track by tightly joining their ends and are connected to the arc-shaped racks 12 on the outside. This provides a precise meshing transmission path for the drive gear of the monitoring assembly 3, ensuring its stability and positional accuracy during circumferential movement. Below the arc-shaped guide rail 11, an upper support 13 and a lower support 15 are arranged in parallel and connected by a support rod 14 to form a stable three-dimensional truss support structure. This structure not only bears the complex load from the crawling component 2 in a lightweight manner, but also enhances the overall torsional and bending stiffness of the ring track component 1, preventing excessive deformation during stress or movement. This ensures the baseline stability of the installed crawling component 2 and monitoring component 3. The connecting slot plate 16 simplifies the alignment and fastening operations, prevents misalignment, and rigidly connects the upper and lower frames at key nodes, effectively improving the local strength at the split joint and the overall structural integrity.

[0022] like Figure 1 , Figure 3 , Figures 6 to 10As shown, the clamping unit of the crawling assembly 2 includes a crawling base 21 and a crawling electric push rod 22. The crawling base 21 is fixedly connected between the upper support 13 and the lower support 15. The outer shell of the crawling electric push rod 22 is fixedly connected to the crawling base 21. The front end of the push rod of the crawling electric push rod 22 is connected to the steering unit. A crawling guide rod 25 is movably provided through the body of the crawling base 21. The connection positions of the crawling guide rod 25 are located on both sides of the crawling electric push rod 22, and one end of the crawling guide rod 25 is connected to the steering unit. The crawling electric push rod 22 drives the steering unit and the crawling wheel unit to press against the tower wall, thus fixing the crawling base 21 of the clamping unit between the upper support 13 and the lower support 15. The space provides a stable mounting base for the entire crawling assembly 2, allowing the reaction force generated by the clamping unit to be evenly transmitted to the ring track assembly 1. The crawling electric push rod 22 serves as a power source, and when the push rod extends, it directly applies thrust to the steering unit and the crawling wheel unit at the rear end. The two parallel crawling guide rods 25 and the crawling electric push rod 22 form a linear motion mechanism, which ensures that when the steering unit and the entire crawling wheel unit move in extension and retraction under the drive of the crawling electric push rod 22, they must move along the straight trajectory defined by the crawling guide rod 25. This ensures that the wheel sets of multiple crawling assemblies 2 can press against or leave the wall surface in a completely parallel posture, thereby ensuring the uniform application of positive pressure.

[0023] Furthermore, the crawling wheel unit of the crawling assembly 2 includes a driven wheel 23, a driving wheel 24, a driven wheel mounting base 28, a reducer 210, and a crawling servo motor 213. The driven wheel mounting base 28 and the reducer 210 are arranged vertically. A driven wheel docking shaft 29 is rotatably connected to the driven wheel mounting base 28, and the driven wheels 23 are coaxially fixedly connected to both ends of the driven wheel docking shaft 29. The output end of the reducer 210 is coaxially fixedly connected to the driving wheel docking shaft 211, and the driving wheels 24 are coaxially fixedly connected to both ends of the driving wheel docking shaft 211. The motor shaft of the crawling servo motor 213 is coaxially connected to the input shaft of the reducer 210. With the axis fixedly connected, a distance sensor 212 is also connected to the driven wheel fixing seat 28, forming a layout of two driven wheels and two driving wheels distributed vertically. Compared with a single wheel, it can provide greater traction force. Moreover, the four-wheel configuration formed by the two driving wheels and the two driven wheels provides a larger stable support surface and smooth driving force. The distance sensor 212 can measure the relative distance between the driven wheel fixing seat 28 and the tower wall in real time, and then adjust the extension and retraction of the crawling electric push rod 22 in real time, thereby dynamically maintaining a constant positive pressure of the wheel set on the wall. No matter how the tower diameter changes or there are slight unevenness, it can ensure the stability of adsorption and driving efficiency, and achieve adaptive clamping.

[0024] Furthermore, the steering unit of the crawling assembly 2 includes a fixed base plate 26 and a movable base plate 27. The driven wheel fixing seat 28 and the reducer 210 are both fixedly connected to the movable base plate 27. The front ends of the crawling guide rod 25 and the crawling electric push rod 22 are both fixedly connected to the fixed base plate 26. A docking rotating rod 214 is provided between the fixed base plate 26 and the movable base plate 27. One end of the docking rotating rod 214 is rotatably connected to the fixed base plate 26, and the other end of the docking rotating rod 214 is fixedly connected to the movable base plate 27. A gear housing 216 is fixedly connected to the side of the fixed base plate 26 near the movable base plate 27. The rod body of the docking rotating rod 214 movably passes through the gear housing 216. A driven gear 215 is fixedly sleeved on the rod body of the docking rotating rod 214 located inside the gear housing 216. A steering servo motor 218 is fixedly connected to the side of the fixed base plate 26 away from the movable base plate 27. The motor shaft of the steering servo motor 218 passes through the fixed base plate 26, and the steering servo motor... The motor shaft of 218 is fixedly fitted with a drive gear 217 on the shaft inside the gear housing 216. The drive gear 217 meshes with the driven gear 215. It should be noted that the gear ratio of the drive gear 217 to the driven gear 215 is 1:5. The fixed base plate 26 and its connected components move as a whole with the extension and retraction of the clamping unit, but do not rotate. The movable base plate 27 and the driven wheel 23 and drive wheel 24 it carries serve as the components that need to be steered. The docking rotating rod 214 set between the fixed base plate 26 and the movable base plate 27 is the physical pivot for realizing the relative rotation of the two, and the gear ratio of the drive gear 217 to the driven gear 215 is limited to 1:5, which constitutes a 1:5 reduction and torque amplification mechanism, amplifying the output torque of the steering servo motor 218, enabling it to easily drive the heavily loaded crawling wheel unit. Secondly, the reduction ratio makes the control of the steering servo motor 218 more precise, which is conducive to achieving high-precision angle positioning.

[0025] Furthermore, the gear housing 216 also includes an arc-shaped abutment 219 and a liquid bladder 220 located directly above the driven gear 215. The liquid bladder 220 is fixedly connected to the lower surface of the arc-shaped abutment 219. A locking electric push rod 223 connects the arc-shaped abutment 219 and the inner top surface of the gear housing 216. A coil 221 is embedded in the body of the arc-shaped abutment 219, and the liquid bladder 220 is filled with magnetorheological fluid 222. When the liquid bladder 220 is in close contact with the tooth of the driven gear 215, the coil 221 is electrically connected to an external power source. When the robot needs to change its movement mode, such as switching between vertical and spiral modes, the steering servo motor 218 drives the driven gear 215 to rotate to a predetermined angle. At this time, the locking electric push rod 223 retracts, causing the arc-shaped abutment 219 and the liquid bladder 220 to move away from the driven gear 215. 15. To provide space for steering movements and ensure flexible and interference-free rotation; once the angle is adjusted to the correct position, the locking electric push rod 223 immediately extends, pushing the arc-shaped abutment plate 219 and the liquid bladder 220 below it to press against the tooth of the driven gear 215. At this time, the coil 221 is energized to generate a strong magnetic field. The magnetorheological fluid 222 in the liquid bladder 220 that is in contact with the tooth surface of the driven gear 215 instantly changes from a liquid state to a high-viscosity state similar to a solid, generating great shear resistance, thereby locking the angle of the driven gear 215. The magnetic field strength can be changed by adjusting the coil current, thereby controlling the magnitude of the locking force; thirdly, there is no contact wear, ensuring that the angle of each crawling wheel unit can be absolutely fixed during the robot's complex climbing and operation process, preventing angle drift caused by vibration, impact or driving reaction force.

[0026] like Figure 1 , Figure 4 , Figures 11 to 14As shown, an L-shaped clamping plate 36 is connected to the bottom of the mounting base 31. The L-shaped clamping plate 36 is movably clamped on both sides of the arc-shaped guide rail 11. A movable drive motor 37 is fixedly connected inside the mounting base 31. The motor shaft of the movable drive motor 37 movably passes through the bottom surface of the mounting base 31. A drive gear 38 is coaxially fixedly connected to the shaft of the movable drive motor 37 on one side of the arc-shaped guide rail 11. The drive gear 38 meshes with the arc-shaped rack 12. Several guide pulleys 39 are also rotatably connected inside the L-shaped clamping plate 36. The guide pulleys 39 are respectively clamped and connected to both sides of the arc-shaped guide rail 11. The L-shaped clamping plate 36 wraps around the arc-shaped guide rail 11 from both sides, lifting... The system provides constraints in the direction perpendicular to the track plane to prevent the mounting base 31 from overturning, shaking, or detaching when subjected to operational reaction forces or vibrations. The drive gear 38 is rotated by the mobile drive motor 37. The drive gear 38 meshes with the arc-shaped rack 12 fixed on the outer side of the arc-shaped guide rail 11, enabling precise displacement control and providing strong driving force. This ensures that the monitoring component 3 can run smoothly along the circular track even when equipped with a heavy-duty operation module. Several guide pulleys 39 are also rotatably connected inside the L-shaped clamping plate 36. The guide pulleys 39 maintain rolling contact with the side of the arc-shaped guide rail 11, converting sliding friction into rolling friction, thus reducing the load on the mobile drive motor 37.

[0027] Furthermore, the Z-axis drive unit of the three-dimensional adjustment mechanism includes a monitoring base 32, a monitoring electric push rod 33, and a monitoring guide rod 310. The monitoring base 32 is fixedly connected to the mounting base 31. The outer shell of the monitoring electric push rod 33 is fixedly connected to the monitoring base 32. The monitoring guide rod 310 is set on both sides of the monitoring electric push rod 33. The push rod of the monitoring electric push rod 33 and the rod body of the monitoring guide rod 310 both move through the monitoring base 32. The front end of the push rod of the monitoring electric push rod 33 and the front end of the rod body of the monitoring guide rod 310 are both connected to the Y-axis moving unit. The monitoring base 32 provides a stable starting point for the entire three-dimensional adjustment mechanism. The monitoring electric push rod 33 serves as a power output element, and the monitoring guide rod 310 forms a double guide structure to ensure that when the push rod of the monitoring electric push rod 33 extends or retracts, the load connected to its front end can only move linearly along the Z-axis direction without any deflection, swinging, or jamming. This ensures that the monitoring component 3 is always kept within the optimal working range, achieving high-quality spraying, effective grinding, and clear imaging.

[0028] Furthermore, the Y-axis movement unit of the three-dimensional adjustment mechanism includes a Y-axis movement base plate 34, a lifting rack 311, a Y-axis sliding guide rail 312, a push base plate 318, a motor base 319, a lifting drive motor 320, and a lifting gear 321. The lifting rack 311 is fixedly connected to the side of the Y-axis movement base plate 34 away from the X-axis movement unit. The Y-axis sliding guide rail 312 is disposed on both sides of the lifting rack 311 and is slidably connected to the Y-axis movement base plate 34. The motor base 319 is fixedly connected between the Y-axis sliding guide rail 312 and the push base plate 318. The side of the push base plate 318 away from the motor base 319 is fixedly connected to the monitoring electric push rod 33 and the monitoring guide rod 310 of the Z-axis push unit. A lifting drive motor 320 is fixedly connected inside the motor base 319. The motor 320 and the lifting drive motor 320 are coaxially fixedly connected to a lifting gear 321. The lifting gear 321 is meshed with a lifting rack 311. When the lifting drive motor 320 rotates, it drives the lifting gear 321 to rotate. Since the lifting gear 321 and the motor base 319 are fixed together on the push base plate 318, and the lifting rack 311 is fixed to the Y-axis moving base plate 34, according to the principle of relative motion, since the push base plate 318 is fixed to the Z-axis unit, it can drive the Y-axis moving base plate 34 and the X-axis moving unit and monitoring unit mounted on it to move vertically relative to the tower, so as to achieve rapid axial positioning. This allows the working tool to cover any longitudinal position in a certain annular area of ​​the tower and complete the detection or repair of the strip area.

[0029] Furthermore, the X-axis movement unit of the three-dimensional adjustment mechanism includes an X-axis moving base 35, an X-axis sliding guide rail 313, a slider 314, a lead screw 315, and a sliding drive motor 316. A grinding assembly 4 and a painting assembly 5 are fixedly connected to the side of the X-axis moving base 35 closest to the tower body. A monitoring base plate 317 is fixedly connected to the upper end of the X-axis moving base 35, and an industrial camera 6 and an ultrasonic positioning assembly 7 are fixedly connected to the monitoring base plate 317. The slider 314 is fixedly connected to the side of the X-axis moving base 35 away from the tower body. The X-axis sliding guide rail 314... 3. A slider 314 is slidably connected to the X-axis sliding guide rail 313 on the side of the Y-axis moving base 34 near the X-axis moving base 35. The body of the sliding drive motor 316 is fixedly connected to the Y-axis moving base 34 near the X-axis moving base 35. The lead screw 315 is coaxially fixedly connected to the motor shaft of the sliding drive motor 316, and the thread of the lead screw 315 passes through the X-axis moving base 35. The grinding assembly 4 is used to treat the rust on the tower surface; the painting assembly 5 is used to spray a special anti-corrosion coating for wind turbine towers; and the industrial camera 6 is used to collect data. Images of surface cracks and coating peeling on the tower; Ultrasonic positioning component 7 is used for robot relative pose assistance positioning in wind noise environment during wind turbine operation. It should be noted that the grinding component 4 can adopt the grinding actuator involved in the wind turbine tower grinding robot disclosed in CN118081575A; Painting component 5 can adopt the coating component involved in the climbing anti-corrosion spraying robot based on wind turbine tower disclosed in CN119186911A; Industrial camera 6 is a Baumer CX series industrial camera; Ultrasonic positioning component 7 is used for robot relative pose assistance in wind turbine operation. The acoustic positioning component 7 can adopt the ultrasonic transmitter and omnidirectional ultrasonic receiver disclosed in the self-moving robot of the announcement number CN217689857U. The X-axis moving base 35 is slidably connected to the X-axis sliding guide rail 313 fixedly connected to the Y-axis moving base plate 34 through the slider 314, which provides guidance for the circumferential X-axis movement. The sliding drive motor 316 drives the lead screw 315 to rotate, and drives the X-axis moving base 35 to move through the threaded pair. The lead screw transmission has a self-locking characteristic, which is suitable for operation scenarios that require long-term stable position.

[0030] Working principle: First, the various parts of the split-type annular track assembly 1 are transported to the bottom of the tower. They are then quickly assembled on-site by connecting the slot plate 16 and the slot plate connecting rod 17 to form a complete and movable annular rigid frame that fits onto the tower body. After assembly, the multiple crawling components 2 arranged in a ring at equal intervals start to work. The crawling electric push rod 22 of each crawling component 2 is activated, and guided by the crawling guide rod 25, it pushes the steering unit at its front end and the entire crawling wheel unit to move towards the tower wall until the driving wheel 24 and the driven wheel 23 press against the wall. The distance sensor 212 monitors the distance in real time to form a closed-loop pressure control to ensure sufficient adsorption friction. When a comprehensive scanning and inspection task is required, the spiral movement mode is activated. The steering servo motor 218 drives the driven gear 215 through the active gear 217, thereby driving the movable base plate 27 and the entire crawling wheel unit fixed thereon to rotate by a specific angle via the docking rotating rod 214. At the same time, the crawling servo motors 213 of multiple crawling components 2 work together to drive the active wheel 24 to roll, so that the entire robot climbs along the tower wall in a spiral trajectory. During this process, the monitoring component 3 integrated on the ring track component 1 remains relatively fixed with the ring track component 1, so that the comprehensive inspection of the tower body can be achieved by using the spiral trajectory to climb. At this time, the industrial camera 6 continuously takes pictures or performs fixed-point high-definition imaging of the tower surface, and the ultrasonic positioning component 7 works synchronously, emitting ultrasonic waves and receiving the echoes reflected from the tower wall. Combined with the robot's motion data, the robot achieves real-time accurate positioning and pose correction. Once the industrial camera 6 or ultrasonic positioning component 7 identifies the affected area, the system immediately switches to fixed-point maintenance mode: the robot stops its spiral ascent and switches to vertical movement or fixed-point hovering. Simultaneously, the three-dimensional adjustment mechanism of the monitoring component 3 begins fine-tuning: the monitoring electric push rod 33 of the Z-axis push unit moves, pushing the Y-axis moving unit and its load closer to or further from the wall along the Z-axis (radial) to adapt to the tower taper or different working distances; the lifting drive motor 320 of the Y-axis moving unit, through the meshing of the lifting gear 321 and the lifting rack 311, drives the X-axis moving unit to move along the Y-axis (axial); the sliding drive motor 316 of the X-axis moving unit drives the lead screw 315, causing the X-axis moving base 35 to move along the X-axis (circumferential). Through the synthesis of these three axial movements, the monitoring unit fixed to the X-axis moving base 35 is precisely controlled to the target position. Subsequently, the three-dimensional adjustment mechanism precisely transports the grinding component 4 or the painting component 5 to the defect point. The grinding component 4 grinds the rusted or uneven surface, and then the painting component 5 applies anti-corrosion spraying, completing the automated closed-loop operation from detection and positioning to maintenance.

[0031] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0032] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wind turbine tower disease monitoring and maintenance robot, comprising a ring track assembly (1) movably sleeved on the tower barrel, characterized in that: The annular track assembly (1) is split and assembled in butt joint, the annular track assembly (1) is integrally installed with multiple crawling assemblies (2), and the annular track assembly (1) is also integrally installed with a monitoring assembly (3) having an annular moving track; The crawling assembly (2) is annular and arranged at equal intervals, the crawling assembly (2) comprises a crawling wheel unit and a clamping unit, the crawling wheel unit is connected to the movable front end of the clamping unit, a steering unit is arranged between the crawling wheel unit and the clamping unit, and the crawling wheel unit is provided with a vertical moving mode and a spiral moving mode through the steering unit; The monitoring assembly (3) comprises a carrying base (31), a three-dimensional adjusting mechanism and a monitoring unit connected in sequence, the three-dimensional adjusting mechanism is connected to the carrying base (31), the three-dimensional adjusting mechanism comprises a Z-axis pushing unit, a Y-axis moving unit and an X-axis moving unit, the Z-axis pushing unit pushes the Y-axis moving unit to move along the Z-axis direction on the carrying base (31), the Y-axis moving unit moves along the Y-axis direction relative to the Z-axis pushing unit, and the X-axis moving unit moves along the X-axis direction relative to the Y-axis moving unit, the monitoring unit comprises a polishing assembly (4) for monitoring and maintaining the tower of the wind turbine, a paint spraying assembly (5), an industrial camera (6) and an ultrasonic positioning assembly (7), and the monitoring unit and each electrical element are electrically connected with an external power supply.

2. The wind turbine tower health monitoring and maintenance robot of claim 1, wherein: The annular track assembly (1) comprises a plurality of arc-shaped guide rails (11), the outer side surface of the arc-shaped guide rail (11) is connected with an arc-shaped rack (12), the end portions of the plurality of arc-shaped guide rails (11) are abutted and connected in butt joint to form an annular structure suitable for wrapping the tower of the wind turbine, an upper support (13) and a lower support (15) are arranged in parallel under the arc-shaped guide rail (11) in sequence, a support connecting rod (14) is connected between the arc-shaped guide rail (11), the upper support (13) and the lower support (15), the end abutted portions of the upper support (13) and the lower support (15) are fixedly connected with detachably arranged connecting groove plates (16), and the upper and lower connecting groove plates (16) are fixedly connected with a groove plate connecting rod (17).

3. The wind turbine tower health monitoring and maintenance robot of claim 2, wherein: The clamping unit of the crawling assembly (2) comprises a crawling base (21) and a crawling electric push rod (22), the crawling base (21) is fixedly connected between the upper support (13) and the lower support (15), the shell of the crawling electric push rod (22) is fixedly connected to the crawling base (21), the push rod front end of the crawling electric push rod (22) is connected with the steering unit, the seat body of the crawling base (21) is movably penetrated by a crawling guide rod (25), the connecting position of the crawling guide rod (25) is located on the two sides of the crawling electric push rod (22), one end of the crawling guide rod (25) is connected with the steering unit, and the crawling electric push rod (22) drives the steering unit and the crawling wheel unit to press the tower wall.

4. The wind turbine tower health monitoring and maintenance robot of claim 3, wherein: The crawling wheel unit of the crawling assembly (2) comprises a driven wheel (23), a driving wheel (24), a driven wheel fixing seat (28), a speed reducer (210) and a crawling servo motor (213), the driven wheel fixing seat (28) and the speed reducer (210) are arranged in an up-down distribution manner, a driven wheel butt joint shaft (29) is rotatably connected to the driven wheel fixing seat (28), and the two ends of the driven wheel butt joint shaft (29) are coaxially fixedly connected with the driven wheels (23), the output end of the speed reducer (210) is coaxially fixedly connected with a driving wheel butt joint shaft (211), and the two ends of the driving wheel butt joint shaft (211) are coaxially fixedly connected with the driving wheels (24), the motor shaft of the crawling servo motor (213) is coaxially fixedly connected with the input shaft of the speed reducer (210), and a distance measuring sensor (212) is further connected to the driven wheel fixing seat (28).

5. The wind turbine tower health monitoring maintenance robot according to claim 4, wherein: The steering unit of the crawling assembly (2) comprises a fixed bottom plate (26) and a movable base plate (27), the driven wheel fixing seat (28) and the speed reducer (210) are fixedly connected with the movable base plate (27), the front ends of the crawling guide rod (25) and the crawling electric push rod (22) are fixedly connected with the fixed bottom plate (26), a butt joint rotating rod (214) is arranged between the fixed bottom plate (26) and the movable base plate (27), one end of the butt joint rotating rod (214) is rotatably connected with the fixed bottom plate (26), the other end of the butt joint rotating rod (214) is fixedly connected with the movable base plate (27), the side face of the fixed bottom plate (26) close to the movable base plate (27) is fixedly connected with a gear housing (216), the rod body of the butt joint rotating rod (214) movably penetrates the gear housing (216), a driven gear (215) is fixedly sleeved on the rod body of the butt joint rotating rod (214) in the gear housing (216), the side face of the fixed bottom plate (26) away from the movable base plate (27) is fixedly connected with a steering servo motor (218), the motor shaft of the steering servo motor (218) penetrates the fixed bottom plate (26), and a driving gear (217) is fixedly sleeved on the shaft body of the motor shaft of the steering servo motor (218) in the gear housing (216), and the driving gear (217) is in meshing connection with the driven gear (215).

6. The wind turbine tower health monitoring maintenance robot according to claim 5, wherein: An arc surface resisting plate (219) and a liquid bag (220) are further arranged in the gear housing (216) and located above the driven gear (215), the liquid bag (220) is fixedly connected to the lower plate face of the arc surface resisting plate (219), a locking electric push rod (223) is connected between the arc surface resisting plate (219) and the inner top face of the gear housing (216), a coil (221) is embedded in the plate body of the arc surface resisting plate (219), the liquid bag (220) is filled with a magneto-rheological fluid (222), and when the liquid bag (220) is in close contact with the teeth of the driven gear (215), the coil (221) is electrically connected with an external power supply.

7. The wind turbine tower health monitoring maintenance robot according to claim 2, wherein: The bottom of the carrying base (31) is connected with an L-shaped clamping plate (36), the L-shaped clamping plate (36) is movably clamped on both sides of the rail body of the arc-shaped guide rail (11), the carrying base (31) is fixedly connected with a moving drive motor (37) inside, the motor shaft of the moving drive motor (37) movably penetrates the bottom surface of the carrying base (31), and the motor shaft of the moving drive motor (37) is fixedly connected with a drive gear (38) on the same axis on the rail body on one side of the arc-shaped guide rail (11), the drive gear (38) is in meshing connection with the arc-shaped rack (12), and a plurality of guide pulleys (39) are further rotatably connected in the L-shaped clamping plate (36), and the guide pulleys (39) are clamped and connected on both sides of the rail body of the arc-shaped guide rail (11) respectively.

8. The wind turbine tower health monitoring maintenance robot according to claim 7, wherein: The Z-axis pushing unit of the three-dimensional adjusting mechanism comprises a monitoring base (32), a monitoring electric push rod (33) and a monitoring guide rod (310), the monitoring base (32) is fixedly connected on the carrying base (31), the shell of the monitoring electric push rod (33) is fixedly connected with the monitoring base (32), the monitoring guide rod (310) is arranged on both sides of the monitoring electric push rod (33), the push rod of the monitoring electric push rod (33) and the rod body of the monitoring guide rod (310) movably penetrate the monitoring base (32), and the front end of the push rod of the monitoring electric push rod (33) and the front end of the rod body of the monitoring guide rod (310) are connected with the Y-axis moving unit.

9. The wind turbine tower health monitoring maintenance robot according to claim 8, wherein: The Y-axis moving unit of the three-dimensional adjusting mechanism comprises a Y-axis moving base plate (34), a lifting rack (311), Y-axis sliding guide rails (312), a pushing bottom plate (318), a motor seat (319), a lifting driving motor (320) and a lifting gear (321), the lifting rack (311) is fixedly connected on the side, away from the X-axis moving unit, of the Y-axis moving base plate (34), the Y-axis sliding guide rails (312) are arranged on both sides of the lifting rack (311), the Y-axis sliding guide rails (312) are in sliding connection with the Y-axis moving base plate (34), the motor seat (319) is fixedly connected between the Y-axis sliding guide rails (312) and the pushing bottom plate (318), the side, away from the motor seat (319), of the pushing bottom plate (318) is fixedly connected with the monitoring electric push rod (33) and the monitoring guide rod (310) of the Z-axis pushing unit, the lifting driving motor (320) is fixedly connected in the motor seat (319), the motor shaft of the lifting driving motor (320) is fixedly connected with the lifting gear (321) on the same axis, and the lifting gear (321) is in meshing connection with the lifting rack (311).

10. The wind turbine tower health monitoring maintenance robot according to claim 9, wherein: The X-axis moving unit of the three-dimensional adjusting mechanism comprises an X-axis moving base (35), an X-axis sliding guide (313), a sliding block (314), a lead screw (315) and a sliding drive motor (316), the X-axis moving base (35) is fixedly connected with a polishing assembly (4) and a paint spraying assembly (5) on the side close to the tower barrel body, the upper end of the X-axis moving base (35) is fixedly connected with a monitoring base plate (317), the monitoring base plate (317) is fixedly connected with an industrial camera (6) and an ultrasonic positioning assembly (7), the sliding block (314) is fixedly connected on the side of the X-axis moving base (35) away from the tower barrel body, the X-axis sliding guide (313) is fixedly connected on the side of the Y-axis moving base plate (34) close to the X-axis moving base (35), the sliding block (314) is slidingly connected on the X-axis sliding guide (313), the body of the sliding drive motor (316) is fixedly connected on the side of the Y-axis moving base plate (34) close to the X-axis moving base (35), the lead screw (315) is coaxially fixedly connected with the motor shaft of the sliding drive motor (316), the rod body of the lead screw (315) is screwed through the X-axis moving base (35), the polishing assembly (4) is used for treating the rust on the surface of the tower barrel, the paint spraying assembly (5) is used for spraying the special anti-corrosion paint for the wind driven generator tower barrel, the industrial camera (6) is used for collecting the images of the cracks and coating falling off on the surface of the tower barrel, and the ultrasonic positioning assembly (7) is used for assisting in the relative position positioning of the robot in the wind noise environment during the operation of the wind driven generator.

Images