A robot for monitoring and maintaining the defects of wind turbine towers

Abstract

This invention belongs to the field of wind power facility operation and maintenance robot technology, and particularly relates to a wind turbine tower defect monitoring and maintenance robot. Addressing the problems of blind spots and low efficiency in existing wind turbine tower maintenance, this invention proposes the following solution: a modularly assembled ring track assembly, multiple evenly distributed ring-shaped crawling components, and a monitoring component with a ring-shaped movement trajectory. The crawling component 2 has a unique steering unit, enabling the crawling wheel unit to switch between vertical and spiral movement modes, driving the robot to spirally climb along the tower wall, achieving continuous scanning without blind spots. The monitoring component moves on the ring track via a base and, with the help of a three-dimensional adjustment mechanism composed of Z-axis, Y-axis, and X-axis movement units, drives an industrial camera, ultrasonic positioning component, grinding component, and painting component to achieve precise positioning and operation. This invention can efficiently complete the defect monitoring and maintenance of wind turbine towers.

Description

Technical Field

[0001] This invention relates to an operation and maintenance robot, specifically a wind turbine tower defect monitoring and maintenance robot, belonging to the field of wind power facility operation and maintenance robot technology. Background Technology

[0002] As a core component of clean energy, the large-scale development of wind power has made the efficient and safe operation and maintenance of wind turbine towers a critical issue that urgently needs to be addressed. Traditional manual operation methods rely on manual climbing or suspended platforms, which pose extremely high safety risks, are inefficient, and are greatly affected by weather conditions. To address this, the industry has developed various wall-climbing robots to replace human labor.

[0003] However, existing technologies still have significant limitations in achieving full coverage and efficient monitoring and maintenance of the tower's outer wall. For example, a wind turbine tower maintenance platform disclosed in CN113565707A is characterized by a platform that is stabilized by a clamping module and driven by a climbing module to be lifted in sections along the tower. Its working module is mounted on a trolley that can slide along a circular track, and local maintenance is performed via a telescopic boom. The drawback of this solution is that its operation process is discontinuous: the platform must frequently stop climbing to allow the working trolley to move the tools for circumferential work, resulting in low work efficiency. Furthermore, this stop-and-start mode makes it difficult to achieve seamless full coverage of the outer wall, easily leading to maintenance blind spots. Although subsequent improvements have attempted to incorporate the concept of spiral climbing to achieve simultaneous climbing and operation, their core structures typically treat the climbing mechanism and the work platform as relatively independent systems. The range of motion and flexibility of the work module are limited by the predetermined track of the platform frame, making it difficult to perform multi-degree-of-freedom, high-precision point-to-point operations on specific fault points on complex curved surfaces. Secondly, for example, the boom-type climbing robot for working on the outer wall of large wind turbine towers disclosed in CN116176724A has a frame designed to resist mechanical tension, resulting in a complex structure and overall bulkiness. Another example is the wind turbine tower maintenance robot disclosed in CN109850028B, which designs a complex system including an upper and lower clamping ring on the tower and a maintenance platform, using a winch and clamping structure to achieve fixation and lifting on the tower. While this solution provides a relatively stable high-altitude work platform, its structure is large and bulky, the installation and commissioning process is complex, and its mobility is poor. Although its maintenance mobile vehicle can move circumferentially, radially, and vertically on the platform, this movement is limited to a ring-shaped platform guide rail fixed at a certain height of the tower. To inspect different height areas, the entire huge ring system must be driven to climb, which is cumbersome and inefficient. It cannot achieve continuous and flexible composite movement of the robot body carrying the operation module along the surface of the tower.

[0004] In summary, existing technologies mainly suffer from two types of technical problems: First, integrated solutions, represented by tracked or wheeled wall-climbing robots, have limited freedom of movement and coverage for their inspection and maintenance tools, and the robot's linear crawling can lead to blind spots in the scanning process. Second, fixed solutions, represented by circular track clamping systems, are bulky, difficult to deploy, and lack flexibility in adjusting the working height, making it difficult to achieve rapid and continuous full-tower maintenance. Therefore, there is an urgent need for a new technical solution that can combine the advantages of lightweight and rapid deployment, flexible full-circumference operation, efficient scanning without blind spots, and integrated and precise maintenance to overcome the shortcomings of existing technologies. Summary of the Invention

[0005] This invention provides a wind turbine tower defect monitoring and maintenance robot to solve the technical problems of blind spots in the detection coverage and low operation and maintenance efficiency during the maintenance of existing wind turbine towers.

[0006] The present invention achieves the above objectives through the following technical solution: a wind turbine tower defect monitoring and maintenance robot, comprising a ring track assembly movably fitted on the tower body, the ring track assembly being assembled and connected in a split manner, the ring track assembly integrating multiple crawling components, and the ring track assembly also integrating a monitoring component with a ring movement trajectory.

[0007] Multiple crawling components are arranged in a ring at equal intervals. 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.

[0008] The monitoring component 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 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. 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, a painting component, an industrial camera, and an ultrasonic positioning component for monitoring and maintaining the tower of the wind turbine. The monitoring unit and all electrical components are electrically connected to an external power supply.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] The beneficial effects of this invention are:

[0019] 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.

[0020] 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.

[0021] 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

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a partial structural diagram of the annular track assembly of the present invention;

[0024] Figure 3 This is a schematic diagram of the connection structure between the crawling component and the ring track component of the present invention;

[0025] Figure 4 This is a schematic diagram of the connection structure between the monitoring component and the ring track component of the present invention;

[0026] Figure 5 This is a schematic diagram of the crawling component structure of the present invention;

[0027] Figure 6 This is a schematic diagram of the crawling wheel unit structure of the present invention;

[0028] Figure 7 This is a schematic diagram of the steering unit structure of the present invention;

[0029] Figure 8 This is a schematic diagram of the cross-sectional structure of the steering unit of the present invention;

[0030] Figure 9 This is a cross-sectional schematic diagram of the driven gear of the present invention in both locked and open states;

[0031] 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;

[0032] Figure 11 This is a schematic diagram of the monitoring component structure of the present invention;

[0033] 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;

[0034] Figure 13 This is a schematic diagram of the three-dimensional adjustment mechanism structure of the present invention;

[0035] Figure 14 This is a schematic diagram of the Y-axis moving unit structure of the present invention.

[0036] 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

[0037] 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.

[0038] Example 1

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Example 2

[0043] Improvements based on Example 1:

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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 robot for monitoring and maintaining defects in wind turbine towers, comprising a ring-shaped track assembly (1) movably mounted on the tower body, characterized in that: The ring track assembly (1) is assembled and connected in a split manner. The ring track assembly (1) integrates and installs multiple crawling components (2). The ring track assembly (1) also integrates and installs a monitoring component (3) with a ring movement trajectory. The annular track assembly (1) includes multiple arc-shaped guide rails (11). The outer side of the arc-shaped guide rails (11) is connected to an arc-shaped rack (12). The ends of the multiple arc-shaped guide rails (11) are closely joined to form an annular structure suitable for wrapping the wind turbine tower. The arc-shaped guide rails (11) are provided with an upper support (13) and a lower support (15) arranged in parallel below them. The arc-shaped guide rails (11), the upper support (13) and the lower support (15) are connected by a support connecting rod (14). The end joints of the upper support (13) and the end joints of the lower support (15) are fixedly connected with detachable connecting slot plates (16). The upper and lower connecting slot plates (16) are fixedly connected by a slot plate connecting rod (17). The crawling components (2) are arranged in a ring at equal intervals. The crawling components (2) include crawling wheel units and clamping units. The crawling wheel units are connected to the movable front end of the clamping units. A steering unit is provided between the crawling wheel units and the clamping units. The crawling wheel units are provided with vertical movement mode and spiral movement mode through the steering unit. 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. The body of the crawling base (21) is movably provided with a crawling guide rod (25). The connection position of the crawling guide rod (25) is 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. The crawling wheel unit of the crawling assembly (2) includes a driven wheel (23), a driving wheel (24), a driven wheel fixing seat (28), a reducer (210), and a crawling servo motor (213). The driven wheel fixing seat (28) and the reducer (210) are arranged vertically. A driven wheel docking shaft (29) is rotatably connected to the driven wheel fixing seat (28), and the driven wheel (23) is 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 wheel (24) is coaxially fixedly connected to both ends of the driving wheel docking shaft (211). The motor shaft of the crawling servo motor (213) is coaxially fixedly connected to the input shaft of the reducer (210). A distance measuring sensor (212) is also connected to the driven wheel fixing seat (28). 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). The fixed base plate (26) is located on one side near the movable base plate (27). A gear housing (216) is fixedly connected. The shaft of the docking rotating rod (214) moves through the gear housing (216). A driven gear (215) is fixedly sleeved on the shaft of the docking rotating rod (214) inside the gear housing (216). A steering servo motor (218) is fixedly connected to one 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). A driving gear (217) is fixedly sleeved on the shaft of the steering servo motor (218) inside the gear housing (216). The driving gear (217) meshes with the driven gear (215). 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 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 (31). The Y-axis moving unit moves relative to the Z-axis pushing unit along the Y-axis direction. 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 (4), a painting component (5), an industrial camera (6), and an ultrasonic positioning component (7) for monitoring and maintaining the tower of the wind turbine. The monitoring unit and each electrical component are electrically connected to an external power supply.

2. The wind turbine tower defect monitoring and maintenance robot according to claim 1, characterized in that: The gear housing (216) is also provided with an arc-shaped abutment plate (219) and a liquid bladder (220) located directly above the driven gear (215). The liquid bladder (220) is fixedly connected to the lower plate surface of the arc-shaped abutment plate (219). A locking electric push rod (223) is connected between the arc-shaped abutment plate (219) and the inner top surface of the gear housing (216). A coil (221) is embedded in the plate body of the arc-shaped abutment plate (219). The liquid bladder (220) is filled with magnetorheological fluid (222). When the liquid bladder (220) is in close contact with the tooth body of the driven gear (215), the coil (221) is electrically connected to an external power source.

3. The wind turbine tower defect monitoring and maintenance robot according to claim 2, characterized in that: The bottom of the mounting base (31) is connected to an L-shaped clamping plate (36), which is movably clamped on both sides of the arc-shaped guide rail (11). A mobile drive motor (37) is fixedly connected inside the mounting base (31). The motor shaft of the mobile drive motor (37) moves through the bottom surface of the mounting base (31). A drive gear (38) is fixedly connected coaxially on the shaft of the mobile 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).

4. The wind turbine tower defect monitoring and maintenance robot according to claim 3, characterized in that: The Z-axis push 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 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) 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.

5. The wind turbine tower defect monitoring and maintenance robot according to claim 4, characterized in that: The Y-axis moving unit of the three-dimensional adjustment mechanism includes a Y-axis moving 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 moving base plate (34) away from the X-axis moving unit. The Y-axis sliding guide rail (312) is arranged on both sides of the lifting rack (311), and the Y-axis sliding guide rail (312) is slidably connected to the Y-axis moving 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). A lifting gear (321) is fixedly connected to the motor shaft of the lifting drive motor (320) along the same axis. The lifting gear (321) meshes with the lifting rack (311).

6. The wind turbine tower defect monitoring and maintenance robot according to claim 5, characterized in that: The X-axis moving 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 (313) is fixedly connected to the Y-axis moving base plate (34) near the X-axis moving base (35). On one side, the slider (314) is slidably connected to the X-axis sliding guide rail (313), the body of the sliding drive motor (316) is fixedly connected to the Y-axis moving base plate (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 the special anti-corrosion coating for the wind turbine tower; the industrial camera (6) is used to collect images of cracks and coating peeling on the tower surface; and the ultrasonic positioning assembly (7) is used to perform robot relative pose assisted positioning in the wind noise environment of the wind turbine operation.

Images