A wind power blade inspection robot based on a bionic hexapod structure and a use method thereof

Abstract

A wind turbine blade maintenance robot based on a biomimetic six-legged structure is disclosed, relating to the field of wind turbine blade maintenance robots. The six-legged motion mechanism includes legs evenly distributed around the circumference of the main body, with hip, knee, and ankle joints. A negative pressure suction cup is connected to the ankle joint. The negative pressure suction cup is connected to a vacuum pump and a solenoid valve system through pipelines, forming an alternating adsorption structure using a group control method. The hydrophobic module includes a robotic arm, with a lead screw mechanism inside the second outer shell of the robotic arm. A hydrophobic damping plug is fixed at the front end of the lead screw mechanism, and an AI camera is installed at the end of the robotic arm. The cleaning module's cleaning motor drives the cleaning brush to rotate through a first helical gear and a second helical gear. The curved groove inside the gear is connected to the motor box through a telescopic rod, and the rotation of the gear drives the telescopic rod to move. The coating repair module includes a paint nozzle connected to a paint tank, with a paint brush mounted on a brush bracket behind the paint nozzle.

Description

Technical Field

[0001] This invention relates to the fields of intelligent equipment manufacturing and new energy operation and maintenance technology, specifically to the technology of wind turbine blade maintenance robots. More specifically, it relates to a wind turbine blade maintenance robot based on a biomimetic six-legged structure and its usage method, which is mainly applied to high-altitude maintenance operations of large wind turbine blades in onshore and offshore wind farms. Background Technology

[0002] In existing technologies, the inspection and maintenance of wind turbine blades mainly rely on the following equipment or operating methods.

[0003] First, manual high-altitude rope work: Workers, equipped with ropes and fall arrestors, descend from the top of the nacelle or tower along the blade surface to perform manual inspections, cleaning, dewatering, and localized coating repairs. Second, large-scale hoisting equipment-assisted work: Large cranes, aerial work platforms, or other high-altitude work platforms are used to transport workers to designated locations on the blades to complete surface maintenance. Third, drone inspection: Drones equipped with high-definition cameras capture images of the blade surface for non-contact inspections such as crack identification and defect detection. Fourth, wheeled or tracked wall-climbing robots: Some existing technologies employ wheeled, tracked, or single-adhesion wall-climbing robots that move across the blade surface using magnetic or vacuum adsorption for simple inspection or cleaning tasks.

[0004] However, the aforementioned existing technologies generally suffer from the following design flaws in practical applications, thus limiting their effectiveness in wind turbine blade maintenance. First, manual high-altitude operations are extremely unsafe. Wind turbine blades are typically over 80 meters high, and workers are constantly suspended at height, making them susceptible to strong winds, slippery surfaces, and equipment aging, posing a serious risk of falls. Furthermore, this method heavily relies on manual experience, resulting in high labor intensity, low efficiency, and a high probability of personnel accidents. Second, large hoisting and climbing equipment is costly and lacks mobility. This type of equipment is bulky, has a long deployment cycle, and requires specific work sites, making it difficult to use flexibly in complex terrain or offshore wind farms. It is also costly to operate and cannot provide continuous, comprehensive maintenance of the entire blade surface. Third, drone inspection methods only have detection capabilities and lack actual maintenance capabilities. Drones can only perform image acquisition and defect identification; they cannot perform physical operations such as cleaning, dewatering, or coating repair, still requiring subsequent manual climbing for further processing, thus offering limited improvement in overall maintenance efficiency.

[0005] Furthermore, existing wheeled or tracked wall-climbing robots lack structural adaptability. Their movement largely relies on continuous contact or a single adsorption point for support, which can lead to slippage, detachment, or insufficient obstacle-crossing ability when faced with wind turbine blades exhibiting large curvature changes, torsional structures, and smooth surfaces, resulting in poor stability. Additionally, some existing robots have limited functionality, only capable of inspection or simple cleaning, lacking complex functional modules such as hydrophobic and repair capabilities, thus failing to meet the comprehensive maintenance needs of wind turbine blades during long-term operation.

[0006] In summary, existing technologies generally suffer from insufficient safety, weak adaptability to complex curved surfaces, limited operational functions, and low overall maintenance efficiency, making it difficult to meet the actual needs of modern large wind turbine blades for intelligent, continuous, and multifunctional maintenance operations. Summary of the Invention

[0007] In view of the aforementioned technical problems of insufficient safety, weak adaptability to complex curved surfaces, limited operational functions, and low overall maintenance efficiency in existing technologies, this invention provides a wind turbine blade maintenance robot based on a biomimetic six-legged structure and its usage method. This invention mainly combines a biomimetic six-legged crawling structure with a vacuum adsorption system, enabling the robot to stably attach and autonomously crawl on the surface of complex curved blades. The robot can perform multiple maintenance tasks along the blade surface, such as condensate drainage, surface cleaning, and coating repair, thereby effectively replacing traditional high-altitude manual maintenance methods, reducing operational risks, improving wind turbine blade maintenance efficiency, and extending blade lifespan.

[0008] The technical means employed in this invention are as follows: A wind turbine blade maintenance robot based on a biomimetic hexapod structure includes: a main body, a hexapod motion mechanism, a vacuum adsorption system, a hydrophobic module, a cleaning module, and a coating repair module; The six-legged movement mechanism includes legs evenly distributed around the circumference of the main body. The legs include hip joints, knee joints, and ankle joints, and a negative pressure suction cup is connected to the ankle joint. The vacuum adsorption system includes a negative pressure suction cup located at the end of each leg. The negative pressure suction cup is connected to a vacuum pump and a solenoid valve system through a pipeline. Each negative pressure suction cup is controlled in a group to form an alternating adsorption structure. The hydrophobic module is located on the upper part of the main body of the machine and includes a robotic arm mounted on the upper part of the main body via a rotating support. The robotic arm has a lead screw mechanism inside its second outer shell, a hydrophobic plug is fixed at the front end of the lead screw mechanism, and an AI camera is also provided at the end of the robotic arm. The cleaning module is located at the lower part of the main body of the machine and includes a motor box mounted on the base. The motor box contains a cleaning motor. The cleaning motor drives the cleaning brush to rotate through a first helical gear and a second helical gear. The curved groove inside the gear is connected to the motor box through a telescopic rod. The rotation of the gear drives the telescopic rod to move. The coating repair module is located behind the cleaning module and includes a paint nozzle mounted on the main body of the machine via a nozzle bracket. The paint nozzle is connected to a paint tank, and a paint brush mounted on a brush bracket is located behind the paint nozzle.

[0009] Furthermore, the six legs of the hexapod motion mechanism are arranged in a ring around the outer periphery of the main body. Each leg includes a fixing component, a first rotating component, and a second rotating component. The legs are fixedly connected to the main body through the fixing component. The first rotating component and the second rotating component are rotatably connected through a first bracket. The second rotating component is connected to a negative pressure suction cup through a second bracket. A fixed motor is installed inside the fixing component. The first rotating component and the second rotating component are actuated by the first motor and the second motor, respectively.

[0010] Furthermore, the negative pressure suction cups of the vacuum adsorption system are controlled by dividing the six legs into two groups. The negative pressure suction cups of each group of three legs are controlled by a solenoid valve system to achieve alternating adsorption and de-adsorption operations.

[0011] Furthermore, the robotic arm includes a lower outer shell, a second outer shell, a first motor, and a second motor. The lead screw mechanism of the hydrophobic module achieves linear reciprocating motion through motor drive. A hydrophobic damping plug is fixed at the front end of the lead screw mechanism. The hydrophobic damping plug is made of elastic material. The movement of the lead screw mechanism generates a composite motion combining high-frequency vibration and low-frequency impact.

[0012] Furthermore, the paint nozzle of the coating repair module is used to spray out the coating material, and the paint brush is located behind the paint nozzle and is driven to rotate by a fixed motor to spread the sprayed coating material evenly.

[0013] Furthermore, a motor protection seat is provided on the upper cover plate of the main body of the machine, and a vent cover is provided on the motor protection seat. The bottom outer shell covers the outside of the cleaning module and the coating repair module.

[0014] This invention also provides a method for using a negative pressure adsorption type six-legged robot for wind turbine blade maintenance, comprising the following steps: Step 1: Place the robot at the starting position on the surface of the wind turbine blade and start the vacuum adsorption system so that each vacuum suction cup can simultaneously adsorb onto the blade surface. Step 2: The six-legged motion mechanism performs crawling actions according to the preset crawling gait. One set of legs stays attached to and supports the body, while the other set of legs releases the attachment and completes the lifting, forward swinging and re-landing actions. The two sets of legs alternate to enable the robot to crawl along the surface of the blade. Step 3: After the robot crawls to the designated area, the drainage module is activated, the robotic arm adjusts the position of the drainage mechanism so that the drainage plug is aligned with the drainage hole of the blade, and the screw slide drives the drainage plug to perform the unblocking operation. Step 4: After completing the dewatering operation, the robot continues to crawl and starts the cleaning module. The cleaning motor drives the bevel gear transmission mechanism, and the brush radius is adjusted by the telescopic rod of the gear groove. The brush rotates to remove impurities from the blade surface. Step 5: After cleaning is completed, start the coating repair module. The spray nozzle sprays out the coating material, and the roller brush rotates synchronously to spread the coating evenly on the blade surface. Step Six: After the task is completed, the robot returns or stops operating, releasing the vacuum adsorption.

[0015] Furthermore, in step two, the crawling gait of the six-legged motion mechanism is an alternating triangular support gait. By controlling the adsorption and desorption operations of the vacuum suction cups in groups, it is ensured that the robot maintains stable attachment of at least three legs during the crawling process.

[0016] Compared with the prior art, the present invention has the following advantages: This invention employs a biomimetic six-legged crawling structure, enabling the robot to form a stable multi-point support state in complex curved surface environments such as wind turbine blades. Compared with manual climbing or suspension operations, it can effectively improve the stability of the operation process at the structural level, providing a basic condition for replacing manual high-altitude maintenance.

[0017] By setting a vacuum adsorption mechanism at the foot and adopting a grouped alternating adsorption structure, the robot can maintain reliable adhesion at all times during movement, thereby reducing the risk of slippage caused by factors such as blade tilt and smooth surface, reducing the risk of falls in manual high-altitude operations, and improving the overall safety level of maintenance operations.

[0018] The hydrophobic clogging actuator of this invention can automatically unclog the condensate drainage holes inside the wind turbine blades, avoiding the traditional manual cleaning method that requires climbing to high places to clean each hole, thereby reducing the frequency of manual maintenance and reducing the safety risks caused by personnel being exposed to high-altitude environments for a long time.

[0019] During cleaning and coating repair operations, the structured execution module completes the blade surface maintenance tasks, which can replace high-risk operations such as manual spraying and wiping to a certain extent. This helps reduce the impact of human operation instability on maintenance quality, while improving the consistency and repeatability of the operation process.

[0020] Furthermore, by integrating multiple maintenance functions onto the same robotic platform, this invention enables multiple maintenance tasks for wind turbine blades to be completed in a single deployment, reducing the need for manual labor to repeatedly climb up and down the tower and frequently change work procedures, thereby further reducing the intensity of manual labor and improving the overall safety and efficiency of wind power operation and maintenance.

[0021] In summary, this invention, while ensuring structural stability and operational reliability, can effectively assist and partially replace traditional manual high-altitude maintenance methods, reduce the risks of manual operations, and improve the safety and engineering feasibility of wind turbine blade maintenance operations. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the hydrophobic module in an embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of a six-legged motion mechanism in an embodiment of the present invention.

[0026] Figure 4 This is a schematic diagram of the cleaning module in an embodiment of the present invention.

[0027] In the diagram: 1. Top cover; 2. Motor protection seat; 3. Vent cover; 4. Rotating support; 5. AI camera; 6. Hydrophobic plug; 7. Nozzle bracket; 8. Paint nozzle; 9. Paint tank; 10. Cleaning brush; 11. Motor box; 12. Bottom outer shell; 13. Paint brush; 14. Brush bracket; 15. Base; 16. Fixing component; 17. Fixed motor; 18. First rotating component; 19. First motor; 20. First bracket; 21. Second motor; 22. Second rotating component; 23. Second bracket; 24. Leg; 25. Negative pressure suction cup; 26. Lower outer shell of robotic arm; 27. First motor of robotic arm; 28. Second motor of robotic arm; 29. ​​Second outer shell of robotic arm; 30. Screw mechanism; 31. Gear; 32. Cleaning motor; 33. First helical gear; 34. Second helical gear; 35. Transmission gear; 36. Transmission shaft; 37. Range control servo. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0032] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0033] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0034] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0035] This invention provides a wind turbine blade maintenance robot based on a biomimetic hexapod structure, comprising: a main body, a hexapod motion mechanism, a vacuum adsorption system, a hydrophobic module, a cleaning module, and a coating repair module; The hexapod locomotion mechanism includes legs 24 evenly distributed around the body. The legs 24 include hip joints, knee joints and ankle joints. A negative pressure suction cup 25 is connected to the ankle joint. The vacuum adsorption system includes a negative pressure suction cup 25 located at the end of each leg. The negative pressure suction cup 25 is connected to a vacuum pump and a solenoid valve system through pipelines. Each negative pressure suction cup 25 is controlled in a group to form an alternating adsorption structure. The hydrophobic module is located on the upper part of the main body of the machine, including a robotic arm mounted on the upper part of the main body via a rotating support 4. The second outer shell 29 of the robotic arm is equipped with a screw mechanism 30. A hydrophobic plug 6 is fixed at the front end of the screw mechanism 30. An AI camera 5 is also provided at the end of the robotic arm. The cleaning module is located at the lower part of the main body, including a brush bracket mounted on the base 14; a motor box 11 on the base 15, which houses a cleaning motor 32. The cleaning motor 32 drives the cleaning brush 10 to rotate via a first helical gear 33 and a second helical gear 34. The curved groove inside the gear 31 is connected to the motor box 11 via a telescopic rod. The rotation of the gear 31 causes the telescopic rod to move. A range control servo motor 37 is connected to a transmission gear 35 via a transmission shaft 36. The transmission gear 35 meshes with the gear 31. In this way, the rotation of the range control servo motor 37 can drive the extension and retraction, thereby changing the cleaning range.

[0036] The coating repair module is located behind the cleaning module and includes a paint nozzle 8 mounted on the main body of the machine via a nozzle bracket 7. The paint nozzle 8 is connected to a paint tank 9, and a paint brush 13 mounted via a brush bracket is located behind the paint nozzle 8.

[0037] The six legs 24 of the hexapod movement mechanism are arranged in a ring around the outer periphery of the main body. Each leg 24 includes a fixing member 16, a first rotating member 18, and a second rotating member 22. The legs 24 are fixedly connected to the main body of the machine through the fixing member 16. The first rotating member 18 and the second rotating member 22 are rotatably connected through the first bracket 20. The second rotating member 22 is connected to the negative pressure suction cup 25 through the second bracket 23. A fixed motor 17 is provided inside the fixing member 16. The first rotating member 18 and the second rotating member 22 are actuated by the first motor 19 and the second motor 21, respectively.

[0038] The negative pressure suction cups 25 of the vacuum adsorption system are controlled by dividing the six legs 24 into two groups. The negative pressure suction cups 25 of each group of three legs are controlled by a solenoid valve system to achieve alternating adsorption and de-adsorption operations.

[0039] The robotic arm includes a lower outer shell 26, a second outer shell 29, a first motor 27, and a second motor 28. The lead screw mechanism 30 of the hydrophobic module achieves linear reciprocating motion through motor drive. A hydrophobic damping plug 6 is fixed at the front end of the lead screw mechanism 30. The hydrophobic damping plug 6 is made of elastic material and generates a composite motion combining high-frequency vibration and low-frequency impact through the movement of the lead screw mechanism 30.

[0040] The paint nozzle 8 of the coating repair module is used to spray out the coating material. The paint brush 13 is located behind the paint nozzle 8 and is driven to rotate by a fixed motor 17 to spread the sprayed coating material evenly.

[0041] The upper cover plate 1 of the main body is provided with a motor protection seat 2, and the motor protection seat 2 is provided with a vent cover 3. The bottom outer shell 12 covers the outside of the cleaning module and the coating repair module.

[0042] In actual operation, the wind turbine blade maintenance robot of the present invention operates according to the following process.

[0043] First, the robot is placed at the starting position on the surface of the wind turbine blade, and each vacuum suction cup is activated simultaneously to form an initial adsorption state, establishing a stable connection between the robot body and the blade surface.

[0044] Subsequently, the hexapod motion mechanism performs crawling movements according to a preset gait. During crawling, the six legs are divided into two groups. One group of legs remains attached to and supports the robot, while the other group of legs releases its attachment and, driven by servo motors, performs lifting, forward swinging, and re-landing actions. Once the first group of legs reattaches, the second group of legs performs the same actions, thus enabling the robot to move forward step by step along the blade surface. Throughout the entire process, the legs mainly undergo changes in angle and spatial position, while the shape of the leg structure itself remains unchanged.

[0045] After the robot crawls to the designated area, the hydrophobic module is activated. The robotic arm first adjusts the position of the hydrophobic mechanism so that the vibrating needle is aligned with the preset hydrophobic hole position on the blade; then the lead screw slide moves in a reciprocating linear motion driven by the motor, while driving the elastic vibrating needle to generate irregular vibration, thereby clearing the hydrophobic hole and allowing the condensate inside the blade to drain smoothly.

[0046] After completing the dewatering operation, the robot continues crawling and enters the cleaning phase. The stepper motor in the cleaning module drives the bevel gear to rotate, which in turn drives the gear groove telescopic rod mechanism to extend and retract, so that the brush radius is adjusted according to the change of blade width; during the rotation, the brush contacts the blade surface to remove the attached dust, salt spray crystals and impurities.

[0047] After cleaning is completed, the coating repair module begins operation. The nozzle sprays coating material onto the blade surface, and then the roller brush behind it rotates synchronously, spreading the sprayed coating material evenly on the blade surface, thereby completing the local coating repair operation.

[0048] After completing the task, the robot returns along a predetermined route or stops operating, releases the vacuum adsorption, and is then retrieved by staff.

[0049] Through the above-described workflow, this invention enables the completion of multiple maintenance tasks for wind turbine blades without relying on manual high-altitude operations.

[0050] In terms of usage, in addition to automatically crawling along a predetermined path, the robot of this invention can also be remotely controlled or semi-autonomously controlled by ground operators via wireless communication to adjust the robot's posture, plan its path, and control the start and stop of its functional modules, thus adapting to complex working conditions or special operating environments. In some application scenarios, by replacing or disassembling some execution modules, the robot can retain only its crawling and detection functions for rapid inspection or emergency troubleshooting tasks.

[0051] In terms of application areas, the biomimetic six-legged crawling structure and adsorption system adopted in this invention are not limited to the surface of wind turbine blades. After changing the adsorption method or adjusting the structural parameters, it can be extended to the inspection and maintenance of various complex curved surfaces or high-altitude structures. For example, it can be applied to the surface inspection and cleaning of large bridge steel structures, the inspection and maintenance of high-rise building exterior walls, the inspection of the exterior walls of storage tanks and pressure vessels, the cleaning and inspection of ship exterior surfaces, and the quality inspection of large curved composite material structures.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind turbine blade maintenance robot based on a biomimetic hexapod structure, characterized in that, Includes: main body, six-legged locomotion mechanism, vacuum adsorption system, hydrophobic module, cleaning module and coating repair module; The six-legged movement mechanism includes legs evenly distributed around the circumference of the main body. The legs include hip joints, knee joints, and ankle joints, and a negative pressure suction cup is connected to the ankle joint. The vacuum adsorption system includes a negative pressure suction cup located at the end of each leg. The negative pressure suction cup is connected to a vacuum pump and a solenoid valve system through a pipeline. Each negative pressure suction cup is controlled in a group to form an alternating adsorption structure. The hydrophobic module is located on the upper part of the main body of the machine and includes a robotic arm mounted on the upper part of the main body via a rotating support. The robotic arm has a lead screw mechanism inside its second outer shell, a hydrophobic plug is fixed at the front end of the lead screw mechanism, and an AI camera is also provided at the end of the robotic arm. The cleaning module is located at the lower part of the main body of the machine and includes a motor box mounted on the base. The motor box contains a cleaning motor. The cleaning motor drives the cleaning brush to rotate through a first helical gear and a second helical gear. The curved groove inside the gear is connected to the motor box through a telescopic rod. The rotation of the gear drives the telescopic rod to move. The coating repair module is located behind the cleaning module and includes a paint nozzle mounted on the main body of the machine via a nozzle bracket. The paint nozzle is connected to a paint tank, and a paint brush mounted on a brush bracket is located behind the paint nozzle.

2. The wind turbine blade maintenance robot based on a biomimetic hexapod structure according to claim 1, characterized in that, The six legs of the hexapod motion mechanism are arranged in a ring around the outer periphery of the main body. Each leg includes a fixed component, a first rotating component, and a second rotating component. The legs are fixedly connected to the main body through the fixed component. The first rotating component and the second rotating component are rotatably connected through a first bracket. The second rotating component is connected to a negative pressure suction cup through a second bracket. A fixed motor is installed inside the fixed component. The first rotating component and the second rotating component are actuated by the first motor and the second motor, respectively.

3. The wind turbine blade maintenance robot based on a biomimetic hexapod structure according to claim 1, characterized in that, The vacuum adsorption system uses a group control method where the six legs are divided into two groups, and the negative pressure suction cups of each group of three legs are controlled by a solenoid valve system to achieve alternating adsorption and de-adsorption operations.

4. The wind turbine blade maintenance robot based on a biomimetic hexapod structure according to claim 1, characterized in that, The robotic arm includes a lower outer shell, a second outer shell, a first motor, and a second motor. The lead screw mechanism of the hydrophobic module achieves linear reciprocating motion through motor drive. A hydrophobic damping plug is fixed at the front end of the lead screw mechanism. The hydrophobic damping plug is made of elastic material. The movement of the lead screw mechanism generates a composite motion combining high-frequency vibration and low-frequency impact.

5. The wind turbine blade maintenance robot based on a biomimetic hexapod structure according to claim 1, characterized in that, The paint nozzle of the coating repair module is used to spray out the coating material, and the paint brush is located behind the paint nozzle and is driven to rotate by a fixed motor to spread the sprayed coating material evenly.

6. The wind turbine blade maintenance robot based on a biomimetic hexapod structure according to claim 1, characterized in that, The upper cover of the main body of the machine is provided with a motor protection seat, and the motor protection seat is provided with a vent cover. The bottom shell covers the outside of the cleaning module and the coating repair module.

7. A method for using a negative pressure adsorption type six-legged robot for wind turbine blade maintenance, implemented based on the negative pressure adsorption type six-legged robot for wind turbine blade maintenance as described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Place the robot at the starting position on the surface of the wind turbine blade and start the vacuum adsorption system so that each vacuum suction cup can simultaneously adsorb onto the blade surface. Step 2: The six-legged motion mechanism performs crawling actions according to the preset crawling gait. One set of legs stays attached to and supports the body, while the other set of legs releases the attachment and completes the lifting, forward swinging and re-landing actions. The two sets of legs alternate to enable the robot to crawl along the surface of the blade. Step 3: After the robot crawls to the designated area, the drainage module is activated, the robotic arm adjusts the position of the drainage mechanism so that the drainage plug is aligned with the drainage hole of the blade, and the screw slide drives the drainage plug to perform the unblocking operation. Step 4: After completing the dewatering operation, the robot continues to crawl and starts the cleaning module. The cleaning motor drives the bevel gear transmission mechanism, and the brush radius is adjusted by the telescopic rod of the gear groove. The brush rotates to remove impurities from the blade surface. Step 5: After cleaning is completed, start the coating repair module. The spray nozzle sprays out the coating material, and the roller brush rotates synchronously to spread the coating evenly on the blade surface. Step Six: After the task is completed, the robot returns or stops operating, releasing the vacuum adsorption.

8. The method of using the negative pressure adsorption type six-legged robot for wind turbine blade maintenance according to claim 7, characterized in that, In step two, the crawling gait of the six-legged motion mechanism is an alternating triangular support gait. By controlling the adsorption and desorption operations of the vacuum suction cups in groups, it is ensured that the robot maintains stable attachment of at least three legs during the crawling process.

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