A robot-based fan deflector installation device and system

Abstract

This invention provides a robot-based wind turbine spoiler installation device and system, including a crawling mechanism capable of moving on the tower, a drive mechanism, spoilers, and a clamping mechanism. The drive mechanism is mounted on the crawling mechanism, and the clamping mechanism is mounted on the drive mechanism and used to clamp the spoilers. The drive mechanism drives the spoilers to move and adhere to the tower. It also includes an adhesive application assembly. The adhesive application assembly includes a first motor, a shaft, a bracket, a glue roller, and a main shaft. The first motor is connected to the crawling mechanism and its output end is connected to the shaft. The shaft is rotatably connected to the crawling mechanism, the shaft is connected to the bracket, and the bracket is rotatably connected to the main shaft. The device includes a crawling mechanism capable of autonomously moving on the tower. Combined with a positioning system, it can move precisely along a preset path, avoiding manual climbing operations and improving safety.

Description

Technical Field

[0001] This invention belongs to the field of wind power equipment installation technology, specifically relating to a robot-based wind turbine spoiler installation device and system. Background Technology

[0002] Wind turbine towers typically require the installation of deflectors on their outer walls to improve airflow distribution around the tower, thereby reducing vortex-induced vibration and noise. Currently, most deflectors are installed manually at height, requiring workers to apply adhesive, attach, and tighten them at high altitudes. This not only poses significant safety risks but also results in low installation efficiency and inconsistent deflector adhesion quality, often leading to uneven adhesive layers and loose bonding, ultimately affecting the deflection effect.

[0003] In addition, although some existing semi-automatic or mechanized installation equipment can assist in construction, they generally have the following shortcomings: (1) They cannot move flexibly on the curved surface of the tower and the positioning accuracy is insufficient; (2) The glue application and bonding processes are separated, resulting in low installation efficiency; (3) The clamping and bonding posture of the baffle strip is not easy to adjust and deviations are easy to occur.

[0004] Therefore, there is an urgent need for a device that can move autonomously on the tower surface, integrate glue application and installation functions, and achieve precise clamping and bonding of the baffle strips, so as to improve the degree of automation and installation quality. Summary of the Invention

[0005] To address the problems mentioned in the background section, this invention provides a robot-based fan spoiler installation device and system.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robot-based wind turbine spoiler installation device, comprising a crawling mechanism, a drive mechanism, spoilers, and a clamping mechanism capable of moving on the tower; The driving mechanism is mounted on the crawling mechanism, the clamping mechanism is mounted on the driving mechanism and is used to clamp the deflector strip, and the driving mechanism is used to drive the deflector strip to move and fit onto the tower. It also includes an adhesive application assembly; the adhesive application assembly includes a first motor, a shaft, a bracket, an adhesive roller, and a main shaft; The first motor is connected to the crawling mechanism and its output end is connected to the shaft. The shaft is rotatably connected to the crawling mechanism, the shaft is connected to the bracket, the bracket is rotatably connected to the main shaft, and the main shaft is connected to the rubber roller. Wherein, the length of the rubber roller is greater than the axial length of the deflector strip; When the clamping mechanism clamps the baffle strip, the axis of the baffle strip is parallel to the axis of the tower.

[0007] Preferably, the adhesive application assembly further includes a gear ring and a gear; The gear ring is connected to the crawling mechanism, the gear ring meshes with the gear, and the gear is connected to the main shaft; The arc of both the gear ring and the spoiler strip is degrees.

[0008] Preferably, the adhesive application assembly further includes an electric push rod, a pressure plate, and a housing; The electric push rod is connected to the bracket, the output end of the electric push rod is connected to the pressure plate, the pressure plate is slidably connected to the inner wall of the housing, the housing is connected to the bracket, and the housing has multiple glue outlets on the side near the glue roller.

[0009] Preferably, the housing has a feed inlet and hot melt adhesive is stored inside the housing, and a heating component is provided on the side wall of the housing.

[0010] Preferably, the drive mechanism includes a second motor connected to the crawling mechanism, a screw rotatably connected to the crawling mechanism, a crossbeam, a through groove, a block, a connecting rod that are in contact with the surface of the crawling mechanism, a mounting plate and a side plate for fixing the clamping mechanism, and a first groove, a connecting groove and a second groove machined on the side plate; The output end of the second motor is connected to the screw, the screw is threaded to the crossbeam, the crossbeam has a through groove machined on its side, the block is slidably connected to the through groove, the block can only move along the length of the through groove, the inner side of the block is connected to the connecting rod, the connecting rod is connected to the mounting plate, and the side plate is connected to the crawling mechanism. When the crawling mechanism crawls on the tower, the second groove is closer to the tower than the first groove. The connecting groove is used to connect the first groove and the second groove, and the connecting rod is movable in the first groove, the connecting groove and the second groove and its size matches the first groove, the connecting groove and the second groove; The height of the through groove is greater than the height between the first groove and the second groove.

[0011] Preferably, the clamping mechanism includes a hydraulic cylinder and a housing, as well as two first connecting rods, a second connecting rod, a support rod, a support arm, and a clamping head; The hydraulic cylinder is connected to the housing, the housing is connected to the drive mechanism, the output end of the hydraulic cylinder rotates with the two support rods, the two support rods are rotatably connected to the two support arms respectively, the clamping head is connected to the support arm, the support arm is rotatably connected to the first connecting rod and the second connecting rod respectively, and the first connecting rod and the second connecting rod are rotatably connected to the housing.

[0012] Preferably, there are two clamping mechanisms, symmetrically arranged on the drive mechanism; The two symmetrical clamping mechanisms can switch between using a single clamping mechanism to clamp the spoiler depending on its position.

[0013] Preferably, two robotic arm assemblies are provided at the end of the crawling mechanism in the direction of movement; The spoiler bar is provided with threaded holes; The robotic arm assembly is used to grip the screw and screw it into the threaded holes of two adjacent spoilers.

[0014] A robot-based wind turbine spoiler installation system is also provided, including a control module for controlling the operation of the installation device; The control module is electrically connected to the crawling mechanism, drive mechanism, glue application assembly, clamping mechanism and robot arm assembly. The control module is used to control the installation device to move along the surface of the tower according to a preset path, and to complete the glue application, baffle clamping, installation and fastening in sequence.

[0015] Preferably, the control module includes a position detection unit, an attitude adjustment unit, and a remote control unit; The position detection unit is used to obtain the curvature of the outer wall of the tower, the installation position of the baffle strip, and the installation angle. The attitude adjustment unit is used to adjust the motion attitude of the crawling mechanism and the driving mechanism in real time according to the detection results, so as to ensure that the baffle strip is in contact with the tower surface; The remote control unit is used to receive manual input commands and monitor the installation process, so as to achieve automated installation of the spoiler under different environmental conditions.

[0016] Compared with the prior art, the beneficial effects of the present invention are: Automated movement and positioning: The device includes a crawling mechanism that can move autonomously on the tower. Combined with a positioning system, it can move precisely along a preset path, avoiding manual climbing and improving safety.

[0017] Integrated gluing and installation: By setting up a gluing component and utilizing a structural design where the length of the glue roller is greater than that of the baffle, uniform glue application can be achieved in a single operation, improving gluing efficiency and uniformity.

[0018] Precise fit of the spoiler strip: The drive mechanism and the clamping mechanism work together to ensure that the axis of the spoiler strip is parallel to the axis of the tower, thereby achieving a precise fit between the spoiler strip and the tower, improving installation quality and reliability. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is an exploded view of the invention; Figure 3 This is a schematic diagram of the connection structure of the adhesive coating assembly in this invention; Figure 4 This is a schematic diagram of the connection structure between the adhesive application component and the drive mechanism in this invention; Figure 5 This is an exploded view of the adhesive application assembly and the drive mechanism in this invention; Figure 6 This is a schematic diagram of the connection structure of the drive mechanism in this invention; Figure 7 This is a schematic diagram of the connection structure between the driving mechanism and the clamping mechanism in this invention; Figure 8 This is a schematic diagram of a partial connection structure of the driving mechanism in this invention; Figure 9 This is a schematic diagram of the connection structure of the clamping mechanism in this invention.

[0020] Explanation of reference numerals in the attached figures: 1-Crawling mechanism, 2-Glue application assembly, 201-Gear ring, 202-Gear, 203-Glue roller, 204-Bracket, 205-Electric push rod, 206-Pressure plate, 207-Housing, 208-Main shaft, 209-First motor, 210-Shaft, 4-Manipulator assembly, 5-Drive mechanism, 501-Second motor, 502-Screw, 503-Crossbeam, 504-Through groove, 505-Block, 506-Connecting rod, 507-Mounting plate, 508-Side plate, 509-First groove, 510-Connecting groove, 511-Second groove, 6-Breakthrough strip, 7-Clamping mechanism, 701-Hydraulic cylinder, 702-Housing, 703-First connecting rod, 704-Second connecting rod, 705-Support arm, 706-Clamping head, 707-Support rod. Detailed Implementation

[0021] 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.

[0022] like Figures 1 to 8As shown, this embodiment provides a robot-based wind turbine deflector installation device, whose structure mainly includes: a crawling mechanism 1, a driving mechanism 5, a deflector 6, a clamping mechanism 7, and an adhesive application assembly 2. The crawling mechanism 1 is installed on the outer wall of the wind turbine tower and is used to support and drive the entire installation device to move on the tower surface. The crawling mechanism 1 can be a wall-climbing robot from Huixi Technology, which adheres to the tower surface by magnetic attraction or negative pressure and can move along a pre-set marking line with its own positioning system to achieve precise positioning of the installation position. The driving mechanism 5 is installed on the crawling mechanism 1 and is used to drive the deflector 6 to move relative to the tower surface and adhere to it. The driving mechanism 5 includes a second motor 501, a screw 502, a crossbeam 503, a through slot 504, a block 505, a connecting rod 506, a mounting plate 507, and a side plate 508. The second motor 501 is fixed on the crawling mechanism 1, and its output end is connected to the screw 502. The screw 502 is threadedly connected to the crossbeam 503, and the surface of the crossbeam 503 is machined with a through groove 504. The block 505 is slidably engaged with the through groove 504 and can only move along the length of the through groove 504. The inner side of the block 505 is connected to the connecting rod 506, and the distal end of the connecting rod 506 is connected to the mounting plate 507 for mounting the clamping mechanism 7. The side plate 508 is fixed to the crawling mechanism 1, and has a first groove 509, a connecting groove 510, and a second groove 511 machined on it. The second groove 511 is closer to the tower surface, and the connecting groove 510 facilitates the transition between the first groove 509 and the second groove 511.

[0023] In this structure, the connecting rod 506 can move within the first groove 509, the connecting groove 510, and the second groove 511, and its dimensions match those of the grooves, thereby ensuring that the clamping mechanism 7 and the deflector strip 6 can switch and adjust their positions during the bonding process. The height of the through groove 504 is designed to be greater than the height difference between the first groove 509 and the second groove 511 to ensure smooth movement of the connecting rod 506.

[0024] The clamping mechanism 7 is mounted on the mounting plate 507 of the drive mechanism 5 and is used to clamp the baffle strip 6. In the clamped state, the axis of the baffle strip 6 remains parallel to the axis of the tower to ensure the accuracy of subsequent adhesive application and bonding processes. The adhesive application assembly 2 is used to evenly apply hot melt adhesive to the surface of the tower or the back of the baffle strip before bonding. The adhesive application assembly 2 mainly includes: a first motor 209, a shaft 210, a bracket 204, a main shaft 208, a glue roller 203, a gear ring 201, a gear 202, an electric push rod 205, a pressure plate 206, and a housing 207. The first motor 209 is fixed to the crawling mechanism 1, and its output end is connected to the shaft 210, which is rotatably connected to the crawling mechanism 1. The shaft 210 is connected to the bracket 204, which is rotatably connected to the main shaft 208, and the main shaft 208 is fixed to the glue roller 203. The length of the rubber roller 203 is greater than the axial length of the deflector strip 6 to ensure complete coverage of the adhesive application area. The gear ring 201 is fixed to the crawling mechanism 1 and meshes with the gear 202, enabling the rubber roller 203 to rotate itself while rotating around the shaft 210, thanks to the meshing of the gear 202 and the gear ring 201. The gear 202 is connected to the main shaft 208, thus achieving synchronous rotation of the rubber roller 203. The arc of both the gear ring 201 and the deflector strip 6 is 180°, ensuring that the adhesive application path is consistent with the deflector strip's contact path. The electric push rod 205 is connected to the bracket 204, and its output end is connected to the pressure plate 206. The pressure plate 206 slides against the inner wall of the housing 207, pushing the hot melt adhesive inside the housing 207 towards the outlet. The housing 207 is connected to the bracket 204, and multiple outlets are provided near the rubber roller 203 to ensure even distribution of the hot melt adhesive on the surface of the rubber roller 203. The housing 207 has a feed inlet and stores hot melt adhesive inside. A heating element is installed on the side wall of the housing 207 to heat the hot melt adhesive and keep it in a flowable state.

[0025] During use, the crawling mechanism 1 adheres to the tower surface and moves along the marked line to the target installation position. After the clamping mechanism 7 clamps the baffle strip 6, it aligns the axis of the baffle strip with the tower axis. Simultaneously, the adhesive application assembly 2 is activated, and the electric push rod 205 pushes the pressure plate 206 to extrude hot melt adhesive through the dispensing nozzle, which is then evenly applied by the adhesive roller 203. Subsequently, the drive mechanism 5 drives the clamping mechanism 7 and the baffle strip 6 to adhere to the tower surface, completing the installation.

[0026] During installation, once the crawling mechanism 1 moves to the target position, the drive mechanism 5 begins operation. The second motor 501 starts and drives the screw 502 to rotate. Since the crossbeam 503 and the screw 502 are connected by a thread, the crossbeam 503 moves linearly along the screw's axis when the screw rotates. The crossbeam 503 has a through groove 504 on its side, and the block 505 slides within the through groove 504. Therefore, when the crossbeam 503 moves, the block 505 is forcibly guided to move smoothly along the through groove 504.

[0027] The block 505 is fixedly connected to the connecting rod 506, and the other end of the connecting rod 506 is connected to the mounting plate 507. The clamping mechanism 7 is fixed on the mounting plate 507. Therefore, as the block 505 moves, the connecting rod 506, the mounting plate 507 and the clamping mechanism 7 move as a whole, realizing the linear forward and backward movement of the clamping mechanism.

[0028] During the movement, the first groove 509, connecting groove 510, and second groove 511 on the side plate 508 guide the connecting rod 506. The connecting rod 506 is initially located in the first groove 509. As the screw 502 continues to drive, the connecting rod 506 gradually enters the connecting groove 510 and eventually moves into the second groove 511. At this point, because the second groove 511 is closer to the outer wall of the tower, the mounting plate 507 and clamping mechanism 7 also come into close contact with the tower, allowing the baffle 6 to fit tightly against the outer wall of the tower. The connection between the tower and the baffle 6 is achieved after the adhesive reaches room temperature.

[0029] Once the deflector strip 6 is fully attached to the tower surface, the drive mechanism 5 can stop advancing, and the clamping mechanism 7 maintains the clamping state to fix the deflector strip 6. After installation, the clamping mechanism 7 releases the clamping action, the drive mechanism 5 reverses the drive screw 502, and the crossbeam 503 drives the connecting rod 506 back to the first groove 509, thereby causing the clamping mechanism 7 to retract, preparing for the next installation of the deflector strip.

[0030] like Figure 9As shown, the specific structures of the clamping mechanism 7 and the robotic arm assembly 4 are as follows: Two clamping mechanisms 7 are used to clamp and release the spoiler 6, and they are symmetrically mounted on the drive mechanism 5. Each clamping mechanism 7 includes a hydraulic cylinder 701, a housing 702, a first connecting rod 703, a second connecting rod 704, a support rod 707, a support arm 705, and a clamping head 706. The hydraulic cylinder 701 is fixed to the housing 702, which is integrally connected to the drive mechanism 5. The output end of the hydraulic cylinder 701 is rotatably connected to the two support rods 707. The two support rods 707 are rotatably connected to the support arm 705 respectively. The support arm 705 is equipped with a clamping head 706 for directly contacting and clamping the spoiler 6. Each support arm 705 is also rotatably connected to the first connecting rod 703 and the second connecting rod 704. The other ends of the first connecting rod 703 and the second connecting rod 704 are rotatably connected to the housing 702, thus forming a multi-bar linkage mechanism. With the above structure, when the hydraulic cylinder 701 actuates, it drives the support rod 707 to swing, which in turn pushes the support arm 705 to open or close the clamping head 706, thereby achieving the clamping and release of the spoiler 6. Because two symmetrical clamping mechanisms 7 are provided, the device can select a single clamping mechanism 7 to complete the clamping according to the specific position of the spoiler 6, thus adapting to different installation conditions. Two robotic arm assemblies 4 are provided at the end of the crawling mechanism 1 in the direction of movement, for achieving a fixed connection between the spoiler 6. Threaded holes are pre-machined on the body of the spoiler 6. The robotic arm assembly 4 can clamp screws, and when the device moves to the splicing position of adjacent spoiler 6, it aligns the screws with the threaded holes and screws them in, thereby achieving reliable fixation between two adjacent spoiler 6.

[0031] During installation, the clamping mechanism 7 first clamps each individual spoiler strip 6, and then, driven by the drive mechanism 5, brings the spoiler strip 6 into contact with the tower surface. Subsequently, the robotic arm assembly 4 at the end of the device grips a screw and screws it into the threaded holes on adjacent spoiler strips 6, completing the connection and fixation between the spoiler strips. Through this design, the clamping mechanism 7 can stably grip and release the spoiler strips, while the robotic arm assembly 4 ensures reliable splicing between the spoiler strips, thus making the entire installation process more automated and efficient.

[0032] A robot-based fan spoiler installation system is also provided, which includes the aforementioned installation device and a control module that works in conjunction with it.

[0033] The control module is electrically connected to the crawling mechanism 1, the drive mechanism 5, the glue application assembly 2, the clamping mechanism 7, and the robotic arm assembly 4, and is used to coordinate and control the various actuators of the installation device.

[0034] The control module can control the installation device to move along the outer wall of the tower according to the preset path, and complete the gluing, clamping, bonding and fastening operations of the baffle 6 in the set sequence, thereby realizing the automated installation of the baffle 6.

[0035] The control module includes: Position detection unit: Used to acquire information on the curvature of the tower's outer wall, the installation position and angle of the baffle 6. This unit can collect environmental data in real time through sensors or scanning equipment, providing a reference for subsequent actions.

[0036] Attitude adjustment unit: Used to adjust the adsorption attitude of the crawling mechanism 1 and the motion state of the drive mechanism 5 in real time according to the data obtained by the position detection unit, so as to ensure that the baffle strip 6 is in close contact with the tower surface and avoid installation errors caused by tower curvature or device deviation.

[0037] Remote control unit: Used for interaction with external operators, it can receive manually input operation commands and monitor and adjust each step during installation. When environmental conditions are complex or abnormal situations occur, the operator can intervene in the device through the remote control unit, improving the system's flexibility and safety.

[0038] In actual use, the control module first obtains the curvature of the tower's outer wall and installation reference information through the position detection unit, and then performs motion planning based on the preset path. Subsequently, the attitude adjustment unit controls the crawling mechanism 1 to move along the tower surface, and drives the adhesive application assembly 2, the clamping mechanism 7, and the robotic arm assembly 4 to work in sequence. The adhesive application component 2 evenly applies hot melt adhesive to the target area; The clamping mechanism 7 clamps the baffle strip 6 and, under the action of the driving mechanism 5, attaches it to the surface of the tower. The robotic arm assembly 4 screws the screws into the threaded holes on the spoiler strips 6 to fix the spoiler strips together.

[0039] Throughout the process, the remote control unit can monitor the system in real time and allow for manual intervention, thereby ensuring the installation quality of the spoilers and the safe operation of the system.

[0040] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot-based fan deflector installation device, characterized in that: It includes a crawling mechanism (1) that can move on the tower, a drive mechanism (5), a spoiler (6) and a clamping mechanism (7). The driving mechanism (5) is disposed on the crawling mechanism (1), the clamping mechanism (7) is disposed on the driving mechanism (5) and is used to clamp the deflector strip (6), and the driving mechanism (5) is used to drive the deflector strip (6) to move and adhere to the tower. It also includes a glue application assembly (2); the glue application assembly (2) includes a first motor (209), a shaft (210), a bracket (204), a glue roller (203) and a main shaft (208); The first motor (209) is connected to the crawling mechanism (1) and its output end is connected to the shaft (210). The shaft (210) is rotatably connected to the crawling mechanism (1). The shaft (210) is connected to the bracket (204). The bracket (204) is rotatably connected to the main shaft (208). The main shaft (208) is connected to the rubber roller (203). The length of the rubber roller (203) is greater than the axial length of the deflector strip (6); When the clamping mechanism (7) clamps the baffle strip (6), the axis of the baffle strip (6) is parallel to the axis of the tower.

2. The robot-based fan deflector installation device according to claim 1, characterized in that: The adhesive coating assembly (2) also includes a gear ring (201) and a gear (202); The gear ring (201) is connected to the crawling mechanism (1), the gear ring (201) is meshed with the gear (202), and the gear (202) is connected to the main shaft (208); The arc of both the toothed ring (201) and the spoiler strip (6) is 180 degrees.

3. The robot-based fan deflector installation device according to claim 1, characterized in that: The adhesive application assembly (2) also includes an electric push rod (205), a pressure plate (206), and a housing (207). The electric push rod (205) is connected to the bracket (204), the output end of the electric push rod (205) is connected to the pressure plate (206), the pressure plate (206) is slidably connected to the inner wall of the housing (207), the housing (207) is connected to the bracket (204), and the housing (207) has multiple glue outlets on the side near the glue roller (203).

4. The robot-based fan deflector installation device according to claim 3, characterized in that: The housing (207) has a feed port and hot melt adhesive inside the housing (207), and a heating component is provided on the side wall of the housing (207).

5. The robot-based fan deflector installation device according to claim 1, characterized in that: The drive mechanism (5) includes a second motor (501) connected to the crawling mechanism (1), a screw (502) rotatably connected to the crawling mechanism (1), a crossbeam (503) that is in contact with the surface of the crawling mechanism (1), a through groove (504), a block (505), a connecting rod (506), a mounting plate (507) and a side plate (508) for fixing the clamping mechanism (7), and a first groove (509), a connecting groove (510), and a second groove (511) machined on the side plate (508); The output end of the second motor (501) is connected to the screw (502), the screw (502) is threadedly connected to the crossbeam (503), the crossbeam (503) has a through groove (504) machined on its side, the block (505) is slidably connected to the through groove (504), the block (505) can only move along the length direction of the through groove (504), the inner side of the block (505) is connected to the connecting rod (506), the connecting rod (506) is connected to the mounting plate (507), and the side plate (508) is connected to the crawling mechanism (1). When the crawling mechanism (1) crawls on the tower, the second groove (511) is closer to the tower than the first groove (509); The connecting groove (510) is used to connect the first groove (509) and the second groove (511), and the connecting rod (506) is movable in the first groove (509), the connecting groove (510) and the second groove (511) and its size matches the first groove (509), the connecting groove (510) and the second groove (511); The height of the through groove (504) is greater than the height between the first groove (509) and the second groove (511).

6. The robot-based fan deflector installation device according to claim 1, characterized in that: The clamping mechanism (7) includes a hydraulic cylinder (701), a housing (702), two first connecting rods (703), a second connecting rod (704), a support rod (707), a support arm (705), and a clamping head (706). The hydraulic cylinder (701) is connected to the housing (702), which is connected to the drive mechanism (5). The output end of the hydraulic cylinder (701) rotates with the two support rods (707). The two support rods (707) are rotatably connected to the two support arms (705) respectively. The clamping head (706) is connected to the support arm (705). The support arm (705) is rotatably connected to the first connecting rod (703) and the second connecting rod (704) respectively. The first connecting rod (703) and the second connecting rod (704) are rotatably connected to the housing (702).

7. The robot-based fan deflector installation device according to claim 6, characterized in that: The number of clamping mechanisms (7) is two, symmetrically arranged on the driving mechanism (5); The two symmetrical clamping mechanisms (7) can switch the single clamping mechanism (7) to clamp the spoiler (6) according to the position of the spoiler (6).

8. The robot-based fan deflector installation device according to any one of claims 1-7, characterized in that: Two robotic arm assemblies (4) are provided at the end of the crawling mechanism (1) in the direction of movement; A threaded hole is provided on the spoiler strip (6); The robotic arm assembly (4) is used to clamp screws and screw them into the threaded holes of two adjacent spoilers (6).

9. A robot-based fan spoiler installation system, characterized in that: Includes a robot-based wind turbine spoiler installation device as described in any one of claims 1-8, and a control module for controlling the operation of the installation device; The control module is electrically connected to the crawling mechanism (1), the drive mechanism (5), the glue application assembly (2), the clamping mechanism (7), and the robot arm assembly (4). The control module is used to control the installation device to move along the surface of the tower according to the preset path, and to complete the glue application, the clamping of the baffle strip (6), the installation, and the fastening in sequence.

10. A robot-based fan deflector installation system according to claim 9, characterized in that: The control module includes a position detection unit, an attitude adjustment unit, and a remote control unit; The position detection unit is used to obtain the curvature of the outer wall of the tower, the installation position and installation angle of the baffle (6); The attitude adjustment unit is used to adjust the motion attitude of the crawling mechanism (1) and the driving mechanism (5) in real time according to the detection results, so as to ensure that the baffle strip (6) is in contact with the tower surface; The remote control unit is used to receive manual input commands and monitor the installation process so as to achieve automated installation of the spoiler strip (6) under different environmental conditions.

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