A full-automatic wind power maintenance integrated robot

Abstract

The application provides a full-automatic maintenance integrated robot for wind power, and relates to the technical field of wind power equipment maintenance and repair. The robot comprises a body frame, an adsorption walking mechanism, a multi-station integrated maintenance head, a self-adaptive curved surface follow-up mechanism, a rotary motor and the like. The body frame is provided with the adsorption walking mechanism with a suction accessory and a one-way guide roller at four corners. The multi-station maintenance head is hoisted by the self-adaptive curved surface follow-up mechanism below. The rotary motor drives the head to switch between grinding, glue filling, bolt fastening and crack scraping work stations through a centrifugal locking driving assembly. The safety assembly comprises a steel wire rope and a damping buffer to realize anti-falling protection. The suction accessory can be a negative pressure suction cup or an electromagnet, which is suitable for blade and tower drum curved surfaces. The robot integrates multiple process maintenance, has the functions of curved surface self-adaptive follow-up, mechanical precise locking, double adsorption walking and buffer anti-falling, does not need to frequently change heads, has high automation, stable and safe operation, greatly reduces the risk of wind power high-altitude maintenance manual work, and improves the maintenance efficiency and repair quality.

Description

Technical Field

[0001] This invention relates to the field of wind power equipment maintenance and repair technology, and in particular to a fully automated integrated robot for wind power maintenance. Background Technology

[0002] As the scale of wind power installations continues to expand, the blades and towers of wind turbine generators are exposed to complex outdoor environments for extended periods. Affected by wind and sand erosion, temperature variations, and external impacts, they are prone to defects such as surface cracks, coating peeling, loose connecting bolts, and damaged adhesive layers. Regular inspections and maintenance are necessary to ensure the safe operation of the units.

[0003] Current wind power maintenance work largely relies on manual high-altitude suspended platforms, which presents harsh working environments, high safety risks, low efficiency, and is significantly limited by weather conditions such as rain, snow, and strong winds. Although wind power maintenance robots have gradually emerged in recent years, they generally suffer from the following technical shortcomings:

[0004] Firstly, the functions are limited. Most of the equipment only has surface inspection or a single grinding / applying function. To complete multi-process maintenance, the machine head needs to be changed multiple times, the process of getting on and off the machine is cumbersome, and the overall operation cycle is long.

[0005] Secondly, the ability to adapt to curved surfaces is poor. The wind turbine blades are variable cross-section torsional curved surface structures, and the working head of conventional robots cannot conform to the surface, resulting in unstable maintenance quality and problems such as missed repairs and uneven grinding.

[0006] Third, the reliability of the walking adsorption is insufficient. When working on inclined curved surfaces or wet and slippery surfaces, it is easy to slip, shift, or even fall off.

[0007] Fourth, the safety protection mechanism is not perfect, most equipment lacks redundant fall protection, and the safety redundancy of high-altitude operations is insufficient.

[0008] Based on this, the present invention proposes a fully automated wind power maintenance robot to systematically solve the above-mentioned technical problems. Summary of the Invention

[0009] The purpose of this invention is to overcome the shortcomings of the prior art and provide a fully automated integrated wind power maintenance robot that integrates multi-station maintenance functions, curved surface adaptive follow-up structure, reliable adsorption walking mechanism and fall safety protection system, so as to realize fully automated integrated maintenance of wind turbine blades and tower surfaces, improve work efficiency, work quality and high-altitude work safety.

[0010] To address the aforementioned problems, this invention provides a technical solution: a fully automated wind power maintenance integrated robot, comprising a body frame, an adsorption and walking mechanism, a multi-station integrated maintenance head, an adaptive curved surface follower mechanism, a rotary motor, and guide rollers; a rotary motor is fixedly connected to the middle of the body frame; an adsorption and walking mechanism is provided at each of the four corners of the body frame; several guide rollers, which are only allowed to rotate in the upward direction, are also connected to the four corners of the body frame via ratchet mechanisms; a multi-station integrated maintenance head is connected to the bottom of the body frame via the adaptive curved surface follower mechanism; the multi-station integrated maintenance head is connected to the output end of the rotary motor.

[0011] Furthermore, the adsorption walking mechanism includes a walking frame, a lifting adjustment screw, a handwheel, walking tracks, and an adsorption component; the walking frame is connected to the machine frame; walking tracks are connected to both sides of the walking frame; a lifting adjustment screw is screwed into the walking frame; a handwheel is connected to the top of the lifting adjustment screw, and an adsorption component is connected to the end of the lifting adjustment screw.

[0012] Furthermore, the adsorption element is a negative pressure suction cup.

[0013] Furthermore, the adsorption element is an electromagnet.

[0014] Furthermore, the multi-station integrated maintenance head includes a fixed plate, a rotating plate, a drive connection assembly, a grinder, a filler, a bolt fastener, and a crack scraper; the rotating plate is rotatably connected to the fixed plate; the grinder, filler, bolt fastener, and crack scraper are connected in a circular array on the lower surface of the rotating plate; the drive connection assembly is fixedly connected to the fixed plate, and the drive connection assembly is coaxially driven to the output end of the rotary motor and the rotating plate.

[0015] Furthermore, the drive connection assembly includes a bearing housing, a rotating shaft, a locking gear, a universal joint, a connecting rod, a flyweight, and a first spring; the bearing housing is fixedly connected to a fixed disk; a locking gear is fixedly connected to the bearing housing; a rotating shaft passes through the locking gear, the rotating shaft is rotatably connected to the bearing housing, the lower end of the rotating shaft is fixedly connected to a rotating disk, a universal joint is fixedly connected to the upper end of the rotating shaft, a connecting rod is fixedly connected to the universal joint, and the other end of the connecting rod is fixedly connected to the output end of a rotary motor; flyweights are hinged to both ends of the rotating shaft, a first spring connects the flyweights, and locking teeth are provided on the outer ends of the flyweights.

[0016] Furthermore, the adaptive curved surface follower mechanism includes a four-bar linkage, a spherical hinge joint, a second spring, and a lifting lug; there are two four-bar linkages, which are respectively hinged between the fixed plate and the two sides of the fuselage frame; the two sides of the fixed plate are fixedly connected to lifting lugs, and the lifting lugs are connected to the middle ends of the corresponding four-bar linkages by a second spring; the fixed plate is also hinged to a spherical hinge joint, and the spherical hinge joint is elastically connected to the fuselage frame by the second spring.

[0017] Furthermore, it also includes a safety protection component, which includes a hanging ring, a safety wire rope, a damping buffer, and a fixed pulley; hanging rings are fixedly connected to both sides of the upper end of the frame; the fixed pulley is located at the top of the tower; a safety wire rope is connected to the fixed pulley; one end of the safety wire rope is connected to the hanging ring on one side, and the other end of the safety wire rope is connected to the damping buffer, and the other end of the damping buffer is connected to the hanging ring on the other side.

[0018] Furthermore, the grinder includes a grinding head and a planetary gear speed-increasing assembly, the output end of which is driven and connected to the grinding head; the glue filler includes a glue cylinder, a piston, a push rod, and a glue outlet, the end of which is fixedly connected to the glue outlet, the piston is slidably connected in the glue cylinder, and the push rod is fixedly connected to the piston; the bolt fastener includes a sleeve head and a torque limiting clutch, the output end of which is driven and connected to the sleeve head; the crack scraper includes a scraper and a material storage tank, the scraper being elastically connected to the lower end of the material storage tank.

[0019] The beneficial effects of the present invention are: (1) Multi-station integrated operation, which significantly improves maintenance efficiency. The rotary table integrates four maintenance stations: grinding, glue filling, bolt tightening, and crack scraping. The station can be quickly switched by rotating motor drive. There is no need to manually change the machine head. Multiple processes can be continuously maintained in a single machine, which greatly shortens the wind power maintenance operation cycle and reduces the time of high-altitude operation.

[0020] (2) Adaptive surface following ensures stable working fit quality. Through the multi-degree-of-freedom following mechanism composed of a four-bar linkage, a spherical hinge joint and a second spring, the maintenance head can automatically adjust the tilt angle, deflection angle and vertical height according to the curved surface of the fan blade, always keeping the working end face in close contact with the surface to be maintained, effectively ensuring the uniformity and pass rate of curved surface maintenance operations.

[0021] (3) Composite adsorption walking structure, with wide applicability and high stability. The composite walking scheme adopts walking track combined with adsorption components. The negative pressure suction cup is adapted to the surface of non-metallic blades, and the electromagnet is adapted to the surface of steel towers, which can cover the maintenance needs of the entire wind power scenario. Combined with ratchet one-way guide roller to limit downward slippage, the walking stability of high-altitude inclined curved surface operations is significantly improved.

[0022] (4) Centrifugal mechanical locking ensures accurate and reliable workstation positioning. The drive connection component adopts a centrifugal locking structure with a flying hammer. When switching workstations, it rotates at high speed to automatically unlock and then decelerates to automatically engage and lock after reaching the desired position. No additional electrically controlled locking components are required. The purely mechanical structure is suitable for the complex environment of high humidity and strong electromagnetic interference at wind power sites, with a low failure rate and high positioning accuracy.

[0023] (5) Redundant safety protection system, low risk of high-altitude operation. The system is equipped with a fall protection system consisting of safety steel wire ropes and damping buffers. When the robot fails to adhere to the ground accidentally, the damping buffers can absorb the impact energy of the fall, avoiding equipment damage and secondary safety accidents caused by rigid impact, and greatly improving the safety redundancy of high-altitude operation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 This is a schematic diagram of the negative pressure suction cup used in the adsorption walking mechanism of the present invention.

[0026] Figure 3 This is a schematic diagram of the electromagnet used in the adsorption walking mechanism of the present invention.

[0027] Figure 4 This is a bottom view of the multi-station integrated maintenance head of the present invention.

[0028] Figure 5 This is a schematic diagram of the adaptive curved surface follower mechanism of the present invention.

[0029] Figure 6 This is a cross-sectional view of the drive connection component of the present invention.

[0030] Figure 7 This is a schematic diagram of the connection structure of the safety protection component of the present invention.

[0031] 1-Frame; 2-Adsorption and walking mechanism; 21-Walking frame; 22-Lifting adjustment screw; 23-Handwheel; 24-Walking track; 25-Negative pressure suction cup; 26-Electromagnet; 3-Multi-station integrated maintenance head; 31-Fixed plate; 32-Rotating plate; 33-Drive connection assembly; 331-Bearing seat; 332-Rotating shaft; 333-Locking gear plate; 334-Universal joint; 335-Connecting rod; 336-Flying hammer; 337-First spring; 34-Grinding tool; 35-Glue filler; 36-Bolt fastener; 37-Crack scraper; 4-Adaptive curved surface follow-up mechanism; 41-Four-bar linkage; 42-Spherical hinge joint; 43-Second spring; 44-Lifting lug; 5-Rotary motor; 6-Guide roller; 7-Hanging ring; 8-Safety wire rope; 9-Damping buffer; 10-Fixed pulley. Detailed Implementation

[0032] Example 1

[0033] like Figure 1 , Figure 2 , Figures 4-7 As shown, this embodiment provides a fully automated wind power maintenance robot, including a body frame 1, an adsorption walking mechanism 2, a multi-station integrated maintenance head 3, an adaptive curved surface follower mechanism 4, a rotary motor 5, and guide rollers 6.

[0034] The fuselage frame 1 is a rectangular plate-type load-bearing frame made of lightweight, high-strength alloy material, serving as the mounting base for the entire machine. A rotary motor 5 is bolted to the upper middle part of the fuselage frame 1, providing rotational power for switching maintenance work positions. Each of the four corners of the fuselage frame 1 is equipped with an adsorption and walking mechanism 2, used to enable the robot to adhere to and move on the surface of wind turbine blades or towers. Guide rollers 6 are also installed on the outer end faces of the four corners via ratchet mechanisms. The ratchet teeth of the ratchet mechanism are configured to allow the guide rollers 6 to rotate only in the upward direction, automatically locking in the downward direction to prevent slippage during robot descent and improve stability when working on inclined surfaces.

[0035] The multi-station integrated maintenance head 3 is hoisted below the body frame 1 via an adaptive curved surface follower mechanism 4. The power input end of the multi-station integrated maintenance head 3 is connected to the output end of the rotary motor 5, and the rotary motor 5 drives the head to rotate, switching between different maintenance work positions.

[0036] The adsorption and walking mechanism 2 includes a walking frame 21, a lifting and adjusting screw 22, a handwheel 23, walking tracks 24, and an adsorption component. The walking frame 21 is hinged to the corner of the machine frame 1 via a transverse pin and can swing slightly around the pin to adapt to the surface curvature. Walking tracks 24 are respectively mounted on the left and right sides of the walking frame 21. The walking tracks 24 are driven by a built-in micro drive motor to provide the power for the entire machine to move. A vertical threaded hole is opened at the center of the walking frame 21, and the lifting and adjusting screw 22 is connected to the threaded hole. The top end of the lifting and adjusting screw 22 is fixedly connected to the handwheel 23, and the bottom end is rotatably connected to the adsorption component through a bearing. During operation, rotating the handwheel 23 can drive the lifting and adjusting screw 22 to move up and down, adjust the extension height of the adsorption component, and thus adjust the adsorption force and the tightness of the walking tracks to adapt to working surfaces with different curvatures.

[0037] In this embodiment, the adsorption component is a negative pressure suction cup 25, which is suitable for non-metallic surface operations on wind turbine composite material blades. It generates vacuum adsorption force through an external negative pressure pipeline, and the adsorption force is stable and will not damage the blade coating.

[0038] The multi-station integrated maintenance head 3 includes a fixed plate 31, a rotating plate 32, a drive connection assembly 33, a grinder 34, a filler 35, a bolt fastener 36, and a crack scraper 37. The fixed plate 31 is a circular plate body, with the rotating plate 32 rotatably mounted within its central through-hole via a slewing bearing. Four sets of work actuators are arranged in a circular array around the center of the lower surface of the rotating plate 32, consisting of the grinder 34, filler 35, bolt fastener 36, and crack scraper 37, corresponding to four maintenance procedures: surface grinding and smoothing, filling of damaged adhesive layers, bolt fastening, and crack coating repair. The drive connection assembly 33 is fixedly mounted at the center of the upper surface of the fixed plate 31. The lower end of the drive connection assembly 33 is coaxially fixed to the rotating plate 32, and the upper end is drive-connected to the output shaft of the rotary motor 5.

[0039] The drive connection assembly 33 includes a bearing housing 331, a rotating shaft 332, a locking gear 333, a universal joint 334, a connecting rod 335, a flyweight 336, and a first spring 337. The bearing housing 331 is fixedly connected to the center of the upper surface of the fixed disk 31 by bolts. The locking gear 333 is fixedly installed on the upper end face of the bearing housing 331, and the inner ring of the locking gear 333 is machined with meshing internal teeth. The rotating shaft 332 vertically passes through the locking gear 333 and the bearing housing 331, and forms a rotational fit with the bearing housing 331 through a deep groove ball bearing. The lower end of the rotating shaft 332 extends out of the bearing housing and is fixedly connected to the center end face of the rotating disk 32. The upper end of the rotating shaft 332 is fixedly connected to the universal joint 334, and the upper end of the universal joint 334 is fixedly connected to the connecting rod 335. The upper end of the connecting rod 335 is coaxially fixedly connected to the output shaft of the rotary motor 5. Universal joint 334 is used to adapt to the angular offset generated by the adaptive curved surface follower mechanism, ensuring that the rotational power can still be stably transmitted when the machine head deflects at an angle.

[0040] The upper left and right sides of the rotating shaft 332 are respectively hinged with a flying hammer 336 by a pin, and the inner end faces of the two flying hammers 336 are tensioned and connected by a first spring 337; the outer end of the flying hammer 336 is machined with locking teeth that mesh with the inner teeth of the locking gear 333. Its working principle is as follows: when the rotary motor 5 drives the rotating shaft 332 to rotate at high speed to switch the work position, the flying hammer 336 opens outward under the action of centrifugal force, compressing the first spring 337, and the locking teeth disengage from the inner teeth of the locking gear 333, and the rotating shaft can rotate freely; when the work position is switched to the correct position, the speed of the rotary motor 5 decreases, the centrifugal force decreases accordingly, the flying hammer 336 swings back to its original position under the tension of the first spring 337, and the locking teeth are engaged in the tooth grooves of the locking gear 333, realizing the circumferential locking of the rotating disk 32 and ensuring that the work position does not shift during maintenance operations.

[0041] The adaptive curved surface follower mechanism 4 includes a four-bar linkage 41, a spherical hinge joint 42, a second spring 43, and a lug 44. Two sets of four-bar linkages 41 are symmetrically arranged on the left and right sides of the fixed plate 31. The upper end of each four-bar linkage 41 is hinged to the lower surface of the fuselage frame 1, and the lower end is hinged to the upper surface of the fixed plate 31, enabling in-plane swing freedom. Lugs 44 are fixedly installed on the left and right sides of the fixed plate 31, and the lugs 44 are connected to the middle connecting rods of the corresponding four-bar linkages 41 by the second spring 43. A spherical hinge joint 42 is also hinged to the center of the upper surface of the fixed plate 31, and a second spring 43 is also connected between the spherical hinge joint 42 and the lower surface of the fuselage frame 1. Through the swinging degrees of freedom of two sets of four-bar linkages and the universal rotation degrees of freedom of the spherical hinge joint, combined with the elastic pressing and reset of the second spring, the multi-station integrated maintenance head 3 can automatically adjust the pitch, deflection angle and vertical height according to the curvature of the working surface, always keeping the working end face in close contact with the surface to be maintained, and realizing curved surface conformal operation.

[0042] This embodiment also includes a safety protection component, which includes a hanging ring 7, a safety wire rope 8, a damping buffer 9, and a fixed pulley 10. Hanging rings 7 are fixedly installed on the left and right sides of the upper end of the frame 1. The fixed pulley 10 is fixedly installed at the top anchor point of the wind turbine tower or blade root. The safety wire rope 8 is wound around the fixed pulley 10. One end of the safety wire rope 8 is connected to the hanging ring 7 on one side of the frame, and the other end is connected in series with the damping buffer 9 and then connected to the hanging ring 7 on the other side of the frame. When the robot is working normally, the safety wire rope 8 moves synchronously with the robot, maintaining a low-tension follow-up state. When the robot accidentally falls due to adsorption failure, the safety wire rope 8 quickly tightens and is subjected to force. The damping buffer 9 absorbs the impact energy of the fall through its internal damping medium or plastic deformation, preventing a rigid fall and ensuring the safety of the equipment and the environment below.

[0043] The grinder 34 consists of a grinding head and a planetary gear speed-increasing assembly. The input end of the planetary gear speed-increasing assembly is connected to rotational power, and the output end is driven and connected to the grinding head. It is used to grind the damaged coating and the area to be repaired around the cracks on the blade surface. The glue filler 35 includes a glue cylinder, a piston, a push rod, and a glue nozzle. The glue cylinder stores repair glue, and the push rod pushes the piston to squeeze the glue, which is then quantitatively discharged through the glue nozzle to fill the surface defects. The bolt fastener 36 includes a sleeve head and a torque limiting clutch. After reaching the set tightening torque, it automatically slips to ensure that the tightening torque of a batch of bolts is consistent and to avoid over-tightening or under-tightening. The crack scraper 37 includes a storage tank and an elastic scraper. The storage tank stores repair paint, and the scraper elastically presses against the working surface. As the robot moves, it evenly scrapes the paint onto the cracks to complete the surface repair.

[0044] Example 2

[0045] like Figure 3 As shown, the overall structure of this embodiment is basically the same as that of Embodiment 1, with the only difference being that: in this embodiment, the adsorption component is an electromagnet 26, which is suitable for surface maintenance of steel wind turbine towers. It generates magnetic adsorption force by energizing and releases the adsorption when the power is turned off, making the operation convenient and the adsorption force strong. The remaining structure, connection relationship and working principle are completely consistent with Embodiment 1, and will not be repeated here.

[0046] Usage status of the invention:

[0047] Before operation, place the robot at the starting position of the area to be inspected on the wind turbine blades or tower. Turn the handwheel 23 to adjust the lifting adjustment screw 22, so that the adsorption component is close to the working surface and the adsorption is activated. At the same time, the walking track 24 presses against the working surface. Fix the fixed pulley 10 of the safety protection component to the top anchor point, and connect the two ends of the safety wire rope 8 to the hanging rings 7 on both sides of the machine body to complete the operation preparation.

[0048] During operation, the walking track 24 drives the robot to walk along the working surface. The guide roller 6 is in contact with the working surface to assist in guidance, and the ratchet mechanism restricts the downward rotation to prevent slippage. During the walking process, the adaptive curved surface follower mechanism 4 drives the multi-station integrated maintenance head 3 to automatically adjust its posture according to the blade curved surface, always keeping the working end face in contact with the surface.

[0049] Upon reaching the maintenance point, the rotary motor 5 rotates at high speed, driving the rotary disk 32 to rotate via the drive connection assembly 33, switching to the corresponding maintenance station. After the station is in place, the rotary motor 5 slows down, and the fly hammer 336 engages with the locking gear 333 under the action of the first spring 337, locking the station. The corresponding work actuator then starts to carry out the maintenance work. By switching between different stations in sequence, all maintenance processes such as grinding, glue application, bolt tightening, and scraping repair can be completed at the same point.

[0050] When the robot unexpectedly fails to adhere, the safety steel cable 8 is quickly tensioned, and the damping buffer 9 absorbs the impact energy of the fall, thus achieving fall buffer protection.

[0051] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and 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. Therefore, they should not be construed as limiting this invention.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope. All such changes and modifications fall within the scope of the present invention as claimed, which is defined by the appended claims and their equivalents.

[0054] The control method of this invention is to control the device by manually starting and stopping the switch. The wiring diagram of the power element and the supply of power are common knowledge in the field. Since this invention is mainly used to protect mechanical devices, the control method and wiring layout will not be explained in detail.

Claims

1. A fully automated wind power maintenance robot, characterized in that: It includes a frame (1), an adsorption walking mechanism (2), a multi-station integrated maintenance head (3), an adaptive curved surface follow-up mechanism (4), a rotary motor (5), and guide rollers (6); A rotary motor (5) is fixedly connected to the middle of the fuselage frame (1); The four corners of the fuselage frame (1) are provided with adsorption walking mechanisms (2); The four corners of the fuselage frame (1) are also connected by a ratchet mechanism to several guide rollers (6) that are only allowed to rotate in the upward direction. The fuselage frame (1) is connected to a multi-station integrated maintenance head (3) via an adaptive curved surface follower mechanism (4) below the fuselage frame (1). The multi-station integrated maintenance head (3) is connected to the output end of the rotary motor (5).

2. The wind power fully automated maintenance integrated robot according to claim 1, characterized in that: The adsorption walking mechanism (2) includes a walking frame (21), a lifting adjustment screw (22), a handwheel (23), a walking track (24), and an adsorption component; The walking frame (21) is connected to the fuselage frame (1); The walking frame (21) is connected to walking tracks (24) on both sides. The walking frame (21) is screwed with a lifting adjustment screw (22); The top end of the lifting adjustment screw (22) is connected to a handwheel (23), and the bottom end of the lifting adjustment screw (22) is connected to an adsorption element.

3. The wind power fully automated maintenance integrated robot according to claim 2, characterized in that: The adsorption element is a negative pressure suction cup (25).

4. The wind power fully automated maintenance integrated robot according to claim 2, characterized in that: The adsorption element is an electromagnet (26).

5. The wind power fully automated maintenance integrated robot according to claim 1, characterized in that: The multi-station integrated maintenance head (3) includes a fixed plate (31), a rotating plate (32), a drive connection assembly (33), a grinder (34), a glue filler (35), a bolt fastener (36), and a crack scraper (37). A rotating disk (32) is rotatably connected to the fixed disk (31); The lower surface of the rotating disk (32) is connected in a circular array with a grinder (34), a glue filler (35), a bolt fastener (36), and a crack scraper (37). A drive connection assembly (33) is fixedly connected to the fixed disk (31), and the drive connection assembly (33) is coaxially connected to the output end of the rotary motor (5) and the rotary disk (32).

6. The wind power fully automated maintenance integrated robot according to claim 5, characterized in that: The drive connection assembly (33) includes a bearing housing (331), a rotating shaft (332), a locking gear (333), a universal joint (334), a connecting rod (335), a flyweight (336), and a first spring (337). The bearing housing (331) is fixedly connected to the fixed disk (31); A locking gear disc (333) is fixedly connected to the bearing housing (331). A rotating shaft (332) runs through the locking gear (333), the rotating shaft (332) is rotatably connected in the bearing seat (331), the lower end of the rotating shaft (332) is fixedly connected to the rotating disk (32), a universal joint (334) is fixedly connected to the upper end of the rotating shaft (332), a connecting rod (335) is fixedly connected to the universal joint (334), and the other end of the connecting rod (335) is fixedly connected to the output end of the rotary motor (5); Both ends of the rotating shaft (332) are hinged with flying hammers (336), and a first spring (337) is connected between the flying hammers (336). Locking teeth are provided on the outer ends of the flying hammers (336).

7. The wind power fully automated maintenance integrated robot according to claim 1, characterized in that: The adaptive curved surface follower mechanism (4) includes a four-bar linkage (41), a spherical hinge joint (42), a second spring (43), and a lug (44). The four-bar linkage (41) consists of two parts, which are respectively hinged between the fixed plate (31) and the two sides of the fuselage frame (1); Both sides of the fixed plate (31) are fixedly connected with lifting lugs (44), and a second spring (43) is connected between the lifting lugs (44) and the middle end of the corresponding four-bar linkage (41). A spherical hinge joint (42) is also hinged to the fixed plate (31), and a second spring (43) is elastically connected between the spherical hinge joint (42) and the fuselage frame (1).

8. The wind power fully automated maintenance integrated robot according to claim 1, characterized in that: It also includes a safety protection component, which includes a hanging ring (7), a safety wire rope (8), a damping buffer (9), and a fixed pulley (10). Hanging rings (7) are fixedly connected to both sides of the upper end of the fuselage frame (1); The fixed pulley (10) is installed at the top of the tower; A safety wire rope (8) is connected to the fixed pulley (10); One end of the safety wire rope (8) is connected to a hanging ring (7) on one side, and the other end of the safety wire rope (8) is connected to a damping buffer (9). The other end of the damping buffer (9) is connected to a hanging ring (7) on the other side.

9. The wind power fully automated maintenance integrated robot according to claim 5, characterized in that: The grinder (34) includes a grinding head and a planetary gear speed-increasing group, the output end of which is connected to the grinding head. The glue filler (35) includes a glue tube, a piston, a push rod and a glue nozzle. The glue tube is fixedly connected to the end of the glue tube and the piston is slidably connected in the glue tube. The push rod is fixedly connected to the piston. The bolt fastener (36) includes a sleeve head and a torque limiting clutch, the output end of which is connected to the sleeve head in a driving connection. The crack scraper (37) includes a scraper and a storage tank, with the scraper elastically connected to the lower end of the storage tank.

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