Fan blade cleaning and repainting robot

Abstract

This utility model proposes a wind turbine blade cleaning and repainting robot, including a carriage with track assemblies on both sides. The air chamber inside the front pulley of the track assembly is connected to a suction pump via a rotary joint, while the air chamber inside the rear pulley is sealed by a rotating air guide plate. A side branch pipe of the air guide plate connects to the suction pump, and a drive mechanism is connected to the center of the rear pulley. The air chambers inside the front and rear pulleys are connected to air nozzles arranged around the wheel surface, which cooperate with air valves at the bottom of the track suction cups. A robotic arm is located on the top of the carriage, and a brush assembly in the robotic arm is connected to a double-headed pump in the spraying mechanism. A repainting mechanism and a wastewater recovery mechanism are located at the rear of the carriage. This robot adopts a track suction cup vacuum adsorption design, combined with a differential steering drive mechanism, enabling it to adapt to complex free-form blade surfaces, improving operational efficiency and reliability. Through the cooperation of the multi-axis robotic arm, spraying mechanism, and wastewater recovery mechanism, it accurately and efficiently cleans various contaminated areas of the wind turbine blades, exhibiting strong applicability and high efficiency.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, specifically to a robot for cleaning and repainting wind turbine blades. Background Technology

[0002] A wind turbine is a clean energy device that converts wind energy into electricity. Its core principle is to use natural wind to drive the rotation of huge blades. The blades are connected to the main shaft via a hub, driving a generator located in the nacelle to produce electricity. This renewable energy technology requires no fuel and has zero carbon emissions during operation. It is the core device of modern wind farms, continuously providing clean electricity to the power grid. During operation, wind turbine blades are susceptible to corrosion from pollutants such as dust, salt spray, and bird droppings, leading to a decline in aerodynamic performance and a loss of 10%-20% in power generation efficiency. Traditional manual cleaning methods pose a risk of falling from heights, are inefficient, and have inconsistent cleaning quality, making it difficult to meet the maintenance needs of wind turbine blades. In addition to daily pollution, extreme weather conditions such as freezing and lightning strikes can cause damage such as blade cracks and paint peeling, requiring specialized cleaning equipment to address these issues. Utility Model Content

[0003] To address the aforementioned issues, this utility model proposes a wind turbine blade cleaning and repainting robot, comprising a carriage with track assemblies on both sides. The air chamber inside the front pulley of the track assembly is connected to a suction pump via a rotary joint, while the air chamber inside the rear pulley is sealed by a rotating air guide plate. A side branch pipe of the air guide plate is connected to the suction pump. A drive mechanism is connected to the center of the rear pulley. The air chambers inside the front and rear pulleys are connected to air nozzles arranged around the wheel surfaces. These nozzles cooperate with air valves at the bottom of the track suction cups. A robotic arm is located on the top of the carriage, and a brush assembly within the robotic arm is connected to a double-headed pump in the spraying mechanism. A repainting mechanism and a wastewater recycling mechanism are located at the rear of the carriage.

[0004] Furthermore, the track assembly includes wheel seats, which are connected to the support rods on both sides of the carriage. Track rollers are rotatably connected in the upper and lower wheel grooves of the wheel seats. Front and rear pulleys are rotatably connected between the front and rear end plates of the wheel seats. An air guide plate is installed on the inner end plate. A rear axle is located at the center of the rear pulley. The rear axle passes through the air guide plate and connects to the drive mechanism inside the carriage. Each pulley is connected by the track. Track suction cups are installed on the outer end face of the track section. The air valve of the track suction cups penetrates into the inner end face of the track section and cooperates with the air nozzle.

[0005] Furthermore, the drive mechanism includes a drive box, which is installed on the bottom of the carriage. The two inner sides of the drive box are rotatably connected to the differentials. The sun gears on the inner sides of the two differentials are connected to the two ends of the linkage shaft. The shaft gear meshes with the output gear of the motor in the same direction. The large gears of the two differentials mesh with the intermediate gear through the transmission shaft. The large gear of one differential meshes with the output gear of the motor in the opposite direction.

[0006] Furthermore, the robotic arm includes an electric turntable, the base of which is mounted on the inner support plate of the carriage. An electric hinge A is mounted on the top surface of the turntable, the output end of which is connected to the head of the main arm, and the tail of the main arm is connected to the output end of the electric hinge B. The bottom surface of the electric hinge B is connected to the forearm seat, the output end of which of the built-in rotary motor is connected to the hinge seat, the hinge seat is rotatably connected to the ball seat, the ball seat has a built-in lifting motor, the output end of which is connected to the threaded screw, the lower end of which is threadedly connected to the lifting cylinder, a brush plate assembly is mounted on the bottom of the lifting cylinder, the lower ends of the folding arms are hinged to both sides of the lifting cylinder, the upper ends of the folding arms are hinged to the double-headed hinge plates, the center of which is rotatably connected to the upper end of the threaded screw, and the double-headed hinge plates are bolted to the bottom seat plate of the ball seat.

[0007] Furthermore, the brush assembly includes an angle motor, which is mounted on the bottom surface of the lifting cylinder. The output gear of the angle motor meshes with a conical shaft on the side arm of the bottom surface of the lifting cylinder. The end of the conical shaft is connected to the brush handle. The brush handle is equipped with an air jet ring. The air jet ring's input pipe is connected to the exhaust port on one side of the dual-head pump. The bottom of the brush handle is equipped with a brush motor. The output end of the brush motor is connected to the center of the brush disk. Each nozzle of the air jet ring faces the annular mesh surface of the brush disk.

[0008] Furthermore, the spraying mechanism includes a spray box containing cleaning agent. The spray box is installed at the head of the carriage. A double-headed pump is installed on the top of the spray box. The exhaust port on one side of the double-headed pump is connected to the spray box. Several omnidirectional atomizing nozzles are installed on the lower front side of the spray box. A brush belt seat is located below the omnidirectional atomizing nozzles. The brush belt seat is connected to the head of the carriage. A brush belt motor is installed on the top of the brush belt seat. The output pulley of the brush belt motor is connected to the driven pulley through the brush belt. The driven pulley is rotatably connected to the opening at the bottom of the brush belt seat. Each pulley has a brush head at its bottom, and the bottom side of the brush belt has bristles.

[0009] Furthermore, the paint touch-up mechanism includes a transverse base, which is installed on the upper side of the rear of the carriage. The transverse base has sliding rods on the end plates at both ends. The sliding rods are slidably connected to the transverse blocks. The transverse blocks are threadedly connected to the threaded shaft of the transverse motor. The transverse motor is installed on one end plate. The transverse blocks are hinged to an electric spray gun, which is connected to the paint tank inside the carriage.

[0010] Furthermore, the wastewater recycling mechanism includes a water rake, which is installed on the lower side of the rear of the carriage. The water rake pipe is connected to a filter cartridge inside the carriage, the filter cartridge is connected to a water pump, and the output end of the water pump is connected to a wastewater tank.

[0011] Furthermore, cameras are mounted around the top of the carriage and hooked to drones, while a solar panel is located in the center of the top.

[0012] The beneficial effects of this utility model are as follows: This utility model adopts a tracked suction cup vacuum adsorption design, combined with a differential steering drive mechanism, which can adapt to complex free-form blade surfaces, improve work efficiency and operational reliability, and through the cooperation between the multi-axis robotic arm, the spraying and brushing mechanism and the sewage recycling mechanism, it can accurately and efficiently clean various polluted areas of the wind turbine blades. It has the characteristics of strong applicability and high efficiency. The device is also equipped with batteries and solar panels for auxiliary power supply, which significantly improves the endurance and meets the needs of long-term operation. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0015] Figure 3 This is a schematic diagram of the track assembly in this utility model;

[0016] Figure 4 This is a schematic diagram of the connection structure between the wheel seat and the carriage in this utility model;

[0017] Figure 5 This is a schematic diagram of the robotic arm in this utility model.

[0018] The reference numerals in the attached drawings are explained as follows: 1. Cargo box; 101. Support rod; 102. Support plate; 2. Front pulley; 3. Rotary joint; 4. Suction pump; 5. Rear pulley; 501. Rear axle; 6. Air guide plate; 7. Air nozzle; 8. Track suction cup; 9. Dual-head pump; 10. Wheel seat; 1001. Clamping plate; 11. Track support roller; 12. Track link; 13. Drive box; 14. Differential; 15. Linkage shaft; 16. Same-direction motor; 17. Drive shaft; 18. Intermediate gear; 19. Opposite-direction motor; 20. Electric turntable; 21. Electric hinge A; 22. Boom; 23. Electric hinge B; 24. Arm seat; 25. Rotary motor; 26. Hinge seat; 27. Ball seat; 28. Lifting motor; 2 9. Lead screw; 30. Lifting cylinder; 3001. Side arm; 31. Folding arm; 32. Double-headed hinge plate; 33. Angle motor; 34. Conical wheel shaft; 35. Brush handle; 36. Air jet ring; 37. Solar panel; 38. Brush disc motor; 39. Brush disc; 40. Spray box; 41. Universal atomizing nozzle; 42. Brush belt seat; 43. Brush belt motor; 44. Brush belt; 4401. Brush bristles; 45. Driven pulley; 46. Brush head; 47. Lateral movement seat; 48. Sliding rod; 49. Lateral movement block; 50. Lateral movement motor; 51. Electric airbrush; 52. Paint tank; 53. Water rake; 54. Filter cartridge; 55. Water pump; 56. Wastewater tank; 57. Camera; 58. Drone hook. Detailed Implementation

[0019] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] The present invention will be further described below with reference to the accompanying drawings:

[0022] like Figures 1 to 5 As shown, the wind turbine blade cleaning and repainting robot includes a carriage 1. Cameras 57 and drone hooks 58 are arranged around the top surface of the carriage 1, and a solar panel 37 is located at the center of the top surface. Track assemblies are located on both sides of the carriage 1. The air chamber inside the front pulley 2 of the track assembly is connected to a suction pump 4 via a rotary joint 3. The air chamber inside the rear pulley 5 is sealed by a rotating air guide plate 6. A side branch pipe of the air guide plate 6 is connected to the suction pump 4. A drive mechanism is connected to the center of the rear pulley 5. The air chambers inside the front and rear pulleys are connected to air nozzles 7 arranged around the wheel surface. The air nozzles 7 cooperate with the air valves at the bottom of the track suction cups 8. A robotic arm is located on the top surface of the carriage 1. The brush assembly in the robotic arm is connected to a double-headed pump 9 in the spraying mechanism. A repainting mechanism and a wastewater recycling mechanism are located at the rear of the carriage 1.

[0023] In this embodiment, the track assembly includes a wheel seat 10, which is connected to the support rods 101 on both sides of the carriage 1. The upper and lower wheel grooves of the wheel seat 10 are rotatably connected to the track rollers 11. The front and rear pulleys are rotatably connected between the front and rear end clamping plates 1001 of the wheel seat 10. The air guide plate 6 is installed on the inner side clamping plate 1001 at the rear end. The rear pulley 5 has a rear wheel axle 501 at its center. The rear wheel axle 501 passes through the air guide plate 6 and is connected to the drive mechanism inside the carriage 1. Each pulley is connected by the track. The track suction cup 8 is installed on the outer end face of the track section 12. The air valve of the track suction cup 8 passes through the inner end face of the track section 12 and cooperates with the air nozzle 7.

[0024] In this embodiment, the drive mechanism includes a drive housing 13, which is installed on the bottom surface of the carriage 1. The two inner sides of the drive housing 13 are rotatably connected to the differentials 14. The sun gears on the inner sides of the two differentials 14 are connected to the two ends of the linkage shaft 15. The shaft gear of the linkage shaft 15 meshes with the output gear of the motor 16 in the same direction. The large gears of the two differentials 14 mesh with the intermediate gear 18 through the transmission shaft 17. The large gear of one differential 14 meshes with the output gear of the motor 19 in the opposite direction.

[0025] In this embodiment, the robotic arm includes an electric turntable 20. The base of the electric turntable 20 is mounted on the inner support plate 102 of the carriage 1. An electric hinge seat A21 is mounted on the top surface of the turntable 20. The output end of the electric hinge seat A21 is connected to the head of the upper arm 22, and the tail of the upper arm 22 is connected to the output end of the electric hinge seat B23. The bottom surface of the electric hinge seat B23 is connected to the forearm seat 24. The output end of the built-in rotary motor 25 of the forearm seat 24 is connected to the hinge seat 26. The hinge seat 26 is rotatably connected to the ball seat 27. The ball seat 27 has a built-in lifting motor 28. The output end of the lifting motor 28 is connected to the threaded screw 29. The lower end of the threaded screw 29 is threadedly connected to the lifting cylinder 30. A brush plate assembly is mounted on the bottom of the lifting cylinder 30. The lower ends of the folding arms 31 are hinged to both sides of the lifting cylinder 30. The upper ends of the folding arms 31 are hinged to the double-headed hinge plate 32. The center of the double-headed hinge plate 32 is rotatably connected to the upper end of the threaded screw 29. The double-headed hinge plate 32 is connected to the bottom seat plate of the ball seat 27 by bolts.

[0026] In this embodiment, the brush assembly includes an angle motor 33, which is mounted on the bottom surface of the lifting cylinder 30. The output gear of the angle motor 33 meshes with a conical shaft 34 on the side arm 3001 of the bottom surface of the lifting cylinder 30. The end of the conical shaft 34 is connected to the brush handle 35. The brush handle 35 is provided with an air jet ring 36. The input pipe of the air jet ring 36 is connected to the exhaust port on one side of the dual-head pump 9. The bottom of the brush handle 35 is provided with a brush motor 38. The output end of the brush motor 38 is connected to the center of the brush disk 39. Each nozzle of the air jet ring 36 faces the annular mesh surface of the brush disk 39.

[0027] In this embodiment, the spray brush mechanism includes a spray box 40 containing cleaning agent. The spray box 40 is installed at the head of the carriage 1. A double-headed pump 9 is installed on the top surface of the spray box 40. The exhaust port on one side of the double-headed pump 9 is connected to the spray box 40. Several universal atomizing nozzles 41 are installed on the lower front side of the spray box 40. A brush belt seat 42 is provided below the universal atomizing nozzles 41. The brush belt seat 42 is connected to the head of the carriage 1. A brush belt motor 43 is installed on the top of the brush belt seat 42. The pulley at the output end of the brush belt motor 43 is connected to the driven pulley 45 through the brush belt 44. The driven pulley 45 is rotatably connected to the bottom opening of the brush belt seat 42. Each pulley has a brush head 46 at its bottom, and the bottom side of the brush belt 44 has bristles 4401.

[0028] In this embodiment, the paint touch-up mechanism includes a transverse sliding seat 47, which is installed on the upper rear side of the carriage 1. The transverse sliding seat 47 has sliding rods 48 on its two end plates, which are slidably connected to transverse sliding blocks 49. The transverse sliding blocks 49 are threadedly connected to the threaded shaft of a transverse sliding motor 50, which is installed on one side end plate. The transverse sliding blocks 49 are hinged to an electric spray gun 51, which is connected to a paint tank 52 inside the carriage 1. The wastewater recycling mechanism includes a water rake 53, which is installed on the lower rear side of the carriage 1. The water rake 53 is piped to a filter cartridge 54 inside the carriage 1, which is connected to a water pump 55. The output end of the water pump 55 is connected to a wastewater tank 56.

[0029] The working principle of this utility model is as follows:

[0030] The robot is transported to the wind turbine blade via the drone hook 58. When the robot's tracks contact the blade surface, the air valves of the track suction cups 8 located directly below the front and rear pulleys are opened by the corresponding air nozzles 7, activating the suction cup pump 4 to evacuate the internal air chambers of the front and rear pulleys, allowing the track suction cups 8 to firmly adhere to the blade surface. When the robot moves forward or backward in a straight line, the same-direction motor 16 is activated to drive the linkage shaft 15 to rotate. The linkage shaft 15 drives the differential gears 14 on both sides to rotate in the same direction, at which point the tracks on both sides rotate at the same speed and in the same direction. If the robot moves forward, the valve between the air guide plate 6 and the suction cup pump 4 is closed, and the track suction cup 8 directly below the rear pulley 5 loses its vacuum state, allowing the track to rotate forward. If the robot moves backward, the valve between the rotary joint 3 and the suction cup pump 4 is closed, and the track suction cup 8 directly below the front pulley 2 loses its vacuum state, allowing the track to rotate backward. When the robot turns, the reverse motor 19 is activated, driving the differential 14 on that side to rotate in the opposite direction via the intermediate gear 18. At this time, the two ends of the linkage shaft 15 slip and do not rotate, and the tracks on both sides turn in opposite directions. The opening and closing of the valves at the suction pump 4 are determined according to the corresponding track direction. When the robot is working, the robotic arm moves the brush plate 39 to the target position, the brush plate motor 38 drives the brush plate 39 to rotate, and the brush belt motor 43 drives the bristles 4401 and brush head 46 to rotate. At the same time, the jet ring 36 sprays high-pressure gas onto the stains through the double-head pump 9. The double-head pump 9 squeezes the cleaning agent in the spray box 40 from the universal atomizing nozzle 41 to the front of the bristles 4401. The water pump 55 is activated, and the water rake 53 sucks the sewage on the blades into the filter cartridge 54 for filtration. After filtration, the sewage enters the sewage tank 56 for collection. When the blades need to be repainted, the lateral movement motor 50 can adjust the lateral position of the electric spray pen 51, and the electric spray pen 51 sprays the paint in the paint tank 52 onto the blade surface.

[0031] This utility model adopts a vacuum adsorption design with a tracked suction cup 8, combined with a differential steering drive mechanism, which can adapt to complex free-form blade surfaces, improve operational efficiency and reliability. Through the cooperation of a multi-axis robotic arm, a spraying and brushing mechanism and a wastewater recycling mechanism, it can accurately and efficiently clean various polluted areas of wind turbine blades. It has the characteristics of strong applicability and high efficiency. The device is also equipped with batteries and solar panels 37 for auxiliary power supply, which significantly improves the endurance and meets the needs of long-term operation.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A wind turbine blade cleaning and repainting robot, comprising a carriage (1), characterized in that: The carriage (1) is equipped with track assemblies on both sides. The air chamber inside the front pulley (2) of the track assembly is connected to the suction pump (4) through the rotary joint (3). The air chamber inside the rear pulley (5) is sealed by the air guide plate (6). The side branch pipe of the air guide plate (6) is connected to the suction pump (4). The center of the rear pulley (5) is connected to the drive mechanism. The air chambers inside the front and rear pulleys are connected to the air nozzles (7) arranged around the wheel surface. The air nozzles (7) cooperate with the bottom air valve of the track suction cup (8). The top surface of the carriage (1) is equipped with a mechanical arm. The brush plate assembly in the mechanical arm is connected to the double-head pump (9) in the spray brushing mechanism. The rear of the carriage (1) is equipped with a paint repair mechanism and a sewage recycling mechanism.

2. The wind turbine blade cleaning and repainting robot according to claim 1, characterized in that: The track assembly includes a wheel seat (10), which is connected to the support rods (101) on both sides of the carriage (1). The upper and lower wheel grooves of the wheel seat (10) are rotatably connected to the track rollers (11). The front and rear pulleys are rotatably connected between the front and rear end clamps (1001) of the wheel seat (10). The air guide plate (6) is installed on the inner side clamp (1001) of the rear end. The rear pulley (5) has a rear wheel axle (501) at its center. The rear wheel axle (501) passes through the air guide plate (6) and is connected to the drive mechanism inside the carriage (1). Each pulley is connected by the track. The track suction cup (8) is installed on the outer end face of the track section (12). The air valve of the track suction cup (8) is inserted into the inner end face of the track section (12) and cooperates with the air nozzle (7).

3. The wind turbine blade cleaning and repainting robot according to claim 1, characterized in that: The drive mechanism includes a drive box (13), which is installed on the bottom of the carriage (1). The two inner sides of the drive box (13) are rotatably connected to the differential (14). The inner sun gears of the two differentials (14) are connected to both ends of the linkage shaft (15). The shaft gear of the linkage shaft (15) meshes with the output gear of the motor (16) in the same direction. The large gears of the two differentials (14) mesh with the intermediate gear (18) through the transmission shaft (17). The large gear of one differential (14) meshes with the output gear of the motor (19) in the opposite direction.

4. The wind turbine blade cleaning and repainting robot according to claim 1, characterized in that: The robotic arm includes an electric turntable (20), the base of which is mounted on the inner support plate (102) of the carriage (1). An electric hinge A (21) is mounted on the top surface of the turntable of the electric turntable (20). The output end of the electric hinge A (21) is connected to the head of the upper arm (22), and the tail of the upper arm (22) is connected to the output end of the electric hinge B (23). The bottom surface of the electric hinge B (23) is connected to the forearm seat (24). The output end of the rotary motor (25) built into the forearm seat (24) is connected to the hinge seat (26). The hinge seat (26) rotates and connects to the hinge base (26). The ball seat (27) is equipped with a built-in lifting motor (28). The output end of the lifting motor (28) is connected to a threaded screw (29). The lower end of the threaded screw (29) is threaded to the lifting cylinder (30). The bottom of the lifting cylinder (30) is equipped with a brush plate assembly. The lower ends of the folding arms (31) are hinged to both sides of the cylinder body of the lifting cylinder (30). The upper end of the folding arms (31) is hinged to a double-headed hinge plate (32). The center of the double-headed hinge plate (32) is rotated to connect to the upper end of the threaded screw (29). The double-headed hinge plate (32) is connected to the bottom seat plate of the ball seat (27) by bolts.

5. The wind turbine blade cleaning and repainting robot according to claim 4, characterized in that: The brush assembly includes an angle motor (33), which is mounted on the bottom surface of the lifting cylinder (30). The output gear of the angle motor (33) meshes with the conical shaft (34) on the side arm (3001) of the bottom surface of the lifting cylinder (30). The end of the conical shaft (34) is connected to the brush handle (35). The handle (35) is provided with an air jet ring (36). The input pipe of the air jet ring (36) is connected to the exhaust port on one side of the double-head pump (9). The bottom of the brush handle (35) is provided with a brush motor (38). The output end of the brush motor (38) is connected to the center of the brush disk (39). Each nozzle of the air jet ring (36) faces the annular mesh surface of the brush disk (39).

6. The wind turbine blade cleaning and repainting robot according to claim 1, characterized in that: The spraying mechanism includes a spray box (40), which contains cleaning agent. The spray box (40) is installed at the head of the carriage (1). A double-head pump (9) is installed on the top surface of the spray box (40). The exhaust port on one side of the double-head pump (9) is connected to the spray box (40). Several universal atomizing nozzles (41) are installed on the lower front side of the spray box (40). A brush belt seat (42) is provided below the universal atomizing nozzles (41). The brush belt seat (42) is connected to the head of the carriage (1). A brush belt motor (43) is installed on the top of the brush belt seat (42). The pulley at the output end of the brush belt motor (43) is connected to the driven pulley (45) through the brush belt (44). The driven pulley (45) is rotatably connected in the bottom opening of the brush belt seat (42). A brush head (46) is provided at the bottom of each pulley. Brush bristles (4401) are provided on the bottom side of the brush belt (44).

7. The wind turbine blade cleaning and repainting robot according to claim 1, characterized in that: The paint touch-up mechanism includes a transverse base (47), which is installed on the upper side of the rear of the carriage (1). The transverse base (47) has sliding rods (48) on both ends of the plate. The sliding rods (48) are slidably connected to the transverse block (49). The transverse block (49) is threadedly connected to the threaded shaft of the transverse motor (50). The transverse motor (50) is installed on one side end plate. The transverse block (49) is hinged to the electric spray gun (51). The electric spray gun (51) is connected to the paint box (52) inside the carriage (1).

8. The wind turbine blade cleaning and repainting robot according to claim 1, characterized in that: The wastewater recycling mechanism includes a water rake (53), which is installed on the lower side of the rear of the carriage (1). The water rake (53) is connected to a filter cylinder (54) inside the carriage (1). The filter cylinder (54) is connected to a water pump (55), and the output end of the water pump (55) is connected to a wastewater tank (56).

9. The wind turbine blade cleaning and repainting robot according to claim 1, characterized in that: The carriage (1) has cameras (57) mounted around its top surface and hooks (58) for drones, and a solar panel (37) is mounted in the center of its top surface.

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