Biomimetic spider de-icing robot and method for wind turbine blades

Abstract

Provision of a biomimetic spider de-icing robot and work method for wind turbine blades. [Solution] The robot includes a parent robot, spider legs 4, a travel mechanism, two sets of child robots, and a de-icing mechanism. The spider legs 4 are attached to the parent robot and provide the robot with the necessary suction force when working on the blade. The travel mechanism is used to improve the robot's movement speed when the spider legs 4 are not in use. The de-icing mechanism enables the robot to complete non-destructive de-icing work on the wind turbine blades. While working, the child robots dock with the child robot on the opposite side and orbit the wind turbine blades to form a cable track. This allows the robot to orbit the wind turbine blades and de-ic using only the travel mechanism, without relying on the spider legs 4, improving the efficiency of blade de-icing and enhancing the safety of the robot de-icing work.

Description

Technical Field

[0003]

[0001] The present invention belongs to the field of maintenance technology of wind turbines, and particularly relates to a biomimetic spider deicing robot for wind turbine blades and a working method.

Background Art

[0002] Wind energy, as a clean, pollution-free, renewable, widely distributed, and extremely abundant energy source, has attracted people's attention and concern. Onshore wind farms are often built in mountainous areas with high altitudes, low temperatures, and high humidity in winter. In an environment with low temperature and high humidity, icing is likely to occur on the blade surface of wind turbines. After icing on the blades, their aerodynamic shape changes, affecting the aerodynamic performance of the blades and reducing the power generation efficiency of the wind turbines. In addition, blade icing increases the load on the blades due to the weight of the ice, shortening the lifespan of the blades and posing safety risks such as mechanical failures and ice falling from high altitudes. Therefore, removing the icing on wind turbine blades is of great significance for ensuring the normal operation of wind farms.

[0003] Currently, common blade deicing technologies include electric heating deicing, coating methods, manual or mechanical deicing, etc. Electric heating deicing involves arranging heating wires on the blade surface and using resistance heating to remove icing, but there are risks of fire and lightning strikes. The coating method involves applying a water-repellent coating on the blade surface to prevent icing, but it has poor durability and problems such as environmental pollution. Manual deicing has low work efficiency and high risks. When a machine performs deicing operations, it cannot adapt to irregular blade shapes, resulting in incomplete deicing and easy occurrence of dead corners.

[0004] Chinese patent CN116985153A discloses a separate de-icing robot for wind turbine blades, which, using its vacuum suction module, can climb from the wind turbine body to the wind turbine blades to perform de-icing. However, when the wind turbine is stopped and preparing for de-icing, the blades are in a flapping state, with one side of the blade facing upwards and the other downwards. When the robot performs de-icing at the bottom of the blades, the vacuum suction becomes unstable, creating a safety risk of the robot falling.

[0005] Therefore, in order to solve the above problem, it is necessary to design a biomimetic spider de-icing robot and work method for wind turbine blades. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] CN116985153A [Overview of the project] [Problems that the invention aims to solve]

[0007] The object of the present invention is to provide a biomimetic spider de-icing robot and a method for de-icing wind turbine blades in order to solve the above problems and achieve the objective of adapting to irregular blade surfaces and performing efficient, complete, and safe de-icing. [Means for solving the problem]

[0008] To achieve the above objective, the present invention provides the following scheme: A biomimetic spider de-icing robot for wind turbine blades, Parent robot and Multiple spider legs are fixedly attached to the parent robot and used to allow the parent robot to climb from the wind turbine body to the base of the wind turbine blades, A travel mechanism installed on the parent robot and used to move the parent robot on the surface of the wind turbine blade, Two sets of child robots are detachably installed inside both ends of the parent robot, with each set being fixedly connected to a towing mechanism, the towing mechanism being fixedly installed inside the parent robot, and after one set detaches from the parent robot, the towing mechanism is driven to wrap around the wind turbine blade, engaging with the other set to form an adjustable annular band, the adjustable annular band being used to prevent the parent robot from falling off as it moves along the surface of the wind turbine blade, The system includes a de-icing mechanism installed on the parent robot and used to remove ice from the surface of the wind turbine blades.

[0009] In a biomimetic spider de-icing robot for wind turbine blades according to the present invention, the sub-robot comprises a chassis and a body installed at the top of the chassis, one end of the body is fixedly connected to the traction mechanism, a coupler is installed at the other end of the body, four stepping motors are fixedly installed on the chassis, the four stepping motors are installed in pairs on the long side of the chassis, the output shafts of each pair of stepping motors are fixedly connected to gears, crawlers are dynamically meshed on the outside of two of the same pair of gears, a vacuum pump II is fixedly connected to the top of the body, the intake port of the vacuum pump II is fixedly connected to one end of the vacuum suction pipe II, the other end of the vacuum suction pipe II penetrates the chassis and is fixedly connected to the suction cup II.

[0010] In a biomimetic spider de-icing robot for wind turbine blades according to the present invention, the coupler includes a coupler body, one end of the coupler body is fixedly connected to the body, the other end of the coupler body is rotatably connected to a coupler knuckle via a pin, a locking pin is installed on the coupler body, the locking pin is fixedly connected to the telescopic end of a telescopic rod, and the fixed end of the telescopic rod is fixedly connected to the body.

[0011] In the biomimetic spider de-icing robot for wind turbine blades according to the present invention, a transformer and a backup power supply are installed inside the body, a camera is further fixedly connected to the outer wall of the body, and the camera and the coupler are located at the same end of the body.

[0012] In a biomimetic spider de-icing robot for wind turbine blades according to the present invention, the traction mechanism includes a traction unit, the traction unit is fixedly installed inside the parent robot, the traction unit is fixedly connected to one end of a cable, the cable is housed inside the traction unit, and the other end of the cable is fixedly connected to the body.

[0013] In a biomimetic spider de-icing robot for wind turbine blades according to the present invention, the spider legs include a three-stage mechanical body, one end of the three-stage mechanical body is rotatably connected to a mechanical leg base, the mechanical leg base is fixedly installed on the parent robot, servo motors are installed at the joints of the three-stage mechanical body, the other end of the three-stage mechanical body is fixedly connected to a suction cup I, the suction cup I is fixedly connected to one end of a vacuum suction tube I, the other end of the vacuum suction tube I is fixedly connected to the intake port of a vacuum pump I, and the vacuum pump I is fixedly installed on the parent robot.

[0014] In the biomimetic spider de-icing robot for wind turbine blades according to the present invention, the travel mechanism includes a dual-output shaft motor, the dual-output shaft motor is fixedly installed on the parent robot, and one of the output shafts of the dual-output shaft motor is fixedly connected to a wheel.

[0015] In a biomimetic spider de-icing robot for wind turbine blades according to the present invention, the de-icing mechanism includes a main battery, the main battery is fixedly installed inside the parent robot, the main battery is electrically connected to an ultrasonic generator, and the ultrasonic generator is fixedly installed on the side wall of the parent robot near the surface of the wind turbine blade.

[0016] In a biomimetic spider de-icing robot for wind turbine blades according to the present invention, the parent robot comprises one rectangular plate and two arc-shaped plates, the two arc-shaped plates being rotatably connected to both ends of the rectangular plate via metal members, a movable clamp plate being rotatably connected to the arc-shaped plates, the child robot being detachably mounted on the movable clamp plate, and casings being installed at the top ends of the rectangular plate and the arc-shaped plates.

[0017] The operation method of the biomimetic spider de-icing robot for wind turbine blades is as follows: The process involves a parent robot crawling up from the wind turbine body to the base of the blade, and a child robot at one end detaching from the parent robot and being fixed to the surface of the blade base by suction. The process involves the parent robot circling the blade root and moving to the opposite side of the child robot fixed to the blade root surface, then another child robot on the parent robot detaches from the parent robot, the child robot that was suction-fixed to the blade root surface releases its suction and engages with the other child robot to form an adjustable annular band, the adjustable annular band is in a relaxed state, and the parent robot drives the child robots and the adjustable annular band to move to the de-icing position, The process involves a small robot being attached to and fixed to the de-icing surface of a wind turbine blade, and an adjustable annular band changing from a relaxed state to a taut state. The process includes a step in which the spider legs of the parent robot retract, and de-icing is performed while orbiting the wind turbine blades, depending on the retraction of the travel mechanism and one traction mechanism and the extension of another traction mechanism. [Effects of the Invention]

[0018] Compared to conventional technology, the present invention has the following advantages and technical effects.

[0019] 1. The present invention offers a high degree of freedom of movement: The parent robot can easily climb from the wind turbine body to the wind turbine blades using its spider legs.

[0020] 2. The present invention can de-ice the entire surface of a wind turbine blade: The parent robot can be applied to the irregular surface of the wind turbine blade, and the de-icing mechanism can approach the icing location to perform non-destructive de-icing operations. The parent robot advances step by step on the wind turbine blade, realizing the complete de-icing of the wind turbine blade by the robot.

[0021] 3. The present invention can de-ice efficiently and safely: The child robots are connected to each other and circle around the wind turbine blade to form a cable track. When de-icing the blade, the robot does not rely on the slow climbing by the spider legs, but only depends on the telescoping of the traction mechanism and the wheel-type traveling mechanism to perform complete de-icing around the wind turbine blade, having higher efficiency and safety.

Brief Description of the Drawings

[0022] To more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that need to be used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings based on these drawings without creative labor. [Figure 1] It is a schematic diagram of the robot of the present invention and the wind turbine blade. [Figure 2] It is a schematic diagram of the whole robot of the present invention. [Figure 3] It is a schematic diagram of the interior of the robot of the present invention. [Figure 4] It is a schematic diagram of the spider legs of the robot of the present invention. [Figure 5] It is a schematic diagram of the bottom of the robot of the present invention. [Figure 6] It is a schematic diagram of the child robot of the present invention. [Figure 7] It is a schematic diagram of the interior of the child robot of the present invention. [Figure 8] It is a schematic diagram of the whole wind turbine blade. [Figure 9] It is a partial enlarged view of A in FIG. 8. [Figure 10] It is a first schematic diagram of the working process of the robot of the present invention. [Figure 11] Figure 2 shows a schematic diagram of the robot operation process of the present invention. [Figure 12] Figure 3 shows a schematic diagram of the robot operation process of the present invention. [Figure 13] Figure 4 shows a schematic diagram of the robot operation process of the present invention. [Figure 14] This is a schematic diagram of the robot operation process of the present invention. [Modes for carrying out the invention]

[0023] The technical solutions of embodiments of the present invention will be described clearly and completely below with reference to the drawings of the embodiments. Clearly, the embodiments described are only a selection of embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art without creative work based on embodiments of the present invention are within the scope of protection of the present invention.

[0024] To make the above-mentioned objectives, features, and advantages of the present invention easier to understand, the present invention will be described in more detail below with reference to the drawings and specific embodiments.

[0025] Referring to Figures 1 to 14, the present invention provides a biomimetic spider de-icing robot for wind turbine blades. Parent robot and Multiple spider legs 4 are fixedly attached to the parent robot and used to allow the parent robot to climb from the wind turbine body to the base 11 of the wind turbine blade 1, A travel mechanism installed on the parent robot and used to move the parent robot on the surface of the wind turbine blade 1, Two sets of child robots 7 are detachably installed inside both ends of the parent robot, with each set fixedly connected to a towing mechanism, the towing mechanism being fixedly installed inside the parent robot, and after one set detaches from the parent robot, the towing mechanism is driven to wrap around the wind turbine blade 1, engaging with the other set to form an adjustable annular band, the adjustable annular band is used to prevent the parent robot from falling off as it moves across the surface of the wind turbine blade 1, each set containing two robots, The system includes a de-icing mechanism installed on the parent robot and used to remove ice from the surface of the wind turbine blades 1.

[0026] Furthermore, the child robot 7 comprises a chassis 74 and a body 75 mounted on the top of the chassis 74. One end of the body 75 is fixedly connected to a traction mechanism, and a coupler 77 is installed on the other end of the body 75. Four stepping motors 79 are fixedly mounted on the chassis 74, and the four stepping motors 79 are mounted in pairs on the long side of the chassis 74. The output shafts of each pair of stepping motors 79 are fixedly connected to a gear 710, and crawlers 711 are dynamically meshed with the outside of two identical pairs of gears 710. A vacuum pump II 712 is fixedly connected to the top of the body 75, and the intake port of the vacuum pump II 712 is fixedly connected to one end of a vacuum suction tube II 713. The other end of the vacuum suction tube II 713 passes through the chassis 74 and is fixedly connected to a suction cup II 714.

[0027] The four stepping motors 79 on each side of the body 75 transmit torque to a pair of crawlers 711 on each side of the body 75 via adjacent gears 710. The sub-robot 7 can control each stepping motor 79 to operate independently, enabling the body 75 to move forward, backward, differentially turn, and stop, allowing the sub-robot 7 to travel freely on the surface of the wind turbine blade 1.

[0028] Furthermore, the coupler 77 includes a coupler body, one end of which is fixedly connected to the body 75, the other end of which is rotatably connected to the coupler knuckle 772 via a pin 771, a lock pin 773 is installed on the coupler body, the lock pin 773 is fixedly connected to the telescopic end of the telescopic rod 78, and the fixed end of the telescopic rod 78 is fixedly connected to the body 75.

[0029] When two child robots 7 face each other and dock, the coupler knuckle 772 enters an embracing state due to the collision, and the lock pin 773 drops down to lock the coupler knuckle 772, completing the docking of the child robots 7. If a child robot 7 needs to detach, the telescopic rod 78 pulls up the lock pin 773, allowing the embracing coupler knuckle 772 to detach naturally.

[0030] Furthermore, a transformer 715 and a backup power supply 716 are installed inside the body 75, and a camera 76 is fixedly connected to the outer wall of the body 75, with the camera 76 and coupler 77 located at the same end of the body 75.

[0031] The camera 76 is used in conjunction with a three-dimensional depth sensor inside the sub-robot 7 to perform exploration when the sub-robot 7 is docked and when it is traveling on the wind turbine blade 1.

[0032] Electrical wires are installed inside cable 72 to supply power to the child robot 7. Transformer 715 processes the current and supplies power to the stepping motor 79 and vacuum pump II 712. Backup power supply 716 functions as an emergency power supply in case the power supply to cable 72 becomes unavailable.

[0033] Furthermore, the towing mechanism includes a towing machine 73, which is fixedly installed inside the parent robot, and is fixedly connected to one end of a cable 72, the cable 72 is housed inside the towing machine 73, and the other end of the cable 72 is fixedly connected to the body 75.

[0034] Furthermore, the spider leg 4 includes a three-stage mechanical body 43, one end of which is rotatably connected to a mechanical leg base 42, the mechanical leg base 42 is fixedly installed on the parent robot, servo motors 44 are installed at the joints of the three-stage mechanical body 43, the other end of which is fixedly connected to a suction cup I45, the suction cup I45 is fixedly connected to one end of a vacuum suction tube I46, the other end of the vacuum suction tube I46 is fixedly connected to the intake port of a vacuum pump I41, and the vacuum pump I41 is fixedly installed on the parent robot.

[0035] After the robot receives a command, the vacuum pump I41 starts operating, extracting air from the suction cup I45 via the vacuum suction tube I46, creating a vacuum region in the columnar area between the suction cup I45 and the surface of the wind turbine blade 1, generating suction force to firmly adhere and hold the robot to the surface of the wind turbine blade 1. If it is necessary to move the spider legs 4, the vacuum pressure is reduced, and if it is necessary to fix the spider legs 4 to the surface of the wind turbine blade 1, the vacuum pressure is increased.

[0036] Furthermore, the travel mechanism includes a dual-output shaft motor 51, which is fixedly installed on the parent robot, and one of the output shafts of the dual-output shaft motor 51 is fixedly connected to the wheel 5.

[0037] Anti-slip grooves are added to the surface of wheel 5 to ensure that the robot maintains contact with the ice-covered areas of the wind turbine blade 1.

[0038] Furthermore, the de-icing mechanism includes a main battery 61, which is fixedly installed inside the parent robot and electrically connected to an ultrasonic generator 6, which is fixedly installed on the side wall of the parent robot near the surface of the wind turbine blade 1.

[0039] The main battery 61 can supply power to the ultrasonic generator 6 and other components of the robot.

[0040] Furthermore, the parent robot comprises one rectangular plate 31 and two arc-shaped plates 3. The two arc-shaped plates 3 are rotatably connected to both ends of the rectangular plate 31 via a metal member 32, and a movable clamp plate 71 is rotatably connected to the arc-shaped plates 3. The child robot 7 is detachably mounted on the movable clamp plate 71, and a casing 2 is installed at the top ends of the rectangular plate 31 and the arc-shaped plates 3.

[0041] The metal member 32 rotates between the arc-shaped plate 3 and the rectangular plate 31, allowing it to adapt to the multi-angled plane of the wind turbine blade 1.

[0042] When not in operation, the child robot 7 rests on the upper surface of the movable clamp plate 71. The movable clamp plate 71 can rotate and move up and down, making it easy to insert and remove the child robot 7.

[0043] The casing 2 has openings at the positions of the spider legs 4 and the baby robot 7.

[0044] The casing 2 is separated above the joint between the arc plate 3 and the rectangular plate 31, and consists of three parts, allowing relative rotation to occur between the arc plate 3 and the rectangular plate 31.

[0045] The operation method of the biomimetic spider de-icing robot for wind turbine blades is as follows: The process involves the parent robot crawling up from the wind turbine body to the blade base 11, and the child robot 7 at one end detaching from the parent robot and being fixed to the surface of the blade base 11 by suction. The process involves a robot crawling up from the main body of the wind turbine to the base 11 of the wind turbine blade 1, one side of the robot first releasing a sub-robot 7 at the top of the blade base 11, and the vacuum pump II 712 inside the sub-robot 7 being adsorbed and fixed to the surface of the blade base 11, The process involves the parent robot circling the blade root 11 and moving to the opposite side of the child robot 7 fixed to the surface of the blade root 11, after which the other child robot 7 on the parent robot detaches from the parent robot, the child robot 7 that was suction-fixed to the surface of the blade root 11 releases its suction, engages with the other child robot 7 to form an adjustable annular band, the adjustable annular band is in a relaxed state, and the parent robot drives the child robot 7 and the adjustable annular band to move to the de-icing position. The robot uses its spider legs 4 to circle the base of the blade 11, and the traction machine 73 on the side from which the sub-robot 7 has been released continuously discharges the cable 72, keeping the cable 72 in a slack state. When the robot reaches the top of the blade base 11 again, the traction machine 73 on the opposite side releases the sub-robot 7. The process involves the sub-robot 7 releasing its suction lock, the robot and sub-robot 7 moving forward towards the center 12 of the wind turbine blade 1, and the cable 72 continuously maintaining a slack state to adapt to the widened wind turbine blade 1. The process involves the sub-robot 7 being attached to and fixed to the de-icing surface of the wind turbine blade 1, and the adjustable annular band changing from a relaxed state to a taut state, When the de-icing area is reached, the two sub-robots 7 are docked and fixed via couplers 77, and the vacuum pumps II 712 in the sub-robots 7 are attached to the surface of the wind turbine blades 1, the cable 72 is retrieved by the traction machine 73, changes from a relaxed state to a taut state, and forms a cable track by circling the wind turbine blades 1. The process involves the parent robot's spider legs 4 retracting, and de-icing the wind turbine blades 1 while circling them, depending on the retraction of the travel mechanism and one traction mechanism and the extension of the other traction mechanism. The robot's spider legs 4 retract, and the wheel 5 and towing machine 73 discharge the cable 72 on one side and retrieve the cable 72 on the other side, thereby de-icing the wind turbine blade 1 while orbiting it; when passing the trailing edge of the wind turbine blade 1, the spider legs 4 are used to assist in straddling the sharply bent surface of the wind turbine blade 1; and after de-icing is complete, the robot returns to the top of the wind turbine blade 1 and undocking the sub-robot 7.

[0046] If de-icing is required in other areas, such as the blade tip 13 of the wind turbine blade 1, repeat the above process.

[0047] The robot of the present invention further includes another method of operation: The process involves a robot crawling up from the main body of the wind turbine to the base 11 of the wind turbine blade, one side of the robot first releasing a sub-robot 7 at the top of the blade base 11, and the vacuum pump II 712 inside the sub-robot 7 being adsorbed and fixed to the surface of the blade base 11, The robot uses its spider-leg structure to circle the base of the blade 11, and the traction machine 73 on the side from which the sub-robot 7 has been released continuously discharges the cable 72, keeping the cable 72 in a slack state. When the robot reaches the top of the blade base 11 again, the traction machine releases the sub-robot 7 on the opposite side. The process involves the sub-robot 7 releasing its suction fixation, the robot and sub-robot 7 moving forward on the upper part of the wind turbine blade 1 towards the center 12 of the wind turbine blade, and the cable 72 continuously maintaining a slack state to adapt to the widened wind turbine blade 1. Upon reaching the de-icing area, the two sub-robots 7 are docked and secured via couplers 77, and the robots use spider-leg structures to adhere to and secure themselves to the surface of the wind turbine blade 1. The sub-robots 7 travel to the vicinity of the upper rear edge of the wind turbine blade 1 while docked, and then adhere to and secure themselves to the surface of the wind turbine blade 1. Subsequently, the towing machine 73 retrieves the cable 72, changes the cable 72 from a slack state to a taut state, and forms a cable track by circling the wind turbine blade 1. The spider leg structure stops vacuum adsorption and retracts, and the robot de-ices while orbiting the wind turbine blade 1, relying on one side of the wheeled running structure and towing machine 73 to discharge the cable 72 and the other side to retrieve the cable 72, and the robot moves between the upper and lower parts, passing only the leading edge of the wind turbine blade 1. The process includes the steps of: after the robot completes de-icing, it returns to the top of the wind turbine blade 1, uses its spider leg structure to suction and fix to the surface of the wind turbine blade 1, the sub-robot 7 releases the suction fixation, travels to the side of the robot in a docked state, and then undocking.

[0048] If de-icing is required on wind turbine blade 1 in other areas, repeat the above process.

[0049] In the description of this invention, terms indicating orientation or positional relationships such as "vertical," "horizontal," "up," "down," "front," "back," "left," "right," "perpendicular," "horizontal," "top," "bottom," "inside," and "outside" are based on the orientation or positional relationships shown in the drawings and are used solely to describe the invention. They do not suggest or imply that the device or element has a specific orientation, or is configured and operates in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0050] The embodiments described above merely illustrate preferred embodiments of the present invention and do not limit the scope of the invention. Any modifications or improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the invention should all be within the scope of protection of the present invention. [Explanation of symbols]

[0051] 1 Wind turbine blade 11. Blade base 12 Blade center 13 Blade tip 2 Casing 3. Circular plate 31 square plate 32 Metal components 4 spider legs 41 Vacuum pump I 42 Mechanical leg base 43 Three-stage mechanical body 44 Servo motors 45 Suction cup I 46 Vacuum suction tube I 5 wheels 51 Dual-output shaft motor 6. Ultrasonic generator 61 Main battery 7 Baby Robots 71 Movable clamp plate 72 Cables 73 Traction machine 74 Chassis 75 Body 76 Cameras 77 Couplers 771 pins 772 Capra Knuckle 773 Locking pin 78 Telescopic Rod 79 Stepping motor 710 Gear 711 Crawler 712 Vacuum Pump II 713 Vacuum suction tube II 714 Suction Cup II 715 Transformer 716 Backup power supply.

Claims

1. A biomimetic spider de-icing robot for wind turbine blades, Parent robot and Multiple spider legs (4) are fixedly attached to the parent robot and used to allow the parent robot to climb from the wind turbine body to the base (11) of the wind turbine blade (1), A travel mechanism installed on the parent robot and used to move the parent robot on the surface of the wind turbine blade (1), Two sets of child robots (7) are detachably installed inside both ends of the parent robot, with each set fixedly connected to a towing mechanism, the towing mechanism being fixedly installed inside the parent robot, and after one set detaches from the parent robot, the towing mechanism is driven to wrap around the wind turbine blade (1), engaging with the other set to form an adjustable annular band, the adjustable annular band being used to prevent the parent robot from falling off as it moves along the surface of the wind turbine blade (1), A biomimetic spider de-icing robot for wind turbine blades, characterized by including a de-icing mechanism installed on the parent robot and used to remove ice from the surface of the wind turbine blade (1).

2. The child robot (7) comprises a chassis (74) and a body (75) installed at the top of the chassis (74), one end of the body (75) is fixedly connected to the traction mechanism, a coupler (77) is installed at the other end of the body (75), four stepping motors (79) are fixedly installed on the chassis (74), the four stepping motors (79) are installed in pairs on the long side of the chassis (74), and the output shafts of each pair of stepping motors (79) are connected to gears ( The biomimetic spider de-icing robot for wind turbine blades according to claim 1, characterized in that it is fixedly connected to 710), crawlers (711) are dynamically meshed with the outside of two identical sets of gears (710), a vacuum pump II (712) is fixedly connected to the top end of the body (75), the intake port of the vacuum pump II (712) is fixedly connected to one end of a vacuum suction tube II (713), and the other end of the vacuum suction tube II (713) penetrates the chassis (74) and is fixedly connected to a suction cup II (714).

3. The biomimetic spider de-icing robot for wind turbine blades according to claim 2, characterized in that the coupler (77) includes a coupler body, one end of the coupler body is fixedly connected to the body (75), the other end of the coupler body is rotatably connected to a coupler knuckle (772) via a pin (771), a lock pin (773) is installed on the coupler body, the lock pin (773) is fixedly connected to the telescopic end of a telescopic rod (78), and the fixed end of the telescopic rod (78) is fixedly connected to the body (75).

4. The biomimetic spider de-icing robot for wind turbine blades according to claim 2, characterized in that a transformer (715) and a backup power supply (716) are installed inside the body (75), a camera (76) is further fixedly connected to the outer wall of the body (75), and the camera (76) and the coupler (77) are located at the same end of the body (75).

5. The biomimetic spider de-icing robot for wind turbine blades according to claim 2, characterized in that the towing mechanism includes a towing machine (73), the towing machine (73) is fixedly installed inside the parent robot, the towing machine (73) is fixedly connected to one end of a cable (72), the cable (72) is housed inside the towing machine (73), and the other end of the cable (72) is fixedly connected to the body (75).

6. The biomimetic spider de-icing robot for wind turbine blades according to claim 1, characterized in that the spider legs (4) include a three-stage mechanical body (43), one end of the three-stage mechanical body (43) is rotatably connected to a mechanical leg base (42), the mechanical leg base (42) is fixedly installed on the parent robot, servo motors (44) are installed at the joints of the three-stage mechanical body (43), the other end of the three-stage mechanical body (43) is fixedly connected to a suction cup I (45), the suction cup I (45) is fixedly connected to one end of a vacuum suction tube I (46), the other end of the vacuum suction tube I (46) is fixedly connected to the intake port of a vacuum pump I (41), and the vacuum pump I (41) is fixedly installed on the parent robot.

7. The biomimetic spider de-icing robot for wind turbine blades according to claim 1, characterized in that the travel mechanism includes a dual output shaft motor (51), the dual output shaft motor (51) is fixedly installed on the parent robot, and one of the output shafts of the dual output shaft motor (51) is fixedly connected to a wheel (5).

8. The biomimetic spider de-icing robot for wind turbine blades according to claim 1, characterized in that the de-icing mechanism includes a main battery (61), the main battery (61) is fixedly installed inside the parent robot, the main battery (61) is electrically connected to an ultrasonic generator (6), and the ultrasonic generator (6) is fixedly installed on the side wall of the parent robot near the surface of the wind turbine blade (1).

9. The biomimetic spider de-icing robot for wind turbine blades according to claim 1, characterized in that the parent robot comprises one rectangular plate (31) and two arc-shaped plates (3), the two arc-shaped plates (3) are rotatably connected to both ends of the rectangular plate (31) via a metal member (32), a movable clamp plate (71) is rotatably connected to the arc-shaped plates (3), the child robot (7) is detachably mounted on the movable clamp plate (71), and a casing (2) is installed at the top ends of the rectangular plate (31) and the arc-shaped plates (3).

10. A method for operating a biomimetic spider de-icing robot for wind turbine blades according to any one of claims 1 to 9, The process involves the parent robot crawling up from the wind turbine body to the base of the blade (11), and the child robot (7) at one end detaching from the parent robot and being fixed to the surface of the blade base (11) by suction, The process involves the parent robot circling the blade root (11) and moving to the opposite side of the child robot (7) fixed to the surface of the blade root (11), after which the other child robot (7) on the parent robot detaches from the parent robot, the child robot (7) that was suction-fixed to the surface of the blade root (11) releases its suction, engages with the other child robot (7) to form an adjustable annular band, the adjustable annular band is in a relaxed state, and the parent robot drives the child robot (7) and the adjustable annular band to move to the de-icing position, The process involves the sub-robot (7) being attached to and fixed to the de-icing surface of the wind turbine blade (1), and the adjustable annular band changing from a relaxed state to a taut state, A method for operating a biomimetic spider de-icing robot for wind turbine blades according to any one of claims 1 to 9, characterized by comprising the step of the parent robot's spider legs (4) retracting, and de-icing the wind turbine blade (1) while circling it, depending on the retraction of the travel mechanism and one traction mechanism and the extension of another traction mechanism.

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