Single-motor-driven deformable climbing inspection robot and control method

Abstract

The application belongs to the technical field of inspection robots, and particularly relates to a single-motor-driven deformable climbing inspection robot and a control method. The robot comprises a vehicle body and a driving system. The vehicle body comprises a first body, a second body and a third body. One end of the first body is rotationally connected to one end of the second body through a shaft, and one end of the third body is rotationally connected to the middle part of the second body. The vehicle body can automatically adjust the posture to adapt to different working stages. In the "traveling stage", the second body and the third body form a "person" shape structure to support the vehicle body, and the first body and the second body form a "7" shape structure to lift the driving wheel, so as to avoid large impedance torque of the driving wheel at the shady corner and avoid adsorption with pollution. In the "climbing stage", the vehicle body can be automatically unfolded, so that the gravity center of the vehicle body is close to the climbing guide rail, and the load of the driving wheel is reduced. In the "tower top working stage", the vehicle body can be automatically folded, so as to reduce the working occupation area.

Description

Technical Field

[0001] This invention belongs to the field of inspection robot technology, specifically relating to a single-motor driven deformable climbing inspection robot and its control method. Background Technology

[0002] Currently, most air quality and atmospheric environment monitoring towers are maintained and equipped with sensors by workers wearing ropes. However, these towers are typically tall and difficult to climb, and high-altitude work involves uncertainties such as strong winds and low temperatures, making manual maintenance highly dangerous and difficult to guarantee in terms of efficiency and stability. Climbing inspection robots, as a solution to replace manual labor, have significant research value. These robots require lighter weight and a simple, reliable structure. Existing tower-climbing inspection robots generally have complex structures, numerous drive motors, large weight, generally low reliability, high manufacturing costs, and poor adaptability to different types of monitoring towers. Simplifying the structure of tower-climbing robots, reducing their weight, decreasing the number of drive motors, and improving operational reliability and versatility are current challenges that need to be addressed.

[0003] Therefore, there is an urgent need to design a lightweight, economical, simple, and reliable climbing inspection robot with few drive motors. Summary of the Invention

[0004] To address the technical challenges of existing technologies, such as complex structure, large overall weight, low versatility, and excessive number of drive motors, this invention provides a single-motor driven deformable climbing inspection robot and its control method, including a vehicle body and a drive system.

[0005] The vehicle body includes a first body, a second body, and a third body. One end of the first body is rotatably connected to one end of the second body via an axle. Two driving wheels are symmetrically arranged on both sides of the other end of the first body, and the driving wheels are connected to the first body via an axle. Two driven wheels are symmetrically arranged on the other end of the second body, and the driven wheels are rotatably connected to the second body via an axle. One end of the third body is rotatably connected to the middle of the second body, and two opposing passive wheels are symmetrically arranged on the other end of the third body. The surface of the driving wheels is provided with a flexible ferromagnetic material adsorption belt. The drive system is driven by the driving wheels, and the driving wheels are driven by the passive wheels. When the drive system is working, it can drive the driving wheels and passive wheels to rotate.

[0006] The drive system includes a motor and a power supply fixedly connected to the main body. The motor is mechanically connected to the drive wheel, and when the motor rotates, it can drive the drive wheel to rotate. The power supply is electrically connected to the motor and supplies power to the motor. The two drive wheels are respectively provided with take-up groove 1 and take-up groove 2, which are fixedly connected to the drive wheel on the same axis. The driven wheel on the same side as the take-up groove is provided with a pay-off groove, which is fixedly connected to the driven wheel on the same axis. One end of the flexible rope 1 is fixedly connected to the pay-off groove and tightly wound in the pay-off groove. The other end of the flexible rope 1 is fixedly connected to the take-up groove 1 and tightens the flexible rope 1. When the drive wheel rotates, it drives the take-up groove 1 to rotate and winds the flexible rope 1 in the take-up groove 1, thereby pulling the flexible rope 1 to move. The flexible rope 1 further drives the driven wheel to rotate.

[0007] The vehicle body is also equipped with a spring buckle connecting the first body and the second body. The spring buckle is an elastic rod-shaped structure. After the spring buckle is stretched, it can generate a restoring force of contraction. One end of the spring buckle is fixedly connected to the first body and the other end is fixedly connected to the second body. When crossing a corner, the spring buckle can contract the angle between the first body and the second body through elasticity.

[0008] The second body is equipped with a line-feeding reel on the same side as the line-receiving groove. The line-feeding reel is rotatably connected to the second body. One end of the second flexible rope is fixedly connected to the line-feeding reel and wound in the line-feeding reel. The other end of the second flexible rope is fixedly connected to the second line-receiving groove and tightens the second flexible rope. When the drive wheel rotates, it drives the second line-receiving groove to rotate. The length of the second flexible rope reserved on the line-feeding reel is set according to the travel distance and climbing height.

[0009] Two auxiliary turning wheels are also provided on both sides of the end where the first body connects to the second body, and the auxiliary turning wheels are rotatably connected to the first body.

[0010] The absorbent tape is made of foam tape.

[0011] The second body has a truss beam 2 in the middle that limits the movement of the third body. When the third body and the second body are unfolded to a specific angle, the third body abuts against the truss beam 2, restricting the third body from unfolding further.

[0012] The upper part of the second body is provided with a truss beam that limits the movement of the first body. When the first body and the second body are folded to a specific angle, the first body abuts against the truss beam, restricting the first body from folding further.

[0013] The lower part of the second body is provided with a truss beam three that limits the movement of the third body. When the third body and the second body are folded to a specific angle, the third body and the truss beam three abut against each other, restricting the third body from folding further.

[0014] The present invention also provides a control method for a single-motor driven magnetic inspection robot, comprising the following steps:

[0015] Step 1: Lay the travel guide rail on the ground and the climbing guide rail on the side of the detection tower. Adjust the length of the flexible cable 1 reserved in the cable laying groove and the length of the flexible cable 2 reserved in the cable laying wheel according to the travel distance and climbing height. Adjust the vehicle body posture so that the body 1 and body 2 form a "7" shape and the body 2 and body 3 form a "V" shape. The driven wheel and the passive wheel are in contact with the travel guide rail at the same time.

[0016] Step 2: Start the device. The motor drives the drive wheel to rotate, and the take-up groove retracts the flexible cable, thereby driving the driven wheel to rotate and making the vehicle body move forward along the travel guide rail.

[0017] Step 3: When the vehicle body moves forward to the point where the drive wheel contacts the climbing guide rail, the drive wheel adheres to the surface of the climbing guide rail. The rotation of the drive wheel drives the vehicle body to move upward along the climbing guide rail, while the rotation of the driven wheel pushes the vehicle body forward. The vehicle body rises along the climbing guide rail and gradually changes its posture. The angle between body one and body two gradually increases and then unfolds, while the angle between body two and body three gradually decreases and then folds. When the vehicle body climbs to a certain height, the driven wheel disengages from the travel guide rail.

[0018] Step 4: After the vehicle body is completely separated from the travel guide rail, the vehicle body continues to climb. Under the action of its own gravity, the angle between body one and body two further increases and unfolds into a "I"-shaped structure, while the angle between body two and body three further decreases and folds.

[0019] Step 5: The vehicle continues to climb to the top of the climbing guide rail. After the drive wheel passes the corner, it continues to move forward along the working area at the top of the tower. The spring buckle contracts the angle between body one and body two, providing contraction force between body one and body two, and playing a transitional support role for body two, reducing the torque required for body two to cross the corner. At the same time, the auxiliary crossing wheel contacts the corner, reducing the friction during the crossing process and preventing the connection between body one and body two from getting stuck at the corner.

[0020] Step Six: After the vehicle body has fully entered the working area at the top of the tower, the drive wheel continues to move forward, and the pre-wound flexible rope two on the wire feeding wheel is just released. The take-up groove two pulls the main body two to fold.

[0021] The technical effects of this invention are as follows:

[0022] This invention discloses a single-motor driven deformable climbing inspection robot and its control method, addressing the high risk associated with manual climbing of monitoring towers. In emergency situations, the robot can be driven to a designated location to replace a damaged detector on the monitoring tower, enabling emergency monitoring. This invention utilizes a single motor for drive, resulting in simple and reliable control. The robot body can automatically adjust its posture to adapt to different working stages. During the "traveling stage," body two and body three form a stable "V"-shaped structure to support the robot body, while body one and body two form a "7"-shaped structure to elevate the drive wheels, preventing significant resistance torque at the corners and avoiding contamination from adsorption. During the "climbing stage," the robot body can automatically unfold, bringing its center of gravity closer to the climbing guide rails and reducing the load on the drive wheels. During the "tower top working stage," the robot body can automatically fold, reducing the working area required. Attached Figure Description

[0023] Figure 1 A schematic diagram of a single-motor driven deformable climbing and inspection robot.

[0024] Figure 2 A schematic diagram of the posture of a single-motor driven deformable climbing and inspection robot during its movement.

[0025] Figure 3 A schematic diagram of the posture of a single-motor driven deformable climbing and inspection robot during the transition phase at an inside corner.

[0026] Figure 4 A schematic diagram of the climbing posture of a single-motor driven deformable climbing and inspection robot during the climbing stage.

[0027] Figure 5 A schematic diagram of the posture of a single-motor driven deformable climbing and inspection robot during the transition phase at the outer corner.

[0028] Figure 6 A schematic diagram of the unfolded posture of a single-motor driven deformable climbing and inspection robot during its working phase at the top of a tower.

[0029] Figure 7 A schematic diagram of the folded posture of a single-motor driven deformable climbing and inspection robot during its working phase at the top of a tower.

[0030] Figure reference numerals:

[0031] Body 1 101; Body 2 102; Body 3 103; Driving wheel 104; Passive wheel 105; Driven wheel 106; Auxiliary overturning wheel 107; Adsorption belt 108; Truss beam 1 109; Truss beam 2 110; Truss beam 3 111;

[0032] 201 Motor; 202 Power supply; 203 Take-up trough 1; 204 Take-up trough 2; 205 Pay-off trough; 206 Pay-off reel; 207 Flexible rope 1; 208 Flexible rope 2; 209 Spring buckle;

[0033] Traveling guide rail 301; climbing guide rail 302; tower top working area 303. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0035] This invention provides a single-motor driven deformable climbing inspection robot, comprising a vehicle body and a drive system. The vehicle body provides a carrier for the drive system and inspection equipment, and adopts a deformable structure to achieve movement and climbing actions; the drive system provides power for the vehicle body's movement, climbing, and attitude adjustment.

[0036] Example 1

[0037] See appendix Figure 2-7 The present invention can improve the stability of the device by laying a travel guide rail 301 on the ground and a climbing guide rail 302 on the surface of the monitoring tower. This embodiment describes the structure and operation of the device in a working environment with the travel guide rail 301 and climbing guide rail 302 laid out. In a working environment without the travel guide rail 301 and climbing guide rail 302, the structure and operation of the device are the same as in this embodiment.

[0038] See appendix Figure 1 The vehicle body includes a first body 101, a second body 102, and a third body 103. All three bodies adopt a frame structure to reduce the weight of the vehicle body. One end of the first body 101 is rotatably connected to one end of the second body 102 via an axle. Two drive wheels 104 are symmetrically arranged on both sides of the other end of the first body 101. The drive wheels 104 are connected to the first body 101 via an axle. Two driven wheels 106 are symmetrically arranged on the other end of the second body 102. The driven wheels 106 are connected to the second body 102 via an axle. One end of the third body 103 is rotatably connected to the middle of the second body 102. Two opposing passive wheels 105 are symmetrically arranged on the other end of the third body 103. The surface of the drive wheels 104 is provided with a ferromagnetic adsorption band 108 for adsorbing the drive wheels 104 onto the surface of the iron climbing rail 302.

[0039] The drive system includes a motor 201 and a power supply 202 fixedly connected to the main body 101. The motor 201 is mechanically connected to the drive wheel 104, and the motor 201 can drive the drive wheel 104 to rotate when it rotates. The power supply 202 is electrically connected to the motor 201 and supplies power to the motor 201. The two drive wheels 104 are respectively provided with a take-up groove 1 203 and a take-up groove 204 fixedly connected to the drive wheel 104 on the same axis. The driven wheel 105 on the same side as the take-up groove 1 203 is provided with a pay-off groove fixedly connected to the driven wheel 105 on the same axis. One end of the flexible cable 207 is fixedly connected to the pay-off groove 205, and a sufficiently long flexible cable 207 is tightly wound inside the pay-off groove 205. The other end of the flexible cable 207 is fixedly connected to the take-up groove 203, and the flexible cable 207 is tightened. When the drive wheel 104 rotates, it drives the pay-off groove 205 to rotate and winds the flexible cable 207 inside the take-up groove 203, thereby pulling the flexible cable 207 to move. The flexible cable 207 further drives the driven wheel 105 to rotate, realizing the transmission of power from the motor 201 to the driven wheel 105. In order to avoid interference between the flexible cable 207 and the vehicle body, a pulley is fixedly provided at the end where the main body 101 connects to the main body 2 102. The flexible cable 207 first passes through the pulley, and the pulley supports and guides the flexible cable 207.

[0040] The present invention discloses a single-motor driven deformable climbing inspection machine, which is divided into five stages in the whole working process: the traveling stage, the inward corner transition stage, the climbing stage, the outward corner transition stage, and the tower top working stage. The vehicle body adjusts itself to different postures in different stages to achieve the traveling and climbing functions.

[0041] The process of the vehicle moving along the travel guide rail 301 towards the monitoring tower and before contacting the climbing guide rail 302 is called the "travel phase". (See appendix) Figure 1 , 2During the movement phase, body 101 and body 2 102 form a "7" shape to raise the drive wheel 104, while body 2 102 and body 3 103 form a "V" shape to support the vehicle body. Driven wheel 106 and passive wheel 105 simultaneously contact the travel guide rail 301. The drive wheel 104 drives the passive wheel 105 to rotate, thus propelling the vehicle forward. The driven wheel 106 reduces friction during movement by rolling. This posture raises the drive wheel 104, allowing the suction strip 108 on the drive wheel 104 to directly contact the climbing guide rail 302, preventing the drive wheel 104 from being damaged by the travel guide rail. The large resistance torque generated at the connection between rail 301 and climbing guide rail 302, along with raising the drive wheel 104, can also prevent the adsorption belt 108 from contacting and being contaminated with the travel guide rail 301, ensuring that the adsorption capacity of the adsorption belt 108 is not damaged; the middle of the second body 102 is provided with a truss beam 210 that limits the third body. When the third body 103 and the second body are unfolded to a specific angle, the third body 103 abuts against the truss beam 210, restricting the third body 103 from unfolding further, ensuring the stability of the "V-shaped structure" formed by the second body 102 and the third body 103 and the stability of the vehicle's center of gravity.

[0042] See appendix Figure 1 , 3 The connection point between the climbing guide rail 302 and the traveling guide rail 301 forms a "concave angle." The process from when the vehicle body contacts the climbing guide rail 302 to when it completely detaches from the traveling guide rail 301 is called the "concave angle transition stage." After the vehicle body moves forward until the drive wheel 104 contacts the climbing guide rail 302, under the adsorption of the adsorption belt 108, the drive wheel 104 adheres to the surface of the climbing guide rail 302. The rotation of the drive wheel 104 drives the vehicle body to move upward along the climbing guide rail 302, while the rotation of the driven wheel 105 pushes the vehicle body forward and simultaneously provides pressure to the adsorption belt 108. This makes the adsorption belt 108 adhere more tightly to the climbing guide rail 302. Under the combined force of the driving wheel 104, the driven wheel 105 and the vehicle's own weight, the vehicle climbs up along the climbing guide rail 302 and gradually changes its posture. The angle between the first body 101 and the second body gradually increases and unfolds, while the angle between the second body 102 and the third body 103 gradually decreases and folds. When the vehicle climbs to a certain height, the driven wheel 106 leaves the travel guide rail 301, and the third body 103 no longer provides support, completing this stage of the action. To ensure that the angle between Body 101 and Body 2 increases after the drive wheel 104 contacts the climbing rail 302, rather than decreasing and folding, Body 101 should maintain an upward tilt angle before the drive wheel 104 contacts the climbing rail 302. In this embodiment, a truss beam 109 is provided on the upper part of Body 2 102 to limit the movement of Body 101. When Body 101 and Body 2 102 are folded to a specific angle, Body 101 abuts against the truss beam 109, restricting Body 101 from folding further and ensuring that Body 101 can maintain a certain tilt angle.

[0043] See appendix Figure 1 , 4 The process from when the vehicle body completely detaches from the travel guide rail 301 to when the drive wheel 104 detaches from the climbing guide rail 302 is called the "climbing stage." After the vehicle body completely detaches from the travel guide rail 301, it continues to climb. Under its own weight, the angle between body 1 101 and body 2 further increases, thus unfolding into an "I"-shaped structure. The angle between body 2 102 and body 3 103 further decreases, thus folding. This posture allows the vehicle's center of gravity to approach the climbing guide rail 302, preventing the additional torque caused by the center of gravity moving away from the climbing guide rail 302 from acting on the drive wheel 104, thereby reducing the load on the drive wheel 104. A truss beam 3 111 is provided at the lower part of body 2 102 to limit body 3 103. When body 3 103 and body 2 102 fold to a specific angle, body 3 103 abuts against truss beam 3 111, limiting body 3 103 from folding further and preventing interference between the driven wheel 105 and body 2 102.

[0044] See appendix Figure 1 , 5 The connection between the climbing guide rail 302 and the tower top working area 303 forms a "positive angle". The process from when the vehicle body contacts the tower top working area 303 until the vehicle body completely leaves the climbing guide rail 302 is called the "positive angle transition stage". When the vehicle body reaches the top of the climbing guide rail 302, it needs to complete the action of crossing the positive angle. After the drive wheel 104 crosses the positive angle, it will continue to move forward along the tower top working area 303 due to the adsorption effect of the adsorption belt 108. At this time, it is necessary to contract the angle between the first body 101 and the second body 102 to reduce the torque required for the second body 102 to cross the positive angle. In this embodiment, the vehicle body is also provided with a spring buckle 209 connecting the first body 101 and the second body 102. The spring buckle 209 is an elastic rod-shaped structure. After the spring buckle 209 is stretched, It can generate a restoring force of contraction. One end of the spring buckle 209 is fixedly connected to the first body 101, and the other end is fixedly connected to the second body 102. The elastic force of the spring buckle 209 is selected according to the weight of the vehicle body. When crossing the corner, the spring buckle 209 can contract the angle between the first body 101 and the second body 102 through its elastic force, providing a contraction force between the first body 101 and the second body 102, and playing a transitional support role for the second body 102, reducing the torque required for the second body 102 to cross the corner. Two auxiliary crossing wheels 107 are also provided on both sides of the end where the first body 101 and the second body 102 are connected. The auxiliary crossing wheels 107 are rotatably connected to the first body 101 to prevent the connection between the first body 101 and the second body 102 from getting stuck at the corner.

[0045] See appendix Figure 1 , 67. The period after the vehicle body fully enters the tower top working area 303 is called the "tower top working stage". After the entire vehicle body passes the corner, it needs to be retracted from its original extended position to reduce the working area occupied. For this purpose, in this embodiment, a pay-off wheel 206 is provided on the same side as the take-up groove 204 on the main body 2 102. The pay-off wheel 206 is rotatably connected to the main body 2 102. One end of the flexible cable 208 is fixedly connected to the pay-off wheel 206 and wound on the pay-off wheel 206. The other end of the flexible cable 208 is fixedly connected to the take-up groove 204 and tightens the flexible cable 208. When the drive wheel 104 rotates, it drives the take-up groove 204 to rotate. The flexible cable 208 wound on the take-up groove 204 gradually increases, and at the same time, the pay-off wheel 206 gradually releases the flexible cable 208; the cable 208 reserved on the pay-off wheel The length of the flexible cable 208 on 206 is set according to the required travel length and climbing height. If the climbing height needs to be increased, the length of the flexible cable 208 reserved on the cable-laying wheel 206 is increased. If the climbing height needs to be decreased, the length of the flexible cable 208 reserved on the cable-laying wheel 206 is decreased, so that the flexible cable 208 reserved on the cable-laying wheel 206 is just released after the entire vehicle body passes the corner. When the drive wheel 104 continues to rotate, it will pull the main body 102 to retract and fold through the flexible cable 208, reducing the working area occupied by the vehicle body in the tower top working area 303.

[0046] This invention also provides a single-motor driven deformable climbing inspection robot and its control method, comprising the following steps:

[0047] Step 1: Lay the travel guide rail 301 on the ground and the climbing guide rail 302 on the side of the detection tower. Adjust the length of the flexible cable 207 reserved in the cable laying groove 205 and the length of the flexible cable 208 reserved in the cable laying wheel 206 according to the travel distance and climbing height. Adjust the vehicle body posture so that the body 101 and body 202 form a "7" shape and the body 202 and body 303 form a "human" shape. The driven wheel 106 and the passive wheel 105 simultaneously contact the travel guide rail 301.

[0048] Step 2: Start the device. The motor 201 drives the drive wheel 104 to rotate, and the take-up groove 203 retracts the flexible cable 207, thereby driving the driven wheel 105 to rotate and making the car body move forward along the travel guide rail 301.

[0049] Step 3: When the vehicle body moves forward to the point where the drive wheel 104 contacts the climbing guide rail 302, the drive wheel 104 adheres to the surface of the climbing guide rail 302. The drive wheel 104 rotates, driving the vehicle body to move upward along the climbing guide rail 302. The driven wheel 105 rotates, pushing the vehicle body forward. The vehicle body rises along the climbing guide rail 302 and gradually changes its posture. The angle between body one 101 and body two 102 gradually increases and unfolds. The angle between body two 102 and body three 103 gradually decreases and folds. When the vehicle body climbs to a certain height, the driven wheel 106 disengages from the travel guide rail 301.

[0050] Step 4: After the vehicle body is completely separated from the travel guide rail 301, the vehicle body continues to climb. Under the action of its own gravity, the angle between main body 101 and main body 2 102 further increases and unfolds into a "I" shaped structure, while the angle between main body 2 102 and main body 3 103 further decreases and folds.

[0051] Step 5: The vehicle continues to climb to the top of the climbing guide rail 302. After the drive wheel 104 passes the corner, it continues to move forward along the tower top working area 303. The spring buckle 209 contracts the angle between body one 101 and body two 102, providing a contraction force between body one 101 and body two 102, reducing the torque required for body two 102 to cross the corner. At the same time, the auxiliary crossing wheel 107 contacts the corner, reducing the friction during the crossing process and preventing the connection between body one 101 and body two 102 from getting stuck at the corner.

[0052] Step Six: After the vehicle body fully enters the tower top working area 303, the drive wheel 104 continues to move forward, and the pre-wound flexible rope 208 on the wire release wheel 206 is just released. The take-up groove 204 pulls the main body 2102 to fold.

[0053] Example 2:

[0054] When the material of the monitoring tower does not allow for adsorption by the adsorption tape 108, such as monitoring towers made of wood or concrete, the adsorption tape 108 can be replaced with foam tape or other materials that can provide suction. Other settings are the same as in Example 1.

[0055] Example 3

[0056] The travel guide rail 301 and climbing guide rail 302 are removed, and the device travels along the ground and climbs along the surface of the monitoring tower. Other settings are the same as in Embodiment 1.

Claims

1. A single-motor driven deformable climbing inspection robot, comprising a vehicle body and a drive system, characterized in that: The vehicle body includes a first body (101), a second body (102), and a third body (103). One end of the first body (101) is rotatably connected to one end of the second body (102) via a shaft. Two drive wheels (104) are symmetrically arranged on both sides of the other end of the first body (101), and the drive wheels (104) are connected to the first body (101) via a shaft. Two driven wheels (106) are symmetrically arranged on the other end of the second body (102), and the driven wheels (106) are rotatably connected to the second body (102) via a shaft. The connection is as follows: one end of the third body (103) is rotatably connected to the middle of the second body (102), and the other end of the third body (103) is symmetrically provided with two opposing passive wheels (105); the surface of the active wheel (104) is provided with a flexible ferromagnetic material adsorption belt (108); the drive system is connected to the active wheel (104) and the passive wheel (105) are connected to each other; when the drive system is working, it can drive the active wheel (104) and the passive wheel (105) to rotate. The drive system includes a motor (201) and a power supply (202) fixedly connected to the main body (101). The motor (201) is mechanically connected to the drive wheel (104). When the motor (201) rotates, it can drive the drive wheel (104) to rotate. The power supply (202) is electrically connected to the motor (201) and supplies power to the motor (201). The two drive wheels (104) are respectively provided with a take-up groove one (203) and a take-up groove two (204) fixedly connected to the drive wheel (104) on the same axis. The driven wheel (105) on the same side as the take-up groove one (203) is provided with a take-up groove two (204) fixedly connected to the drive wheel (104) on the same axis. (105) The wire feeding groove (205) is coaxially fixedly connected. One end of the flexible rope (207) is fixedly connected to the wire feeding groove (205) and the flexible rope (207) is tightly wound in the wire feeding groove (205). The other end of the flexible rope (207) is fixedly connected to the wire take-up groove (203) and the flexible rope (207) is tightened. When the drive wheel (104) rotates, it drives the wire take-up groove (203) to rotate and winds the flexible rope (207) in the wire take-up groove (203), thereby pulling the flexible rope (207) to move. The flexible rope (207) further drives the driven wheel (105) to rotate. The vehicle body is also provided with a spring buckle (209) connecting the first body (101) and the second body (102). The spring buckle (209) is an elastic rod-shaped structure. After the spring buckle (209) is stretched, it can generate a restoring force of contraction. One end of the spring buckle (209) is fixedly connected to the first body (101), and the other end is fixedly connected to the second body (102). When crossing the corner, the spring buckle (209) can contract the angle between the first body (101) and the second body (102) through elastic force.

2. The single-motor driven deformable climbing inspection robot according to claim 1, characterized in that: The main body (102) is provided with a line-feeding reel (206) on the same side as the line-receiving groove (204). The line-feeding reel (206) is rotatably connected to the main body (102). One end of the flexible rope (208) is fixedly connected to the line-feeding reel (206) and wound in the line-feeding reel (206). The other end of the flexible rope (208) is fixedly connected to the line-receiving groove (204) and tightens the flexible rope (208). When the drive wheel (104) rotates, it drives the line-receiving groove (204) to rotate. The length of the flexible rope (208) reserved on the line-feeding reel (206) is set according to the travel distance and climbing height.

3. The single-motor driven deformable climbing inspection robot according to claim 2, characterized in that: Two auxiliary vaulting wheels (107) are also provided on both sides of the end where the first body (101) is connected to the second body (102). The auxiliary vaulting wheels (107) are rotatably connected to the first body (101).

4. A single-motor driven deformable climbing inspection robot according to any one of claims 1-3, characterized in that: The adsorption tape (108) is made of foam tape.

5. A single-motor driven deformable climbing inspection robot according to any one of claims 1-3, characterized in that: The second body (102) is provided with a truss beam (110) in the middle, which limits the movement of the third body. When the third body (103) and the second body are unfolded to a specific angle, the third body (103) and the truss beam (110) abut against each other, restricting the third body (103) from unfolding further.

6. A single-motor driven deformable climbing inspection robot according to any one of claims 1-3, characterized in that: The upper part of the second body (102) is provided with a truss beam (109) that limits the first body (101). When the first body (101) and the second body (102) are folded to a specific angle, the first body (101) and the truss beam (109) abut against each other, limiting the first body (101) from folding further.

7. A single-motor driven deformable climbing inspection robot according to any one of claims 1-3, characterized in that: The lower part of the second body (102) is provided with a truss beam (111) that limits the third body (103). When the third body (103) and the second body (102) are folded to a specific angle, the third body (103) and the truss beam (111) abut against each other, limiting the third body (103) from folding further.

8. A control method for a single-motor driven deformable climbing inspection robot, implemented using the single-motor driven deformable climbing inspection robot as described in claim 3, comprising the following steps: Step 1: Lay a traveling guide rail (301) on the ground and a climbing guide rail (302) on the side of the detection tower. Adjust the length of the flexible cable 1 (207) reserved in the cable laying groove (205) and the length of the flexible cable 2 (208) reserved in the cable laying wheel (206) according to the traveling distance and climbing height. Adjust the vehicle body posture so that the body 1 (101) and body 2 (102) form a "7" shape, and the body 2 (102) and body 3 (103) form a "V" shape. The driven wheel (106) and the passive wheel (105) simultaneously contact the traveling guide rail (301). Step 2: Start the device. The motor (201) drives the drive wheel (104) to rotate. The take-up groove (203) retracts the flexible cable (207), thereby driving the passive wheel (105) to rotate and making the vehicle body move forward along the travel guide rail (301). Step 3: When the vehicle body moves forward to the point where the drive wheel (104) contacts the climbing guide rail (302), the drive wheel (104) adheres to the surface of the climbing guide rail (302). The drive wheel (104) rotates and drives the vehicle body to move upward along the climbing guide rail (302). The driven wheel (105) rotates and pushes the vehicle body forward. The vehicle body rises along the climbing guide rail (302) and gradually changes its posture. The angle between body one (101) and body two (102) gradually increases and unfolds. The angle between body two (102) and body three (103) gradually decreases and folds. When the vehicle body climbs to a certain height, the driven wheel (106) disengages from the travel guide rail (301). Step 4: After the vehicle body is completely separated from the travel guide rail (301), the vehicle body continues to climb. Under the action of its own gravity, the angle between body one (101) and body two (102) further increases and unfolds into a "I" shaped structure, while the angle between body two (102) and body three (103) further decreases and folds. Step 5: The vehicle body continues to climb to the top of the climbing guide rail (302). After the drive wheel (104) passes the corner, it continues to move forward along the tower top working area (303). The spring buckle (209) contracts the angle between body one (101) and body two (102), providing a contraction force between body one 101 and body two 102, reducing the torque required for body two (102) to cross the corner. At the same time, the auxiliary crossing wheel (107) contacts the corner, reducing the friction during the crossing process and preventing the connection between body one (101) and body two (102) from getting stuck at the corner. Step 6: After the vehicle body fully enters the tower top working area (303), the drive wheel (104) continues to move forward, and the pre-wound flexible rope 2 (208) on the wire feeding wheel (206) is just released. The take-up groove 2 (204) pulls the main body 2 (102) to fold.

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