Wheeled robot based on pole climbing

Abstract

The invention discloses a wheeled robot based on pole climbing, and relates to the technical field of robots, the wheeled robot comprises a vertical rod, a transverse rod and a robot body, the robot body comprises an external connection structure, a suspension structure connected with the external connection structure, a climbing mechanism connected with the external connection structure, and an adjusting assembly connected with the external connection structure; the device comprises a climbing mechanism, an adjusting assembly connected with the climbing mechanism, a self-adaptive abutting structure connected with the adjusting assembly, a clamping structure connected with the climbing mechanism and a cleaning mechanism connected with the clamping structure, and has the advantages that four climbing rollers in the climbing mechanism rotate on a self-adaptive frame and ascend along a rod body; and a first electro-hydraulic actuator, a second electro-hydraulic actuator and a joint in the adjusting assembly are matched to adjust the angle of the rod body to rotate, a first abutting wheel, a second abutting wheel and a third abutting wheel in the self-adaptive abutting structure abut against the rod body in a self-adaptive sliding mode, and stable climbing can be achieved according to the shape of the rod body, an obstacle and the bent area of the rod body in cooperation with a suction cup.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a wheeled robot based on a climbing pole. Background Art

[0002] Traditional manual pole climbing operations have discrete locations and random time, making it difficult to effectively supervise operators on the spot to ensure the standardization and normalization of the operation process. In order to achieve intelligent safety supervision of the climbing operation site, the use of wheeled pole climbing robots has become a new form of detection;

[0003] The auxiliary functions of the pole climbing robot in the prior art are limited. It is unable to perform stable climbing according to the shape of the pole, obstacles and the bent area of ​​the pole during the climbing operation. It is also unable to promptly detect quality problems in the construction process based on the detected pole status and make timely corrections to ensure the reliable operation of the pole after it is put into use. For this reason, we propose a wheeled robot based on a pole climbing. Summary of the invention

[0004] The object of the present invention is to provide a wheeled robot based on a climbing pole.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a wheeled robot based on a climbing pole, comprising a vertical pole, a transverse pole and a robot body, wherein the robot body comprises an external structure, a suspension structure connected to the external structure, a climbing mechanism connected to the external structure, an adjustment component connected to the external structure, an adaptive abutting structure connected to the adjustment component, a clamping structure connected to the climbing mechanism and a cleaning mechanism connected to the clamping structure;

[0006] The climbing mechanism comprises a connecting plate, a fastening plate, an adaptive frame and a climbing roller, wherein the two fastening plates are fixed on both sides of the connecting plate, the adaptive frame rotates on the outside of the fastening plate, and the four climbing rollers are fixed on the adaptive frame;

[0007] The adjustment assembly includes a first electro-hydraulic actuator, a joint, a second electro-hydraulic actuator and a hydraulic cylinder, wherein the joint is arranged between the first electro-hydraulic actuator and the second electro-hydraulic actuator, and the hydraulic cylinder is fixed on the right side of the second electro-hydraulic actuator;

[0008] The adaptive clamping structure includes a rotating plate, a motor 1, a pushing rod, an adaptive plate, a first wheel, a second wheel and a third wheel. The rotating plate is fixed on the output shaft of the motor 1, the left end of the pushing rod is fixed on the right end of the adaptive plate, the second wheel slides on the first wheel, and the third wheel slides on the second wheel.

[0009] As a further solution of the present invention: the external structure includes an infrared distance sensor, a camera and a controller, and the controller is electrically connected to the infrared distance sensor and the camera respectively.

[0010] As a further solution of the present invention: the suspension structure includes a clamping block, a connecting tube, an outer tube, a suspension arm, a linkage chain, a pressing rod, a spring 1, a telescopic block and an L-shaped groove, the bottom surface of the connecting tube and the top surface of the outer tube are fixedly connected, the connecting tube is clamped in the interior of the clamping block, the outer tube is fixed between the two suspension arms, the bottom end of the pressing rod is fixed to the telescopic block, the upper end of the spring 1 abuts on the outer tube, and the lower end of the spring 1 abuts on the telescopic block, a through hole is penetrated in the telescopic block, a limiting rod is arranged in the through hole, the limiting rod penetrates to the interior of the telescopic block and is hinged with the two linkage chains, and a clamping column is arranged on the side of the pressing rod close to the connecting tube, and the clamping column is clamped in the interior of the L-shaped groove.

[0011] As a further solution of the present invention: the clamping structure includes a material storage box, a plug-in slot, a plug-in block, an L-shaped block 1, a clamping plate and an L-shaped block 2, the plug-in slot is opened inside the material storage box, the plug-in block is plugged into the inside of the plug-in slot, the plug-in block is abutted with a spring 2 at the outer wall away from the material storage box, the L-shaped block 1 is fixed at the rear end of the plug-in block, and the L-shaped blocks 2 are fixed on both sides of the front of the clamping plate.

[0012] As a further solution of the present invention: the cleaning mechanism includes motor 2, a main gear and a sub-gear, the main gear is fixed on the output end of motor 2, the sub-gear is meshed with the main gear, and a sweeper is fixed on both the main gear and the sub-gear.

[0013] As a further solution of the present invention: two connecting rods are arranged on both sides of the rotating plate, and suction cups are fixed to the left ends of the two connecting rods.

[0014] As a further solution of the present invention: a heat dissipation fan is arranged inside the rotating plate, and a driving device is arranged inside the climbing mechanism.

[0015] As a further solution of the present invention: two L-shaped blocks 1 and 2 are provided, and the L-shaped block 1 and the L-shaped block 2 are respectively clamped in the interior of the storage box.

[0016] By adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The present invention uses four climbing rollers in the climbing mechanism to rotate on the adaptive frame and rise along the rod body, and cooperates with the first electro-hydraulic actuator, the second electro-hydraulic actuator and the joint in the adjustment assembly to adjust the angle of the rod body. The first, second and third wheels in the adaptive tightening structure are adaptively slid and tightened against the rod body, and the suction cup can be used to achieve stable climbing according to the shape of the rod body, obstacles and the bending area of ​​the rod body;

[0018] 2. The present invention uses the infrared distance sensor, camera and controller to detect the state of the pole in real time during the climbing and moving process, and transmits the detection information to the user terminal to ensure the reliable operation of the pole after it is put into use;

[0019] 3. The present invention facilitates the auxiliary operation with the climbing mechanism through the two suspension arms in the cleaning mechanism and the sweeper, and flexibly swings to meet the operation requirements at different angles. The sweeper is equipped with an efficient dust suction system and a high-speed rotating sweeping brush. When the climbing mechanism drives the entire device to climb upward along the columnar object, the suspension arm can adjust the position and posture of the sweeper in real time according to the actual situation of the rod surface, so that the sweeping brush of the sweeper fits closely to the rod surface. The coordinated cooperation of various components greatly improves the efficiency and quality of the rod cleaning operation during the climbing process, effectively makes up for the deficiencies in the operation function of a single climbing mechanism, and expands the application scope of the entire device.

[0020] 4. The present invention has a pressing rod and a clamping column arranged in the suspension structure. The clamping column on the pressing rod is pressed to the uppermost part of the L-shaped groove. The pressing rod drives the two linkage chains and the suspension arm at the bottom to extend and retract to a tight state. The simple items can be taken out by simply pressing the clamping column on the pressing rod down to the rightmost part of the L-shaped groove. It has many auxiliary functions.

[0021] 5. The present invention is installed by pressing the L-shaped block 2 on the snap plate to snap into the inside of the L-shaped block 1, and pressing the plug-in block outside the storage box to the inside of the plug-in slot. At this time, the spring 2 is squeezed, and the L-shaped block 1 is separated from the L-shaped block 2, thereby realizing the cleaning of dust inside the storage box, and the applicability is good.

[0022] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a first stereoscopic schematic diagram in an embodiment of the present invention;

[0024] Figure 2 is a second stereoscopic schematic diagram of an embodiment of the present invention;

[0025] Figure 3 A three-dimensional schematic diagram of an adaptive abutment structure in an embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the connection structure of the climbing mechanism and the adjustment assembly in an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of the connection structure between the clamping structure and the cleaning mechanism in an embodiment of the present invention;

[0028] Figure 6 for Figure 5 Schematic diagram at A in the middle;

[0029] Figure 7 Schematic diagram of the connection structure of the first wheel, the second wheel and the third wheel in the embodiment of the present invention;

[0030] Figure 8 is a first stereoscopic schematic diagram of a suspension structure in an embodiment of the present invention;

[0031] Fig. 9 is a second stereoscopic schematic diagram of the suspension structure in an embodiment of the present invention;

[0032] Fig.10 is a third stereoscopic schematic diagram of the suspension structure in an embodiment of the present invention;

[0033] Fig.11 is a third stereoscopic schematic diagram of an embodiment of the present invention;

[0034] Fig.12 is a fourth stereoscopic schematic diagram of an embodiment of the present invention;

[0035] Fig.13 is a fifth stereoscopic schematic diagram of an embodiment of the present invention;

[0036] Fig.14 Schematic diagram of the connection structure of L-shaped block 1 and L-shaped block 2 in an embodiment of the present invention.

[0037] In the figure: 1, vertical rod; 2, horizontal rod; 3, robot body; 4, external structure; 5, suspension structure; 51, clamping block; 52, connecting tube; 53, outer tube; 54, suspension arm; 55, linkage chain; 56, pressing rod; 57, spring 1; 58, telescopic block; 59, L-shaped groove; 591, clamping column; 6, climbing mechanism; 61, connecting plate; 62, fastening plate; 63, adaptive frame; 64, climbing roller; 7, adjustment assembly; 71, first electro-hydraulic actuator; 72, joint; 73, second Electro-hydraulic actuator; 74, hydraulic cylinder; 8, adaptive clamping structure; 81, rotating plate; 82, motor one; 83, pushing rod; 84, adaptive plate; 85, wheel one; 86, wheel two; 87, wheel three; 9, clamping structure; 91, storage box; 92, plug-in slot; 93, plug-in block; 94, spring two; 95, L-shaped block one; 96, clamping plate; 97, L-shaped block two; 10, cleaning mechanism; 101, motor two; 102, main gear; 103, auxiliary gear; 104, sweeper. DETAILED DESCRIPTION

[0038] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0039] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Please see attached Figure 1 -Attached Fig.14 The present invention discloses a wheeled robot based on a climbing pole, comprising a vertical pole 1, a horizontal pole 2 and a robot body 3, wherein the robot body 3 comprises an external structure 4, a suspension structure 5 connected to the external structure 4, a climbing mechanism 6 connected to the external structure 4, an adjustment component 7 connected to the external structure 4, an adaptive abutment structure 8 connected to the adjustment component 7, a clamping structure 9 connected to the climbing mechanism 6 and a cleaning mechanism 10 connected to the clamping structure 9;

[0041] The climbing mechanism 6 includes a connecting plate 61, a fastening plate 62, an adaptive frame 63 and a climbing roller 64. The two fastening plates 62 are fixed on both sides of the connecting plate 61. The adaptive frame 63 rotates on the outside of the fastening plate 62. The four climbing rollers 64 are all fixed on the adaptive frame 63.

[0042] The adjustment assembly 7 includes a first electro-hydraulic actuator 71, a joint 72, a second electro-hydraulic actuator 73 and a hydraulic cylinder 74. The joint 72 is arranged between the first electro-hydraulic actuator 71 and the second electro-hydraulic actuator 73 to facilitate the steering adjustment of the adjustment assembly 7. The hydraulic cylinder 74 is fixed to the right side of the second electro-hydraulic actuator 73.

[0043] The adaptive abutting structure 8 comprises a rotating plate 81, a motor 1 82, a push rod 83, an adaptive sheet 84, a first abutting wheel 85, a second abutting wheel 86 and a third abutting wheel 87. The rotating plate 81 is fixed on the output shaft of the motor 1 82, the left end of the push rod 83 is fixed on the right end of the adaptive sheet 84, the second abutting wheel 86 slides on the first abutting wheel 85, and the third abutting wheel 87 slides on the second abutting wheel 86;

[0044] In the first embodiment, the external structure 4 includes an infrared distance sensor, a camera and a controller, and the controller is electrically connected to the infrared distance sensor and the camera respectively;

[0045] Specifically, the climbing roller 64 in the climbing mechanism 6 cooperates with the adjustment component 7 and the adaptive clamping structure 8 to clamp the rod body for climbing. During the climbing process, the infrared distance sensor and the camera detect the curvature, state and quality problems of the rod body in real time, and transmit the detection information to the controller, and the controller transmits it to the user terminal.

[0046] In the second embodiment, the suspension structure 5 includes a clamping block 51, a connecting tube 52, an outer tube 53, a suspension arm 54, a linkage chain 55, a pressing rod 56, a spring 57, a telescopic block 58 and an L-shaped groove 59. The bottom surface of the connecting tube 52 is fixedly connected to the top surface of the outer tube 53. The connecting tube 52 is clamped inside the clamping block 51. The outer tube 53 is fixed between the two suspension arms 54. The bottom end of the pressing rod 56 is fixed to the telescopic block 58. The upper end of the spring 57 abuts against the outer tube 53. The lower end of the spring 57 abuts against the telescopic block 58. A through hole is passed through the telescopic block 58. A limiting rod is provided in the through hole. The limiting rod passes through the inside of the telescopic block 58 and is hinged to the two linkage chains 55. A clamping column 591 is provided on the side of the pressing rod 56 close to the connecting tube 52. The clamping column 591 is clamped inside the L-shaped groove 59.

[0047] Specifically, through the setting of the pressing rod 56 and the clamping column 591 in the suspension structure 5, when the user needs to hang an object, the clamping column 591 on the pressing rod 56 is pressed to the top of the L-shaped groove 59. At this time, the pressing rod 56 drives the two linkage chains 55 and the suspension arm 54 at the bottom to retract to a tight state, which is used to suspend and lift simple objects. When the suspended simple items need to be disassembled, the simple items can be removed by simply pressing the clamping column 591 on the pressing rod 56 down to the rightmost side of the L-shaped groove 59.

[0048] Embodiment 3, the clamping structure 9 includes a material storage box 91, a plug-in slot 92, a plug-in block 93, an L-shaped block 95, a clamping plate 96, and an L-shaped block 97. The plug-in slot 92 is provided inside the material storage box 91, and the plug-in block 93 is plugged into the inside of the plug-in slot 92. The plug-in block 93 is abutted against a spring 94 at the outer wall away from the material storage box 91. The L-shaped block 95 is fixed to the rear end of the plug-in block 93, and L-shaped blocks 97 are fixed to both sides of the front of the clamping plate 96.

[0049] Specifically, when it is necessary to disassemble the storage box 91 and the locking plate 96 set in the locking structure 9, press the L-shaped block 2 97 on the locking plate 96 to snap into the inside of the L-shaped block 1 95. When it is necessary to disassemble and clean, press the plug-in block 93 outside the storage box 91 to the inside of the plug-in groove 92. At this time, the spring 2 94 is squeezed, the L-shaped block 1 95 is separated from the L-shaped block 2 97, and the dust inside the storage box 91 is cleaned.

[0050] Embodiment 4, the cleaning mechanism 10 includes a motor 2 101, a main gear 102 and a sub-gear 103, the main gear 102 is fixed on the output end of the motor 2 101, the sub-gear 103 is meshed with the main gear 102, and a sweeper 104 is fixed on the main gear 102 and the sub-gear 103, both sides of the rotating plate 81 are provided with connecting rods, the left end of the connecting rod is fixed with a suction cup, the interior of the rotating plate 81 is provided with a heat dissipation fan for heat dissipation of the motor 1 82, the interior of the climbing mechanism 6 is provided with a driving device to facilitate the climbing of the four climbing rollers 64, and two L-shaped blocks 1 95 and 2 97 are provided, and are respectively clamped in the interior of the storage box 91;

[0051] Specifically, the motor 101 drives the main gear 102 to transmit, and the main gear 102 drives the sub-gear 103 meshing therewith to rotate, and the two sweepers 104 move relative to each other, and cooperate with the climbing mechanism 6 to clean the rod body during the climbing process, which has good applicability;

[0052] Specifically, the four climbing rollers 64 in the climbing mechanism 6 rotate on the adaptive frame 63 and rise along the rod body, and the first electro-hydraulic actuator 71, the second electro-hydraulic actuator 73 and the joint 72 in the adjustment assembly 7 adjust the angle of the rod body and rotate, and the first wheel 85, the second wheel 86 and the third wheel 87 in the adaptive pressing structure 8 adaptively slide and press the rod body, and the suction cup can be used to climb stably according to the shape of the rod body, obstacles and the bending area of ​​the rod body;

[0053] Specifically, through the infrared distance sensor, camera and controller, during the climbing and moving process, the infrared distance sensor and camera detect the state of the pole in real time, and transmit the detection information to the user terminal to ensure the reliable operation of the pole after it is put into use;

[0054] Specifically, through the provision of the suspension structure 5 and the two suspension arms 54 in the cleaning mechanism 10 and the sweeper 104, it is convenient to cooperate with the climbing mechanism 6 to realize auxiliary operations and flexibly swing to adapt to the operation requirements at different angles. The sweeper 104 is equipped with an efficient dust suction system and a high-speed rotating cleaning brush. In the process of the climbing mechanism 6 driving the entire device to climb upward along the columnar object, the suspension arm 54 can adjust the position and posture of the sweeper 104 in real time according to the actual situation of the rod surface, so that the cleaning brush of the sweeper 104 fits tightly to the surface of the rod to sweep away dust, debris, etc. In this way, the various components work together to greatly improve the efficiency and quality of the pole cleaning operation during the climbing process, effectively make up for the deficiencies in the operating function of the single climbing mechanism 6, and expand the application scope of the entire device.

[0055] First, the robot body 3 is moved to the position of the transverse rod 2 and the vertical rod 1 that need to be carried and clamped, and the driving device starts the four climbing rollers 64 in the climbing mechanism 6 to climb. During the climbing process, the adjustment component 7 adjusts the angles of the first electro-hydraulic actuator 71, the joint 72 and the second electro-hydraulic actuator 73 in real time, so as to realize climbing of any shape, obstacle crossing and curved area, and the sliding of the wheel 1 85, the wheel 2 86 and the wheel 3 87 in the adaptive clamping structure 8 are clamped, and the two suction cups are clamped against the rod body to realize stable climbing of the rod body. During the climbing process of the climbing mechanism 6, the motor 2 101 in the cleaning mechanism 10 drives the main gear 102 and the sub-gear 103 to rotate, so that the two sweepers 1 04 is cleaned. After a period of time, the plug-in block 93 outside the storage box 91 in the snap-in structure 9 can be pressed to the inside of the plug-in slot 92. At this time, the spring two 94 is squeezed, and the L-shaped block one 95 is separated from the L-shaped block two 97, so that the dust inside the storage box 91 is cleaned. When it is necessary to hang a simple object, place the object on the suspension arm 54, press the card column 591 on the pressing rod 56 to snap it into the uppermost part of the L-shaped slot 59. At this time, the pressing rod 56 drives the two linkage chains 55 and the suspension arm 54 at the bottom to retract to a tight state, which is used to hang and hoist the simple object. When it is necessary to dismantle the suspended simple object, just press the card column 591 on the pressing rod 56 down to the rightmost side of the L-shaped slot 59 to remove the simple object. At this point, the entire work process is completed.

[0056] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0058] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.

[0059] It is apparent to those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the invention, and the changes still fall within the protection scope of the invention.

Claims

1. A wheeled robot based on a climbing pole, comprising a vertical pole (1), a transverse pole (2) and a robot body (3), characterized in that: The robot body (3) comprises an external structure (4), a suspension structure (5) connected to the external structure (4), a climbing mechanism (6) connected to the external structure (4), an adjustment component (7) connected to the external structure (4), an adaptive abutment structure (8) connected to the adjustment component (7), a clamping structure (9) connected to the climbing mechanism (6), and a cleaning mechanism (10) connected to the clamping structure (9); The climbing mechanism (6) comprises a connecting plate (61), a fastening plate (62), an adaptive frame (63) and a climbing roller (64), wherein the two fastening plates (62) are fixed on both sides of the connecting plate (61), the adaptive frame (63) rotates on the outside of the fastening plate (62), and the four climbing rollers (64) are all fixed on the adaptive frame (63); The adjustment assembly (7) comprises a first electro-hydraulic actuator (71), a joint (72), a second electro-hydraulic actuator (73) and a hydraulic cylinder (74); the joint (72) is arranged between the first electro-hydraulic actuator (71) and the second electro-hydraulic actuator (73); and the hydraulic cylinder (74) is fixed on the right side of the second electro-hydraulic actuator (73); The adaptive clamping structure (8) comprises a rotating plate (81), a motor 1 (82), a pushing rod (83), an adaptive plate (84), a first pressing wheel (85), a second pressing wheel (86) and a third pressing wheel (87), wherein the rotating plate (81) is fixed on the output shaft of the motor 1 (82), the left end of the pushing rod (83) is fixed on the right end of the adaptive plate (84), the second pressing wheel (86) slides on the first pressing wheel (85), and the third pressing wheel (87) slides on the second pressing wheel (86).

2. A wheeled robot based on a climbing pole according to claim 1, characterized in that: The external structure (4) comprises an infrared distance sensor, a camera and a controller, and the controller is electrically connected to the infrared distance sensor and the camera respectively.

3. A wheeled robot based on a climbing pole according to claim 1, characterized in that: The suspension structure (5) comprises a clamping block (51), a connecting tube (52), an outer tube (53), a suspension arm (54), a linkage chain (55), a pressing rod (56), a spring (57), a telescopic block (58) and an L-shaped groove (59). The bottom surface of the connecting tube (52) and the top surface of the outer tube (53) are fixedly connected. The connecting tube (52) is clamped inside the clamping block (51). The outer tube (53) is fixed between the two suspension arms (54). The bottom end of the pressing rod (56) is connected to the telescopic block (58). The retractable block (58) is fixed, the upper end of the spring one (57) is abutted on the outer tube (53), and the lower end of the spring one (57) is abutted on the telescopic block (58). A through hole is passed through the telescopic block (58), and a limit rod is arranged in the through hole. The limit rod passes through the inside of the telescopic block (58) and is hinged with two linkage chains (55). A clamping column (591) is arranged on the side of the pressing rod (56) close to the connecting tube (52), and the clamping column (591) is clamped in the inside of the L-shaped groove (59).

4. A wheeled robot based on a climbing pole according to claim 1, characterized in that: The clamping structure (9) comprises a material storage box (91), a plug-in slot (92), a plug-in block (93), an L-shaped block 1 (95), a clamping plate (96) and an L-shaped block 2 (97); the plug-in slot (92) is arranged inside the material storage box (91); the plug-in block (93) is plugged into the plug-in slot (92); a spring 2 (94) is abutted against an outer wall of the plug-in block (93) away from the material storage box (91); the L-shaped block 1 (95) is fixed to the rear end of the plug-in block (93); and L-shaped blocks 2 (97) are fixed to both sides of the front of the clamping plate (96).

5. A wheeled robot based on a climbing pole according to claim 1, characterized in that: The cleaning mechanism (10) comprises a second motor (101), a main gear (102) and a secondary gear (103); the main gear (102) is fixed to the output end of the second motor (101); the secondary gear (103) is meshed with the main gear (102); and a sweeper (104) is fixed to both the main gear (102) and the secondary gear (103).

6. A wheeled robot based on a climbing pole according to claim 1, characterized in that: Two connecting rods are arranged on both sides of the rotating plate (81), and suction cups are fixed to the left ends of the two connecting rods.

7. A wheeled robot based on a climbing pole according to claim 6, characterized in that: A heat dissipation fan is arranged inside the rotating plate (81), and a driving device is arranged inside the climbing mechanism (6).

8. A wheeled robot based on a climbing pole according to claim 4, characterized in that: Two L-shaped blocks (95) and two L-shaped blocks (97) are provided, and the L-shaped blocks (95) and the L-shaped blocks (97) are respectively clamped inside the material storage box (91).

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