A pole-climbing wheeled robot

Abstract

This invention discloses a wheeled robot based on a climbing pole. The invention relates to the field of robotics and includes a robot body. 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 clamping structure connected to the adjustment component, a locking structure connected to the climbing mechanism, and a cleaning mechanism connected to the locking structure. The advantages of this invention are: the four climbing rollers in the climbing mechanism rotate on an adaptive frame, rising along the pole. This is coordinated with the first and second electro-hydraulic actuators in the adjustment component, as well as the joints adjusting the angle of rotation relative to the pole. The adaptive clamping structure, with its first, second, and third clamping rollers, adaptively slides and clamps the pole. Stable climbing can be achieved by cooperating with suction cups, taking into account the shape of the pole, obstacles, and areas where the pole bends.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a wheeled robot based on a pole climbing mechanism. Background Technology

[0002] Traditional manual pole climbing operations involve scattered work locations and random times, making it difficult to effectively supervise workers on-site to ensure the standardization and normalization of the work process. In order to achieve intelligent safety supervision at the pole climbing site, the use of wheeled pole climbing robots has become a new form of inspection.

[0003] Existing pole-climbing robots have limited auxiliary functions. They cannot stably climb according to the shape of the pole, obstacles, and areas where the pole is bent during the climbing operation. Furthermore, they cannot promptly detect quality problems during construction based on the pole's condition and make timely corrections to ensure reliable operation after the pole is put into use. Therefore, we propose a wheeled pole-climbing robot. Summary of the Invention

[0004] The purpose of this invention is to provide a wheeled robot based on a pole climbing mechanism.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a wheeled robot based on a climbing pole, comprising a robot body, the robot body comprising 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 clamping structure connected to the adjustment component, a locking structure connected to the climbing mechanism, and a cleaning mechanism connected to the locking structure.

[0006] The climbing mechanism includes a connecting plate, a fastening plate, an adaptive frame, and climbing rollers. Two fastening plates are fixed to both sides of the connecting plate, the adaptive frame rotates to the outside of the fastening plate, and all four climbing rollers are fixed to the adaptive frame.

[0007] The adjustment assembly includes a first electro-hydraulic actuator, a joint, a second electro-hydraulic actuator, and a hydraulic cylinder. The joint is disposed between the first electro-hydraulic actuator and the second electro-hydraulic actuator, and the hydraulic cylinder is fixed to the right side of the second electro-hydraulic actuator.

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

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

[0010] As a further embodiment of the present invention: the suspension structure includes a locking block, a connecting cylinder, an outer cylinder, a suspension arm, a linkage chain, a pressing rod, a first spring, a telescopic block, and an L-shaped groove. The bottom surface of the connecting cylinder and the top surface of the outer cylinder are fixedly connected. The connecting cylinder is locked inside the locking block. The outer cylinder 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 first spring abuts against the outer cylinder, and the lower end of the first spring abuts against the telescopic block. A through hole is provided inside the telescopic block. A limiting rod is provided inside the through hole. The limiting rod extends into the interior of the telescopic block and is hinged to the two linkage chains. A locking post is provided on the side of the pressing rod near the connecting cylinder. The locking post is locked inside the L-shaped groove.

[0011] As a further embodiment of the present invention: the snap-fit ​​structure includes a storage box, a snap-fit ​​groove, a snap-fit ​​block, an L-shaped block one, a snap-fit ​​plate, and an L-shaped block two. The snap-fit ​​groove is opened inside the storage box, the snap-fit ​​block is inserted into the inside of the snap-fit ​​groove, a spring two is abutted against the outer wall of the snap-fit ​​block away from the storage box, the L-shaped block one is fixed to the rear end of the snap-fit ​​block, and L-shaped blocks two are fixed on both sides of the front of the snap-fit ​​plate.

[0012] As a further embodiment of the present invention: the cleaning mechanism includes a second motor, a main gear and a secondary gear, the main gear is fixed on the output end of the second motor, the secondary gear meshes with the main gear, and a sweeper is fixed on both the main gear and the secondary gear.

[0013] As a further embodiment of the present invention: two connecting rods are provided on both sides of the rotating plate, and a suction cup is fixed to the left end of the two connecting rods.

[0014] As a further aspect of the present invention: a cooling fan is provided inside the rotating plate, and a driving device is provided inside the climbing mechanism.

[0015] As a further embodiment of the present invention: two L-shaped blocks are provided for each L-shaped block one and L-shaped block two, and they are respectively snapped into the inside of the storage box.

[0016] Compared with the prior art, the beneficial effects of the present invention by adopting the above technical solution are as follows:

[0017] 1. The present invention uses four climbing rollers in the climbing mechanism to rotate on the adaptive frame and rise along the rod. In conjunction with the first electro-hydraulic actuator, the second electro-hydraulic actuator in the adjustment assembly and the angle adjustment of the joint relative to the rod, the first abutment roller, the second abutment roller and the third abutment roller in the adaptive abutment structure adaptively slide and abut against the rod. Stable climbing can be achieved in conjunction with the suction cup according to the shape of the rod, obstacles and the area where the rod is bent.

[0018] 2. This invention uses an infrared distance sensor, camera, and controller to monitor the status of the pole in real time during the climbing and moving process, and transmits the monitoring information to the user terminal to ensure the reliable operation of the pole after it is put into use.

[0019] 3. This invention, through its suspended structure and the two suspended arms in the cleaning mechanism, along with the sweeper, facilitates auxiliary operations in conjunction with the climbing mechanism. It allows for flexible swinging to adapt to different angles of operation. The sweeper is equipped with a high-efficiency dust collection system and a high-speed rotating cleaning brush. As the climbing mechanism drives the entire device upwards along the columnar object, the suspended arms can adjust the position and posture of the sweeper in real time according to the actual surface conditions of the pole, ensuring that the sweeper's cleaning brush closely adheres to the pole surface. The coordinated operation of all components greatly improves the efficiency and quality of pole cleaning during the climbing process, effectively compensating for the shortcomings of a single climbing mechanism and expanding the application range of the entire device.

[0020] 4. The invention features a pressing rod and a locking pin in the suspension structure. Pressing the locking pin on the pressing rod engages it at the top of the L-shaped groove. The pressing rod then drives the two linkage chains at the bottom and the suspension arm to extend and retract to a tight position. Simply pressing the locking pin on the pressing rod down to the rightmost side of the L-shaped groove allows simple items to be removed, providing multiple auxiliary functions.

[0021] 5. This invention is installed by pressing the L-shaped block two on the locking plate into the interior of the L-shaped block one, and pressing the plug block outside the storage box into the plug slot. At this time, the spring two is compressed, and the L-shaped block one is disengaged from the L-shaped block two, thereby cleaning the dust inside the storage box. It has good applicability.

[0022] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0023] Figure 1 This is a first three-dimensional schematic diagram in an embodiment of the present invention;

[0024] Figure 2 This is a second perspective view in an embodiment of the present invention;

[0025] Figure 3 This is a three-dimensional schematic diagram of the adaptive clamping structure in an embodiment of the present invention;

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

[0027] Figure 5This is a schematic diagram of the connection structure between the snap-fit ​​structure and the cleaning mechanism in an embodiment of the present invention;

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

[0029] Figure 7 This is a schematic diagram of the connection structure of abutment wheel one, abutment wheel two, and abutment wheel three in an embodiment of the present invention;

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

[0031] Figure 9 This is a second perspective view of the suspension structure in an embodiment of the present invention;

[0032] Figure 10 This is a third perspective view of the suspension structure in an embodiment of the present invention;

[0033] Figure 11 This is a third perspective view in an embodiment of the present invention;

[0034] Figure 12 This is a fourth perspective schematic diagram in an embodiment of the present invention;

[0035] Figure 13 This is a fifth perspective view in an embodiment of the present invention;

[0036] Figure 14 This is a schematic diagram of the connection structure between L-shaped block one and L-shaped block two in an embodiment of the present invention.

[0037] In the diagram: 1. Vertical rod; 2. Horizontal rod; 3. Robot body; 4. External structure; 5. Suspension structure; 51. Locking block; 52. Connecting cylinder; 53. Outer cylinder; 54. Suspension arm; 55. Linkage chain; 56. Pressing rod; 57. Spring 1; 58. Telescopic block; 59. L-shaped groove; 591. Locking post; 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... 74. Electro-hydraulic actuator; 8. Hydraulic cylinder; 9. Self-adaptive clamping structure; 10. Rotating plate; 11. Motor 1; 12. Push rod; 13. Self-adaptive plate; 14. Abutment wheel 1; 15. Abutment wheel 2; 16. Abutment wheel 3; 17. Snap-fit ​​structure; 18. Storage box; 19. Insertion slot; 10. Insertion block; 11. Spring 2; 12. L-shaped block 1; 13. Snap-fit ​​plate; 14. L-shaped block 2; 15. Cleaning mechanism; 16. Motor 2; 17. Main gear; 18. Secondary gear; 19. Sweeper. Detailed Implementation

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

[0039] Furthermore, 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 the appendix Figure 1 - Appendix Figure 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. The robot body 3 includes 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 clamping structure 8 connected to the adjustment component 7, a locking structure 9 connected to the climbing mechanism 6, and a cleaning mechanism 10 connected to the locking structure 9.

[0041] The climbing mechanism 6 includes a connecting plate 61, a fastening plate 62, an adaptive frame 63, and climbing rollers 64. The two fastening plates 62 are fixed to 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.

[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 located 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 clamping structure 8 includes a rotating plate 81, a motor 82, a push rod 83, an adaptive plate 84, a first abutment wheel 85, a second abutment wheel 86, and a third abutment wheel 87. The rotating plate 81 is fixed on the output shaft of the motor 82, the left end of the push rod 83 is fixed on the right end of the adaptive plate 84, the second abutment wheel 86 slides on the first abutment wheel 85, and the third abutment wheel 87 slides on the second abutment wheel 86.

[0044] In embodiment 1, the external structure 4 includes an infrared distance sensor, a camera, and a controller, with the controller electrically connected to the infrared distance sensor and the camera respectively;

[0045] Specifically, the climbing mechanism 6 uses the climbing roller 64 in conjunction with the adjustment component 7 and the adaptive clamping structure 8 to clamp and climb the pole. During the climbing process, the infrared distance sensor and camera detect the bending degree, status and quality problems of the pole in real time, and transmit the detection information to the controller, which then transmits it to the user terminal.

[0046] In embodiment 2, the suspension structure 5 includes a locking block 51, a connecting cylinder 52, an outer cylinder 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 cylinder 52 and the top surface of the outer cylinder 53 are fixedly connected. The connecting cylinder 52 is locked inside the locking block 51. The outer cylinder 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 cylinder 53, and the lower end of the spring 57 abuts against the telescopic block 58. A through hole is passed through the telescopic block 58, and a limiting rod is set inside the through hole. The limiting rod passes through the interior of the telescopic block 58 and is hinged to the two linkage chains 55. A locking post 591 is set on the side of the pressing rod 56 near the connecting cylinder 52. The locking post 591 is locked inside the L-shaped groove 59.

[0047] Specifically, through the setting of the pressing rod 56 and the locking post 591 in the suspension structure 5, when the user needs to suspend an object, pressing the locking post 591 on the pressing rod 56 will engage it at the top of the L-shaped groove 59. At this time, the pressing rod 56 will drive the two linkage chains 55 at the bottom and the suspension arm 54 to extend and retract to the tight state, which is used to suspend and hoist simple objects. When it is necessary to disassemble the suspended simple items, simply press the locking post 591 on the pressing rod 56 down to the right side of the L-shaped groove 59 to remove the simple items.

[0048] In embodiment 3, the snap-fit ​​structure 9 includes a storage box 91, a snap-fit ​​groove 92, a snap-fit ​​block 93, an L-shaped block 95, a snap-fit ​​plate 96, and an L-shaped block 97. The snap-fit ​​groove 92 is opened inside the storage box 91, and the snap-fit ​​block 93 is inserted into the inside of the snap-fit ​​groove 92. A spring 94 is abutted against the outer wall of the snap-fit ​​block 93 away from the storage box 91. The L-shaped block 95 is fixed to the rear end of the snap-fit ​​block 93, and L-shaped blocks 97 are fixed on both sides of the front of the snap-fit ​​plate 96.

[0049] Specifically, when it is necessary to disassemble the storage box 91 and the locking plate 96 in the locking structure 9, press the L-shaped block 2 97 on the locking plate 96 to engage with the inside of the L-shaped block 1 95. When it is necessary to clean, press the plug block 93 outside the storage box 91 into the plug slot 92. At this time, the spring 2 94 is compressed, and the L-shaped block 1 95 disengages from the L-shaped block 2 97, thus cleaning the dust inside the storage box 91.

[0050] Example 4: The cleaning mechanism 10 includes a second motor 101, a main gear 102, and a secondary gear 103. The main gear 102 is fixed on the output end of the second motor 101. The secondary gear 103 meshes with the main gear 102. Sweepers 104 are fixed on both the main gear 102 and the secondary gear 103. Connecting rods are provided on both sides of the rotating plate 81. A suction cup is fixed on the left end of the connecting rod. A cooling fan is provided inside the rotating plate 81 to dissipate heat from the first motor 82. A drive device is provided inside the climbing mechanism 6 to facilitate the climbing of the four climbing rollers 64. Two L-shaped blocks 95 and two L-shaped blocks 97 are provided and are respectively snapped into the inside of the storage box 91.

[0051] Specifically, motor 101 drives main gear 102, which in turn drives auxiliary gear 103 to rotate. The two sweepers 104 move relative to each other and, in conjunction with climbing mechanism 6, clean the pole during the climbing process, making it highly adaptable.

[0052] Specifically, the four climbing rollers 64 in the climbing mechanism 6 rotate on the adaptive frame 63 and rise along the rod. 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. The first abutment roller 85, the second abutment roller 86 and the third abutment roller 87 in the adaptive abutment structure 8 adaptively slide and abut against the rod. The rod can be stably climbed according to the shape of the rod, obstacles and the area where the rod is bent, in conjunction with the suction cup.

[0053] Specifically, through the infrared distance sensor, camera and controller, the infrared distance sensor and camera detect the status of the pole in real time during the climbing and moving process, 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, the suspension structure 5 and the two suspension arms 54 in the cleaning mechanism 10, along with the sweeper 104, facilitate auxiliary operations in conjunction with the climbing mechanism 6. The sweeper 104 can flexibly swing to adapt to different angles of operation. It is equipped with a high-efficiency dust collection system and a high-speed rotating cleaning brush. As the climbing mechanism 6 drives the entire device upwards along the columnar object, the suspension arms 54 can adjust the position and posture of the sweeper 104 in real time according to the actual surface conditions of the pole. This ensures that the sweeper brushes of the sweeper 104 closely adhere to the surface of the pole, effectively sweeping away dust and debris. In this way, the coordinated operation of all components greatly improves the efficiency and quality of pole cleaning during the climbing process, effectively compensating for the shortcomings of the single climbing mechanism 6 and expanding the application range of the entire device.

[0055] First, the robot body 3 is moved to the position of the horizontal bar 2 and the vertical bar 1 that need to be handled and clamped. The drive device activates 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, which can achieve climbing of any shape, obstacle crossing and curved areas. With the sliding and clamping of the first clamping wheel 85, the second clamping wheel 86 and the third clamping wheel 87 in the adaptive clamping structure 8, and the two suction cups clamping the bar, the stable climbing of the bar is achieved. During the climbing process of the climbing mechanism 6, the second motor 101 in the cleaning mechanism 10 drives the main gear 102 and the secondary gear 103 to rotate, so that the two sweepers 1 After cleaning for a period of time, the plug-in block 93 outside the storage box 91 in the snap-fit ​​structure 9 can be pressed into the plug-in slot 92. At this time, the second spring 94 is squeezed, and the first L-shaped block 95 disengages from the second L-shaped block 97, cleaning the dust inside the storage box 91. When it is necessary to suspend a simple object, place the object on the suspension arm 54 and press the locking pin 591 on the pressing rod 56 to engage with the top of the L-shaped slot 59. At this time, the pressing rod 56 drives the two linkage chains 55 at the bottom and the suspension arm 54 to extend and retract to the tight state for suspending and hoisting simple objects. When it is necessary to disassemble the suspended simple item, simply press the locking pin 591 on the pressing rod 56 down to the right side of the L-shaped slot 59 to remove the simple item. At this point, the entire workflow is complete.

[0056] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on.

[0057] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

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

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

Claims

1. A wheeled robot based on a climbing pole, comprising a robot body (3), characterized in that: The robot body (3) includes 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 clamping structure (8) connected to the adjustment component (7), a locking structure (9) connected to the climbing mechanism (6), and a cleaning mechanism (10) connected to the locking structure (9). The climbing mechanism (6) includes a connecting plate (61), a fastening plate (62), an adaptive frame (63), and climbing rollers (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), and the four climbing rollers (64) are all fixed on the adaptive frame (63). 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 disposed between the first electro-hydraulic actuator (71) and the second electro-hydraulic actuator (73), and the hydraulic cylinder (74) is fixed to the right side of the second electro-hydraulic actuator (73). The adaptive clamping structure (8) includes a rotating plate (81), a motor (82), a push rod (83), an adaptive plate (84), a first abutment wheel (85), a second abutment wheel (86), and a third abutment wheel (87). The rotating plate (81) is fixed on the output shaft of the motor (82). The left end of the push rod (83) is fixed on the right end of the adaptive plate (84). The second abutment wheel (86) slides on the first abutment wheel (85), and the third abutment wheel (87) slides on the second abutment wheel (86).

2. The wheeled robot based on a pole climbing mechanism according to claim 1, characterized in that: 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.

3. A wheeled robot based on a pole climbing mechanism according to claim 1, characterized in that: The suspension structure (5) includes a locking block (51), a connecting cylinder (52), an outer cylinder (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 cylinder (52) is fixedly connected to the top surface of the outer cylinder (53). The connecting cylinder (52) is locked inside the locking block (51). The outer cylinder (53) is fixed between the two suspension arms (54). The bottom end of the pressing rod (56) is connected to the extension... The shrink block (58) is fixed, the upper end of the spring (57) abuts against the outer cylinder (53), the lower end of the spring (57) abuts against the telescopic block (58), the telescopic block (58) has a through hole, 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 two linkage chains (55), the pressing rod (56) is provided with a locking post (591) on the side near the connecting cylinder (52), the locking post (591) is locked in the L-shaped groove (59).

4. A wheeled robot based on a pole climbing mechanism according to claim 1, characterized in that: The snap-fit ​​structure (9) includes a storage box (91), a plug-in groove (92), a plug-in block (93), an L-shaped block one (95), a snap-fit ​​plate (96), and an L-shaped block two (97). The plug-in groove (92) is opened inside the storage box (91). The plug-in block (93) is inserted into the inside of the plug-in groove (92). A spring two (94) is abutted against the outer wall of the plug-in block (93) away from the storage box (91). The L-shaped block one (95) is fixed at the rear end of the plug-in block (93). The L-shaped blocks two (97) are fixed on both sides of the front of the snap-fit ​​plate (96).

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

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

7. A wheeled robot based on a pole climbing mechanism according to claim 6, characterized in that: The rotating plate (81) is equipped with a cooling fan, and the climbing mechanism (6) is equipped with a driving device.

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 are respectively snapped into the inside of the storage box (91).

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