Explosion-proof wheel type inspection robot

Abstract

The utility model belongs to the technical field of robots, and relates to an anti-explosion wheel type inspection robot which comprises a vehicle body, a moving assembly, a loading assembly and a control assembly, the moving assembly at least comprises a wheel train, a suspension assembly, a walking flame-proof motor, a steering flame-proof motor, a driving wheel arm and a transverse rotating arm, the walking flame-proof motor drives the wheel train to advance and retreat, the steering flame-proof motor drives the walking flame-proof motor and the wheel train to integrally and horizontally steer, the vehicle body is cylindrical, the pressure bearing effect is good, the loading capacity is high, and the production cost is low. The four-wheel eight-drive driving system is flexible, can cope with various complex road conditions, can carry different loading assemblies according to needs, achieves the functions of equipment defect automatic diagnosis, environment facility intelligent operation and maintenance, production safety, hidden danger investigation and the like, and is especially suitable for first-area and second-area dangerous places and IIA, IIB and IIC explosive gas environments. And the danger index and the labor intensity of first-line high-risk operating personnel are greatly reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to an explosion-proof wheeled inspection robot. Background Art

[0002] For workplaces such as coal mines, electric power, and petrochemicals, it is necessary to conduct regular inspections of equipment and site environments. Currently, most of them are done manually, but the work intensity of manual inspections is high, the on-site environment is complex, and it is easy to threaten the safety of workers' lives. Therefore, the model of using robots to replace manual inspections has emerged. However, for flammable and explosive hazardous places, ordinary inspection robots are not competent for inspection work.

[0003] The explosion-proof wheeled inspection robot can be equipped with a series of sensors to replace staff in entering flammable and explosive dangerous places for inspection and detection, thereby improving inspection efficiency and protecting staff safety.

[0004] At present, the explosion-proof inspection robots that have been published are as follows: the wheeled explosion-proof inspection robot and the wheeled explosion-proof inspection robot system disclosed in the utility model patent with application publication number CN 111203847 A, the explosion-proof wheeled intelligent inspection robot body structure and the intelligent inspection robot disclosed in the utility model patent with authorization announcement number CN 215037416 U, an explosion-proof inspection robot and an inspection method thereof disclosed in the utility model patent with application publication number CN111571599A, and an explosion-proof wheeled inspection robot for special hazardous chemical scenarios and an inspection control method thereof disclosed in the utility model patent with application publication number CN117001689 A. All of them realize environmental perception, obstacle detection and target recognition functions by carrying different sensors. However, the detection function is not comprehensive enough, the pressure-bearing effect is poor, and the robot movement is not flexible enough, which affects the on-site inspection effect. Summary of the invention

[0005] The utility model aims to provide an explosion-proof wheeled inspection robot which is flexible, has good pressure-bearing effect, strong load-bearing capacity and is suitable for dangerous places and explosive gas environments.

[0006] The technical solution adopted by the utility model to solve the technical problem is: an explosion-proof wheeled inspection robot, including a body, a moving component, an upper component and a control component installed on the body;

[0007] The vehicle body is used to install and fix various components of the robot;

[0008] The mobile components are arranged on both sides of the vehicle body and are used to drive the robot to move and turn;

[0009] The upper body components are installed on the periphery of the vehicle body and are used for data collection and detection;

[0010] The control component is arranged inside the vehicle body, and is connected to the mobile component and the upper component respectively, and is used to supply power to the robot, analyze and process the data collected and detected by the upper component, and control the movement of the robot.

[0011] In one possible implementation, four sets of mobile components are provided, and each set of mobile components includes at least a wheel train, a suspension component, a traveling flameproof motor, a steering flameproof motor, a driving wheel arm, and a traverse arm. The wheel train is fixedly connected to the output end of the traveling flameproof motor, and the traveling flameproof motor is used to drive the wheel train forward and backward. The traveling flameproof motor is connected and fixed to the lower part of the driving wheel arm, and the upper end of the driving wheel arm is connected and fixed to the traverse arm. The traverse arm is connected and fixed to the output end of the steering flameproof motor. The steering flameproof motor is used to drive the traverse arm to rotate horizontally, and then drive the traveling flameproof motor and the wheel train to steer horizontally as a whole through the driving wheel arm. The steering flameproof motor is connected to the vehicle body through the suspension component, and the suspension component is used for shock absorption of the robot to improve stability.

[0012] In one possible implementation, the traveling flameproof motor and the steering flameproof motor are both electrically connected to the control component, and both the traveling flameproof motor and the steering flameproof motor are provided with explosion-proof stuffing boxes. A connecting block is provided on the outer wall of the traveling flameproof motor, and the connecting block is connected and fixed to the lower part of the driving wheel arm. A connecting plate is connected to the steering flameproof motor, and the steering flameproof motor is connected and fixed to one end of the suspension component through the connecting plate.

[0013] The walking flameproof motor is fixedly connected to the transverse arm through the connecting block and the driving wheel arm in turn. The steering flameproof motor drives the transverse arm to rotate horizontally, thereby driving the walking flameproof motor and the wheel system fixedly connected to the output end of the walking flameproof motor to rotate horizontally, thereby realizing the steering of the robot.

[0014] In a possible implementation, the four sets of mobile components can be individually controlled by their own flameproof motors for walking and flameproof motors for steering, thereby improving the mobility and flexibility of the robot.

[0015] In one possible implementation, the upper assembly includes an explosion-proof infrared integrated thermal imager, a laser methane telemeter, an explosion-proof laser three-dimensional scanner, an explosion-proof sight hole lamp, an explosion-proof sound and light alarm lamp, and a gas sensor. The explosion-proof infrared integrated thermal imager, the laser methane telemeter, the explosion-proof laser three-dimensional scanner, the explosion-proof sight hole lamp, the explosion-proof sound and light alarm lamp, and the gas sensor are all installed on the upper part of the vehicle body and are electrically connected to the control assembly respectively.

[0016] In one possible implementation, the upper assembly also includes a 5G antenna and an explosion-proof control button. The 5G antenna is installed on the top of the vehicle body for receiving and transmitting communication signals. The explosion-proof control button is installed on the upper part of the vehicle body. The 5G antenna and the explosion-proof control button are electrically connected to the control assembly respectively.

[0017] In one possible implementation, the control component includes a battery and an industrial computer. The battery supplies power to the electrical components of the robot. Both ends of the battery are connected to a distribution board. Wiring cavities are provided on both sides of the vehicle body. The outer end of the wiring cavity is electrically connected to the upper assembly on the vehicle body, and the inner end of the wiring cavity is electrically connected to the distribution board and the industrial computer.

[0018] In one possible implementation, the upper assembly also includes an explosion-proof wireless charger, which is installed at the front end of the vehicle body and electrically connected to the battery for wirelessly charging the battery. A debugging interface and a manual charging interface are provided at the rear end of the vehicle body. The manual charging interface is electrically connected to the battery for manual charging of the battery, and the debugging interface is electrically connected to the industrial control computer.

[0019] In a possible implementation, the wiring chamber is an increased safety wiring chamber. Depending on the use environment of the robot, the wiring chamber may also be an increased safety explosion-proof wiring chamber to improve safety of use.

[0020] In one possible implementation, the vehicle body includes a vehicle body, a flameproof shell is provided on the outside of the vehicle body, a vehicle body upper cover is provided on the top of the vehicle body, a vehicle body front cover is installed at the front end of the vehicle body, a vehicle body rear cover is installed at the rear end of the vehicle body, and a sealing cover is provided on the vehicle body rear cover.

[0021] In a possible implementation, an explosion-proof wireless charger is installed on the front cover of the vehicle body, a debugging interface and a manual charging interface are installed on the rear cover of the vehicle body, the outside of the debugging interface and the manual charging interface are sealed with a sealing cover, and an explosion-proof integrated infrared thermal imager and a laser methane telemeter are installed on the upper cover of the vehicle body. An explosion-proof laser three-dimensional scanner is installed on the top front side of the vehicle body, two groups of explosion-proof sight hole lights are provided, which are respectively installed on both sides of the top front end of the vehicle body, two groups of explosion-proof sound and light alarm lights are provided, which are respectively fixedly installed on both sides of the vehicle body, and a gas sensor can be installed at the rear end of the vehicle body as needed. A 5G antenna is provided on the top rear side of the vehicle body, and an explosion-proof control button is installed at the rear end of the vehicle body as needed.

[0022] In a possible implementation, the vehicle body is cylindrical to increase pressure bearing capacity and reduce weight.

[0023] The utility model has the following beneficial effects:

[0024] 1. The body of the explosion-proof wheeled inspection robot of the utility model is cylindrical, has good pressure-bearing effect, strong load-bearing capacity and low production cost.

[0025] 2. The explosion-proof wheeled inspection robot of the utility model adopts a four-wheel eight-wheel drive system, which is flexible and maneuverable, can cope with various complex road conditions, and can be equipped with different upper components as needed to realize functions such as automatic diagnosis of equipment defects, intelligent operation and maintenance of environmental facilities, production safety, and hidden danger investigation. It is especially suitable for hazardous places in Zone 1 and Zone 2, and Class ⅡA, ⅡB, and ⅡC explosive gas environments, which can greatly reduce the danger index and labor intensity of high-risk frontline workers and comprehensively improve the digital operation and maintenance capabilities of enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional diagram of the overall structure of the utility model explosion-proof wheeled inspection robot.

[0027] Figure 2 It is a left view of the utility model explosion-proof wheeled inspection robot.

[0028] Figure 3 It is a right view of the explosion-proof wheeled inspection robot of the utility model.

[0029] Figure 4 It is a front view of the utility model explosion-proof wheeled inspection robot.

[0030] Figure 5 yes Figure 4 AA section view.

[0031] Figure 6 yes Figure 4 Middle BB section view.

[0032] Figure 7 The utility model is a schematic diagram of the structure of the wheel system and the flameproof motor of the explosion-proof wheeled inspection robot.

[0033] In the figure, 1, vehicle body, 2, mobile assembly, 3, upper assembly, 4, control assembly;

[0034] 11. Flameproof housing, 12. Vehicle upper cover, 13. Vehicle front cover, 14. Vehicle rear cover, 15. Sealing cover, 16. Vehicle body;

[0035] 21. Gear train, 22. Suspension assembly, 23. Travel flameproof motor, 24. Steering flameproof motor, 25. Explosion-proof stuffing box, 26. Driving wheel arm, 27. Transverse arm, 231. Connecting block, 241. Connecting plate;

[0036] 31. Explosion-proof infrared integrated thermal imager, 32. Laser methane telemeter, 33. Explosion-proof laser 3D scanner, 34. Explosion-proof sight hole lamp, 35. Explosion-proof wireless charger, 36. 5G antenna, 37. Explosion-proof control button, 38. Explosion-proof sound and light alarm lamp, 39. Gas sensor;

[0037] 41. Battery, 42. Industrial computer, 43. Distribution board, 44. Wiring cavity, 45. Debug interface, 46. Manual charging interface. DETAILED DESCRIPTION

[0038] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0039] like Figure 1 As shown, an explosion-proof wheeled inspection robot includes a body 1, and also includes a moving component 2, an upper component 3 and a control component 4 installed on the body 1;

[0040] The vehicle body 1 is used to install and fix various components of the robot;

[0041] The moving components 2 are arranged on both sides of the vehicle body 1 and are used to drive the robot to move and turn;

[0042] The upper assembly 3 is installed on the outer periphery of the vehicle body 1 and is used for data collection and detection;

[0043] The control component 4 is arranged inside the vehicle body 1, and is respectively connected to the mobile component 2 and the upper component 3, and is used to supply power to the robot, analyze and process the data collected and detected by the upper component 3, and control the movement of the robot.

[0044] like Figure 3 , 4 As shown in , 7, the mobile assembly 2 is provided with four sets, each set of the mobile assembly 2 at least includes a wheel train 21, a suspension assembly 22, a walking flameproof motor 23, a steering flameproof motor 24, a driving wheel arm 26, and a traverse arm 27. The wheel train 21 is fixedly connected to the output end of the walking flameproof motor 23, and the walking flameproof motor 23 is used to drive the wheel train 21 forward and backward. The walking flameproof motor 23 is connected and fixed to the lower part of the driving wheel arm 26, and the upper end of the driving wheel arm 26 is connected and fixed to the traverse arm 27. The traverse arm 27 is connected and fixed to the output end of the steering flameproof motor 24. The steering flameproof motor 24 is used to drive the traverse arm 27 to rotate horizontally, and then drive the walking flameproof motor 23 and the wheel train 21 to turn horizontally as a whole through the driving wheel arm 26. The steering flameproof motor 24 is connected to the vehicle body 1 through the suspension assembly 22, and the suspension assembly 22 is used for robot shock absorption to improve stability. The suspension assembly 22 can adopt a specific structure in the prior art, and it only needs to have the robot shock absorption function, which will not be repeated in the present utility model.

[0045] In a preferred embodiment, the walking flameproof motor 23 and the steering flameproof motor 24 are both electrically connected to the control component 4, and explosion-proof stuffing boxes 25 are provided on the walking flameproof motor 23 and the steering flameproof motor 24. A connecting block 231 is provided on the outer wall of the walking flameproof motor 23, and the connecting block 231 is connected and fixed to the lower part of the driving wheel arm 26. A connecting plate 241 is connected to the steering flameproof motor 24, and the steering flameproof motor 24 is connected and fixed to one end of the suspension component 22 through the connecting plate 241.

[0046] The traveling flameproof motor 23 is fixedly connected to the traverse arm 27 via the connecting block 231 and the driving wheel arm 26 in turn. The steering flameproof motor 24 drives the traverse arm 27 to rotate horizontally, thereby driving the traveling flameproof motor 23 and the wheel train 21 fixedly connected to the output end of the traveling flameproof motor 23 to rotate horizontally, thereby realizing the steering of the robot.

[0047] In a preferred embodiment, the robot of the utility model adopts a four-wheel eight-wheel drive system, and the four sets of mobile components 2 can be individually controlled by their own walking flameproof motors 23 and steering flameproof motors 24, thereby improving the mobility and flexibility of the robot.

[0048] like Figure 2 , 3 As shown, the upper assembly 3 includes an explosion-proof infrared integrated thermal imager 31, a laser methane telemeter 32, an explosion-proof laser three-dimensional scanner 33, an explosion-proof sight hole lamp 34, an explosion-proof sound and light alarm lamp 38, and a gas sensor 39. The explosion-proof infrared integrated thermal imager 31, the laser methane telemeter 32, the explosion-proof laser three-dimensional scanner 33, the explosion-proof sight hole lamp 34, the explosion-proof sound and light alarm lamp 38, and the gas sensor 39 are all installed on the upper part of the vehicle body 1 and are electrically connected to the control assembly 4 respectively.

[0049] The explosion-proof infrared integrated thermal imager 31 can monitor the temperature of the equipment on site in real time. The staff can observe the temperature of the equipment in the background through the infrared video stream, which is displayed in the form of a thermal map. It can also collect environmental images through a visible light camera, detect suspected flames based on a deep learning algorithm, and use the explosion-proof infrared integrated thermal imager 31 to perform temperature detection on suspected flame areas to ensure the accuracy of flame detection and eliminate false alarms.

[0050] The laser methane telemeter 32 is a linear beam combustible gas detection sensor, which utilizes the absorption effect of methane gas on lasers of a specific wavelength, and the absorption intensity is related to the methane gas concentration, so as to achieve the purpose of monitoring gas leakage on site of the equipment.

[0051] The explosion-proof laser three-dimensional scanner 33 is used to obtain the position and posture information of the observed object or obstacle.

[0052] The explosion-proof sight hole lamp 34 is used to provide a lighting source for the robot inspection site.

[0053] The robot analyzes the monitored data results and can display alarms for indicators that exceed the limit, such as high temperature and high environmental information indicators. It can also warn of its own abnormalities to help operation and maintenance personnel quickly locate problems and facilitate operation and maintenance. When the alarm is sounded, the robot's explosion-proof sound and light alarm light 38 supports sound and light warning.

[0054] The gas sensor 39 can detect the following media: including CH4, CO, CO2, O2, H2S, NH3 and other gases. By integrating the detector on the robot, it can monitor the leakage of multiple gases online at the same time and identify the leakage. The alarm threshold can be set on the robot monitoring platform. When the robot inspection finds that the threshold is exceeded, the alarm signal and the robot location can be sent to the monitoring platform.

[0055] In a preferred embodiment, the upper assembly 3 also includes a 5G antenna 36 and an explosion-proof control button 37. The 5G antenna 36 is installed on the top of the vehicle body 1 for receiving and transmitting communication signals to realize communication between the robot and the monitoring platform. The explosion-proof control button 37 is installed on the upper part of the vehicle body 1. The 5G antenna 36 and the explosion-proof control button 37 are electrically connected to the control assembly 4 respectively.

[0056] In a preferred embodiment, the robot of the utility model can also be equipped with a 3D laser radar, a visible light camera, a temperature and humidity detector, a voice intercom, a microphone, etc. as needed.

[0057] The 3D laser radar can be combined with the four-wheel eight-wheel drive system to enable the robot to cope with various complex road conditions.

[0058] Visible light cameras can capture and detect fire-fighting facilities / passages, and combine with image recognition algorithms for detection to realize detection of the on and off status of evacuation indicator lights, the integrity of fire-fighting facility seals, the switch status of fire doors, fire passage blockage detection, fire hydrant leakage detection, etc. It also supports the collection of environmental videos through visible light cameras and analysis of the videos to realize human body detection, smoking detection, detection of not wearing a safety helmet, detection of not wearing a reflective clothing, etc., and has the function of uploading alarms after identification.

[0059] The staff in the background can have real-time conversations with the on-site staff through the voice intercom switch. The on-site staff does not need to perform any extra operations and can respond in real time next to the robot.

[0060] The robot body is equipped with a pickup, which effectively collects the on-site environment and equipment operation noise conditions and noise data during the inspection process, and uses the self-developed acoustic characterization and analysis algorithm to perform feature extraction, status assessment and fault diagnosis, and timely feedback on the health status of on-site equipment.

[0061] like Figure 5 ,6 As shown, the control component 4 includes a battery 41 and an industrial computer 42. The battery 41 supplies power to the electrical components of the robot. Both ends of the battery 41 are connected to a distribution board 43. Wiring cavities 44 are provided on both sides of the vehicle body 1. The outer end of the wiring cavity 44 is electrically connected to the upper component 3 on the vehicle body 1, and the inner end of the wiring cavity 44 is electrically connected to the distribution board 43 and the industrial computer 42.

[0062] In a preferred embodiment, the upper assembly 3 also includes an explosion-proof wireless charger 35, which is installed at the front end of the vehicle body 1 and electrically connected to the battery 41, and is used to wirelessly charge the battery 41. The rear end of the vehicle body 1 is provided with a debugging interface 45 and a manual charging interface 46, and the manual charging interface 46 is electrically connected to the battery 41, and is used to manually charge the battery 41. The debugging interface 45 is electrically connected to the industrial computer 42. When the battery 41 of the robot is low on power, it can automatically return to the charging pile for charging. It can also be returned to charging in manual mode on the background interface by pressing the self-charging button.

[0063] In a preferred embodiment, the wiring chamber 44 is an increased safety wiring chamber. Depending on the use environment of the robot, the wiring chamber 44 may also be an increased safety explosion-proof wiring chamber to improve the safety of use.

[0064] like Figure 1-3 As shown, the vehicle body 1 includes a vehicle body main body 16, a flameproof housing 11 is provided on the outside of the vehicle body main body 16, a vehicle body upper cover 12 is provided on the top of the vehicle body main body 16, a vehicle body front cover 13 is installed at the front end of the vehicle body main body 16, a vehicle body rear cover 14 is installed at the rear end of the vehicle body main body 16, and a sealing cover 15 is provided on the vehicle body rear cover 14.

[0065] In a preferred embodiment, the wiring chamber 44 is fixedly installed on both sides of the vehicle body 16 , and the wiring chamber 44 is located between the vehicle body 16 and the flameproof enclosure 11 .

[0066] In a preferred embodiment, the explosion-proof wireless charger 35 is installed on the front cover 13 of the vehicle body, the debugging interface 45 and the manual charging interface 46 are installed on the rear cover 14 of the vehicle body, the outer sides of the debugging interface 45 and the manual charging interface 46 are sealed with a sealing cover 15, and the explosion-proof integrated infrared thermal imager 31 and the laser methane telemeter 32 are installed on the upper cover 12 of the vehicle body. The explosion-proof laser three-dimensional scanner 33 is installed on the top front side of the vehicle body 16, the explosion-proof sight hole lamp 34 is provided with two groups, which are respectively installed on both sides of the top front end of the vehicle body 16, the explosion-proof sound and light alarm lamp 38 is provided with two groups, which are respectively fixedly installed on both sides of the vehicle body 16, and the gas sensor 39 can be installed at the rear end of the vehicle body 16 as needed. The 5G antenna 36 is set on the top rear side of the vehicle body 16, and the explosion-proof control button 37 is installed at the rear end of the vehicle body 16 as needed.

[0067] In a preferred embodiment, the vehicle body 16 is cylindrical, and the pressure-bearing effect of the cylindrical vehicle body is better than that of a conventional robot body. When the same pressure-bearing effect is obtained, the required wall thickness of the cylindrical vehicle body is significantly smaller than the wall thickness of a conventional robot body, which can effectively reduce the weight of the robot itself. On the one hand, it can reduce the production cost of the robot, and on the other hand, it can improve the load capacity of the robot.

[0068] The robot of this utility model supports fully autonomous inspection mode, including regular inspection and special inspection. In regular mode, the system automatically starts and completes the inspection task according to the pre-set inspection task content, time, path and other parameter information; in special inspection, the operator issues the inspection route, and the robot automatically completes the inspection task.

[0069] The robot of this utility model has the explosion-proof grade of Ex db ebmbibIIC T6 Gb and the protection grade of IP66, and is equipped with detection means such as visible light image recognition, infrared thermal imaging temperature measurement, and gas concentration detection. It is suitable for dangerous places in Zone 1 and Zone 2, and explosive gas environments of Class ⅡA, ⅡB, and ⅡC. The robot is equipped with a four-wheel eight-wheel drive system, which can cope with various complex road conditions, realize automatic diagnosis of equipment defects, intelligent operation and maintenance of environmental facilities, production safety, hidden danger investigation and other functions, greatly reduce the risk index and labor intensity of high-risk front-line workers, and comprehensively improve the digital operation and maintenance capabilities of enterprises.

[0070] The present utility model is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the inspiration of the present utility model. Any technical solutions that are the same or similar to the present utility model fall within the protection scope of the present utility model.

[0071] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

Claims

1. An explosion-proof wheeled inspection robot, comprising a vehicle body, characterized in that: It also includes a moving assembly, a top assembly and a control assembly mounted on the vehicle body; The vehicle body is used to install and fix various components of the robot; The mobile components are arranged on both sides of the vehicle body and are used to drive the robot to move and turn; The upper body components are installed on the periphery of the vehicle body and are used for data collection and detection; The control component is arranged inside the vehicle body, and is connected to the mobile component and the upper component respectively, and is used to supply power to the robot, analyze and process the data collected and detected by the upper component, and control the robot's movements; The mobile components are provided with four sets, and each set of mobile components at least includes a wheel train, a suspension component, a traveling flameproof motor, a steering flameproof motor, a driving wheel arm, and a traverse arm. The wheel train is fixedly connected to the output end of the traveling flameproof motor, the traveling flameproof motor is used to drive the wheel train forward and backward, the traveling flameproof motor is fixedly connected to the lower part of the driving wheel arm, the upper end of the driving wheel arm is fixedly connected to the traverse arm, the traverse arm is fixedly connected to the output end of the steering flameproof motor, the steering flameproof motor is used to drive the traverse arm to rotate horizontally, and then drive the traveling flameproof motor and the wheel train to steer horizontally as a whole through the driving wheel arm, the steering flameproof motor is connected to the vehicle body through the suspension component, and the suspension component is used for shock absorption of the robot to improve stability.

2. The explosion-proof wheeled inspection robot according to claim 1, characterized in that: The traveling flameproof motor and the steering flameproof motor are both electrically connected to the control component, and are both provided with explosion-proof stuffing boxes. A connecting block is provided on the outer wall of the traveling flameproof motor, and the connecting block is connected and fixed to the lower part of the driving wheel arm. A connecting plate is connected to the steering flameproof motor, and the steering flameproof motor is connected and fixed to one end of the suspension component through the connecting plate.

3. The explosion-proof wheeled inspection robot according to claim 1, characterized in that: The upper assembly includes an explosion-proof infrared integrated thermal imager, a laser methane telemeter, an explosion-proof laser three-dimensional scanner, an explosion-proof sight hole lamp, an explosion-proof sound and light alarm lamp, and a gas sensor. The explosion-proof infrared integrated thermal imager, the laser methane telemeter, the explosion-proof laser three-dimensional scanner, the explosion-proof sight hole lamp, the explosion-proof sound and light alarm lamp, and the gas sensor are all installed on the upper part of the vehicle body and are electrically connected to the control assembly respectively; The upper body components also include a 5G antenna and an explosion-proof control button. The 5G antenna is installed on the top of the vehicle body for receiving and transmitting communication signals. The explosion-proof control button is installed on the upper part of the vehicle body. The 5G antenna and the explosion-proof control button are electrically connected to the control components respectively.

4. The explosion-proof wheeled inspection robot according to claim 1, characterized in that: The control component includes a battery and an industrial computer. The battery supplies power to the electrical components of the robot. Both ends of the battery are connected to a distribution board. Wiring cavities are provided on both sides of the vehicle body. The outer ends of the wiring cavities are electrically connected to the upper components on the vehicle body, and the inner ends of the wiring cavities are electrically connected to the distribution board and the industrial computer.

5. The explosion-proof wheeled inspection robot according to claim 4, characterized in that: The upper assembly also includes an explosion-proof wireless charger, which is installed at the front end of the vehicle body and electrically connected to the battery for wirelessly charging the battery. A debugging interface and a manual charging interface are provided at the rear end of the vehicle body. The manual charging interface is electrically connected to the battery for manual charging of the battery, and the debugging interface is electrically connected to the industrial control computer.

6. The explosion-proof wheeled inspection robot according to claim 4, characterized in that: The wiring cavity is an increased safety type wiring cavity.

7. The explosion-proof wheeled inspection robot according to any one of claims 1 to 6, characterized in that: The vehicle body comprises a vehicle body, a flameproof shell is arranged outside the vehicle body, a vehicle body upper cover is arranged on the top of the vehicle body, a vehicle body front cover is installed at the front end of the vehicle body, a vehicle body rear cover is installed at the rear end of the vehicle body, and a sealing cover is arranged on the vehicle body rear cover.

8. The explosion-proof wheeled inspection robot according to claim 7, characterized in that: The vehicle body is cylindrical to increase pressure bearing capacity and reduce weight.

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