Independent steering transmission module and explosion-proof robot

Abstract

The invention relates to the technical field of anti-explosion robots, in particular to an independent steering transmission module and an anti-explosion robot. The independent steering transmission module comprises a walking mechanism and a steering mechanism; the walking mechanism comprises a walking motor, a speed reducer, a walking shell and wheels; the walking motor is connected with the speed reducer; the speed reducer is connected with the wheels; the walking shell is used for arranging cables, a manhole is formed in the side face, and the manhole is covered with the hole cover. The steering limiting block is arranged at the upper end of the walking shell; the explosion-proof sleeve is arranged between the walking shell and the speed reducer; the steering mechanism comprises a steering shell, a steering motor, a motor transmission shaft, a steering shaft and a butt joint plug. The steering motor is connected with the motor transmission shaft which is connected with the steering shaft, and the steering shaft is connected with the walking shell. The steering shell is provided with an observation hole which is covered by the upper cover; the butt joint plug is arranged on the steering shell; and the second explosion-proof sleeve is arranged between the steering shell and the steering motor. The maintenance cost is reduced, and the maintenance efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of explosion-proof robots, and more particularly, to an independent steering drive module and an explosion-proof robot. Background Art

[0002] At present, explosion-proof intelligent inspection robots are increasingly widely used in explosion-proof places such as oil, natural gas, chemical industry, and metallurgy. With the increasing number of application scenarios, the requirements for the running postures of robots are becoming more and more stringent to cope with various complex working environments. The explosion-proof independent steering drive module can realize the forward and backward movement, left and right translation, turning, in-situ turning, and diagonal movement of the robot, effectively improving the flexibility and passability of the robot, and meeting a variety of working application scenarios.

[0003] The mainstream explosion-proof inspection robots on the market adopt a four-wheel differential drive method. Due to the integrated setting, when a failure occurs and maintenance is required, the whole machine needs to be disassembled for maintenance, resulting in high maintenance costs, low efficiency, and cumbersome operation. Summary of the Invention

[0004] The purpose of the present invention is to provide an independent steering drive module and an explosion-proof robot, which can use the steering drive part as a separate module, reducing the maintenance cost and improving the use efficiency.

[0005] In a first aspect, the present invention provides an independent steering drive module, including a traveling mechanism and a steering mechanism;

[0006] The traveling mechanism includes a traveling motor, a reducer, a traveling housing, wheels, a hole cover, a first explosion-proof sleeve, and a steering limit block;

[0007] The traveling motor is connected to the reducer, and the output end of the reducer is connected to the wheels; the traveling housing is a hollow structure, a part of the hollow structure is used to arrange the traveling motor, and the other part is used to lay cables; a maintenance hole is provided on the side of the traveling housing, and the hole cover is arranged on the traveling housing to cover the maintenance hole; the steering limit block is installed at the upper end of the traveling housing to limit the steering range of the traveling mechanism; the explosion-proof sleeve is installed between the traveling housing and the reducer to achieve the explosion-proof function;

[0008] The steering mechanism includes a steering housing, a steering motor, a motor drive shaft, a steering shaft, a second explosion-proof sleeve, an upper cover, and a docking plug;

[0009] The output end of the steering motor is connected to one end of the motor transmission shaft, the other end of the motor transmission shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the walking housing; an observation hole is provided on the steering housing, and the upper cover is arranged on the steering housing to cover the observation hole; the docking plug is installed on the steering housing for docking with the socket of the robot body; the second explosion-proof sleeve is installed between the steering housing and the steering motor to achieve the explosion-proof function.

[0010] In an alternative embodiment, the wheel includes a hub, a tire, and a hub cap;

[0011] The hub is connected to the output end of the speed reducer, and the tire is installed on the hub;

[0012] The hub cap is installed on the outside of the hub to protect the connection part between the hub and the speed reducer.

[0013] In an alternative embodiment, the steering shaft is connected to the walking housing through a bearing.

[0014] In an alternative embodiment, a guiding device is provided on the steering housing;

[0015] The guiding device is arranged around the docking plug to ensure accurate docking between the docking plug and the docking socket on the explosion-proof robot body.

[0016] In an alternative embodiment, the guiding device includes a plurality of guiding holes provided on the steering housing and a plurality of guiding columns provided on the explosion-proof robot body, and the guiding columns are in one-to-one correspondence with the guiding holes;

[0017] Or, the guiding device includes a plurality of guiding columns provided on the steering housing and a plurality of guiding holes provided on the explosion-proof robot body, and the guiding columns are in one-to-one correspondence with the guiding holes.

[0018] In an alternative embodiment, an anti-misconnection structure is provided on the docking plug.

[0019] In an alternative embodiment, both the motor transmission shaft and the steering shaft are hollow shafts, and the internal cavity of the hollow shaft is used for the cable to pass through.

[0020] In an alternative embodiment, sealing members are provided on all interfaces of the walking mechanism and the steering mechanism that are connected to the outside.

[0021] In an alternative embodiment, the motor transmission shaft and the steering shaft are connected by splines.

[0022] In a second aspect, the present invention provides an explosion-proof robot, including the independent steering transmission module described in any one of the foregoing embodiments.

[0023] The beneficial effects of the embodiments of the present invention are as follows:

[0024] The walking mechanism and the steering mechanism are modularly arranged, and are quickly plugged into the robot body through the plug connectors. During maintenance, only the independent steering transmission module needs to be disassembled, which reduces the maintenance cost and improves the maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 An axonometric view of the independent steering transmission module provided by an embodiment of the present invention;

[0027] Figure 2 A front view of the independent steering transmission module provided by an embodiment of the present invention;

[0028] Figure 3 An axonometric view of the walking mechanism of the independent steering transmission module provided by an embodiment of the present invention;

[0029] Figure 4 A front view of the walking mechanism of the independent steering transmission module provided by an embodiment of the present invention;

[0030] Figure 5 A top view of the walking mechanism of the independent steering transmission module provided by an embodiment of the present invention;

[0031] Figure 6 For Figure 5 A - A cross-sectional view;

[0032] Figure 7 An axonometric view of the steering mechanism of the independent steering transmission module provided by an embodiment of the present invention;

[0033] Figure 8 A front view of the steering mechanism of the independent steering transmission module provided by an embodiment of the present invention;

[0034] Figure 9 A top view of the steering mechanism of the independent steering transmission module provided by an embodiment of the present invention;

[0035] Figure 10 For Figure 9 B - B cross-sectional view.

[0036] Icons: 1 - Travel mechanism; 2 - Steering mechanism; 3 - Docking plug; 4 - Guide hole; 101 - Travel housing; 102 - Wheel; 103 - Steering limit block; 104 - Hole cover; 105 - Hub cap; 106 - Tire; 107 - Travel motor; 108 - First explosion-proof sleeve; 109 - Reducer; 110 - Hub; 201 - Steering housing; 202 - Upper cover; 203 - Steering motor; 204 - Motor transmission shaft; 205 - Steering shaft; 206 - Second explosion-proof sleeve; 207 - Bearing. Detailed implementation mode

[0037] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention claimed, but merely represents the selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0039] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0040] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. It is 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 cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0041] In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0042] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0043] The following Figures 1-10 will be used to elaborate on some embodiments of the present invention in detail. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0044] In a first aspect, the present invention provides an independent steering drive module, as Figure 1 and Figure 2 shown, which includes a traveling mechanism 1 and a steering mechanism 2;

[0045] The traveling mechanism 1 is as Figures 3-6 shown, and includes a traveling motor 107, a speed reducer 109, a traveling housing 101, wheels 102, a hole cover 104, a first explosion-proof sleeve 108, and a steering limit block 103; the traveling motor 107 is connected to the speed reducer 109, and the output end of the speed reducer 109 is connected to the wheels 102; the traveling housing 101 is a hollow structure, and a part of the hollow structure is used to arrange the traveling motor 107, and another part is used to lay cables; a maintenance hole is provided on the side of the traveling housing 101, and the hole cover 104 is arranged on the traveling housing 101 to cover the maintenance hole; the steering limit block 103 is installed at the upper end of the traveling housing 101 to limit the steering range of the traveling mechanism 1; the explosion-proof sleeve is installed between the traveling housing 101 and the speed reducer 109 to achieve the explosion-proof function;

[0046] The steering mechanism 2 is as Figures 7-10As shown in the figure, it includes a steering housing 201, a steering motor 203, a motor transmission shaft 204, a steering shaft 205, a second explosion-proof sleeve 206, an upper cover 202, and a docking plug 3. The output end of the steering motor 203 is connected to one end of the motor transmission shaft 204, the other end of the motor transmission shaft 204 is connected to one end of the steering shaft 205, and the other end of the steering shaft 205 is connected to the traveling housing 101. An observation hole is provided on the steering housing 201, and the upper cover 202 is arranged on the steering housing 201 to cover the observation hole. The docking plug 3 is installed on the steering housing 201 for docking with the socket of the robot body. The second explosion-proof sleeve 206 is installed between the steering housing 201 and the steering motor 203 to achieve the explosion-proof function.

[0047] In this embodiment, as Figures 3-6 shown, the traveling mechanism 1 includes a traveling motor 107, a speed reducer 109, a traveling housing 101, wheels 102, a hole cover 104, a first explosion-proof sleeve 108, and a steering limit block 103. Among them, the traveling motor 107 is fixed in the traveling housing 101 by bolts, and its output shaft is connected to the input end of the speed reducer 109. The output end of the speed reducer 109 is connected to the wheels 102, so as to transmit power to the wheels 102 and drive the wheels 102 to rotate. The traveling housing 101 is a hollow structure, one part is used to accommodate the traveling motor 107, and the other part is used to arrange cables to ensure the neatness and safety of the cables. A maintenance hole is provided on the side of the traveling housing 101, and the hole cover 104 is fixed on the traveling housing 101 by bolts to cover the maintenance hole for daily maintenance and repair. The steering limit block 103 is installed on the upper end of the traveling housing 101 by bolts to limit the steering range of the traveling mechanism 1 and prevent excessive steering. The first explosion-proof sleeve 108 is installed between the traveling housing 101 and the speed reducer 109 to achieve the explosion-proof function and ensure safe use in explosion-proof places.

[0048] In this embodiment, as Figures 7-9As shown in the figure, the steering mechanism 2 includes a steering housing 201, a steering motor 203, a motor transmission shaft 204, a steering shaft 205, a second explosion-proof sleeve 206, an upper cover 202, and a docking plug 3. Among them, the steering motor 203 is fixed inside the steering housing 201 by bolts, and its output end is connected to one end of the motor transmission shaft 204; the other end of the motor transmission shaft 204 is connected to one end of the steering shaft 205, and the other end of the steering shaft 205 is connected to the traveling housing 101, thereby realizing the steering function; an observation hole is provided on the steering housing 201, and the upper cover 202 is fixed on the steering housing 201 by bolts to cover the observation hole for facilitating the observation of the operating state of the steering mechanism 2. The docking plug 3 is installed on the steering housing 201 for docking with the socket of the robot body to achieve electrical connection; the second explosion-proof sleeve 206 is installed between the steering housing 201 and the steering motor 203 to achieve the explosion-proof function and ensure safe use in explosion-proof places.

[0049] In this embodiment, the steering motor 203 is an integrated joint motor with a hollow interior, which can be used for the passage of cables. Cooperating with the traveling housing 101, it can avoid the exposure of cables.

[0050] In this embodiment, the traveling motor 107 and the reduction gear 109 provide effective driving force for the traveling mechanism 1; a steering limit block 103 is provided at the upper end of the traveling mechanism 1 to limit the steering range of the traveling mechanism 1 to within ±90° as a mechanical limit.

[0051] In this embodiment, the traveling mechanism 1 adopts an explosion-proof form with explosion-proof grade IIC; the traveling housing 101 and the hubs 110 of the wheels 102 are made of aluminum alloy, with high strength and light weight.

[0052] In this embodiment, the cables of the traveling mechanism 1 are connected to the docking plug 3 (male head) through the cavity inside the traveling housing 101, and the cables of the steering mechanism 2 are directly connected to the docking plug 3 (male head) inside the steering housing 201. All the cables of the module are built-in. A docking socket (female head) is provided on the robot body. When the drive module is installed on the robot body, the docking plug 3 of the drive module is docked and installed synchronously with the docking socket of the robot body. The cables of the drive module and the robot body are docked by means of plugs, which can realize the quick disassembly and assembly of the explosion-proof independent steering drive module without having to open the robot body for related operations, facilitating on-site maintenance.

[0053] When the explosion-proof robot needs to move, the traveling motor 107 starts, and the power is transmitted to the wheel 102 through the speed reducer 109, driving the wheel 102 to rotate, so that the robot moves forward or backward. When steering is required, the steering motor 203 starts, and drives the traveling housing 101 to rotate through the motor transmission shaft 204 and the steering shaft 205, realizing the steering of the robot. The steering limit block 103 limits the steering range of the traveling mechanism 1, preventing over-steering and protecting the stability and safety of the robot during operation. The first explosion-proof sleeve 108 and the second explosion-proof sleeve 206 are respectively installed between the traveling housing 101 and the speed reducer 109 and between the steering housing 201 and the steering motor 203, ensuring the safe use of the module in the explosion-proof area. The docking plug 3 is docked with the socket of the robot body to achieve electrical connection, ensuring the normal power supply and control signal transmission of the steering motor 203 and the traveling motor 107.

[0054] During maintenance, only the independent steering transmission module needs to be disassembled. This modular design greatly reduces the maintenance cost and improves the maintenance efficiency. Maintenance personnel can check and repair the traveling mechanism 1 through the inspection hole and replace the damaged parts. The independent design of the steering mechanism 2 also makes the maintenance of components such as the steering motor 203, the motor transmission shaft 204, and the steering shaft 205 more convenient. By quickly disassembling and assembling the docking plug 3 and the socket of the robot body, the entire steering transmission module can be quickly replaced, reducing the downtime of the robot and improving the work efficiency.

[0055] In an alternative embodiment, the wheel 102 includes a wheel hub 110, a tire 106, and a hub cap 105; the wheel hub 110 is connected to the output end of the speed reducer 109, and the tire 106 is installed on the wheel hub 110; the hub cap 105 is installed on the outside of the wheel hub 110 to protect the connection part between the wheel hub 110 and the speed reducer 109.

[0056] In this embodiment, the wheel 102 is a key component for realizing the movement of the robot.

[0057] The wheel hub 110 is the core component of the wheel 102, and it is connected to the output end of the speed reducer 109 by bolts or welding. The material of the wheel hub 110 is usually selected as high-strength aluminum alloy or steel to ensure its strength and durability when bearing the weight of the robot and transmitting power. The inner side of the wheel hub 110 is designed with an installation interface matching the output shaft of the speed reducer 109 to ensure efficient power transmission.

[0058] The tire 106 is mounted on the wheel hub 110, providing contact and support with the ground. The tire 106 is usually made of wear-resistant rubber material, having good grip and shock absorption performance. The tire 106 is fixed to the wheel hub 110 by bolts or buckles to ensure that it will not loosen under high-speed driving and complex road conditions. The outer surface of the tire 106 is designed with anti-slip patterns to improve the driving stability on wet or uneven roads.

[0059] The wheel hub cover 105 is mounted on the outside of the wheel hub 110, used to protect the connection part of the wheel hub 110 and the tire 106. The wheel hub cover 105 is usually made of plastic or lightweight metal material, having good protection performance and aesthetics. The wheel hub cover 105 is fixed to the wheel hub 110 by buckles or bolts to prevent dust, debris and moisture from entering the inside of the wheel hub 110, thereby extending the service life of the wheel 102 and ensuring its normal operation.

[0060] In an alternative embodiment, the steering shaft 205 is connected to the traveling housing 101 by a bearing 207.

[0061] In this embodiment, the connection between the steering shaft 205 and the traveling housing 101 adopts a bearing 207 connection method. This connection method not only improves the flexibility and accuracy of steering, but also enhances the reliability and durability of the entire module.

[0062] The steering shaft 205 is a key component of the steering mechanism 2, used to transmit the power of the steering motor 203 to achieve the steering of the traveling housing 101. One end of the steering shaft 205 is connected to the motor transmission shaft 204, and the other end is connected to the traveling housing 101 through a bearing 207.

[0063] The steering housing 201 is a hollow structure, used to accommodate the steering motor 203 and arrange cables. Its lower part is provided with a bearing 207 mounting hole for installing the bearing 207 to ensure that the steering shaft 205 can rotate smoothly therein.

[0064] The bearing 207 is a key component connecting the steering shaft 205 and the traveling housing 101. The bearing 207 is usually selected as a high-precision rolling bearing 207, which can withstand large radial and axial loads to ensure the stability and accuracy of the steering shaft 205 during high-speed operation.

[0065] In this embodiment, the bearing 207 is a crossed roller bearing 207.

[0066] The bearing 207 is mounted on the steering housing 201. The outer ring of the bearing 207 is fixed to the steering housing 201 by bolts; the inner ring of the bearing 207 is fixed to the steering shaft 205 by bolts. A sealing groove is provided on the outer side of the lower end face of the steering shaft 205, and a sealing ring can be installed between the steering housings 201 to ensure the sealing performance of the steering mechanism 2.

[0067] When installing the steering shaft 205 and the traveling housing 101, first fix the outer ring of the bearing 207 to the steering housing 201 with bolts; then fix the steering shaft 205 and the inner ring of the bearing 207 with bolts. One end of the steering shaft 205 is connected to the motor drive shaft 204, and power transmission is achieved through splines or bolts; then fix the steering shaft 205 to the traveling housing 101.

[0068] As can be seen from the above, in this embodiment, the high-precision design of the bearing 207 ensures the smoothness and accuracy of the steering shaft 205 during rotation, thereby improving the steering accuracy of the entire steering mechanism 2 and enabling the robot to more precisely control the steering angle; the bearing 207 can withstand large radial and axial loads, ensuring the stability of the steering shaft 205 during high-speed operation, improving the reliability and durability of the entire module, and reducing failures caused by wear or loosening of the steering shaft 205; the sealing design between the steering shaft 205 and the steering housing 201 and the protection of the lower end face of the steering 205 effectively prevent dust and debris from entering the inside of the bearing 207, extend the service life of the bearing 207, reduce the maintenance frequency and maintenance cost, and improve the operation efficiency of the robot.

[0069] Through the above structural design and function realization, the connection method of the bearing 207 between the steering shaft 205 and the steering housing 201 in this embodiment not only improves the flexibility and accuracy of steering, but also enhances the reliability and durability of the entire module, reduces the maintenance cost, and improves the operation efficiency of the robot.

[0070] In an alternative embodiment, a guiding device is provided on the steering housing 201; the guiding device is arranged around the docking plug 3 and is used to ensure the precise docking between the docking plug 3 and the docking socket on the explosion-proof robot body.

[0071] In this embodiment, a guiding device is provided on the steering housing 201 to ensure the precise docking between the docking plug 3 and the docking socket on the explosion-proof robot body.

[0072] In an alternative embodiment, the guiding device includes a plurality of guiding holes 4 provided on the steering housing 201 and a plurality of guiding columns provided on the explosion-proof robot body, and the guiding columns are in one-to-one correspondence with the guiding holes 4;

[0073] Or, the guiding device includes a plurality of guiding columns provided on the steering housing 201 and a plurality of guiding holes 4 provided on the explosion-proof robot body, and the guiding columns are in one-to-one correspondence with the guiding holes 4.

[0074] In this embodiment, the guiding device is arranged around the docking plug 3 and is used to guide the precise docking between the docking plug 3 and the robot body socket.

[0075] There are the following two implementation manners for the specific structure of the guiding device:

[0076] The guiding device includes a plurality of guiding holes 4 provided on the steering housing 201 and a plurality of guiding columns provided on the explosion-proof robot body. The shapes and sizes of the guiding holes 4 and the guiding columns match each other to ensure that the docking plug 3 and the socket can be docked quickly and accurately.

[0077] Specifically, in this embodiment, a plurality of guiding holes 4 are machined on the steering housing 201, and the shapes and sizes of the guiding holes 4 are matched according to the design of the guiding columns. A plurality of guiding columns are installed on the explosion-proof robot body, and the shapes and sizes of the guiding columns match those of the guiding holes 4. Align the guiding holes 4 on the steering housing 201 with the guiding columns on the robot body to ensure that the docking plug 3 and the socket can be smoothly docked.

[0078] It can be understood that in this embodiment, the guiding columns are provided on the explosion-proof robot body and the guiding holes 4 are provided on the steering housing 201. It is also possible to set the guiding columns on the steering housing 201 and the guiding columns on the explosion-proof robot body.

[0079] It should be noted that in this embodiment, the guiding device is the result of the cooperation between the guiding holes 4 and the guiding columns, but it is not limited to this structure only, and can also be other deformed structures, such as a structure in which a guiding groove and a guiding block are provided in cooperation, etc.

[0080] In this embodiment, the guiding device ensures the precise docking between the docking plug 3 and the socket of the robot body through the cooperation of the guiding holes 4 and the guiding columns. Such a setting method greatly improves the accuracy and reliability of docking and reduces the electrical connection faults caused by inaccurate docking.

[0081] In this embodiment, the setting of the guiding device makes the docking process between the docking plug 3 and the socket simpler and faster, reduces the installation and disassembly time, and improves the maintenance efficiency.

[0082] In this embodiment, the setting of the guiding device complies with the explosion-proof standard to ensure safe use in a dangerous environment. Through precise docking, potential safety hazards caused by poor electrical connection are reduced.

[0083] In the upright column described above, the structure of the guiding device can effectively prevent dust and sundries from entering the connection part of the docking plug 3 and the socket, extends the service life of the electrical connection components, and improves the reliability of the entire module.

[0084] In an alternative implementation manner, an anti-error structure is provided on the docking plug 3.

[0085] In this embodiment, the anti-misconnection structure on the docking plug 3 is used to ensure that the docking plug 3 can be correctly and safely connected to the docking socket on the explosion-proof robot body, preventing electrical failures or damages caused by misinsertion.

[0086] In this embodiment, the anti-misconnection structure can adopt the following forms:

[0087] Shape anti-misconnection: The contact parts of the plug and the socket are designed with asymmetric shapes, such as rectangular, cross-shaped, or L-shaped, etc. Only when the shapes of the plug and the socket are completely matched can a correct connection be achieved. This design effectively prevents misinsertion through the limitation of the physical shape.

[0088] Card slot and card block: Card slots and card blocks are respectively arranged on the contact surfaces of the plug and the socket. The shapes and sizes of the card slots and the card blocks match each other. Only when the card slots and the card blocks are correctly docked can the plug be fully inserted into the socket. This design ensures the accuracy of the connection through the limitation of the mechanical structure.

[0089] Color marking: Different color markings are respectively set on the plug and the socket to help the operator make a correct connection through visual cues. For example, the plug is red and the socket is blue. Only when the red plug is aligned with the blue socket can the connection be made. This design reduces misinsertion caused by visual errors through color differentiation.

[0090] The anti-misconnection structure provided in this embodiment not only ensures the correct connection between the docking plug 3 and the socket of the explosion-proof robot body, but also improves the safety and reliability of the operation, simplifies the operation process, and enhances the durability of the entire system.

[0091] In an alternative embodiment, both the motor drive shaft 204 and the steering shaft 205 are hollow shafts, and the internal cavity of the hollow shaft is used for the cable to pass through.

[0092] In this embodiment, both the motor drive shaft 204 and the steering shaft 205 adopt the setting method of hollow shafts. This setting method not only optimizes the space utilization, but also improves the reliability and maintenance convenience of the entire module, reduces the weight, enhances the safety, and improves the performance of the entire module.

[0093] Specifically, in this embodiment, the motor drive shaft 204 adopts a hollow design, and an internal cavity is formed for the cable to pass through. This setting method reduces the weight of the drive shaft and at the same time provides a safe passage for the cable, avoiding the cable from being exposed and being worn or damaged.

[0094] Specifically, in this embodiment, the steering shaft 205 also adopts a hollow design, and its internal cavity is connected to the cavity of the motor drive shaft 204. This setting not only reduces the weight of the steering shaft 205 but also provides a continuous channel for the cable, ensuring the safe layout of the cable inside the module.

[0095] In this embodiment, the cable starts from the control unit of the steering motor 203, passes through the internal cavity of the motor drive shaft 204, and then through the internal cavity of the steering shaft 205, and finally connects to the control unit of the traveling mechanism 1. This internal wiring method avoids cable exposure and reduces the risk of cable wear or damage in a complex environment.

[0096] In an alternative embodiment, seals are provided on all interfaces of the traveling mechanism 1 and the steering mechanism 2 that are connected to the outside.

[0097] In this embodiment, to ensure safe use in an explosion-proof area, seals are provided on all interfaces of the traveling mechanism 1 and the steering mechanism 2 that are connected to the outside. These seals not only improve the dust and water protection performance of the module but also enhance the reliability and safety of the entire system.

[0098] Specifically, in this embodiment, the seal arrangement includes at least the following positions:

[0099] 1. Interfaces of the traveling mechanism 1:

[0100] Cable interfaces: Cables are arranged inside the hollow housing of the traveling mechanism 1, and the cables are connected to an external control unit through interfaces on the housing. Seals are installed at these interfaces to prevent dust, moisture, and debris from entering the housing interior.

[0101] Maintenance holes: Maintenance holes are provided on the side of the traveling housing 101 for daily inspection and maintenance. A hole cover 104 is installed on the maintenance hole, and the hole cover 104 is sealed with the housing through a seal to ensure the sealing performance of the maintenance hole when it is closed.

[0102] 2. Interfaces of the steering mechanism 2:

[0103] Docking plug 3: A docking plug 3 is installed on the housing of the steering mechanism 2 for electrical connection with the socket of the explosion-proof robot body. A seal is provided at the interface between the docking plug 3 and the housing to ensure the sealing performance during connection and disconnection.

[0104] Observation hole: An observation hole is provided on the steering housing 201 for observing the operating status of internal components. An upper cover 202 is installed on the observation hole, and the upper cover 202 is sealed with the housing through a seal to prevent dust and moisture from entering.

[0105] Steering Shaft 205 Interface: A seal is designed between the steering shaft 205 and the steering housing 201 in the steering mechanism 2 to prevent dust and moisture from entering.

[0106] At different positions, the seals used may be different. For example, an O-ring seal is used at some positions, and sealant is used at other positions, etc. Different seals are used for sealing according to their positions and requirements.

[0107] In an alternative embodiment, the motor drive shaft 204 is connected to the steering shaft 205 by a spline connection.

[0108] In this embodiment, the motor drive shaft 204 and the steering shaft 205 are connected by a spline connection. This connection method not only improves the efficiency and accuracy of power transmission but also enhances the reliability and durability of the entire module.

[0109] Specifically, in this embodiment, one end of the motor drive shaft 204 is connected to the output end of the steering motor 203, and the other end is designed with external splines. The tooth profile and dimensions of the external splines are matched according to the internal splines of the steering shaft 205 to ensure tight fit between the two; one end of the steering shaft 205 is designed with internal splines, which match the external splines of the motor drive shaft 204. The tooth profile and dimensions of the internal splines are exactly the same as those of the external splines of the motor drive shaft 204 to ensure precise connection and power transmission between the two.

[0110] In this embodiment, the external splines of the motor drive shaft 204 and the internal splines of the steering shaft 205 are connected by a sliding fit. This connection method allows the motor drive shaft 204 and the steering shaft 205 to axially slide within a certain range while ensuring efficient power transmission. The tooth profile of the spline connection usually adopts an involute tooth profile, which has good meshing performance and high load-bearing capacity, and can effectively reduce wear and noise.

[0111] In this embodiment, in order to ensure the stability of the spline connection, a fixing device such as a bolt or a snap ring is usually installed at the connection part of the motor drive shaft 204 and the steering shaft 205. These fixing devices can prevent the splines from loosening during operation and ensure the firmness of the connection.

[0112] It can be understood that in this embodiment, the motor drive shaft 204 and the steering shaft 205 are connected by a spline connection method, but it is not limited to this method only. It can also be other types of connection methods as long as the steering shaft 205 can be driven to rotate by the motor drive shaft 204.

[0113] In a second aspect, the present invention provides an explosion-proof robot, including the independent steering drive module according to any one of the foregoing embodiments.

[0114] The beneficial effects of the embodiments of the present invention are as follows:

[0115] The traveling mechanism 1 and the steering mechanism 2 are modularly arranged, and are quickly plugged into the robot body through the plug connectors. During maintenance, only the independent steering drive module needs to be disassembled, which reduces the maintenance cost and improves the maintenance efficiency.

[0116] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An independent steering transmission module, characterized in that: Including walking mechanism and steering mechanism; The travel mechanism comprises a travel motor, a reducer, a travel housing, wheels, a hole cover, a first flameproof sleeve and a steering limit block; The travel motor is connected to the reducer, and the output end of the reducer is connected to the wheel; the travel housing is a hollow structure, a part of which is used to set the travel motor, and the other part is used to arrange cables; an inspection hole is provided on the side of the travel housing, and the hole cover is arranged on the travel housing to cover the inspection hole; the steering limit block is installed at the upper end of the travel housing to limit the steering range of the travel mechanism; the flameproof sleeve is installed between the travel housing and the reducer to achieve the flameproof function; The steering mechanism comprises a steering housing, a steering motor, a motor transmission shaft, a steering shaft, a second flameproof sleeve, an upper cover and a docking plug; The output end of the steering motor is connected to one end of the motor transmission shaft, the other end of the motor transmission shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the traveling housing; The steering housing is provided with an observation hole, and the upper cover is provided on the steering housing to cover the observation hole; The docking plug is installed on the steering housing for docking with the socket of the robot body; the second flameproof sleeve is installed between the steering housing and the steering motor for realizing the flameproof function.

2. The independent steering transmission module according to claim 1, characterized in that: The wheel comprises a hub, a tire and a hub cover; The wheel hub is connected to the output end of the reducer, and the tire is mounted on the wheel hub; The hub cover is installed on the outer side of the wheel hub and is used to protect the connection part between the wheel hub and the reducer.

3. The independent steering transmission module according to claim 1, characterized in that: The steering shaft is connected to the traveling housing via a bearing.

4. The independent steering transmission module according to claim 1, characterized in that: The steering housing is provided with a guide device; The guide device is arranged around the docking plug to ensure accurate docking between the docking plug and the docking socket on the explosion-proof robot body.

5. The independent steering transmission module according to claim 4, characterized in that: The guide device includes a plurality of guide holes arranged on the steering housing and a plurality of guide posts arranged on the explosion-proof robot body; Or, the guide device includes a plurality of guide posts arranged on the steering housing and a plurality of guide holes arranged on the explosion-proof robot body; The guide posts are matched with the guide holes one by one.

6. The independent steering transmission module according to claim 1, characterized in that: The butt plug is provided with an error-proofing structure.

7. The independent steering transmission module according to claim 1, characterized in that: The motor transmission shaft and the steering shaft are both hollow shafts, and the inner cavity of the hollow shaft is used for the passage of cables.

8. The independent steering transmission module according to claim 1, characterized in that: All interfaces connected to the outside on the walking mechanism and the steering mechanism are provided with sealing elements.

9. The independent steering transmission module according to claim 1, characterized in that: The motor transmission shaft and the steering shaft are connected via a spline.

10. An explosion-proof robot, characterized in that: It comprises the independent steering transmission module as described in any one of claims 1-9.

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