Anti-explosion reconnaissance early warning inspection robot

Abstract

The invention discloses an anti-explosion reconnaissance early warning inspection robot, and relates to the technical field of inspection robots. The device comprises a bottom shell, a lifting holder assembly, an electromagnetic friction differential driving mechanism and a reversely-installed mowing and obstacle removing assembly. The servo motor realizes rotation and lifting of the holder through a threaded barrel-friction pair; a central driving motor provides adjustable speed difference for four wheels through a synchronous belt and a planet-electromagnetic friction disc, so that accurate steering is realized; after the blade ring is assembled on the transverse frame, weeds on a routing inspection path can be cleared by 360 degrees. The system is suitable for equipment inspection and site renovation in flammable and explosive environments, and has the advantages of high modularization, environment self-adaption, safety and reliability.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to an explosion-proof reconnaissance and early warning inspection robot. Background Art

[0002] At present, most explosion-proof inspection robots have the camera pan head fixed directly on the top of the body, and the viewing angle is adjusted by a short-stroke cylinder or a simple lifting frame. The core structure is a vertical rigid connecting rod with a two-dimensional pan head. This type of design can meet the conventional pitch and horizontal rotation requirements in open areas, but it has obvious shortcomings in dense pipe-laying environments such as petrochemicals, coal chemical industries, or oil and gas terminals: once the connecting rod length is finalized, it cannot be quickly changed on site. When the robot enters a low-rise pipe bundle area below 400mm or a valve platform above 600mm, the pan head is easily collided with the bracket or the line of sight is blocked. The operation needs to be stopped and the top components can only be moved or disassembled manually, which seriously reduces the continuity of the inspection. The traditional solution of a fixed-height camera pan head with a rigid connecting rod is difficult to take into account the mobility in narrow spaces and the needs of multi-viewpoint observation, and has become a bottleneck for improving the efficiency and safety of explosion-proof inspections. Summary of the invention

[0003] In order to overcome the defects of the above-mentioned prior art, the present invention provides the following technical solutions: an explosion-proof reconnaissance and early warning inspection robot, comprising a bottom shell body, a cross frame is fixedly installed on the top of the bottom shell body in an easy-to-disassemble manner, and the cross frame is used to install auxiliary components; four wheel groups are also rotatably installed on the bottom shell body, and the four wheel groups are controlled by a regulating component arranged inside the bottom shell body, and the regulating component is covered with a partition support plate, which is fixed on the inner wall of the bottom shell body, and a servo motor is fixedly installed on the upper surface of the partition support plate, and a lifting threaded barrel is rotatably installed at the center position of the upper surface of the partition support plate; the inner wall thread of the lifting threaded barrel is matched with a pan-tilt mounting platform, and a lead block is embedded inside the pan-tilt mounting platform to increase the weight of the pan-tilt mounting platform, and a lifting control passive pulley is coaxially fixed on the circumferential surface of the lifting threaded barrel, and the lifting control passive pulley is connected to the output shaft of the servo motor through a lifting control transmission belt; wherein the inspection pan-tilt mounting platform is fixedly installed at the center position of the circle on the upper surface of the pan-tilt mounting platform in an easy-to-disassemble manner.

[0004] Preferably, the auxiliary component includes an inner support ring fixedly connected to the cross frame, an outer rotating ring is provided at a concentric position outside the inner support ring, a roller and a blocking ring are fixedly mounted on the outer surface of the outer rotating ring, and a plurality of blades are fixedly installed in a circular array at equal intervals on the circumferential surface of the blocking ring.

[0005] Preferably, the inner support ring and the outer rotating ring are rotationally matched through rollers. The rollers roll between the inner support ring and the outer rotating ring, and grooves for embedding the rollers are formed on both the inner support ring and the outer rotating ring to prevent the rollers from separating from between the inner support ring and the outer rotating ring. An auxiliary motor is fixedly installed on the cross frame, and a turntable is fixedly installed on the output shaft of the auxiliary motor. The turntable is in rolling friction fit or meshing transmission fit with the blocking ring, and the turntable is used to drive the blocking ring and the outer rotating ring to rotate around the inner support ring.

[0006] Preferably, the control assembly includes four control parts respectively controlling the rotation of corresponding wheel sets. Each control part includes a wheel side gearbox fixedly connected to the inner wall of the bottom shell body. The output shaft of the wheel side gearbox is fixedly fitted with the wheel set through a wheel set mounting shaft to drive the wheel set to rotate. A control shell is fixedly installed on the outer shell of the wheel side gearbox. A toothed ring is rotatably installed on the inner wall of the control shell and is fixedly fitted with the input shaft of the wheel side gearbox.

[0007] Preferably, a sliding cavity is fixedly installed at the radial position of the outer surface of the control shell. The sliding cavity is communicated with the inside of the control shell, and an electromagnet is slidably installed on the inner wall of the sliding cavity along the radial direction of the control shell. A tension spring is elastically installed between the electromagnet and the inner wall of the sliding cavity, and the tension spring is used to pull the electromagnet to move in a direction away from the axis of the control shell.

[0008] Preferably, a central gear is rotatably fitted at the center position inside the toothed ring. The central gear and the toothed ring are in meshing transmission through three planetary gears. The three planetary gears are all rotatably installed on a planetary gear mounting friction disc. The planetary gear mounting friction disc is in magnetic attraction friction transmission with the electromagnet. A sealing cover is also fixedly installed on the control shell. The sealing cover is used to seal the planetary gear mounting friction disc inside the control shell. A driving synchronous belt wheel is rotatably installed on the sealing cover. The driving synchronous belt wheel is fixedly fitted with the central gear through a rotating shaft. The rotating shaft sequentially penetrates through the sealing cover and the planetary gear mounting friction disc, and the rotating shaft is rotatably fitted with both the sealing cover and the planetary gear mounting friction disc.

[0009] Preferably, the driving synchronous belt wheels in the two control parts in the forward direction of the bottom shell body are connected in transmission through a driving synchronous transmission belt. The two driving synchronous belt wheels perpendicular to the forward direction of the bottom shell body are fixedly synchronized in rotation through a cross synchronous shaft. A driving gearbox is arranged between the other two driving synchronous belt wheels perpendicular to the forward direction of the bottom shell body. The output shaft of the driving gearbox is fixedly fitted with one of the driving synchronous belt wheels. The input shaft of the driving gearbox is fixedly fitted with the output shaft of the driving motor. The driving motor is fixedly fitted with the outer shell of the driving gearbox, and the driving motor is fixed on the partition support plate.

[0010] Preferably, an outer shell is fixedly sleeved and installed on the outer side of the bottom shell; through holes or gaps for draining rainwater are provided on the bottom shell, the lifting threaded barrel, the pan-tilt mounting table, and the partition support plate.

[0011] Compared with the prior art, the present invention has the following beneficial effects: (1) Through the servo motor - threaded barrel - friction sliding mechanism, the present invention realizes the free switching of the inspection pan-tilt between two modes: low-speed uniform "positioning rotation" and high-speed pulse "sliding lifting". The pan-tilt can be continuously adjusted within the height range inside and outside the bottom shell. Compared with the traditional fixed-height pan-tilt, when the robot passes through narrow pipe galleries, valve clusters or steel frame beams, it does not need to detour or change the operation point, greatly improving the coverage rate and timeliness of a single inspection; (2) The present invention forms a closed-loop power distribution through "central drive motor + synchronous belt pulley + planetary friction disc + adjustable electromagnet". The linear adjustment of the electromagnet current enables the four-wheel group to obtain a stepless speed difference. At the same time, it avoids phase locking and energy consumption superposition of the multi-motor scheme; (3) The cross frame of the present invention can be quickly reversely installed at the bottom, and the auxiliary motor drives the roller-type blocking ring and equidistant blades to form a 360° mowing disc to cut weeds. When the robot inspects the oil tank area and the green belt of the pipe gallery, it can synchronously complete ground clearance, providing an unobstructed window for the pan-tilt optics. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0013] Figure 2 For the present invention Figure 1 Schematic diagram of the structure at position A in

[0014] Figure 3 It is a schematic diagram of the internal structure of the bottom shell of the present invention.

[0015] Figure 4 It is a schematic diagram of the structure at the cross-over synchronous shaft of the present invention.

[0016] Figure 5 It is a schematic diagram of the structure at the electromagnet of the present invention.

[0017] Figure 6 It is a schematic diagram of the internal structure of the control shell of the present invention.

[0018] In the figure: 101- bottom shell; 102- horizontal frame; 103- blocking ring; 104- blade; 105- auxiliary motor; 106- turntable; 107- inner support ring; 108- roller; 109- outer rotating ring; 110- wheel group; 111- inspection platform; 112- platform installation platform; 113- lifting thread barrel; 114- shell; 115- partition support plate; 116- lifting control passive pulley; 117- lifting control transmission belt; 118 -Servo motor; 119-wheel side gearbox; 120-wheel assembly mounting shaft; 121-drive motor; 122-drive gearbox; 123-drive synchronous transmission belt; 124-control housing; 125-sliding chamber; 126-electromagnet; 127-tension spring; 128-planetary gear mounting friction disk; 129-sealing cover; 130-drive synchronous pulley; 131-cross synchronous shaft; 132-gear ring; 133-planetary gear; 134-center gear. DETAILED DESCRIPTION

[0019] The following is combined with Figures 1-6 , and further illustrate the technical solution of the present invention through specific implementation methods.

[0020] The present invention provides an explosion-proof reconnaissance and early warning inspection robot, comprising a bottom shell 101, a cross frame 102 is fixedly installed on the top of the bottom shell 101 in a manner that is easy to disassemble, and the cross frame 102 is used to install auxiliary components; four wheel groups 110 are also rotatably installed on the bottom shell 101, and the four wheel groups 110 are controlled by a regulating component arranged inside the bottom shell 101, and the regulating component is covered with a partition support plate 115, and the partition support plate 115 is fixed on the inner wall of the bottom shell 101, and a servo motor 118 is fixedly installed on the upper surface of the partition support plate 115, and the partition support plate 115 is on the upper surface of the partition support plate 115. A lifting threaded barrel 113 is rotatably installed at the center position of the surface; the inner wall thread of the lifting threaded barrel 113 is matched with a pan-tilt mounting platform 112, and a lead block is embedded inside the pan-tilt mounting platform 112 to increase the weight of the pan-tilt mounting platform 112, and a lifting control passive pulley 116 is coaxially fixed on the circumferential surface of the lifting threaded barrel 113, and the lifting control passive pulley 116 is connected to the output shaft of the servo motor 118 through a lifting control transmission belt 117; wherein the inspection pan-tilt mounting platform 112 is fixedly installed with a patrol pan-tilt 111 at the center position of the circle on the upper surface of the pan-tilt mounting platform 112 in a manner that is easy to disassemble.

[0021] The auxiliary component includes an inner support ring 107 fixedly connected to the cross frame 102. At a concentric position on the outer side of the inner support ring 107, an outer rotating ring 109 is provided. A roller 108 is fixedly sleeved on the outer surface of the outer rotating ring 109. There is a blocking ring 103, and a plurality of blades 104 are fixedly installed at equal intervals in a circular array on the circumferential surface of the blocking ring 103. The inner support ring 107 and the outer rotating ring 109 are rotationally matched through the roller 108. The roller 108 rolls between the inner support ring 107 and the outer rotating ring 109, and grooves for embedding the roller 108 are provided on both the inner support ring 107 and the outer rotating ring 109 to prevent the roller 108 from separating from between the inner support ring 107 and the outer rotating ring 109. An auxiliary motor 105 is fixedly installed on the cross frame 102. A turntable 106 is fixedly installed on the output shaft of the auxiliary motor 105. The turntable 106 is in rolling friction fit or meshing transmission fit with the blocking ring 103. The turntable 106 is used to drive the blocking ring 103 and the outer rotating ring 109 to rotate around the inner support ring 107.

[0022] The control assembly includes four control parts that respectively control the rotation of the corresponding wheel set 110. The control part includes a wheel side gearbox 119 fixedly connected to the inner wall of the bottom shell 101. The output shaft of the wheel side gearbox 119 is fixedly matched with the wheel set 110 through the wheel set mounting shaft 120, which is used to drive the wheel set 110 to rotate. A control shell 124 is fixedly installed on the outer shell of the wheel side gearbox 119. A gear ring 132 is rotatably installed on the inner wall of the control shell 124. The gear ring 132 is fixedly matched with the input shaft of the wheel side gearbox 119. A sliding cavity 125 is fixedly installed at a radial position on the outer surface of the control shell 124. The sliding cavity 125 is connected to the inside of the control shell 124, and an electromagnet 126 is slidably installed on the inner wall of the sliding cavity 125 along the radial direction of the control shell 124. A tension spring 127 is elastically installed between the electromagnet 126 and the inner wall of the sliding cavity 125. The tension spring 127 is used to pull the electromagnet 126 to move in a direction away from the axis of the control shell 124. A central gear 134 is rotatably provided at the center position of the inner side of the gear ring 132. The central gear 134 and the gear ring 132 are meshed and transmitted through three planetary gears 133. The three planetary gears 133 are all rotatably mounted on the planetary gear mounting friction disk 128. The planetary gear mounting friction disk 128 and the electromagnet 126 are magnetically attracted and frictionally transmitted. A sealing cover 129 is also fixedly mounted on the control housing 124. The sealing cover 129 is used to seal the planetary gear mounting friction disk 128 in the control housing 124. A driving synchronous pulley 130 is rotatably mounted on the sealing cover 129. The driving synchronous pulley 130 and the central gear 134 are fixedly matched through a rotating shaft, and the rotating shaft passes through the sealing cover 129 and the planetary gear mounting friction disk 128 in sequence. At the same time, the rotating shaft, the sealing cover 129 and the planetary gear mounting friction disk 128 are all rotatably matched. The driving synchronous pulleys 130 in the two control parts of the forward direction of the bottom shell 101 are connected through the driving synchronous transmission belt 123, and the two driving synchronous pulleys 130 of the bottom shell 101 perpendicular to the forward direction are fixed and rotated synchronously through the cross-synchronous shaft 131. A driving gearbox 122 is arranged between the other two driving synchronous pulleys 130 of the bottom shell 101 perpendicular to the forward direction, and the output shaft of the driving gearbox 122 is fixedly matched with one of the driving synchronous pulleys 130, and the input shaft of the driving gearbox 122 is fixedly matched with the output shaft of the driving motor 121, and the driving motor 121 is fixedly matched with the outer shell of the driving gearbox 122, and the driving motor 121 is fixedly matched on the partition support plate 115.

[0023] The outer side of the bottom shell 101 is fixedly sleeved with a shell 114 ; wherein the bottom shell 101 , the lifting threaded barrel 113 , the pan-tilt mounting platform 112 , and the partition support plate 115 are all provided with through holes or gaps for draining rainwater.

[0024] The working principle of the explosion-proof reconnaissance, early warning and inspection robot disclosed in the present invention is as follows: The user rotates and installs the inspection pan-tilt 111 corresponding to the parameter requirements according to the usage scenario, which is used to identify the explosion-proof fault leakage points and provide visual positioning for the robot. The rotation of the inspection pan-tilt 111 is achieved by controlling the output shaft of the servo motor 118 at a low speed (constant speed, and the acceleration is reduced to the minimum). The output shaft of the servo motor 118 drives the lift control driven pulley 116 to rotate through the lift control transmission belt 117. The lift control driven pulley 116 drives the lift screw barrel 113 to rotate. The lift screw barrel 113 drives the pan-tilt mounting platform 112 to rotate through friction (there is friction between the thread of the pan-tilt mounting platform 112 and the lift screw barrel 113), and the pan-tilt mounting platform 112 will drive the inspection pan-tilt 111 to rotate. At the same time, the vertical height of the inspection pan-tilt 111 can also be adjusted, that is, the inspection pan-tilt 111 can be retracted into the bottom shell 101. For example, there are horizontally arranged pipelines at the inspection height position, and the height of the inspection pan-tilt 111 is too high, resulting in the robot being unable to pass through. At this time, the height of the inspection pan-tilt 111 can be reduced. Specifically, control the output shaft of the servo motor 118 to rotate quickly (the acceleration is adjusted to the maximum). The servo motor 118 drives the lift screw barrel 113 to rotate quickly, causing sliding friction between the lift screw barrel 113 and the pan-tilt mounting platform 112. This will cause relative rotation between the pan-tilt mounting platform 112 and the lift screw barrel 113. The pan-tilt mounting platform 112 will move vertically a short distance on the lift screw barrel 113 (the lifting of the pan-tilt mounting platform 112 depends on the acceleration direction of the lift screw barrel 113, and the acceleration direction of the lift screw barrel 113 depends on the rotation direction of the output shaft of the servo motor 118). Then, control the lift screw barrel 113 to rotate reversely at a low speed by an appropriate angle through the servo motor 118, and then drive the lift screw barrel 113 to rotate quickly again. Repeating this process can achieve the vertical lifting of the inspection pan-tilt 111 on the pan-tilt mounting platform 112, such as descending to the lowest position or lifting to the highest position (to obtain a wider view).

[0025] The robot's walking is driven by a driving motor 121 and controlled by four control units. The output shaft of the driving motor 121 drives the input shaft of the driving transmission gearbox 122 to rotate. The output shaft of the driving transmission gearbox 122 drives one of the driving synchronous belt pulleys 130 to rotate. Then, this driving synchronous belt pulley 130 drives another driving synchronous belt pulley 130 to rotate through the driving synchronous transmission belt 123, and drives four driving synchronous belt pulleys 130 to rotate simultaneously through two driving synchronous transmission belts 123 and a cross synchronous shaft 131. The rotation of the driving synchronous belt pulley 130 drives the central gear 134 in the corresponding control unit to rotate (through a rotating shaft). The rotation of the central gear 134 drives the ring gear 132 to rotate through the planetary gear 133 (at this time, the magnetic force of the electromagnet 126 is at its maximum value, that is, a fixed relationship is formed between the electromagnet 126 and the planetary gear mounting friction disc 128, and the planetary gear mounting friction disc 128 cannot rotate within the control housing 124). The rotation of the ring gear 132 drives the input shaft of the wheel side transmission gearbox 119 to rotate. The output shaft of the wheel side transmission gearbox 119 drives the corresponding wheel set 110 to rotate through the wheel set mounting shaft 120. At this time, the rotational speeds of the four wheel sets 110 are the same, that is, the robot moves straight. If the magnetic force of the electromagnet 126 at the corresponding position is reduced, that is, the magnitude of the current supplied to the electromagnet 126 is decreased, the magnetic attraction force between the electromagnet 126 and the planetary gear mounting friction disc 128 can be adjusted, and further the frictional force between the electromagnet 126 and the planetary gear mounting friction disc 128 can be adjusted, such that sliding friction occurs between the electromagnet 126 and the planetary gear mounting friction disc 128. At this time, the planetary gear mounting friction disc 128 will rotate within the control housing 124 under the obstruction of the frictional force of the electromagnet 126, which will cause the planetary gear 133 to revolve around the central gear 134. That is to say, part of the power of the central gear 134 will be transmitted to the planetary gear mounting friction disc 128, resulting in a decrease in the transmission ratio between the central gear 134 and the ring gear 132. At this time, the rotational speed of the corresponding wheel set 110 will decrease. For example, if the electromagnets 126 in two control units on one side (such as the left side) are simultaneously controlled, this will cause the rotational speeds of the two wheel sets 110 on this side to be lower than those of the two wheel sets 110 on the right side. At this time, the robot will rotate to the left.

[0026] If there are weeds in the usage scenario, the cross frame 102 can be installed at the bottom of the bottom housing 101, and then the auxiliary motor 105 is started. The output shaft of the auxiliary motor 105 drives the turntable 106 to rotate. The turntable 106 rotates the blocking ring 103 and the outer rotating ring 109 on the inner support ring 107. At this time, the blades 104 on the blocking ring 103 will rotate accordingly. When contacting the weeds, the rotating blades 104 will cut the weeds, removing the obstacles for the robot. Moreover, if the weeds are very tall, they will also obstruct the vision of the inspection pan-tilt 111. Therefore, cutting off the weeds can also provide a better observation vision for the inspection pan-tilt 111.

Claims

1. The explosion-proof reconnaissance, early warning and inspection robot includes a bottom shell (101), and is characterized in that: The top of the bottom housing (101) is fixedly installed with a cross frame (102) in a detachable manner, and the cross frame (102) is used for installing auxiliary components; Four wheel sets (110) are also rotatably installed on the bottom housing (101), and the four wheel sets (110) are controlled by a regulation component arranged inside the bottom housing (101). The regulation component is covered with a partition support plate (115). The partition support plate (115) is fixed on the inner wall of the bottom housing (101), and a servo motor (118) is fixedly installed on the upper surface of the partition support plate (115). A lifting screw barrel (113) is rotatably installed at the center position of the upper surface of the partition support plate (115); A cloud platform mounting table (112) is in threaded fit with the inner wall of the lifting screw barrel (113). Lead blocks are embedded inside the cloud platform mounting table (112) to increase the weight of the cloud platform mounting table (112). A lifting control driven pulley (116) is coaxially and fixedly sleeved on the circumferential surface of the lifting screw barrel (113). A lifting control transmission belt (117) is in transmission connection between the lifting control driven pulley (116) and the output shaft of the servo motor (118); Among them, an inspection cloud platform (111) is fixedly installed at the center position of the upper surface of the cloud platform mounting table (112) in a detachable manner.

2. The explosion-proof reconnaissance, early warning and inspection robot according to claim 1, characterized in that: The auxiliary component includes an inner support ring (107) fixedly connected to the cross frame (102). An outer rotating ring (109) is arranged at a concentric position outside the inner support ring (107). A roller (108) is fixedly sleeved on the outer surface of the outer rotating ring (109), a blocking ring (103), and a plurality of blades (104) are fixedly installed at equal intervals in a circular array on the circumferential surface of the blocking ring (103).

3. The explosion-proof reconnaissance and early warning inspection robot according to claim 2, characterized in that: The inner support ring (107) and the outer rotating ring (109) are in rotational fit through the roller (108). The roller (108) rolls between the inner support ring (107) and the outer rotating ring (109), and grooves for embedding the roller (108) are provided on both the inner support ring (107) and the outer rotating ring (109) to prevent the roller (108) from separating from between the inner support ring (107) and the outer rotating ring (109); An auxiliary motor (105) is fixedly installed on the cross frame (102). A turntable (106) is fixedly installed on the output shaft of the auxiliary motor (105). The turntable (106) is in rolling friction fit or meshing transmission fit with the blocking ring (103). The turntable (106) is used to drive the blocking ring (103) and the outer rotating ring (109) to rotate around the inner support ring (107).

4. The explosion-proof reconnaissance and early warning inspection robot according to claim 3, characterized in that: The regulating component comprises four control parts which respectively control the rotation of the corresponding wheel sets (110), wherein the control part comprises a wheel side gearbox (119) fixedly connected to the inner wall of the bottom shell (101), the output shaft of the wheel side gearbox (119) being fixedly matched with the wheel set (110) via the wheel set mounting shaft (120) for driving the wheel set (110) to rotate, a control shell (124) being fixedly mounted on the outer shell of the wheel side gearbox (119), a gear ring (132) being rotatably mounted on the inner wall of the control shell (124), and the gear ring (132) being fixedly matched with the input shaft of the wheel side gearbox (119).

5. The explosion-proof reconnaissance, early warning and inspection robot according to claim 4, characterized in that: A sliding cavity (125) is fixedly installed at a radial position on the outer surface of the control housing (124); the sliding cavity (125) is connected to the inside of the control housing (124); an electromagnet (126) is slidably installed on the inner wall of the sliding cavity (125) along the radial direction of the control housing (124); a tension spring (127) is elastically installed between the electromagnet (126) and the inner wall of the sliding cavity (125); the tension spring (127) is used to pull the electromagnet (126) to move in a direction away from the axis of the control housing (124).

6. The explosion-proof reconnaissance and early warning inspection robot according to claim 5, characterized in that: A central gear (134) is rotatably mounted at the center of the circle on the inner side of the gear ring (132). The central gear (134) and the gear ring (132) are meshed and driven via three planetary gears (133). The three planetary gears (133) are all rotatably mounted on the planetary gear mounting friction disk (128). The planetary gear mounting friction disk (128) and the electromagnet (126) are magnetically attracted and frictionally driven. A sealing cover (129) is also fixedly mounted on the control housing (124). The sealing cover (129) is used to seal the planetary gear mounting friction disk (128) in the control housing (124). A driving synchronous pulley (130) is rotatably mounted on the sealing cover (129). The driving synchronous pulley (130) and the central gear (134) are fixedly matched via a rotating shaft. The rotating shaft sequentially penetrates the sealing cover (129) and the planetary gear mounting friction disk (128). At the same time, the rotating shaft, the sealing cover (129) and the planetary gear mounting friction disk (128) are all rotatably matched.

7. The explosion-proof reconnaissance, early warning and inspection robot according to claim 6, characterized in that: The driving synchronous pulleys (130) in the two control parts in the forward direction of the bottom shell (101) are connected by a driving synchronous transmission belt (123); the two driving synchronous pulleys (130) in the bottom shell (101) perpendicular to the forward direction are fixedly rotated synchronously by a cross-synchronous shaft (131); a driving gearbox (122) is arranged between the other two driving synchronous pulleys (130) in the bottom shell (101) perpendicular to the forward direction; the output shaft of the driving gearbox (122) is fixedly matched with one of the driving synchronous pulleys (130); the input shaft of the driving gearbox (122) is fixedly matched with the output shaft of the driving motor (121); the driving motor (121) is fixedly matched with the housing of the driving gearbox (122); and the driving motor (121) is fixedly matched with the partition support plate (115).

8. The explosion-proof reconnaissance and early warning inspection robot according to claim 7, characterized in that: An outer shell (114) is fixedly sleeved and installed on the outer side of the bottom shell (101); through holes or gaps for draining rainwater are provided on the bottom shell (101), the lifting threaded barrel (113), the pan-tilt mounting table (112), and the partition support plate (115).

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