Explosion-proof reconnaissance early warning inspection robot

Abstract

The application discloses an explosion-proof reconnaissance early warning inspection robot and relates to the technical field of inspection robots. The application comprises a bottom shell, a liftable holder assembly, an electromagnetic friction differential drive mechanism and a reversible grass cutting and obstacle removing assembly. A servo motor realizes holder rotation and lifting through a threaded barrel-friction pair. A central drive motor provides a speed difference for four wheels through a synchronous belt and a planet-electromagnetic friction disc, so as to realize accurate steering. The horizontal frame is assembled with a blade ring, which can remove weeds on the inspection path by 360 degrees. The application is suitable for device inspection and site remediation in flammable and explosive environments and has high modularity, environmental adaptability and safety and reliability.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to an explosion-proof reconnaissance and early warning inspection robot. Background Technology

[0002] Most current explosion-proof inspection robots have their camera pan-tilt units fixed directly to the top of the robot body, adjusting the viewing angle via short-stroke cylinders or simple lifting frames. The core structure consists of a vertical rigid linkage in conjunction with the two-dimensional pan-tilt unit. While this design can meet the requirements for standard pitch and horizontal rotation in open areas, it reveals significant shortcomings in densely piped environments such as petrochemical, coal chemical, or oil and gas terminals: once the linkage length is fixed, it cannot be quickly modified on-site; when the robot enters low-profile pipe bundles below 400mm or valve platforms above 600mm, the pan-tilt unit is easily bumped by the support or its view is obstructed, requiring operation to be stopped and the top component to be manually moved or disassembled before continuing, severely reducing the continuity of inspections. The traditional solution of a fixed-height camera pan-tilt unit with a rigid linkage struggles to balance mobility in confined spaces with the need for multi-viewpoint observation, becoming a bottleneck in improving the efficiency and safety of explosion-proof inspections. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides the following technical solution: an explosion-proof reconnaissance and early warning inspection robot, comprising a base shell, a crossbeam fixedly mounted on the top of the base shell in a manner that is easy to disassemble, and auxiliary components are mounted on the crossbeam; four wheel sets are also rotatably mounted on the base shell, the four wheel sets are controlled by a control component located inside the base shell, a partition support plate is covered on the control component, the partition support plate is fixed to the inner wall of the base shell, and a servo motor is fixedly mounted on the upper surface of the partition support plate; a lifting threaded barrel is rotatably mounted at the center of the upper surface of the partition support plate; a gimbal mounting platform is threaded into the inner wall of the lifting threaded barrel, and a lead block is embedded inside the gimbal mounting platform to increase its weight; a lifting control passive pulley is coaxially fixedly mounted 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 an inspection gimbal is fixedly mounted at the center of the upper surface of the gimbal mounting platform in a manner that is easy to disassemble.

[0004] Preferably, the auxiliary component includes an inner support ring fixedly connected to the crossbeam, an outer rotating ring concentrically positioned on the outer side of the inner support ring, a roller fixedly fitted on the outer surface of the outer rotating ring, a guard ring, and multiple blades fixedly mounted at equal intervals in a circular array on the circumferential surface of the guard ring.

[0005] Preferably, the inner support ring and the outer rotating ring are engaged by a roller, which rolls between the inner support ring and the outer rotating ring. Both the inner support ring and the outer rotating ring have grooves for embedding the rollers to prevent them from separating from each other. An auxiliary motor is fixedly mounted on the crossbeam, and a turntable is fixedly mounted on the output shaft of the auxiliary motor. The turntable engages with the guard ring through rolling friction or meshing transmission. The turntable drives the guard ring and the outer rotating ring to rotate around the inner support ring.

[0006] Preferably, the control assembly includes four control units that control the rotation of corresponding wheelsets respectively. Each control unit includes a wheel-side gearbox fixedly connected to the inner wall of the bottom housing. The output shaft of the wheel-side gearbox is fixedly engaged with the wheelset via a wheelset mounting shaft to drive the wheelset to rotate. A control housing is fixedly mounted on the outer shell of the wheel-side gearbox. A gear ring is rotatably mounted on the inner wall of the control housing and is fixedly engaged with the input shaft of the wheel-side gearbox.

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

[0008] Preferably, a central gear is rotatably mounted at the center position inside the gear ring. The central gear and the gear ring are driven by three planetary gears meshing together. All three planetary gears are rotatably mounted on a planetary gear mounting friction disk. The planetary gear mounting friction disk is driven by magnetic attraction friction with an electromagnet. A sealing cover is also fixedly mounted on the control housing. The sealing cover is used to seal the planetary gear mounting friction disk inside the control housing. A drive synchronous pulley is rotatably mounted on the sealing cover. The drive synchronous pulley is fixedly engaged with the central gear through a rotating shaft. The rotating shaft passes through the sealing cover and the planetary gear mounting friction disk in sequence. At the same time, the rotating shaft is rotatably engaged with both the sealing cover and the planetary gear mounting friction disk.

[0009] Preferably, the drive synchronous pulleys in the two control sections of the bottom housing in the forward direction are connected by a drive synchronous transmission belt. The two drive synchronous pulleys of the bottom housing perpendicular to the forward direction are fixed and rotate synchronously by a cross synchronous shaft. A drive gearbox is provided between the other two drive synchronous pulleys of the bottom housing perpendicular to the forward direction. The output shaft of the drive gearbox is fixedly engaged with one of the drive synchronous pulleys. The input shaft of the drive gearbox is fixedly engaged with the output shaft of the drive motor. The drive motor is fixedly engaged with the housing of the drive gearbox. The drive motor is fixed on the partition support plate.

[0010] Preferably, an outer shell is fixedly installed on the outside of the bottom shell; wherein the bottom shell, the lifting threaded barrel, the gimbal mounting platform, and the partition support plate are all provided with through holes or gaps for draining rainwater.

[0011] Compared with the prior art, the present invention has the following advantages: (1) The present invention realizes the inspection gimbal can switch freely between two modes: low-speed uniform "positioning rotation" and high-speed pulse "sliding lifting" through servo motor-threaded barrel-friction sliding mechanism. The gimbal can be continuously adjusted in height range inside and outside the bottom shell. Compared with the traditional fixed height gimbal, the robot does not need to detour or change work points when passing through narrow pipe corridors, valve clusters or steel frame beams, which greatly improves the coverage and timeliness of one inspection; (2) The present invention forms a closed-loop power distribution through "central drive motor + synchronous pulley + planetary friction disk + adjustable electromagnet". The linear adjustment of the electromagnet current enables the four-wheel group to obtain stepless speed difference. At the same time, it avoids the phase lock-up and energy consumption superposition of multi-motor schemes; (3) The cross frame of the present invention can be quickly reversed and installed at the bottom. The auxiliary motor drives the roller-type guard ring and the equidistant blade to form a 360° mowing disc to cut weeds. When the robot inspects the oil tank area and pipe corridor green belt, it can simultaneously complete ground clearing, providing an unobstructed window for the gimbal optics. Attached Figure Description

[0012] Figure 1 This 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 point A in the middle.

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

[0015] Figure 4 This is a schematic diagram of the structure of the present invention across the synchronous shaft.

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

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

[0018] In the diagram: 101-Bottom housing; 102-Horizontal frame; 103-Barrier ring; 104-Blade; 105-Auxiliary motor; 106-Turntable; 107-Inner support ring; 108-Roller; 109-Outer rotating ring; 110-Wheelset; 111-Inspection gimbal; 112-Gimbal mounting platform; 113-Lifting threaded bucket; 114-Outer shell; 115-Separating support plate; 116-Lifting control passive pulley; 117-Lifting control transmission belt; 118 - Servo motor; 119 - Wheel-side gearbox; 120 - Wheelset mounting shaft; 121 - Drive motor; 122 - Drive gearbox; 123 - Drive synchronous transmission belt; 124 - Control housing; 125 - Sliding cavity; 126 - Electromagnet; 127 - Tension spring; 128 - Planetary gear mounting friction disc; 129 - Sealing cover; 130 - Drive synchronous belt pulley; 131 - Transverse synchronous shaft; 132 - Gear ring; 133 - Planetary gear; 134 - Center gear. Detailed Implementation

[0019] The following is in conjunction with the appendix Figure 1-6 The technical solution of the present invention will be further illustrated through specific embodiments.

[0020] This invention provides an explosion-proof reconnaissance, early warning, and inspection robot, comprising a base shell 101. A crossbeam 102 is fixedly mounted on the top of the base shell 101 in a detachable manner, and auxiliary components are mounted on the crossbeam 102. Four wheel sets 110 are rotatably mounted on the base shell 101, and the four wheel sets 110 are controlled by a control component located inside the base shell 101. A partition support plate 115 is covered on the control component, fixed to the inner wall of the base shell 101, and a servo motor 118 is fixedly mounted on the upper surface of the partition support plate 115. A lifting threaded barrel 113 is rotatably mounted at the center of the surface; a gimbal mounting platform 112 is threadedly fitted onto the inner wall of the lifting threaded barrel 113, and lead blocks are embedded inside the gimbal mounting platform 112 to increase its weight. A lifting control passive pulley 116 is coaxially fixedly sleeved 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; an inspection gimbal 111 is fixedly mounted at the center of the upper surface of the gimbal mounting platform 112 in a way that is easy to disassemble.

[0021] The auxiliary components include an inner support ring 107 fixedly connected to the crossbeam 102, an outer rotating ring 109 concentrically positioned on the outer side of the inner support ring 107, a roller 108 fixedly sleeved on the outer surface of the outer rotating ring 109, a guard ring 103, and multiple blades 104 fixedly mounted in a circular array at equal intervals on the circumferential surface of the guard ring 103. The inner support ring 107 and the outer rotating ring 109 are rotatably engaged by a roller 108. The roller 108 rolls between the inner support ring 107 and the outer rotating ring 109. Both the inner support ring 107 and the outer rotating ring 109 have grooves for embedding the roller 108 to prevent the roller 108 from separating from the inner support ring 107 and the outer rotating ring 109. An auxiliary motor 105 is fixedly installed on the crossbeam 102. A turntable 106 is fixedly installed on the output shaft of the auxiliary motor 105. The turntable 106 is engaged with the guard ring 103 through rolling friction or meshing transmission. The turntable 106 is used to drive the guard ring 103 and the outer rotating ring 109 to rotate around the inner support ring 107.

[0022] The control assembly includes four control units that control the rotation of corresponding wheel sets 110. Each control unit includes a wheel-side gearbox 119 fixedly connected to the inner wall of a base housing 101. The output shaft of the wheel-side gearbox 119 is fixedly engaged with the wheel set 110 via a wheel set mounting shaft 120 to drive the wheel set 110 to rotate. A control housing 124 is fixedly mounted on the outer shell of the wheel-side gearbox 119. A gear ring 132 is rotatably mounted on the inner wall of the control housing 124 and is fixedly engaged with the input shaft of the wheel-side gearbox 119. A sliding cavity 125 is fixedly mounted radially on the outer surface of the control housing 124. The sliding cavity 125 communicates with the interior of the control housing 124. An electromagnet 126 is slidably mounted on the inner wall of the sliding cavity 125 along the radial direction of the control housing 124. A tension spring 127 is elastically mounted 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 away from the axis of the control housing 124. A central gear 134 is rotatably mounted at the center position inside the gear ring 132. The central gear 134 and the gear ring 132 are driven by three planetary gears 133 meshing together. All three planetary gears 133 are rotatably mounted on the planetary gear mounting friction disk 128. The planetary gear mounting friction disk 128 is magnetically attracted and driven by the electromagnet 126. 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 inside the control housing 124. A drive synchronous pulley 130 is rotatably mounted on the sealing cover 129. The drive synchronous pulley 130 and the central gear 134 are fixedly engaged by a rotating shaft. 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 engaged. The drive synchronous pulleys 130 in the two control units in the forward direction of the bottom housing 101 are connected by a drive synchronous transmission belt 123. The two drive synchronous pulleys 130 of the bottom housing 101 perpendicular to the forward direction are fixed and rotate synchronously by a cross synchronous shaft 131. A drive gearbox 122 is provided between the other two drive synchronous pulleys 130 of the bottom housing 101 perpendicular to the forward direction. The output shaft of the drive gearbox 122 is fixedly engaged with one of the drive synchronous pulleys 130. The input shaft of the drive gearbox 122 is fixedly engaged with the output shaft of the drive motor 121. The drive motor 121 is fixedly engaged with the housing of the drive gearbox 122. The drive motor 121 is fixedly mounted on the partition support plate 115.

[0023] The outer shell 114 is fixedly installed on the outer side of the bottom shell 101; the bottom shell 101, the lifting threaded barrel 113, the gimbal 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 and early warning inspection robot disclosed in this invention is as follows: The user rotates and installs the inspection gimbal 111 according to the corresponding parameter requirements of the usage scenario to identify explosion-proof fault leakage points and provide visual positioning for the robot. The rotation of the inspection gimbal 111 is achieved by controlling the output shaft of the servo motor 118 at a low speed (uniform speed, while the acceleration is reduced to the minimum). The output shaft of the servo motor 118 drives the lifting control passive pulley 116 to rotate through the lifting control transmission belt 117. The lifting control passive pulley 116 drives the lifting threaded barrel 113 to rotate. The lifting threaded barrel 113 drives the gimbal mounting platform 112 to rotate through friction (there is friction between the threads of the gimbal mounting platform 112 and the lifting threaded barrel 113). The gimbal mounting platform 112 then drives the inspection gimbal 111 to rotate. Meanwhile, the vertical height of the inspection gimbal 111 is also adjustable, meaning it can be retracted into the housing 101. For example, if there are horizontally arranged pipes at the inspection height, and the inspection gimbal 111 is too high, preventing the robot from passing through, its height can be lowered. Specifically, the output shaft of the servo motor 118 is controlled to rotate rapidly (acceleration set to maximum). The servo motor 118 drives the lifting threaded barrel 113 to rotate rapidly, causing sliding friction between the lifting threaded barrel 113 and the gimbal mounting platform 112. This results in friction between the gimbal mounting platform 112 and the lifting threaded barrel 113. When relative rotation occurs between them, the gimbal mounting platform 112 will move vertically a short distance on the lifting threaded barrel 113 (the lifting and lowering of the gimbal mounting platform 112 depends on the acceleration direction of the lifting threaded barrel 113, which in turn depends on the rotation direction of the output shaft of the servo motor 118). Then, the servo motor 118 controls the lifting threaded barrel 113 to rotate in the opposite direction at a low speed at an appropriate angle, and then quickly drives the lifting threaded barrel 113 to rotate again. By repeating this process, the vertical lifting and lowering of the inspection gimbal 111 on the gimbal mounting platform 112 can be achieved, for example, lowering it to the lowest position or raising it to the highest position (to obtain a wider field of view).

[0025] The robot's movement is driven by a drive motor 121 and controlled by four control units. The output shaft of the drive motor 121 drives the input shaft of the drive gearbox 122 to rotate. The output shaft of the drive gearbox 122 drives one of the drive synchronous pulleys 130 to rotate. This drive synchronous pulley 130 then drives another drive synchronous pulley 130 to rotate via a drive synchronous transmission belt 123. Through the two drive synchronous transmission belts 123 and a cross-synchronous shaft 131, all four drive synchronous pulleys 130 rotate simultaneously. The rotation of the drive synchronous pulleys 130 drives the central gear 13 in the corresponding control unit. 4. Rotation (via the pivot): The rotation of the central gear 134 will drive the rotation of the gear ring 132 via the planetary gear 133 (at this time, the magnetic force of the electromagnet 126 is at its maximum, that is, the electromagnet 126 and the planetary gear mounting friction disk 128 form a fixed relationship, and the planetary gear mounting friction disk 128 cannot rotate within the control housing 124). The rotation of the gear ring 132 will drive the input shaft of the wheel-side gearbox 119 to rotate. The output shaft of the wheel-side gearbox 119 will drive the corresponding wheel set 110 to rotate via the wheel set mounting shaft 120. At this time, the rotation speed of the four wheel sets 110 is the same, that is, the robot moves in a straight line. By reducing the magnetic force of the electromagnet 126 at the corresponding position, that is, reducing the current supplied to the electromagnet 126, the magnetic attraction between the electromagnet 126 and the planetary gear mounting friction disk 128 can be adjusted, thereby adjusting the friction between the electromagnet 126 and the planetary gear mounting friction disk 128, causing sliding friction between the electromagnet 126 and the planetary gear mounting friction disk 128. At this time, the planetary gear mounting friction disk 128 will rotate within the control housing 124 due to the resistance of the friction force of the electromagnet 126. This will cause the planetary gear 133 to revolve around the central gear 134. In other words, the power of the central gear 134 will be partially transmitted to the planetary gear mounting friction disk 128, thereby reducing the transmission ratio between the central gear 134 and the gear ring 132. At this time, the speed of the corresponding wheel set 110 will decrease. For example, if the electromagnets 126 in the two control units on one side (such as the left side) are controlled at the same time, the speed of the two wheel sets 110 on this side will be lower than that 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 crossbar 102 can be installed at the bottom of the base shell 101, and then the auxiliary motor 105 can be 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 blade 104 on the blocking ring 103 will rotate accordingly. When it comes into contact with the weeds, the rotating blade 104 will cut off the weeds and remove the obstruction of the robot. In addition, if the weeds are very tall, they will also obstruct the field of vision of the inspection gimbal 111. Therefore, cutting off the weeds can also provide a better field of vision for the inspection gimbal 111.

Claims

1. An explosion-proof reconnaissance, early warning, and inspection robot, comprising a base shell (101), characterized in that: A crossbeam (102) is fixedly installed on the top of the bottom housing (101) in a way that is easy to disassemble, and auxiliary components are installed on the crossbeam (102); Four wheel sets (110) are also rotatably mounted on the bottom housing (101). The four wheel sets (110) are controlled by a control component located inside the bottom housing (101). The control component is covered with a partition support plate (115). The partition support plate (115) is fixed to the inner wall of the bottom housing (101). A servo motor (118) is fixedly mounted on the upper surface of the partition support plate (115). A lifting threaded bucket (113) is rotatably mounted at the center of the upper surface of the partition support plate (115). The inner wall of the lifting threaded barrel (113) is threaded with a gimbal mounting platform (112). Lead blocks are embedded inside the gimbal mounting platform (112) to increase the weight of the gimbal mounting platform (112). The circumferential surface of the lifting threaded barrel (113) is coaxially fixed with a lifting control passive pulley (116). The lifting control passive pulley (116) and the output shaft of the servo motor (118) are connected by a lifting control transmission belt (117). The center position of the upper surface of the gimbal mounting platform (112) is fixedly installed with an inspection gimbal (111) in a way that is easy to disassemble.

2. The explosion-proof reconnaissance, early warning, and inspection robot according to claim 1, characterized in that: The auxiliary components include an inner support ring (107) fixedly connected to the crossbeam (102), an outer rotating ring (109) concentrically positioned on the outer side of the inner support ring (107), a roller (108) fixedly sleeved on the outer surface of the outer rotating ring (109), a guard ring (103), and multiple blades (104) fixedly mounted in a circular array on the circumferential surface of the guard ring (103).

3. The explosion-proof reconnaissance, early warning, and inspection robot according to claim 2, characterized in that: The inner support ring (107) and the outer rotating ring (109) are rotatably engaged by a roller (108). The roller (108) rolls between the inner support ring (107) and the outer rotating ring (109). Both the inner support ring (107) and the outer rotating ring (109) have grooves for embedding the roller (108) to prevent the roller (108) from separating from 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) and the guard ring (103) are in rolling friction cooperation or meshing transmission cooperation. The turntable (106) is used to drive the guard ring (103) and the outer rotating ring (109) to rotate around the inner support ring (107).

4. The explosion-proof reconnaissance, early warning, and inspection robot according to claim 3, characterized in that: The control assembly includes four control units that control the rotation of corresponding wheel sets (110). Each control unit includes a wheel-side gearbox (119) fixedly connected to the inner wall of the bottom housing (101). The output shaft of the wheel-side gearbox (119) is fixedly engaged with the wheel set (110) via the wheel set mounting shaft (120) to drive the wheel set (110) to rotate. A control housing (124) is fixedly mounted on the outer shell of the wheel-side gearbox (119). A gear ring (132) is rotatably mounted on the inner wall of the control housing (124). The gear ring (132) is fixedly engaged 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, early warning, and inspection robot according to claim 5, characterized in that: A central gear (134) is rotatably mounted at the center position inside the gear ring (132). The central gear (134) and the gear ring (132) are driven by three planetary gears (133). The three planetary gears (133) are rotatably mounted on the planetary gear mounting friction disk (128). The planetary gear mounting friction disk (128) is magnetically attracted and driven by the electromagnet (126). 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) inside the control housing (124). A drive synchronous pulley (130) is rotatably mounted on the sealing cover (129). The drive synchronous pulley (130) and the central gear (134) are fixedly engaged by a rotating shaft. 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 is rotatably engaged with both the sealing cover (129) and the planetary gear mounting friction disk (128).

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

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

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