An explosion-proof robot

Abstract

The application relates to the technical field of robots, and discloses an explosion-proof robot which comprises a power chassis, a mechanical arm, a gas-liquid collecting assembly, a detection assembly and a panoramic monitoring assembly; the power chassis comprises a machine shell, track wheel assemblies and obstacle-avoiding arm assemblies are drivingly connected to the two sides of the machine shell, a power cavity is arranged in the machine shell, and a driving mechanism is arranged in the power cavity; the explosion-proof robot has improved passability in complex terrains by arranging the track wheel assemblies and the obstacle-avoiding arm assemblies and driving the track wheel assemblies and the obstacle-avoiding arm assemblies by traveling motors and obstacle-avoiding motors respectively; two groups of track wheel assemblies are cooperatively arranged in a diagonal distribution mode with driving wheels and driven wheels, so that stable traveling can be ensured; four groups of obstacle-avoiding arm assemblies can flexibly cope with various obstacles; for example, in a rugged road surface, a step or an environment with many obstacles, an obstacle-avoiding motor drives a swing arm to rotate, drives obstacle-avoiding tracks on the main wheels and the auxiliary wheels, realizes efficient obstacle-avoiding climbing, and expands the working range of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to an explosion-proof robot. BACKGROUND

[0002] The explosion-proof robot is usually used in the high-risk environment such as fire scene, nuclear leakage scene, etc., and is used to enter the dangerous area to approach the source of toxic and harmful substances, and to observe, confirm, sample and transfer the disposal in the place where the density of toxic and harmful substances is large, so that the mobility of the explosion-proof robot directly affects the detection function, and the chassis of the explosion-proof robot as the mobile unit must have good stability, marching ability, obstacle crossing ability and can assist the robot to complete the task, and the reliability of the driving mechanism in the chassis in the flammable and explosive environment is particularly important.

[0003] However, the existing explosion-proof robot chassis has limited obstacle crossing and climbing ability, and the reliability of the driving mechanism in the extreme environment needs to be strengthened, in addition, when the explosion-proof robot works in the high-risk environment, it will sample the dust or liquid in the high-risk environment, but the traditional explosion-proof robot can only sample a single sample and cannot realize multi-sample sampling and collection. SUMMARY

[0004] To solve the problems in the background art, the present application is realized by the following technical scheme: an explosion-proof robot, comprising a power chassis, a mechanical arm, a gas-liquid collection assembly, a detection assembly and a panoramic monitoring assembly;

[0005] The power chassis comprises a machine shell, and track wheel assemblies and obstacle crossing arm assemblies are drivingly connected to the two sides of the machine shell, a power cavity is arranged in the machine shell, and a driving mechanism is arranged in the power cavity;

[0006] The track wheel assembly comprises a driving wheel, a driven wheel and a marching track meshed on the driving wheel and the driven wheel, and the obstacle crossing arm assembly comprises a swing arm, and a main wheel and a secondary wheel assembled at the two ends of the swing arm, and the main wheel and the secondary wheel are meshed with an obstacle crossing track;

[0007] The driving mechanism comprises a marching motor and an obstacle crossing motor arranged in different zones, the marching motor drives the track wheel assembly and the main wheel to rotate and march through a first transmission unit, and the obstacle crossing motor drives the swing arm to rotate for obstacle crossing and climbing through a second transmission unit.

[0008] Further, the first transmission unit comprises a first hollow shaft drivingly connected with the marching motor, the second transmission unit comprises a first rotating shaft drivingly connected with the obstacle crossing motor, and the first hollow shaft is sleeved on the end portion of the first rotating shaft;

[0009] The first rotating shaft is coaxial with the first hollow shaft and has a rotating gap, the first hollow shaft includes a first built-in section and a first external section, the first built-in section is located inside the power cavity, the first external section is located outside the power cavity, and an inner wall of the first external section is formed with a first explosion-proof inner collecting ring that reduces the rotating gap.

[0010] Further, the first transmission unit further includes a first umbrella-shaped gear assembled on the traveling motor output shaft and a second umbrella-shaped gear assembled on the built-in section of the first hollow shaft, the first umbrella-shaped gear is engaged with the second umbrella-shaped gear, and the driving wheel and the driven wheel are press-fitted on the external section of the first hollow shaft through a shaft sleeve;

[0011] The second transmission unit further includes a second rotating shaft, a worm is arranged on the obstacle-crossing motor output shaft, a turbine is assembled on the second rotating shaft, and the turbine is engaged with the worm; the first rotating shaft is connected to the second rotating shaft through a shaft coupling, and the first rotating shaft and the second rotating shaft rotate synchronously;

[0012] The first transmission unit further includes a second hollow shaft coaxially arranged with the first hollow shaft, the second hollow shaft is sleeved on the end of the second rotating shaft, the second rotating shaft is coaxial with the second hollow shaft and has a rotating gap therebetween, the second hollow shaft is arranged outside the power cavity, and an inner wall of the second hollow shaft is formed with a second explosion-proof inner collecting ring that reduces the rotating gap.

[0013] Further, the track wheel assembly is provided with two groups and is arranged on two sides of the machine shell, the two driving wheels are diagonally distributed, and the two driven wheels are diagonally distributed; the traveling motor and the first transmission unit are also provided with two groups, the two traveling motors are arranged adjacent to the two driving wheels respectively, the two driving wheels are press-fitted on the first hollow shaft, and the two driven wheels are press-fitted on the second hollow shaft.

[0014] Further, the obstacle-crossing arm assembly is provided with four groups, which are two groups of first obstacle-crossing arm assemblies arranged on the outside of the driving wheels and two groups of second obstacle-crossing arm assemblies arranged on the outside of the driven wheels.

[0015] The obstacle-crossing motor and the second transmission unit are provided with two groups, the two obstacle-crossing motors are arranged adjacent to the second obstacle-crossing arm assemblies respectively, the swing arms of the two second obstacle-crossing arm assemblies are press-fitted on the two second rotating shafts respectively, and the swing arms of the two first obstacle-crossing arm assemblies are press-fitted on the two first rotating shafts respectively.

[0016] Further, the mechanical arm includes a rotating seat and a large arm joint pipe, a large arm pipe, a small arm joint pipe, a small arm pipe, a wrist joint pipe, and a mechanical hand which are mounted on the power chassis.

[0017] The two large arm joint pipes are respectively a first large arm joint pipe and a second large arm joint pipe, and the two large arm joint pipes are both provided with a joint motor, the two large arm joint pipes are fixedly connected with rotors of the two joint motors respectively, rotation axes of the two large arm joint pipes are perpendicular to each other, the first large arm joint pipe is rotatably arranged on the rotating seat, the first large arm joint pipe is rotatably connected with the second large arm joint pipe, and the second large arm joint pipe is fixedly connected with the large arm pipe;

[0018] The small arm joint pipe is fixedly connected with the large arm pipe and rotatably connected with the small arm pipe, the small arm pipe is L-shaped, and a rotation axis of the small arm joint pipe is parallel to a rotation axis of the second large arm joint pipe; the wrist joint pipe is provided with three first, second and third wrist joint pipes, the first wrist joint pipe is fixedly connected with the small arm pipe, the second wrist joint pipe is rotatably connected with the first wrist joint pipe, the third wrist joint pipe is rotatably connected with the second wrist joint pipe, and a rotation axis of the second wrist joint pipe is perpendicular to rotation axes of the first and third wrist joint pipes; and the manipulator is arranged on the third wrist joint pipe.

[0019] Further, the gas-liquid collection module further comprises a gas pump and a water pump mounted on the power chassis, and a dust collection hose and a liquid collection hose mounted on the mechanical arm, and a collection pipe head of the dust collection hose and the liquid collection hose is arranged at a position of the manipulator.

[0020] The gas-liquid collection module collects the collected dust and / or liquid sample through cooperation of the gas pump, the water pump, the dust collection hose and the liquid collection hose.

[0021] Further, the gas-liquid collection assembly comprises a collection box, and two groups of collection units, i.e., a dust collection unit and a liquid collection unit, are arranged in the collection box.

[0022] The collection unit comprises a guide pipe, a connecting pipe and a plurality of collection cavities, the plurality of collection cavities are circumferentially arranged on an outer side of the guide pipe and fixedly arranged on a surface of a rotating seat arranged in the collection box, and the connecting pipe is connected with the corresponding collection hose and the guide pipe at two ends.

[0023] A group of slot holes are radially arranged on a side surface of the guide pipe, an opening and closing block is radially slidably arranged in the slot hole, the opening and closing block is in a "mouth" shape, a blocking block is fixedly arranged in the slot hole, and the opening and closing block can be separated from or matched with the blocking block when the opening and closing block moves radially.

[0024] A baffle is fixedly arranged in the guide pipe, the baffle is located below the slot hole, a slot is arranged on a surface of the baffle, a blocking plate is radially slidably arranged in the baffle, a hole is arranged on a surface of the blocking plate, and the hole on the surface of the blocking plate can be staggered or overlapped with the slot when the blocking plate moves.

[0025] The lower surface of the blocking plate is fixedly connected with the opening and closing block, the side of the opening and closing block close to the collecting cavity is an arc-shaped side plate, a surface of the collecting cavity corresponding to the duct is provided with an inlet hole, and the opening and closing block can cooperate with the inlet hole when the collecting cavity is driven to rotate by the rotating seat.

[0026] The bottom of the duct in the dust collecting unit is communicated with clean air, and the bottom of the duct in the liquid collecting unit is communicated with cleaning liquid.

[0027] Further, a piston plate is sealingly and slidably arranged in the collecting cavity, the piston plate divides the collecting cavity into an upper cavity and a lower cavity, a conveying pipe is arranged in the collecting cavity, one end of the conveying pipe is connected with the inlet hole, and the other end extends into the lower cavity, two output holes are formed in the surface of the conveying pipe, the two output holes correspond to the upper cavity and the lower cavity respectively, and a control valve is arranged between the two output holes and used for controlling the opening of one of the output holes.

[0028] Further, the detection module comprises a toxic gas detector and a nuclear detection load.

[0029] Further, the panoramic monitoring assembly comprises a support frame arranged on the power chassis, horizontal cameras and vertical cameras are arranged in the support frame, the horizontal cameras are circumferentially distributed in a horizontal support seat, the horizontal support seat is horizontally rotatably arranged in the support frame, and the vertical cameras are rotatably arranged at the bottom of the horizontal support seat.

[0030] Compared with the prior art, the present application has the following beneficial effects:

[0031] 1. The explosion-proof robot, by setting the track wheel assembly and the obstacle arm assembly, and respectively driven by the advancing motor and the obstacle motor, the passability of the explosion-proof robot in complex terrain is significantly improved. Two sets of track wheel assemblies cooperate with diagonally distributed driving wheels and driven wheels to ensure stable progress; four sets of obstacle arm assemblies can flexibly cope with various obstacles, such as in the rugged road surface, steps or environments with many obstacles, the obstacle motor drives the swing arm to rotate, drives the obstacle track on the main wheel and the auxiliary wheel, realizes efficient obstacle climbing, and expands the working range of the robot.

[0032] 2. The explosion-proof robot, by setting a rotating gap between the first hollow shaft of the first transmission unit and the first rotating shaft of the second transmission unit, and forming a first explosion-proof inner collecting ring on the outer wall of the first hollow shaft, and forming a second explosion-proof inner collecting ring on the inner wall of the second hollow shaft. This design effectively reduces the rotating gap, can prevent the explosion flame and high-temperature gas generated in the power cavity from spreading outward, reduces the risk of explosion in dangerous environment, and ensures the safety of the robot itself and the surrounding environment.

[0033] 3. The explosion-proof robot, the mechanical arm adopts multi-joint design, including rotating seat, multiple joint pipes and mechanical hands. The joint motor in the large arm joint pipe drives the rotation of the large arm joint pipe, and the rotation axes of the two large arm joint pipes are perpendicular, the small arm joint pipe is flexibly connected with the large arm pipe and the small arm pipe, and the wrist joint pipes cooperate with each other. This makes the mechanical arm flexibly move in multiple dimensions, can accurately reach the specified position, is convenient for completing diversified tasks such as grabbing, operating tools and collecting samples, and greatly improves the operation flexibility and accuracy of the robot in a complex environment.

[0034] 4. The explosion-proof robot, the gas-liquid collecting assembly contains collecting boxes, pipes, connecting pipes and collecting cavities. The collecting cavities are circumferentially distributed outside the pipes, and through the cooperative operation of opening and closing blocks, blocking plates and other components, the effective collection of multiple samples of dust and liquid can be realized. At the same time, in the dust collecting unit, the bottom of the pipe is communicated with clean air, and the air pump is started in reverse, so that the clean air can be used to clean the dust collecting hose, and the dust can be collected for multiple samples, reducing the pollution between samples; in the liquid collecting unit, the bottom of the pipe is communicated with clean liquid, and the clean liquid can be used to clean the liquid collecting hose, so that the liquid can be collected for multiple samples, reducing the pollution between samples; in addition, the design of the piston plate in the collecting cavity and the two output holes in the conveying pipe can store the gas or liquid in the hose before collecting the sample in the lower cavity, and store the sample collected by the hose in the upper cavity, so as to improve the quality of sample collection. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The whole structure of the explosion-proof robot of the present application is shown in the figure Figure 1 ;

[0036] Figure 2 The whole structure of the explosion-proof robot of the present application is shown in the figure Figure 2 ;

[0037] Figure 3 The whole structure of the explosion-proof robot of the present application is shown in the figure Figure 1 ;

[0038] Figure 4 The whole structure of the explosion-proof robot of the present application is shown in the figure Figure 2 ;

[0039] Figure 5 The structure side view of the power chassis of the present application is shown in the figure

[0040] Figure 6 The internal structure of the power chassis of the present application is shown in the figure

[0041] Figure 7 The whole structure of the mechanical arm of the present application is shown in the figure Figure 1 ;

[0042] Figure 8Schematic diagram of the three-dimensional structure of the mechanical arm of the present application Figure 2 ;

[0043] Figure 9 Schematic diagram of the internal structure of the collection box of the present application

[0044] Figure 10 Schematic diagram of the enlarged structure at A in the present application Figure 9

[0045] Figure 11 Schematic diagram of the structure of the blocking piece and the blocking plate of the present application

[0046] Figure 12 Schematic diagram of the structure of the opening and closing block and the blocking block of the present application

[0047] Figure 13 Schematic diagram of the structure of the panoramic monitoring assembly of the present application

[0048] In the figure: 10, the shell; 11, the battery compartment; 21, the first obstacle-crossing arm assembly; 22, the second obstacle-crossing arm assembly; 23, the main wheel; 24, the auxiliary wheel; 25, the swing arm; 26, the obstacle-crossing track; 30, the track wheel assembly; 31, the driving wheel; 32, the driven wheel; 33, the traveling track; 41, the traveling motor; 42, the first hollow shaft; 421, the first explosion-proof inner collecting ring; 43, the first umbrella-shaped gear; 44, the second umbrella-shaped gear; 45, the second hollow shaft; 451, the second explosion-proof inner collecting ring; 51, the obstacle-crossing motor; 52, the first rotating shaft; 53, the second rotating shaft; 54, the turbine; 55, the worm; 56, the shaft coupling;

[0049] 61, the first large arm joint pipe; 62, the second large arm joint pipe; 63, the large arm pipe; 64, the small arm joint pipe; 65, the small arm pipe; 66, the first wrist joint pipe; 67, the second wrist joint pipe; 68, the third wrist joint pipe; 70, the mechanical hand;

[0050] 80, the collection box; 81, the guide pipe; 811, the blocking piece; 812, the blocking plate; 813, the opening and closing block; 814, the blocking block; 82, the connecting pipe; 83, the collection cavity; 84, the piston plate; 85, the conveying pipe; 86, the output hole; 87, the transfer seat;

[0051] 90, the support frame; 91, the horizontal support seat; 92, the horizontal camera; 93, the vertical camera;

[0052] 100, the detection module. DETAILED DESCRIPTION

[0053] ​The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0054] The implementation of the explosion-proof robot is as follows:

[0055] Please refer to Figures 1-13 An explosion-proof robot comprises a power chassis, a mechanical arm, a gas-liquid collection assembly, a detection assembly and a panoramic monitoring assembly.

[0056] The power chassis comprises a casing 10, a track wheel assembly 30 and an obstacle climbing arm assembly 30 are drivingly connected to the two sides of the casing 10, and a power cavity is arranged in the casing 10, and a driving mechanism is assembled in the power cavity.

[0057] It should be noted that the track wheel assembly 30 comprises a driving wheel 31, a driven wheel 32 and a traveling track 33 engaged on the driving wheel 31 and the driven wheel 32, and the obstacle climbing arm assembly comprises a swing arm 25, and a main wheel 23 and a secondary wheel 24 assembled at the two ends of the swing arm 25, and the main wheel 23 and the secondary wheel 24 are engaged with an obstacle climbing track 26.

[0058] The driving mechanism comprises a traveling motor 41 and an obstacle climbing motor 51 arranged in zones, the traveling motor 41 drives the track wheel assembly 30 and the main wheel 23 to rotate and travel through a first transmission unit, and the obstacle climbing motor 51 drives the swing arm 25 to rotate for obstacle climbing and climbing slopes through a second transmission unit.

[0059] The maximum rotation angle of the swing arm 25 relative to the casing 10 is 360°. The robot as a whole moves forward and backward through the track assembly, and auxiliary obstacle climbing is performed through the obstacle climbing arm assembly, which reduces the requirement for the chassis to be off the ground, effectively improves the mobility of the robot, adapts to various complex terrains, and is more reliable and controllable due to the driving of different driving units.

[0060] The first transmission unit comprises a first hollow shaft 42 drivingly connected to the traveling motor 41, and the second transmission unit comprises a first rotating shaft 52 drivingly connected to the obstacle climbing motor 51, and the first hollow shaft 42 is sleeved on the end portion of the first rotating shaft 52.

[0061] The first rotating shaft 52 is coaxial with the first hollow shaft 42 and has a rotation gap, the first hollow shaft 42 comprises a first built-in section and a first external section, the first built-in section is located inside the power cavity, and the first external section is located outside the power cavity, and the inner wall of the first external section is formed with a first explosion-proof inner collecting ring 421 reducing the rotation gap.

[0062] It should be noted that the first transmission unit further comprises a first umbrella gear 43 assembled on the output shaft of the traveling motor 41, and a second umbrella gear 44 assembled on the built-in section of the first hollow shaft 42, the first umbrella gear 43 and the second umbrella gear 44 are engaged, and the driving wheel 31 and the driven wheel 23 are press-fitted on the outer section of the first hollow shaft 42 through a shaft sleeve.

[0063] The second transmission unit further comprises a second rotating shaft 53, a worm 55 is arranged on the output shaft of the obstacle crossing motor 51, a turbine 54 is assembled on the second rotating shaft 53, the turbine 54 is engaged with the worm 55; the first rotating shaft 52 is connected with the second rotating shaft 53 through a shaft coupling 56, and the first rotating shaft 52 and the second rotating shaft 53 rotate synchronously.

[0064] The first transmission unit further comprises a second hollow shaft 45 coaxially arranged with the first hollow shaft 42, the second hollow shaft 45 is sleeved on the end of the second rotating shaft 53, the second rotating shaft 53 is coaxial with the second hollow shaft 45, and there is a rotating gap between them, the second hollow shaft 45 is arranged outside the power cavity, the inner wall of the second hollow shaft 45 is formed with a second explosion-proof inner collection ring 451 which reduces the rotating gap, and the gap between the second hollow shaft 45 and the shell 10 is small enough to meet only the rotating requirement. The arrangement of the two explosion-proof inner collection rings can make the power cavity a closed chamber, prevent external high-temperature air from entering the power cavity, and ensure the safety and reliability of the driving mechanism and the transmission assembly.

[0065] It should be noted that the track wheel assembly 30 is provided with two groups and is arranged on both sides of the shell 10, the two driving wheels 31 are diagonally distributed, and the two driven wheels 32 are diagonally distributed; the traveling motor 41 and the first transmission unit are also provided with two groups, the two traveling motors 41 are arranged near the two driving wheels 31 respectively, and the two driving wheels 31 are press-fitted on the first hollow shaft 42, and the two driven wheels 32 are press-fitted on the second hollow shaft 45.

[0066] The obstacle crossing arm assembly is provided with four groups, which are two groups of first obstacle crossing arm assemblies 21 arranged outside the driving wheels 31 and two groups of second obstacle crossing arm assemblies 22 arranged outside the driven wheels 32.

[0067] The obstacle crossing motor 51 and the second transmission unit are provided with two groups, the two obstacle crossing motors 51 are arranged near the second obstacle crossing arm assemblies 22 respectively, the swing arms 25 of the two second obstacle crossing arm assemblies 22 are press-fitted on the two second rotating shafts 53 respectively, and the swing arms 25 of the two first obstacle crossing arm assemblies 21 are press-fitted on the two first rotating shafts 52 respectively.

[0068] The four motors are arranged in the power cavity in four areas, and are staggered in front, back, left and right, so that the center of gravity of the entire track-type power chassis can be centered, and the traveling stability is improved; the two driving wheels 31 are diagonally distributed, which can take into account the power of each direction, and improve the maneuverability of the explosion-proof robot.

[0069] The two sides of the shell 10 are symmetrically provided with sealed battery compartments 11, and the outer walls of the shell 10 and the battery compartments 11 are provided with reinforcing ribs; the shell 10 is a sealed shell, and the shell has a multi-layer structure, which includes a steel plate layer, the outer surface of the steel plate layer is coated with a boron carbide coating, and a protective tungsten plate is wrapped outside the boron carbide coating; the tungsten plate blocks the radiation in the nuclear pollution area, and the boron carbide coating shields the radiation that cannot be blocked again, so that the explosion-proof robot tracked power chassis is resistant to fire and radiation, and can adapt to various disaster environments.

[0070] It should be noted that the mechanical arm includes a rotating seat 87 mounted on the power chassis, a large arm joint pipe, a large arm pipe 63, a small arm joint pipe 64, a small arm pipe 65, a wrist joint pipe, and a mechanical hand 70.

[0071] The large arm joint pipe includes a first large arm joint pipe 61 and a second large arm joint pipe 62, and a joint motor is arranged in each of the two large arm joint pipes. The two large arm joint pipes are fixedly connected with the rotors of the two joint motors, respectively. The rotation axes of the two large arm joint pipes are perpendicular to each other. The first large arm joint pipe 61 is rotatably arranged on the rotating seat 87. The first large arm joint pipe 61 is rotatably connected with the second large arm joint pipe 62. The second large arm joint pipe 62 is fixedly connected with the large arm pipe 63.

[0072] The small arm joint pipe 64 is fixedly connected with the large arm pipe 63 and rotatably connected with the small arm pipe 65. The small arm pipe 65 is L-shaped. The rotation axis of the small arm joint pipe 64 is parallel to the rotation axis of the second large arm joint pipe 62. The wrist joint pipe includes three wrist joint pipes, i.e., a first wrist joint pipe 66, a second wrist joint pipe 67, and a third wrist joint pipe 68. The first wrist joint pipe 66 is fixedly connected with the small arm pipe 65. The second wrist joint pipe 67 is rotatably connected with the first wrist joint pipe 66. The third wrist joint pipe 68 is rotatably connected with the second wrist joint pipe 67. The rotation axis of the second wrist joint pipe 67 is perpendicular to the rotation axes of the first wrist joint pipe 66 and the third wrist joint pipe 68. The mechanical hand 70 is arranged on the third wrist joint pipe 68.

[0073] The explosion-proof robot includes a gas pump and a water pump mounted on the power chassis, and a dust collection hose and a liquid collection hose attached to the mechanical arm. The collection pipe head of the dust collection hose and the liquid collection hose is arranged at the position of the mechanical hand 70.

[0074] The gas-liquid collection module collects the collected dust and / or liquid samples through the cooperation of the gas pump, the water pump, the dust collection hose, and the liquid collection hose.

[0075] It should be noted that the gas-liquid collection assembly includes a collection box 80, and two groups of collection units are arranged in the collection box 80, i.e., a dust collection unit and a liquid collection unit. The dust collection unit is used for collecting dust samples, and the liquid collection unit is used for collecting liquid samples.

[0076] The collecting unit comprises a conduit 81, a connecting pipe 82 and a plurality of collecting cavities 83 which are circumferentially distributed on the outer side of the conduit 81 and are fixedly installed on the surface of a rotating seat 87 arranged inside the collecting box 80, a motor is installed in the power chassis to drive the rotating seat 87 to rotate, the connecting pipe 82 is connected with the corresponding collecting hose and the conduit 81 at two ends respectively, and is used to transport the collected sample into the corresponding collecting cavity 83.

[0077] A group of slot holes are radially arranged on the side surface of the conduit 81, an opening and closing block 813 is radially slidably installed in the slot hole, a compression spring is arranged between the opening and closing block 813 and the conduit 81, the opening and closing block 813 is in a "mouth" type inside, a plug block 814 is fixedly installed in the slot hole, the opening and closing block 813 can be separated from or matched with the plug block 814 when moving radially, the collecting cavity 83 is not communicated with the conduit 81 when the opening and closing block 813 is matched with the plug block 814, and the corresponding collecting cavity 83 is communicated with the conduit 81 when the opening and closing block 813 is separated from the conduit 81.

[0078] A baffle 811 is fixedly arranged in the conduit 81 and is located below the slot hole, a slot is arranged on the surface of the baffle 811, and a plug plate 812 is radially slidably installed in the baffle 811, a hole is arranged on the surface of the plug plate 812, the hole on the surface of the plug plate 812 can be staggered or overlapped with the slot when the plug plate 812 moves, the upper and lower sides of the baffle 811 in the conduit 81 are communicated when the hole on the surface of the plug plate 812 is overlapped with the slot, and the corresponding collecting cavity 83 is communicated with the conduit 81 at the same time.

[0079] The plug plate 812 is fixedly connected with the lower surface of the opening and closing block 813, one side of the opening and closing block 813 close to the collecting cavity 83 is an arc-shaped side plate, the opening and closing block 813 is convenient for being pressed by the collecting cavity 83 when the collecting cavity 83 rotates, an inlet hole is arranged on the surface corresponding to the conduit 81 of the collecting cavity 83, the opening and closing block 813 can be matched with the inlet hole when the collecting cavity 83 is driven by the rotating seat 87 to rotate, and the corresponding collecting cavity 83 is communicated with the conduit 81 at this time.

[0080] The bottom of the conduit 81 in the dust collecting unit is communicated with clean air, the bottom of the conduit 81 in the liquid collecting unit is communicated with cleaning liquid, the upper and lower sides of the baffle 811 in the conduit 81 are communicated, and the dust collecting hose can be cleaned by clean air and the liquid collecting hose can be cleaned by cleaning liquid through reverse starting of the air pump or the water pump.

[0081] The collecting cavity 83 is internally sealed and slidingly mounted with a piston plate 84, the piston plate 84 divides the collecting cavity 83 into an upper cavity and a lower cavity, the collecting cavity 83 is internally mounted with a conveying pipe 85, one end of the conveying pipe 85 is connected with the inlet hole, the other end extends to the inside of the lower cavity, the surface of the conveying pipe 85 is provided with two output holes 86, the two output holes 86 correspond to the upper cavity and the lower cavity respectively, and a control valve is arranged between the two output holes 86 for controlling the opening of one of the output holes 86, when collecting samples by using a dust collecting hose or a liquid collecting hose, first, the lower output hole 86 in the conveying pipe 85 is opened by using the control valve, and the other output hole 86 is in a closed state, at this time, the non-sample substances in the collecting hose enter the lower cavity, when the non-sample substances in the collecting hose are exhausted, the upper output hole 86 is opened by using the control valve, at this time, the samples collected by the collecting hose are conveyed to the upper cavity for storage.

[0082] It should be noted that the detection module 100 includes a toxic gas detector and a nuclear detection load, the toxic gas detector is used for environmental air quality monitoring, and the concentration of harmful gas in the atmosphere is detected, and the nuclear detection load uses various effects generated by the interaction of nuclear radiation and matter to detect the existence and intensity of nuclear radiation.

[0083] It should be noted that the panoramic monitoring assembly includes a support frame 90 mounted on the power chassis, the support frame 90 is internally mounted with horizontal cameras 92 and vertical cameras 93, the horizontal cameras 92 are circumferentially distributed in a horizontal support seat 91, and the horizontal support seat 91 is horizontally rotatably mounted in the support frame 90, and the vertical cameras 93 are rotatably mounted at the bottom of the horizontal support seat 91.

[0084] The panoramic monitoring assembly is equipped with multiple horizontal cameras 92 and vertical cameras 93. The horizontal cameras 92 are circumferentially distributed in the horizontal support seat 91, the horizontal support seat 91 can rotate horizontally, and the vertical cameras 93 are rotatably mounted at the bottom of the horizontal support seat 91. This layout enables the robot to realize 360° visual monitoring, and obtain image information of the surrounding environment without dead angles, so as to timely discover potential dangers, target objects or abnormal conditions, and provide comprehensive and accurate on-site data for the operator, which is helpful for making more scientific and reasonable decisions.

[0085] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An explosion-proof robot, characterized in that: Includes a power chassis, robotic arm, gas-liquid collection assembly, detection assembly, and panoramic monitoring assembly; The power chassis includes a housing, with track wheel assemblies and obstacle crossing arm assemblies driven to both sides of the housing. A power chamber is provided inside the housing, and a drive mechanism is assembled inside the power chamber. The track wheel assembly includes a drive wheel, a driven wheel, and a track meshing with the drive wheel and the driven wheel. The obstacle crossing arm assembly includes a swing arm and a main wheel and a secondary wheel assembled at both ends of the swing arm. The obstacle crossing track meshes with the main wheel and the secondary wheel. The drive mechanism includes a traveling motor and an obstacle-crossing motor arranged in sections. The traveling motor drives the track wheel assembly and main wheel to rotate and move through a first transmission unit. The obstacle-crossing motor drives the swing arm to rotate through a second transmission unit for obstacle crossing and slope climbing. The robotic arm includes a rotary seat mounted on a power chassis, an upper arm joint tube, an upper arm tube, a lower arm joint tube, a lower arm tube, a wrist joint tube, and a robotic hand; The upper arm joint tubes are a first upper arm joint tube and a second upper arm joint tube. Each of the two upper arm joint tubes is equipped with a joint motor. The two upper arm joint tubes are fixedly connected to the rotors of the two joint motors respectively. The rotation axes of the two upper arm joint tubes are perpendicular to each other. The first upper arm joint tube is rotatably mounted on a rotating seat. The first upper arm joint tube is rotatably connected to the second upper arm joint tube, and the second upper arm joint tube is fixedly connected to the upper arm tube. The forearm joint tube is provided as one, which is fixedly connected to the upper arm tube and rotatably connected to the forearm tube. The forearm tube is L-shaped, and the rotation axis of the forearm joint tube is parallel to the rotation axis of the second upper arm joint tube. The wrist joint tube has three parts: the first wrist joint tube, the second wrist joint tube, and the third wrist joint tube. The first wrist joint tube is fixedly connected to the forearm tube, the second wrist joint tube is rotatably connected to the first wrist joint tube, and the third wrist joint tube is rotatably connected to the second wrist joint tube. The rotation axis of the second wrist joint tube is perpendicular to the rotation axes of the first and third wrist joint tubes. The robotic arm is mounted on the third wrist joint tube. The explosion-proof robot also includes an air pump and a water pump mounted on the power chassis, as well as a dust collection hose and a liquid collection hose attached to the robotic arm. The collection heads of the dust collection hose and the liquid collection hose are installed at the position of the robotic arm. The gas-liquid collection module collects dust and / or liquid samples through the cooperation of an air pump, a water pump, a dust collection hose, and a liquid collection hose. The gas-liquid collection assembly includes a collection box, which contains two sets of collection units: a dust collection unit and a liquid collection unit. The collection unit includes a conduit, a connecting tube, and several collection chambers. The several collection chambers are circumferentially distributed on the outside of the conduit and are fixedly installed on the surface of the rotating seat set inside the collection box. The two ends of the connecting tube are respectively connected to the corresponding collection hose and conduit. The side surface of the conduit has a set of slots radially opened, and an opening and closing block is radially slidably installed inside the slot. The opening and closing block is "U" shaped inside, and a blocking block is fixedly installed inside the slot. When the opening and closing block moves radially, it can separate from or cooperate with the blocking block. A baffle is fixedly installed inside the conduit. The baffle is located below the slot. The surface of the baffle has a slot. A blocking plate is radially slidably installed inside the baffle. The surface of the blocking plate has holes. When the blocking plate moves, the holes on its surface can be offset from or coincide with the slot. The blocking plate is fixedly connected to the lower surface of the opening and closing block. The side of the opening and closing block near the collection chamber is an arc-shaped side plate. The surface of the collection chamber corresponding to the conduit is provided with an inlet hole. When the rotating seat drives the collection chamber to rotate, the opening and closing block can cooperate with the inlet hole. The bottom of the duct in the dust collection unit is connected to clean air, and the bottom of the duct in the liquid collection unit is connected to cleaning fluid.

2. The explosion-proof robot according to claim 1, characterized in that: The first transmission unit includes a first hollow shaft that is driven and connected to the travel motor, and the second transmission unit includes a first rotating shaft that is driven and connected to the obstacle crossing motor. The first hollow shaft is fitted onto the end of the first rotating shaft. The first rotating shaft is coaxial with the first hollow shaft and has a rotational clearance. The first hollow shaft includes a first internal section and a first external section. The first internal section is located inside the power cavity, and the first external section is located outside the power cavity. The inner wall of the first external section is formed with a first explosion-proof inner closing ring to reduce the rotational clearance.

3. The explosion-proof robot according to claim 2, characterized in that: The first transmission unit further includes a first bevel gear mounted on the output shaft of the drive motor, and a second bevel gear mounted on the built-in section of the first hollow shaft. The first bevel gear meshes with the second bevel gear, and the drive wheel and the main wheel are press-fitted onto the outer section of the first hollow shaft through bushings. The second transmission unit also includes a second rotating shaft. A worm gear is provided on the output shaft of the obstacle-crossing motor, and a worm gear is mounted on the second rotating shaft. The worm gear meshes with the worm gear. The first rotating shaft is connected to the second rotating shaft through a coupling, and the first rotating shaft and the second rotating shaft rotate synchronously. The first transmission unit further includes a second hollow shaft coaxially arranged with the first hollow shaft. The second hollow shaft is fitted onto the end of the second rotating shaft. The second rotating shaft is coaxial with the second hollow shaft and there is a rotational clearance between them. The second hollow shaft is located outside the power cavity. The inner wall of the second hollow shaft is formed with a second explosion-proof inner closing ring to reduce the rotational clearance.

4. The explosion-proof robot according to claim 1, characterized in that: The track wheel assembly is provided in two sets, which are respectively located on both sides of the machine housing. The two drive wheels are diagonally distributed, and the two driven wheels are diagonally distributed. The travel motor and the first transmission unit are also provided in two sets. The two travel motors are respectively located near the two drive wheels. The two drive wheels are press-fitted on the first hollow shaft, and the two driven wheels are press-fitted on the second hollow shaft.

5. The explosion-proof robot according to claim 1, characterized in that: The obstacle crossing arm assembly is provided in four sets: two sets of first obstacle crossing arm assemblies located on the outside of the drive wheel, and two sets of second obstacle crossing arm assemblies located on the outside of the driven wheel. The obstacle-crossing motor and the second transmission unit are provided in two sets. The two obstacle-crossing motors are respectively located near the second obstacle-crossing arm assembly. The swing arms of the two second obstacle-crossing arm assemblies are respectively pressed against the two second rotating shafts, and the swing arms of the two first obstacle-crossing arm assemblies are respectively pressed against the two first rotating shafts.

6. The explosion-proof robot according to claim 1, characterized in that: A piston plate is slidably installed inside the collection chamber, dividing the collection chamber into an upper chamber and a lower chamber. A conveying pipe is installed inside the collection chamber, with one end connected to the inlet and the other end extending into the lower chamber. Two output holes are opened on the surface of the conveying pipe, corresponding to the upper and lower chambers respectively. A control valve is provided between the two output holes to control one of the output holes to open.

7. The explosion-proof robot according to claim 1, characterized in that: The panoramic monitoring component includes a support frame mounted on a power chassis. The support frame houses horizontal and vertical cameras. There are several horizontal cameras, which are distributed circumferentially in a horizontal support base. The horizontal support base is horizontally rotatably mounted in the support frame, and the vertical cameras are vertically rotatably mounted at the bottom of the horizontal support base.

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