A bionic robot dog joint motor explosion-proof mechanism

Abstract

The present invention relates to the field of motor explosion-proof technology, and specifically to a bionic robot dog joint motor explosion-proof mechanism, comprising a left front root explosion-proof motor assembly, wherein the left front root explosion-proof motor assembly is fixedly connected at the corner of the bionic robot dog body, and the end of the left front root explosion-proof motor assembly is fixedly connected to the left front middle explosion-proof motor assembly, one end of the left front middle explosion-proof motor assembly is fixedly connected to the bionic robot dog body, and the other end is cooperated with the left front large explosion-proof motor assembly. By constructing multiple independent explosion-proof spaces, the electric sparks and high temperatures generated by the operation of the motors are effectively isolated to prevent them from contacting the external explosive environment, thereby avoiding the occurrence of explosion accidents, and the use of sealing rings for sealing at the connection parts of each explosion-proof assembly can ensure the sealing effect, prevent explosive gas or dust from entering the explosion-proof space, further enhance the explosion-proof performance, and solve the problem that traditional bionic robot dogs lack explosion-proof performance and cannot operate in flammable and explosive gases and dusty environments.

Description

Technical Field

[0001] The invention relates to the technical field of motor explosion-proof technology, in particular to an explosion-proof mechanism for a bionic robot dog joint motor. Background Art

[0002] With the development of technology, bionic robot dogs have been widely used in many fields, such as hazardous environment detection (including mines, fire scenes, chemical leak areas, etc.), military reconnaissance, and rescue operations. These application scenarios often involve flammable and explosive gases and dust, which can cause explosions if exposed to sparks or high temperatures, causing serious harm to personnel and equipment.

[0003] Currently, most robot dog joint motors on the market do not have special explosion-proof designs. The electric sparks generated during the operation of the motor or the high temperature generated by friction, short circuit, etc. can easily ignite explosive materials in the surrounding environment, thereby causing an explosion accident, which greatly limits the application of robot dogs in dangerous environments. In addition, some robot dog joint motors have defects in power transmission and the transmission structure is not reasonable, resulting in large energy loss during power transmission, low transmission efficiency, and prone to vibration, noise and other problems, which affect the robot dog's motion accuracy and stability, and cannot meet the requirements of complex tasks for robot dog motion control. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a bionic robot dog joint motor explosion-proof mechanism. By constructing multiple independent explosion-proof spaces, it effectively isolates the electric sparks and high temperature generated by the motor operation, preventing them from contacting the external explosive environment, thereby avoiding the occurrence of explosion accidents. In addition, sealing rings are used at the connection parts of each explosion-proof component to ensure the sealing effect, prevent explosive gas or dust from entering the explosion-proof space, further enhance the explosion-proof performance, and solve the problem that traditional bionic robot dogs lack explosion-proof performance and cannot operate in flammable and explosive gases and dusty environments.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a bionic robot dog joint motor explosion-proof mechanism, including a left front root explosion-proof motor assembly, the left front root explosion-proof motor assembly is fixedly connected to the corner of the bionic robot dog body, the end of the left front root explosion-proof motor assembly is fixedly connected to the left front middle explosion-proof motor assembly, one end of the left front middle explosion-proof motor assembly is fixedly connected to the bionic robot dog body, and the other end is equipped with a left front large explosion-proof motor assembly;

[0006] The left front large explosion-proof motor assembly includes a connecting cover plate, the end of the left front middle explosion-proof motor assembly is cooperated with the connecting cover plate, the side wall of the connecting cover plate is sealed with the rear end explosion-proof cover, the side wall of the rear end explosion-proof cover is cooperated with the motor explosion-proof compartment, the side wall of the motor explosion-proof compartment is also sealed with the left front large explosion-proof cover plate, the side wall of the left front large explosion-proof cover plate is rotatably installed with a gear transmission compartment, the outer side wall of the gear transmission compartment is connected to the lower limb of the bionic robot dog's leg, and the side wall of the gear transmission compartment is sealed with a lower cover plate.

[0007] Preferably, a "convex" type sealing ring is installed between the rear end explosion-proof cover and the motor explosion-proof chamber, and a third "O" type sealing ring is installed between the motor explosion-proof chamber and the left front large explosion-proof cover plate.

[0008] Preferably, the rear end explosion-proof cover, the motor explosion-proof compartment and the left front large explosion-proof cover plate are assembled and installed to form an integrated explosion-proof space, in which a third encoder motor is arranged, the output shaft of the third encoder motor is fixedly connected to the No. 1 drive gear shaft, and the side of the third encoder motor is electrically connected to the third encoder.

[0009] Preferably, the No. 1 drive gear shaft passes through the left front large explosion-proof cover and is connected to the second planetary gear set. The second planetary gear set is arranged in the gear transmission compartment, and the gear shaft end of the second planetary gear set is fixedly mounted on the side wall of the left front large explosion-proof cover.

[0010] Preferably, a third outlet connector for connecting the third encoder motor is provided on the outer side wall of the motor flameproof compartment.

[0011] Preferably, the left front root explosion-proof motor assembly includes an end sealing plate, a lower shell cover is fixedly installed on the side wall of the end sealing plate, a left front root explosion-proof chamber is sealed and installed on the side wall of the lower shell cover through a first "O"-ring, the left front root explosion-proof chamber side wall is rotatably connected to the left front root motor upper cover, and the left front root upper connecting piece is fixedly installed on the side wall of the left front root motor upper cover.

[0012] Preferably, an explosion-proof space is formed between the end sealing plate, the lower shell sealing cover, the left front root explosion-proof chamber and the left front root motor upper cover. A first encoding motor is arranged inside the left front root explosion-proof chamber. The output shaft of the first encoding motor passes through the left front root motor upper cover and is fixedly connected to the left front root upper connecting piece. The side of the first encoding motor is electrically connected to the first encoder.

[0013] Preferably, a first outlet connector for connecting the first encoding motor is provided on the outer side of the left front flameproof compartment.

[0014] Preferably, the left front center explosion-proof motor assembly includes a flameproof cover, which is fixedly connected to the bionic robot dog body, and the left front center explosion-proof bin is fixedly installed on the side of the flameproof cover through a second "O"-ring, and the left center explosion-proof bin is fixedly installed on the side of the left front center explosion-proof bin, and the left center explosion-proof cover is fixedly installed on the side of the left center explosion-proof cover. The left front center upper cover and the left front root upper connector are cooperatively connected, and a left front gear bin is rotatably arranged on the inner side of the left front center upper cover.

[0015] Preferably, a second encoding motor is provided inside the left front middle explosion-proof warehouse, and the side of the second encoding motor is electrically connected to a second encoder. The output shaft of the second encoding motor is fixedly connected to a second drive gear shaft, and the second drive gear shaft passes through the left middle explosion-proof cover and is connected to the first planetary gear set. The first planetary gear set is provided inside the left front gear warehouse and the end of its gear shaft is fixedly installed on the side wall of the left middle explosion-proof cover.

[0016] Preferably, the end of the second driving gear shaft is fixedly arranged on the side wall of the connecting cover plate, and the outer side wall of the left front middle explosion-proof warehouse is provided with a second outlet connector for connecting the second encoding motor.

[0017] Preferably, the first "O"-shaped sealing ring, the second "O"-shaped sealing ring, the "convex"-shaped sealing ring and the third "O"-shaped sealing ring are all made of double-layer fluororubber material.

[0018] Beneficial effects of the present invention:

[0019] 1. The present invention provides a bionic robot dog joint motor explosion-proof mechanism. The bionic robot dog joint motor explosion-proof mechanism is equipped with multiple explosion-proof components, each of which forms an independent explosion-proof space, isolating key components such as the motor from the external explosive environment, effectively preventing electric sparks or high temperatures generated by the motor from causing external explosions, and ensuring the safe operation of the robot dog in dangerous environments. The joints use a variety of sealing rings, all made of double-layer fluororubber material. The double-layer fluororubber material has excellent high temperature resistance, corrosion resistance, oil resistance, etc., and can effectively prevent explosive gas or dust from entering the explosion-proof space, further enhancing the explosion-proof performance.

[0020] 2. The present invention provides an explosion-proof mechanism for the joint motor of a bionic robot dog. Through the rational use of planetary gears, it ensures stable and reliable power transmission and achieves precise motion control. Each explosion-proof motor component is equipped with a corresponding encoder, which can monitor the motor's speed, direction and other operating parameters in real time, and feed this information back to the control system, so that the control system can accurately control the motor according to actual conditions, thereby improving the robot dog's motion accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and examples.

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the installation position of the present invention and the bionic robot dog body;

[0023] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 3 In the present invention Figure 2 Schematic diagram of the installation structure;

[0025] Figure 4 This is a schematic diagram of the explosion-proof three-dimensional structure of the left front root explosion-proof motor assembly of the present invention;

[0026] Figure 5 It is a schematic diagram of the exploded three-dimensional structure of the left front center explosion-proof motor assembly of the present invention;

[0027] Figure 6 It is a schematic diagram of the explosion three-dimensional structure of the left front large explosion-proof motor assembly in the present invention.

[0028] In the picture:

[0029] 1. Left front explosion-proof motor assembly; 10. End seal plate; 11. Lower housing cover; 12. First O-ring seal; 13. First encoder; 14. First encoder motor; 15. Left front explosion-proof compartment; 16. Left front motor upper cover; 17. Left front upper connector; 18. First outlet connector;

[0030] 2. Left front center explosion-proof motor assembly; 21. Flameproof cover; 22. Second O-ring; 23. Left front center explosion-proof compartment; 24. Second encoder; 25. Left center explosion-proof cover; 26. Second encoder motor; 261. Second drive gear shaft; 27. First planetary gear set; 28. Left front center upper cover; 29. ​​Second outlet connector; 210. Left front gear compartment;

[0031] 3. Left front large explosion-proof motor assembly; 31. Connecting cover; 32. Rear end explosion-proof cover; 33. Third encoder; 34. "Convex" type sealing ring; 35. Motor explosion-proof compartment; 36. Third "O" type sealing ring; 37. Left front large explosion-proof cover; 38. Third encoder motor; 381. No. 1 drive gear shaft; 39. Second planetary gear set; 310. Gear transmission compartment; 311. Lower cover; 312. Third outlet connector. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0033] Example 1:

[0034] See Figures 1 to 3 as well as Figure 6 A bionic robot dog joint motor explosion-proof mechanism includes a left front root explosion-proof motor assembly 1, which is fixedly connected to the corner of the bionic robot dog body. The end of the left front root explosion-proof motor assembly 1 is fixedly connected to the left front middle explosion-proof motor assembly 2. One end of the left front middle explosion-proof motor assembly 2 is fixedly connected to the bionic robot dog body, and the other end is equipped with a left front large explosion-proof motor assembly 3;

[0035] The left front large explosion-proof motor assembly 3 includes a connecting cover 31, and the end of the left front middle explosion-proof motor assembly 2 is cooperated with the connecting cover 31. The side wall of the connecting cover 31 is sealed with a rear end explosion-proof cover 32, and the side wall of the rear end explosion-proof cover 32 is cooperated with the motor explosion-proof compartment 35. The side wall of the motor explosion-proof compartment 35 is also sealed with a left front large explosion-proof cover 37. The side wall of the left front large explosion-proof cover 37 is rotatably installed with a gear transmission compartment 310. The outer side wall of the gear transmission compartment 310 is connected to the lower limb of the bionic robot dog's leg, and the side wall of the gear transmission compartment 310 is sealed with a lower cover 311.

[0036] A convex sealing ring 34 is installed between the rear end explosion-proof cover 32 and the motor explosion-proof chamber 35 , and a third O-shaped sealing ring 36 is installed between the motor explosion-proof chamber 35 and the left front large explosion-proof cover plate 37 .

[0037] The rear end explosion-proof cover 32, the motor explosion-proof compartment 35 and the left front large explosion-proof cover plate 37 are assembled and installed to form an integrated explosion-proof space, in which a third encoding motor 38 is arranged. The output shaft of the third encoding motor 38 is fixedly connected to the No. 1 drive gear shaft 381, and the side of the third encoding motor 38 is electrically connected to the third encoder 33.

[0038] The No. 1 drive gear shaft 381 passes through the left front large explosion-proof cover 37 and is connected to the second planetary gear set 39. The second planetary gear set 39 is arranged in the gear transmission compartment 310, and the gear shaft end of the second planetary gear set 39 is fixedly mounted on the side wall of the left front large explosion-proof cover 37.

[0039] The outer side wall of the motor flameproof chamber 35 is provided with a third outlet connector 312 for connecting the third encoder motor 38 .

[0040] During specific operation, the third encoding motor 38 is located in an integrated explosion-proof space formed by the rear end explosion-proof cover 32, the motor explosion-proof compartment 35 and the left front large explosion-proof cover plate 37, ensuring safe operation in an explosive environment. The third encoding motor 38 is connected through the third outlet connector 312 on the outer wall of the motor explosion-proof compartment 35 to realize the connection between the third encoding motor 38 and the external power supply and control system. The third encoder 33 is electrically connected to the side of the third encoding motor 38 to monitor the operating status of the third encoding motor 38 in real time and feed back to the control system. During operation, the third encoding motor 38 is started under the command of the control system, thereby driving the No. 1 drive gear shaft 381 to rotate, and transmits power to the gear transmission compartment 310 and the lower cover plate 311 through the second planetary gear set 39, and the outer wall of the gear transmission compartment 310 is connected to the lower limb of the bionic robot dog's leg, thereby driving the leg movement.

[0041] Example 2:

[0042] The technical solution is basically the same as that of embodiment 1, see Figures 1 to 4 The difference is that: the left front root explosion-proof motor assembly 1 includes an end sealing plate 10, a lower shell cover 11 is fixedly installed on the side wall of the end sealing plate 10, a left front root flameproof chamber 15 is sealed and installed on the side wall of the lower shell cover 11 through a first "O"-ring 12, the side wall of the left front root flameproof chamber 15 is rotatably connected to the left front root motor upper cover 16, and the side wall of the left front root motor upper cover 16 is fixedly installed with a left front root upper connecting piece 17.

[0043] An explosion-proof space is formed between the end sealing plate 10, the lower shell sealing cover 11, the left front root explosion-proof chamber 15 and the left front root motor upper cover 16. A first encoding motor 14 is arranged inside the left front root explosion-proof chamber 15. The output shaft of the first encoding motor 14 passes through the left front root motor upper cover 16 and is fixedly connected to the left front root upper connector 17. The side of the first encoding motor 14 is electrically connected to the first encoder 13.

[0044] The outer side of the left front flameproof chamber 15 is provided with a first outlet connector 18 for connecting the first encoding motor 14 .

[0045] During specific operation, the first encoder motor 14 is located in an explosion-proof space formed by the end sealing plate 10, the lower shell sealing cover 11, the left front root flameproof chamber 15 and the left front root motor upper cover 16, which can prevent the electric spark or high temperature generated by the operation of the first encoder motor 14 from causing an explosion in the external explosive environment. The first encoder 13 is electrically connected to the side of the first encoder motor 14, and can monitor the speed, direction and other information of the first encoder motor 14 in real time, and feed this information back to the control system so as to accurately control the operating state of the first encoder motor 14. The first outgoing line connector 18 on the outside is connected to the first encoder motor 14 to connect the motor to the external power supply and control system. During operation, the first encoder motor 14 is started by an external control signal. The output shaft of the first encoder motor 14 passes through the left front motor upper cover 16 and is fixedly connected to the left front upper connector 17, transmitting power to the left front upper connector 17, thereby driving the left front middle explosion-proof motor assembly 2 and the left front large explosion-proof motor assembly 3 connected to the left front upper connector 17 to rotate, thereby adapting to the walking movement of the bionic robot dog's legs.

[0046] Example 3:

[0047] The technical solution is basically the same as that of embodiment 1, see Figures 1 to 3 as well as Figure 5 The difference is that: the left front middle explosion-proof motor assembly 2 includes a flameproof cover 21, which is fixedly connected to the bionic robot dog body, and the left front middle explosion-proof warehouse 23 is fixedly installed on the side of the flameproof cover 21 through a second "O"-ring 22, and the left front middle explosion-proof warehouse 23 is fixedly installed on the side of the left front middle explosion-proof warehouse 23. The left middle flameproof cover 25 is fixedly installed on the side of the left middle flameproof cover 25. The left front middle upper cover 28 is connected to the left front root upper connector 17, and a left front gear warehouse 210 is rotatably arranged on the inner side of the left front middle upper cover 28.

[0048] The left front middle explosion-proof warehouse 23 is equipped with a second encoding motor 26, and the side of the second encoding motor 26 is electrically connected to the second encoder 24. The output shaft of the second encoding motor 26 is fixedly connected to the second drive gear shaft 261. The second drive gear shaft 261 passes through the left middle explosion-proof cover 25 and is connected to the first planetary gear set 27. The first planetary gear set 27 is equipped with the left front gear warehouse 210 and the end of its gear shaft is fixedly mounted on the side wall of the left middle explosion-proof cover 25.

[0049] The end of the second driving gear shaft 261 is fixedly arranged on the side wall of the connecting cover plate 31 , and the outer side wall of the left front middle explosion-proof compartment 23 is provided with a second outlet connector 29 for connecting the second encoding motor 26 .

[0050] The first O-ring 12, the second O-ring 22, the convex seal 34 and the third O-ring 36 are all made of double-layer fluororubber material.

[0051] During specific operation, the second encoding motor 26 is in an explosion-proof space formed by the explosion-proof cover 21, the left front middle explosion-proof compartment 23 and the left middle explosion-proof cover 25 to ensure safe operation. The second encoder 24 is electrically connected to the side of the second encoding motor 26, monitors the operating parameters of the second encoding motor 26 in real time and feeds back to the control system, and uses the second outlet connector 29 on the outer wall of the left front middle explosion-proof compartment 23 to connect the second encoding motor 26 to achieve electrical connection between the second encoding motor 26 and the outside. During operation, the second encoding motor 26 is started under the control of the control system, thereby driving the second drive gear shaft 261 to rotate, and transmits power to the left front gear compartment 210 and the connecting cover plate 31 through the first planetary gear set 27, thereby driving the left front large explosion-proof motor assembly 3 to rotate, thereby improving the coordination of the lower limb movement of the bionic robot dog's legs.

[0052] The working principle of the present invention when in use:

[0053] 1: The first encoder motor 14 is located in an explosion-proof space formed by the end cover 10, the lower shell cover 11, the left front root flameproof chamber 15 and the left front root motor cover 16, which can prevent the electric spark or high temperature generated by the operation of the first encoder motor 14 from causing an explosion in the external explosive environment. The first encoder 13 is electrically connected to the side of the first encoder motor 14, and can monitor the speed, direction and other information of the first encoder motor 14 in real time, and feed this information back to the control system so as to accurately control the operating state of the first encoder motor 14. The first outlet connector 18 on the side is connected to the first encoder motor 14 to connect the motor to the external power supply and control system. During operation, the first encoder motor 14 is started under the action of the external control signal, and the output shaft of the first encoder motor 14 passes through the left front root motor cover 16 and is fixedly connected to the left front root upper connector 17, transmitting power to the left front root upper connector 17, thereby driving the left front middle explosion-proof motor assembly 2 and the left front large explosion-proof motor assembly 3 connected to the left front root upper connector 17 to rotate, thereby adapting to the walking movement of the bionic robot dog's legs;

[0054] Second: The second encoding motor 26 is located in the explosion-proof space formed by the explosion-proof cover 21, the left front middle explosion-proof compartment 23 and the left middle explosion-proof cover 25 to ensure safe operation. The second encoder 24 is electrically connected to the side of the second encoding motor 26 to monitor the operating parameters of the second encoding motor 26 in real time and feed back to the control system. The second outlet connector 29 on the outer wall of the left front middle explosion-proof compartment 23 is used to connect the second encoding motor 26 to achieve electrical connection between the second encoding motor 26 and the outside. During operation, the second encoding motor 26 is started under the control of the control system, thereby driving the second drive gear shaft 261 to rotate, and transmits power to the left front gear compartment 210 and the connecting cover plate 31 through the first planetary gear set 27, thereby driving the left front large explosion-proof motor assembly 3 to rotate, thereby improving the coordination of the lower limb movement of the bionic robot dog's legs;

[0055] 3: The third encoding motor 38 is located in an integrated explosion-proof space formed by the rear end explosion-proof cover 32, the motor explosion-proof compartment 35 and the left front large explosion-proof cover plate 37 to ensure safe operation in an explosive environment. The third encoding motor 38 is connected to the third outlet connector 312 on the outer wall of the motor explosion-proof compartment 35 to realize the connection between the third encoding motor 38 and the external power supply and control system. The third encoder 33 is electrically connected to the side of the third encoding motor 38 to monitor the operating status of the third encoding motor 38 in real time and feed back to the control system. During operation, the third encoding motor 38 is started under the command of the control system, thereby driving the No. 1 drive gear shaft 381 to rotate, and transmits power to the gear transmission compartment 310 and the lower cover plate 311 through the second planetary gear set 39. The outer wall of the gear transmission compartment 310 is connected to the lower limb of the bionic robot dog's leg, thereby driving the leg movement;

[0056] 4: During any of the above steps, the left front root explosion-proof motor assembly 1, the left front middle explosion-proof motor assembly 2 and the left front large explosion-proof motor assembly 3 can all adaptively cooperate to form a complete power transmission system to ensure the continuity and coordination of the joint movement of the bionic robot dog.

[0057] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic robot dog joint motor explosion-proof mechanism, comprising a left front root explosion-proof motor assembly (1), characterized in that: The bionic robot dog body is fixedly connected to a left front root explosion-proof motor assembly (1) at a corner thereof, the left front root explosion-proof motor assembly (1) is fixedly connected to a left front middle explosion-proof motor assembly (2) at its end, one end of the left front middle explosion-proof motor assembly (2) is fixedly connected to the bionic robot dog body, and the other end is cooperatively mounted with a left front large explosion-proof motor assembly (3); The left front large explosion-proof motor assembly (3) includes A connecting cover plate (31) is provided on the end of the left front middle explosion-proof motor assembly (2); A rear end flameproof cover (32) is connected to the side wall of the cover plate (31) and is sealed with the rear end flameproof cover (32); The motor flameproof chamber (35) is cooperatively mounted on the side wall of the rear end flameproof cover (32); A left front large flameproof cover plate (37) is provided on the side wall of the motor flameproof compartment (35) and is sealed with a left front large flameproof cover plate (37); A gear transmission compartment (310) is rotatably mounted on the side wall of the left front large flameproof cover (37), and the outer side wall of the gear transmission compartment (310) is connected to the lower limb of the bionic robot dog's leg; A lower cover plate (311) is sealed and mounted on the side wall of the gear transmission chamber (310).

2. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 1, characterized in that: A "convex" type sealing ring (34) is installed between the rear end explosion-proof cover (32) and the motor explosion-proof chamber (35), and a third "O" type sealing ring (36) is installed between the motor explosion-proof chamber (35) and the left front large explosion-proof cover plate (37).

3. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 2, characterized in that: The rear end explosion-proof cover (32), the motor explosion-proof compartment (35) and the left front large explosion-proof cover plate (37) are assembled and installed to form an integrated explosion-proof space, in which a third encoding motor (38) is arranged. The output shaft of the third encoding motor (38) is fixedly connected to the first drive gear shaft (381), and the side of the third encoding motor (38) is electrically connected to the third encoder (33).

4. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 3, characterized in that: The first drive gear shaft (381) passes through the left front large explosion-proof cover (37) and is connected to the second planetary gear set (39). The second planetary gear set (39) is arranged in the gear transmission chamber (310). The gear shaft end of the second planetary gear set (39) is fixedly mounted on the side wall of the left front large explosion-proof cover (37).

5. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 3, characterized in that: A third outlet connector (312) for connecting the third encoding motor (38) is provided on the outer side wall of the motor flameproof compartment (35).

6. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 2, characterized in that: The left front root explosion-proof motor assembly (1) includes an end sealing plate (10), a lower shell sealing cover (11) is fixedly installed on the side wall of the end sealing plate (10), a left front root flameproof chamber (15) is sealed and installed on the side wall of the lower shell sealing cover (11) through a first "O"-shaped sealing ring (12), the side wall of the left front root flameproof chamber (15) is rotatably connected to the left front root motor upper cover (16), and the side wall of the left front root motor upper cover (16) is fixedly installed with a left front root upper connecting piece (17).

7. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 6, characterized in that: An explosion-proof space is formed between the end sealing plate (10), the lower shell sealing cover (11), the left front root explosion-proof chamber (15) and the left front root motor upper cover (16). A first encoding motor (14) is arranged inside the left front root explosion-proof chamber (15). The output shaft of the first encoding motor (14) passes through the left front root motor upper cover (16) and is fixedly connected to the left front root upper connector (17). The side of the first encoding motor (14) is electrically connected to the first encoder (13).

8. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 7, characterized in that: The outer side of the left front flameproof chamber (15) is provided with a first outlet connector (18) for connecting the first encoding motor (14).

9. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 6, characterized in that: The left front middle explosion-proof motor assembly (2) includes a flameproof cover (21), the flameproof cover (21) is fixedly connected to the bionic robot dog body, a left front middle explosion-proof chamber (23) is fixedly installed on the side of the flameproof cover (21) through a second "O"-shaped sealing ring (22), a left middle flameproof cover (25) is fixedly installed on the side of the left front middle explosion-proof chamber (23), a left middle flameproof cover (25) is fixedly installed on the side of the left middle flameproof cover (25), the left front middle upper cover (28) is fixedly installed on the side of the left middle flameproof cover (25), the left front middle upper cover (28) and the left front root upper connecting piece (17) are connected in a cooperative manner, and a left front gear chamber (210) is rotatably provided on the inner side of the left front middle upper cover (28).

10. The explosion-proof mechanism of the bionic robot dog joint motor according to claim 9, characterized in that: The left front middle explosion-proof chamber (23) is provided with a second encoding motor (26) in cooperation with the inside thereof, the side of the second encoding motor (26) is electrically connected to the second encoder (24), the output shaft of the second encoding motor (26) is fixedly connected to the second drive gear shaft (261), the second drive gear shaft (261) passes through the left middle explosion-proof cover (25) and is connected to the first planetary gear set (27), the first planetary gear set (27) is provided in cooperation with the inside of the left front gear chamber (210) and the end of the gear shaft is fixedly mounted on the side wall of the left middle explosion-proof cover (25).

11. The explosion-proof mechanism for the joint motor of a bionic robot dog according to claim 10, characterized in that: The end of the second drive gear shaft (261) is fixedly mounted on the side wall of the connecting cover (31), and a second outlet connector (29) for connecting the second encoding motor (26) is provided on the outer side wall of the left front middle explosion-proof compartment (23).

12. The explosion-proof mechanism for the joint motor of a bionic robot dog according to claim 9, characterized in that: The first "O"-shaped sealing ring (12), the second "O"-shaped sealing ring (22), the "convex"-shaped sealing ring (34) and the third "O"-shaped sealing ring (36) are all made of double-layer fluororubber material.

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