Driving walking wheel module for explosion-proof robot

Abstract

The invention discloses a driving walking wheel module for an explosion-proof robot, and relates to the technical field of robots. The problems that an existing walking wheel of the wheeled robot is poor in explosive-proof effect, and safety accidents are likely to be caused are solved. The robot comprises a leg connecting assembly, a wheel body and a driving assembly, the driving assembly is coaxially connected with the wheel body and drives the wheel body to rotate, and the leg connecting assembly is connected with the driving assembly and a shank; a driving unit of the driving assembly is embedded in a wheel foot support through an anti-explosion connecting piece, and a cylindrical joint face of the anti-explosion connecting piece and the wheel foot support forms a main explosion-proof face. The main explosion-proof cavity is formed through the cylindrical joint face of the wheel set shaft and the mounting cover, the rotary explosion-proof structure is formed by combining the main explosion-proof cavity with the copper ring arranged at the shaft end, and effective sealing of a potential ignition source in the driving unit is achieved; the hub is integrated with the heat dissipation blades, so that the heat management capacity is enhanced, and the carbon tube connecting assembly guarantees the structural strength and achieves light weight at the same time. The device is suitable for high-risk environment inspection and transportation operation.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a drive wheel module for explosion-proof robots. It is particularly suitable for the leg structure of quadruped robots operating in high-risk explosion-proof environments, providing a drive wheel module with safety features. Background Technology

[0002] In typical industrial settings such as petroleum, chemical, oil and gas fields, and mines, the presence of flammable and explosive gases, vapors, or dust in the working environment imposes extremely stringent explosion-proof safety requirements on all equipment. For a long time, tasks such as inspection and monitoring, and material transportation in these high-risk environments have relied heavily on manual labor, which is not only inefficient but also poses a serious threat to personnel safety. To reduce personal risks and improve the level of automation, mobile robots replacing manual labor has become a clear development trend.

[0003] However, the application of existing robotics technologies in such scenarios still faces fundamental challenges and bottlenecks. Currently, the vast majority of robot drive solutions are based on electric motors. Whether it is a servo motor used for joint drive or a hub motor used in wheeled robots, it is difficult to avoid generating electric sparks, arcs, or localized overheating during startup, operation, overload, or internal failure. Although external protective measures such as explosion-proof enclosures can be used to attempt to isolate the risks, such "passive protection" methods not only significantly increase the size, weight, and cost of the equipment, but their protective integrity also risks failure after the robot experiences impacts from complex terrain, long-term vibration, or mechanical wear. Once the explosion-proof cavity is damaged, potential ignition sources will come into contact with the explosive environment, causing serious safety accidents.

[0004] In summary, existing wheeled robots have poor explosion-proof performance on their wheels, which can easily lead to safety accidents. Summary of the Invention

[0005] The purpose of this invention is to address the problem that existing wheeled robot wheels have poor explosion-proof performance, which can easily lead to safety accidents. Therefore, this invention provides a drive wheel module for explosion-proof robots.

[0006] The technical solution of this invention is:

[0007] A drive wheel module for an explosion-proof robot includes a leg connection assembly, a wheel body, and a drive assembly. The drive assembly is coaxially connected to the wheel body and drives the wheel body to rotate. The leg connection assembly is connected to both the drive assembly and the lower leg. The drive assembly includes a wheel support bracket, a drive unit, and an explosion-proof connector. The drive unit is embedded in the wheel support bracket through the explosion-proof connector. The cylindrical mating surface between the explosion-proof connector and the wheel support bracket is an explosion-proof surface for explosion protection.

[0008] Furthermore, the leg connection assembly includes a lower leg connector, a carbon tube, and a carbon tube kit. One end of the lower leg connector is inserted into one end of the carbon tube and connected by a carbon tube kit. The other end of the lower leg connector is rotatably connected to the lower leg. The other end of the carbon tube is connected to the drive assembly through another carbon tube kit.

[0009] Furthermore, the wheel body includes a protective net, a honeycomb tire, and a wheel hub. The honeycomb tire is mounted on the wheel hub, and the protective net is mounted on the side end face of the wheel hub.

[0010] Preferably, the hub includes an outer ring, an inner ring, and heat dissipation blades, with the outer ring and inner ring arranged coaxially and connected by the heat dissipation blades.

[0011] Furthermore, the drive assembly also includes an explosion-proof cable connector, which is provided on the wheel support and is located inside the carbon tube.

[0012] Furthermore, the drive unit includes a motor stator, a planetary reducer, a driver, a magnet mounting block, a magnet, a flange, and a shaft. The motor stator is coaxially mounted on the wheel bracket via the flange. The planetary reducer is embedded inside the motor stator. The shaft is mounted on the flange and inserted into the planetary reducer. The driver is mounted on the outside of the flange. The magnet is mounted between the flange and the driver via the magnet mounting block.

[0013] Furthermore, the explosion-proof connector includes a wheel axle, a transmission component, and a mounting cover. Both the wheel axle and the mounting cover have cylindrical mating surfaces that mate with the inner wall of the wheel support. The transmission component is connected to the planetary reducer and the wheel axle via two bearings. The wheel axle and the mounting cover are bolted to the wheel support.

[0014] Furthermore, the explosion-proof connector also includes an axle end cap and a copper ring. The axle end cap is mounted on the wheel hub, and the axle section on the axle end cap extends into the wheel axle. The copper ring is fitted between the inner wall of the wheel axle sleeve and the axle section for explosion protection.

[0015] Preferably, the explosion-proof connector also includes an oil seal and a wheel retainer ring. The oil seal is installed on the outside of the copper ring, and the wheel retainer ring is installed between the bushing end of the wheel assembly shaft and the shaft end cap.

[0016] Preferably, the explosion-proof connector also includes a sealing ring, with a sealing ring installed between the wheel axle and the mounting cover and the wheel support respectively.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. This invention constructs a reliable explosion-proof structure. Specifically, the main explosion-proof barrier is formed by a sealed cavity created by the wheel bracket, wheel axle, and mounting cover, along with their precisely fitted cylindrical mating surfaces. This explosion-proof barrier can confine potential electrical sparks or explosions inside the drive unit to the housing, and utilizes the quenching effect of the explosion-proof gaps to prevent the outward propagation of flames and energy, thereby ensuring that the module will not become an ignition source when operating in a flammable and explosive environment, thus avoiding safety hazards.

[0019] 2. This invention incorporates a copper ring between the wheel axle and the axle end cap, forming a precise, explosion-proof rotating joint surface. While ensuring power transmission, its narrow gap meets explosion-proof standards. Furthermore, copper itself possesses explosion-suppressing properties, preventing mechanical sparks from friction or collision, fundamentally enhancing the safety redundancy of moving parts and resolving the technical challenge of reconciling rotational motion with explosion-proof requirements.

[0020] 3. This invention integrates heat dissipation blades on the hub. These blades create forced convection as the wheel rotates, establishing an effective heat dissipation path for the drive unit enclosed within the explosion-proof cavity. By continuously dissipating heat, the operating temperature of the drive unit and the outer surface of the explosion-proof structure is effectively reduced, ensuring they meet the stringent limits on the maximum permissible surface temperature of equipment in national explosion-proof standards, thus preventing overheating from becoming an ignition source for an external explosive environment. Simultaneously, this heat dissipation mechanism prevents overheating damage to components, material performance degradation, and insulation aging caused by heat accumulation, ensuring the stability and reliability of the drive unit and explosion-proof structure during long-term operation. This further enhances the intrinsic safety characteristics of the module in flammable and explosive environments and extends the module's service life.

[0021] 4. This invention features a compact, lightweight, and highly integrated overall structure. The leg connection components utilize a carbon fiber structure, significantly reducing weight while maintaining support strength. The drive unit is highly integrated and embedded within the wheel and leg brackets, resulting in a rational and compact layout. The protective netting prevents foreign objects from being drawn into the operating parts, improving environmental adaptability. It is particularly suitable for explosion-proof robot applications with stringent requirements for weight, size, and safety.

[0022] 5. The present invention serves as a drive wheel module for the upper leg structure of a quadruped robot, which can be switched with the walking leg module and installed on the leg structure of the quadruped robot, making it suitable for use in different environments. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 yes Figure 1 Main sectional view. Figure 3 yes Figure 2 A-direction view. Figure 4 yes Figure 3 Sectional view at C-C. Figure 5 yes Figure 3 Sectional view at point B - B. Figure 6 yes Figure 3 A magnified view of a section at point J. Figure 7 yes Figure 2 A magnified view of the area at point K. Figure 8 This is an exploded view of the present invention. Figure 9 This is a schematic diagram of the invention installed on a quadruped robot.

[0024] In the diagram: 1. Hub, 1-1. Outer ring, 1-2. Inner ring, 1-3. Heat dissipation blades, 2. Honeycomb tire, 3. Wheel set axle, 4. Wheel bracket, 5. Planetary reducer, 6. Explosion-proof cable connector, 7. Mounting cover, 8. Copper ring, 9. Carbon fiber tube, 10. Lower leg connector, 11. Carbon fiber tube kit, 12. Transmission component, 13. Wheel retaining ring, 14. Oil seal, 15. Motor stator, 16. Protective net, 17. Driver, 18. Magnet mounting block, 19. Sealing ring, 20. Magnet, 21. Flange, 22. Shaft, 23. Shaft end cover. Detailed Implementation

[0025] Specific implementation method one: Combining Figures 1 to 9 This embodiment includes a leg connection assembly, a wheel body, and a drive assembly. The drive assembly is coaxially connected to the wheel body and drives the wheel body to rotate. The leg connection assembly is connected to both the drive assembly and the lower leg. The drive assembly includes a wheel support 4, a drive unit, and an explosion-proof connector. The drive unit is embedded in the wheel support 4 through the explosion-proof connector. The cylindrical mating surface between the explosion-proof connector and the wheel support 4 is an explosion-proof surface, used to achieve explosion protection.

[0026] The drive wheel module in this embodiment embeds the entire drive unit inside the wheel bracket and uses explosion-proof connectors to form a cylindrical explosion-proof joint surface with the wheel bracket, thus constructing a complete sealed explosion-proof cavity. This design can completely seal the electric sparks, arcs, or localized high temperatures that may be generated during the operation of the drive unit inside the cavity, effectively preventing the ignition of external explosive environments, thereby ensuring the safety of the robot when operating in hazardous locations such as petroleum and chemical plants.

[0027] In terms of structural layout, this embodiment adopts a design where the drive component and wheel are coaxially connected, minimizing the transmission path. This not only reduces the overall radial dimension of the wheel but also improves transmission efficiency. Simultaneously, standardized interfaces are used between the leg connection component, drive component, and lower leg, facilitating rapid assembly and disassembly of the wheeled walking mechanism and the entire leg structure, enhancing the robot's adaptability to different operational scenarios.

[0028] In addition, the wheel surface is covered with a highly wear-resistant and anti-static composite material, which has both shock absorption and anti-slip properties, and can run stably on complex road surfaces such as wet, slippery, high temperature or gravel.

[0029] The embedded drive layout and overall sealed design of this embodiment effectively improve the module's environmental adaptability. The drive unit is well protected by the outer casing, enabling it to withstand the effects of vibration, impact, dust, humidity, and other harsh working conditions. Combined with auxiliary structures such as heat dissipation fins and protective mesh in subsequent embodiments, the module's continuous operational reliability and service life are further guaranteed in complex industrial environments.

[0030] Specific Implementation Method Two: Combining Figures 1 to 3 and Figure 8 This embodiment describes a leg connection assembly that includes a lower leg connector 10, a carbon tube 9, and a carbon tube kit 11. One end of the lower leg connector 10 is inserted into one end of the carbon tube 9 and connected by a carbon tube kit 11. The other end of the lower leg connector 10 is rotatably connected to the lower leg. The other end of the carbon tube 9 is connected to the drive assembly by another carbon tube kit 11.

[0031] The leg connection assembly in this embodiment enables efficient force transmission and structural connection between the drive wheels and the robot's lower legs. One end of the lower leg connector forms a rotational connection with the lower leg, granting the joint the necessary degrees of freedom of movement; the other end of the lower leg connector is reliably connected to a high-strength carbon tube via a carbon tube kit. This modular connection method not only ensures the overall strength and rigidity of the structure but also significantly reduces the leg's inertia by utilizing the lightweight properties of carbon materials, which is crucial for improving the robot's mobility and energy efficiency. Simultaneously, this design simplifies the assembly and disassembly process, facilitating on-site maintenance and module replacement. The connection between the carbon tube and the drive assembly also employs a quick-release carbon tube kit, ensuring assembly accuracy while significantly reducing maintenance time.

[0032] Specific implementation method three: Combining Figure 2 This embodiment describes a wheel body comprising a protective net 16, a honeycomb tire 2, and a wheel hub 1. The honeycomb tire 2 is mounted on the wheel hub 1, and the protective net 16 is mounted on the side end face of the wheel hub 1.

[0033] In this embodiment, the honeycomb tire is directly mounted on the outside of the wheel hub, providing stable traction and cushioning for the robot under various ground conditions. The protective netting on the side of the wheel hub effectively isolates foreign objects such as gravel and ropes, preventing them from getting caught in the narrow gap between the wheel hub and the support, thus avoiding motion interference or component damage. While ensuring walking functionality, it significantly improves the wheel's passability and long-term operational reliability in complex industrial environments.

[0034] In addition, the protective net is preferably made of high-strength alloy material and is stamped, which has the characteristics of being lightweight and highly rigid. Its mesh size is optimized to effectively block foreign objects from entering without affecting the heat dissipation performance of the wheel.

[0035] The honeycomb tire features a porous, elastic internal structure, allowing it to bear heavy loads without inflation, completely eliminating the risks of punctures and leaks associated with traditional pneumatic tires in environments with sharp gravel. This structure maintains excellent shock absorption while significantly improving obstacle-crossing stability and ground adaptability, making it particularly suitable for complex conditions such as uneven gravel roads, slippery slopes, and oily metal floors. The integrated assembly design of the wheel hub and honeycomb tire further enhances the torsional stiffness and dynamic response accuracy of the running system, providing strong support for smooth operation under high loads.

[0036] Specific implementation method four: Combination Figure 2 and Figure 8 This embodiment describes a hub 1 comprising an outer ring 1-1, an inner ring 1-2, and heat dissipation blades 1-3. The outer ring 1-1 and the inner ring 1-2 are arranged coaxially and connected by the heat dissipation blades 1-3.

[0037] In this embodiment, the outer ring supports the tire and transmits torque, while the inner ring is fixedly connected to the drive shaft. The two are coaxially connected by heat dissipation blades evenly distributed circumferentially. This structure ensures the overall structural strength of the wheel hub while utilizing the forced convection effect generated by the blades during wheel rotation to continuously dissipate the heat generated by the drive unit during operation. This effectively avoids overheating and performance degradation of components due to heat accumulation, ensuring the thermal stability of the travel module under continuous high-load conditions.

[0038] The heat dissipation blades and inner and outer rings are machined after being 3D printed from metal, further improving the structural consistency and dynamic balance accuracy of the wheel hub and significantly reducing vibration amplitude during high-speed operation. The wheel hub assembly, along with the honeycomb tire and protective net, works together to form a multi-layered protection system, which not only enhances the impact resistance when crossing obstacles but also effectively extends the overall service life of the walking system.

[0039] Specific Implementation Method Five: Combining Figure 3 and Figure 8 To illustrate this embodiment, the drive assembly of this embodiment also includes an explosion-proof cable connector 6. The wheel support 4 is provided with the explosion-proof cable connector 6, and the explosion-proof cable connector 6 is located inside the carbon tube 9.

[0040] In this embodiment, the drive assembly integrates an explosion-proof cable connector on the wheel leg support, with its main body housed inside the carbon tube. This design enables the safe introduction of power or signal cables, and its explosion-proof structure ensures that even if an internal electrical spark is generated at the cable connection, it will not ignite the external hazardous environment. Placing the connector inside the carbon tube creates a protected wiring channel, preventing cables from being damaged by external objects during robot movement, and also making the leg wiring more organized, thus improving the overall reliability and safety of the structure.

[0041] Specific Implementation Method Six: Combination Figure 3 and Figure 8 This embodiment describes a drive unit comprising a motor stator 15, a planetary reducer 5, a driver 17, a magnet mounting block 18, a magnet 20, a flange 21, and a shaft 22. The motor stator 15 is coaxially mounted on the wheel support 4 via the flange 21. The planetary reducer 5 is embedded within the motor stator 15. The shaft 22 is mounted on the flange 21 and inserted into the planetary reducer 5. The driver 17 is mounted on the outside of the flange 21. The magnet 20 is mounted between the flange 21 and the driver 17 via the magnet mounting block 18.

[0042] The planetary reducer 5 in this embodiment is composed of a multi-stage planetary gear set. Through the step-by-step reduction of the multi-stage planetary gear set, the torque is efficiently amplified and the speed is output smoothly, ensuring that the drive unit still has excellent power response capability under low-speed heavy-load conditions.

[0043] The driver 17 in this embodiment also integrates a circuit board and an encoder for real-time acquisition and processing of motor speed, position, and current signals to achieve closed-loop precise control. The encoder works in conjunction with the magnet to acquire high-resolution feedback data through non-contact sensing, further improving the positioning accuracy and dynamic response stability of the drive unit. The circuit board is treated with a three-proof coating to enhance its resistance to humidity, heat, dust, and corrosion, ensuring long-term reliable operation in complex and harsh environments.

[0044] Specific implementation method seven: Combination Figure 3 and Figure 8 This embodiment describes the explosion-proof connector, which includes a wheel axle 3, a transmission component 12, and a mounting cover 7. Both the wheel axle 3 and the mounting cover 7 have cylindrical mating surfaces that cooperate with the inner sidewall of the wheel support 4. The transmission component 12 is connected to the planetary reducer 5 and the wheel axle 3 respectively through two bearings. The wheel axle 3 and the mounting cover 7 are connected to the wheel support 4 by bolts.

[0045] This embodiment utilizes a precision cylindrical mating surface formed by the wheel axle, mounting cover, and inner wall of the wheel bracket to construct a sealed main explosion-proof cavity, reliably isolating potential electrical sparks inside the drive unit from the external explosive environment. Simultaneously, the transmission component connects the planetary reducer output to the wheel axle via bearings at both ends, smoothly transmitting the torque generated by the drive unit to the wheel body for power output. The entire assembly is bolted together, ensuring structural rigidity while guaranteeing the tightness and integrity of key explosion-proof mating surfaces, thus simultaneously achieving the dual functions of power transmission and intrinsically safe explosion protection.

[0046] Specific implementation method eight: Combination Figure 8 This embodiment further includes an explosion-proof connector, a shaft end cap 23, and a copper ring 8. The shaft end cap 23 is mounted on the wheel hub 1, and the shaft section on the shaft end cap 23 extends into the wheel axle 3. The copper ring 8 is fitted between the inner wall of the wheel axle sleeve and the shaft section for explosion protection.

[0047] In this embodiment, the shaft end cap is fixed to the hub and rotates with it. Its shaft section extends into the fixed wheelset axle, forming a movable gap. A copper ring fitted within this gap, utilizing its material's low tendency to generate mechanical sparks, forms a precise rotary seal with the inner wall of the bushing. This structure ensures unimpeded power transmission from the wheelset to the hub while also preventing potential explosions from propagating outwards along the shaft gap through the explosion-proof effect of the copper ring, thus ensuring the explosion-proof safety of the entire system during operation.

[0048] Specific Implementation Method Nine: Combining Figure 3 and Figure 8 To illustrate this embodiment, the explosion-proof connector also includes an oil seal 14 and a wheel retainer ring 13. The oil seal 14 is installed on the outside of the copper ring 8, and the wheel retainer ring 13 is installed between the bushing end of the wheel set axle 3 and the axle end cover 23.

[0049] The oil seal installed on the outside of the copper ring primarily prevents internal lubricating grease from leaking out and also prevents external dust, moisture, and other contaminants from intruding, thus protecting the internal precision explosion-proof mating surfaces from corrosion. The wheel retaining ring is installed between the end of the wheel axle bushing and the axle end cover. Its core function is to limit the axial displacement of related components, ensuring the stability of the relative position between rotating and stationary components during operation, and preventing damage to the precision explosion-proof gap formed by the copper ring due to axial movement. Working together, these two components ensure the long-term sealing reliability and smooth operation of the drive wheels under complex working conditions.

[0050] Specific Implementation Method Ten: Combining Figure 3 and Figure 8To illustrate this embodiment, the explosion-proof connector also includes a sealing ring 19. A sealing ring 19 is installed between the wheel axle 3 and the mounting cover 7 and the wheel support 4, respectively.

[0051] In this embodiment, sealing rings are installed at the static mating surfaces of the wheel axle, mounting cover, and wheel bracket. Their core function is to achieve static sealing of these critical interfaces. This effectively prevents contaminants such as dust and moisture from the external environment from entering the explosion-proof cavity composed of these components, while also preventing the escape of internal lubricant. By maintaining the cleanliness and stability of the cavity's internal environment, the sealing rings not only help improve the overall protection level but also ensure the long-term operational reliability of the main explosion-proof mating surfaces, making them an indispensable auxiliary sealing element in the explosion-proof structure.

[0052] Combination Figures 1 to 9 Explanation of the working principle of this invention:

[0053] The drive wheel module of the present invention is an assembly based on the synergistic effect of highly integrated electromechanical transmission and multiple explosion-proof protection mechanisms.

[0054] When the control system sends a command to the drive unit via the explosion-proof cable connector 6, the driver 17 drives the motor assembly, which consists of the motor stator 15 and the magnet 20, to generate rotational power. This power is first transmitted to the planetary reducer 5 embedded inside the motor, and through multi-stage gear transmission, the rotational speed is reduced and the torque is amplified to meet the strong driving force required for the robot to carry heavy loads and overcome obstacles.

[0055] The power output from the planetary reducer 5 is transmitted to the wheel axle 3 via the transmission component 12. The bearings at both ends of the transmission component 12 ensure the smoothness and coaxiality of the power transmission. The wheel axle 3 is fastened to the wheel bracket 4 by bolts, and the torque is further transmitted to the axle end cover 23 fixed to the wheel hub 1, which ultimately drives the entire wheel body equipped with the honeycomb tire 2 to rotate, realizing the robot's walking function.

[0056] Regarding explosion-proof safety, this invention constructs a multi-layered protection system: the main explosion-proof cavity is formed by the cylindrical mating surfaces of the wheel bracket 4, wheel axle 3, and mounting cover 7. Its precision-machined gaps meet explosion-proof standards, effectively preventing the propagation of potential internal electrical sparks or explosions to the external hazardous environment through the quenching effect of the metal slits. Addressing the weak point of the rotating shaft in explosion-proof protection, a copper ring 8 is installed between the wheel axle 3 and the shaft end cover 23, forming a rotating explosion-proof mating surface. This design not only meets the power transmission requirements but also utilizes the characteristic of copper being less prone to generating mechanical sparks, eliminating the risk of frictional ignition. Furthermore, the sealing ring 19 ensures the sealing integrity of the static mating surface, the oil seal 14 effectively prevents lubricant leakage and contaminant intrusion, and the wheel retaining ring 13 ensures the long-term stability of the precision explosion-proof gap by limiting axial movement.

[0057] In terms of thermal management, the heat dissipation blades 1-3 integrated on the hub 1 form forced air convection when the wheel rotates, continuously dissipating the heat generated by the drive unit during operation. This active heat dissipation mechanism effectively reduces the temperature rise inside the explosion-proof cavity, avoids component performance degradation and insulation aging caused by heat accumulation, and ensures the thermal stability of the module under continuous high-load conditions.

[0058] This drive and walking wheel module highly integrates drive, transmission, explosion-proof, and heat dissipation functions within a compact space. While ensuring inherent safety, it achieves a balance between lightweight design, high torque output, and good environmental adaptability, making it particularly suitable for inspection and transportation tasks in explosive environments such as oil and chemical plants. The modular leg connection component design further enhances system maintainability and scenario adaptability.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drive wheel module for an explosion-proof robot, characterized in that: It includes a leg connection assembly, a wheel body and a drive assembly. The drive assembly is coaxially connected to the wheel body and drives the wheel body to rotate. The leg connection assembly is connected to the drive assembly and the lower leg respectively. The drive assembly includes a wheel support bracket (4), a drive unit and an explosion-proof connector. The drive unit is embedded in the wheel support bracket (4) through the explosion-proof connector. The cylindrical joint surface of the explosion-proof connector and the wheel support bracket (4) is an explosion-proof surface, which is used to achieve explosion protection.

2. The drive wheel module for an explosion-proof robot according to claim 1, characterized in that: The leg connection assembly includes a lower leg connector (10), a carbon tube (9), and a carbon tube kit (11). One end of the lower leg connector (10) is inserted into one end of the carbon tube (9) and connected by a carbon tube kit (11). The other end of the lower leg connector (10) is rotatably connected to the lower leg. The other end of the carbon tube (9) is connected to the drive assembly by another carbon tube kit (11).

3. The drive wheel module for an explosion-proof robot according to claim 1, characterized in that: The wheel body includes a protective net (16), a honeycomb tire (2) and a wheel hub (1). The honeycomb tire (2) is installed on the wheel hub (1), and the protective net (16) is installed on the side end face of the wheel hub (1).

4. The drive wheel module for an explosion-proof robot according to claim 3, characterized in that: The hub (1) includes an outer ring (1-1), an inner ring (1-2) and a heat dissipation blade (1-3). The outer ring (1-1) and the inner ring (1-2) are arranged coaxially and connected by the heat dissipation blade (1-3).

5. A drive wheel module for an explosion-proof robot according to claim 1, characterized in that: The drive assembly also includes an explosion-proof cable connector (6), which is provided on the wheel support (4) and is located inside the carbon tube (9).

6. A drive wheel module for an explosion-proof robot according to claim 5, characterized in that: The drive unit includes a motor stator (15), a planetary reducer (5), a driver (17), a magnet mounting block (18), a magnet (20), a flange (21), and a shaft (22). The motor stator (15) is coaxially mounted on the wheel bracket (4) via the flange (21). The planetary reducer (5) is embedded in the motor stator (15). The shaft (22) is mounted on the flange (21) and inserted into the planetary reducer (5). The driver (17) is mounted on the outside of the flange (21). The magnet (20) is mounted between the flange (21) and the driver (17) via the magnet mounting block (18).

7. A drive wheel module for an explosion-proof robot according to claim 1 or 6, characterized in that: The explosion-proof connector includes a wheel axle (3), a transmission component (12), and a mounting cover (7). Both the wheel axle (3) and the mounting cover (7) have cylindrical mating surfaces that cooperate with the inner wall of the wheel support (4). The transmission component (12) is connected to the planetary reducer (5) and the wheel axle (3) respectively through two bearings. The wheel axle (3) and the mounting cover (7) are bolted to the wheel support (4).

8. A drive wheel module for an explosion-proof robot according to claim 7, characterized in that: The explosion-proof connector also includes a shaft end cap (23) and a copper ring (8). The shaft end cap (23) is installed on the hub (1). The shaft section on the shaft end cap (23) extends into the wheel set shaft (3). The copper ring (8) is fitted between the inner wall of the wheel set shaft (3) bushing and the shaft section for explosion protection.

9. A drive wheel module for an explosion-proof robot according to claim 8, characterized in that: The explosion-proof connector also includes an oil seal (14) and a wheel retainer (13). The oil seal (14) is installed on the outside of the copper ring (8), and the wheel retainer (13) is installed between the bushing end of the wheel axle (3) and the axle end cap (23).

10. A drive wheel module for an explosion-proof robot according to claim 9, characterized in that: The explosion-proof connector also includes a sealing ring (19), and a sealing ring (19) is installed between the wheel axle (3) and the mounting cover (7) and the wheel support (4).

Images