Explosion-proof robot

Abstract

The invention provides an anti-explosion robot, and relates to the technical field of robots, the anti-explosion robot comprises a machine body, a walking assembly and a control module; the machine body comprises a first cavity, a plurality of cavity mounting covers and a load mounting seat, the first cavity is provided with a plurality of first connecting ports, the load mounting seat is in threaded connection with one first connecting port, and the rest first connecting ports are in threaded connection with the cavity mounting covers; the walking assembly comprises a buffer module, a steering module, a steering driving module, a tire module and a walking module; the control module is located in the first cavity and electrically connected with the steering driving module and the first driving unit. The anti-explosion robot is small in size, high in universality and capable of effectively improving the maintenance efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to an explosion-proof robot. Background Technology

[0002] In high-risk work scenarios such as petrochemicals, mining, and metallurgical smelting, the environment is often accompanied by harsh conditions such as flammable and explosive gases, corrosive media, alternating high and low temperatures, or strong electromagnetic interference. Manual inspection mode has significant limitations and safety risks.

[0003] To reduce inspection risks and improve efficiency, replacing manual labor with high-explosion-proof inspection robots has become a core solution for handling tasks in high-risk environments. However, the design of the walking components in mainstream explosion-proof inspection robots currently on the market still has significant technical shortcomings. First, to adapt to more working environments, on the one hand, there is no extra space on the robot body to install additional functional load modules; on the other hand, even if additional functional loads could be added to the robot body, the robot still suffers from an insufficiently compact structural layout and a large size, resulting in insufficient maneuverability in confined spaces such as narrow alleys and densely equipped areas, making it difficult to successfully complete inspections along narrow paths. Second, the electrical components on the inspection robot are in direct contact with gases in the environment, and the electrical sparks generated by these components can easily cause explosions, resulting in poor explosion-proof performance. Third, under harsh working conditions, tire module blowouts are prone to occur, and the lack of convenience in the installation and removal of tire modules not only increases the difficulty and time cost of on-site maintenance but also fails to meet the need for rapid tire replacement during emergency repairs, seriously affecting the robot's continuous operating capability.

[0004] Therefore, designing a small, versatile explosion-proof robot that can improve maintenance efficiency has become an urgent technical problem to be solved. Summary of the Invention

[0005] The main purpose of this application is to provide an explosion-proof robot that is not only small in size and highly versatile, but also effectively improves maintenance efficiency.

[0006] This application provides an explosion-proof robot, comprising: a body, a walking assembly, and a control module; the body includes: a first cavity, multiple cavity mounting covers, and a load mounting base; the first cavity is provided with multiple first connection ports, the load mounting base is threadedly connected to one of the first connection ports, and the remaining first connection ports are threadedly connected to the cavity mounting covers; the walking assembly includes: a buffer module, a steering module, a steering drive module, a tire module, and a walking module; the buffer module includes a buffer mounting frame and an elastic unit, the elastic unit being disposed within the buffer mounting frame, the buffer mounting frame being connected to both the body and the steering module; the steering drive module is connected to the steering module and is used to drive the steering module to rotate; The tire module is used to drive the explosion-proof robot to turn and move. The tire module is provided with mounting holes. The walking module includes a walking arm, a first drive unit, and a first output shaft. The walking arm is connected to the steering module and is provided with a receiving cavity. The first drive unit and the first output shaft are both built into the receiving cavity. The first drive unit is connected to one end of the first output shaft and is used to drive the first output shaft to rotate. The other end of the first output shaft extends to the outside of the receiving cavity and is fixedly connected to the mounting hole through a locking member. The first output shaft is used to drive the tire module to move. The control module is located in the first cavity and is electrically connected to the steering drive module and the first drive unit respectively.

[0007] According to the explosion-proof robot provided in this application, firstly, multiple first connection ports are provided in the first cavity. The load mounting base is threadedly connected to one of the first connection ports, and the remaining first connection ports are threadedly connected to the cavity mounting cover. To adapt to more operating environments, more functional load modules need to be mounted on the body of the explosion-proof robot. The cavity mounting cover can be removed, and the additional functional load modules can be threadedly connected to the corresponding first connection ports where the cavity mounting cover has been removed. This improves the versatility of the body and allows the additional functional load modules to be integrated into the body, making the structure of the explosion-proof robot more compact. Furthermore, the first cavity becomes a closed state, and the first cavity can house the control module and the components connected to the control module. The conductive wires are isolated from explosive gases in the external environment. Even if the control module or conductive wires generate electrical sparks due to a malfunction, they will not come into contact with flammable and explosive gases in the external environment, thus improving the robot's explosion-proof performance. Secondly, the walking components adopt a modular design, with a simple and compact overall structure and high integration, enabling rapid passage in complex and confined high-risk environments. In addition, the walking module is fixedly connected to the tire module's mounting hole only through the other end of the first output shaft, while other components do not contact the tire module. When the tire module malfunctions (such as a tire blowout), only one locking component needs to be removed to quickly replace the tire module, further improving maintenance efficiency and thus better enhancing the robot's continuous operation capability. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a structural schematic diagram of an explosion-proof robot without its outer shell, provided in one embodiment of this application. Figure 2 A system architecture diagram of an explosion-proof robot provided in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of the body of an explosion-proof robot provided in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of another explosion-proof robot without an outer shell, provided in one embodiment of this application; Figure 5 for Figure 4 The diagram shown illustrates the structure of the explosion-proof robot covered by its outer shell. Figure 6 for Figure 5 The diagram shows the structure of the explosion-proof robot from another perspective. Figure 7 This is a schematic diagram of the structure of a walking component in an explosion-proof robot, provided in an embodiment of this application. Figure 8 for Figure 7 A schematic diagram of the walking component shown from another perspective; Figure 9 This application provides a schematic diagram illustrating the connection between a steering module and a steering drive module in an explosion-proof robot. Figure 10 A cross-sectional view of a steering module in an explosion-proof robot provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a walking module in an explosion-proof robot provided in an embodiment of this application; Figure 12 This is a schematic diagram of the structure of a buffer module in an explosion-proof robot provided in an embodiment of this application. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0011] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0012] To reduce inspection risks and improve efficiency, replacing manual labor with high-explosion-proof inspection robots has become a core solution for handling tasks in high-risk environments. However, the design of the walking components in mainstream explosion-proof inspection robots currently on the market still has significant technical shortcomings. First, to adapt to more working environments, on the one hand, there is no extra space on the robot body to install additional functional load modules; on the other hand, even if additional functional loads could be added to the robot body, the robot still suffers from an insufficiently compact structural layout and a large size, resulting in insufficient maneuverability in confined spaces such as narrow alleys and densely equipped areas, making it difficult to successfully complete inspections along narrow paths. Second, the electrical components on the inspection robot are in direct contact with gases in the environment, and the electrical sparks generated by these components can easily cause explosions, resulting in poor explosion-proof performance. Third, under harsh working conditions, tire module blowouts are prone to occur, and the lack of convenience in the installation and removal of tire modules not only increases the difficulty and time cost of on-site maintenance but also fails to meet the need for rapid tire replacement during emergency repairs, seriously affecting the robot's continuous operating capability.

[0013] Based on this, this application provides an explosion-proof robot that is not only small in size and highly versatile, but also effectively improves maintenance efficiency.

[0014] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0015] Reference Figures 1-12This application provides an explosion-proof robot, comprising: a body 1000, a walking component 2000, and a control module 1150; the body 1000 includes: a first cavity 1100, multiple cavity mounting covers 12, and a load mounting base 1110. The first cavity 1100 is provided with multiple first connection ports 11. The load mounting base 1110 is threadedly connected to one of the first connection ports 11, and the remaining first connection ports 11 are threadedly connected to the cavity mounting covers 12; the walking component 2000 includes: a buffer module 2500, a steering module 2100, a steering drive module 2200, a tire module 2300, and a walking module 2400; the buffer module 2500 includes a buffer mounting frame and an elastic unit 2520, the elastic unit 2520 being disposed within the buffer mounting frame, the buffer mounting frame being connected to the body 1000 and the steering module 2100 respectively; the steering drive module 2200 is connected to the steering module 2100, and the steering... The drive module 2200 is used to drive the steering module 2100 to rotate; the tire module 2300 is used to drive the explosion-proof robot to turn direction and move, and the tire module 2300 is provided with mounting holes 2310; the walking module 2400 includes: a walking arm, a first drive unit and a first output shaft 2420. The walking arm is connected to the steering module 2100 and is provided with a receiving cavity. The first drive unit and the first output shaft 2420 are both built into the receiving cavity. The first drive unit is connected to one end of the first output shaft 2420 and is used to drive the first output shaft 2420 to rotate. The other end of the first output shaft 2420 extends to the outside of the receiving cavity and is fixedly connected to the mounting hole 2310 by a locking member. The first output shaft 2420 is used to drive the tire module 2300 to move; the control module 1150 is located in the first cavity 1100 and is electrically connected to the steering drive module 2200 and the first drive unit respectively.

[0016] Understandably, to adapt to more operating environments, more functional load modules need to be installed on the body 1000 of the explosion-proof robot. The cavity mounting cover 12 can be removed, and the additional functional load modules can be threaded to the first connection port 11 of the cavity mounting cover 12 after it has been removed. This improves the versatility of the body 1000 and integrates the additional functional load modules on the body 1000, making the structure of the explosion-proof robot more compact.

[0017] For example, refer to Figure 3 The first connection port 11, which is threaded to the load mounting base 1110, is located at the top of the first cavity 1100.

[0018] For example, the load mounting base 1110 is used to assist in the installation of some functional load modules that cannot be directly threaded to the first connection port 11, so that the functional load modules can be easily integrated into the body 1000.

[0019] It should be noted that after the load mounting base 1110 is connected to the corresponding functional load and the cavity mounting cover 12 is connected to the remaining first connection port 11, the first cavity 1100 becomes closed. Furthermore, the control module 1150 is located inside the first cavity 1100. The control module 1150 is electrically connected to the steering drive module 2200 and the first drive unit, respectively. The conductive wires used to connect the steering drive module 2200 and the first drive unit to the control module 1150 are also located inside the first cavity 1100. Since the first cavity 1100 is closed, it can isolate the control module 1150 and the conductive wires connected to it from the explosive gases in the external environment. Even if the control module 1150 or the conductive wires generate electrical sparks due to a fault, they will not come into contact with the flammable and explosive gases in the external environment, thus improving the explosion-proof performance of the robot.

[0020] It should be noted that the explosion-proof robot design in this application can achieve an IP68 protection level and is suitable for working in high-risk environments filled with explosive gases.

[0021] It should be noted that, firstly, compared to the related technologies that directly install various functional load devices on the frame 21, in this application, by setting the body 1000 to carry the walking component 2000, the control module 1150, and various additional functional load modules, the various functional load modules, the walking component 2000, and the control module 1150 can be integrated and arranged inside and outside the body 1000, reducing the size of the explosion-proof robot and enabling it to move quickly in complex and confined high-risk environments; secondly, compared to the related technologies that use a connection method... The solution of placing the load mounting base 1110 on the cavity is as follows: In this application, the first cavity 1100 is provided with a first connection port 11, and the load mounting base 1110 is threadedly connected to the first connection port 11. That is, by using a threaded connection, the load mounting base 1110 can be fixed to the top of the first cavity 1100 without the need to install a connecting flange and fasteners between the first connection port 11 and the load mounting base 1110. This can reduce production costs, improve the integration of the explosion-proof robot, reduce the size and weight of the explosion-proof robot.

[0022] Understandably, referring to Figure 12When the explosion-proof robot traverses steps, bumpy roads, or encounters equipment vibrations, the ground will generate a strong impact load on the walking component 2000. By setting a buffer module 2500 in the walking component 2000, which includes an elastic unit 2520, the elastic unit 2520 can absorb the impact energy through its own elastic deformation, transforming rigid collisions into elastic buffers. This prevents the impact load from being directly transmitted to the precision components in the body 1000, and avoids the detection components, control module 1150, etc. from becoming loose or malfunctioning due to long-term vibration, thereby reducing component wear and extending service life.

[0023] For example, the elastic element 2520 is a spring.

[0024] Understandably, the elastic unit 2520 is built into the mounting bracket, which can better fix the elastic unit 2520 between the steering module 2100 and the robot body 1000 to enhance the connection effect.

[0025] It should be noted that the 2000 walking component adopts a modular design, with a simple and compact overall structure and high integration, enabling it to move quickly in complex, narrow, and high-risk environments.

[0026] It should be noted that, referring to Figure 7 , Figure 8 , Figure 9 Since the steering drive module 2200 is connected to the steering module 2100, the steering drive module 2200 is used to drive the steering module 2100 to rotate. The walking module 2400 is fixedly connected to the steering module 2100 through the walking arm and to the tire module 2300 through the first output shaft 2420. Therefore, when the steering module 2100 rotates, it will drive the walking module 2400 and the tire module 2300 to rotate synchronously, thereby enabling the robot equipped with the walking component 2000 to achieve directional deflection.

[0027] It should be noted that, referring to Figure 11The first drive unit and the first output shaft 2420 in the walking module 2400 are both built into the receiving cavity. The first drive unit is connected to one end of the first output shaft 2420 and is used to drive the first output shaft 2420 to rotate. The other end of the first output shaft 2420 extends to the outside of the receiving cavity and is fixedly connected to the mounting hole 2310 of the tire module 2300 through a locking member. The first output shaft 2420 is used to drive the tire module 2300 to move forward or backward. The walking module 2400 is fixedly connected to the mounting hole 2310 of the tire module 2300 only through the other end of the first output shaft 2420, while other components do not contact the tire module 2300. When the tire module 2300 malfunctions (such as a tire blowout), only one locking member needs to be removed to quickly replace the tire module 2300, which further improves the maintenance efficiency and thus better enhances the robot's continuous operation capability.

[0028] For example, the size of the other end of the first output shaft 2420 is adapted to the size of the mounting hole 2310 of the tire module 2300. When the walking module 2400 is fixedly connected to the tire module 2300 by the locking member, the first output shaft 2420 and the mounting hole 2310 are tightly connected, so that the first output shaft 2420 can stably drive the tire module 2300 to move.

[0029] For example, the other end of the first output shaft 2420 is cylindrical. The locking member includes a connector and a face piece. The connector and the face piece are fixedly connected. The connector is cylindrical and threaded to the other end of the first output shaft 2420. When the connector is connected to the other end of the first output shaft 2420, the face piece and the walking module 2400 are positioned relative to the tire structure. The area of ​​the face piece is larger than the area of ​​the mounting hole 2310 of the tire module 2300, so that the tire module 2300 is fixed between the face piece and the walking module 2400, thereby enabling the tire module 2300 to move under the drive of the first drive unit.

[0030] For example, the other end of the first output shaft 2420 is cylindrical, and the locking member is annular. The locking member is threadedly connected to the other end of the first output shaft 2420. The inner ring of the locking member is adapted to the size of the other end of the first output shaft 2420, and the outer ring of the locking member is larger than the size of the mounting hole 2310 of the tire module 2300, so that the tire module 2300 is fixed between the lining member and the walking module 2400, thereby enabling the tire module 2300 to move under the drive of the first drive unit.

[0031] It should be noted that the locking component can be any structure that can fix the tire module 2300 and the walking module 2400. In this application, the structure of the locking component is not limited in too much.

[0032] In some embodiments, refer to Figure 5 , Figure 6 The explosion-proof robot also includes an outer shell 3000, which covers the outside of the body 1000 and is detachably connected to the body 1000.

[0033] For example, the outer shell 3000 has a hollowed-out area that is adapted to the load mounting base 1110. By setting the outer shell 3000 on the outside of the body 1000, the outer shell 3000 can provide heat insulation and waterproofing, preventing external heat from being transferred into the body 1000 and preventing the body 1000 from directly contacting external rainwater, thereby improving the service life of the explosion-proof robot. On the other hand, the outer shell 3000 includes several sequentially adjacent plate areas, which are used to adapt to the structure of the body 1000 to reduce the distance between the outer shell 3000 and the body 1000, thereby reducing the size of the explosion-proof robot. Furthermore, the connection between any two adjacent plate areas forms a crease line, which constitutes the exterior decorative line and structural reinforcement line of the outer shell 3000. Specifically, the sharp lines enhance the visual aesthetics and coolness of the explosion-proof robot, and the stress dispersion effect of the crease line enhances the impact resistance of the outer shell 3000, improving its anti-collision performance.

[0034] In some embodiments, refer to Figure 4 , Figure 6 The explosion-proof robot also includes a detection component, which includes a position adjustment module 1120 and an image acquisition module 1140. The position adjustment module 1120 includes a support base 1121 and a first connecting base 1122. The image acquisition module 1140 is disposed on the support base 1121. The position adjustment module 1120 is used to adjust the position of the image acquisition module 1140. The image acquisition module 1140 is used to acquire image data. The position adjustment module 1120 is located outside the first cavity 1100. The first connecting base 1122 is connected to the load mounting base 1110.

[0035] For example, refer to Figure 1The position adjustment module 1120 further includes a first support arm 1123, a second support arm 1124, a third support arm 1125, a third drive unit, a fourth drive unit, and a fifth drive unit. One end of the first support arm 1123 is movably connected to a first connecting seat 1122. The third drive unit is disposed on the first connecting seat 1122 and is used to drive the first support arm 1123 to rotate relative to the first connecting seat 1122. The other end of the first support arm 1123 is movably connected to one end of the second support arm 1124. The fourth drive unit is disposed on the other end of the first support arm 1123 and is used to drive the second support arm 1124 to rotate relative to the first support arm 1123. The other end of the second support arm 1124 is movably connected to one end of the third support arm 1125. The fifth drive unit is disposed on the other end of the first support arm 1123. At the other end of the support arm 1124, the fifth drive unit is used to drive the third support arm 1125 to rotate relative to the second support arm 1124. The other end of the third support arm 1125 is connected to the carrier 1121. Further, the control module 1150 is electrically connected to the third drive unit, the fourth drive unit, and the fifth drive unit in the position adjustment module 1120. The control module 1150 is used to control the third drive unit, the fourth drive unit, and the fifth drive unit to work, so as to control the first support arm 1123, the second support arm 1124, and the third support arm 1125 to drive the carrier 1121 to the target position, thereby enabling the image acquisition module 1140 to acquire images of all directions that the carrier 1121 can point to. In this application, the structure of the position adjustment module 1120 is not limited too much.

[0036] For example, gear components are provided in the first support arm 1123, the second support arm 1124, and the third support arm 1125, and the third drive unit, the fourth drive unit, and the fifth drive unit are all used to drive the gear components to rotate.

[0037] For example, refer to Figure 4 , Figure 5 , Figure 6 , Figure 4 , Figure 5 as well as Figure 6Both diagrams show a structural schematic of another position adjustment module 1120. The support base 1121 of the position adjustment module 1120 is cylindrical, and the first connecting base 1122 is cylindrical. The bottom of the first connecting base 1122 is connected to the load mounting base 1110. The top of the first connecting base 1122 is provided with two through holes for matching the load mounting base 1110. The two ends of the support base 1121 passing through the through holes are respectively connected to the image acquisition module 1140 and the first gas detection module. The position adjustment module 1120 also includes a sixth driving unit, which is located inside the first connecting base 1122. The sixth driving unit is used to drive the support base 1121 to rotate. In this application, the structure of the position adjustment module 1120 is not limited in too much.

[0038] In some embodiments, refer to Figure 1 , Figure 6 The body 1000 also includes a second temperature detection module 1160, which is mounted on the support base 1121. The second temperature detection module 1160 is connected to the control module 1150. The second temperature detection module 1160 is used to collect temperature data of the environment in which the explosion-proof robot is located. The control module 1150 is also used to control the position adjustment module 1120 to move the second temperature detection module 1160 so that the second temperature detection module 1160 can collect temperature data of all areas that the support base 1121 can reach.

[0039] Understandably, compared to the solution in related technologies where the second temperature detection module 1160 is directly fixed to the outer shell 3000 of the robot, in this application, the second temperature detection module 1160 is set on the position adjustment module 1120. This eliminates the need to adjust the movement path of the robot's walking component 2000 multiple times. By simply controlling the position adjustment module 1120, the second temperature detection module 1160 can be driven to perform a wide range of detection, which greatly improves the detection accuracy and efficiency.

[0040] In some embodiments, refer to Figure 9 The steering drive module 2200 includes: a first housing 2201, a first mounting cover 2202, and a second drive unit; the first housing 2201 is cylindrical, the first mounting cover 2202 is threadedly connected to the first housing 2201, and the second drive unit is built into the first housing 2201.

[0041] It should be noted that, firstly, since the second drive unit is built into the first housing 2201, during the installation of the walking assembly 2000, an entire steering drive module 2200 can be fixedly connected to the steering module 2100, thus speeding up the installation process; secondly, the threaded connection between the first mounting cover 2202 and the first housing 2201 prevents substances from the external environment (such as moisture or corrosive gases) from entering the first housing 2201 and corroding the second drive unit and other components, thereby improving the operational stability of the second drive unit; thirdly, the first housing 2201 is cylindrical, and the threaded connection between the first mounting cover 2202 and the first housing 2201 creates static friction at the threaded connection, which can counteract external forces (such as vibration or load changes). The resulting loosening tendency makes it difficult for the first mounting cover 2202 to detach from the first housing 2201, thus completely isolating the second drive unit from the external environment. Even if the second drive unit generates an electrical spark due to a malfunction, it will not come into contact with flammable or explosive gases in the external environment, which helps to improve the explosion-proof performance of the steering drive module 2200. In addition, compared with the related technology that uses fasteners to connect the first mounting cover 2202 and the first housing 2201, the threaded connection method can make the connection between the first mounting cover 2202 and the first housing 2201 more compact, improve the space utilization within the first housing 2201, and also reduce the weight of the steering drive module 2200, thereby reducing the overall energy consumption of the walking component 2000.

[0042] For example, the first mounting cover 2202 is provided with a sealing ring. When the first mounting cover 2202 is threadedly connected to the first housing 2201, the sealing ring is snapped between the first mounting cover 2202 and the first housing 2201. This helps to further prevent substances in the external environment (such as water vapor and corrosive gases) from entering the first housing 2201, thereby improving the service life of the second drive unit.

[0043] In some embodiments, refer to Figure 10 The steering drive module 2200 also includes a first gear 2210, which extends to the outside of the first housing 2201. The first gear 2210 is connected to a second drive unit, which drives the first gear 2210 to rotate. The steering module 2100 includes a second housing 2101, a second mounting cover 2102, a second gear 2110, and a rotating shaft 2120. The second housing 2101 is cylindrical, and the second mounting cover 2102 is threaded to the top of the second housing 2101. The second gear 2110 and the rotating shaft 2120 are both built into the second housing 2101. The second gear 2110 meshes with the first gear 2210. One end of the second gear 2110 is fixedly connected to the rotating shaft 2120, and the other end of the rotating shaft 2120 is fixedly connected to the traveling arm.

[0044] For example, a plurality of through holes are provided on the cylindrical surface of the second housing 2101. After the second gear 2110 and the first gear 2210 in the steering drive module 2200 are engaged and connected, the first housing 2201 of the steering drive module 2200 can be fixed on the through holes on the cylindrical surface of the second housing 2101 by means of a fastener.

[0045] Understandably, since the first gear 2210 is connected to the second drive unit, the second gear 2110 is meshed with the first gear 2210, the second gear 2110 is fixedly connected to one end of the rotating shaft 2120, and the other end of the rotating shaft 2120 is fixedly connected to the walking arm, the second drive unit can sequentially drive the second gear 2110, the rotating shaft 2120, and the walking arm to rotate during the process of driving the first gear 2210 to rotate, thereby enabling the tire module 2300 to rotate in place.

[0046] For example, the second mounting cover 2102 is provided with a sealing ring. When the second mounting cover 2102 is threadedly connected to the top of the second housing 2101, the sealing ring is snapped between the second mounting cover 2102 and the top of the second housing 2101. This helps to further prevent substances in the external environment (such as water vapor and corrosive gases) from entering the second housing 2101, thereby improving the service life of the components located inside the second housing 2101.

[0047] For example, an annular groove is provided at the bottom of the second housing 2101 to accommodate the sealing ring. After the rotating shaft 2120 is assembled into the second housing 2101, the sealing ring is snapped between the other end of the rotating shaft 2120 and the second housing 2101. This helps to further prevent substances in the external environment (such as water vapor and corrosive gases) from entering the second housing 2101, thereby improving the service life of the components located in the second housing 2101.

[0048] Understandably, the second housing 2101 is cylindrical, and the second mounting cover 2102 is threadedly connected to the top of the second housing 2101. Static friction is generated at the threaded connection, which can counteract the loosening tendency caused by external forces (such as vibration and load changes). The second mounting cover 2102 and the second housing 2101 are not easy to detach, which can completely isolate the components located in the second housing 2101 from the external environment. Even if the components located in the second housing 2101 generate electrical sparks due to a fault, they will not come into contact with flammable and explosive gases in the external environment, which is beneficial to improving the explosion-proof performance of the steering module 2100. In addition, compared with the solution of connecting the second mounting cover 2102 and the second housing 2101 by setting a fastener in the related technology, the threaded connection can also make the connection between the second mounting cover 2102 and the second housing 2101 more compact, improve the space utilization within the second housing 2101, and also reduce the weight of the steering module 2100, thereby reducing the overall energy consumption of the travel assembly 2000.

[0049] In some embodiments, refer to Figure 10 The steering module 2100 also includes: a sleeve 2130, a limiting ring 2140, and a limiting post. The sleeve 2130 is sleeved on the rotating shaft 2120. The limiting ring 2140 is located between the sleeve 2130 and the second gear 2110. A limiting groove is provided on the limiting ring 2140. One end of the limiting post is connected to the bottom of the second gear 2110, and the other end of the limiting post is engaged with the limiting groove.

[0050] It should be noted that, firstly, the sleeve 2130 is used to support the limiting ring 2140, so that the limiting ring 2140 can be engaged below the second gear 2110 to play a limiting role; secondly, there is a gap area between the rotating shaft 2120 and the second housing 2101. When the sleeve 2130 is sleeved on the rotating shaft 2120, the sleeve 2130 is located exactly in the gap area, which can prevent the rotating shaft 2120 from shaking in the second housing 2101, and is conducive to improving the operating stability of the rotating shaft 2120.

[0051] It is understandable that by setting the limit ring 2140 and the limit post, the deflection range of the second gear 2110 can be limited by mechanical constraints, so as to avoid the deflection angle of the second gear 2110 exceeding the deflectable angle range due to the loss of control of the second drive unit, and further improve the stability of the operation of the second gear 2110.

[0052] In some embodiments, refer to Figure 10The steering module 2100 also includes a first lead-out shaft 2150, a receiving seat 2160, and a first encoder 2170. One end of the first lead-out shaft 2150 is fixedly connected to one end of the rotating shaft 2120, and the receiving seat 2160 is fixedly connected to the other end of the first lead-out shaft 2150. The first encoder 2170 is located in the receiving seat 2160. The first encoder 2170 is used to acquire the deflection angle data of the rotating shaft 2120. The first encoder 2170 is electrically connected to the control module 1150. The control module 1150 is used to output an angle adjustment command according to the deflection angle data and the preset target angle, and send it to the second drive unit to control the second drive unit to drive the rotating shaft 2120 to rotate to the preset target angle.

[0053] It should be noted that, since one end of the first output shaft 2150 is fixedly connected to one end of the rotating shaft 2120, and the receiving seat 2160 is fixedly connected to the other end of the first output shaft 2150, when the rotating shaft 2120 rotates, it will also drive the first output shaft 2150 and the receiving seat 2160 to rotate. The first encoder 2170 is located on the receiving seat 2160. Therefore, the first encoder 2170 can calculate the deflection angle data of the rotating shaft 2120 based on the offset of the receiving seat 2160.

[0054] For example, the angle adjustment command is output based on the deflection angle data of the rotating shaft 2120 and the preset target angle, including: comparing the deflection angle data of the rotating shaft 2120 with the preset target angle to obtain the angle deviation; and outputting the angle adjustment command based on the angle deviation.

[0055] Understandably, by setting the first encoder 2170, the deflection accuracy of the rotating shaft 2120 can be improved, thereby enabling the robot to accurately avoid obstacles on its movement trajectory, reducing the risk of damage and improving the efficiency of inspection.

[0056] For example, the second drive unit includes a motor, a second output shaft and a second encoder. The motor is connected to one end of the second output shaft and the other end of the second output shaft is connected to the first gear 2210. The second encoder is used to detect the deflection angle data of the second output shaft.

[0057] It should be noted that the control module 1150 is electrically connected to the motor and the second encoder respectively. The control module 1150 is also used to: compare the deflection angle data of the rotating shaft 2120 with the deflection angle data of the second output shaft to obtain the deviation; compare the deviation with the preset deflection angle mapping table to determine whether there is a connection fault between the first gear 2210 and the second gear 2110; if the deviation does not match the deviation in the preset deflection angle mapping table, it is determined that there is a connection fault between the first gear 2210 and the second gear 2110; and send the fault information to the host computer to notify the maintenance personnel to handle it in time. The preset deflection angle mapping table is used to represent the correspondence between the deflection angle of the first gear 2210 and the deflection angle of the second gear 2110 under normal conditions.

[0058] Understandably, by setting the first encoder 2170 and the second encoder, not only can the deflection accuracy of the rotating shaft 2120 be improved, thereby enabling the robot to accurately avoid obstacles on the movement trajectory, reduce the risk of damage and improve the efficiency of inspection, but also enable maintenance personnel to promptly detect faults and quickly take measures to repair the robot.

[0059] For example, the steering drive module 2200, steering module 2100 and walking module 2400 are all provided with channels for binding the conductive wires. This not only restrains the movement of the conductive wires and avoids messy interference, but also protects the insulation layer of the conductive wires, prevents breakage, and extends their service life.

[0060] In some embodiments, refer to Figure 11 The traveling arm includes a horizontal connecting seat 2411, a vertical connecting seat 2412, a third housing 2413, and a third mounting cover 2414. One end of the horizontal connecting seat 2411 is connected to the steering module 2100, and the other end of the horizontal connecting seat 2411 is connected to one end of the vertical connecting seat 2412. The other end of the vertical connecting seat 2412 is connected to the third housing 2413. The third housing 2413 is provided with a receiving cavity and is cylindrical. The third mounting cover 2414 is threadedly connected to the third housing 2413.

[0061] It should be noted that both the horizontal connecting seat 2411 and the vertical connecting seat 2412 are hollow structures, which together form the cable outlet channel, allowing the conductive wire of the first drive unit located in the receiving cavity of the third housing 2413 to extend from the cable outlet channel to the steering module 2100.

[0062] Understandably, the third housing 2413 is cylindrical, and the third mounting cover 2414 is threadedly connected to the third housing 2413. Static friction is generated at the threaded connection, which can counteract the loosening tendency caused by external forces (such as vibration and load changes). The third mounting cover 2414 and the third housing 2413 are not easy to detach, which can completely isolate the components located in the third housing 2413 from the external environment. Even if the components located in the third housing 2413 generate electrical sparks due to a fault, they will not come into contact with flammable and explosive gases in the external environment, which is beneficial to improving the explosion-proof performance of the walking module 2400. In addition, compared with the solution of connecting the third mounting cover 2414 and the third housing 2413 by setting fasteners in related technologies, the threaded connection can also make the connection between the third mounting cover 2414 and the third housing 2413 more compact, improve the space utilization within the third housing 2413, and also reduce the weight of the walking module 2400, thereby reducing the overall energy consumption of the walking component 2000.

[0063] In some embodiments, refer to Figure 12 The mounting frame includes an upper fork arm 2511, two lower fork arms 2512, a fork arm seat 2513, and two suspension mounting seats 2514. The fork arm seat 2513 is connected to the steering module 2100. The upper fork arm 2511 is rotatably connected to the top of the fork arm seat 2513 and the two suspension mounting seats 2514 respectively. The lower fork arms 2512 are rotatably connected to the bottom of the fork arm seat 2513 and the suspension mounting seats 2514 respectively. The elastic unit 2520 is connected to the two suspension mounting seats 2514 and the bottom of the fork arm seat 2513 respectively. The suspension mounting seats 2514 and the elastic unit 2520 are both connected to the body 1000 of the explosion-proof robot.

[0064] It should be noted that, since the upper fork arm 2511 is rotatably connected to the top of the fork arm seat 2513 and the two suspension mounts 2514 respectively, and the lower fork arm 2512 is rotatably connected to the bottom of the fork arm seat 2513 and the suspension mounts 2514 respectively, when the robot encounters obstacles, drives over potholes, or experiences equipment bumps, the elastic unit 2520 contracts, correspondingly causing the upper fork arm 2511 and the two lower fork arms 2512 to rotate, thereby causing the steering module 2100 connected to the fork arm seat 2513 to move upward relative to the robot body 1000. The elastic unit 2520 moves to buffer the impact load and prevent the tire module 2300 from rigidly colliding with the obstacle. When the robot moves to a flat surface, the elastic unit 2520 rebounds, which drives the upper fork arm 2511 and the two lower fork arms 2512 to rotate. This, in turn, drives the steering module 2100 connected to the fork arm seat 2513 to move downward relative to the robot body 1000, ensuring that the tire module 2300 can quickly contact the ground and maintain ground pressure. This prevents the robot from slipping or tilting due to the tire module 2300 being suspended in the air.

[0065] In some embodiments, refer to Figure 3 , Figure 4 The body 1000 also includes a second cavity 1200, which is connected to the first cavity 1100. The top of the second cavity 1200 is provided with a second connection port. The explosion-proof robot also includes a positioning and navigation module 1210, which is used to acquire the position data of the explosion-proof robot. The positioning and navigation module 1210 is located outside the second cavity 1200 and is electrically connected to the control module 1150. The positioning and navigation module 1210 includes a second connecting seat, which is threadedly connected to the second connection port.

[0066] For example, the positioning and navigation module 1210 includes a lidar unit. The positioning and navigation module 1210 can be any electronic device that can perform positioning and navigation functions. In this application, the positioning and navigation module 1210 is not subject to excessive limitations.

[0067] It should be noted that after the second connection port located at the top of the second cavity 1200 is connected to the second connection seat of the positioning and navigation module 1210, the second cavity 1200 becomes closed. Furthermore, the conductive wires used to realize the electrical connection between the positioning and navigation module 1210 and the control module 1150 are also located in the second cavity 1200 and the first cavity 1100. Since the first cavity 1100 and the second cavity 1200 are both closed, the body 1000 composed of the first cavity 1100 and the second cavity 1200 can isolate the control module 1150 and the conductive wires from the explosive gases in the external environment. Even if the control module 1150 or the conductive wires generate electrical sparks due to a fault, they will not come into contact with the flammable and explosive gases in the external environment, thus improving the explosion-proof performance of the robot.

[0068] For example, the second cavity 1200 is provided with a plurality of second connection ports, one of which is used to connect with the second connection seat, and the remaining second connection ports are threaded to the cavity mounting cover 12.

[0069] Understandably, to adapt to more operating environments, more functional load modules need to be installed on the body 1000 of the explosion-proof robot. The cavity mounting cover 12 can be removed, and the additional functional load modules can be threaded to the second connection port corresponding to the cavity mounting cover 12 after it has been removed. This improves the versatility of the body 1000 and also integrates the additional functional load modules on the body 1000, making the structure of the explosion-proof robot more compact.

[0070] It should be noted that the positioning and navigation module 1210 also includes a housing, in which the lidar unit is built-in and isolated from the explosive gases in the external environment. Even if the lidar unit generates an electrical spark due to a malfunction, it will not come into contact with the flammable and explosive gases in the external environment, thus improving the robot's explosion-proof performance.

[0071] It is understood that the control module 1150 is electrically connected to the positioning and navigation module 1210. The control module 1150 is also used to: obtain the pre-stored location information of the target detection point and the pre-stored environmental map information, control the positioning and navigation module 1210 to generate a preset path according to the location information of the target detection point and the environmental map information, and control the walking component 2000 to reach the location of the target detection point according to the preset path.

[0072] For example, the control module 1150 is also used to transmit the location information of the explosion-proof robot obtained by the positioning and navigation module 1210 to the host computer, so that the back-end staff can keep track of the dynamics of the explosion-proof robot in real time.

[0073] In some embodiments, refer to Figure 3 , Figure 6 The body 1000 also includes a third cavity 1300, which is connected to the first cavity 1100. The top of the third cavity 1300 is provided with a third connection port. The explosion-proof robot also includes a communication module 1310, which is used to enable remote communication between the explosion-proof robot and the host computer. The communication module 1310 is located outside the third cavity 1300 and is electrically connected to the control module 1150. The communication module 1310 includes a third connection seat, which is threadedly connected to the third connection port.

[0074] It should be noted that after the third connection port located at the top of the third cavity 1300 is connected to the third connection seat of the communication module 1310, the third cavity 1300 becomes a closed state. Furthermore, the conductive wires used to realize the electrical connection between the communication module 1310 and the control module 1150 are also located in the third cavity 1300 and the first cavity 1100. Since the first cavity 1100 and the third cavity 1300 are both in a closed state, the body 1000 composed of the first cavity 1100 and the third cavity 1300 can isolate the control module 1150 and the conductive wires from the explosive gases in the external environment. Even if the control module 1150 or the conductive wires generate electrical sparks due to a fault, they will not come into contact with the flammable and explosive gases in the external environment, thus improving the explosion-proof performance of the robot.

[0075] For example, the third cavity 1300 is provided with multiple third connection ports, one of which is used to connect with the third connection seat, and the remaining third connection ports are threaded to the cavity mounting cover 12.

[0076] Understandably, to adapt to more operating environments, more functional load modules need to be installed on the body 1000 of the explosion-proof robot. The cavity mounting cover 12 can be removed, and the additional functional load modules can be threaded to the third connection port where the cavity mounting cover 12 has been removed. This improves the versatility of the body 1000 and integrates the additional functional load modules on the body 1000, making the structure of the explosion-proof robot more compact.

[0077] In some embodiments, refer to Figure 3 The second cavity 1200 and the third cavity 1300 are disposed opposite to the first cavity 1100, and the first cavity 1100 is connected to the second cavity 1200 and the third cavity 1300.

[0078] For example, the first cavity 1100 is cuboid, and the second cavity 1200 and the third cavity 1300 are cylindrical. The volume of the second cavity 1200 and the volume of the third cavity 1300 are both smaller than the volume of the first cavity 1100. In this application, the shapes of the first cavity 1100, the second cavity 1200 and the third cavity 1300 are not limited in too much.

[0079] It should be noted that the body 1000 is versatile and can serve as a universal base. Depending on the operational requirements, multiple threaded connection ports can be opened on the surface of the first cavity 1100, the second cavity 1200, or the third cavity 1300 to accommodate more functional load modules. On the one hand, this can increase the functionality of the explosion-proof robot; on the other hand, it can play a role in explosion protection and improve the explosion-proof effect; furthermore, multiple functional load modules can be integrated on the body 1000 through threaded connections, reducing the size of the body 1000 and the weight of the explosion-proof robot.

[0080] It should be noted that, according to experimental testing, compared with the solution of using connecting flanges to mount the functional load modules on the body 1000 of the inspection robot, this application uses a threaded connection to integrate multiple functional load modules on the body 1000. While achieving the same functional effect, its overall weight is reduced by 30%, energy consumption is reduced, and the battery life of the explosion-proof robot is improved.

[0081] In some embodiments, refer to Figure 2 The explosion-proof robot also includes a heat dissipation module and a first temperature detection module 1130. The first temperature detection module 1130 and the heat dissipation module are located in the first cavity 1100 and are both electrically connected to the control module 1150. The first temperature detection module 1130 is used to detect the temperature data in the first cavity 1100, and the control module 1150 is also used to control the operation of the heat dissipation module according to the temperature data.

[0082] For example, if the temperature data inside the first cavity 1100 is greater than the preset temperature value, the heat dissipation module is controlled to work to blow the heat inside the first cavity 1100 to the inner wall of the body 1000, so as to accelerate the efficiency of heat transfer and achieve the effect of rapid heat dissipation.

[0083] For example, the heat dissipation module can be a fan module, and the application does not impose too many restrictions on the specific device type of the heat dissipation module.

[0084] In some embodiments, refer to Figure 4 The explosion-proof robot also includes: frame 21, protective components 22 and energy storage component 30. Frame 21 is located below body 1000, protective components 22 are set on the front and rear sides of frame 21, and energy storage component 30 is installed on body 1000 by a fixing frame.

[0085] For example, the energy storage component 30 includes a wireless charging module and a battery cell. The wireless charging module is used to realize wireless power transmission and convert external electrical energy to charge the battery cell.

[0086] It should be noted that the energy storage component 30 is mounted on the body 1000 by a fixing bracket. The height of the energy storage component 30 is the same as the height of the output end of the wireless charging pile. When the explosion-proof robot arrives at the wireless charging pile, it adjusts its direction so that the energy storage component 30 contacts the output end of the wireless charging pile to achieve fast charging of the energy storage component 30.

[0087] Understandably, the protective components 22 are located on the front and rear sides of the frame 21 for collision protection during robot operation.

[0088] In some embodiments, refer to Figure 5 , Figure 6 The explosion-proof robot also includes: status indicator light 40, handling handle 50, noise sensor 60, voice intercom module 71, speaker module 72 and wireless operation and maintenance module 80. The status indicator light 40, handling handle 50, noise sensor 60, voice intercom module 71, speaker module 72 and wireless operation and maintenance module 80 are all located on the outside of the body 1000.

[0089] It should be noted that the status indicator light 40 is used to display the operating status of the explosion-proof robot, such as power status and working status; the handling handle 50 is used to assist manual handling of the robot; the noise sensor 60 is used to collect environmental noise and voiceprint characteristics, and to diagnose equipment anomalies through environmental noise and voiceprint characteristics (such as abnormal motor noise and characteristic noises that accompany pipe leaks); the voice intercom module 71 is used for voice interaction between the robot and on-site personnel and terminal equipment; the speaker module 72 is used for robot status broadcasting and content editing and broadcasting; and the wireless operation and maintenance module 80 is used for remote operation and maintenance of the robot and system upgrades.

[0090] It should be noted that the control module 1150 is electrically connected to the status indicator light 40, the noise sensor 60, the voice intercom module 71, the speaker module 72, and the wireless maintenance module 80, respectively. The main body 1000 has multiple connection ports, and the status indicator light 40, the noise sensor 60, the voice intercom module 71, the speaker module 72, and the wireless maintenance module 80 are respectively connected to the connection ports on the main body 1000.

[0091] It should be noted that the status indicator light 40, noise sensor 60, voice intercom module 71, speaker module 72, and wireless maintenance module 80 are all equipped with housings, which improves the explosion-proof performance.

[0092] In some embodiments, the explosion-proof robot further includes an emergency stop button 91 and a start button 92. The emergency stop button 91 is disposed on the outside of the body 1000. The emergency stop button 91 is connected to the energy storage component 30 and the power supply terminal, respectively. The power supply terminal is used to provide power to the control module 1150 and other functional load modules. The emergency stop button 91 is used to disconnect the power transmission between the energy storage component 30 and the power supply terminal. The start button 92 is connected to the energy storage component 30 and the power supply terminal, respectively. The start button 92 is used to restore the power transmission between the energy storage component 30 and the power supply terminal.

[0093] According to the explosion-proof robot provided in this application, firstly, a plurality of first connection ports 11 are provided in the first cavity 1100. The load mounting base 1110 is threadedly connected to one of the first connection ports 11, and the remaining first connection ports 11 are threadedly connected to the cavity mounting cover 12. To adapt to more operating environments, more functional load modules need to be mounted on the body 1000 of the explosion-proof robot. The cavity mounting cover 12 can be removed, and the additional functional load modules can be threadedly connected to the corresponding first connection ports 11 where the cavity mounting cover 12 has been removed. This improves the versatility of the body 1000 and also integrates the additional functional load modules onto the body 1000, making the structure of the explosion-proof robot more compact. Furthermore, the first cavity 1100 becomes a closed state, and the first cavity 1100 can house the control module 1150 and the control module... The conductive wire connected to 1150 is isolated from flammable gases in the external environment. Even if the control module 1150 or the conductive wire generates an electrical spark due to a fault, it will not come into contact with flammable and explosive gases in the external environment, thus improving the robot's explosion-proof performance. Secondly, the walking component 2000 adopts a modular design, with a simple and compact overall structure and high integration, enabling it to move quickly in complex and confined high-risk environments. In addition, the walking module 2400 is only fixedly connected to the mounting hole 2310 of the tire module 2300 through the other end of the first output shaft 2420, while other components do not contact the tire module 2300. When the tire module 2300 malfunctions (such as a tire blowout), it can be quickly replaced by removing only one locking component, further improving maintenance efficiency and thus enhancing the robot's continuous operation capability.

[0094] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0095] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0096] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0097] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An explosion-proof robot, characterized in that, The explosion-proof robot includes: The body includes: a first cavity, multiple cavity mounting covers, and a load mounting base. The first cavity is provided with multiple first connection ports. The load mounting base is threadedly connected to one of the first connection ports, and the remaining first connection ports are threadedly connected to the cavity mounting covers. The walking assembly includes: a buffer module, a steering module, a steering drive module, a tire module, and a walking module; the buffer module includes a buffer mounting frame and an elastic unit, the elastic unit being disposed within the buffer mounting frame, the buffer mounting frame being connected to the body and the steering module respectively; the steering drive module is connected to the steering module and is used to drive the steering module to rotate; the tire module is used to drive the explosion-proof robot to deflect and move, and the tire module is provided with mounting holes; the walking module includes: a walking arm, a first drive unit, and a first output shaft, the walking arm being connected to the steering module, the walking arm being provided with a receiving cavity, the first drive unit and the first output shaft being both built into the receiving cavity, the first drive unit being connected to one end of the first output shaft, the first drive unit being used to drive the first output shaft to rotate, the other end of the first output shaft extending to the outside of the receiving cavity and being fixedly connected to the mounting hole through a locking member, the first output shaft being used to drive the tire module to move; A control module is located within the first cavity and is electrically connected to both the steering drive module and the first drive unit.

2. The explosion-proof robot according to claim 1, characterized in that, The explosion-proof robot also includes a detection component, which includes a position adjustment module and an image acquisition module. The position adjustment module includes a support base and a first connecting base. The image acquisition module is disposed on the support base. The position adjustment module is used to adjust the position of the image acquisition module. The image acquisition module is used to acquire image data. The position adjustment module is located outside the first cavity. The first connecting base is connected to the load mounting base.

3. The explosion-proof robot according to claim 1, characterized in that, The steering drive module includes: a first housing, a first mounting cover, and a second drive unit; the first housing is cylindrical, the first mounting cover is threadedly connected to the first housing, and the second drive unit is built into the first housing.

4. The explosion-proof robot according to claim 3, characterized in that, The steering drive module further includes a first gear, which extends to the outside of the first housing. The first gear is connected to the second drive unit, which drives the first gear to rotate. The steering module includes: a second housing, a second mounting cover, a second gear, and a rotating shaft; the second housing is cylindrical, and the second mounting cover is threaded to the top of the second housing; the second gear and the rotating shaft are both built into the second housing, the second gear meshes with the first gear, the second gear is fixedly connected to one end of the rotating shaft, and the other end of the rotating shaft is fixedly connected to the walking arm.

5. The explosion-proof robot according to claim 4, characterized in that, The steering module further includes a first lead-out shaft, a receiving seat, and a first encoder. One end of the first lead-out shaft is fixedly connected to one end of the rotating shaft, and the receiving seat is fixedly connected to the other end of the first lead-out shaft. The first encoder is located on the receiving seat and is used to acquire the deflection angle data of the rotating shaft. The first encoder is electrically connected to the control module. The control module is used to output an angle adjustment command based on the deflection angle data and a preset target angle, and send it to the second drive unit to control the second drive unit to drive the rotating shaft to rotate to the preset target angle.

6. The explosion-proof robot according to claim 1, characterized in that, The mounting frame includes an upper fork arm, two lower fork arms, a fork arm seat, and two suspension mounting seats. The fork arm seat is connected to the steering module. The upper fork arm is rotatably connected to the top of the fork arm seat and the two suspension mounting seats. The lower fork arms are rotatably connected to the bottom of the fork arm seat and the suspension mounting seats. The elastic unit is connected to the bottom of the two suspension mounting seats and the fork arm seat. The suspension mounting seats and the elastic unit are both connected to the body of the explosion-proof robot.

7. The explosion-proof robot according to claim 1, characterized in that, The body also includes a second cavity, which is connected to the first cavity, and a second connection port is provided at the top of the second cavity; The explosion-proof robot further includes: a positioning and navigation module for acquiring the position data of the explosion-proof robot; the positioning and navigation module is located outside the second cavity and is electrically connected to the control module, and the positioning and navigation module includes a second connecting seat, which is threadedly connected to a second connecting port.

8. The explosion-proof robot according to claim 1, characterized in that, The body also includes a third cavity, which is connected to the first cavity, and a third connection port is provided at the top of the third cavity; The explosion-proof robot also includes a communication module for enabling remote communication between the explosion-proof robot and a host computer; the communication module is located outside the third cavity and is electrically connected to the control module, and the communication module includes a third connector, which is threadedly connected to a third connector port.

9. The explosion-proof robot according to claim 1, characterized in that, The explosion-proof robot further includes a heat dissipation module and a first temperature detection module. The first temperature detection module and the heat dissipation module are located in the first cavity and are both electrically connected to the control module. The first temperature detection module is used to detect the temperature data in the first cavity, and the control module is also used to control the heat dissipation module to work according to the temperature data.

10. The explosion-proof robot according to claim 1, characterized in that, The explosion-proof robot also includes a frame, protective components, and an energy storage component. The frame is located below the body, the protective components are located on the front and rear sides of the frame, and the energy storage component is mounted on the body via a mounting bracket.

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