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, an outer shell, a detection assembly, a walking assembly and a control module; the machine body comprises a first cavity; the detection assembly comprises a position adjusting module, a first gas detection module and an image acquisition module; the control module is located in the first cavity, the control module is electrically connected with the position adjusting module, the first gas detection module, the image collecting module and the walking assembly, and the control module is used for controlling the first gas detection module to collect gas concentration data of the environment where the anti-explosion robot is located; determining an abnormal position of the target device according to the gas concentration data; and according to the abnormal position of the target device, controlling a position adjustment module to adjust the image acquisition direction of an image acquisition module so as to acquire image information of the abnormal position. According to the invention, rapid passing in a complex and narrow high-risk environment can be realized, and a gas leakage point can be rapidly and accurately positioned.

Description

Technical Field

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

[0002] Chemical plants that use hazardous gases or other gases in their production processes are always at risk of gas leaks. These toxic and harmful gases, once released into the air, can cause varying degrees of harm to humans or even lead to catastrophic explosions. Therefore, regular inspections of the on-site environment and equipment operating status are necessary. Traditional methods of manual inspection or fixed monitoring suffer from drawbacks such as low efficiency, limited coverage, delayed response, and safety risks. In recent years, explosion-proof inspection robots equipped with multi-sensors and intelligent algorithms have been gradually applied in this field. However, the design of currently mainstream inspection robots still has significant technical shortcomings. Firstly, 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 inspection operations on narrow paths to meet more operational needs. Secondly, the electrical components on the inspection robot are in direct contact with the gas in the environment, and the electrical sparks generated by the electrical components can easily cause the gas in the environment to explode, resulting in poor explosion-proof performance. Thirdly, during the inspection of the preset path, it is impossible to achieve high-precision, high-efficiency, and adaptive location of abnormal positions of target devices located in the preset path, such as gas leak points.

[0003] Therefore, designing an explosion-proof robot that can quickly navigate through complex and confined high-risk environments and rapidly and accurately locate gas leak points has become an urgent technical problem to be solved. Summary of the Invention

[0004] The main purpose of this application is to provide an explosion-proof robot that can move quickly through complex and confined high-risk environments and can quickly and accurately locate gas leak points.

[0005] This application provides an explosion-proof robot, comprising: a body, an outer shell, a detection component, a walking component, and a control module; the body includes: a first cavity and a load mounting base, the first cavity being provided with a first connection port, and the load mounting base being threadedly connected to the first connection port; the outer shell covers the outside of the body and is detachably connected to the body; the detection component includes a position adjustment module, a first gas detection module, and an image acquisition module, the position adjustment module including a support base and a first connection base, the first gas detection module and the image acquisition module being both disposed on the support base, the position adjustment module being used to adjust the positions of the image acquisition module and the first gas detection module, and the first gas detection module being used to collect gas samples from the environment in which the explosion-proof robot is located. The image acquisition module is used to acquire image information of the target device. The position adjustment module is located outside the first cavity. The first connecting seat is connected to the load mounting seat. The walking component is connected to the body to drive the body to move. The control module is located inside the first cavity and is electrically connected to the position adjustment module, the first gas detection module, the image acquisition module, and the walking component. The control module is used to: control the first gas detection module to acquire gas concentration data of the environment in which the explosion-proof robot is located; determine the abnormal position of the target device based on the gas concentration data; and control the position adjustment module to adjust the image acquisition direction of the image acquisition module to acquire image information of the abnormal position based on the abnormal position of the target device.

[0006] According to the explosion-proof robot provided in this application, firstly, the first cavity can isolate the control module and the conductive wires connected to the control module from the explosive gases in the external environment. Even if the control module or 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. Secondly, by setting an outer shell on the outside of the robot body, it can not only provide heat insulation and waterproofing, but also improve the impact resistance. Next, the first cavity is provided with a first connection port, and the load mounting base is threadedly connected to the first connection port. That is, by using a threaded connection, the load mounting base can be fixed to the top of the first cavity without the need for a connecting flange and fasteners between the first connection port and the load mounting base. This reduces production costs, improves the integration of the explosion-proof robot, reduces the size and weight of the explosion-proof robot, and further... The first gas detection module is integrated into the position adjustment module. This eliminates the need for repeated adjustments to the robot's movement path; the position adjustment module alone can drive the first gas detection module to perform large-scale detection, significantly improving detection accuracy and efficiency. Furthermore, the control module is used to: control the first gas detection module to collect gas concentration data of the environment in which the explosion-proof robot operates; determine the abnormal location of the target device based on the gas concentration data; and adjust the image acquisition direction of the image acquisition module according to the abnormal location to acquire image information of the abnormal location. Therefore, the explosion-proof robot can not only determine the presence of abnormal locations (gas leaks) in the target device based on gas concentration data, but also coordinate with the image acquisition module to capture images of the abnormal location, providing sufficient information for subsequent maintenance and improving maintenance efficiency. Attached Figure Description

[0007] 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.

[0008] 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

[0009] 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.

[0010] 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.

[0011] This application provides an explosion-proof robot that can quickly move through complex and confined high-risk environments and quickly and accurately locate gas leak points.

[0012] 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.

[0013] Reference Figures 1-12This application provides an explosion-proof robot, which includes: a body 1000, an outer shell 3000, a detection component, a walking component 2000, and a control module 1150; the body 1000 includes: a first cavity 1100 and a load mounting base 1110, 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; the outer shell 3000 covers the outside of the body 1000 and is detachably connected to the body 1000; the detection component includes a position adjustment module 1120, a first gas detection module 1130, and an image acquisition module 1140, the position adjustment module 1120 includes a support base 1121 and a first connection base 1122, the first gas detection module 1130 and the image acquisition module 1140 are both disposed on the support base 1121, the position adjustment module 1120 is used to adjust the position of the image acquisition module 1140 and the first gas detection module 1130, and the first gas detection module 1140... Block 1130 is used to collect gas concentration data of the environment in which the explosion-proof robot is located. Image acquisition module 1140 is used to acquire image information of the target device. Position adjustment module 1120 is located outside the first cavity 1100. First connecting seat 1122 is connected to load mounting seat 1110. Walking component 2000 is connected to body 1000 to drive body 1000 to move. Control module 1150 is located inside the first cavity 1100. Control module 1150 is electrically connected to position adjustment module 1120, first gas detection module 1130, image acquisition module 1140 and walking component 2000 respectively. Control module 1150 is used to: control first gas detection module 1130 to collect gas concentration data of the environment in which the explosion-proof robot is located; determine the abnormal position of the target device based on gas concentration data; and control position adjustment module 1120 to adjust the image acquisition direction of image acquisition module 1140 to collect image information of abnormal position based on the abnormal position of the target device.

[0014] For example, refer to Figure 3 The body 1000 also includes multiple cavity mounting covers 12, and multiple first connection ports 11 are provided on the first cavity 1100. One first connection port 11 is used for threaded connection with the load mounting base 1110, and the remaining first connection ports 11 are threaded connection with the cavity mounting cover 12.

[0015] 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 connected to the first connection port 11 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.

[0016] For example, the first connection port 11, which is threaded to the load mount 1110, is located at the top of the first cavity 1100.

[0017] It should be noted that after the load mounting base 1110 located at the top of the first cavity 1100 is connected to the first connecting base 1122 of the position adjustment module 1120, the first cavity 1100 becomes a closed state. Furthermore, the control module 1150 is located inside the first cavity 1100. The control module 1150 is electrically connected to the position adjustment module 1120, the first gas detection module 1130, the image acquisition module 1140, and the walking component 2000. The conductive wires used to realize the electrical connection between each functional module and the control module 1150 are also located inside the first cavity 1100. Since the first cavity 1100 is in a closed state, the first cavity 1100 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 electric 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.

[0018] 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.

[0019] It should be noted that, referring to Figure 4 , Figure 5 The outer shell 3000 has a hollowed-out area that fits into the load mounting base 1110. By setting the outer shell 3000 on the outside of the body 1000, the outer shell 3000 serves two purposes: firstly, it provides heat insulation and waterproofing, preventing external heat from being transferred into the body 1000 and preventing direct contact between the body 1000 and external rainwater, thereby extending the service life of the explosion-proof robot. Secondly, the outer shell 3000 includes several sequentially adjacent plate areas. These plate areas are designed to adapt to the structure of the body 1000, reducing the distance between the outer shell 3000 and the body 1000, thus reducing the size of the explosion-proof robot. Furthermore, crease lines are formed at the junction of any two adjacent plate areas. These crease lines constitute both the decorative lines and structural reinforcement lines of the outer shell 3000. Specifically, the sharp lines enhance the visual appeal and coolness of the explosion-proof robot, while the stress dispersion effect of the crease lines strengthens the impact resistance of the outer shell 3000, improving its collision protection performance.

[0020] It should be noted that, firstly, compared to the related technologies where various functional load devices are directly installed on the frame 21, in this application, by setting the body 1000 to carry the detection component, the walking component 2000, and the control module 1150, the detection component, 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 connecting flanges to mount the load... 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.

[0021] Understandably, compared to the solution in related technologies where the first gas detection module 1130 is directly fixed to the outer shell 3000 of the robot, in this application, the first gas detection module 1130 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 first gas detection module 1130 can be driven to perform large-scale detection, which greatly improves the detection accuracy and efficiency.

[0022] For example, the target device can be a device used to treat toxic and harmful hazardous gases in a chemical plant, urban underground pipeline, or liquefied natural gas storage tank area, or a device that generates toxic and harmful hazardous gases during operation, and the target device includes multiple gas transmission pipelines, and the abnormal location of the target device can be a gas leak point located in the transmission pipeline.

[0023] 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 the 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 second support arm 1125 and is used to drive the third support arm 1123 to rotate relative to the first support arm 1123. The support arm 1125 rotates relative to the second support arm 1124, and the other end of the third support arm 1125 is connected to the support seat 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, respectively. 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 support seat 1121 to the target position, thereby enabling the first gas detection module 1130 located on the support seat 1121 to perform comprehensive monitoring of all reachable areas of the support seat 1121 and enabling the image acquisition module 1140 to acquire images of all directions that the support seat 1121 can point to. In this application, the structure of the position adjustment module 1120 is not limited too much.

[0024] 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.

[0025] 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 support base 1121. 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 1130. 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 too much.

[0026] For example, controlling the first gas detection module 1130 to collect gas concentration data of the environment in which the explosion-proof robot is located includes: controlling the walking component 2000 to drive the body 1000 to move to the location of the target device based on a preset path, and controlling the first gas detection module 1130 to collect gas concentration data of the target device.

[0027] It should be noted that each of the first support arm 1123, the second support arm 1124, and the third support arm 1125 has a wire outlet channel inside. The outlet channel is used to accommodate the conductive wire, so that the conductive wire is isolated from the explosive gases in the external environment by the shell of the first support arm 1123, the second support arm 1124, and the third support arm 1125. Even if the conductive wire generates an electric spark due to a fault, it will not come into contact with the flammable and explosive gases in the external environment, thus improving the explosion-proof performance of the robot.

[0028] It should be noted that after the walking component 2000 drives the body 1000 to the location of the target device based on the preset path, the walking component 2000 drives the body 1000 to move around the periphery of the target device, and controls the first gas detection module 1130 to collect gas concentration data over a large area around the target device. If the gas concentration data exceeds the preset concentration value, it indicates that there is an abnormal location in the target device, that is, there is a gas leak point.

[0029] Understandably, through the coordinated action of the first gas detection module 1130 and the walking component 2000, the walking component 2000 can drive the first gas detection module 1130 located on the body 1000 to perform large-scale monitoring of the target device. If the detected gas concentration data is abnormal, the abnormal location in the target device can be determined based on the gas concentration data, that is, the specific location of the gas leak point. Compared with the related technology that relies on manual inspection of the first gas detection module 1130, the inspection efficiency is greatly improved.

[0030] It is understandable that the control module 1150 is used to: control the first gas detection module 1130 to collect gas concentration data of the environment in which the explosion-proof robot is located; determine the abnormal position of the target device based on the gas concentration data; and control the position adjustment module 1120 to adjust the image acquisition direction of the image acquisition module 1140 to acquire image information of the abnormal position based on the abnormal position of the target device. It can be seen that the explosion-proof robot can not only determine the existence of an abnormal position of the target device based on the gas concentration data, but also coordinate with the image acquisition module 1140 to aim at the abnormal position and acquire image information of the abnormal position, so as to provide sufficient information for subsequent maintenance and improve maintenance efficiency.

[0031] For example, based on the abnormal position of the target device, the control position adjustment module 1120 adjusts the image acquisition direction of the image acquisition module 1140 to acquire image information of the abnormal position. After that, it also includes: transmitting the image information of the abnormal position to a host computer remotely connected to the control module 1150 to prompt the staff to handle the abnormal situation in a timely manner; wherein, the host computer includes a processor and a human-machine interface, and the processor is used to: mark the abnormal position on the environmental map in the human-machine interface based on the image information of the abnormal position.

[0032] Understandably, by marking abnormal locations on the environmental map within the human-machine interface based on image information, maintenance personnel can promptly detect gas leaks on the interface. They can also use the marked information to determine the location and actual condition of the leak, allowing for timely repairs. Specifically, control commands can be sent through the human-machine interface to direct an explosion-proof robot equipped with a repair module to the marked location for repairs, or control commands can be sent to evacuate personnel and the explosion-proof robot from the marked location as quickly as possible.

[0033] For example, image information for an abnormal location includes image data and location data.

[0034] For example, based on the image information of the abnormal location, the abnormal location is marked on the environment map in the human-computer interaction interface, including: inputting the image information of the abnormal location into the image recognition module to obtain image data and location data; adding marker points or region boxes on the preset working path in the human-computer interaction interface to indicate the abnormal location based on the location data; storing the image data in a preset storage address, and constructing a link between the preset storage address and the marker points or region boxes.

[0035] Furthermore, if a marker or region box is clicked, a pop-up window will appear and display the image data.

[0036] In some embodiments, refer to Figure 6The explosion-proof robot also includes multiple second gas detection modules 1160, which are evenly arranged around the body 1000 to obtain gas concentration data near the ground. The control module 1150 is electrically connected to the multiple second gas detection modules 1160. The control module 1150 is also used to: control the second gas detection modules 1160 to collect gas concentration data near the ground, and determine the abnormal location in the target device based on the highest gas concentration data collected by the second gas detection modules 1160 and the gas concentration data collected by the first gas detection module 1130.

[0037] Understandably, by combining the gas concentration data collected by the first gas detection module 1130 and the second gas detection module 1160, the approximate location of the abnormal position can be quickly found. Furthermore, by controlling the position adjustment module 1120 to drive the first gas detection module 1130 to scan the approximate location of the abnormal position, gas concentration data of multiple spatial locations are obtained. Based on the gas concentration data of multiple spatial locations, the abnormal position of the target device is determined, thereby realizing the rapid location of the abnormal position and image acquisition of the abnormal position.

[0038] In some embodiments, the body 1000 further includes a temperature detection module, which is disposed on the support 1121 and electrically connected to the control module 1150. The control module 1150 is also used to control the temperature detection module to collect temperature data of the environment in which the explosion-proof robot is located.

[0039] In some embodiments, determining the abnormal location of the target device based on gas concentration data includes: If the gas concentration data exceeds the preset concentration value, the control position adjustment module 1120 moves according to the preset spatial scanning path to drive the first gas detection module 1130 to obtain gas concentration data from multiple spatial orientations; and determines the abnormal position of the target device based on the gas concentration data from multiple spatial orientations.

[0040] For example, the movement of the position adjustment module 1120 according to the preset spatial scanning path includes at least one of the following: the position adjustment module 1120 performs a horizontal rotation scan to cover a 360° horizontal field of view; or, the position adjustment module 1120 performs a vertical pitch scan to cover a predetermined vertical angle range; or, the position adjustment module 1120 performs a composite trajectory scan combining "horizontal rotation" and "vertical pitch" to cover a three-dimensional spatial sector.

[0041] For example, determining the abnormal location of a target device based on gas concentration data from multiple spatial orientations includes: calculating the maximum growth direction of gas concentration in space using the difference method or fitting algorithm based on gas concentration data collected from at least three different spatial orientations and their corresponding orientation information; and determining the maximum growth direction as the abnormal location of the target device.

[0042] In some embodiments, if the gas concentration data does not exceed a preset concentration value, the control walking component 2000 moves to the next detection point along a preset path to perform gas concentration detection on the target device located at the next detection point.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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 device 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 device and the environmental map information, and control the walking component 2000 to reach the location of the target device according to the preset path.

[0050] 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.

[0051] For example, the control module 1150 is also used to: if the target device has an abnormal position, combine the current position data of the explosion-proof robot with the image data obtained by the image acquisition module 1140 to form image information of the abnormal position.

[0052] It should be noted that the image information includes both location data and image data of the abnormal location. On the one hand, it helps maintenance personnel quickly determine which specific target device is malfunctioning; on the other hand, it helps maintenance personnel understand the actual situation of the abnormal location based on the image data, such as the approximate location of the abnormal location and the size of the crack, so as to create a detailed repair plan, thereby improving maintenance efficiency and ensuring personnel safety.

[0053] In some embodiments, refer to Figure 3 , Figure 6The 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] In some embodiments, 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In some embodiments, refer to Figures 7-12 The walking assembly 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 bracket and an elastic unit 2520, the elastic unit 2520 being disposed within the buffer mounting bracket, which is connected to the body 1000; the steering module 2100 is connected to the buffer mounting bracket; the steering drive module 2200 is connected to the steering module 2100 and electrically connected to the control module 1150, and is used to drive the steering module 2100 to rotate; the tire module 2300 is provided with mounting holes 2310, and the tire module 2400... 300 is used to drive the explosion-proof robot to deflect and move; 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, the walking arm 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, the first drive unit is electrically connected to the control module 1150, the first drive unit 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 through a locking member, the first output shaft 2420 is used to drive the tire module 2300 to move.

[0062] It is understandable that when 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, avoids the detection components, control module 1150, etc. from becoming loose or malfunctioning due to long-term vibration, reduces component wear, and extends service life.

[0063] For example, the elastic element 2520 is a spring.

[0064] 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.

[0065] 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.

[0066] It should be noted that, 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.

[0067] It should be noted that, referring to Figure 11 The 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.

[0068] 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.

[0069] In some embodiments, refer to Figure 9 , Figure 10 The steering drive module 2200 includes: a first housing 2201, a first mounting cover 2202, a second drive unit, a second output shaft, and a first gear 2210. The first mounting cover 2202 is threadedly connected to the first housing 2201. The second drive unit is built into the first housing 2201 and is connected to the first gear 2210 via the second output shaft. The first gear 2210 extends to the outside of the first housing 2201. The second drive unit is electrically connected to the control module 1150 and is used to drive the first gear 2210. Rotation; 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 threadedly connected 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 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 traveling arm.

[0070] It should be noted that, firstly, the first mounting cover 2202 is threadedly connected to the first housing 2201, and the second mounting cover 2102 is threadedly connected to the top of the second housing 2101. This prevents substances from the external environment (such as moisture and corrosive gases) from entering the first housing 2201 and the second housing 2101, thus avoiding corrosion of components such as the second drive unit, the first gear 2210, the second gear 2110, and the rotating shaft 2120, and improving the operational stability of the walking assembly 2000. Secondly, both the first housing 2201 and the second housing 2101 are cylindrical, and the first mounting cover 2202 is threadedly connected to the top of the first housing 2201. The body 2201 is threaded, and the second mounting cover 2102 is threaded to the top of the second housing 2101. Static friction is formed at the threaded connection, which can counteract the loosening tendency caused by external forces (such as vibration and load changes). The first mounting cover 2202 is not easy to detach from the first housing 2201, and the second mounting cover 2102 is also not easy to detach from the second housing 2101. This can completely isolate the components located inside the housing from the external environment. Even if the components located inside the housing generate electric 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 component 2000.

[0071] 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.

[0072] For example, both the first mounting cover 2202 and the second mounting cover 2102 are provided with sealing rings. 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. Alternatively, when the second mounting cover 2102 is threadedly connected to the top of the second housing 2101, the sealing ring is snapped between the top of 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 first housing 2201 and the second housing 2101, thereby improving the service life of the components located in the first housing 2201 and the second housing 2101.

[0073] It should be noted that, compared with the solution in related technologies that connects the mounting cover to the housing by setting fasteners, the use of threaded connection can make the connection between the mounting cover and the housing more compact, improve the space utilization within the housing, and also reduce the weight of the walking component 2000, thereby reducing the overall energy consumption of the walking component 2000.

[0074] In some embodiments, refer to Figure 10The 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.

[0075] 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.

[0076] In some embodiments, refer to Figure 10 The 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 also 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] In some embodiments, refer to Figure 4 The explosion-proof robot also includes: frame 21, protective component 22 and energy storage component 30. Frame 21 is located below body 1000, protective component 22 is set on the front and rear sides of frame 21, and energy storage component 30 is installed between body 1000 and outer shell 3000 by fixing frame.

[0090] 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.

[0091] For example, the outer shell 3000 is provided with a hollow area, which cooperates with the side of the wireless charging module in the energy storage component 30. The energy storage component 30 is installed 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.

[0092] Understandably, the protective components 22 are located on the front and rear sides of the frame 21 for collision protection during robot operation.

[0093] In some embodiments, refer to Figure 5 , Figure 6The 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] It should be noted that the outer casing 3000 has multiple cutout areas. These cutout areas are used to expose the status indicator light 40, noise sensor 60, voice intercom module 71, speaker module 72, and wireless maintenance module 80 on the outside of the outer casing 3000 to ensure stable operation.

[0098] In some embodiments, refer to Figure 6 The explosion-proof robot also includes an emergency stop button 91 and a start button 92. The emergency stop button 91 is located 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.

[0099] According to the explosion-proof robot provided in this application, firstly, the first cavity 1100 can isolate the control module 1150 and the conductive wire connected to the control module 1150 from the explosive gases in the external environment. Even if the control module 1150 or the conductive wire generates an electric spark due to a fault, it will not come into contact with the flammable and explosive gases in the external environment, thus improving the explosion-proof performance of the robot. Secondly, by setting an outer shell 3000 on the outside of the body 1000, it can not only provide heat insulation and waterproofing, but also improve the impact resistance. Next, 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. Furthermore, by mounting the first gas detection module 1130 on the position adjustment module 1120, the robot's walking component 2000 can be moved without multiple adjustments to its path. The first gas detection module 1130 can be driven to perform large-scale detection simply by controlling the position adjustment module 1120, significantly improving detection accuracy and efficiency. Additionally, the control module 1150 is used to: control the first gas detection module 1130 to collect gas concentration data of the environment in which the explosion-proof robot is located; determine the abnormal location of the target device based on the gas concentration data; and adjust the image acquisition direction of the image acquisition module 1140 based on the abnormal location of the target device to acquire image information of the abnormal location. Thus, the explosion-proof robot can not only determine the abnormal location (gas leak point) of the target device based on gas concentration data, but also coordinate with the image acquisition module 1140 to capture images of the abnormal location, providing sufficient information for subsequent maintenance and improving maintenance efficiency.

[0100] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0101] 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.

[0102] 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.

[0103] 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 descriptions 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 and a load mounting base, wherein the first cavity is provided with a first connection port, and the load mounting base is threadedly connected to the first connection port; An outer casing that covers the outside of the body and is detachably connected to the body; The detection component includes a position adjustment module, a first gas detection module, and an image acquisition module. The position adjustment module includes a support base and a first connecting base. The first gas detection module and the image acquisition module are both mounted on the support base. The position adjustment module is used to adjust the positions of the image acquisition module and the first gas detection module. The first gas detection module is used to collect gas concentration data of the environment in which the explosion-proof robot is located. The image acquisition module is used to acquire image information of the target device. The position adjustment module is located outside the first cavity. The first connecting base is connected to the load mounting base. A walking assembly, which is connected to the body to drive the body to move; A control module, located within the first cavity, is electrically connected to the position adjustment module, the first gas detection module, the image acquisition module, and the walking assembly. The control module is used for: The first gas detection module is controlled to collect gas concentration data of the environment in which the explosion-proof robot is located; Based on the gas concentration data, the abnormal location of the target device is determined; Based on the abnormal position of the target device, the position adjustment module is controlled to adjust the image acquisition direction of the image acquisition module in order to acquire image information of the abnormal position.

2. The explosion-proof robot according to claim 1, characterized in that, Determining the abnormal location of the target device based on the gas concentration data includes: If the gas concentration data exceeds the preset concentration value, the position adjustment module is controlled to move according to the preset spatial scanning path, so as to drive the first gas detection module to obtain gas concentration data in multiple spatial directions. The abnormal location of the target device is determined based on gas concentration data from multiple spatial orientations.

3. 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.

4. 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.

5. The explosion-proof robot according to claim 1, characterized in that, The walking component includes: A buffer module, comprising a buffer mounting frame and an elastic unit, wherein the elastic unit is disposed within the buffer mounting frame and the buffer mounting frame is connected to the body; A steering module, which is connected to the buffer mounting bracket; A steering drive module is connected to the steering module and electrically connected to the control module. The steering drive module is used to drive the steering module to rotate. The tire module is provided with mounting holes and is used to drive the explosion-proof robot to turn its direction and move. 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 has 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 electrically connected to the control module. The first drive unit 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.

6. The explosion-proof robot according to claim 5, characterized in that, The steering drive module includes: a first housing, a first mounting cover, a second drive unit, a second output shaft, and a first gear. The first mounting cover is threadedly connected to the first housing. The second drive unit is built into the first housing. The second drive unit is connected to the first gear through the second output shaft. The first gear extends to the outside of the first housing. The second drive unit is electrically connected to the control module. The second drive unit is used to drive 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.

7. The explosion-proof robot according to claim 6, 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 also 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.

8. The explosion-proof robot according to claim 5, 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.

9. 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 disposed on the front and rear sides of the frame, and the energy storage component is installed between the body and the outer shell via a fixing bracket.

10. The explosion-proof robot according to claim 1, characterized in that, The explosion-proof robot also includes: a status indicator light, a handling handle, a noise sensor, a voice intercom module, a speaker module, and a wireless maintenance module. The status indicator light, the handling handle, the noise sensor, the voice intercom module, the speaker module, and the wireless maintenance module are all located on the outside of the robot body.

Images