Independent steering transmission module and explosion-proof robot

Abstract

The utility model relates to the technical field of anti-explosion robots, in particular to an independent steering transmission module and an anti-explosion robot. The independent steering transmission module comprises a walking mechanism and a steering mechanism; the walking mechanism comprises a walking motor, a speed reducer, a walking shell and wheels; the walking motor is connected with the speed reducer; the speed reducer is connected with the wheels; the walking shell is used for arranging cables, a manhole is formed in the side face, and the manhole is covered with the hole cover. The steering limiting block is arranged at the upper end of the walking shell; the explosion-proof sleeve is arranged between the walking shell and the speed reducer; the steering mechanism comprises a steering shell, a steering motor, a motor transmission shaft, a steering shaft and a butt joint plug. The steering motor is connected with the motor transmission shaft which is connected with the steering shaft, and the steering shaft is connected with the walking shell. The steering shell is provided with an observation hole which is covered by the upper cover; the butt joint plug is arranged on the steering shell; and the second explosion-proof sleeve is arranged between the steering shell and the steering motor. According to the utility model, the maintenance cost is reduced, and the maintenance efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of explosion-proof robot technology, specifically to an independent steering transmission module and an explosion-proof robot. Background Technology

[0002] Currently, explosion-proof intelligent inspection robots are being used more and more widely in explosion-proof environments such as oil, gas, chemical, and metallurgy. With the increasing number of application scenarios, the requirements for the robot's operational posture are becoming increasingly stringent to cope with various complex working environments. The explosion-proof independent steering transmission module enables the robot to move forward and backward, translate left and right, turn, turn in place, and move diagonally, effectively improving the robot's flexibility and maneuverability, and meeting the needs of various work application scenarios.

[0003] The mainstream explosion-proof inspection robots on the market adopt a four-wheel differential drive system. Due to the integrated design, when a fault occurs and maintenance is required, the entire machine needs to be disassembled for maintenance, which results in high maintenance costs, low efficiency, and cumbersome operation. Utility Model Content

[0004] The purpose of this invention is to provide an independent steering transmission module and an explosion-proof robot, which can use the steering transmission part as a separate module, reducing maintenance costs and improving efficiency.

[0005] In the first aspect, this utility model provides an independent steering transmission module, including a walking mechanism and a steering mechanism;

[0006] The walking mechanism includes a walking motor, a reducer, a walking housing, wheels, a hole cover, a first explosion-proof sleeve, and a steering limit block;

[0007] The walking motor is connected to the reducer, and the output end of the reducer is connected to the wheel; the walking housing is a hollow structure, with one part of the hollow structure used to house the walking motor and the other part used to arrange cables; the side of the walking housing has an inspection hole, and a cover is provided on the walking housing to cover the inspection hole; the steering limit block is installed at the upper end of the walking housing to limit the steering range of the walking mechanism; the explosion-proof sleeve is installed between the walking housing and the reducer to achieve explosion-proof function;

[0008] The steering mechanism includes a steering housing, a steering motor, a motor drive shaft, a steering shaft, a second explosion-proof sleeve, a top cover, and a docking plug;

[0009] The output end of the steering motor is connected to one end of the motor drive shaft, the other end of the motor drive shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the walking housing; the steering housing is provided with an observation hole, and the upper cover is provided on the steering housing to cover the observation hole; the docking plug is installed on the steering housing for docking with the socket of the robot body; the second explosion-proof sleeve is installed between the steering housing and the steering motor to achieve explosion-proof function.

[0010] In an optional embodiment, the wheel includes a hub, a tire, and a hub cap;

[0011] The wheel hub is connected to the output end of the reducer, and the tire is mounted on the wheel hub;

[0012] The hub cap is installed on the outside of the hub to protect the connection between the hub and the reducer.

[0013] In an optional embodiment, the steering shaft is connected to the running gear housing via bearings.

[0014] In an optional embodiment, a guide device is provided on the steering housing;

[0015] The guiding device is located around the docking plug to ensure accurate docking between the docking plug and the docking socket on the explosion-proof robot body.

[0016] In an optional embodiment, the guiding device includes a plurality of guide holes disposed on the steering housing and a plurality of guide posts disposed on the explosion-proof robot body, wherein the guide posts are matched one by one with the guide holes;

[0017] Alternatively, the guiding device includes multiple guide posts disposed on the steering housing and multiple guide holes disposed on the explosion-proof robot body, wherein the guide posts and the guide holes are matched one by one.

[0018] In an optional embodiment, the mating plug is provided with an error-proof structure.

[0019] In an optional embodiment, both the motor drive shaft and the steering shaft are hollow shafts, and the internal cavity of the hollow shaft is used for the passage of cables.

[0020] In an optional embodiment, all externally connected interfaces on the walking mechanism and the steering mechanism are provided with seals.

[0021] In an optional embodiment, the motor drive shaft and the steering shaft are connected by a spline.

[0022] Secondly, this utility model provides an explosion-proof robot, including the independent steering transmission module described in any of the foregoing embodiments.

[0023] The beneficial effects of this utility model embodiment are:

[0024] By modularizing the walking and steering mechanisms and connecting them to the robot body via quick-connect connectors, maintenance only requires disassembling the independent steering transmission module, reducing maintenance costs and improving maintenance efficiency. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 Axonometric view of the independent steering transmission module provided in this embodiment of the utility model;

[0027] Figure 2 A front view of the independent steering transmission module provided in an embodiment of this utility model;

[0028] Figure 3 Axonometric drawing of the walking mechanism of the independent steering transmission module provided in this embodiment of the utility model;

[0029] Figure 4 A front view of the walking mechanism of the independent steering transmission module provided in an embodiment of this utility model;

[0030] Figure 5 Top view of the walking mechanism of the independent steering transmission module provided in an embodiment of this utility model;

[0031] Figure 6 for Figure 5 AA section view;

[0032] Figure 7 An isometric view of the steering mechanism of the independent steering transmission module provided in this embodiment of the utility model;

[0033] Figure 8 A front view of the steering mechanism of the independent steering transmission module provided in an embodiment of this utility model;

[0034] Figure 9 Top view of the steering mechanism of the independent steering transmission module provided in an embodiment of this utility model;

[0035] Figure 10for Figure 9 BB cross-sectional view.

[0036] Icons: 1-Walking mechanism; 2-Steering mechanism; 3-Matching plug; 4-Guide hole; 101-Walking housing; 102-Wheel; 103-Steering limit block; 104-Hole cover; 105-Hub cover; 106-Tire; 107-Walking motor; 108-First explosion-proof sleeve; 109-Reducer; 110-Hub; 201-Steering housing; 202-Top cover; 203-Steering motor; 204-Motor drive shaft; 205-Steering shaft; 206-Second explosion-proof sleeve; 207-Bearing. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] The following is combined Figures 1-10 The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0044] Firstly, this utility model provides an independent steering transmission module, such as... Figure 1 and Figure 2 As shown, it includes a walking mechanism 1 and a steering mechanism 2;

[0045] The walking mechanism 1 is as follows Figures 3-6 As shown, the device includes a walking motor 107, a reducer 109, a walking housing 101, wheels 102, a hole cover 104, a first explosion-proof sleeve 108, and a steering limit block 103. The walking motor 107 is connected to the reducer 109, and the output end of the reducer 109 is connected to the wheels 102. The walking housing 101 has a hollow structure, with one part used to house the walking motor 107 and the other part used to arrange cables. An inspection hole is provided on the side of the walking housing 101, and the hole cover 104 is provided on the walking housing 101 to cover the inspection hole. The steering limit block 103 is installed at the upper end of the walking housing 101 to limit the steering range of the walking mechanism 1. The explosion-proof sleeve is installed between the walking housing 101 and the reducer 109 to achieve explosion-proof functionality.

[0046] The steering mechanism 2 is as follows Figures 7-10As shown, the system includes a steering housing 201, a steering motor 203, a motor drive shaft 204, a steering shaft 205, a second explosion-proof sleeve 206, a top cover 202, and a docking plug 3. The output end of the steering motor 203 is connected to one end of the motor drive shaft 204, the other end of the motor drive shaft 204 is connected to one end of the steering shaft 205, and the other end of the steering shaft 205 is connected to the walking housing 101. The steering housing 201 has an observation hole, and the top cover 202 is disposed on the steering housing 201 to cover the observation hole. The docking plug 3 is installed on the steering housing 201 for docking with a socket on the robot body. The second explosion-proof sleeve 206 is installed between the steering housing 201 and the steering motor 203 to achieve explosion-proof function.

[0047] In this embodiment, as Figures 3-6 As shown, the walking mechanism 1 includes a walking motor 107, a reducer 109, a walking housing 101, wheels 102, a hole cover 104, a first explosion-proof sleeve 108, and a steering limit block 103. The walking motor 107 is bolted to the walking housing 101, and its output shaft is connected to the input end of the reducer 109. The output end of the reducer 109 is connected to the wheel 102, thereby transmitting power to the wheel 102 and driving it to rotate. The walking housing 101 is a hollow structure, with one part used to house the walking motor 107 and the other part used to arrange cables, ensuring the neatness and safety of the cables. The side of the walking housing 101 is provided with an inspection hole, and the hole cover 104 is bolted to the walking housing 101 to cover the inspection hole for easy daily inspection and maintenance. The steering limit block 103 is bolted to the upper end of the walking housing 101 to limit the steering range of the walking mechanism 1 and prevent over-steering. The first explosion-proof sleeve 108 is installed between the walking housing 101 and the reducer 109 to achieve explosion-proof function and ensure safe use in explosion-proof locations.

[0048] In this embodiment, as Figures 7-9As shown, the steering mechanism 2 includes a steering housing 201, a steering motor 203, a motor drive shaft 204, a steering shaft 205, a second explosion-proof sleeve 206, a top cover 202, and a docking plug 3. The steering motor 203 is bolted inside the steering housing 201, and its output end is connected to one end of the motor drive shaft 204. The other end of the motor drive shaft 204 is connected to one end of the steering shaft 205, and the other end of the steering shaft 205 is connected to the walking housing 101, thus realizing the steering function. An observation hole is provided on the steering housing 201, and the top cover 202 is bolted to the steering housing 201 to cover the observation hole, facilitating observation of the operating status of the steering mechanism 2. The docking plug 3 is installed on the steering housing 201 for docking with the socket of the robot body to achieve electrical connection. The second explosion-proof sleeve 206 is installed between the steering housing 201 and the steering motor 203 to achieve explosion-proof function, ensuring safe use in explosion-proof environments.

[0049] In this embodiment, the steering motor 203 is an integrated joint motor with a hollow interior, which can be used for cable passage. It works in conjunction with the walking housing 101 to prevent cable leakage.

[0050] In this embodiment, the walking motor 107, together with the reducer 109, provides effective driving power for the walking mechanism 1; the upper end of the walking mechanism 1 is provided with a steering limit block 103, which serves as a mechanical limit to restrict the steering range of the walking mechanism 1 to within ±90°.

[0051] In this embodiment, the walking mechanism 1 adopts an explosion-proof form with an IIC explosion-proof rating; the walking shell 101 and the wheel hub 110 of the wheel 102 are made of aluminum alloy, which is strong, high quality and lightweight.

[0052] In this embodiment, the cable of the walking mechanism 1 is connected to the docking plug 3 (male) through the cavity inside the walking housing 101, while the cable of the steering mechanism 2 is directly connected to the docking plug 3 (male) inside the steering housing 201. All cables of the module are internal. The robot body is equipped with a docking socket (female). When the transmission module is installed with the robot body, the docking plug 3 of the transmission module is also simultaneously connected to the docking socket of the robot body. The transmission module cable is connected to the robot body via a plug, which enables quick assembly and disassembly of the explosion-proof independent steering transmission module without having to open the robot body for related operations, facilitating on-site maintenance.

[0053] When the explosion-proof robot needs to move, the walking motor 107 starts, transmitting power to the wheels 102 via the reducer 109, driving the wheels 102 to rotate and moving the robot forward or backward. When turning is required, the steering motor 203 starts, driving the walking housing 101 to rotate via the motor drive shaft 204 and the steering shaft 205, thus turning the robot. The steering limit block 103 limits the turning range of the walking mechanism 1, preventing over-steering and protecting the stability and safety of the robot during operation. The first explosion-proof sleeve 108 and the second explosion-proof sleeve 206 are respectively installed between the walking housing 101 and the reducer 109 and between the steering housing 201 and the steering motor 203, ensuring the safe use of the module in explosion-proof environments. The docking plug 3 connects to the socket on the robot body, achieving electrical connection and ensuring normal power supply and control signal transmission for the steering motor 203 and the walking motor 107.

[0054] During maintenance, only the independent steering transmission module needs to be disassembled. This modular design significantly reduces maintenance costs and improves maintenance efficiency. Maintenance personnel can inspect and repair the walking mechanism 1 through the access panel, replacing damaged parts. The independent design of the steering mechanism 2 also makes the maintenance of components such as the steering motor 203, motor drive shaft 204, and steering shaft 205 more convenient. The entire steering transmission module can be quickly replaced through the quick-connect and disconnection of the connector 3 to the robot body's socket, reducing robot downtime and improving work efficiency.

[0055] In an optional embodiment, the wheel 102 includes a hub 110, a tire 106, and a hub cap 105; the hub 110 is connected to the output end of the reducer 109, and the tire 106 is mounted on the hub 110; the hub cap 105 is mounted on the outside of the hub 110 to protect the connection between the hub 110 and the reducer 109.

[0056] In this embodiment, the wheel 102 is a key component for enabling the robot to move.

[0057] The hub 110 is the core component of the wheel 102, and it is connected to the output end of the reducer 109 by bolts or welding. The hub 110 is typically made of high-strength aluminum alloy or steel to ensure its strength and durability when bearing the weight of the robot and transmitting power. The inner side of the hub 110 is designed with a mounting interface that matches the output shaft of the reducer 109 to ensure efficient power transmission.

[0058] Tire 106 is mounted on rim 110, providing contact and support with the ground. Tire 106 is typically made of wear-resistant rubber material, offering good grip and shock absorption. Tire 106 is secured to rim 110 with bolts or clips, ensuring it will not loosen under high-speed driving and complex road conditions. The outer surface of tire 106 is designed with anti-slip treads to improve driving stability on wet or uneven surfaces.

[0059] A hubcap 105 is installed on the outside of the wheel hub 110 to protect the connection between the wheel hub 110 and the tire 106. The hubcap 105 is typically made of plastic or lightweight metal, providing good protection and aesthetics. The hubcap 105 is secured to the wheel hub 110 with clips or bolts, preventing dust, debris, and moisture from entering the wheel hub 110, thereby extending the service life of the wheel 102 and ensuring its normal operation.

[0060] In an optional embodiment, the steering shaft 205 is connected to the running gear housing 101 via a bearing 207.

[0061] In this embodiment, the connection between the steering shaft 205 and the running gear housing 101 uses a bearing 207 connection method. This connection method not only improves the steering flexibility and precision, but also enhances the reliability and durability of the entire module.

[0062] The steering shaft 205 is a key component of the steering mechanism 2, used to transmit power to the steering motor 203 and enable the travel housing 101 to steer. One end of the steering shaft 205 is connected to the motor drive shaft 204, and the other end is connected to the travel housing 101 through the bearing 207.

[0063] The steering housing 201 is a hollow structure used to house the steering motor 203 and to route cables. Its lower part has mounting holes for bearings 207, ensuring that the steering shaft 205 can rotate smoothly within it.

[0064] Bearing 207 is a key component connecting steering shaft 205 and travel housing 101. Bearing 207 is usually a high-precision rolling bearing 207, which can withstand large radial and axial loads, ensuring the stability and accuracy of steering shaft 205 during high-speed operation.

[0065] In this embodiment, bearing 207 is a crossed roller bearing 207.

[0066] The bearing 207 is mounted on the steering housing 201, and the outer ring of the bearing 207 is fixed to the steering housing 201 by bolts; the inner ring of the bearing 207 is fixed to the steering shaft 205 by bolts, and a sealing groove is provided on the outer side of the lower end face of the steering shaft 205, so that a sealing ring can be installed between the steering housing 201 to ensure the sealing of the steering mechanism 2.

[0067] When installing the steering shaft 205 and the travel housing 101, first fix the outer ring of the bearing 207 to the steering housing 201 with bolts; then fix the steering shaft 205 to the inner ring of the bearing 207 with bolts. One end of the steering shaft 205 is connected to the motor drive shaft 204, and power transmission is achieved through splines or bolts; then fix the steering shaft 205 to the travel housing 101.

[0068] As can be seen from the above, in this embodiment, the high-precision design of the bearing 207 ensures the smoothness and accuracy of the steering shaft 205 during rotation, thereby improving the steering accuracy of the entire steering mechanism 2 and enabling the robot to control the steering angle more precisely. The bearing 207 can withstand large radial and axial loads, ensuring the stability of the steering shaft 205 during high-speed operation, improving the reliability and durability of the entire module, and reducing failures caused by wear or loosening of the steering shaft 205. The sealing design between the steering shaft 205 and the steering housing 201, as well as the protection of the lower end face of the steering shaft 205, effectively prevent dust and debris from entering the bearing 207, extending the service life of the bearing 207, reducing maintenance frequency and costs, and improving the robot's operating efficiency.

[0069] Through the above structural design and functional implementation, the connection between the steering shaft 205 and the bearing 207 of the steering housing 201 in this embodiment not only improves the steering flexibility and accuracy, but also enhances the reliability and durability of the entire module, reduces maintenance costs, and improves the robot's operating efficiency.

[0070] In an optional embodiment, a guide device is provided on the steering housing 201; the guide device is disposed around the docking plug 3 to ensure accurate docking between the docking plug 3 and the docking socket on the explosion-proof robot body.

[0071] In this embodiment, a guide device is provided on the steering housing 201 to ensure accurate docking between the docking plug 3 and the docking socket on the explosion-proof robot body.

[0072] In an optional embodiment, the guiding device includes a plurality of guide holes 4 disposed on the steering housing 201 and a plurality of guide posts disposed on the explosion-proof robot body, wherein the guide posts are matched one by one with the guide holes 4;

[0073] Alternatively, the guiding device includes a plurality of guide posts disposed on the steering housing 201 and a plurality of guide holes 4 disposed on the explosion-proof robot body, wherein the guide posts and the guide holes 4 are matched one by one.

[0074] In this embodiment, a guide device is disposed around the docking plug 3 to guide the docking plug 3 to accurately dock with the robot body socket.

[0075] The guiding device can be implemented in the following two ways:

[0076] The guiding device includes multiple guide holes 4 on the steering housing 201 and multiple guide posts on the explosion-proof robot body. The shapes and sizes of the guide holes 4 and guide posts are matched to ensure that the docking plug 3 and the socket can be docked quickly and accurately.

[0077] Specifically, in this embodiment, multiple guide holes 4 are machined on the steering housing 201, and the shape and size of the guide holes 4 are matched according to the design of the guide posts. Multiple guide posts are installed on the explosion-proof robot body, and the shape and size of the guide posts are matched with the guide holes 4. The guide holes 4 on the steering housing 201 are aligned with the guide posts on the robot body to ensure that the docking plug 3 and the socket can be smoothly docked.

[0078] It is understood that in this embodiment, the guide post is set on the explosion-proof robot body and the guide hole 4 is set on the steering housing 201. Alternatively, the guide post can be set on the steering housing 201 and the guide post can be set on the explosion-proof robot body.

[0079] It should be noted that in this embodiment, the guiding device is the result of the guide hole 4 and the guide post cooperating, but it is not limited to this structure. It can also be other modified structures, such as a structure in which a guide groove is provided to cooperate with a guide block, etc.

[0080] In this embodiment, the guiding device, through the cooperation of the guide hole 4 and the guide post, ensures precise docking between the docking plug 3 and the robot body socket. This arrangement greatly improves the accuracy and reliability of docking and reduces electrical connection failures caused by inaccurate docking.

[0081] In this embodiment, the guide device makes the docking process between the plug 3 and the socket simpler and faster, reduces installation and disassembly time, and improves maintenance efficiency.

[0082] In this embodiment, the guide device is designed to meet explosion-proof standards, ensuring safe use in hazardous environments. Precise alignment reduces potential safety hazards caused by poor electrical connections.

[0083] The structure of the column and guide device described herein can effectively prevent dust and debris from entering the connection parts of the docking plug 3 and the socket, extending the service life of the electrical connection components and improving the reliability of the entire module.

[0084] In an optional embodiment, the docking plug 3 is provided with an error-proof structure.

[0085] In this embodiment, the error-proof structure on the docking plug 3 is used to ensure that the docking plug 3 and the docking socket on the explosion-proof robot body can be connected correctly and safely, preventing electrical faults or damage caused by mis-insertion.

[0086] In this embodiment, the error prevention structure can take the following forms:

[0087] Shape-based mis-insertion prevention: The contact parts of the plug and socket are designed with asymmetrical shapes, such as rectangles, crosses, or L-shapes. Correct connection can only be achieved when the shapes of the plug and socket perfectly match. This design effectively prevents mis-insertion through the constraint of physical shape.

[0088] Slots and blocks: Slots and blocks are provided on the contact surfaces of the plug and socket, respectively. The shapes and sizes of the slots and blocks are matched, and the plug can only be fully inserted into the socket when the slots and blocks are correctly aligned. This design ensures accurate connection through mechanical constraints.

[0089] Color coding: Different colors are used for the plug and socket to visually guide operators to make correct connections. For example, the plug is red and the socket is blue; connection can only be made when the red plug is aligned with the blue socket. This design reduces misconnections caused by visual errors through color differentiation.

[0090] The error-proof structure provided in this embodiment not only ensures the correct connection between the docking plug 3 and the explosion-proof robot body socket, but also improves the safety and reliability of operation, simplifies the operation process, and enhances the durability of the entire system.

[0091] In an optional embodiment, both the motor drive shaft 204 and the steering shaft 205 are hollow shafts, and the internal cavity of the hollow shaft is used for the passage of cables.

[0092] In this embodiment, both the motor drive shaft 204 and the steering shaft 205 are hollow shafts. This design not only optimizes space utilization but also improves the reliability and maintenance convenience of the entire module, reduces weight, enhances safety, and improves the overall performance of the module.

[0093] Specifically, in this embodiment, the motor drive shaft 204 adopts a hollow design, forming an internal cavity for the cable to pass through. This design reduces the weight of the drive shaft while providing a safe passage for the cable, preventing it from being exposed and subjected to wear or damage.

[0094] Specifically, in this embodiment, the steering shaft 205 also adopts a hollow design, with its internal cavity connected to the cavity of the motor drive shaft 204. This arrangement not only reduces the weight of the steering shaft 205 but also provides a continuous channel for the cable, ensuring the safe arrangement of the cable inside the module.

[0095] In this embodiment, the cable starts from the control unit of the steering motor 203, passes through the internal cavity of the motor drive shaft 204, then through the internal cavity of the steering shaft 205, and finally connects to the control unit of the travel mechanism 1. This internal wiring method avoids exposed cables and reduces the risk of cable wear or damage in complex environments.

[0096] In an optional embodiment, all interfaces on the walking mechanism 1 and the steering mechanism 2 that are connected to the outside are provided with seals.

[0097] In this embodiment, to ensure safe use in explosion-proof environments, all interfaces connecting the walking mechanism 1 and the steering mechanism 2 to the outside are equipped with seals. These seals not only improve the dustproof and waterproof performance of the module, but also enhance the reliability and safety of the entire system.

[0098] Specifically, in this embodiment, the sealing element is provided at least in the following locations:

[0099] 1. Interface of walking mechanism 1:

[0100] Cable interfaces: Cables are arranged inside the hollow housing of the walking mechanism 1, and the cables connect to the external control unit through interfaces on the housing. Sealing elements are installed at these interfaces to prevent dust, moisture, and debris from entering the housing.

[0101] Inspection Hole: An inspection hole is provided on the side of the walking housing 101 for routine inspection and maintenance. A cover 104 is installed on the inspection hole, and the cover 104 is sealed to the housing by a sealing element to ensure the sealing of the inspection hole when closed.

[0102] 2. Interface of steering mechanism 2:

[0103] Connecting plug 3: A connecting plug 3 is installed on the housing of the steering mechanism 2 for electrical connection with the socket of the explosion-proof robot body. A seal is provided at the interface between the connecting plug 3 and the housing to ensure a tight seal during connection and disconnection.

[0104] Inspection port: An inspection port is provided on the steering housing 201 for observing the operating status of internal components. A cover 202 is installed on the inspection port, and the cover 202 is sealed to the housing by a seal to prevent dust and moisture from entering.

[0105] Steering shaft 205 interface: A seal is designed between the steering shaft 205 and the steering housing 201 in the steering mechanism 2 to prevent dust and moisture from entering.

[0106] Different seals may be used in different locations. For example, O-rings are used in some locations, while sealant is used in others. The seals are chosen based on the location and requirements.

[0107] In an optional embodiment, the motor drive shaft 204 and the steering shaft 205 are connected by a spline.

[0108] In this embodiment, the motor drive shaft 204 and the steering shaft 205 are connected by a spline. This connection method not only improves the efficiency and accuracy of power transmission, but also enhances the reliability and durability of the entire module.

[0109] Specifically, in this embodiment, one end of the motor drive shaft 204 is connected to the output end of the steering motor 203, and the other end is designed with an external spline. The tooth profile and size of the external spline are matched with the internal spline of the steering shaft 205 to ensure that the two can fit tightly together. One end of the steering shaft 205 is designed with an internal spline, which matches the external spline of the motor drive shaft 204. The tooth profile and size of the internal spline are completely consistent with the external spline of the motor drive shaft 204 to ensure that the two can achieve precise connection and power transmission.

[0110] In this embodiment, the external spline of the motor drive shaft 204 and the internal spline of the steering shaft 205 are connected by a sliding fit. This connection method allows the motor drive shaft 204 and the steering shaft 205 to slide axially within a certain range, while ensuring efficient power transmission. The tooth profile of the spline connection is usually an involute tooth profile, which has good meshing performance and high load-bearing capacity, and can effectively reduce wear and noise.

[0111] In this embodiment, to ensure the stability of the spline connection, a fixing device, such as bolts or retaining rings, is typically installed at the connection between the motor drive shaft 204 and the steering shaft 205. These fixing devices prevent the spline from loosening during operation, ensuring the connection's firmness.

[0112] It is understood that in this embodiment, the motor drive shaft 204 and the steering shaft 205 are connected by a spline, but it is not limited to this method. It can also be other types of connection, as long as the motor drive shaft 204 can drive the steering shaft 205 to rotate.

[0113] Secondly, this utility model provides an explosion-proof robot, including the independent steering transmission module described in any of the foregoing embodiments.

[0114] The beneficial effects of this utility model embodiment are:

[0115] The walking mechanism 1 and the steering mechanism 2 are modularized and connected to the robot body by quick-connect connectors. During maintenance, only the independent steering transmission module needs to be removed, which reduces maintenance costs and improves maintenance efficiency.

[0116] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An independent steering transmission module, characterized in that, Including the traveling mechanism and the steering mechanism; The walking mechanism includes a walking motor, a reducer, a walking housing, wheels, a hole cover, a first explosion-proof sleeve, and a steering limit block; The walking motor is connected to the reducer, and the output end of the reducer is connected to the wheel; the walking housing is a hollow structure, with one part of the hollow structure used to house the walking motor and the other part used to arrange cables; the side of the walking housing is provided with an inspection hole, and a cover is provided on the walking housing to cover the inspection hole; the steering limit block is installed at the upper end of the walking housing to limit the steering range of the walking mechanism; the first explosion-proof sleeve is installed between the walking housing and the reducer to achieve explosion-proof function; The steering mechanism includes a steering housing, a steering motor, a motor drive shaft, a steering shaft, a second explosion-proof sleeve, a top cover, and a docking plug; The output end of the steering motor is connected to one end of the motor drive shaft, the other end of the motor drive shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the running car body. An observation hole is provided on the steering housing, and the upper cover is provided on the steering housing to cover the observation hole; The docking plug is installed on the steering housing for docking with the socket of the robot body; the second explosion-proof sleeve is installed between the steering housing and the steering motor to achieve explosion-proof function.

2. The independent steering transmission module according to claim 1, characterized in that, The wheel includes a hub, a tire, and a hub cap; The wheel hub is connected to the output end of the reducer, and the tire is mounted on the wheel hub; The hub cap is installed on the outside of the hub to protect the connection between the hub and the reducer.

3. The independent steering transmission module according to claim 1, characterized in that, The steering shaft is connected to the running gear housing via bearings.

4. The independent steering transmission module according to claim 1, characterized in that, The steering housing is equipped with a guide device; The guiding device is located around the docking plug to ensure accurate docking between the docking plug and the docking socket on the explosion-proof robot body.

5. The independent steering transmission module according to claim 4, characterized in that, The guiding device includes multiple guide holes disposed on the steering housing and multiple guide posts disposed on the explosion-proof robot body; Alternatively, the guiding device includes a plurality of guide posts disposed on the steering housing and a plurality of guide holes disposed on the explosion-proof robot body; The guide post is matched with the guide hole one by one.

6. The independent steering transmission module according to claim 1, characterized in that, The connector is equipped with an error prevention structure.

7. The independent steering transmission module according to claim 1, characterized in that, Both the motor drive shaft and the steering shaft are hollow shafts, and the internal cavity of the hollow shaft is used for the cable to pass through.

8. The independent steering transmission module according to claim 1, characterized in that, All interfaces on the walking mechanism and the steering mechanism that connect to the outside are equipped with seals.

9. The independent steering transmission module according to claim 1, characterized in that, The motor drive shaft and the steering shaft are connected by a spline.

10. An explosion-proof robot, characterized in that, Includes the independent steering drive module as described in any one of claims 1-9.

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