An explosion-proof chassis structure suitable for an explosion-proof robot

Abstract

The application discloses an explosion-proof chassis structure suitable for an explosion-proof robot, relates to the technical field of robot explosion-proof chassis, and aims to solve the problem of insufficient flexibility of a robot explosion-proof chassis in the prior art. The explosion-proof chassis structure comprises an explosion-proof shell, the explosion-proof shell comprises an upper shell and a lower shell, the upper shell is tightly connected with the lower shell, two groups of driving systems are symmetrically arranged in the lower shell, the output ends of the two groups of driving systems are drivingly connected with driving wheels, the driving wheels are rotatably connected with a suspension system, and a control system is arranged in the upper shell; the upper shell and the lower shell are welded to form a relatively closed explosion-proof cavity, physical isolation is formed, and explosion risk is reduced; the driving system and a steering system work cooperatively under the control of the control system, double-wheel differential motion of the chassis and cooperative steering of front and rear wheels are realized, the explosion-proof robot can realize dead-angle-free steering and U-turn in a narrow space, and the overall size of the explosion-proof robot is more controllable under the premise that the explosion-proof robot has explosion prevention and flexibility.

Description

Technical Field

[0001] This application relates to the field of explosion-proof chassis technology for robots, and in particular to an explosion-proof chassis structure suitable for explosion-proof robots, wherein the explosion-proof chassis can achieve free movement and turning in confined spaces while meeting explosion-proof requirements. Background Technology

[0002] With economic development, the number of chemical transport ships is constantly increasing. Since ships need to clean their cabins after transport, robots are generally used to clean the cabins. However, the internal structure of the cabins is relatively complex, and the chemicals are flammable and explosive. The chassis structure, as the mobile carrier and core support structure of the robot, is particularly important. Existing cleaning robot chassis are mostly reinforced and modified from traditional robot chassis, which has some shortcomings.

[0003] 1. There are limitations in terms of mobility. Existing explosion-proof chassis mostly adopt tracked or four-wheel drive. The four-wheel steering structure requires a large turning radius, making it difficult to turn around and turn in the narrow space of the cabin. The tracked structure has high steering resistance and cannot make precise steering. These traditional layouts limit the robot's mobility in complex explosion-proof environments.

[0004] 2. Existing solutions for explosion protection often simply involve thickening the robot's metal shell, but the explosion-proof performance of its structural joints is insufficient, resulting in high safety risks; or a bulky explosion-proof enclosure design is used, which leads to a sharp increase in the size and weight of the chassis, making the robot less flexible and maneuverable.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this application and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0006] The purpose of this application is to provide an explosion-proof chassis structure suitable for explosion-proof robots, which improves the flexibility of the robot chassis while ensuring explosion-proof function.

[0007] The technical solution adopted in this application is: an explosion-proof chassis structure suitable for explosion-proof robots, including an explosion-proof shell, the explosion-proof shell including an upper shell and a lower shell, the upper shell and the lower shell being fastened together; The lower housing has a suspension system symmetrically installed on both sides of its transverse axis; The upper housing is symmetrically equipped with a steering system on both sides of the longitudinal axis. The steering system includes steering wheels that can drive the explosion-proof chassis structure body to turn. The horizontal axis and the vertical axis are perpendicular to each other; The lower housing is symmetrically equipped with two sets of drive systems. The output ends of the two sets of drive systems are respectively connected to drive wheels, and the drive wheels are rotatably connected to the suspension systems on both sides of the transverse axis. The upper housing houses a control system, which is electrically connected to the drive system and steering system. The control system is used to receive control commands and control the actions of the drive system and steering system.

[0008] Preferably, the suspension system includes a suspension assembly, a shock absorber assembly, a pillar, and a spherical bearing. One end of the suspension assembly is hinged to the lower housing, one end of the shock absorber assembly is connected to the upper housing, the other end of the shock absorber assembly is connected to the suspension assembly, and the pillar is connected to the other end of the suspension assembly via the spherical bearing.

[0009] Preferably, the suspension assembly includes an upper fork and a lower fork, one end of the upper fork is hinged to the lower housing, and the other end of the upper fork is fastened to a fisheye bearing; one end of the lower fork is hinged to the lower housing, and the other end of the lower fork is fastened to a fisheye bearing. Preferably, the shock absorption components are symmetrically arranged on both sides of the upper fork arm. The shock absorption components include shock absorption supports and spring shock absorbers. There are two shock absorption supports, which are respectively fastened to the upper housing and the lower fork arm. The two ends of the spring shock absorbers are respectively hinged to the two shock absorption supports.

[0010] Preferably, the steering system further includes a steering bracket, a steering connecting shaft, an explosion-proof base, a steering coupling, and a steering servo. Preferably, the steering wheel is rotatably connected to the steering bracket, a bushing is provided inside the steering connecting shaft, the rotating shaft of the steering bracket is slidably connected to the bushing, and a positioning pin is detachably connected; the steering connecting shaft is drivenly connected to the steering coupling, the steering servo is fastened to the inner wall of the upper housing, the output end of the steering servo is drivenly connected to the steering coupling, the explosion-proof base is fastened to the upper housing, the steering coupling is rotatably connected to the explosion-proof base, and the output end of the steering coupling is drivenly connected to the steering connecting shaft.

[0011] Preferably, a steering damping spring and a spring adjusting nut are provided between the steering bracket and the steering connecting shaft. The spring adjusting nut abuts against the steering damping spring, and the inner hole of the spring adjusting nut is threadedly connected to the rotating shaft of the steering bracket. The steering damping spring is sleeved on the rotating shaft of the steering bracket.

[0012] Preferably, the drive system includes a gearbox and a drive motor. The drive motor is fastened to the inner wall of the lower housing. The gearbox is driven by the output end of the drive motor. The output end of the gearbox is driven by a drive coupling. The output end of the drive coupling is driven by the drive wheel.

[0013] Preferably, the control system includes a power supply and a main control board. The power supply is securely connected to the inner wall of the upper housing, and the main control board is electrically connected to the power supply. The main control board is configured to independently control the rotational speed of the two drive systems and the angle of the two steering servos.

[0014] Preferably, the upper shell is provided with a detachable water tank base, and the water tank base is connected to the upper shell by an explosion-proof thread.

[0015] Preferably, the engagement length of the explosion-proof threaded mating surface is not less than 25mm, and the thread pitch is not less than 0.7mm.

[0016] Preferably, the explosion-proof wall thickness of the explosion-proof housing is not less than 6 mm.

[0017] Compared with the prior art, the beneficial effects achieved by this application are as follows: 1. By symmetrically arranging rotatable steering wheels on the explosion-proof chassis structure, and the two steering wheels can rotate in a specific direction under the drive of the steering system, and by setting up two sets of drive systems to drive the drive wheels on both sides respectively; under the control of the main control board, the differential motion of the two wheels and the coordinated steering of the front and rear wheels are realized, so that the explosion-proof robot can turn around in a narrow space without blind spots and turn around on the spot; and by integrating the drive system and steering system on the explosion-proof shell, the structural requirements of the explosion-proof environment are met, the layout is compact, and the footprint is small, so that the overall size of the explosion-proof robot is more controllable while combining explosion protection and flexibility.

[0018] 2. The upper and lower shells are welded together to form a sealed explosion-proof enclosure, within which all core electrical components of the chassis are sealed. All shell walls are at least 6mm thick, ensuring sufficient mechanical strength to withstand potential internal explosion pressures without damage and preventing the explosion from propagating to the outside. The water tank base is connected to the upper shell by threads at least 25mm long and 0.7mm pitch, forming a standard explosion-proof mating surface that makes it difficult for flames to pass through, thus achieving safe internal and external isolation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a partial sectional view of this application; Figure 3 This is a schematic diagram of the control system of this application; Figure 4 This is a schematic diagram of the suspension system of this application; Figure 5 This is a schematic diagram of the steering system of this application.

[0021] In the diagram: 1. Explosion-proof housing; 11. Upper housing; 12. Lower housing; 2. Suspension system; 21. Suspension assembly; 211. Upper wishbone; 212. Lower wishbone; 22. Shock absorber assembly; 221. Shock absorber support; 222. Spring shock absorber; 23. Column; 24. Fisheye bearing; 3. Steering system; 31. Steering wheel; 32. Steering bracket; 33. Steering connecting shaft; 34. Explosion-proof base; 35. Steering coupling; 36. Bushing; 37. Steering shock absorber spring; 38. Spring adjusting nut; 39. Steering servo; 4. Control system; 41. Power supply; 42. Main control board; 5. Water tank base; 6. Drive system; 61. Gearbox; 62. Drive motor; 63. Drive coupling; 7. Drive wheel. Detailed Implementation

[0022] 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, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. Example

[0023] like Figure 1-5 As shown, this embodiment provides an explosion-proof chassis structure suitable for explosion-proof robots, including an explosion-proof housing 1. The explosion-proof housing 1 includes an upper housing 11 and a lower housing 12, and the upper housing 11 and the lower housing 12 are fastened together. The lower housing 12 is symmetrically provided with suspension systems 2 on both sides of the transverse axis; The upper housing 11 is symmetrically provided with a steering system 3 on both sides of the longitudinal axis. The steering system 3 includes a steering wheel 31 that can drive the explosion-proof chassis structure body to turn. The horizontal axis and the vertical axis are perpendicular to each other; Two sets of drive systems 6 are symmetrically arranged inside the lower housing 12. The output ends of the two sets of drive systems 6 are respectively connected to drive wheels 7. The drive wheels 7 are rotatably connected to the suspension systems 2 on both sides of the transverse axis. The upper housing 11 is equipped with a control system 4, which is electrically connected to the drive system 6 and the steering system 3. The control system 4 is used to receive control commands and control the operation of the drive system 6 and the steering system 3.

[0024] The suspension system 2 and steering system 3 are arranged perpendicularly to each other on the upper housing 11 and the lower housing 12. The two sets of drive systems 6 are used to transmit power to the drive wheels 7 on both sides of the lower housing 12, thereby driving the explosion-proof chassis to move back and forth. When the drive wheels 7 are in a pure rolling state, the speed of the explosion-proof robot is equal to the wheel edge speed of the drive wheels 7. At this time, the speed of the explosion-proof robot can be controlled simply by controlling the rotation speed of the drive wheels 7.

[0025] The steering system 3, located on the front and rear sides of the upper housing 11, allows the steering wheels 31 to rotate 360 ​​degrees around their own axis under the control of the control system 4. When the explosion-proof robot turns, the front and rear steering wheels 31 need to turn through a certain angle, while the left and right drive wheels 7 move at different speeds, enabling the explosion-proof robot to turn around a certain point. As the turning angle changes, the turning radius also changes continuously. In extreme cases, the front and rear steering systems 3 deflect 90°, and the left and right drive wheels 7 rotate in opposite directions at the same speed, thus achieving zero-radius rotation around the center point. That is, under the control of the control system 4, the drive system 6 and the steering system 3 work together to achieve differential speed movement of the chassis's two wheels and coordinated steering of the front and rear wheels. This not only allows the explosion-proof robot to turn without blind spots and turn around on the spot in confined spaces, but also meets the structural requirements of explosion-proof environments. The layout is extremely compact, occupying little space, making the overall size of the explosion-proof robot more controllable while combining explosion protection and flexibility.

[0026] The suspension system 2 includes a suspension assembly 21, a shock absorber assembly 22, a column 23, and a spherical bearing 24. One end of the suspension assembly 21 is hinged to the lower housing 12, one end of the shock absorber assembly 22 is connected to the upper housing 11, and the other end of the shock absorber assembly 22 is connected to the suspension assembly 21. The column 23 is connected to the other end of the suspension assembly 21 through the spherical bearing 24.

[0027] The suspension system 2 is used to transmit the force acting between the drive wheel 7 and the explosion-proof housing 1, and to buffer the impact force transmitted from the road surface to the robot chassis during driving, thereby reducing vibration and ensuring that the explosion-proof robot can drive smoothly; the suspension assembly 21 is used to connect the suspension system 2 to the lower housing 12, the shock absorption assembly 22 is used to buffer the impact force during driving, the fisheye bearing 24 is used to connect the column 23 to the suspension assembly 21, and the column 23 is used to provide a mounting base for the drive wheel 7.

[0028] The suspension assembly 21 includes an upper fork arm 211 and a lower fork arm 212. One end of the upper fork arm 211 is hinged to the lower housing 12, and the other end of the upper fork arm 211 is fastened to the fisheye bearing 24. One end of the lower fork arm 212 is hinged to the lower housing 12, and the other end of the lower fork arm 212 is fastened to the fisheye bearing 24. The shock absorption assembly 22 is symmetrically arranged on both sides of the upper fork arm 211. The shock absorption assembly 22 includes a shock absorption support 221 and a spring shock absorber 222. There are two shock absorption supports 221. The two shock absorption supports 221 are respectively fastened to the upper housing 11 and the lower fork arm 212. The two ends of the spring shock absorber 222 are respectively hinged to the two shock absorption supports 221.

[0029] The upper fork arm 211 and lower fork arm 212, hinged to the lower housing 12, form a stable geometric structure that can withstand impact forces from multiple directions, exhibiting high rigidity and strength. Furthermore, by designing the angle and length of the upper fork arm 211 and lower fork arm 212, the change in camber angle of the drive wheel 7 is minimized when it bounces up and down, improving grip. In addition, the symmetrically arranged shock absorber components 22 can buffer the impact forces during driving. The shock absorber support 221 is used to provide an installation base for the spring shock absorber 222.

[0030] The steering system 3 also includes a steering bracket 32, a steering connecting shaft 33, an explosion-proof base 34, a steering coupling 35, and a steering servo 39; The steering wheel 31 is rotatably connected to the steering bracket 32. The steering connecting shaft 33 is provided with a bushing 36. The rotating shaft of the steering bracket 32 ​​is slidably connected to the bushing 36 and is detachably connected to the positioning pin. The steering connecting shaft 33 is drivenly connected to the steering coupling 35. The steering servo 39 is fastened to the inner wall of the upper housing 11. The output end of the steering servo 39 is drivenly connected to the steering coupling 35. The explosion-proof base 34 is fastened to the upper housing 11. The steering coupling 35 is rotatably connected to the explosion-proof base 34. The output end of the steering coupling 35 is drivenly connected to the steering connecting shaft 33.

[0031] The steering servo motor 39 is the main power source of the steering system 3, and the explosion-proof base 34 is used to isolate the steering servo motor 39 from the outside world. When steering, the control system 4 controls the steering servo motor 39 to rotate a certain angle. The torque is transmitted to the steering connecting shaft 33 through the steering coupling 35, so that the steering connecting shaft 33 rotates a certain angle. The rotating shaft of the steering bracket 32 ​​is installed in the steering connecting shaft 33 through the bushing 36 and transmits torque through the pin, so that the steering bracket 32 ​​rotates a certain angle, thereby driving the steering wheel 31 to rotate a certain angle, realizing the robot's steering action.

[0032] A steering damping spring 37 and a spring adjusting nut 38 are provided between the steering bracket 32 ​​and the steering connecting shaft 33. The spring adjusting nut 38 abuts against the steering damping spring 37, and the inner hole of the spring adjusting nut 38 is threadedly connected to the rotating shaft of the steering bracket 32. The steering damping spring 37 is sleeved on the rotating shaft of the steering bracket 32.

[0033] The steering damping spring 37 and the spring adjusting nut 38 form a damping and preload adjustment mechanism to ensure the grounding and stability of the steering wheel 31. By rotating the spring adjusting nut 38, the steering damping spring 37 can be compressed or released, thereby flexibly adjusting the downforce and damping effect of the steering wheel 31 according to different ground conditions and loads, ensuring the accuracy and stability of the explosion-proof chassis steering under various working conditions.

[0034] The drive system 6 includes a gearbox 61 and a drive motor 62. The drive motor 62 is fastened to the inner wall of the lower housing 12. The gearbox 61 is driven by the output end of the drive motor 62. The output end of the gearbox 61 is driven by a drive coupling 63. The output end of the drive coupling 63 is driven by the drive wheel 7.

[0035] The drive motor 62 is the main power source of the drive system 6. The drive motor 62 outputs power to drive the gearbox 61. The gearbox 61 transmits the power to the drive coupling 63. The drive coupling 63 can be a universal coupling, so that the power is output to the drive wheel 7, causing the drive wheel 7 to rotate at a certain speed.

[0036] The control system 4 includes a power supply 41 and a main control board 42. The power supply 41 is fastened to the inner wall of the upper housing 11, and the main control board 42 is electrically connected to the power supply 41. The main control board 42 is configured to independently control the rotation speed of the two drive systems 6 and the turning angle of the two steering servos 39.

[0037] Power supply 41 provides energy to main control board 42. Main control board 42 controls the speed of drive motor 62 in two drive systems 6 and the rotation angle of two steering servos 39 to realize the dual-wheel differential movement and front-rear coordinated steering of explosion-proof chassis. Example

[0038] Based on Example 1, this example emphasizes the explosion-proof design of the explosion-proof chassis.

[0039] The upper housing 11 is provided with a detachable water tank base 5, and the water tank base 5 is connected to the upper housing 11 by an explosion-proof thread.

[0040] The mating length of the explosion-proof threaded mating surface shall not be less than 25mm, and the thread pitch shall not be less than 0.7mm.

[0041] The explosion-proof wall thickness of the explosion-proof housing 1 is not less than 6mm.

[0042] The upper housing 11 and the lower housing 12 are welded together to form a seal, constituting the main explosion-proof cavity. The core electrical components of the entire chassis, such as the drive motor 62, the main control board 42, and the power supply 41, are all sealed within this main explosion-proof cavity. All housing walls of this cavity are not less than 6mm thick, ensuring sufficient mechanical strength to withstand possible internal explosion pressures without damage and to prevent the explosion from propagating to the outside of the housing.

[0043] The water tank base 5 and the upper shell 11 are connected by a thread with a length of more than 25mm and a pitch of more than 0.7mm, forming a standard explosion-proof mating surface, making it difficult for flames to pass through, thereby achieving safe internal and external isolation.

[0044] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific orientation. If the specific orientation changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing this application and for simplifying the description, and are not intended to 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 application.

[0045] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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 between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An explosion-proof chassis structure suitable for explosion-proof robots, characterized in that: It includes an explosion-proof housing (1), which includes an upper housing (11) and a lower housing (12), and the upper housing (11) and the lower housing (12) are fastened together; The lower housing (12) is symmetrically provided with suspension systems (2) on both sides of the transverse axis. The upper housing (11) is symmetrically provided with a steering system (3) on both sides of the longitudinal axis. The steering system (3) includes a steering wheel (31) that can drive the explosion-proof chassis structure body to turn. The horizontal axis and the vertical axis are perpendicular to each other; The lower housing (12) is symmetrically provided with two sets of drive systems (6), and the output ends of the two sets of drive systems (6) are respectively connected to drive wheels (7). The drive wheels (7) are rotatably connected to the suspension systems (2) on both sides of the transverse axis. The upper housing (11) is provided with a control system (4), which is electrically connected to the drive system (6) and the steering system (3) for receiving control commands and controlling the operation of the drive system (6) and the steering system (3).

2. The explosion-proof chassis structure for explosion-proof robots according to claim 1, characterized in that: The suspension system (2) includes a suspension assembly (21), a shock absorber assembly (22), a column (23), and a fisheye bearing (24). One end of the suspension assembly (21) is hinged to the lower housing (12), one end of the shock absorber assembly (22) is connected to the upper housing (11), and the other end of the shock absorber assembly (22) is connected to the suspension assembly (21). The column (23) is connected to the other end of the suspension assembly (21) through the fisheye bearing (24).

3. The explosion-proof chassis structure for explosion-proof robots according to claim 2, characterized in that: The suspension assembly (21) includes an upper fork (211) and a lower fork (212). One end of the upper fork (211) is hinged to the lower housing (12), and the other end of the upper fork (211) is fastened to a fisheye bearing (24). One end of the lower fork (212) is hinged to the lower housing (12), and the other end of the lower fork (212) is fastened to a fisheye bearing (24). The shock absorption assembly (22) is symmetrically arranged on both sides of the upper fork arm (211). The shock absorption assembly (22) includes a shock absorption support (221) and a spring shock absorber (222). There are two shock absorption supports (221). The two shock absorption supports (221) are respectively fastened to the upper housing (11) and the lower fork arm (212). The two ends of the spring shock absorber (222) are respectively hinged to the two shock absorption supports (221).

4. The explosion-proof chassis structure for explosion-proof robots according to claim 1, characterized in that: The steering system (3) also includes a steering bracket (32), a steering connecting shaft (33), an explosion-proof base (34), a steering coupling (35), and a steering servo (39). The steering wheel (31) is rotatably connected to the steering bracket (32). The steering connecting shaft (33) is provided with a bushing (36). The rotating shaft of the steering bracket (32) is slidably connected to the bushing (36) and is detachably connected to the positioning pin. The steering connecting shaft (33) is drivenly connected to the steering coupling (35). The steering servo (39) is fastened to the inner wall of the upper housing (11). The output end of the steering servo (39) is drivenly connected to the steering coupling (35). The explosion-proof base (34) is fastened to the upper housing (11). The steering coupling (35) is rotatably connected to the explosion-proof base (34). The output end of the steering coupling (35) is drivenly connected to the steering connecting shaft (33).

5. The explosion-proof chassis structure for explosion-proof robots according to claim 4, characterized in that: A steering damping spring (37) and a spring adjusting nut (38) are provided between the steering bracket (32) and the steering connecting shaft (33). The spring adjusting nut (38) abuts against the steering damping spring (37), and the inner hole of the spring adjusting nut (38) is threadedly connected to the rotating shaft of the steering bracket (32). The steering damping spring (37) is sleeved on the rotating shaft of the steering bracket (32).

6. The explosion-proof chassis structure for explosion-proof robots according to claim 1, characterized in that: The drive system (6) includes a gearbox (61) and a drive motor (62). The drive motor (62) is fastened to the inner wall of the lower housing (12). The gearbox (61) is driven to the output end of the drive motor (62). The output end of the gearbox (61) is driven to a drive coupling (63). The output end of the drive coupling (63) is driven to a drive wheel (7).

7. The explosion-proof chassis structure for explosion-proof robots according to claim 4, characterized in that: The control system (4) includes a power supply (41) and a main control board (42). The power supply (41) is fastened to the inner wall of the upper housing (11). The main control board (42) is electrically connected to the power supply (41). The main control board (42) is configured to independently control the rotational speed of the two drive systems (6) and the turning angle of the two steering servos (39).

8. The explosion-proof chassis structure for explosion-proof robots according to claim 1, characterized in that: The upper housing (11) is provided with a detachable water tank base (5), and the water tank base (5) is connected to the upper housing (11) by an explosion-proof thread.

9. The explosion-proof chassis structure for explosion-proof robots according to claim 8, characterized in that: The engagement length of the explosion-proof threaded mating surface is not less than 25mm, and the thread pitch is not less than 0.7mm.

10. The explosion-proof chassis structure for explosion-proof robots according to claim 1, characterized in that: The explosion-proof wall thickness of the explosion-proof housing (1) is not less than 6 mm.

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