Explosion-proof legged robot

Abstract

The present invention relates to a legged robot (1000) comprising a torso (1) having a cavity (10) enclosing at least one robot component (11) and at least one leg having at least one actuator (100) with an explosion-proof housing. The absolute pressure (p c ) is the ambient pressure (p a ) and the explosion-proof housing of the actuator (100) comprises at least one flameproof cavity (105).

Description

[Technical field]

[0001] The present invention relates to a legged robot, a cable gland for a legged robot, an actuator for a legged robot, a method for providing an explosion-proof robot and uses of a legged robot. [Background technology]

[0002] Legged robots are used to assist humans in performing various tasks, especially in dangerous environments. Typically, legged robots are equipped with one or more legs.

[0003] In order to use a legged robot in an explosive environment, especially in explosive gases or dust, it is advantageous if the robot is constructed to implement certain precautions, for example, the robot should be constructed in such a way that it will not cause an explosion in such an environment.

[0004] The challenge in this regard is to configure the robot so that it does not explode if, for example, an explosive gas gets into the robot's body or into the robot's actuators.

[0005] In prior art robots, these requirements may be met by providing a full-body shell that encloses all of the robot's components in a hermetically sealed manner from the surrounding environment. In any case, the construction of such a robot can be very heavy and therefore expensive. Summary of the Invention

[0006] Therefore, the problem to be solved by the present invention is to provide a legged robot which overcomes the drawbacks of the prior art.

[0007] This problem is solved by a first aspect of the invention relating to a legged robot, a second aspect of the invention relating to a cable gland for a legged robot, a third aspect of the invention relating to an explosion-proof actuator, a fourth aspect of the invention relating to a method for providing an explosion-proof legged robot and a fifth aspect of the invention relating to a use of a legged robot.

[0008] Unless otherwise stated, the following definitions shall apply herein.

[0009] The words "a," "an," "the," and similar words, as used in the context of the present invention, should be deemed to encompass both the singular and the plural, unless otherwise specified herein or clearly contradicted by context. Furthermore, the words "including," "containing," and "comprising" are used herein in their open, non-limiting sense. The word "containing" is intended to encompass both "comprising" and "consisting of."

[0010] Advantageously, the term "ambient" refers to the conditions of the environment around the robot. In particular, "ambient pressure" refers to the pressure in the environment around the robot.

[0011] Advantageously, the term "in fluid connection" refers to spaces or cavities that are connected to each other such that a fluid, for example a gas or air or a liquid, can flow from one space or cavity to the other. Thus, several spaces or cavities may be surrounded by the same gas or the same air or the same liquid if they are in fluid connection.

[0012] Advantageously, the term "explosion proof housing" refers to a housing that is capable of withstanding an explosion and containing the explosion within the housing so that the explosion does not spread outside the housing.

[0013] Advantageously, such explosion-proof properties of the housing are achieved by using the following features, either individually or in combination: Flame-resistant gap: A flame-resistant gap is a gap large enough to allow air or gas to circulate from the environment into the housing, but small enough to prevent the fire from reaching the exterior of the housing and igniting the environment, in the event of a fire being released by an explosion within the housing. In one advantageous embodiment, the flame gap of the dynamic joint housing is a minimum of 6 mm in length and less than 0.2 mm in width. Flame-retardant materials: The housing is made from flame-retardant materials, such as aluminum or steel or PEEK (polyetheretherketone). · Housing wall thickness: The wall thickness is constructed to be able to withstand an explosion.

[0014] A first aspect of the invention relates to a legged robot, in particular a quadruped robot, comprising a trunk with a cavity, the cavity surrounding at least one robot component. The robot further comprises at least one leg with at least one actuator, the actuator having an explosion-proof housing. Advantageously, the leg may further comprise second or further actuators, each having its own explosion-proof housing.

[0015] The explosion-proof housing may comprise multiple housings or compartments that are also defined as portions of the explosion-proof housing of the actuator.

[0016] Advantageously, the torso is the main body of the robot, in which most of the computing power and electrical components are located.

[0017] In particular, the cavity is the internal space within the body of the robot in which the various components of the robot are located. Specifically, the cavity is sealed against the environment and has the same absolute pressure p throughout the cavity. c This means that all spaces within the robot that are fluidically connected are part of the cavity.

[0018] Absolute pressure in the cavity p c is the ambient pressure p a To achieve this overpressure, the cavity is advantageously filled with nitrogen gas. The technical effect of the overpressure is to avoid any ingress of environmental gases or dust and thus to prevent an explosion in the cavity.

[0019] Advantageously, the actuator is part of a leg of a robot comprising one or more actuators, in particular two or three actuators, for moving the leg.

[0020] In a further advantageous embodiment of the invention, the actuator is directly adjacent to the torso.

[0021] In a further advantageous embodiment of the invention, the actuator is a hip abduction / adduction (HAA) type actuator.

[0022] In addition, the housing of the actuator is adapted to be flame resistant, which in particular refers to a housing that can withstand an explosion and contain the explosion within the housing so that the explosion does not spread outside the housing.

[0023] The explosion-proof housing of the actuator comprises at least one flame-resistant cavity.

[0024] In particular, a fireproof gap does not prevent ignition within the housing, it merely ensures that a flame cannot escape and ignite external gases.

[0025] Advantageously, at least one fireproof gap in the housing of the actuator has a minimum length of 6mm and a width of less than 0.2mm.

[0026] Only by combining a torso with overpressure and an actuator with an explosion-proof housing is a legged robot provided which is explosion-proof with respect to the environment, i.e. which prevents ignition in the environment.

[0027] Advantageously, the housing of the actuator is airtight. Ambient gases may be present in the housing, and nitrogen may be present. Advantageously, the actuator is assembled under ambient conditions, and thus ambient conditions may be present in the housing. The various compartments of the housing may be assembled together to form an explosion-proof housing for the actuator. O-rings may be used between the individual compartments of the housing to seal the housing. In any case, the O-rings may not be able to seal the boundaries between the compartments of the explosion-proof house, and thus ambient gases may enter the explosion-proof housing of the actuator.

[0028] Thus, the geometry of the housing, the boundaries or flanges of the casing are adapted to be fireproof, while the cavity of the robot's torso is not in fluid connection with the environment (and thus no gases or dust from the environment enters the cavity), thereby preventing ignition of the robot's torso.

[0029] In a further advantageous embodiment of the invention, the actuator comprises a dynamic joint having a moving section and a stationary section, with at least one fireproof gap being arranged at the boundary between the moving section and the stationary section.

[0030] Advantageously, a dynamic joint is two bodies dynamically connected, which comprises one movable or rotating part, such as a rotating shaft or piston, and one stationary part for establishing the connection, for example an output flange or the stator of an electric motor or cylinder for moving the piston of a hydraulic or pneumatic actuator.

[0031] In a further advantageous embodiment of the invention, the actuator is arranged in an explosion-proof housing with the following zones arranged along the longitudinal axis: a dynamic joint having a moving section, a moving shaft, and a stationary section, an output flange, the moving shaft being adapted in particular to connect the actuator to a shaft of a leg of a robot; a gear housing, which is in particular provided with a torque measuring system; A stator housing; With back cap and a fireproof gap is disposed between each compartment.

[0032] In an advantageous embodiment of the invention, a fire-tight gap is located anywhere between the individual compartments where the O-rings would seal the boundary. If the O-rings do not absolutely seal the boundary between the two compartments, gas or dust from the environment may enter the housing of each compartment that is part of the housing of the actuator. This may cause an explosion in each compartment or in several compartments. The fire gap prevents overpressure from occurring in each compartment, such as a relief port, but is small enough that a flame that may occur in the compartment cannot leave the housing of each compartment.

[0033] Advantageously, the one or more flame gaps are arranged between the boundary between the moving area and the static area of ​​the dynamic joint, and / or between the boundary between the static area of ​​the dynamic joint and the gear housing, and / or between the boundary between the gear housing and the stator housing, and / or between the boundary between the stator housing and the back cap.

[0034] Advantageously, the pressure difference p d p d =p c -p a The absolute pressure in the cavity, p, c and the ambient pressure outside the robot's torso p a In one advantageous embodiment of the invention, the differential pressure p d p d ≧500 Pa.

[0035] The overpressure in the barrel has the technical effect that the barrel cannot ignite in an explosive environment. In particular, the barrel is hermetically sealed. In any case, even if any hermetic seal is broken, gas and dust cannot enter the barrel because of the overpressure in the barrel.

[0036] In a further advantageous embodiment of the invention, the legged robot further comprises a DC fan for cooling several cooling ribs on the outside of the robot's torso for cooling the internal components of the torso. In particular, the DC fan is also adapted to be explosion-proof. Advantageously, the housing of the DC fan also comprises a flame-proof gap to avoid ignition outside the robot.

[0037] In a further advantageous embodiment of the invention, the at least one robot component is a LiDAR, a sensor element, an electronic component, a battery and / or a camera. One or more of these components are in fluid connection with the cavity. Thus, the one or more components are in particular in contact with the absolute pressure p c and (if there is more than one component) are in fluid communication with each other.

[0038] Advantageously, the robot component is adapted to have an absolute pressure p c It is a pressure sensor unit for measuring

[0039] In a further advantageous embodiment of the invention, the robot is adapted to detect a pressure difference p dIn particular, such a differential pressure sensor unit is provided for measuring the absolute pressure p c Absolute pressure sensors to measure the ambient pressure p outside the robot a The robot will have two subcomponents: an ambient pressure sensor to measure the absolute pressure. The ambient pressure sensor may be located outside the robot's torso and therefore outside the cavity. The absolute pressure sensor will be located within the cavity as a component of the robot.

[0040] Alternatively, the pressure sensor unit may measure the absolute pressure p c and the ambient pressure outside the torso p a Such a sensor element may comprise a membrane arranged between the cavity and the environment.

[0041] In a further advantageous embodiment of the invention, the legged robot comprises an airtight cable gland for electrically connecting wires from the actuators to one or more robot components in the cavity without filling the cavity with environmental gases or dust. As mentioned above, the cavity is hermetically sealed against the environment, although environmental conditions may be present in the explosion-proof housing of the actuators. Therefore, a specific cable gland is required to connect the electronic wires from the actuators to the components in the cavity without risking introducing environmental or actuator gases or dust into the body and into the cavity, respectively.

[0042] Advantageously, the cable gland comprises a separator having at least one cable inlet and at least one cable outlet. At least one cable connection is adapted to connect an electric component of the actuator or the dynamic joint or any other section of the actuator to one or more electric components and / or a battery in the cavity of the robot's torso.

[0043] The cable connection enters the cable gland through a cable inlet and exits the cable gland through a cable outlet, with the exposed area of ​​the cable connection being disposed within a separator that removes the cable jacket from the exposed area.

[0044] The exposed area has the technical effect that all gases that may be present in the individual wires of the cable (inside the cable jacket) leave the wires and end up in the separator. Thus, gases that may have travelled from the actuator through the cable to the cable gland or that may have entered the cable inlet from the environment escape from the cable in the separator. In order that the cable leaving the separator does not have any gases between the individual cable wires, the exposed area is soldered with solder paste. In addition, the separator is filled with an insulating material, e.g. an adhesive. By filling the exposed area of ​​the cable with solder paste and the surrounding separator with an insulating material, it is impossible for any gases from the outside to leave the cable gland on the cable exit side, e.g. towards the cavity.

[0045] In a further advantageous embodiment of the invention, at least one electrical component of at least one actuator is electrically connected to one or more electrical components and / or a battery is arranged in the cavity, in particular by wires passing through a cable gland.

[0046] In a further advantageous embodiment of the invention, the legged robot is adapted to detect a pressure difference p d When the legged robot is used in the intended manner, the safety unit is adapted to recognize the differential pressure p d The differential pressure p d is less than a certain pressure value, especially p d ≦500 Pa, especially p d ≦50 Pa, it is adapted to implement safety measures.

[0047] Advantageously, the safety measures include: ·Especially pd if ≦50 Pa, shut down the robot; ·Especially p d If ≦500 Pa, return the robot to the safe zone, or Returning the robot to the docking station It is.

[0048] In a further advantageous embodiment of the legged robot, the legged robot is adapted to detect the pressure p c Thus, the absolute pressure p c can be controlled. c If it drops, it can be restored by fitting it with a cartridge.

[0049] Advantageously, the cartridge has a differential pressure of p d When the pressure in the cavity is less than 500 Pa, the cavity is adapted to be filled with gas from the cartridge.

[0050] Advantageously, refilling with gas from the cartridge is an automatic process, but may also be controlled by a remote controller or manually.

[0051] A second aspect of the present invention relates to a cable gland for a robot, comprising a separator having at least one cable inlet and at least one cable outlet, the separator comprising: the cable inlet is adapted to receive at least one cable connection adapted to connect to an electrical component of an actuator of the leg of the robot; the cable outlet is adapted to exit a cable connection adapted to connect to one or more electrical components and / or batteries within the cavity of the trunk; The separator is adapted to receive an exposed area of ​​the cable connection, specifically an area of ​​the cable connection where no cable jacket is present at all.

[0052] In a further advantageous embodiment of the cable gland, the cable gland comprises a separator with at least one cable outlet. In addition, the cable gland comprises at least one cable connection adapted to connect an electrical component of the actuator of the robot to one or more electrical components and / or a battery in the cavity. The cable connection enters the cable gland through a cable inlet, exits the cable gland through a cable outlet, The exposed area of ​​the cable connection is disposed within the separator and does not have any cable jacket.

[0053] In a further advantageous embodiment of the cable gland, the exposed areas are soldered with a solder paste, for example a conductive material, in particular a metal, so that gas does not accumulate between the individual wires in the exposed areas. In addition, the separators are potted and respectively filled with an insulating material, advantageously an insulating adhesive.

[0054] In particular, the cable gland makes it possible to form legged robots with external components that are not under overpressure, such as legs that are connected to the torso by dynamic joints. The cable gland according to the invention ensures that no gas or dust from the surrounding environment can enter the torso, since the exposed areas are filled with solder paste and the environment in the separator is filled with glue, so that any gas that may be present in the cable, or in the explosion-proof housing of the actuator, or in the environment, is prevented from escaping from the cable gland through the cable outlet. There is therefore no space for gas to move through the separator and thus through the cable gland.

[0055] This configuration allows the external components of the robot, such as the legs, to be made of lightweight construction since they are not fluidly connected to the cavity. Thus, the combination of actuators, cable glands and a torso with overpressure results in a legged robot that is lightweight while not igniting in explosive environments.

[0056] Therefore, combining an overpressure cavity in the barrel, a dynamic joint, with a housing and cable gland that are in ambient conditions is advantageous over the prior art.

[0057] A third aspect of the invention relates to an actuator enclosed by an explosion-proof housing, the housing comprising at least one fireproof cavity adapted to be provided in a leg for a robot according to the first aspect.

[0058] A fourth aspect of the present invention relates to a method for providing an explosion-proof legged robot, the legged robot comprising a torso having a cavity surrounding at least one robot component, the robot further comprising at least one leg having at least one actuator, the actuator being surrounded by an explosion-proof housing, the explosion-proof housing comprising at least one flame-resistant cavity.

[0059] In addition, legged robots can c >p a The pressure in the cavity is p c and ambient pressure p a Differential pressure p between d The pressure sensor unit is adapted to measure

[0060] In addition, a safety unit is integrated into the robot. This safety unit is d is adapted to recognize

[0061] This method is Differential pressure p by safety unit d and measuring Differential pressure p d is less than a certain pressure value, specifically p d ≦500 Pa, very specifically p d if the pressure is less than or equal to 50 Pa, starting to implement a safety measure; Includes

[0062] In a further advantageous embodiment of the method, the safety measures comprise: Specifically, d if ≦50 Pa, shutting down the robot (1000); Specifically, d If the pressure is less than or equal to 500 Pa, return the robot (1000) to the safe zone; Returning the robot to the docking station, in particular at the docking station, the robot (1000) can refill the cavity manually or automatically or under remote controller control with inert gas from a cartridge to restore the overpressure in the cavity, or The pressure difference is p d If the pressure is ≦500 Pa, fill the cavity with an inert gas, specifically nitrogen, from a cartridge provided in the robot to restore the gas pressure. It is.

[0063] In a further advantageous embodiment of the invention, the method comprises measuring the differential pressure p at intervals of at least once per second. d The method further comprises a step of measuring:

[0064] A fifth aspect relates to the use of legged robots to perform tasks in explosive environments.

[0065] Further advantageous embodiments are recited in the dependent claims and in the following description.

[0066] The invention will be better understood, and objects other than those described above will become apparent, from the following detailed description of the invention, which refers to the accompanying drawings, in which: [Brief description of the drawings]

[0067] [Figure 1] FIG. 1 is a schematic diagram of a legged robot according to an embodiment of the present invention. [Diagram 2] FIG. 13 is a diagram of a further embodiment of a legged robot according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a diagram of an actuator according to one embodiment of the present invention. [Figure 4] 1 is a cross-sectional view of an actuator according to one embodiment of the present invention; [Diagram 5] FIG. 2 is a diagram of a cable gland according to an embodiment of the present invention. [Figure 6] FIG. 1 illustrates an embodiment of a legged robot with an actuator connected to the robot's torso by a cable and a cable gland. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0068] 1 discloses a legged robot 1000 comprising a torso 1 having a cavity 10. The cavity 10 encloses at least one robotic component 11. Additionally, the legged robot 1000 comprises at least one leg 99 having at least one actuator 100. The actuator 100 comprises an explosion-proof housing. The explosion-proof housing comprises at least one flame-resistant cavity 105.

[0069] Advantageously, the actuator 100 is positioned directly adjacent to the torso 1, as shown in FIG.

[0070] Absolute pressure p in cavity 10 c is the ambient pressure p a Therefore, there is an overpressure in the cavity 10.

[0071] In a further advantageous embodiment of the invention, the absolute cavity pressure p c and the ambient pressure outside the robot's torso p a The differential pressure p measured between d p d =p c -pa and p d ≧500 Pa.

[0072] Advantageously, the legged robot 1000 is adapted to detect a pressure difference p d The pressure sensor unit 111 is provided for measuring the pressure.

[0073] In a further advantageous embodiment of the legged robot 1000, the legged robot 1000 comprises a DC fan 110, which is adapted to be explosion-proof, in particular the housing of the DC fan 110 comprises at least one fireproof cavity 105. An exemplary fireproof cavity 105 can be seen in FIG.

[0074] In a further advantageous embodiment of the legged robot 1000, the at least one robot component 11 is a LiDAR 101, a sensor element 111, an electronic component, a battery 12 and / or a camera. Various such elements are illustrated in FIG.

[0075] All robot components 11 are in fluid communication with cavity 10 and are therefore in an environment having the same overpressure as cavity 10, since cavity 10 is sealed against the outside environment. Some components 11 may be fully surrounded by cavity 10, while other components may be partially surrounded by cavity 10 but sealed against the outside environment.

[0076] In a further advantageous embodiment of the legged robot 1000, the robot 1000 is adapted to d When the legged robot 1000 is used in an intended manner, the safety unit is configured to recognize the differential pressure p d The differential pressure p d is less than a certain pressure value, specifically p d ≦500 Pa, very specifically p d ≦50 Pa, it is adapted to implement safety measures.

[0077] Advantageously, the safety measures include: Specifically, d if ≦50 Pa, shutting down the robot 1000; Specifically, d if ≦500 Pa, return the robot 1000 to the safe zone; Returning the robot 1000 to the docking station, or p d If ≦500 Pa, automatically or manually refill the cavity 10 with gas from a gas cartridge up to a predetermined overpressure built into the robot 1000. In particular, the cartridge is a nitrogen cartridge.

[0078] Therefore, in a method for providing a fire-resistant legged robot 10000, the safety unit is d and a step for measuring the differential pressure p d is less than a certain pressure value, specifically p d ≦500 Pa, very specifically p d and if the pressure is less than 50 Pa, initiating implementation of a safety measure.

[0079] In particular, such legged robots 1000 are used to perform tasks in explosive environments.

[0080] 2 shows from the outside a further embodiment of a legged robot 1000. Thus, the torso 1 is visible from the outside and is arranged adjacent to the actuator 100.

[0081] Figure 3 shows a cross-sectional view of one embodiment of the actuator 100 of the embodiment of the legged robot 1000 shown in Figure 2. The explosion-proof housing of the actuator 100 includes a flame gap 105.

[0082] In one advantageous embodiment, shown in FIG. 3, the actuator 100 is arranged in an explosion-proof housing with the following sections arranged along the longitudinal axis: A dynamic joint having a moving section, the moving shaft 102, and a stationary section, the output flange 103; a gear housing 104; A stator housing 106; Back cap 107 and Equipped with.

[0083] At least one fire-resistant gap 105 is disposed between each compartment.

[0084] Figure 4 shows a section of the actuator 100 of the embodiment shown in Figure 3. In particular, visible in Figure 4 is the flame gap 105 of the housing of the dynamic joint 100 (the flame gap 105 is the black line marked with arrow 105).

[0085] Advantageously, the flame gap is a minimum of 6mm in length and less than 0.2mm in width.

[0086] 5 shows a cross-section of an advantageous embodiment of a cable gland 2. The cable gland 2 comprises a separator 20 having at least one cable inlet 22 and at least one cable outlet 21.

[0087] The cable inlet 22 is adapted to receive at least one cable connection 200 adapted to connect to an electrical component of the actuator 100 of the robot 1000 .

[0088] The cable outlet 21 is adapted to exit from a cable connection 200 adapted to connect to one or more electrical components and / or the battery 12 within the cavity 10 .

[0089] Separator 20 is adapted to receive exposed area 201 of cable connection 200. Exposed area 201 refers to an area of ​​cable connection 200 where no cable jacket is present in cable connection 200.

[0090] In a further advantageous embodiment of the cable gland 2, the exposed area 201 is soldered with a conductive material, in particular a metal, so that gas does not accumulate between the individual wires of the exposed area 201. The high pressure point of the separator between the opening of the inlet 22 and the opening of the outlet 21 is then completely potted with adhesive in order to close the cavity gas-tight.

[0091] FIG. 6 shows an embodiment of the legged robot 1000 of FIG. 2 comprising a torso 1 and an actuator 100, in which at least one cable connection 200 is adapted to connect electrical components of the actuator 100 of the robot 1000 to one or more electrical components in the cavity 10 and / or to a battery 12.

[0092] Cable connections 200 from the actuators of the dynamic joint enter the cavity 10 of the body 1 through cable inlets 22 in the cable gland 2 and exit the cable gland 2 through cable outlets 21 .

[0093] In particular, in Figure 6 it can be seen how the cable connection 200 has become detached from the actuator 100, in which case the internal cable may become exposed to ambient conditions. The cable enters the body 1 by a cable gland 2, where a separator 20 prevents gases from the environment from entering the cavity 10 of the body 1. [Explanation of symbols]

[0094] 1. Torso 10 cavities 11 At least one robot component 12 Battery 100 Actuator 101 LiDAR System 102 Dynamic joint: Output shaft 103 Dynamic Joint: Output Flange 104 Gear housing with gear box 105 Fireproof gap 106 Stator housing 107 Back Cap 110 DC Fan 111 Pressure sensor unit or pressure sensor 1000 Legged Robot 2 Cable Gland 20 Separator 200 Cable connection part 201 Exposed area of ​​cable connection 21 Cable inlet 22 Cable outlet 99 At least one leg

Claims

1. A legged robot (1000), in particular a quadruped robot (1000), comprising: A torso (1) having a cavity (10) surrounding at least one robotic component (11); At least one leg having at least one actuator (100) with an explosion-proof housing; Equipped with The absolute pressure p in the cavity (10) ｃ is the ambient pressure p ａ Higher, A legged robot (1000), wherein the explosion-proof housing of the actuator (100) comprises at least one fireproof cavity (105).

2. 2. The legged robot (1000) of claim 1, wherein the actuator (100) has a moving area (102) and a stationary area (103), and the at least one fireproof gap (105) comprises a dynamic joint located at the boundary between the moving area (102) and the stationary area (103).

3. The actuator (100) is provided in the explosion-proof housing with the following sections arranged along a longitudinal axis: a dynamic joint having a moving shaft (102) as said moving section and an output flange (103) as said stationary section; A gear housing (104); A stator housing (106); Back cap (107) and Equipped with At least one fireproof gap (105) is disposed between each compartment. The legged robot (1000) of claim 2.

4. 4. The legged robot (1000) of claim 1, wherein the actuator (100) is directly adjacent to the outside of the torso (1).

5. Differential pressure p ｄ = p ｃ -p ａ , p ｄ ≧500 Pa, In particular, the robot ｄ The legged robot (1000) according to any one of claims 1 to 4, comprising a differential pressure sensor unit (111) for measuring

6. 6. The legged robot (1000) according to claim 1, comprising a DC fan (110), the DC fan (110) being adapted to be explosion-proof, in particular a housing of the DC fan (110) comprising at least one flame gap (105).

7. 7. The legged robot (1000) of claim 1, wherein the at least one robot component (11) is a LiDAR (101), a sensor element, an electronic component, a battery (12), and / or a camera.

8. 8. The legged robot (1000) according to any one of claims 1 to 7, comprising a cable gland (2).

9. a cable gland for connecting wires from any of the actuators (100) or the dynamic joints (100) or other sections of the actuators (100) to components of a robot in the cavity (2), the cable gland comprising: A separator (20) having at least one cable inlet (22) and at least one cable outlet (21); at least one cable connection (200) adapted to connect electrical components of the actuator (100) of the robot (1000) to one or more electrical components and / or a battery (12) in the torso (1); Equipped with The cable connection portion (200) enters the cable gland (2) through the cable inlet (22) and exits the cable gland (2) through the cable outlet (21), an exposed area (201) of the cable connection (200) is disposed within the separator (20); The exposed area (201) is soldered; The separator (20) is filled with an insulating material. A legged robot (1000) according to any one of claims 1 to 8.

10. 10. The legged robot (1000) according to any one of claims 1 to 9, wherein at least one electrical component (11) of the at least one actuator (100) is electrically connected to one or more electrical components of the torso (1) and / or a battery (12), in particular by wires passing through the cable gland (2).

11. The differential pressure p ｄ equipped with a safety unit to recognize During intended use of the legged robot (1000), the safety unit ｄ The differential pressure p ｄ is less than a certain pressure value, in particular p ｄ ≦500 Pa, especially p ｄ 11. The legged robot (1000) according to any one of claims 1 to 10, adapted to initiate implementing a safety measure if the pressure is ≦50 Pa.

12. The safety measures are: Especially p ｄ if ≦50 Pa, shutting down the robot (1000); Especially p ｄ if ≦500 Pa, returning the robot (1000) to a safe zone; or Returning said robot (1000) to the docking station.

12. The legged robot (1000) of claim 11,

13. The pressure of the cavity p ｃ a gas cartridge adapted to control In particular, the differential pressure is p ｄ 13. The legged robot (1000) of any one of claims 1 to 12, adapted to fill the cavity (10) with gas from the cartridge if the pressure in the cavity is ≦500 Pa.

14. A cable gland (2) for a robot (1000) comprising a separator (20) having at least one cable inlet (22) and at least one cable outlet (21), the cable inlet is adapted to receive at least one cable connection (200) adapted to connect to an electrical component of an actuator (100) of a leg (99) of the robot (1000); the cable outlet (21) is adapted to exit from the cable connection (200) adapted to connect to one or more electrical components and / or batteries (12) in the cavity (10) of the torso (1); The separator (20) is adapted to receive the exposed area (201) of the cable connection (200).

15. A separator (20) having at least one cable inlet (22) and at least one cable outlet (21); at least one cable connection (200) adapted to connect electrical components of actuators (100) of the legs (99) of the robot (1000) to one or more electrical components and / or a battery (12) in the cavity (10) of the torso (1); Equipped with The cable connection portion (200) enters the cable gland (2) through the cable inlet (22) and exits the cable gland (2) through the cable outlet (21), 15. The cable gland (2) according to claim 14, wherein the exposed area (201) of the cable connection (200) is soldered and the separator (20) is filled with an insulating material.

16. An actuator (100) surrounded by an explosion-proof housing, the housing comprising at least one flameproof cavity adapted to be provided in a leg for a robot (1000) according to any one of claims 1 to 13.

17. A method for providing an explosion-proof legged robot (1000), comprising the steps of: A torso (1) having a cavity (10) surrounding at least one robotic component (11); At least one leg having at least one actuator (100) with an explosion-proof housing, the explosion-proof housing of the actuator (100) having at least one leg with a flame-proof gap; p ｃ >p ａ The cavity pressure p ｃ and ambient pressure p ａ The pressure difference p between ｄ a pressure sensor unit adapted to measure The differential pressure p ｄ A safety unit adapted to recognize Equipped with The method comprises: The safety unit causes the differential pressure p ｄ and measuring The differential pressure p ｄ is less than a certain pressure value, in particular p ｄ ≦500 Pa, especially p ｄ if ≦50 Pa, starting to implement safety measures; A method comprising:

18. The safety measures are: Specifically, p ｄ if ≦50 Pa, shutting down the robot (1000); Specifically, p ｄ if ≦500 Pa, returning the robot (1000) to a safe zone; Returning the robot (1000) to the docking station; or p ｄ If the pressure is ≦500 Pa, filling the cavity (10) with gas from a cartridge contained within the robot (1000) to restore the gas pressure.

18. The method of claim 17, wherein:

19. Use of a legged robot (1000) according to any one of claims 1 to 13 for performing tasks in explosive environments.

Images