Head joint structure of quadruped robot and quadruped robot

Abstract

The invention provides a quadruped robot head joint structure and a quadruped robot, and belongs to the technical field of industrial robotics.The quadruped robot head joint structure comprises a machine body component, a sliding assembly, a cooperative rotary moving assembly, a head rotating assembly, a self-cleaning assembly, a washing component and a cleaning transmission component, and the sliding assembly and the cooperative rotary moving assembly are both located at the front end of the machine body component; the head rotating assembly is installed at the outer top end of the rotary moving frame, the self-cleaning assembly is fixedly installed at the top end of the machine body component, and after the head rotating assembly leans backwards to a certain angle along with the rotary moving frame, an outer bevel gear is just meshed with a bottom transmission bevel gear; according to the cleaning device, the large bevel gear can drive the rotating shaft fixing plate and the monitoring camera to rotate, meanwhile, the cleaning rotating piece can be driven to rotate through the transmission structure, and after the monitoring camera rotates to the position in contact with the cleaning rotating piece, the cleaning device can be used in cooperation with the washing component to efficiently clean the outside of the monitoring camera.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a quadruped robot head joint structure and a quadruped robot. Background Art

[0002] Quadruped robots can imitate four-legged animals and travel in terrains that traditional wheeled or tracked robots cannot reach. As quadruped robots have higher mobility in complex environments, they are widely used in emergency response, engineering operations, military reconnaissance and other fields.

[0003] The camera and sensing system used to monitor the external environment are installed on the upper front side of the quadruped robot body, and can imitate the head structure of quadruped mammals to rotate and adjust at multiple angles, thereby achieving the purpose of forming different viewing angles. However, the end of the existing quadruped robot head joint structure is only connected to the body by rotation, which will cause the head structure and the camera to extend out of the body when the head is tilted forward to observe the environment, and there is a risk of touching external obstacles and damaging precision parts such as the camera; on the other hand, as the quadruped robot is used in harsh environments, dirt will quickly cover the surface of the camera, affecting its monitoring process. Summary of the invention

[0004] One of the purposes of the present invention is to provide a head joint structure of a quadruped robot, which utilizes the transmission connection formed by the sliding component and the cooperative rotation component at the head end of the fuselage component, so that the head rotation component installed on the top of the rotation frame can automatically move backward along with the sliding component during the forward rotation, so that the head rotation component can be recovered within the range of the fuselage component while rotating forward; and the cleaning transmission component can form a transmission connection with the self-cleaning component to efficiently clean the surveillance camera in the head rotation component.

[0005] The objective of the present invention is achieved through such a technical solution, a quadruped robot head joint structure, including a body component, a sliding component, a cooperative rotation component, a head rotation component, a self-cleaning component and a cleaning transmission component, the sliding component includes a rotation fixed seat, the cooperative rotation component includes a rotation frame and a rotation large gear, the head rotation component includes a rotation shaft fixed plate and a large bevel gear, the self-cleaning component includes a cleaning rotary blade, and the cleaning transmission component includes an outer bevel gear;

[0006] The rotational shift fixed seat is slidably connected to the front middle of the fuselage component, the bottom end of the rotational shift frame is rotationally connected to the rotational shift fixed seat, the front end of the fuselage component is symmetrically fixed with a fixed rack, and the rotational shift large gear is symmetrically fixed to the rotation shaft at the bottom end of the rotational shift frame;

[0007] The rotating shaft fixing plate is screwed to the outer top of the rotating frame, the large bevel gear is located at the inner top of the rotating frame and is fixed to the outer bottom of the rotating shaft fixing plate, and a monitoring camera is installed on one side of the upper end of the rotating shaft fixing plate;

[0008] A cleaning bottom shell is fixedly connected to the top of the body component, and the cleaning rotor is screwed to one side of the upper end of the cleaning bottom shell. A bottom transmission bevel gear is also screwed to the top of the body component, and the bottom transmission bevel gear is transmission-connected to the rotating shaft of the cleaning rotor. The outer bevel gear is screwed to the rear side of the top of the rotation frame and is transmission-connected to the large bevel gear. After the rotation frame is tilted back to a certain position, the outer bevel gear can mesh with the bottom transmission bevel gear.

[0009] The use process of the technical solution of the present invention is as follows:

[0010] The rotating shifting seat can automatically move forward and backward. Since the bottom end of the rotating shifting frame is rotated in the rotating shifting seat, and the rotating shifting gears at both ends of the rotating shaft at the bottom end of the rotating shifting frame are meshed with the fixed racks fixed in the fuselage component, when the rotating shifting seat moves forward, the rotating shifting frame can be synchronously tilted backward through the coordinated transmission formed by the rotating shifting gear and the fixed rack. When the rotating shifting seat moves backward, the rotating shifting frame synchronously tilts forward. The purpose is that when the monitoring camera is observed with the rotating shifting frame tilting forward, the backward movement formed by the rotating shifting seat can prevent the monitoring camera from extending out of the fuselage component, thereby forming a protection for the forward tilting observation action of the monitoring camera;

[0011] The large bevel gear can drive the automatic rotation of the rotating shaft fixing plate and the surveillance camera, making it convenient to rotate the surveillance camera to different viewing angles in the left and right directions;

[0012] When the monitoring camera lens is blurred due to dirt, the rotating frame can be synchronously driven to tilt backward to a certain angle by moving the rotating fixed seat backward. At this time, the outer bevel gear is meshed with the bottom transmission bevel gear. The large bevel gear drives the rotation of the rotating shaft fixing plate and the monitoring camera, and the large bevel gear drives the rotation of the bottom transmission bevel gear through the outer bevel gear, which can synchronously drive the rotation of the cleaning rotary blade.

[0013] After the rotating frame is tilted back to a certain angle, the rotating surveillance camera can just touch the outside of the cleaning rotary blade. After the cleaning rotary blade rotates, the rotating surveillance camera can be actively and efficiently cleaned.

[0014] Another object of the present invention is to provide a quadruped robot, further comprising a washing component, the washing component comprising a detergent barrel, a washing pump and an atomizing nozzle, the bottom end of the detergent barrel is fixedly connected to the top end of the rotating shaft fixing plate, a liquid outlet pipe is connected to one side of the bottom end of the detergent barrel, the bottom end of the main body of the washing pump is fixedly mounted on the top end of the rotating shaft fixing plate, the inlet of the washing pump is connected to the liquid outlet pipe, the top outlet of the washing pump is connected to a liquid outlet connecting pipe, and the atomizing nozzle is fixedly mounted on the outlet end of the liquid outlet connecting pipe;

[0015] After the head rotating assembly is tilted back to the angle for cleaning the surveillance camera along with the rotating frame, the atomizing nozzle can be rotated to a position directly opposite to the cleaning vane along with the fixed-point rotation of the rotating shaft fixing plate, and the washing liquid in the detergent barrel can be drawn out and sprayed into the cleaning vane by starting the washing pump, thereby utilizing the dual effects of the cleaning vane and the washing liquid to improve the dirt removal capability.

[0016] By adopting the above technical solution, the present invention can form the beneficial effects:

[0017] (1) The present invention cooperates with the transmission connection of the rotational shift assembly and the sliding assembly, so that when the rotational shift frame rotates forward, the rotational shift frame can be synchronously driven to move backward relative to the fuselage component in coordination with the backward movement of the rotational shift holder, thereby eliminating the risk of the head rotation assembly extending out of the fuselage component as a whole and being touched by external obstacles during the forward rotation process caused by the rotational shift frame of the traditional robot being only screwed to the fuselage component, thereby forming a positional protection for the forward observation action of the monitoring camera;

[0018] (2) The present invention not only has a self-cleaning component installed on the top of the fuselage component, but also enables the monitoring camera to intermittently form friction contact with the cleaning rotor during the rotation process when the head rotating component is tilted back to a certain angle with the rotating frame and the large bevel gear drives the rotating shaft fixing plate and the monitoring camera to form friction contact with the cleaning rotor. The cleaning rotor can be used to clean the outside of the monitoring camera, thereby automatically maintaining the observation quality of the monitoring camera.

[0019] (3) When the head rotating assembly tilts back to a certain angle along with the rotating frame, the outer bevel gear meshes with the bottom transmission bevel gear. As the large bevel gear drives the monitoring camera to rotate, the cleaning vane can be synchronously driven to rotate actively. After the cleaning vane rotates, the cleaning effect of the outside of the monitoring camera can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 A schematic diagram of a head joint structure of a quadruped robot and an overall structure of the quadruped robot provided by the present invention;

[0022] Figure 2 It is a structural schematic diagram of the fuselage component of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the sliding assembly of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the cooperative rotation assembly of the present invention;

[0025] Figure 5 It is a schematic diagram of the transmission structure of the fixed rack part of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the head rotating assembly of the present invention;

[0027] Figure 7 This is a schematic structural diagram of the self-cleaning component of the present invention from a first viewing angle;

[0028] Figure 8 This is a schematic structural diagram of the self-cleaning component of the present invention from a second viewing angle;

[0029] Fig. 9 It is a structural schematic diagram of the washing component of the present invention;

[0030] Fig.10 It is a schematic structural diagram of the cleaning transmission component of the present invention.

[0031] Reference numerals:

[0032] 1. fuselage component; 101. fuselage; 102. rotation slot;

[0033] 2. Sliding assembly; 201. Sliding column; 202. Sliding seat; 203. Sliding block; 204. Rotation fixed seat; 205. Internal connecting seat; 206. Lead screw slider; 207. Sliding lead screw; 208. Lead screw rotating seat; 209. Lead screw driving motor;

[0034] 3. Coordinated rotational shift assembly; 301. Rotational shift shaft; 302. Rotational shift frame; 303. Rotational shift gear; 304. Fixed rack;

[0035] 4. Head rotating assembly; 401. Head rotating seat; 402. Head rotating shaft; 403. Rotating shaft fixing plate; 404. Large bevel gear; 405. Driving side plate; 406. Driving motor; 407. Driving bevel gear; 408. Top stand; 409. Monitoring camera; 410. Cover;

[0036] 5. Self-cleaning assembly; 501. Cleaning bottom shell; 502. Top cover; 503. Cleaning rotary vane; 504. Fixed wiping seat; 505. Bottom transmission seat; 506. Bottom transmission shaft; 507. Bottom transmission bevel gear; 508. Bottom rotating pulley; 509. Bevel shaft seat; 510. Bevel shaft; 511. Bottom cleaning pulley; 512. Connecting belt; 513. Cleaning rotary seat; 514. Internal connecting bevel gear; 515. Internal cleaning bevel gear;

[0037] 6. Washing components; 601. Detergent barrel; 602. Barrel cover; 603. Liquid outlet pipe; 604. Side seat; 605. Liquid outlet connecting pipe; 606. Washing pump; 607. Atomizing nozzle;

[0038] 7. Clean the transmission components; 701. Driven shaft seat; 702. Driven shaft; 703. Internal bevel gear; 704. External bevel gear. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0041] like Figure 1-Figure 10 As shown, a head joint structure of a quadruped robot and a quadruped robot, the front middle part of the body component 1 is slidably connected with a rotational fixed seat 204 in the front-back direction, the bottom end of the rotational frame 302 is rotationally connected with the rotational fixed seat 204, the front end of the body component 1 is symmetrically fixed with a fixed rack 304 with a tooth surface facing downward, and the rotational large gear 303 is symmetrically fixed in the rotation axis at the bottom end of the rotational frame 302, so that when the rotational fixed seat 204 moves forward, the rotational frame 302 is synchronously tilted backward, and when the rotational fixed seat 204 moves backward, the rotational frame 302 is synchronously tilted forward;

[0042] The rotating shaft fixing plate 403 is screwed to the outer top of the rotating frame 302, and the automatically rotatable large bevel gear 404 is located at the inner top of the rotating frame 302 and is fixed to the outer bottom of the rotating shaft fixing plate 403. A monitoring camera 409 is installed on one side of the upper end of the rotating shaft fixing plate 403;

[0043] A cleaning bottom shell 501 is fixedly connected to the top of the body component 1, and a cleaning rotor 503 is screwed on one side of the upper end of the cleaning bottom shell 501. A bottom transmission bevel gear 507 is also screwed on the top of the body component 1, and the bottom transmission bevel gear 507 is transmission-connected to the rotating shaft of the cleaning rotor 503. An outer bevel gear 704 is screwed on the rear side of the top of the rotation frame 302, and is transmission-connected to the large bevel gear 404. After the rotation frame 302 is tilted back to a certain position, the outer bevel gear 704 can mesh with the bottom transmission bevel gear 507. As the large bevel gear 404 drives the monitoring camera 409 to rotate, the cleaning rotor 503 can be driven to rotate through the transmission mechanism, and the monitoring camera 409 can be efficiently cleaned.

[0044] Here’s how it works:

[0045] The rotational shifting seat 204 can automatically move forward and backward. Since the bottom end of the rotational shifting frame 302 is rotated in the rotational shifting seat 204, and the rotational shifting gears 303 at both ends of the rotation axis at the bottom end of the rotational shifting frame 302 are meshed with the fixed rack 304 fixed in the fuselage component 1, when the rotational shifting seat 204 moves forward, the rotational shifting frame 302 can be synchronously tilted backward through the coordinated transmission formed by the rotational shifting gear 303 and the fixed rack 304. When the rotational shifting seat 204 moves backward, the rotational shifting frame 302 synchronously tilts forward. The purpose is that when the monitoring camera 409 is observed with the rotational shifting frame 302 tilting forward, the backward movement formed by the rotational shifting seat 204 can prevent the monitoring camera 409 from extending out of the fuselage component 1, thereby forming a protection for the forward tilting observation action of the monitoring camera 409;

[0046] The large bevel gear 404 can drive the rotating shaft fixing plate 403 and the monitoring camera 409 to rotate automatically, so as to facilitate the monitoring camera 409 to rotate to different viewing angles in the left and right directions;

[0047] When the monitoring camera 409 is blurred due to dirt, the rotating frame 302 can be synchronously driven to tilt backward to a certain angle by the backward movement of the rotating mounting seat 204. At this time, the outer bevel gear 704 is just meshed with the bottom transmission bevel gear 507; the rotation of the rotating shaft fixing plate 403 and the monitoring camera 409 driven by the large bevel gear 404, and the rotation of the bottom transmission bevel gear 507 driven by the large bevel gear 404 through the outer bevel gear 704, can synchronously drive the rotation of the cleaning rotary blade 503;

[0048] After the rotating frame 302 is tilted back to a certain angle, the rotating monitoring camera 409 can just touch the outside of the cleaning rotary blade 503. After the cleaning rotary blade 503 rotates, the rotating monitoring camera 409 can be actively and efficiently cleaned.

[0049] The specific structures of the fuselage component 1, the sliding assembly 2 and the cooperative rotation assembly 3 are as follows: Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the body 101 is a setting body, and the rotation slot 102 is opened in the middle of the front top of the body 101 to provide space for the rotation of the rotation frame 302;

[0050] The rotation shaft 301 is rotatably connected to the rotation fixing seat 204, the bottom end of the rotation frame 302 is plugged and fixed to the middle of the rotation shaft 301, and the rotation gear 303 is symmetrically plugged and fixed to the outer end of the rotation shaft 301;

[0051] The top inner surface of the fuselage 101 is symmetrically provided with slide posts 201 with the rotation slot 102 as the center. The slide posts 201 are fixedly connected to the top inner surface of the fuselage 101 through slide seats 202 at both ends. A slider 203 is slidably connected to each set of slide posts 201. The top of the rotation seat 204 is fixedly connected to the bottom of the slider 203.

[0052] The inner connecting seat 205 is fixedly connected to the rotational fixed seat 204, the lead screw slider 206 is fixedly connected to the top of the inner connecting seat 205, and the bottom end body of the rotational frame 302 is located in the rotational fixed seat 204 and the inner connecting seat 205. At the same time, the top of the inner connecting seat 205 and the lead screw slider 206 are located in the inner space of the rotational frame 302, and the inner connecting seat 205 and the lead screw slider 206 will not interfere with the rotation of the rotational frame 302 with the rotational shaft 301;

[0053] A screw seat 208 is fixedly connected between the slide seats 202 on the same side, and both ends of the sliding screw 207 are rotatably connected to the screw seat 208, and the screw slider 206 is matched and connected to the sliding screw 207;

[0054] The lead screw drive motor 209 is fixedly mounted on the inner surface of the top end of the body 101, and the rear end of the sliding lead screw 207 is fixedly connected to the rotating shaft of the lead screw drive motor 209;

[0055] By starting the screw drive motor 209 to drive the screw drive motor 209 to rotate, the sliding screw 207 and the screw slider 206 can be matched and connected, thereby driving the component formed by the rotational fixed seat 204 and the slider 203 to move forward and backward guided by the sliding fit formed by the slider 203 and the sliding column 201.

[0056] The specific structure of the head rotating assembly 4 is as follows Figure 4 and Figure 6 As shown, the head rotating seat 401 is installed and fixed at the middle of the top of the rotating frame 302, the middle of the bottom end of the rotating shaft fixing plate 403 is fixedly connected with the head rotating shaft 402, the head rotating shaft 402 is rotatably connected in the head rotating seat 401, and the large bevel gear 404 is plugged and fixed at the bottom end of the head rotating shaft 402;

[0057] The top front side of the rotating frame 302 is fixedly connected with a driving side plate 405, a driving motor 406 is installed and fixed on the outer side of the driving side plate 405, a driving bevel gear 407 is inserted and fixed in the rotating shaft of the driving motor 406, and the large bevel gear 404 is meshed with the driving bevel gear 407;

[0058] By starting the driving motor 406 to drive the driving bevel gear 407 and the large bevel gear 404 to form a coordinated transmission, the rotating shaft fixing plate 403 can be rotated around the head rotating shaft 402, thereby adjusting the viewing angle of the monitoring camera 409 in the left and right directions;

[0059] A top stand 408 is fixedly connected to one side of the top of the rotating shaft fixing plate 403, and a monitoring camera 409 is symmetrically installed in the top stand 408. A cover shell 410 is connected to the top of the rotating shaft fixing plate 403 and is fixed to the side of the top stand 408. A through hole is provided on the side of the cover shell 410 opposite to the monitoring camera 409 to eliminate interference.

[0060] The specific structure of the cleaning transmission member 7 is as follows: Fig.10 As shown, the passive shaft seat 701 is fixedly connected to the rear side of the top end of the rotation frame 302, the passive shaft 702 is rotatably connected in the passive shaft seat 701, the outer bevel gear 704 is plugged and fixed to the outer end of the passive shaft 702, and the inner bevel gear 703 is plugged and fixed to the inner end of the passive shaft 702;

[0061] When the driving bevel gear 407 drives the large bevel gear 404 to rotate, the large bevel gear 404 can drive the internal bevel gear 703 to rotate through the matching transmission formed with the internal bevel gear 703, and the internal bevel gear 703 drives the external bevel gear 704 to rotate coaxially through the driven shaft 702.

[0062] The specific structure of the self-cleaning component 5 is as follows Figure 7 and Figure 8 As shown, the cleaning bottom shell 501 is fixedly connected to the top of the body 101, and the top cover 502 is connected to the top opening of the cleaning bottom shell 501;

[0063] The top of the fuselage 101 is fixedly connected with an obliquely arranged bottom transmission seat 505, in which a bottom transmission shaft 506 is rotatably connected, a bottom transmission bevel gear 507 and a bottom rotating pulley 508 are both plugged and fixed in the bottom transmission shaft 506, a slanted shaft seat 509 is fixedly installed on one side of the main body of the cleaning bottom shell 501, a slanted shaft 510 is rotatably connected in the slanted shaft seat 509, a bottom cleaning pulley 511 is plugged and fixed at the bottom end of the slanted shaft 510, a connecting belt 512 is sleeved and installed between the bottom rotating pulley 508 and the bottom cleaning pulley 511, and the top of the slanted shaft 510 is transmission-connected with the cleaning rotary blade 503;

[0064] A cleaning rotary seat 513 is fixedly installed in the main body at one side of the top of the cleaning bottom shell 501, the rotating shaft of the cleaning rotary blade 503 is rotatably connected in the cleaning rotary seat 513, the inner cleaning bevel gear 515 is plugged and fixed at one end of the rotating shaft of the cleaning rotary blade 503, and the top of the oblique shaft 510 is plugged and fixed with an inner connecting bevel gear 514, which meshes with the inner cleaning bevel gear 515;

[0065] The inner connecting bevel gear 514 and the inner cleaning bevel gear 515 are both located in the inner cavity of the cleaning bottom shell 501;

[0066] After the outer bevel gear 704 is meshed with the bottom transmission bevel gear 507, the bottom transmission bevel gear 507 can coaxially drive the bottom rotating pulley 508 to rotate through the bottom transmission shaft 506, and the bottom rotating pulley 508 drives the bottom cleaning pulley 511 to rotate through the connecting belt 512, and the bottom cleaning pulley 511 drives the inner connecting bevel gear 514 to rotate through the oblique shaft 510, so that the inner connecting bevel gear 514 and the inner cleaning bevel gear 515 form a matching transmission, thereby driving the active rotation of the cleaning vane 503;

[0067] The transmission ratio formed by the large bevel gear 404 and the inner bevel gear 703 is different from the transmission ratio formed by the inner bevel gear 703 and the bottom transmission bevel gear 507, so that the rotation speed of the cover 410 and the monitoring camera 409 is lower than the rotation speed of the cleaning vane 503, so that when the outside of the monitoring camera 409 rotates to a position where it is in frictional contact with the cleaning vane 503, the cleaning action of the cleaning vane 503 on the outside of the monitoring camera 409 will not fail due to the existence of relative rotation;

[0068] A fixed wiping seat 504 is also fixedly installed in the arc surface on one side of the top of the cleaning bottom shell 501, and the lateral length of the fixed wiping seat 504 is several times greater than the outer diameter of the cleaning rotary blade 503, so that after the monitoring camera 409 is cleaned by the cleaning rotary blade 503 during the rotation process, it can be wiped again by the fixed wiping seat 504, thereby improving the cleanliness of the outside of the monitoring camera 409;

[0069] The cleaning blade 503 and the fixed wiping seat 504 are both replaceable to maintain their cleaning efficiency. The top cover 502 connected to the top end of the cleaning bottom shell 501 is detachable, and the inner cavity of the cleaning bottom shell 501 can be used to store unused cleaning blades 503 and fixed wiping seat 504.

[0070] Preferably, a washing component 6 is also installed in the housing 410, which can spray washing liquid into the cleaning blade 503 to improve the ability of the cleaning blade 503 to clean dirt; the bottom end of the detergent barrel 601 is fixedly connected to the top of the rotary shaft fixing plate 403, and the top inlet of the detergent barrel 601 passes through the top wall of the housing 410 and extends to the outside of the housing 410. The barrel cover 602 is connected to the top inlet of the detergent barrel 601, which can facilitate the replenishment of washing liquid into the detergent barrel 601; the bottom side of the detergent barrel 601 is connected to the top wall of the housing 410. The washing pump 606 is connected to a liquid outlet pipe 603, the bottom end of the main body of the washing pump 606 is fixedly mounted on the top of the rotating shaft fixing plate 403, and the inlet of the washing pump 606 is connected to the liquid outlet pipe 603. A side seat 604 is also fixedly mounted on the other side of the cover shell 410. The top outlet of the washing pump 606 is connected to a liquid outlet connecting pipe 605, and the outlet end of the liquid outlet connecting pipe 605 is fixedly mounted on the side seat 604. The atomizing nozzle 607 is fixedly mounted on the outlet end of the liquid outlet connecting pipe 605; the head rotating assembly 4 can rotate with the rotating frame 302. After the monitoring camera 409 is tilted to the angle for cleaning, the atomizing nozzle 607 can be rotated to the position directly opposite to the cleaning vane 503 by starting the driving motor 406 to drive the fixed-point rotation of the rotating shaft fixing plate 403. In order to realize the rotation of the atomizing nozzle 607 to the position directly opposite to the cleaning vane 503, a sensing device is also installed between the cover 410 and the cleaning bottom shell 501. Through the sensing device, the atomizing nozzle 607 and the cleaning vane 503 can be accurately aligned; and by starting the washing pump 606 , the washing liquid in the detergent barrel 601 can be drawn and sprayed into the cleaning vane 503, so that the dual effects of the cleaning vane 503 and the washing liquid can be utilized to improve the ability to remove dirt; at the same time, the purpose of spraying the washing liquid only in the cleaning vane 503 is that after the cleaning vane 503 and the washing liquid have finished cleaning the outside of the monitoring camera 409, the outer bevel gear 704 in a dry state can wipe the outside of the monitoring camera 409 dry, thereby ensuring that the monitoring camera 409 is transparent after being cleaned.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A quadruped robot head joint structure, comprising a body component (1), characterized in that: It also includes a sliding assembly (2), a coordinated rotation assembly (3), a head rotation assembly (4), a self-cleaning assembly (5) and a cleaning transmission component (7); The sliding assembly (2) comprises a rotational shifting seat (204), and the coordinated rotational shifting assembly (3) comprises a rotational shifting frame (302). The rotational shifting seat (204) is slidably connected to the front middle part of the fuselage component (1), and the bottom end of the rotational shifting frame (302) is rotationally connected to the rotational shifting seat (204) and is transmission-connected to the rotational shifting seat (204). The forward movement of the rotational shifting seat (204) can drive the rotational shifting frame (302) to rotate backward synchronously, and the backward movement of the rotational shifting seat (204) can drive the rotational shifting frame (302) to rotate forward synchronously. The head rotating assembly (4) is mounted on the outer top end of the rotating frame (302), and after the rotating frame (302) rotates and tilts back to a certain angle, the head rotating assembly (4) can be connected to the self-cleaning assembly (5) through the cleaning transmission component (7), so as to perform a cleaning action on the head rotating assembly (4).

2. A quadruped robot head joint structure according to claim 1, characterized in that: The cooperative rotational shifting component (3) further comprises a rotational shifting gear (303), the head rotational component (4) comprises a rotational shaft fixing plate (403) and a large bevel gear (404), the self-cleaning component (5) comprises a cleaning rotary blade (503), the cleaning transmission component (7) comprises an outer bevel gear (704), a fixed rack (304) is symmetrically fixed to the front end of the body component (1), the rotational shifting gear (303) is symmetrically fixed to the rotational shaft at the bottom end of the rotational shifting frame (302), the rotational shaft fixing plate (403) is rotationally connected to the outer top end of the rotational shifting frame (302), the large bevel gear (404) is located at the inner top end of the rotational shifting frame (302) and is fixedly connected to the outer bottom end of the rotational shaft fixing plate (403), and the rotational shaft fixing plate (403) is fixedly connected to the outer bottom end of the rotational shaft fixing plate (403). A monitoring camera (409) is installed on one side of the upper end of the shaft fixing plate (403); a cleaning bottom shell (501) is fixedly connected to the top end of the body component (1); the cleaning rotary blade (503) is screwed to one side of the upper end of the cleaning bottom shell (501); a bottom transmission bevel gear (507) is also screwed to the top end of the body component (1); and the bottom transmission bevel gear (507) is transmission-connected to the rotating shaft of the cleaning rotary blade (503); an outer bevel gear (704) is screwed to the rear side of the top end of the rotary transfer frame (302) and is transmission-connected to the large bevel gear (404); and after the rotary transfer frame (302) is tilted back to a certain position, the outer bevel gear (704) can mesh with the bottom transmission bevel gear (507).

3. The head joint structure of a quadruped robot according to claim 2, characterized in that: The fuselage component (1) comprises a fuselage (101) and a rotational displacement groove (102), wherein the fuselage (101) is a setting base, and the rotational displacement groove (102) is arranged in the middle of the front top of the fuselage (101).

4. The head joint structure of a quadruped robot according to claim 3, characterized in that: The sliding assembly (2) further comprises a sliding seat (202), an inner connecting seat (205), a lead screw slider (206), a sliding lead screw (207) and a lead screw driving motor (209); a sliding column (201) is symmetrically arranged on the inner surface of the top end of the body (101); the sliding column (201) is fixedly connected to the inner surface of the top end of the body (101) through the sliding seats (202) at both ends; a sliding block (203) is slidably connected to each group of sliding columns (201); the top end of the rotational fixed seat (204) is fixedly connected to the bottom end of the sliding block (203); the inner connecting seat (205) is fixedly connected to the sliding block (207); and the sliding block (207) is fixedly connected to the inner surface of the top end of the body (101). The rotation fixed seat (204) is fixedly connected, the screw slider (206) is fixedly connected to the top of the inner connecting seat (205), a screw rotating seat (208) is fixedly connected between the slide seats (202) on the same side, both ends of the sliding screw (207) are respectively rotatably connected in the screw rotating seat (208), the screw slider (206) is matched and connected in the sliding screw (207), the screw driving motor (209) is installed and fixed on the top inner surface of the machine body (101), and the rear end of the sliding screw (207) is fixedly connected to the rotating shaft of the screw driving motor (209).

5. A quadruped robot head joint structure according to claim 2, 3 or 4, characterized in that: The cooperative rotational shift assembly (3) further comprises a rotational shift shaft (301), the rotational shift shaft (301) is rotationally connected to the rotational shift fixing seat (204), the bottom end of the rotational shift frame (302) is plugged and fixed to the middle of the rotational shift shaft (301), and the rotational shift gear (303) is symmetrically plugged and fixed to the outer end of the rotational shift shaft (301).

6. A quadruped robot head joint structure according to claim 2, 3 or 4, characterized in that: The head rotating assembly (4) further comprises a head rotating seat (401), a driving motor (406), a driving bevel gear (407) and a cover shell (410). The head rotating seat (401) is fixedly mounted at the middle of the top end of the rotating frame (302). The middle of the bottom end of the rotating shaft fixing plate (403) is fixedly connected with the head rotating shaft (402). The head rotating shaft (402) is rotatably connected to the head rotating seat (401). The large bevel gear (404) is plugged and fixed at the bottom end of the head rotating shaft (402). The front side of the top end of the rotating frame (302) A driving side plate (405) is fixedly connected, a driving motor (406) is fixedly mounted on the outer side of the driving side plate (405), a driving bevel gear (407) is plugged and fixed in the rotating shaft of the driving motor (406), and the large bevel gear (404) is meshed with the driving bevel gear (407), a top side of the rotating shaft fixing plate (403) is fixedly connected with a top stand (408), a monitoring camera (409) is symmetrically mounted in the top stand (408), and a cover shell (410) is connected to the top of the rotating shaft fixing plate (403).

7. A quadruped robot head joint structure according to claim 3 or 4, characterized in that: The self-cleaning assembly (5) further comprises a top cover (502), a bottom rotating pulley (508), an inclined shaft (510), a bottom cleaning pulley (511), a cleaning rotary seat (513) and an inner cleaning bevel gear (515); the cleaning bottom shell (501) is fixedly connected to the top of the machine body (101); the top cover (502) is connected to the top opening of the cleaning bottom shell (501); the top of the machine body (101) is fixedly connected to a bottom transmission seat (505); a bottom transmission shaft (506) is rotatably connected to the bottom transmission seat (505); the bottom transmission bevel gear (507) and the bottom rotating pulley (508) are both plugged and fixed in the bottom transmission shaft (506); a bevel shaft seat (509) is fixedly installed on one side of the main body of the cleaning bottom shell (501); the bevel shaft (510) is rotatably connected to the bevel shaft seat (513) and the bottom transmission shaft (506) is rotatably connected to the bottom transmission seat (505); the bottom transmission bevel gear (507) and the bottom rotating pulley (508) are both plugged and fixed in the bottom transmission shaft (506); a bevel shaft seat (509) is fixedly installed on one side of the main body of the cleaning bottom shell (501); and the bevel shaft (510) is rotatably connected to the bevel shaft seat (513). 509), a bottom cleaning pulley (511) is plugged and fixed at the bottom end of the inclined shaft (510), a connecting belt (512) is sleeved and installed between the bottom rotating pulley (508) and the bottom cleaning pulley (511), a cleaning rotary seat (513) is installed and fixed in the main body on one side of the top end of the cleaning bottom shell (501), the rotating shaft of the cleaning rotary blade (503) is rotatably connected in the cleaning rotary seat (513), an internal cleaning bevel gear (515) is plugged and fixed at one end of the rotating shaft of the cleaning rotary blade (503), an internal connecting bevel gear (514) is plugged and fixed at the top end of the inclined shaft (510), the internal connecting bevel gear (514) is meshed with the internal cleaning bevel gear (515), and the internal connecting bevel gear (514) and the internal cleaning bevel gear (515) are both located in the inner cavity of the cleaning bottom shell (501).

8. A quadruped robot head joint structure according to claim 2, 3 or 4, characterized in that: A fixed wiping seat (504) is also fixedly mounted in the arc surface on one side of the top of the cleaning bottom shell (501), and the transverse length of the fixed wiping seat (504) is several times greater than the outer diameter of the cleaning rotary blade (503).

9. A quadruped robot head joint structure according to claim 2, 3 or 4, characterized in that: The cleaning transmission component (7) further comprises a driven shaft seat (701), a driven shaft (702) and an inner bevel gear (703); the driven shaft seat (701) is fixedly connected to the rear side of the top end of the rotation frame (302); the driven shaft (702) is rotatably connected to the driven shaft seat (701); the outer bevel gear (704) is plugged and fixed to the outer end of the driven shaft (702); and the inner bevel gear (703) is plugged and fixed to the inner end of the driven shaft (702).

10. A quadruped robot, comprising a quadruped robot head joint structure according to any one of claims 6 to 9, characterized in that: The washing device also comprises a washing component (6), which comprises a detergent barrel (601), a barrel cover (602), a washing pump (606) and an atomizing nozzle (607). The bottom end of the detergent barrel (601) is fixedly connected to the top end of the rotating shaft fixing plate (403). The top inlet of the detergent barrel (601) passes through the top wall of the housing (410) and extends to the outside of the housing (410). The barrel cover (602) is connected to the top inlet of the detergent barrel (601). One side of the bottom end of the detergent barrel (601) is connected to a liquid outlet. The bottom end of the main body of the washing pump (606) is fixedly mounted on the top end of the rotating shaft fixing plate (403), and the inlet of the washing pump (606) is connected to the liquid outlet pipe (603). A side seat (604) is also fixedly mounted on the other side of the cover shell (410). The top outlet of the washing pump (606) is connected to a liquid outlet connecting pipe (605). The outlet end of the liquid outlet connecting pipe (605) is fixedly mounted on the outside of the side seat (604), and the atomizing nozzle (607) is fixedly mounted on the outlet end of the liquid outlet connecting pipe (605).

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