A four-legged robot head structure and a four-legged robot

Abstract

The application discloses a kind of four-legged robot head structure and four-legged robot, wherein head structure is divided into neck component and head component, and head component is connected with neck component by rotating connection structure to make head component can be overturned upward relative to neck component;So as to realize that in the case where head structure is not disassembled, front leg component can be checked and maintained by quickly overturning head component by maintenance personnel.It is simultaneously installed with the heat dissipation structure including fan piece and air guide channel on neck component, so that fan piece can guide air to be cooled to corresponding side joint motor through two side air guide channels, so as to realize the efficient heat dissipation of front leg component, effectively improve the reliability and maintainability of four-legged robot in response to harsh working environment.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a head structure for a quadruped robot and a quadruped robot. Background Technology

[0002] In the field of quadruped robot technology, the head structure, as a component of the robot, is often only used to carry various sensors such as cameras and radar for environmental perception, without providing assistance to the operation of other components. Meanwhile, the foreleg assembly, also located at the front of the robot, is the core of motion execution. Its joint motors need to continuously output power during walking, turning, and load-bearing operations, generating a large amount of heat. The high-intensity operation also makes the failure rate of the foreleg assembly higher than other parts of the robot, requiring maintenance during daily operation. In existing technologies, the head assembly and the body frame are mostly connected by a fixed rigid structure, covering the foreleg assembly. The heat dissipation of the foreleg assembly's joint motors relies solely on natural heat conduction from the metal shell of the legs and heat exchange with the environment, resulting in very low heat dissipation efficiency. Furthermore, the presence of the head structure partially obstructs airflow around the joint motors of the foreleg assembly. Additionally, when maintenance of the joint motors of the foreleg assembly is required, the fixed head structure creates spatial obstacles, hindering operators from inspecting and maintaining the joint motors on the foreleg assembly. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention discloses a head mechanism for a quadruped robot, comprising:

[0004] The neck assembly is connected to the front side of the quadruped robot's body frame;

[0005] The head assembly has a rotatable connection structure, wherein the end of the head assembly that is away from the body frame is connected to the neck assembly through the rotatable connection structure, and the head assembly can be flipped upward relative to the neck assembly through the rotatable connection structure.

[0006] The neck assembly is equipped with a heat dissipation structure, which includes a fan and air guide channels arranged on both sides of the neck assembly. The fan can guide air through the air guide channels on both sides to dissipate heat from the joint motors on the corresponding sides.

[0007] Preferably, a first clearance area is constructed below the head assembly and a second clearance area is constructed below the neck assembly. The first clearance area and the second clearance area are connected to form a mounting area for at least accommodating the thigh motor. The fan component can drive airflow within the mounting area through air guide channels on both sides.

[0008] Preferably, the rotating connection structure includes a rotating component and a switching component;

[0009] The rotating member is mounted on top of the neck assembly or the head assembly. The head assembly and the neck assembly are connected by the rotating member, and the head assembly can be flipped upward relative to the neck assembly by the rotating member.

[0010] The switch component is mounted on the neck assembly or the head assembly. When the switch component is locked, the head assembly and the neck assembly remain connected. When the switch component is unlocked, the head assembly can flip upward relative to the neck assembly to disconnect.

[0011] Preferably, the neck assembly includes a first neck structure and a second neck structure, with the lower end of the first neck structure connected to the upper end of the second neck structure; the upper end of the first neck structure is connected to the head assembly via a rotating member.

[0012] The first neck structure includes a neck top and two side walls, which surround to form an air-guiding cavity. The neck top has an installation channel communicating with the air-guiding cavity. The fan component is installed on the neck top with its first air outlet facing the installation channel. Air-guiding channels are respectively opened on the two side walls, and the air-guiding cavity has an air-guiding path communicating with the air-guiding channel and the installation channel.

[0013] Preferably, the switch component includes a mounting base, a lock body, and a locking groove; wherein

[0014] The head assembly has a mounting base, the lock body is mounted within the mounting base, the locking groove is installed in the lower part of the second neck structure, and the end of the lock body can enter the locking groove to maintain the connection between the head assembly and the second neck structure; or

[0015] The second neck structure has a mounting base, the lock body is installed in the mounting base, the locking groove is installed in the lower part of the head assembly, and the end of the lock body can enter the locking groove to maintain the connection between the head assembly and the second neck structure.

[0016] Preferably, the head assembly includes a top connector and a longitudinal connector connected to the lower part of the top connector;

[0017] The longitudinal connecting seat is equipped with a reinforcing connector that protrudes towards the neck assembly. The second neck structure has a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and neck assembly are connected, the reinforcing connector is inserted into the connecting groove; or

[0018] The second neck structure is equipped with a reinforcing connector that protrudes towards the head assembly. The longitudinal connecting seat is provided with a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and the neck assembly are connected, the reinforcing connector is inserted into the corresponding connecting groove.

[0019] Preferably, the reinforcing connector is a connecting plate;

[0020] One end of the connecting plate is longitudinally fixedly connected to the longitudinal connecting seat, and the second neck structure is provided with a connecting groove for the other end of the connecting plate to be inserted; or

[0021] One end of the connecting plate is longitudinally fixedly connected to the second neck structure, and the longitudinal connecting seat is provided with a connecting groove for the other end of the connecting plate to be inserted.

[0022] Preferably, the top connector has multiple sets of auxiliary limiting members protruding towards the neck component on the side near the neck component, and multiple limiting grooves matching the shape of the auxiliary limiting members are formed on the side of the neck component near the head component. When the head component and the neck component are in a connected state, the auxiliary limiting members are inserted into the corresponding limiting grooves.

[0023] Preferably, the two side walls of the first neck structure are arranged in a V-shape, and each side wall is inclined toward the joint motor direction on the corresponding side;

[0024] The air duct is constructed as multiple through slots extending along the side wall of the heat dissipation housing from the direction near the fan component to the direction away from the fan component, and an air guiding surface deflected towards the joint motor is constructed on the slot wall.

[0025] The fan component is an axial flow fan, and the first air outlet of the axial flow fan is an air outlet, which is arranged facing the installation channel.

[0026] The present invention also discloses a quadruped robot, comprising:

[0027] The body, including the body frame;

[0028] Two front leg assemblies and two rear leg assemblies are respectively installed at the front and rear of the body;

[0029] The head mechanism of the quadruped robot, as described above, is connected to the front side of the body frame. The heat dissipation structure can supply air to cool the joint motors of the two front leg components.

[0030] This invention discloses a quadruped robot head structure and a quadruped robot. The head structure is divided into a neck assembly and a head assembly, which are connected by a rotating connection structure, allowing the head assembly to flip upwards relative to the neck assembly. This enables maintenance personnel to easily inspect and maintain the front leg components without disassembling the head structure, allowing for quick flipping of the head assembly. Simultaneously, a heat dissipation structure including a fan and air ducts is installed on the neck assembly. The fan guides air through the air ducts on both sides to cool the joint motors on the corresponding sides, achieving efficient heat dissipation for the leg components and effectively improving the quadruped robot's reliability and maintainability in harsh working environments. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0032] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0033] Figure 1 This is an external schematic diagram of the head mechanism of a quadruped robot disclosed in an embodiment of this application.

[0034] Figure 2 This is a schematic diagram of the internal structure of the head mechanism of a quadruped robot disclosed in an embodiment of this application.

[0035] Figure 3 This is a partial structural schematic diagram of the head mechanism of a quadruped robot disclosed in an embodiment of this application.

[0036] Figure 4 This is a schematic diagram of the structure of the neck assembly disclosed in an embodiment of this application.

[0037] Figure 5 This is a schematic diagram of the flipped state of the head mechanism of a quadruped robot disclosed in an embodiment of this application.

[0038] Figure 6 This is an exploded view of the head mechanism of a quadruped robot disclosed in an embodiment of this application.

[0039] Figure 7 This is another exploded view of the head mechanism of a quadruped robot disclosed in an embodiment of this application.

[0040] Figure 8This is a structural cross-sectional view of the head mechanism of a quadruped robot disclosed in an embodiment of this application. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0045] This embodiment discloses a head mechanism for a quadruped robot, such as... Figure 1-3As shown, the quadruped robot includes a neck assembly 1 and a head assembly 2. The neck assembly 1 is connected to the front of the body frame 4 of the quadruped robot. The head assembly 2 has a rotatable connection structure 3, through which the end of the head assembly 2 away from the body frame is connected to the neck assembly 1, and can be flipped upward relative to the neck assembly 1 via the rotatable connection structure 3. A heat dissipation structure 11 is installed on the neck assembly 1. The heat dissipation structure 11 includes a fan 111 and air guide channels 112 arranged on both sides of the neck assembly. The fan 111 can guide air through the air guide channels 112 on both sides to dissipate heat from the joint motors on the opposite sides. Specifically, it can drive the airflow around the hip joint motor 41 or the side swing joint motor located on the corresponding front leg assembly.

[0046] In this embodiment, a first clearance area 21 is constructed below the head assembly 2, and a second clearance area 12 is constructed below the neck assembly. The first clearance area 21 and the second clearance area 12 communicate to form a mounting area for at least accommodating the thigh motor. The fan component 111 can drive airflow within the mounting area through the side air guide channels 112. This mounting area is used to adapt to the hip joint motor or lateral swing joint motor on the foreleg assembly, serving as a mounting space for the hip joint motor or lateral swing joint motor, for example, in... Figure 2 In the quadruped robot, since the main body of its side-swing joint motor is installed inside the body frame, its installation area is mainly used as the installation space for the hip joint motor of the front leg assembly. The fan component drives the airflow around the hip joint motor on the corresponding side of the front leg assembly through the air guide channels on both sides. The fan component can be either suction or blowing. In this embodiment, the fan component can be selected to cool the hip joint motor by blowing air towards it.

[0047] In this embodiment, as shown in the appendix Figure 4-7 As shown, the rotating connection structure 3 includes a rotating member 31 and a switching member 32. The rotating member 31 is mounted on the top of the neck assembly or head assembly. The head assembly 2 is connected to the neck assembly 1 via the rotating member 31 and can be flipped upward relative to the neck assembly via the rotating member. The switching member 32 is mounted on the neck assembly or head assembly. When the switching member is locked, the head assembly and neck assembly remain connected. When the switching member is unlocked, the head assembly can be flipped upward relative to the neck assembly to disengage.

[0048] Specifically, the rotating component 31 can be selected from damping hinge components, electric gearbox-type rotary damping components, door hinge components, or axle pin structures. By connecting the two movable parts on both sides of the rotating component 31 to the top of the neck assembly and the top of the head assembly respectively, the head assembly can be flipped upward relative to the neck assembly.

[0049] In this embodiment, a handle 22 can also be installed on the front side of the head assembly 2. When it is necessary to flip the head assembly 2, the operator can conveniently apply force by pulling the handle 22. When it is necessary to maintain the joint motors of the front leg assembly, the operator opens the switch component 32, grasps the handle of the head assembly 2 and applies upward force, and the head assembly 2 can flip upward around the rotating connection structure 3; so that the joint motors of the front leg assembly are fully exposed, and the operator can easily perform maintenance and disassembly operations on the joint motors of the front leg assembly. When the switch component 32 is in the locked state, the head assembly 2 is tightly connected to the neck assembly 1, ensuring structural stability when the robot is operating normally, and the head will not shake due to external forces or vibrations; when it is necessary to flip the head assembly 2, the locking is released by operating the operating part of the switch component 32. At this time, the fixed relationship between the head assembly 2 and the neck assembly 1 is released, and it can be easily flipped upward.

[0050] In this embodiment, the neck assembly 1 includes a first neck structure 13 and a second neck structure 14. The lower end of the first neck structure 13 is connected to the upper end of the second neck structure 14. The upper end of the first neck structure 13 is connected to the head assembly 2 via a rotating member 31. The first neck structure 13 includes a neck top 131 and two side walls 132. The neck top 131 and the two side walls 132 surround to form an air guide cavity 133. The neck top is constructed with an installation channel communicating with the air guide cavity. The fan component 111 is installed on the neck top 131 with its first air outlet facing the installation channel. Air guide channels 112 are respectively opened on the two side walls 132. The air guide cavity has an air guide path communicating with the air guide channels 112 and the installation channel.

[0051] In this embodiment, the two side walls 132 of the first neck structure 13 are arranged in a V-shape, and each side wall 132 is inclined towards the hip joint motor or side swing joint motor on the corresponding side. The air guide channel 112 is constructed as multiple through slots extending along the side wall of the heat dissipation housing from the direction near the fan component to the direction away from the fan component. The slot walls are constructed with air guide surfaces that deflect towards the hip joint motor or side swing joint motor. The fan component 111 is an axial flow fan, and the first air outlet of the axial flow fan is an air outlet, which is arranged facing the mounting channel. In this embodiment, each sidewall 132 is inclined toward the hip joint motor on the corresponding side, that is, inclined downward and to both sides. The channel wall of the through slot is constructed with an air guide surface that deflects toward the hip joint motor. Specifically, the air guide surface can be constructed as an inclined surface that is inclined toward the head assembly. Thus, through the downward inclined sidewall and the forward inclined channel wall, the air blown out from the fan is directed downward and forward to the hip joint motor, that is, at the position of the hip joint motor located at the front of the installation area, thereby maximizing the heat dissipation performance of the hip joint motor.

[0052] Specifically, the heat dissipation housing 113 of the neck assembly 1 serves as the mounting base and airflow guide for the entire heat dissipation assembly. Its installation position corresponds to the distribution area of ​​the joint motors of the front leg assembly of the quadruped robot, ensuring that the air guide channel 112 can be closely aligned with the heat-generating parts of the motors. The air guide channel 112 provides a directional channel for airflow to exit or enter, while the internal air guide cavity 133 plays the role of airflow buffering and convergence, preventing external air from being directly dispersed after being sucked in, and ensuring that the airflow has sufficient pressure and flow. The fan component 111 can be an axial flow fan. Its design, which is mounted on the heat dissipation housing 113 and has its air outlet facing the air guide cavity 133, enables the fan to generate a stable negative pressure suction after starting, efficiently drawing in room temperature air from outside the heat dissipation housing 113 and delivering the airflow directly into the air guide cavity 133, avoiding leakage or disturbance in the middle. When the quadruped robot starts operating, the fan 111 can be activated simultaneously, continuously drawing in ambient temperature air from outside the heat sink 113. After entering the heat sink 113, the air first flows into the internal air guide cavity 133. Then, guided by a pre-set air guide path within the heat sink 113, the airflow in the air guide cavity 133 blows directly onto the surface of the corresponding front leg component joint motor through the air guide channel 112, quickly removing the heat generated during motor operation and achieving targeted heat dissipation. The leg component joint motor can be determined based on the quadruped robot's installation structure, either as a side-swing joint motor or a hip joint motor. Alternatively, the heat sink, fan, and air guide channel 112 can be enlarged to simultaneously blow air onto both the side-swing and hip joint motors for cooling. Of course, in another embodiment, the fan can also be a suction unit, drawing air from the area where the leg component joint motor is located through the air guide channel, passing it over the joint motor surface, and entering the air guide channel. This also increases airflow on the joint motor surface, improving heat dissipation performance.

[0053] In this embodiment, the heat dissipation housing 113 further includes a mounting plate 114, which is connected to the front sidewall. The heat dissipation housing 113 is connected to the body frame 4 via the mounting plate 114. Additionally, the body frame 4 includes an upper shell cover 42, which is connected to the upper part of the heat dissipation housing 113. The upper shell cover 42 has an air inlet 43 corresponding to the area of ​​the fan component 111. The upper-mounted fan component 111 can directly and efficiently draw in external air from the air inlet, avoiding obstruction or interference from the leg structure. The air guide channel 112 is located on the sidewall below the fan component 111, forming an upward-intake and downward-outflow airflow path with the air outlet of the fan component 111, shortening the airflow distance from the fan to the motor and reducing airflow loss and turbulence during transmission.

[0054] The distance between the two opposing slots 1121 located on the two side walls of the heat sink 113 narrows as the distance from the fan component 111 increases, with the minimum distance between the two slots 1121 being less than the diameter of the fan component 111 duct. The walls of each slot 1121 are inclined away from the casing. Specifically, when the axial fan starts, the airflow is discharged downward from the duct. In the area near the fan, the airflow is slightly diffused. At this time, the distance between the opposing slots 1121 on the two side walls is relatively wide, and the diffused airflow can smoothly enter the slots 1121 on both sides without significant resistance. As the airflow flows downward along the side wall of the heat sink 113, its diffusion range naturally narrows, and the distance between the slots 1121 also narrows synchronously. The contracting channel slightly compresses the airflow, so that the airflow velocity does not decrease significantly with the increase of distance, but maintains stable kinetic energy. When the airflow reaches the farthest slot 1121, because the minimum distance is less than the diameter of the fan duct, the airflow concentration and wind speed in the channel can still match the motor's heat dissipation requirements, ultimately covering the longitudinal area of ​​the motor. When the airflow enters the through slot 1121, it will flow along the slot wall that is inclined away from the machine body. The inclination angle of the slot wall will exert an outward guiding force on the airflow, so that when the airflow is discharged from the through slot 1121, it will naturally deflect away from the machine body and closer to the motor, thereby improving the efficiency of the airflow in removing heat from the motor.

[0055] In this embodiment, the switch component 32 includes a mounting base 321, a lock body 322, and a locking groove 323. The head assembly 2 has a mounting base 321, the lock body 322 is mounted within the mounting base 321, and the locking groove 323 is mounted on the lower part of the second neck structure 14. The end of the lock body 322 can enter the locking groove 323 to maintain the connection between the head assembly 2 and the second neck structure 14. Alternatively, in another embodiment, the mounting positions of the components of the switch component can be interchanged. That is, a mounting base is constructed on the second neck structure, the lock body is mounted within the mounting base, and the locking groove is mounted on the lower part of the head assembly, similarly allowing the end of the lock body to enter the locking groove to maintain the connection between the head assembly and the second neck structure.

[0056] In this embodiment, the switch component 32 may further include an elastic reset member 324 installed in the mounting base 321. The lock body 322 may be a pin, one end of which extends out of the mounting base 321 to form a lock head, and the other end of which extends out of the mounting base away from the lock head to form an operating part. The elastic reset member 324 can drive the lock head to remain in the locking groove to lock the connection between the head assembly and the neck assembly; the operating part can disengage the lock head from the locking groove when subjected to an outward pulling force to release the lock. Specifically, when the head assembly 2 and the neck assembly 1 are connected, the end of the lock body 322 is inserted into the locking groove 323 of the neck assembly 1 under the action of the elastic reset member 324, and the locking body and the locking groove restrict the rotation of the head assembly; when unlocking, the operating part of the lock body 322 is pulled outward, the end of the lock body is disengaged from the locking groove 323, and the head assembly 2 can then be rotated upward by itself. The elastic reset member 324 can be a spring, which pushes the lock head of the pin to extend out of the mounting base 321 and insert into the locking groove 323 to achieve locking; after the operating part is released, the spring returns to the relaxed state, pushes the pin to reset, and the lock head is reinserted into the locking groove to lock again.

[0057] In this embodiment, the lower part of the head assembly 2 protrudes towards the neck assembly 1 to form a mounting base 321. The mounting base 321 is connected to the lower part of the head assembly 2 towards the neck assembly 1. The mounting base 321 has a moving channel 3211 along the axial direction of the pin. The pin passes through the moving channel, and the spring is sleeved on the pin and arranged within the moving channel. The second neck structure 14 of the neck assembly 1 has a recess 325 that matches the mounting base 321 on the side near the head assembly 2. The upper edge of the recess 325 has a locking groove 323 for the lock head to be inserted. When the head assembly 2 and the neck assembly 1 are connected, the mounting base 321 is located within the recess 325, and the upper side of the mounting base 321 abuts against the upper edge of the recess 325. When connected, the mounting base 321 of the head assembly 2 is embedded in the recess of the neck assembly 1, and the upper side of the mounting base 321 abuts against the upper edge of the recess to form a longitudinal limit; at the same time, the spring pushes the locking head of the latch to move upward and insert into the locking groove 323 on the upper edge of the recess to lock; when unlocking, the operating part of the latch is pulled down, the spring is compressed and the locking head is dislodged from the locking groove 323, and the mounting base 321 can be flipped upward with the head assembly 2 to disengage from the recess 325.

[0058] In this embodiment, a limiting groove 3212 is also provided on the side of the mounting base 321 facing the neck assembly 1, and a limiting protrusion 3251 protruding towards the head assembly is constructed on the edge sidewall of the recessed portion 325 of the second neck structure facing the head assembly, as shown in the attached figure. Figure 8As shown, the shape of the limiting protrusion 3251 matches the limiting groove 3212. When the neck assembly and the head assembly are connected, the mounting base is located within the recess and the limiting protrusion is located within the limiting groove. Preferably, the limiting protrusion can be constructed as a rectangular cuboid, and the groove can be correspondingly constructed as a rectangular slot. The connection between the limiting groove and the limiting protrusion reduces the impact of external forces on the lock head in the locked state, preventing damage to the lock head from the head assembly when subjected to impact, and improving the reliability and impact resistance of the switch structure.

[0059] In this embodiment, the head assembly 2 may include a top connecting seat 23 and a longitudinal connecting seat 24 connected to the lower part of the top connecting seat 23. A reinforcing connector 241 protruding towards the neck assembly is mounted on the longitudinal connecting seat 24. A corresponding connecting groove 141 is arranged on the second neck structure 14 for the reinforcing connector 241 to enter. When the head assembly 2 and the neck assembly 1 are connected, the reinforcing connector 241 is inserted into the connecting groove 141. Alternatively, in another embodiment, the positions of the reinforcing connector and the connecting groove can be interchanged. That is, a reinforcing connector protruding towards the head assembly is mounted on the second neck structure, and a corresponding connecting groove is arranged on the longitudinal connecting seat for the reinforcing connector to enter. When the head assembly and the neck assembly are connected, the reinforcing connector is inserted into the corresponding connecting groove.

[0060] Specifically, the reinforcing connector 241 can be configured as a connecting plate. One end of the connecting plate is longitudinally fixedly connected to the longitudinal connecting seat, and the second neck structure has a connecting groove for the other end of the connecting plate to be inserted. Alternatively, one end of the connecting plate can be longitudinally fixedly connected to the second neck structure, and the longitudinal connecting seat has a connecting groove for the other end of the connecting plate to be inserted. For example, the reinforcing connector 241 can be a thin sheet-like connecting plate, one end of which can be fixedly connected to the longitudinal connecting seat 24 by four screws. The screw connection ensures that the reinforcing plate is firmly installed and avoids displacement. When the head assembly 2 and the neck assembly 1 are connected, the other end of the connecting plate is inserted into the connecting groove 141 of the second neck structure 14, enhancing the longitudinal connection strength between the two. When the head assembly 2 is flipped, the connecting plate moves upward with the head assembly 2, disengaging from the connecting groove 141 and releasing the longitudinal constraint.

[0061] In this embodiment, the top connecting seat 23 is provided with a plurality of auxiliary limiting members 231 protruding toward the neck component 1 on the side near the neck component 1, and a plurality of limiting grooves 232 matching the shape of the auxiliary limiting members 231 are provided on the side of the neck component 1 near the head component 2. When the head component 2 and the neck component 1 are in a connected state, the auxiliary limiting members 231 are inserted into the corresponding limiting grooves 232.

[0062] Specifically, the top connecting seat 23 has multiple sets of auxiliary limiting members 231 protruding towards the neck assembly 1 on the side near the neck assembly 1. The neck assembly 1 has multiple limiting grooves 232 whose shapes match the auxiliary limiting members on the side near the head assembly 2. When the head assembly 2 and neck assembly 1 are connected, the auxiliary limiting members are inserted into the corresponding limiting grooves 232. When the head assembly 2 and neck assembly 1 are connected, the auxiliary limiting members of the top connecting seat 23 are precisely inserted into the limiting grooves 232 of the neck assembly 1, restricting the displacement of the head assembly in the horizontal and vertical directions through a convex-concave fit. When the head assembly is flipped, the auxiliary limiting members move upward with the head assembly, are pulled out of the limiting grooves, and the horizontal and vertical constraints are released.

[0063] In this embodiment, at least one set of auxiliary limiting members can be arranged on the left and right sides above the top connecting seat. The auxiliary limiting member 231 may include a longitudinal limiting member 2311 and a transverse limiting member 2312. The transverse limiting member is constructed as a protrusion along the transverse length direction, and the longitudinal limiting member is constructed as a protrusion along the longitudinal length direction. In the connected state, the longitudinal limiting member 2311, i.e., the longitudinal protrusion, is inserted into the longitudinal limiting groove of the neck component 1 to limit the longitudinal displacement of the head component; the transverse limiting member 2312, i.e., the transverse protrusion, is inserted into the transverse limiting groove to limit the transverse displacement. When flipped, the protrusion-shaped limiting member moves upward with the head component and disengages from the limiting groove, releasing the constraint on the area above the hip joint component.

[0064] In another embodiment, a quadruped robot is also disclosed, comprising a body with a frame, two front leg assemblies and two hind leg assemblies respectively mounted on the front and rear of the body, and a head mechanism as disclosed in the foregoing embodiments connected to the front side of the frame. The heat dissipation structure is capable of supplying airflow to cool the joint motors of the two front leg assemblies. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions 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.

[0065] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A head mechanism for a quadruped robot, characterized in that, include: The neck assembly is connected to the front side of the quadruped robot's body frame; The head assembly has a rotatable connection structure, wherein the end of the head assembly that is away from the body frame is connected to the neck assembly through the rotatable connection structure, and the head assembly can be flipped upward relative to the neck assembly through the rotatable connection structure. The neck assembly is equipped with a heat dissipation structure, which includes a fan and air guide channels arranged on both sides of the neck assembly. The fan can guide air through the air guide channels on both sides to dissipate heat from the joint motors on the corresponding sides. A first clearance area is constructed below the head assembly, and a second clearance area is constructed below the neck assembly. The first clearance area and the second clearance area are connected to form a mounting area for accommodating the joint motor. The rotating connection structure includes a rotating component and a switching component; the rotating component is installed on the top of the neck assembly or the head assembly, the head assembly and the neck assembly are connected by the rotating component, and the head assembly can be flipped upward relative to the neck assembly by the rotating component; the switching component is installed on the neck assembly or the head assembly, the head assembly and the neck assembly remain connected when the switching component is locked, and the head assembly can be flipped upward relative to the neck assembly to disconnect when the switching component is unlocked. The neck assembly includes a first neck structure and a second neck structure, with the lower end of the first neck structure connected to the upper end of the second neck structure; the upper end of the first neck structure is connected to the head assembly via a rotating component; the first neck structure includes a neck top and two side walls, which surround to form an air-guiding cavity; the neck top has an installation channel communicating with the air-guiding cavity; the fan component is installed on the neck top with its first air outlet facing the installation channel; air-guiding channels are respectively opened on the two side walls, and the air-guiding cavity has an air-guiding path communicating with the air-guiding channel and the installation channel.

2. The quadruped robot head mechanism according to claim 1, characterized in that: The fan component can drive airflow within the installation area through air guide channels on both sides.

3. The quadruped robot head mechanism according to claim 1, characterized in that: The switch component includes a mounting base, a lock body, and a locking groove; in The head assembly is provided with a mounting base, the lock body is installed in the mounting base, the locking groove is installed in the lower part of the second neck structure, and the end of the lock body can enter the locking groove to maintain the connection between the head assembly and the second neck structure. or The second neck structure has a mounting base, the lock body is installed in the mounting base, the locking groove is installed in the lower part of the head assembly, and the end of the lock body can enter the locking groove to maintain the connection between the head assembly and the second neck structure.

4. The quadruped robot head mechanism according to claim 3, characterized in that: The head assembly includes a top connector and a longitudinal connector connected to the lower part of the top connector; The longitudinal connecting seat is equipped with a reinforcing connector that protrudes towards the neck assembly. The second neck structure has a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and neck assembly are connected, the reinforcing connector is inserted into the connecting groove; or The second neck structure is equipped with a reinforcing connector that protrudes towards the head assembly. The longitudinal connecting seat is provided with a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and the neck assembly are connected, the reinforcing connector is inserted into the corresponding connecting groove.

5. The quadruped robot head mechanism according to claim 4, characterized in that: The reinforcing connector is a connecting plate; One end of the connecting plate is longitudinally fixedly connected to the longitudinal connecting seat, and the second neck structure is provided with a connecting groove for the other end of the connecting plate to be inserted; or One end of the connecting plate is longitudinally fixedly connected to the second neck structure, and the longitudinal connecting seat is provided with a connecting groove for the other end of the connecting plate to be inserted.

6. The quadruped robot head mechanism according to claim 5, characterized in that: The top connector has multiple sets of auxiliary limiting members protruding towards the neck component on the side near the neck component. On the side of the neck component near the head component, multiple limiting grooves matching the shape of the auxiliary limiting members are formed. When the head component and the neck component are in a connected state, the auxiliary limiting members are inserted into the corresponding limiting grooves.

7. The quadruped robot head mechanism according to any one of claims 1-6, characterized in that: The two side walls of the first neck structure are arranged in a V-shape, and each side wall is inclined towards the joint motor direction on the corresponding side; The air duct is constructed as multiple through slots extending along the side wall of the heat dissipation housing from the direction near the fan component to the direction away from the fan component, and an air guiding surface deflected towards the joint motor is constructed on the slot wall. The fan component is an axial flow fan, and the first air outlet of the axial flow fan is an air outlet, which is arranged facing the installation channel.

8. A quadruped robot, characterized in that, include: The body, including the body frame; Two front leg assemblies and two rear leg assemblies are respectively installed at the front and rear of the body; The quadruped robot head mechanism as described in any one of claims 1-7, which is connected to the front side of the body frame, has a heat dissipation structure capable of supplying airflow to cool the joint motors of the two front leg components.

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