Quadruped robot with head capable of being replaced quickly

Abstract

The utility model relates to the technical field of quadruped robots, in particular to a quadruped robot with a head capable of being replaced quickly, which is characterized in that a threaded hole, a positioning boss and a hinge groove are arranged on a head mounting surface of a trunk component and are matched with a fixing screw, a double-folding self-locking gasket and a hinge shaft of a head component, so that the head can be disassembled and assembled quickly and matched with multiple shapes; due to the tooth-shaped meshing structure of the double-folded self-locking gasket and the design of the hidden wire groove, the connection reliability and the maintenance efficiency are improved. The utility model solves the problems of high head replacement cost and low efficiency in the prior art, and is suitable for various scenes such as inspection, rescue and the like.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robot technology, specifically a quadruped robot with a quick-change head. Background Technology

[0002] With the rapid development of quadruped robots, the design of the quadrupeds is increasingly customized to meet specific customer needs, and these needs are quite demanding. The quadruped robot's head is designed for quick disassembly and assembly, allowing for the rapid replacement of different head modules with the main body. This enables the head to take on various forms while maintaining the main body of the quadruped robot, thus fulfilling customer requirements. Furthermore, it reduces customization costs and timelines, enabling rapid product diversification.

[0003] Most existing technical solutions adopt a one-piece shell design. With this design, when some external parts are changed, the entire shell assembly needs to be replaced, which greatly increases the cost and time required. For example, the existing patent, application number: CN202210771719.X, patent name: A wheel leg replacement mechanism and replacement method for a quadruped robot, is difficult to quickly disassemble and assemble when used in outdoor scenarios where tooling cannot be carried at all times.

[0004] The existing quadruped robots have the following shortcomings:

[0005] (1) The design of existing quadruped robots does not take into account the issue of head replacement.

[0006] (2) If the head of an existing quadruped robot needs to be redesigned, not only the head parts need to be replaced, but also other related parts, which is costly and time-consuming.

[0007] In response, this technical solution proposes a quadruped robot with a quick-change head. Utility Model Content

[0008] The purpose of this invention is to provide a quadruped robot with a quick-change head to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, this utility model provides the following technical solution:

[0010] A quadruped robot with a quick-change head includes a torso assembly, a detachable head assembly, and leg assemblies. The torso assembly has a head mounting surface on its top, and its surface has at least two sets of symmetrically distributed threaded holes.

[0011] The head assembly includes a head body, a fixing screw, and a double-layered self-locking washer. The bottom of the head body has a through hole corresponding to the position of the threaded hole.

[0012] After passing through the through hole and the double-layered self-locking washer, the fixing screw is screwed into the threaded hole to lock the head body onto the head mounting surface;

[0013] The head mounting surface has hinge grooves on both sides, and the head body has a corresponding hinge shaft, which enables the combined installation of screws and hinges.

[0014] Compared with the prior art, the beneficial effects of this utility model are: the head assembly can be quickly replaced through a standardized interface (screw + hinge), and is compatible with multiple design styles;

[0015] Double-layered self-locking washers and positioning bosses ensure a stable connection and improve seismic performance. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a quadruped robot with a quick-change head.

[0017] Figure 2 This is a schematic diagram of the disassembly of a head component in a quadruped robot with a quick-change head.

[0018] Figure 3 This is a schematic diagram illustrating the disassembly of another head component in a quadruped robot with a quick-change head.

[0019] Among them: 10. Head assembly, 11. Head body, 12. Fixing screw, 13. Double-layered self-locking washer, 20. Torso assembly, 30. Leg assembly. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0021] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] Please see Figures 1-3 A quadruped robot with a quick-change head includes a torso assembly 20, a detachable head assembly 10, and a leg assembly 30. The torso assembly 20 and the head assembly 10 are detachably connected. The top of the torso assembly 20 is provided with a head mounting surface, and its surface is provided with at least two sets of symmetrically distributed threaded holes.

[0025] The head assembly 10 includes a head body 11, a fixing screw 12 and a double-layered self-locking washer 13. The bottom of the head body 11 has a through hole corresponding to the position of the threaded hole.

[0026] The fixing screw 12 passes through the through hole and the double-layered self-locking washer 13 and is screwed into the threaded hole to lock the head body 11 onto the head mounting surface;

[0027] The head mounting surface has hinge grooves on both sides, and the head body 11 has a hinge shaft at the corresponding position, so as to realize the combined installation of screw and hinge.

[0028] As a preferred embodiment of the present invention, the double-layer self-locking washer 13 is composed of two nested metal sheets with toothed structures, the upper layer is in contact with the head of the fixing screw 12, and the lower layer is in contact with the head mounting surface, and loosening is prevented by toothed engagement.

[0029] The metal sheet can be made of 304 stainless steel. The double-layer self-locking washer 13 has an upper tooth tip angle of 60° and a lower tooth tip angle of 45°.

[0030] In a preferred embodiment of the present invention, a positioning boss is provided in the center of the head mounting surface, and a corresponding groove is provided at the bottom of the head body 11 to achieve quick alignment; a hidden wire groove is provided inside the head body 11, which is connected to the circuit interface in the torso component 10 through a plug-in connector. The plug-in connector and the hidden wire groove avoid damage to the circuit during disassembly and assembly, and reduce maintenance costs.

[0031] Specifically, the positioning boss is a trapezoidal column with a top diameter smaller than the bottom diameter, and the inner wall of the groove is provided with a silicone anti-wear layer.

[0032] As a preferred embodiment of the present invention, see [reference]. Figure 2 When replacing or installing the head assembly 10; when disassembling the first head assembly, loosen the fixing screw 12, and the toothed structure of the double-layered self-locking washer 13 will automatically separate. Lift the head body 11 vertically along the positioning boss 22 to separate the circuit plug. When installing or replacing the second head assembly, align the groove with the positioning boss 22 and press down, tighten the screw until the double-layered washer teeth engage, and complete the synchronous connection of mechanical and electrical components.

[0033] As a preferred embodiment of the present invention, see [reference]. Figure 3 The hinge shaft 41 on the head assembly 10 is inserted into the hinge slots on both sides of the head mounting surface. After the fixing screw 12 is screwed in, the head can rotate around the shaft 0-90°, which can adapt to multi-angle operation scenarios such as inspection and detection.

[0034] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A quadruped robot with a quick-change head, characterized in that, It includes a torso assembly (20), a head assembly (10) and a leg assembly (30), characterized in that the torso assembly (20) and the head assembly (10) are detachably connected; The top of the torso assembly (20) is provided with a head mounting surface, and the head mounting surface is provided with at least two sets of symmetrically distributed threaded holes, and a positioning boss is provided in the center of the head mounting surface. The head assembly (10) includes a head body (11), a fixing screw (12) and a double-layered self-locking washer (13). The bottom of the head body (11) is provided with a groove and a through hole that match the positioning boss. The fixing screw (12) passes through the through hole and the double-layered self-locking washer (13) in sequence and then locks into the threaded hole to fix the head body (11) to the torso assembly (20).

2. A quadruped robot with a quick-change head according to claim 1, characterized in that, The head mounting surface is provided with hinge grooves on both sides, and the head body (11) is provided with hinge shafts at corresponding positions. The hinge shafts are inserted into the hinge grooves on both sides of the head mounting surface and are positioned in conjunction with the fixing screws (12).

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