A maintenance-friendly quadruped robot body

Abstract

The utility model discloses an easy maintenance four -legged robot machine body, including torso subassembly, head subassembly and rotary connection structure, this head subassembly with torso subassembly is connected through rotary connection structure, wherein head subassembly can be through rotary connection structure relative torso subassembly upside -down, thereby realizes the effect that can be through quick turnover head to facilitate disassembly leg subassembly and maintains under the condition of not disassembling head.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to an easy-to-maintain quadruped robot body. Background Technology

[0002] Currently, most quadruped robots on the market use a fixed connection between their head and torso components. For example, the quadruped robot torso structure disclosed in existing technology (Chinese Patent Publication No. CN116321736A) has a fixed connection between its head and torso components, making it impossible to quickly change their relative positions when needed. This fixed connection structure means that when maintaining or replacing the robot's front legs, pulling out the leg joints interferes with the head assembly, hindering the disassembly of the leg joints. The entire head must be completely disassembled before the front leg components can be removed, making the process cumbersome and time-consuming. Especially in emergency scenarios such as military, police, and disaster relief, if the robot's legs are damaged, operators cannot quickly replace the damaged parts, severely impacting mission efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this utility model discloses an easy-to-maintain quadruped robot body, comprising:

[0004] Torso components;

[0005] Header component;

[0006] A rotating connection structure is provided, in which the head assembly and the torso assembly are connected, and the head assembly can be flipped upward relative to the torso assembly via the rotating connection structure.

[0007] Preferably, the maintainable quadruped robot body also includes a switch component, which is mounted on the head assembly or the torso assembly. When the switch component is locked, the head assembly and the torso assembly remain connected. When the switch component is unlocked, the head assembly can flip upward relative to the torso assembly to disconnect and enter a flipped state.

[0008] Preferably, the switch component includes a mounting base, a lock body, and a locking groove; wherein

[0009] The head assembly has a mounting base, the lock body is mounted in the mounting base, the locking groove is mounted on the torso assembly, and the end of the lock body can enter the locking groove to maintain the connection between the head assembly and the torso assembly; or

[0010] The torso assembly has a mounting base, the lock body is installed in the mounting base, the locking groove is installed on 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 torso assembly.

[0011] Preferably, the switch component further includes an elastic reset member installed in the mounting base, the lock body is a pin, one end of the pin can extend out of the mounting base to form a lock head, and the other end of the pin extends out of the mounting base away from the lock head to form an operating part; the elastic reset member can drive the lock head to remain in the locking groove to lock the connection state of the head assembly and the torso assembly; the operating part can drive the lock head to disengage from the locking groove to release the lock when subjected to an outward pulling force.

[0012] Preferably, the rotating connection structure is a damping hinge, an electric gearbox-type rotating damping component, a door hinge, or a pin structure.

[0013] Preferably, the torso assembly has a horizontal mounting base and a longitudinal mounting base near the head assembly, with the upper end of the longitudinal mounting base connected to the lower part of the horizontal mounting base; the head assembly includes a top connecting base and a longitudinal connecting base connected to the lower part of the top connecting base; the two rotating parts of the rotating connection structure are respectively connected to the upper side of the top connecting base and the upper side of the horizontal mounting base, and the top connecting base can be rotated upward relative to the horizontal mounting base;

[0014] The longitudinal connecting seat is equipped with a reinforcing connector that protrudes towards the torso assembly. The longitudinal mounting seat has a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and torso assembly are connected, the reinforcing connector is inserted into the corresponding connecting groove; or

[0015] The longitudinal mounting base is equipped with a reinforcing connector that protrudes towards the head assembly. The longitudinal mounting base is also provided with a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and the torso assembly are connected, the reinforcing connector is inserted into the corresponding connecting groove.

[0016] Preferably, the reinforcing connector is a connecting plate;

[0017] One end of the connecting plate is fixedly connected longitudinally to the longitudinal connecting seat, and the longitudinal mounting seat is provided with a connecting groove for the other end of the connecting plate to be inserted; or

[0018] One end of the connecting plate is fixedly connected to the longitudinal mounting base in a longitudinal direction, and the longitudinal connecting base is provided with a connecting groove that allows the other end of the connecting plate to be inserted.

[0019] Preferably, the lower part of the head assembly protrudes towards the torso assembly to form a mounting seat, the elastic reset member is a spring, the mounting seat is connected to the lower part of the head assembly towards the torso assembly, the pin has a moving channel in the vertical direction, the pin passes through the moving channel, and the spring is sleeved on the pin and arranged in the moving channel; the torso assembly has a recessed part that matches the mounting seat on the side near the head assembly, and the upper edge of the recessed part has a locking groove for the lock head to be inserted; when the head assembly and the torso assembly are in the connected state, the mounting seat is located in the recessed part, and the upper side of the mounting seat abuts against the upper edge of the recessed part.

[0020] Preferably, the top connecting seat has multiple sets of auxiliary limiting members protruding towards the torso assembly on the side near the torso assembly, and multiple limiting grooves matching the shape of the auxiliary limiting members are constructed on the side of the torso assembly near the head assembly. When the head assembly and the torso assembly are in a connected state, the auxiliary limiting members are inserted into the corresponding limiting grooves.

[0021] Preferably, at least one set of auxiliary limiting members is arranged above the two hip joint components corresponding to the top connecting seat; the auxiliary limiting members include longitudinal limiting members and transverse limiting members, the transverse limiting members are constructed as protrusions arranged in the transverse length direction, and the longitudinal limiting members are constructed as protrusions arranged in the longitudinal length direction.

[0022] This utility model discloses an easy-to-maintain quadruped robot body. By connecting the head assembly and the torso assembly through a rotating connection structure, the head assembly can be flipped upward relative to the torso assembly when needed. This solves the problem of existing quadruped robot bodies with a fixed connection between the head and torso, where maintenance or replacement of the front leg assembly requires disassembling the entire head first, which is cumbersome and time-consuming. This invention achieves the effect of easily disassembling the leg assembly for maintenance without disassembling the head, simply by quickly flipping the head. Attached Figure Description

[0023] 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 accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] 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.

[0025] Figure 1This is a schematic diagram showing the connection status of the head assembly of an easily maintainable quadruped robot body disclosed in an embodiment of this application.

[0026] Figure 2 This is a schematic diagram of the head assembly of an easily maintainable quadruped robot body in a flipped state, as disclosed in an embodiment of this application.

[0027] Figure 3 This is an exploded view of the structure of an easily maintainable quadruped robot body disclosed in an embodiment of this application.

[0028] Figure 4 This is another exploded view of the easily maintainable quadruped robot body disclosed in one embodiment of this application.

[0029] Figure 5 This is a partial cross-sectional view of the easily maintainable quadruped robot body disclosed in an embodiment of this application.

[0030] Reference numerals: 1. Torso assembly; 11. Mounting base; 12. Horizontal mounting base; 13. Longitudinal mounting base; 131. Connecting groove; 14. Limiting groove; 2. Head assembly; 21. Top connecting base; 211. Longitudinal limiting component; 212. Lateral limiting component; 22. Avoidance area; 23. Longitudinal connecting base; 231. Reinforcing connecting component; 3. Rotating connection structure; 4. Switch component; 41. Mounting base; 42. Lock body; 43. Locking groove; 44. Elastic reset component. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model 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 this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0032] In the description of this utility model, 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 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. Therefore, they should not be construed as limitations on this utility model.

[0033] In this utility model, 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 utility model according to the specific circumstances.

[0034] 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 this patent application specification and claims 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.

[0035] Currently, most robotic dog heads on the market use a fixed structure design, which cannot achieve flexible rotation. This fixed structure causes interference with the head when removing joints for maintenance or replacement, requiring the entire head to be completely disassembled first, a cumbersome and time-consuming process. Especially in emergency scenarios such as military, police, and disaster relief, if the robot's legs are damaged, operators cannot quickly replace the damaged parts, severely impacting mission efficiency. Although some existing technologies have detachable head designs, they still suffer from complex disassembly procedures and insufficient stability, failing to meet the needs of rapid maintenance and battlefield emergencies.

[0036] Therefore, the present invention discloses the following embodiments, specifically, as follows: Figure 1 and 2 As shown, a maintainable quadruped robot body is disclosed, including a torso assembly 1, a head assembly 2, and a rotating connection structure 3. The head assembly 2 is connected to the torso assembly 1 through the rotating connection structure 3. The head assembly 2 can be flipped upward relative to the torso assembly through the rotating connection structure 3. In the flipped state, the head assembly reduces the obstruction of the hip joint assembly in the front leg component installed at the front of the torso assembly 1. This allows for easy disassembly and maintenance of the leg components by quickly flipping the head without disassembling it.

[0037] Specifically, as a quadruped robot body, mounting bases 11 for mounting leg components can be respectively provided at the front and rear of the torso component 1. The head component 2 may include a top connecting seat 21, and an avoidance area 22 for avoiding the foreleg components can be constructed below the top connecting seat 21. The top connecting seat 21 is connected to the torso component 1 through the rotating connection structure 3. The head component 2 can be flipped upward relative to the torso component through the rotating connection structure 3. In the flipped state, the head component 2 reduces the obstruction of the hip joint components in the foreleg components. The avoidance area may be located at the lower part of the top connecting seat. Various sensors can be installed on the upper and front sides of the top connecting seat. The head component has two avoidance areas on the left and right sides below the top connecting seat. The avoidance area is an area that extends from the lower ends of both sides of the top connecting seat towards the middle. This area is used to accommodate, i.e., avoid the hip joint components of the left and right foreleg components, so that the combination of the head component and the torso component is more compact, and the head component can naturally avoid obstructing the movement of the foreleg components when it is not flipped. The easily maintainable quadruped robot body disclosed in this embodiment connects the top connector of the head assembly to the torso assembly through a rotating connection structure. When needed, the head assembly can be flipped upward relative to the torso assembly, which reduces the obstruction of the hip joint assembly in the front leg assembly by the head assembly in the flipped state. This allows for easy disassembly and maintenance of the leg assembly by quickly flipping the head without disassembling it.

[0038] In this embodiment, a handle can also be provided on the outside of the head assembly 2. When it is necessary to flip the head assembly 2, the operator can conveniently apply force through the handle, improving operational convenience. When maintenance is required on the hip joint assembly of the front leg component, the operator holds the handle of the head assembly 2 and applies upward force, causing the head assembly 2 to flip upward around the rotating connection structure 3; this fully exposes the hip joint assembly, allowing the operator to easily perform maintenance and disassembly operations on the leg component or hip joint assembly; after maintenance, downward force is applied to push the head assembly 2, causing it to flip back to its original state. Through this flip-up head design, the obstruction of the hip joint assembly can be quickly avoided without disassembling the head assembly, solving the problem of limited maintenance space caused by traditional fixed heads.

[0039] In this embodiment, the easily maintainable quadruped robot also includes a switch component 4, which is mounted on the head assembly 2 or the torso assembly 1. When the switch component is locked, the head assembly 2 and the torso assembly 1 remain connected. When the switch component is unlocked, the head assembly 2 can flip upward relative to the torso assembly 1 to disengage and enter a flipped state. Specifically, when the switch component 4 is locked, the head assembly 2 and the torso assembly 1 are tightly connected, ensuring structural stability during normal robot operation and preventing the head from shaking due to external forces or vibrations. When it is necessary to flip the head assembly 2, the lock is released by operating the switch component 4, thus disengaging the fixed relationship between the head assembly 2 and the torso assembly 1, allowing for easy upward flipping. After maintenance, the head assembly 2 is flipped back to its original position, and the switch component 4 is automatically or manually reset and locked, restoring the connection between the head assembly 2 and the torso assembly 1. The switch component 4 enables quick locking and unlocking of the head assembly 2 and the torso assembly 1. Compared with the traditional multi-part disassembly method, it reduces the operation steps and improves maintenance efficiency. At the same time, the stable connection in the locked state ensures that the head assembly 2 will not accidentally flip or loosen when the robot is moving or working.

[0040] In this embodiment, as shown in the appendix Figure 3 and Figure 5 As shown, the switch component 4 includes a mounting base 41, a lock body 42, and a locking groove 43. The head assembly 2 is provided with a mounting base 41, the lock body 42 is installed in the mounting base 41, and the locking groove 43 is installed on the torso assembly 1. The end of the lock body can enter the locking groove 43 to maintain the connection between the head assembly 2 and the torso assembly 1. The locking groove 43 is a groove that matches the end of the lock body. When the head assembly 2 and the torso assembly 1 are connected, the end of the lock body 42 is inserted into the locking groove 43 of the torso assembly 1 under the action of the elastic reset member 44. The engagement of the lock body and the locking groove restricts the rotation of the head assembly 2. When unlocking, the operating part of the lock body 42 is pulled outward, and the end of the lock body is dislodged from the groove of the locking groove 43, giving the head assembly 2 the freedom to rotate. The lock body on the head assembly 2 cooperates with the groove-type locking groove on the body assembly 1. Through the precise fixation of the two, the groove structure enhances the stability of the lock and prevents the lock body from accidentally slipping out; at the same time, the unlocking operation is directly applied to the lock body, and the response is rapid.

[0041] In another embodiment, a mounting base 41 can be constructed on the torso component 1, with the lock body 42 installed within the mounting base 41, and a locking groove 43 installed on the head component 2. The end of the lock body can enter the locking groove 43 to maintain the connection between the head component 2 and the torso component 1. In the connected state, the end of the lock body 42 on the torso component 1 is inserted into the locking groove 43 of the head component 2 under the action of the elastic reset member 44, thus fixing the head component 2 by fitting. When unlocking, the operating part of the lock body 42 is pulled, and the end of the lock body disengages from the locking groove 43 of the head component 2, allowing the head component 2 to flip upward. The lock body on the torso component 1 cooperates with the groove-type locking groove of the head component 2 to achieve stable locking, and the installation of the lock body on the torso component reduces the weight burden on the head component.

[0042] The switch component 4 also includes an elastic reset member 44 installed in the mounting base 41. The lock body 42 is a pin, one end of which extends out of the mounting base 41 to form a lock head, and the other end of which extends out of the mounting base 41 away from the lock head to form an operating part. The elastic reset member 44 can drive the lock head to remain in the locking groove 43 to lock the connection between the head assembly 2 and the torso assembly 1. The operating part can disengage the lock head from the locking groove 43 when subjected to an outward pulling force to release the lock. In its natural state, the elastic reset member 44 is in a relaxed state. The elastic reset member 44 can be a spring, which pushes the lock head of the pin out of the mounting base 41 and into the locking groove 43 to achieve locking. When unlocking is required, the operator pulls the operating part of the pin outward, the spring is compressed, and the lock head retracts into the mounting base 41 with the pin, disengaging from the locking groove 43. After releasing the operating part, the spring returns to a relaxed state, pushing the pin to reset, and the lock head re-inserts into the locking groove 43 to lock again. The elastic reset component 44 allows the lock head to automatically reset and lock without the need for manual relocking, simplifying the operation process; the linear movement of the pin makes the locking and unlocking actions direct and efficient, and the spring force can be adjusted as needed to ensure that the locking force is moderate, which is not easy to unlock accidentally and is also easy to operate manually.

[0043] The rotating connection structure 3 can be a damping hinge, an electric gearbox-type rotating damping component, a door hinge, or a pin structure. If it is a damping hinge, when the head assembly 2 flips, the damping force between the hinge shaft and the bushing will hinder the flipping speed, making the flipping process smooth and controllable. After release, the damping force can maintain the head assembly at the current angle. If it is an electric gearbox-type rotating damping component, the head assembly 2 is flipped by a motor-driven gearbox. Precise angle positioning can be achieved by controlling the start and stop of the motor, without the need for manual force. If it is a door hinge, the head assembly 2 is flipped upward through the rotating pair of the hinge. The structure is simple, and the flipping angle is limited by the hinge design, making it suitable for scenarios where the flipping range needs to be fixed. If it is a pin structure, the head assembly 2 is rotatably connected to the torso assembly 1 through a pin. When flipping, the pin rotates in the shaft hole, which can be used with additional damping components to achieve angle fixation. Multiple rotating connection structures are available to suit different application scenarios. Damped hinge components and electric gearbox-type rotating damping components can achieve positioning at any angle, providing flexible operation. Door hinge components and axle pin structures are low-cost and suitable for cost-sensitive scenarios. In addition, due to the damping characteristics of the rotating connection structure, the head assembly 2 can stop at any angle within the rotation range, maintaining stability without additional support and avoiding sudden drops during rotation that could cause operational interference; it can simply be stopped after rotating to the appropriate angle.

[0044] In this embodiment, as shown in the appendix Figure 3 and Figure 4 As shown, the torso assembly 1 has a horizontal mounting base 12 and a longitudinal mounting base 13 near the head assembly 2, with the upper end of the longitudinal mounting base 13 connected to the lower part of the horizontal mounting base 12; the head assembly 2 also includes a longitudinal connecting base 23 connected to the lower part of the top connecting base 21; the two rotating parts of the rotating connection structure 3 are respectively connected to the upper side of the top connecting base 21 and the upper side of the horizontal mounting base 12, and the top connecting base 21 can be rotated upward relative to the horizontal mounting base 12; a reinforcing connector 231 protruding towards the torso assembly 1 is installed on the longitudinal connecting base 23, and a corresponding connecting groove 131 is arranged on the longitudinal mounting base 13 for the reinforcing connector 221 to enter. When the head assembly 2 and the torso assembly 1 are in a connected state, the reinforcing connector 221 is inserted into the corresponding connecting groove 131. Specifically, the reinforcing connector 231 can be a thin connecting plate, one end of which can be fixedly connected to the longitudinal connecting seat 23 by four screws. The screw connection ensures that the reinforcing plate is firmly installed and avoids displacement. When the head assembly 2 and the torso assembly 1 are connected, the other end of the connecting plate is inserted into the connecting groove 131 of the longitudinal mounting seat 13 to enhance the longitudinal connection strength between the two. When the head assembly 2 is flipped, the connecting plate moves upward with the head assembly 2 and comes out of the connecting groove 131 to release the longitudinal constraint.

[0045] In another embodiment, a reinforcing connector 221 protruding towards the head assembly 2 can be installed on the longitudinal mounting base 13. The longitudinal mounting base 23 has a corresponding connecting groove 131 for the reinforcing connector 221 to enter. When the head assembly 2 and the torso assembly 1 are connected, the reinforcing connector 221 is inserted into the corresponding connecting groove 131. The reinforcing connector 231 is a connecting plate, one end of which is fixedly connected to the longitudinal mounting base 13 by four screws. In the connected state, the other end of the connecting plate is inserted into the connecting groove 131 of the longitudinal mounting base 23 to enhance the lateral connection strength. When the head assembly 2 is flipped, the longitudinal mounting base 23 flips upwards with the head assembly 2, and the connecting groove 131 disengages from the connecting plate to release the constraint.

[0046] In this embodiment, the reinforcing connector 221 is a connecting plate. One end of the connecting plate is longitudinally fixedly connected to the longitudinal connecting seat 23. The longitudinal mounting seat 13 has a connecting groove 131 that allows the other end of the connecting plate to be inserted. The connecting plate is longitudinally fixed to the longitudinal connecting seat 23 by four screws. In the connected state, the other end of the connecting plate is longitudinally inserted into the connecting groove 131 of the longitudinal mounting seat 13, and the lateral swaying of the head assembly 2 is restricted by the contact of the plate surface. When flipped, the connecting plate moves upward with the head assembly 2 and is pulled out from the connecting groove 131.

[0047] In another embodiment, one end of the connecting plate can be longitudinally fixedly connected to the longitudinal mounting base 13, and the longitudinal connecting base 23 is provided with a connecting groove 131 for the other end of the connecting plate to be inserted. In this case, the connecting plate is longitudinally fixed to the longitudinal mounting base 13 by four screws. In the connected state, the other end of the connecting plate is longitudinally inserted into the connecting groove 131 of the longitudinal connecting base 23, restricting the longitudinal displacement of the head assembly 2; when flipped, the longitudinal connecting base 23 flips upward, and the connecting groove 131 separates from the connecting plate.

[0048] In this embodiment, the lower part of the head assembly 2 protrudes towards the torso assembly 1 to form a mounting base 41. The elastic reset member 44 is a spring. The mounting base 41 is connected to the lower part of the head assembly 2 towards the torso assembly 1. The pin has a moving channel in the vertical direction. The pin passes through the moving channel. The spring is sleeved on the pin and arranged in the moving channel. The torso assembly 1 has a recessed part that matches the mounting base 41 on the side near the head assembly 2. The upper edge of the recessed part has a locking groove 43 for the lock head to be inserted. When the head assembly 2 and the torso assembly 1 are in the connected state, the mounting base 41 is located in the recessed part, and the upper side of the mounting base 41 abuts against the upper edge of the recessed part. When connected, the mounting base 41 of the head assembly 2 is embedded in the recess of the torso assembly 1, and the upper side of the mounting base 41 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 pin to move upward and insert into the locking groove 43 on the upper edge of the recess to achieve locking; when unlocking, the operating part of the pin is pulled down, the spring is compressed, the locking head is dislodged from the locking groove 43, and the mounting base 41 can flip upward with the head assembly 2 to disengage from the recess.

[0049] Furthermore, multiple sets of auxiliary limiting members protruding towards the torso assembly 1 are constructed on the side of the top connecting seat 21 near the torso assembly 1. Multiple limiting grooves 14 matching the shape of the auxiliary limiting members are constructed on the side of the torso assembly 1 near the head assembly 2. When the head assembly 2 and the torso assembly 1 are connected, the auxiliary limiting members are inserted into the corresponding limiting grooves 14. When the head assembly 2 and the torso assembly 1 are connected, the auxiliary limiting members of the top connecting seat 21 are precisely inserted into the limiting grooves 14 of the torso assembly 1, restricting the displacement of the head assembly 2 in the horizontal and vertical directions through a convex-concave fit. When the head assembly 2 is flipped, the auxiliary limiting members move upward with the head assembly 2, are pulled out from the limiting grooves 14, and the horizontal and vertical constraints are released.

[0050] In this embodiment, at least one set of auxiliary limiting members can be arranged above the top connecting seat 21 corresponding to the two hip joint components respectively; the auxiliary limiting members may include a longitudinal limiting member 211 and a transverse limiting member 212. 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 211 above the hip joint component, i.e., the longitudinal protrusion, is inserted into the longitudinal limiting groove of the torso component 1, restricting the longitudinal displacement of the head component 2; the transverse limiting member 212, i.e., the transverse protrusion, is inserted into the transverse limiting groove, restricting the transverse displacement; when flipped, the protrusion-shaped limiting member moves upward with the head component 2 and disengages from the limiting groove, releasing the constraint on the area above the hip joint component.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model 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. Such 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 this utility model.

[0052] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the patent of the present utility model.

Claims

1. A maintainable quadruped robot body, characterized in that, include: Torso components; Header component; A rotating connection structure is provided, in which the head assembly and the torso assembly are connected, and the head assembly can be flipped upward relative to the torso assembly via the rotating connection structure.

2. The easily maintainable quadruped robot body according to claim 1, characterized in that: It also includes a switch component, which is mounted on the head assembly or the torso assembly. When the switch component is locked, the head assembly and the torso assembly remain connected. When the switch component is unlocked, the head assembly can flip upward relative to the torso assembly to disconnect and enter a flipped state.

3. The easily maintainable quadruped robot body according to claim 2, characterized in that: The switch component includes a mounting base, a lock body, and a locking groove; in The head assembly has a mounting base, the lock body is mounted in the mounting base, the locking groove is mounted on the torso assembly, and the end of the lock body can enter the locking groove to maintain the connection between the head assembly and the torso assembly; or The torso assembly has a mounting base, the lock body is installed in the mounting base, the locking groove is installed on 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 torso assembly.

4. The easily maintainable quadruped robot body according to claim 3, characterized in that: The switch component also includes an elastic reset member installed in the mounting base. The lock body is a pin member. One end of the pin member can extend out of the mounting base to form a lock head, and the other end of the pin member extends out of the mounting base away from the lock head to form an operating part. The elastic reset member can drive the lock head to remain in the locking groove to lock the connection between the head assembly and the torso assembly; the operating part can drive the lock head to disengage from the locking groove to release the lock when subjected to an outward pulling force.

5. The easily maintainable quadruped robot body according to any one of claims 1-4, characterized in that: The rotating connection structure is a damping hinge, an electric gearbox-type rotating damping component, a door hinge, or a pin structure.

6. The easily maintainable quadruped robot body according to any one of claims 1-4, characterized in that: The torso assembly has a horizontal mounting base and a longitudinal mounting base near the head assembly, with the upper end of the longitudinal mounting base connected to the lower part of the horizontal mounting base; the head assembly includes a top connecting base and a longitudinal connecting base connected to the lower part of the top connecting base. The two rotating parts of the rotating connection structure are respectively connected to the upper side of the top connecting seat and the upper side of the horizontal mounting seat, and the top connecting seat can be flipped upward relative to the horizontal mounting seat; The longitudinal connecting seat is equipped with a reinforcing connector that protrudes towards the torso assembly. The longitudinal mounting seat has a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and torso assembly are connected, the reinforcing connector is inserted into the corresponding connecting groove; or The longitudinal mounting base is equipped with a reinforcing connector that protrudes towards the head assembly. The longitudinal mounting base is also provided with a corresponding connecting groove for the reinforcing connector to enter. When the head assembly and the torso assembly are connected, the reinforcing connector is inserted into the corresponding connecting groove.

7. The easily maintainable quadruped robot body according to claim 6, characterized in that: The reinforcing connector is a connecting plate; One end of the connecting plate is fixedly connected longitudinally to the longitudinal connecting seat, and the longitudinal mounting seat 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 fixedly connected to the longitudinal mounting base in a longitudinal direction, and the longitudinal connecting base is provided with a connecting groove that allows the other end of the connecting plate to be inserted.

8. The easily maintainable quadruped robot body according to claim 4, characterized in that: The lower part of the head assembly protrudes towards the torso assembly to form a mounting base. The elastic reset member is a spring. The mounting base is connected to the lower part of the head assembly towards the torso assembly. The pin has a moving channel in the vertical direction. The pin passes through the moving channel. The spring is sleeved on the pin and arranged in the moving channel. The torso assembly has a recessed portion that matches the mounting base on the side near the head assembly, and the upper edge of the recessed portion has a locking groove for the lock head to be inserted; when the head assembly and the torso assembly are in the connected state, the mounting base is located in the recessed portion, and the upper side of the mounting base abuts against the upper edge of the recessed portion.

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

10. The easily maintainable quadruped robot body according to claim 9, characterized in that: At least one set of auxiliary limiting members is arranged above each of the two hip joint components corresponding to the top connector; The auxiliary limiting member includes a longitudinal limiting member and a transverse limiting member. The transverse limiting member is configured as a protrusion arranged in the transverse length direction, and the longitudinal limiting member is configured as a protrusion arranged in the longitudinal length direction.

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