A foldable quadruped robot with leg-arm switching function

Abstract

The present invention discloses a foldable quadruped robot capable of realizing a leg-arm switching function, comprising a connecting platform, a first leg-arm branch chain, a second leg-arm branch chain, a third leg-arm branch chain, and a fourth leg-arm branch chain. The four leg-arm branches are circumferentially mounted on the connecting platform, and the connection positions are located at the four corners of a square. Furthermore, by designing the joints of each leg-arm branch chain, each leg-arm branch chain can be folded into the connecting platform when the robot is not in a working state. At the same time, a leg-arm switching joint is designed for the end of each leg-arm branch chain, and the switching between the leg-arm functions of the robot is realized through the end of the leg-arm branch chain. When in a working state, walking and operation tasks can be completed. The foldable quadruped robot capable of realizing a leg-arm switching function proposed by the present invention has high mobility reliability, high operational flexibility, and high ground adaptability, and can be used for multi-legged robot transportation operations, picking up objects, and other operational tasks.

Description

Technical Field

[0001] The present invention relates to a quadruped robot, and more particularly to a foldable quadruped robot capable of switching between legs and arms. The robot can be used in the field of multi-legged robots to perform tasks such as robot transportation and object picking. Background Art

[0002] Multi-legged robots, a type of robot that achieves biomimetic walking, are a research hotspot in the field of robotics. Compared to tracked and wheeled robots, they feature discontinuous support structures, offering significant advantages in mobility and terrain adaptability. Within the field of multi-legged walking robots, quadrupeds offer greater load-bearing capacity and stability than bipeds, and a simpler structure and easier control than hexapods. Therefore, quadrupeds are a preferred implementation of legged robots and have garnered widespread attention. With the continuous development of multi-legged robots, research on practical applications has become increasingly focused. Beyond addressing kinematic characteristics, specifically mobility performance, addressing the practical needs of robots also requires further research and experimentation. Robot maneuverability is also receiving increasing attention. To achieve maneuverability, many researchers have developed and designed leg-arm fusion robots, most of which utilize manipulators attached to the robot's legs. In recent years, the design of leg-arm fusion robots has seen an increasing number of achievements. The SpotMini and BigDog robots, developed in Boston, USA, are typical quadruped robots equipped with two- or three-degree-of-freedom manipulators. However, these manipulators increase the robot's mass, affecting its stability. Furthermore, the leg structure of a legged robot consists of multiple rods connected in series via motors, which makes the leg structure and the robot larger.

[0003] Given the demands for maneuverability and locomotion performance in multi-legged robots, as well as the current challenges, designing leg-arm fusion and switching capabilities is crucial for improving the efficiency of completing complex multi-tasks and achieving multi-legged robots with high mobility reliability, operational flexibility, and ground adaptability. The robot's deployable design allows it to be folded into a specific area when not in operation, increasing its transport footprint and transport efficiency. Therefore, the invention of a deployable quadruped robot with leg-arm switching capabilities offers a promising solution to the challenges of multi-tasking and high-flexibility in the field of legged robots. Summary of the Invention

[0004] To address the need for leg-arm fusion and foldable tasks, this paper proposes a foldable quadruped robot with leg-arm switching capabilities. The robot's leg-arm branches can be folded within a platform when not in operation and unfolded to enable walking when needed. Switching joints are designed at the ends of the leg-arm branches, allowing the robot's legs and arms to switch between walking and grasping operations directly through the switching joints. This significantly reduces the overall weight of the robot with a single manipulator arm and enables the robot to integrate multiple operational tasks.

[0005] The invention discloses a foldable quadruped robot capable of realizing a leg-arm switching function, comprising four leg-arm branches and a connecting platform.

[0006] The connecting platform has an upper platform and a lower platform, which are connected at their centers by a connecting column to form a whole. The connecting platform has four leg-arm connection points around its circumference, and the four leg-arm connection points are located at the four corners of the same square, connecting the four leg-arm branches respectively.

[0007] The four leg-arm chains share the same structure, each with a first connecting sleeve at its end. The first and second joint motors are mounted within the first connecting sleeve, with their output shafts arranged perpendicularly. The output shaft of the first drive motor is connected to the upper platform, while the shaft in the first connecting sleeve, opposite the end of the first drive motor, connects to the lower platform, forming a revolute pair.

[0008] The output shaft of the second drive motor is connected to the second connecting sleeve. A third drive motor is mounted within the second connecting sleeve, with the output shaft of the third drive motor perpendicular to the output shaft of the second drive motor. The output shaft of the third drive motor is connected to the end of the first connecting plate. The second connecting sleeve, located opposite the end of the third drive motor, is connected to the end of the second connecting plate, forming a revolute pair.

[0009] The front end of the first connecting plate and the second connecting plate are equipped with a branch chain end, and the end of the branch chain end is provided with a first drive motor. The output shaft of the first drive motor is connected to the first connecting plate. The second connecting plate is axially connected to the position of the branch chain end relative to the end of the first drive motor to form a rotating pair; the front end of the branch chain end is provided with an upper claw and a lower claw that can be controlled to open and close.

[0010] After controlling the upper claw and the lower claw to rotate relative to each other until the claw tip reaches the side position of the branch chain end, the first drive motor at the end is controlled to rotate the branch chain end as a whole to between the first connecting plate and the second connecting plate, thereby completing the folding and storage of the branch chain end. The second drive motor is further controlled to drive the second connecting sleeve to rotate so that the first connecting plate and the second connecting plate are parallel to the connecting platform. Subsequently, the third drive motor is controlled to drive the first connecting plate and the second connecting plate to rotate until the long axis is perpendicular to the axis of the second drive motor, so that the entire leg and arm branch chain is in an L-shaped state. Finally, the first drive motor is controlled to rotate the entire leg and arm branch chain toward the center of the connecting platform, so that the second drive motor is located between the first connecting sleeve and the center connecting column of the connecting platform; at this time, the leg and arm branch chain as a whole is located between the upper and lower platforms, so that the four leg and arm branches are folded and stored in the connecting platform.

[0011] By controlling the relative rotation of the upper claw and the lower claw until the claw tip reaches the side position of the branch chain end, the four branch chains become the leg branches, and the branch chain ends contact the ground, serving as the foothold of the leg branches, and move in a quadrupedal crawling manner through gait planning.

[0012] When moving to a designated position to perform an operation task in walking mode, the footholds of three of the leg-arm branches are adjusted to keep the whole in a stable state. The remaining leg-arm branch is driven and controlled to achieve movement in space, and further the upper and lower claws are controlled to achieve opening and closing movements to complete the operation task.

[0013] The advantages of the present invention are:

[0014] 1. The foldable quadruped robot of the present invention can realize the leg-arm switching function, has a symmetrical structure, is easy to assemble, and is relatively easy to realize modular processing and production;

[0015] 2. The foldable quadruped robot of the present invention can realize the leg-arm switching function and has a foldable feature. Through the foldable design of the robot, the robot occupies a small volume when not in operation, making it easy to carry and transport;

[0016] 3. The present invention can realize the leg-arm switching function of the folding quadruped robot. By designing a switching joint at the end of the leg-arm branch chain, instead of the traditional method of adding a separate operating arm, the robot has a real-time leg-arm switching function and a fast dynamic response speed.

[0017] 4. The present invention can realize the foldable quadruped robot with leg-arm switching function, has the characteristics of foldable and multi-operation modes, and can improve the working ability of the legged robot in the field of robot operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the foldable quadruped robot of the present invention;

[0019] Figure 2This is an exploded view of the structure of the leg-arm branch chain in the foldable quadruped robot of the present invention;

[0020] Figure 3 This is the exploded diagram of the branch end structure in the leg-arm branch chain;

[0021] Figure 4 It is a cross-sectional view of the end of the branch chain in the leg-arm branch chain;

[0022] Figure 5 It is a schematic diagram of the overall structure of the branch end of the leg-arm branch chain;

[0023] Figure 6 This is a schematic diagram of the connecting platform structure of the foldable quadruped robot of the present invention;

[0024] Figure 7 This is a schematic diagram of the folding state of the foldable quadruped robot of the present invention;

[0025] Figure 8 This is a schematic diagram of the internal leg and arm support chains of the foldable quadruped robot of the present invention in the folded state;

[0026] Figure 9 It is a schematic diagram of the operating mode of the foldable quadruped robot of the present invention.

[0027] In the picture:

[0028] 1-Leg-arm branch chain 2-Connecting platform 1-1-First connecting gear

[0029] 1-2-First drive motor 1-3-First connecting sleeve 1-4-Second drive motor

[0030] 1-5-Second connecting gear 1-6-First fixed gear 1-7-Second connecting sleeve

[0031] 1-8-third drive motor 1-9-third connecting gear 1-10-second fixed gear

[0032] 1-11-First connecting plate 1-12-Second connecting plate 1-13-Branch end

[0033] 1-14-third fixed gear 1-13-1-end housing 1-13-2-end first drive motor

[0034] 1-13-3-end connecting gear 1-13-4-end first fixed disc 1-13-5-end second fixed disc

[0035] 1-13-6-end second drive motor 1-13-7-end third drive motor 1-13-8-end first transmission gear

[0036] 1-13-9-end second transmission gear 1-13-10-end first meshing gear 1-13-11-end second meshing gear

[0037] 1-13-12-end front end baffle 1-13-13-upper claw 1-13-14-lower claw DETAILED DESCRIPTION

[0038] The following is further described in detail with reference to the accompanying drawings and embodiments.

[0039] The present invention provides a foldable quadruped robot capable of realizing leg-arm switching function, comprising four leg-arm branches 1 and a connecting platform 2. Figure 1 shown.

[0040] The four leg arm branches 1 have the same structure, and are composed of a first connecting gear 1-1, a first driving motor 1-2, a first connecting sleeve 1-3, a second driving motor 1-4, a second connecting gear 1-5, a first fixed gear 1-6, a second connecting sleeve 1-7, a third driving motor 1-8, a third connecting gear 1-9, a second fixed gear 1-10, a first connecting plate 1-11, a second connecting plate 1-12, a branch chain end 1-13 and a third fixed gear 1-14. Figure 2 shown.

[0041] The first connecting sleeve 1-3 is a T-shaped structure consisting of two sleeves with two axes perpendicular to each other and connected. Let the two sleeves be sleeve A and sleeve B; the axis of sleeve A is arranged longitudinally, and the axis of sleeve B is arranged transversely.

[0042] The first drive motor 1-2 is coaxially arranged in the sleeve A; the top of the body of the first drive motor 1-2 is fixedly connected to the top of the sleeve A by screws; and the output shaft of the first drive motor 1-2 passes through the through hole opened at the center position of the top of the sleeve A, and the output shaft of the first drive motor 1-2 has a coaxial first connecting gear 1-1.

[0043] The second drive motor 1-4 is coaxially arranged in the sleeve B. The front end surface of the body of the second drive motor 1-2 has a flange structure, which is fixedly connected to the circumferential annular shoulder of the front end surface of the sleeve B by screws. The second connecting gear 1-5 is coaxially fixedly mounted on the output shaft of the second drive motor 1-4.

[0044] The second connecting sleeve 1-7 has the same structure as the first connecting sleeve 1-3, consisting of two sleeves, C and D, with perpendicular axes. The first fixed gear 1-6 is coaxially fixed to the end surface of sleeve C via screws. The center slot of the first fixed gear 1-6 has internal teeth circumferentially meshing with the second connecting gear 1-5 on the output shaft of the second drive motor 1-4, with a certain interference fit between the two. The third drive motor 1-8 is coaxially mounted within sleeve D. The front end of the third drive motor 1-8 has a flange structure, which is screwed to the circumferential annular shoulder on the front end of sleeve D. The third connecting gear 1-9 is coaxially fixed to the output shaft of the third drive motor 1-8.

[0045] The first connecting plate 1-11 and the second connecting plate 1-12 are mounted on both ends of the sleeve D. A second fixed gear 1-10 is fixedly mounted in the middle of the end of the first connecting plate 1-11. The center slot of the second fixed gear 1-10 has internal teeth circumferentially meshing with the third connecting gear 1-9 on the output shaft of the third drive motor 1-8, with a certain interference fit. The middle of the end of the second connecting plate 1-12 is connected to the center of the end surface of the sleeve D via a pin. The front ends of the first and second connecting plates 1-11 and 1-12 are used to connect to the branch chain end 1-13.

[0046] The branch chain end 1-13 includes an end housing 1-13-1, a first end drive motor 1-13-2, an end connecting gear 1-13-3, a first end fixed disc 1-13-4, a second end fixed disc 1-13-5, a second end drive motor 1-13-6, a third end drive motor 1-13-7, a first end transmission gear 1-13-8, a second end transmission gear 1-13-9, a first end meshing gear 1-13-10, a second end meshing gear 1-13-11, an end front end baffle 1-13-12, an upper claw 1-13-13 and a lower claw 1-13-14, as shown Figures 3 to 5 shown

[0047] Among them, the end shell 1-13-1 is an integrated structure composed of an end cylindrical sleeve and a rectangular cross-section sleeve connected to the side of the cylindrical sleeve.

[0048] The front end face of the body of the end first drive motor 1-13-2 has a flange structure, which is fixedly connected to the circumferential annular shoulder of the front end face of the cylindrical sleeve by screws. The end connecting gear 1-13-3 is coaxially fixedly installed on the output shaft of the end first drive motor 1-13-2.

[0049] The second end drive motor 1-13-6 and the third end drive motor 1-13-7 are arranged axially within the cylindrical sleeve, and are screwed to the support plate designed within the rectangular sleeve via the end flange structure. The first end drive gear 1-13-8 and the second end drive gear 1-13-9 are coaxially fixedly sleeved onto the output shafts of the second end drive motor 1-13-6 and the third end drive motor 1-13-7, respectively.

[0050] The upper claw 1-13-13 and the lower claw 1-13-14 have the same structure, both having left and right side panels and a connecting beam. The left and right side panels are arc-shaped with a pointed front end and a circular connecting end at the end. The left and right side panels are symmetrically arranged and connected at the front end by a connecting beam.

[0051] The upper claw 1-13-13 and the lower claw 1-13-14 are arranged relative to each other in the inner arc; wherein the distance between the two side plates of the lower claw 1-13-14 is slightly smaller than the distance between the two side plates of the upper claw 1-13-13, so that the ends of the two side plates of the lower claw 1-13-14 are located inside the ends of the two side plates of the upper claw 1-13-13, and the ends of the side plates of the upper claw 1-13-13 and the lower claw 1-13-14 are arranged coaxially. The end of the right side plate of the upper claw 1-13-13 is coaxially fixed with the end first fixed disc 1-13-4, and the middle axis of the end first fixed disc 1-13-4 passes through the center hole of the end of the right side plate of the lower claw and the opening on the side wall of the front end of the rectangular cross-section sleeve, and is coaxially fixed with the end first meshing gear 1-13-10 set inside the rectangular cross-section sleeve. The end first meshing gear 1-13-10 is meshed with the end first transmission gear 1-13-8 on the output shaft of the end second drive motor 1-13-6. The center of the end of the left plate of the upper claw 1-13-13 is connected to the end of the middle axis of the second fixed disc 1-13-5 at the end to form a rotating pair. The second fixed disc 1-13-5 at the end is coaxially fixed to the end of the left plate of the lower claw 1-13-14. The front end of the middle axis passes through the center hole of the end of the left plate of the lower claw 1-13-14 and the opening on the front side wall of the rectangular cross-section sleeve, and is coaxially fixed to the second meshing gear 1-13-11 at the end set inside the rectangular cross-section sleeve. The second meshing gear 1-13-10 at the end is meshed with the second transmission gear 1-13-9 at the end on the output shaft of the third drive motor 1-13-7 at the end. Thus, the rotational movement of the upper claw 1-13-13 and the lower claw 1-13-14 around the end axis can be controlled respectively by the second drive motor 1-13-6 and the third drive motor 1-13-7 at the end.

[0052] The end front end baffle 1-13-12 is a U-shaped structure, covering the front end of the rectangular cross-section sleeve, and fixed to the rectangular cross-section sleeve by screws. The front end of the rectangular sleeve is sealed by the end front end baffle 1-13-12.

[0053] In the branch chain end portion 1-13 of the above structure, the end surface of the cylindrical sleeve of the end housing 1-13-1 is connected to the front end of the first connecting plate 1-11 via a pin to form a revolving pair. The end connecting gear 1-13-3 on the output shaft of the first drive motor 1-13-2 at the end portion meshes with the internal teeth designed around the central slot of the third fixed gear 1-14 fixedly mounted at the front end of the second connecting plate 1-12, with a certain interference fit between the two. This completes the leg and arm branch chain 1.

[0054] like Figure 6 As shown, the connecting platform 2 comprises an upper platform 201 and a lower platform 202; the upper platform 201 and the lower platform 202 are arranged symmetrically in the vertical direction, and the center position is connected by a cylindrical connecting column 204 arranged perpendicular to the upper and lower platforms to form a whole. The connecting platform 2 has four leg-arm connecting positions 203 in the circumference, and the four leg-arm connecting positions are located at the four corners of the same square, respectively connecting to the four leg-arm branches 1 of the aforementioned structure, and the connection method is the same, specifically:

[0055] Sleeve A of the first connecting sleeve 1-3 in the leg-arm branch chain is located between the upper and lower platforms. The first connecting gear 1-1 on the output shaft of the first drive motor 1-2 within sleeve A meshes with the internal teeth designed around the center of the leg-arm fixed gear 1-14, which is coaxially fixed to the leg-arm connection point 203. The bottom of sleeve A is coaxially connected to the lower platform 202 via a pin, forming a rotational range.

[0056] The above-mentioned quadruped robot has three working modes: folding, walking and operating. Specifically:

[0057] 1. Folding mode:

[0058] like Figure 7 、 Figure 8As shown, when the robot is transported or thrown over long distances, the space resources occupied by the robot are very limited due to the volume limitations of the device that carries and stores the robot. When not in operation, the robot needs to be stored and stacked in the carrier. At this time, by controlling the second drive motor 1-13-6 and the third drive motor 1-13-7 at the end, the upper claw 1-13-13 and the lower claw 1-13-14 are driven to rotate relative to each other until the connecting beam contacts the end shell 1-13-1. Subsequently, the first drive motor 1-13-2 at the end is controlled to rotate the branch chain end 1-13 as a whole to between the first connecting plate 1-11 and the second connecting plate 1-12, completing the folding and storage of the branch chain end. The second drive motor 1-4 is further controlled to drive the second connecting sleeve 1-7 to rotate, so that the first connecting plate 1-11 and the second connecting plate 1-12 are parallel to the connecting platform 2; the third drive motor 1-8 is then controlled to drive the first connecting plate 1-11 and the second connecting plate 1-12 to rotate until the long axis is perpendicular to the axis of the second drive motor 1-4, so that the entire leg-arm branch chain 1 is in an L-shaped state; finally, the first drive motor 1-2 is controlled to rotate the entire leg-arm branch chain 1 toward the center of the connecting platform 2, so that the second drive motor 1-4 is located between the first connecting sleeve 1-3 and the connecting column 204 at the center of the connecting platform 2, and the axis of the second drive motor 1-4 intersects with the axis of the connecting column 204 at the center of the connecting platform 2; at this time, the leg-arm branch chain 1 is located as a whole between the upper and lower platforms, and the long axes of the connecting plates in adjacent leg-arm branches 1 are perpendicular to each other. The size of the space occupied by the robot in the folded state is determined by the scale boundary of the connecting platform 2.

[0059] 2. Walking mode: (moving in a quadrupedal crawling manner through four-branch chain movement)

[0060] When the robot is in walking mode, the four branches are leg branches; the upper claw 1-13-13 and the lower claw 1-13-14 are driven by the second drive motor 1-13-6 at the end and the third drive motor 1-13-7 at the end to rotate relative to each other until the connecting beam contacts the end shell 1-13-1. At this time, the front end baffle 1-13-12 of each leg arm branch chain 1 contacts the ground, which serves as the foothold of the leg branch chain 1. The robot can move in a quadrupedal crawling manner through gait planning.

[0061] 3. Operation mode:

[0062] like Figure 9As shown, when the robot moves to the designated position to perform an operation task in the walking mode, the robot is in a stable state by adjusting the footholds of three of the leg-arm branches 1, and the remaining leg-arm branch chain 1 can realize movement in space through the first drive motor 1-2, the second drive motor 1-4 and the third drive motor 1-8. At the same time, the upper claw 1-13-13 and the lower claw 1-13-14 are controlled by the second drive motor 1-13-6 at the middle end of the branch chain and the third drive motor 1-13-7 at the end to realize opening and closing movement, thereby completing operation tasks such as grasping.

Claims

1. A foldable quadruped robot capable of switching between legs and arms, comprising four leg-arm branches and a connecting platform; characterized in that: The connecting platform has an upper platform and a lower platform, the center positions of which are connected by a connecting column to form a whole; the connecting platform has four leg-arm connection positions in the circumference, and the four leg-arm connection positions are located at the four corners of the same square, respectively connecting the four leg-arm branches; The four leg-arm branches have the same structure, with a first connecting sleeve at the end, in which the first joint motor and the second joint motor are installed, and the output shafts of the two joint motors are arranged vertically; the output shaft of the first drive motor is connected and fixed to the upper platform, and the shaft in the first connecting sleeve relative to the end of the first drive motor is connected to the lower platform to form a revolute pair; The output shaft of the second drive motor is fixedly connected to the second connecting sleeve; a third drive motor is installed in the second connecting sleeve, and the output shaft of the third drive motor is perpendicular to the output shaft of the second drive motor; The output shaft of the third drive motor is connected to the end of the first connecting plate, and the second connecting sleeve is axially connected to the end of the second connecting plate at a position opposite to the end of the third drive motor to form a rotating pair; The front ends of the first and second connecting plates are provided with branch chain ends, the ends of the branch chain ends are provided with first drive motors, the output shafts of the first drive motors are connected and fixed to the first connecting plate, and the ends of the branch chain ends are axially connected to the second connecting plate at a position opposite to the ends of the first drive motors, forming a rotating pair; the front ends of the branch chain ends are provided with upper and lower claws that can be controlled to open and close; The branch chain end includes an end housing, a first drive motor at the end, an end connecting gear, a first fixed disc at the end, a second fixed disc at the end, a second drive motor at the end, a third drive motor at the end, a first transmission gear at the end, a second transmission gear at the end, a first meshing gear at the end, a second meshing gear at the end, an upper claw, and a lower claw; Among them, the end of the end shell is installed with the end first drive motor; the output shafts of the end second drive motor and the end third drive motor are arranged perpendicular to the output shaft of the end first drive motor and are installed on the support plate designed inside the end shell; the output shafts of the end second drive motor and the end third drive motor are provided with a coaxial first transmission gear and an end second transmission gear; The upper and lower claws have the same structure, both with left and right side panels and a connecting beam; the left and right side panels are symmetrically arranged, and the front ends are connected by a connecting beam; The gear train is connected with the gear of the second end of the gear train, and the gear train is connected with the gear of the first end of the gear train to form a gear of the first end and the gear of the second end. By controlling the upper claw and the lower claw to rotate relative to each other until the claw tip reaches the lateral position of the branch chain end, the first drive motor at the end is controlled to rotate the branch chain end as a whole between the first connecting plate and the second connecting plate, thereby completing the folding and storage of the branch chain end; further controlling the second drive motor to drive the second connecting sleeve to rotate so that the first connecting plate and the second connecting plate are parallel to the connecting platform; then controlling the third drive motor to drive the first connecting plate and the second connecting plate to rotate until the long axis is perpendicular to the axis of the second drive motor, so that the entire leg and arm branch chain is in an L-shaped state; finally, controlling the first drive motor to rotate the entire leg and arm branch chain toward the center of the connecting platform, so that the second drive motor is located between the first connecting sleeve and the center connecting column of the connecting platform; at this time, the leg and arm branch chain is located as a whole between the upper and lower platforms, so that the four leg and arm branch chains are folded and stored in the connecting platform; By controlling the relative rotation of the upper claw and the lower claw until the claw tip reaches the side of the branch chain end, the four branch chains become the leg branches, and the branch chain ends contact the ground as the foothold of the leg branches. The robot moves in a quadrupedal crawling manner through gait planning; When moving to a designated position to perform an operation task in walking mode, the footholds of three of the leg-arm branches are adjusted to keep the whole in a stable state. The remaining leg-arm branch is driven and controlled to achieve movement in space, and further the upper and lower claws are controlled to achieve opening and closing movements to complete the operation task.

2. A foldable quadruped robot capable of switching between legs and arms as claimed in claim 1, characterized in that: The connection method between the output shaft of the first drive motor and the upper platform, the connection method between the output shaft of the second drive motor and the second connecting sleeve, the connection method between the output shaft of the third drive motor and the first connecting plate, and the connection method between the first drive motor at the end and the second connecting plate are the same, and transmission is achieved by the gear structure designed on the motor shaft and the internal teeth meshing on the circumference of the center hole of the fixed gear installed on the connected part.

3. A foldable quadruped robot capable of switching between legs and arms as claimed in claim 1, characterized in that: The upper claw and the lower claw are provided with left and right arc-shaped side plates, the front end is a pointed end, and the end end is a circular connecting end.

4. A foldable quadruped robot capable of switching between legs and arms as claimed in claim 1, characterized in that: The front end of the sleeve shell is an open structure, which is covered by a U-shaped end front end baffle and fixed to the sleeve shell. The front end of the sleeve shell is sealed by the end front end baffle.

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