Bionic reconfigurable quadruped robot capable of stably switching between creeping type and vertical type

Abstract

The invention discloses a bionic reconfigurable quadruped robot capable of stably switching between a creeping type and a vertical type. The bionic reconfigurable quadruped robot comprises a spine, a first movable leg, a second movable leg, a third movable leg, a fourth movable leg and a control module. The spine comprises a first spine joint, a second spine joint and a spine motor; the first to fourth movable legs have the same structure, and each of the first to fourth movable legs comprises first to fifth leg motors, first to second connecting strips, first to third connecting frames, a foot fixing frame and a foot component; the foot component comprises a first foot motor, a second foot motor, a first toe, a second toe, a third toe, a fourth toe, a sleeve, an upper cover, a bottom plate, a sliding column, a driving block, a driving gear and a driven gear. According to the robot, the mass center of the body is adjusted by means of trunk movement, stable conversion between a crawling mode and an upright mode is achieved, and the conversion efficiency is improved; the foot structure and function conform to animal characteristics, and the stability of the robot during form conversion is improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a bionic reconfigurable quadruped robot capable of stably switching between a crawling state and an upright state. Background Art

[0002] For inspections on soft flat surfaces and slopes such as deserts, swamps, Mars or the moon, crawling robots have the advantages of preventing sinking and high climbing ability; for flat and narrow terrain, upright robots have faster moving speeds. Reconfigurable robots that can stably switch between crawling and upright positions can adjust their movement according to the terrain and improve their ability to pass through various terrains. They have broad application prospects in future exploration of sandy land, swamps, mountainous areas and the surface of alien planets.

[0003] Patent application number 201010235047.8 introduces a quadruped robot that can switch between crawling and upright motion. In the crawling mode, the robot can be transformed into an upright position by flipping the front legs and the rear legs in sequence to increase the height. The large range of changes in the center of mass during the conversion process makes the conversion process less stable. The robot's feet are spherical. When adjusting the height of the front and rear ends, the spherical feet are always tangent to the ground to adapt to the terrain with a large slope. In addition, the feet need to be supported by two fulcrums in both upright and crawling modes, and the conversion efficiency is low. Patent application number 201620694233.0 proposes a quadruped robot with a variable structure in the legs. When the legs are transformed into an upright position, the U-shaped bracket of the legs rotates forward, then the thigh joint rotates downward, and finally the calf joint and the foot end joint rotate outward to complete the transformation. However, the body will become unstable during the transformation process, and the conversion efficiency is low. The patent with application number 201720533339.7 proposes a quadruped robot with a variable topology structure, which can be used in various special terrains such as mountains. During the transformation process, the robot rotates its legs and uses hydraulic actuators to adjust the leg structure gait. However, it cannot achieve the conversion between crawling and upright movements, and the accuracy is low. In 2023, Zhuang Shuiguan and others from Tianjin University developed a reconfigurable quadruped robot that can convert between three modes: mammalian (upright)-reptile (crawling)-arthropod. Among them, the transition from upright to crawling is achieved by rotating the hip joint 180°, but it is difficult to maintain body balance and stability during the transition, and the leg joint motor structure is complex and the manufacturing cost is high.

[0004] Current reconfigurable robots achieve transitions between different motion modes by adjusting the leg structure. However, it is difficult for robots to maintain body balance during the transition due to the change in center of mass, and the current reconfigurable robot foot structure is simple, which reduces the stability and efficiency of the transition process. Based on the motion characteristics and biological structure functions of desert quadrupeds, the stability of the bionic reconfigurable robot's transition between the crawling and upright modes can be improved, and the transition efficiency can be increased. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a bionic reconfigurable quadruped robot which can stably switch between a crawling state and an upright state in view of the defects involved in the background technology.

[0006] The present invention adopts the following technical solutions to solve the above technical problems: A bionic reconfigurable quadruped robot capable of stably switching between a crawling state and an upright state, comprising a spine, first to fourth active legs, and a control module; The spine includes a first spinal joint, a second spinal joint, and a spinal motor; The spinal motor adopts a double-headed motor, with two coaxial output shafts, a housing thereof being fixedly connected to one end of the first spinal joint, and two output shafts being fixedly connected to one end of the second spinal joint, for adjusting the rotation angle between the first spinal joint and the second spinal joint; The first to fourth movable legs have the same structure, and all include first to fifth leg motors, first to second connecting strips, first to third connecting frames, foot fixing frames and foot components; The first to fifth leg motors are all double-headed motors, and the two output shafts are coaxial; one end of the first connecting bar is vertically fixedly connected to an output shaft of the first leg motor, and the other end is vertically fixedly connected to an output shaft of the second leg motor; one end of the second connecting bar is vertically fixedly connected to the other output shaft of the leg motor, and the other end is vertically fixedly connected to the other output shaft of the second leg motor; the first connecting bar and the second connecting bar are parallel to each other; The housings of the third leg motor and the fourth leg motor are fixedly connected to each other, and the output shaft of the third leg motor is parallel to the output shaft of the fourth leg motor; One end of the first connecting frame is fixedly connected to the housing of the second leg motor, and the other end is fixedly connected to the two output shafts of the third leg motor, the output shaft of the third leg motor is perpendicular to the output shaft of the second leg motor, and the third leg motor can control its two output shafts to rotate and then rotate relative to the first connecting frame; One end of the second connecting frame is fixedly connected to the two output shafts of the fourth leg motor, and the other end is fixedly connected to the housing of the fifth leg motor. The output shaft of the fifth leg motor is perpendicular to the output shaft of the fourth leg motor. The fourth leg motor can control its two output shafts to rotate and then rotate relative to the second connecting frame. One end of the third connecting frame is fixedly connected to the two output shafts of the fifth leg motor, and the other end is fixedly connected to the foot fixing frame, and the fifth leg motor can control its two output shafts to rotate and then rotate relative to the third connecting frame; The foot component includes first to second foot motors, first to fourth toes, a sleeve, an upper cover, a bottom plate, a sliding column, a driving block, a driving gear and a passive gear; The first and second foot motors are both single-head motors; The first to fourth toes have the same structure, and all include a first side plate, a second side plate, a first connecting plate, a second connecting plate, a first gear, a second gear, and a hook; The first side plate and the second side plate have the same structure, one end of each of which is arranged in a semicircular shape and has a plurality of teeth uniformly arranged on the surface along the circumferential direction, and the other end is arranged in a semicircular shape, and a first mounting hole is arranged at the center of the semicircular shape with teeth; the first side plate and the second side plate are arranged in parallel, one end of the first connecting plate is vertically fixedly connected to the non-circular arc portion of the upper end of the first side plate, and the other end is vertically fixedly connected to the non-circular arc portion of the upper end of the second side plate; one end of the second connecting plate is vertically fixedly connected to the non-circular arc portion of the lower end of the first side plate, and the other end is vertically fixedly connected to the non-circular arc portion of the lower end of the second side plate; The root of the hook is semicircular and has a plurality of teeth evenly arranged on the surface along the circumferential direction; The root of the hook is located between the first side plate and the second side plate, and the end is located outside the first side plate and the second side plate; and the first gear and the second gear are both arranged between the first side plate and the second side plate, the first gear and the second gear are meshed, and the second gear is meshed with the teeth at the root of the hook; The sleeve is a hollow cylinder with openings at both ends, and the lower end of the side wall thereof is provided with first to fourth mounting through holes equidistantly along the circumferential direction, and the first to fourth mounting through holes are provided with a first mounting plate and a second mounting plate on both sides thereof; The first to fourth toes are arranged at the first to fourth mounting through holes in a one-to-one correspondence, wherein the first side plate is rotatably connected to the first mounting plate at its first mounting hole, the second side plate is rotatably connected to the second mounting plate at its second mounting hole, and part of the teeth on the first side plate, part of the teeth on the first gear, and part of the teeth on the second side plate are all extended into the sleeve; The sliding column is columnar, and its cross section is not circular; The driving block is semi-cylindrical, and comprises an upper end face, a lower end face, an arcuate side wall and a plane side wall, wherein the upper end face and the lower end are provided with sliding holes matched with the sliding column; the lower end of the arcuate side wall is provided with the first to fourth rack groups which are matched with the first to fourth toes in a one-to-one correspondence at equal intervals along the circumferential direction; the first to fourth rack groups have the same structure and all comprise the first to third racks; the plane side wall is provided with a rectangular groove which passes through the upper end face and the lower end, and the side walls on both sides of the groove are provided with the fourth rack and the fifth rack which are both parallel to the axis of the driving block and have openings facing each other; The lower end of the sleeve is fixedly connected to the bottom plate; The sliding column is arranged in the sleeve, and the lower end is vertically fixedly connected to the bottom plate; The driving block is sleeved on the sliding column through the sliding hole on it, and can slide freely along the sliding column; the first to fourth rack sets are respectively matched with the first to fourth toes, and the first rack, the second rack and the third rack are respectively meshed with the teeth on the first side plate, the first gear and the teeth on the second side plate; The driving gear and the passive gear have the same structure and are both arranged between the fourth rack and the fifth rack, wherein the driving gear is respectively meshed with the fourth rack and the passive gear, and the passive gear is respectively meshed with the driving gear and the fifth rack; The sleeve is provided with a through hole for the second foot motor to extend therein; The second foot motor is fixed to the bottom plate, and its output shaft is coaxially connected to the driving gear through a coupling; The upper cover is fixedly connected to the upper end of the sleeve; The first foot motor is fixed on the foot fixing frame, and its output shaft is vertically fixedly connected to the upper cover; The first leg motors of the first movable leg and the second movable leg are symmetrically arranged at one end of the first spinal joint principle spinal motor, and the first leg motors of the third movable leg and the fourth movable leg are symmetrically arranged at one end of the second spinal joint principle spinal motor; The control module is electrically connected to the first to fifth leg motors and the first to second foot motors of the first to fourth active legs, respectively, and is used to control the operation of the first to fifth leg motors and the first to second foot motors of the first to fourth active legs.

[0007] As a further optimization scheme of the bionic reconfigurable quadruped robot that can stably convert between crawling and upright positions according to the present invention, it also includes a head and a tail that imitate the appearance structure of desert animals, wherein the head is arranged at one end of the spinal motor based on the first spinal joint principle, and the tail is arranged at one end of the spinal motor based on the second spinal joint principle.

[0008] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects: 1. The robot of the present invention adjusts the center of mass of the body by means of trunk movement, realizes the smooth conversion between the crawling and upright modes, and improves the conversion efficiency; 2. The feet cooperate with the legs to realize the pitch function of the robot, and the feet can remain parallel to the ground during pitching, which improves the stability of the robot when changing its form; 3. When the robot switches between the crawling and upright modes, the foot is supported by a fulcrum, making the robot's foot structure and function conform to animal characteristics; 4. The first foot motor can actively adjust the positions of the first to fourth toes during the robot's structural change process so that they are consistent with the robot's moving direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the spine, the first leg motors of the first to fourth active legs, and the control module in coordination with each other in the present invention; Figure 3 It is a partial structural schematic diagram of the first movable leg in the present invention; Figure 4 It is a schematic diagram of the structure of the first movable leg foot component after removing the upper cover and the first to second foot motors in the present invention; Figure 5 This is a schematic diagram of the structure of the first movable leg foot component in the present invention after removing the sleeve and the bottom plate; Figure 6 It is a schematic diagram of the structure of the driving block in the present invention; Figure 7 It is a schematic diagram of the state change of the bionic reconfigurable quadruped robot in the present invention when performing upright movement.

[0010] In the figure, 1-spine, 2-second movable leg, 3-head, 4-tail, 5-control module, 6-first spinal joint, 7-second spinal joint, 8-spine motor, 9-first leg motor of the first movable leg, 10-first leg motor of the second movable leg, 11-first connecting strip, 12-second leg motor, 13-third leg motor, 14-fourth leg motor, 15-fifth leg motor, 16-first connecting frame, 17-second connecting frame, 18-third connecting frame, 19-first toe, 2 0-second toe, 21-sleeve, 22-bottom plate, 23-sliding column, 24-driving block, 25-fourth rack, 26-fifth rack, 27-driving gear, 28-passive gear, 29-coupling, 30-first foot motor, 31-second foot motor, 32-upper cover, 33-first side plate, 34-second side plate, 35-first connecting plate, 36-hooking claw, 37-first gear, 38-second gear, 39-first rack, 40-second rack, 41-third rack, 42-sliding hole. DETAILED DESCRIPTION

[0011] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings: The present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. On the contrary, these embodiments are provided to make this disclosure thorough and complete, and will fully express the scope of the present invention to those skilled in the art. In the accompanying drawings, components are enlarged for clarity.

[0012] It should be understood that although the terms first, second, third, etc. can be used here to describe various elements, components and / or parts, these elements, components and / or parts are not limited by these terms. These terms are only used to distinguish elements, components and / or parts from each other. Therefore, the first element, component and / or part discussed below can become the second element, component or part without departing from the teaching of the present invention.

[0013] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0014] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0015] like Figure 1 As shown, the present invention discloses a bionic reconfigurable quadruped robot capable of stably switching between a crawling state and an upright state, comprising a spine, first to fourth active legs, and a control module; The spine includes a first spinal joint, a second spinal joint, and a spinal motor; The spinal motor adopts a double-headed motor, with two coaxial output shafts, a housing thereof being fixedly connected to one end of the first spinal joint, and two output shafts being fixedly connected to one end of the second spinal joint, for adjusting the rotation angle between the first spinal joint and the second spinal joint, such as Figure 2 As shown; The first to fourth movable legs have the same structure, and all include first to fifth leg motors, first to second connecting strips, first to third connecting frames, foot fixing frames and foot components; like Figure 3 As shown, the first to fifth leg motors all adopt double-headed motors, and the two output shafts are coaxial; one end of the first connecting bar is vertically fixedly connected to an output shaft of the first leg motor, and the other end is vertically fixedly connected to an output shaft of the second leg motor; one end of the second connecting bar is vertically fixedly connected to the other output shaft of the leg motor, and the other end is vertically fixedly connected to the other output shaft of the second leg motor; the first connecting bar and the second connecting bar are parallel to each other; The housings of the third leg motor and the fourth leg motor are fixedly connected to each other, and the output shaft of the third leg motor is parallel to the output shaft of the fourth leg motor; One end of the first connecting frame is fixedly connected to the housing of the second leg motor, and the other end is fixedly connected to the two output shafts of the third leg motor, the output shaft of the third leg motor is perpendicular to the output shaft of the second leg motor, and the third leg motor can control its two output shafts to rotate and then rotate relative to the first connecting frame; One end of the second connecting frame is fixedly connected to the two output shafts of the fourth leg motor, and the other end is fixedly connected to the housing of the fifth leg motor. The output shaft of the fifth leg motor is perpendicular to the output shaft of the fourth leg motor. The fourth leg motor can control its two output shafts to rotate and then rotate relative to the second connecting frame. One end of the third connecting frame is fixedly connected to the two output shafts of the fifth leg motor, and the other end is fixedly connected to the foot fixing frame, and the fifth leg motor can control its two output shafts to rotate and then rotate relative to the third connecting frame; like Figure 4 , Figure 5 As shown, the foot component includes first to second foot motors, first to fourth toes, a sleeve, an upper cover, a bottom plate, a slide column, a driving block, a driving gear and a passive gear; The first and second foot motors are both single-head motors; The first to fourth toes have the same structure, and all include a first side plate, a second side plate, a first connecting plate, a second connecting plate, a first gear, a second gear, and a hook; The first side plate and the second side plate have the same structure, one end of each of which is arranged in a semicircular shape and has a plurality of teeth uniformly arranged on the surface along the circumferential direction, and the other end is arranged in a semicircular shape, and a first mounting hole is arranged at the center of the semicircular shape with teeth; the first side plate and the second side plate are arranged in parallel, one end of the first connecting plate is vertically fixedly connected to the non-circular arc portion of the upper end of the first side plate, and the other end is vertically fixedly connected to the non-circular arc portion of the upper end of the second side plate; one end of the second connecting plate is vertically fixedly connected to the non-circular arc portion of the lower end of the first side plate, and the other end is vertically fixedly connected to the non-circular arc portion of the lower end of the second side plate; The root of the hook is semicircular and has a plurality of teeth evenly arranged on the surface along the circumferential direction; The root of the hook is located between the first side plate and the second side plate, and the end is located outside the first side plate and the second side plate; and the first gear and the second gear are both arranged between the first side plate and the second side plate, the first gear and the second gear are meshed, and the second gear is meshed with the teeth at the root of the hook; The sleeve is a hollow cylinder with openings at both ends, and the lower end of the side wall thereof is provided with first to fourth mounting through holes equidistantly along the circumferential direction, and the first to fourth mounting through holes are provided with a first mounting plate and a second mounting plate on both sides thereof; The first to fourth toes are arranged at the first to fourth mounting through holes in a one-to-one correspondence, wherein the first side plate is rotatably connected to the first mounting plate at its first mounting hole, the second side plate is rotatably connected to the second mounting plate at its second mounting hole, and part of the teeth on the first side plate, part of the teeth on the first gear, and part of the teeth on the second side plate are all extended into the sleeve; The sliding column is columnar, and its cross section is not circular; like Figure 6 As shown, the driving block is semi-cylindrical, comprising an upper end face, a lower end face, an arcuate side wall and a plane side wall, wherein the upper end face and the lower end are provided with sliding holes matched with the sliding column; the lower end of the arcuate side wall is equidistantly provided with the first to fourth rack groups corresponding to the first to fourth toes along the circumferential direction; the first to fourth rack groups have the same structure and all include the first to third racks; the plane side wall is provided with a rectangular groove running through the upper end face and the lower end, and the side walls on both sides of the groove are provided with a fourth rack and a fifth rack which are both parallel to the axis of the driving block and have openings facing each other; The lower end of the sleeve is fixedly connected to the bottom plate; The sliding column is arranged in the sleeve, and the lower end is vertically fixedly connected to the bottom plate; The driving block is sleeved on the sliding column through the sliding hole on it, and can slide freely along the sliding column; the first to fourth rack sets are respectively matched with the first to fourth toes, and the first rack, the second rack and the third rack are respectively meshed with the teeth on the first side plate, the first gear and the teeth on the second side plate; The driving gear and the passive gear have the same structure and are both arranged between the fourth rack and the fifth rack, wherein the driving gear is respectively meshed with the fourth rack and the passive gear, and the passive gear is respectively meshed with the driving gear and the fifth rack; The sleeve is provided with a through hole for the second foot motor to extend therein; The second foot motor is fixed to the bottom plate, and its output shaft is coaxially connected to the driving gear through a coupling; The upper cover is fixedly connected to the upper end of the sleeve; The first foot motor is fixed on the foot fixing frame, and its output shaft is vertically fixedly connected to the upper cover; The first leg motors of the first movable leg and the second movable leg are symmetrically arranged at one end of the first spinal joint principle spinal motor, and the first leg motors of the third movable leg and the fourth movable leg are symmetrically arranged at one end of the second spinal joint principle spinal motor; The control module is electrically connected to the first to fifth leg motors and the first to second foot motors of the first to fourth active legs, respectively, and is used to control the operation of the first to fifth leg motors and the first to second foot motors of the first to fourth active legs.

[0016] The present invention may further include a head and a tail portion simulating the appearance structure of a desert animal, wherein the head portion is arranged at one end of the spinal motor according to the first spinal joint principle, and the tail portion is arranged at one end of the spinal motor according to the second spinal joint principle.

[0017] like Figure 7 As shown in the figure, when the bionic reconfigurable quadruped robot performs upright movement, first the feet are close to the ground and in a crawling state; secondly, the bionic reconfigurable quadruped robot bends and contracts the four legs and increases the height of the body trunk, in a semi-upright movement mode; then, the hind legs of the bionic reconfigurable quadruped robot begin to flip to increase the height of the back body: then, the hind legs of the bionic reconfigurable quadruped robot stand upright, further increasing the height of the front body; finally, the bionic reconfigurable quadruped robot transforms into an upright mode. Similarly, the bionic reconfigurable quadruped robot can transform into a crawling state in the upright initial state as shown in the reverse order of the figure.

[0018] The first to fourth movable legs of the present invention have two degrees of rotational freedom in the vertical direction and the horizontal direction, so as to realize the smooth transition between the crawling mode and the upright mode of the robot. The crawling mode is suitable for soft and rugged terrain, while the upright mode is suitable for flat and narrow terrain. The robot is supported by the same foot in both crawling and upright modes, and the foot structure and function conform to the characteristics of animals. The robot's feet touch the ground when it pitches, so as to maintain the stability of the robot moving on uneven ground. A rotary motor is arranged at the ankle of the robot, which can actively adjust the position of the toes during the robot's structural change process, so that the direction of the toes is consistent with the direction of the robot's movement.

[0019] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0020] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bionic reconfigurable quadruped robot capable of stably switching between a crawling position and an upright position, characterized in that: It includes a spine, first to fourth movable legs, and a control module; The spine includes a first spinal joint, a second spinal joint, and a spinal motor; The spinal motor adopts a double-headed motor, with two coaxial output shafts, a housing thereof being fixedly connected to one end of the first spinal joint, and two output shafts being fixedly connected to one end of the second spinal joint, for adjusting the rotation angle between the first spinal joint and the second spinal joint; The first to fourth movable legs have the same structure, and all include first to fifth leg motors, first to second connecting strips, first to third connecting frames, foot fixing frames and foot components; The first to fifth leg motors are all double-headed motors, and the two output shafts are coaxial; one end of the first connecting bar is vertically fixedly connected to an output shaft of the first leg motor, and the other end is vertically fixedly connected to an output shaft of the second leg motor; one end of the second connecting bar is vertically fixedly connected to the other output shaft of the leg motor, and the other end is vertically fixedly connected to the other output shaft of the second leg motor; the first connecting bar and the second connecting bar are parallel to each other; The housings of the third leg motor and the fourth leg motor are fixedly connected to each other, and the output shaft of the third leg motor is parallel to the output shaft of the fourth leg motor; One end of the first connecting frame is fixedly connected to the housing of the second leg motor, and the other end is fixedly connected to the two output shafts of the third leg motor, the output shaft of the third leg motor is perpendicular to the output shaft of the second leg motor, and the third leg motor can control its two output shafts to rotate and then rotate relative to the first connecting frame; One end of the second connecting frame is fixedly connected to the two output shafts of the fourth leg motor, and the other end is fixedly connected to the housing of the fifth leg motor. The output shaft of the fifth leg motor is perpendicular to the output shaft of the fourth leg motor. The fourth leg motor can control its two output shafts to rotate and then rotate relative to the second connecting frame. One end of the third connecting frame is fixedly connected to the two output shafts of the fifth leg motor, and the other end is fixedly connected to the foot fixing frame, and the fifth leg motor can control its two output shafts to rotate and then rotate relative to the third connecting frame; The foot component includes first to second foot motors, first to fourth toes, a sleeve, an upper cover, a bottom plate, a sliding column, a driving block, a driving gear and a passive gear; The first and second foot motors are both single-head motors; The first to fourth toes have the same structure, and all include a first side plate, a second side plate, a first connecting plate, a second connecting plate, a first gear, a second gear, and a hook; The first side plate and the second side plate have the same structure, one end of each of which is arranged in a semicircular shape and has a plurality of teeth uniformly arranged on the surface along the circumferential direction, and the other end is arranged in a semicircular shape, and a first mounting hole is arranged at the center of the semicircular shape with teeth; the first side plate and the second side plate are arranged in parallel, one end of the first connecting plate is vertically fixedly connected to the non-circular arc portion of the upper end of the first side plate, and the other end is vertically fixedly connected to the non-circular arc portion of the upper end of the second side plate; one end of the second connecting plate is vertically fixedly connected to the non-circular arc portion of the lower end of the first side plate, and the other end is vertically fixedly connected to the non-circular arc portion of the lower end of the second side plate; The root of the hook is semicircular and has a plurality of teeth evenly arranged on the surface along the circumferential direction; The root of the hook is located between the first side plate and the second side plate, and the end is located outside the first side plate and the second side plate; and the first gear and the second gear are both arranged between the first side plate and the second side plate, the first gear and the second gear are meshed, and the second gear is meshed with the teeth at the root of the hook; The sleeve is a hollow cylinder with openings at both ends, and the lower end of the side wall thereof is provided with first to fourth mounting through holes equidistantly along the circumferential direction, and the first to fourth mounting through holes are provided with a first mounting plate and a second mounting plate on both sides thereof; The first to fourth toes are arranged at the first to fourth mounting through holes in a one-to-one correspondence, wherein the first side plate is rotatably connected to the first mounting plate at its first mounting hole, the second side plate is rotatably connected to the second mounting plate at its second mounting hole, and part of the teeth on the first side plate, part of the teeth on the first gear, and part of the teeth on the second side plate are all extended into the sleeve; The sliding column is columnar, and its cross section is not circular; The driving block is semi-cylindrical, and comprises an upper end face, a lower end face, an arcuate side wall and a plane side wall, wherein the upper end face and the lower end are provided with sliding holes matched with the sliding column; the lower end of the arcuate side wall is provided with the first to fourth rack groups which are matched with the first to fourth toes in a one-to-one correspondence at equal intervals along the circumferential direction; the first to fourth rack groups have the same structure and all comprise the first to third racks; the plane side wall is provided with a rectangular groove which passes through the upper end face and the lower end, and the side walls on both sides of the groove are provided with the fourth rack and the fifth rack which are both parallel to the axis of the driving block and have openings facing each other; The lower end of the sleeve is fixedly connected to the bottom plate; The sliding column is arranged in the sleeve, and the lower end is vertically fixedly connected to the bottom plate; The driving block is sleeved on the sliding column through the sliding hole on it, and can slide freely along the sliding column; the first to fourth rack sets are respectively matched with the first to fourth toes, and the first rack, the second rack and the third rack are respectively meshed with the teeth on the first side plate, the first gear and the teeth on the second side plate; The driving gear and the passive gear have the same structure and are both arranged between the fourth rack and the fifth rack, wherein the driving gear is respectively meshed with the fourth rack and the passive gear, and the passive gear is respectively meshed with the driving gear and the fifth rack; The sleeve is provided with a through hole for the second foot motor to extend therein; The second foot motor is fixed to the bottom plate, and its output shaft is coaxially connected to the driving gear through a coupling; The upper cover is fixedly connected to the upper end of the sleeve; The first foot motor is fixed on the foot fixing frame, and its output shaft is vertically fixedly connected to the upper cover; The first leg motors of the first movable leg and the second movable leg are symmetrically arranged at one end of the first spinal joint principle spinal motor, and the first leg motors of the third movable leg and the fourth movable leg are symmetrically arranged at one end of the second spinal joint principle spinal motor; The control module is electrically connected to the first to fifth leg motors and the first to second foot motors of the first to fourth active legs, respectively, and is used to control the operation of the first to fifth leg motors and the first to second foot motors of the first to fourth active legs.

2. The bionic reconfigurable quadruped robot capable of stably switching between a crawling position and an upright position according to claim 1, characterized in that: It also comprises a head and a tail part of a structure imitating the appearance of desert animals, wherein the head part is arranged at one end of the spinal motor of the first spinal joint principle, and the tail part is arranged at one end of the spinal motor of the second spinal joint principle.

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