The application provides a soft structure and a
processing method thereof and a soft
robot, and belongs to the technical field of growing robots, and comprises a main
air chamber and at least two sub air chambers, the sub air chambers are distributed in a ring shape along the outer
peripheral surface of the main
air chamber and extend along the axial direction of the main
air chamber; a plurality of extension turning parts are arranged in each sub air chamber, the extension turning part comprises a first buckle and a second buckle, and the first buckle and the second buckle are fixedly arranged on the inner wall of the sub air chamber; wherein, when the first buckle and the second buckle are buckled, a
wrinkle part is formed in the sub air chamber; when the first buckle and the second buckle are separated, the
wrinkle part can be unfolded; when the soft structure is stretched out, the corresponding sub air chamber is inflated, and the first buckle and the second buckle are automatically separated; an air
nozzle, the air
nozzle is communicated with the corresponding sub air chamber and is used for inflating the sub air chamber; the
advantage is that when the soft structure is stretched out from the main air chamber, the corresponding sub air chamber is inflated, the cross-sectional size of the sub air chamber is changed, the first buckle and the second buckle are relatively displaced and separated, and the
wrinkle part is unfolded as required.