A soft amphibious robot based on double-layer origami structure and twisted origami structure

Abstract

The present invention discloses a soft amphibious robot based on a double-layer origami structure and a torsion origami structure, belonging to the field of soft robots. The soft amphibious robot based on the double-layer origami structure and the torsion origami structure cooperates with the arranged origami structure unit, and under the drive of fluid input, the proposed double-layer origami structure produces quasi-sequential unfolding and bending motion, and the motion is guided by the asymmetric unfolding of the low-stretch origami component, and the advantage between unfolding and bending can be changed by its own structure, thereby realizing pre-programming of motion, and the proposed origami-inspired soft actuator is directly manufactured by low-cost fused deposition modeling 3D printing, and the double-layer origami structure can realize expansion and contraction motion from a smaller initial volume under gas drive, and the proposed torsion origami structure enables the robot to no longer be limited to swimming in water or crawling on land, so that it can realize amphibious motion.

Description

Technical Field

[0001] The present invention relates to the field of soft robots, and more specifically to a soft amphibious robot based on a double-layer origami structure and a torsion origami structure. Background Art

[0002] Origami technology, inspired by traditional origami art, is used in the field of aerospace engineering. Its advantages such as portability, deployability, miniaturization and lightweight have laid the foundation for its application in the field of space structures. In recent years, due to the vigorous development of materials science, bionics, intelligent manufacturing and other technologies, soft robots have shown excellent flexibility and environmental adaptability compared to traditional rigid robots, becoming an emerging development branch in the field of robotics. Researchers use pneumatic drive methods to combine origami technology with soft robotics technology, giving the two fields an interdisciplinary interweaving. Origami design also has other advantages, such as the desired shape or movement can be strongly guided by kinematics, and a variety of constituent materials (from flexible paper to steel plates). Origami design has been considered a promising method for deployable machines. There are currently related studies that can be explored.

[0003] Woongbae Kim et al. (Kim W, Byun J, Kim JK, et al. Bioinspired dual-morphing stretchable origami [J]. Science robotics, 2019, 4 (36): eaay3493.) introduced a dual-morphing architecture inspired by the pelican eel, which embodies the quasi-sequential behavior of origami unfolding and skin stretching in response to fluid pressure. However, this dual-morphing architecture also has disadvantages: (1) the end output force is low because the material cannot withstand high pressure.

[0004] (2) Low reliability due to material nonlinearity and Mullins effect, (3) Slow response time due to heavy reliance on material response speed, (4) Difficult to effectively control due to the difficulty of kinematic modeling of stretching behavior, and (5) Only a few specific materials (expensive silicone rubber or 3D printing materials) are available. In addition, the complex manufacturing process using damaged molds and the need to deposit multiple materials to achieve functional movement in deployment and expansion significantly increase the manufacturing cost. These shortcomings have brought challenges to the practical application of the dual deformation principle in the real world. Chinese patent CN112061261A discloses a soft crawling robot based on an origami structure. Although the torsion telescopic unit can realize the functions of moving forward, backward, turning and cross-forward, the suction cup adhesion device as the end effector limits the application scenario of the robot. Therefore, a new design method with a different working principle is needed. This design method does not rely on stretching, not only expands the manufacturing range of applicable materials, but also can achieve large-scale deployment, high output force, low cost and easy manufacturing, and finally can adapt to multiple scenarios and improve its environmental interactivity. The present invention provides a soft amphibious robot based on a torsion origami structure and a double-layer origami structure, which is used to achieve the above requirements. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide a soft amphibious robot based on a double-layer origami structure and a torsion origami structure, which can realize quasi-sequential unfolding and bending motion of the proposed double-layer origami structure under the drive of fluid input, and the motion is guided by the asymmetric unfolding of the low-stretch origami component, and the advantage between unfolding and bending can be changed by its own structure, thereby realizing pre-programming of motion, and the proposed origami-inspired soft actuator is directly manufactured by low-cost fused deposition modeling 3D printing, and the double-layer origami structure can realize expansion and contraction motion from a smaller initial volume under gas drive, and the proposed torsion origami structure enables the robot to no longer be limited to two-dimensional motion (swimming in water or crawling on land), and enables it to realize three-dimensional motion (amphibious motion).

[0007] 2. Technical solution

[0008] To solve the above problems, the present invention adopts the following technical solutions.

[0009] A soft amphibious robot based on a double-layer origami structure and a torsion origami structure, comprising an origami structure unit, a body structure unit and a trachea control system unit;

[0010] The origami structural units are distributed at both ends of the body structural unit, and the origami structural units contain four groups of origami assembly modules;

[0011] Each set of origami assembly modules includes a double-layer origami module, a twist origami module, a connecting block component and a flipper component;

[0012] The body structure unit includes a shell component, an ESP32 CAM camera development board, a 3.7V lithium battery, a top cover component, six glass hemisphere components and eight M4 machine screws;

[0013] The tracheal control system unit includes a set of positive pressure airway control modules, a set of negative pressure airway control modules and an Arduino uno development board;

[0014] The positive pressure air circuit control module is composed of three first plastic hose five-way connectors, fourteen first rubber hoses, four first 5V relays, four first normally closed micro two-position two-way solenoid valves and a high-power air pump that provides positive pressure;

[0015] The negative pressure gas circuit control module consists of three second plastic hose five-way connectors, fourteen second rubber hoses, four second 5V relays, four second normally closed micro two-position two-way solenoid valves and a high-power air pump that provides negative pressure.

[0016] Furthermore, the double-layer origami module is composed of three groups of origami structures, each group of origami structures includes an origami fluid grid structure and an origami strain limiting layer structure; the torsion origami module is composed of a cube component with a crease and a circular cover component; the connecting block component is a rectangular structure with a rectangular through groove, one side of the rectangular structure has a circular hole, and the circular hole is connected to the rectangular through groove; the flipper component is composed of a serrated rectangular sheet structure and a rectangular hole structure.

[0017] Furthermore, the origami fluid grid structure is composed of two hexagonal bodies and a quadrilateral body folded together, the quadrilateral bodies are distributed between the two hexagonal bodies, and the interiors of the quadrilateral bodies and the hexagonal bodies are connected by a cavity; the origami strain limiting layer structure is composed of two thinner hexagonal bodies folded together, and there is a diamond crease line ring at the folding point at one end of the two thinner hexagonal bodies; one of the six surfaces of the creased cubic component is designed with a circular boss, and the interior of the circular boss is connected to the interior of the creased cubic component by a cavity, and a circular through groove is provided at one end of the circular cover component, and an interference fit is performed between the circular boss and the circular through groove; a serrated rectangular sheet structure and a rectangular hole structure are connected by a rectangular body structure.

[0018] Furthermore, there are ten 4mm circular through grooves on the bottom surface of the shell component, four of which are used to penetrate the first rubber hose, and the remaining six circular through grooves can be used to install M4 machine screws, and the surface of the glass hemispherical component has a circular hole, and the circular through groove on the bottom surface of the shell component can be aligned with the circular hole on the surface of the glass hemispherical component, so that the shell component and the glass hemispherical component are fitted and fixed together; four circular through grooves are opened on the surrounding surface of the shell component for installing the circular cover component; two semicircular boss structures are designed inside the shell component, and circular through grooves are designed on the surface of the semicircular boss structure;

[0019] Furthermore, a circular through groove is also designed on the surface of the upper cover member; the circular through groove on the surface of the semicircular boss and the circular through groove on the surface of the upper cover member can be aligned concentrically, and the two circular through grooves can be used to install M4 machine screws, so that the shell member and the upper cover member are fit and fixed together; there is a rectangular through groove on the surface of the upper cover member for installing the ESP32 CAM camera development board, and the 3.7V lithium battery is placed inside the shell member, and the 3.7V lithium battery supplies power to the ESP32 CAM camera development board.

[0020] Furthermore, a group of positive pressure air circuit control modules of the trachea control system unit is composed of the following components: one end of four first rubber hoses is connected to the circular hole on the surface of the connecting block component, and the other end is connected to the four joints of the first first plastic hose five-way joint, the joint five of the first first plastic hose five-way joint is connected to the joint one of the second first plastic hose five-way joint, the four joints of the second first plastic hose five-way joint are connected to the exhaust ports of four first normally closed micro two-position two-way solenoid valves, the air inlets of the four first normally closed micro two-position two-way solenoid valves are connected to the four joints of the third first plastic hose five-way joint, and the joint five of the third first plastic hose five-way joint is connected to a high-power air pump that provides positive pressure; the air circuit connection order is: round hole rubber hose one—joint one of the first first plastic hose five-way joint, round hole rubber hose two—joint two of the first first plastic hose five-way joint, round hole rubber hose three—joint three of the first first plastic hose five-way joint , round hole rubber hose four - connector four of the first first plastic hose five-way joint, connector five of the first first plastic hose five-way joint - connector one of the second first plastic hose five-way joint, connector two of the second first plastic hose five-way joint - exhaust port one, connector three of the second first plastic hose five-way joint - exhaust port two, connector four of the second first plastic hose five-way joint - exhaust port three, connector five of the second first plastic hose five-way joint - exhaust port four, air inlet one - connector one of the third first plastic hose five-way joint, air inlet two - connector two of the third first plastic hose five-way joint, air inlet three - connector three of the third first plastic hose five-way joint, air inlet four - connector four of the third first plastic hose five-way joint, connector five of the third first plastic hose five-way joint - a high-power air pump that provides positive pressure; the positive and negative poles of the first normally closed micro two-position two-way solenoid valve are connected to the first 5V relay, and the first 5V relay is connected by Arduino Controlled by uno development board; the circuit connection sequence is: positive and negative poles of solenoid valve one—relay interface one, positive and negative poles of solenoid valve two—relay interface two, positive and negative poles of solenoid valve three—relay interface three, positive and negative poles of solenoid valve four—relay interface four, relay interface five—Arduino uno development board, relay interface six—Arduino uno development board, relay interface seven—Arduino uno development board, relay interface eight—Arduino uno development board.

[0021] Furthermore, a group of negative pressure air circuit control modules of the trachea control system unit is composed of the following components: one end of four second rubber hoses is connected to the through groove of the circular cover component, and the other end is connected to the four joints of the first second plastic hose five-way joint, and the remaining connection parts are basically the same as the connection method of the positive pressure air circuit control module, so the air circuit connection sequence is: through groove rubber hose one—joint one of the first second plastic hose five-way joint, through groove rubber hose two—joint two of the first second plastic hose five-way joint, through groove rubber hose three—joint three of the first second plastic hose five-way joint, through groove rubber hose four—joint four of the first second plastic hose five-way joint, joint five of the first second plastic hose five-way joint—joint one of the second second plastic hose five-way joint, joint two of the second second plastic hose five-way joint—exhaust port five , connector three of the second second plastic hose five-way connector—exhaust port six, connector four of the second second plastic hose five-way connector—exhaust port seven, connector five of the second second plastic hose five-way connector—exhaust port eight, air inlet five—connector one of the third second plastic hose five-way connector, air inlet six—connector two of the third second plastic hose five-way connector, air inlet seven—connector three of the third second plastic hose five-way connector, air inlet eight—connector four of the third second plastic hose five-way connector, connector five of the third second plastic hose five-way connector—a high-power air pump that provides negative pressure; the circuit connection sequence is: positive and negative poles five of the solenoid valve—relay interface nine, positive and negative poles six of the solenoid valve—relay interface ten, positive and negative poles seven of the solenoid valve—relay interface eleven, positive and negative poles eight of the solenoid valve—relay interface twelve, relay interface thirteen—Arduino uno development board, relay interface fourteen—Arduino uno development board, relay interface fifteen—Arduino uno development board, relay interface sixteen—Arduino uno development board.

[0022] Furthermore, the first rubber hose and the second rubber hose connected to the circular holes on the surface of the connecting block component and the through grooves of the circular cover component are placed inside the shell component, and there are eight 4mm through holes at the end of the shell component for extending the rubber hoses and connecting them to the positive pressure air circuit control module and the negative pressure air circuit control module.

[0023] Furthermore, the high-power air pump providing positive pressure and the high-power air pump providing negative pressure are in a continuous air supply state, and all eight 5V relays are controlled by an Arduino uno development board.

[0024] Furthermore, except for the glass hemisphere component, M4 machine screws, ESP32 CAM camera development board and 3.7V lithium battery in the origami structure unit and the body structure unit, the remaining modules can be directly printed by a low-cost fused deposition modeling 3D printer using flexible filaments of thermoplastic elastomers.

[0025] 3. Beneficial effects

[0026] Compared with the prior art, the advantages of the present invention are:

[0027] (1) The present invention provides a double-layer origami module with a small initial volume, which undergoes quasi-sequential unfolding and bending motion driven by positive pressure gas input, realizing a double-layer origami design, wherein the origami fluid network architecture and the origami strain restriction layer architecture are both compliant origami structures. In the early stage of the positive pressure gas driven response, both architectures unfold simultaneously, and the module itself mainly unfolds, and also slightly bends, depending on the hardness of the origami strain restriction layer architecture; when the origami strain restriction layer architecture is almost fully unfolded, the origami fluid network architecture unfolds to drive the entire module body to bend, and the flexibility of soft materials can be extended to areas beyond origami kinematics. By adjusting the design parameters of the origami strain restriction layer architecture, the motion is programmable; the torsional origami module undergoes a folding motion driven by negative pressure gas, and it twists itself to cause a change in height. The corresponding folds are composed of equidistant mountain folds and valley folds. The combination of mountain and valley folds produces a rotationally symmetrical folded cube component. The bottom and top of the cube component are considered rigid during the folding motion, and the angle transformation effect can be achieved during the motion.

[0028] (2) The tracheal control system unit proposed in the present invention can realize amphibious movements of swimming on the water surface and crawling on land by controlling the inflation and exhaust rules of different solenoid valves. The swimming / crawling speed of the soft robot and the precise control of the steering angle can be achieved by controlling the input positive and negative air pressures, thereby simulating the flexibility of biological organisms to a greater extent and possessing bionic characteristics.

[0029] (3) The modules provided by the present invention can be directly printed by a low-cost fused deposition modeling 3D printer using flexible filaments, and have the characteristics of high efficiency, practicality, few consumables and low cost in the manufacturing process. In addition, the soft amphibious robot has the advantages of soft structure, continuous and flexible deformation characteristics, efficient response speed capability, good load distribution characteristics and environmental adaptability, etc. It plays its unique role in resource exploration, disaster relief, coastal exploration and other fields, and has great development and application potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the origami structural unit and the body structural unit.

[0031] Figure 2 It is a schematic diagram of the overall structure of the tracheal control system unit.

[0032] Figure 3 This is an exploded view of each set of origami assembly modules.

[0033] Figure 4 It is a schematic diagram of the double-layer origami module structure.

[0034] Figure 5 It is a schematic diagram of the twist origami module structure.

[0035] Figure 6 It is an exploded diagram of the body's structural units.

[0036] Figure 7 It is a schematic diagram of the gas circuit connection and circuit connection of the gas pipe control system unit.

[0037] Figure 8 It is a schematic diagram of the positive pressure drive and recovery of the double-layer origami module.

[0038] Fig. 9 Schematic diagram of negative pressure drive and recovery of torsion origami module.

[0039] Fig.10 This is a schematic diagram of a soft amphibious robot swimming straight on the water surface.

[0040] Fig.11 This is a schematic diagram of a soft amphibious robot swimming left and right on the water surface.

[0041] Fig.12 This is a schematic diagram of a soft amphibious robot crawling straight on land.

[0042] Fig.13 This is a schematic diagram of a soft amphibious robot turning left and crawling on land.

[0043] Fig.14 This is a schematic diagram of a soft amphibious robot turning right and crawling on land.

[0044] Fig.15 It is a side view of the soft amphibious robot switching between water and land motion states.

[0045] Description of the numbers in the figure:

[0046] 1: Origami structure unit; 2: Body structure unit; 3: Trachea control system unit; 4: Origami assembly module; 5: Double-layer origami module; 6: Twist origami module; 7: Connecting block component; 7-1: Round hole rubber hose 1; 7-2: Round hole rubber hose 2; 7-3: Round hole rubber hose 3; 7-4: Round hole rubber hose 4; 8: Flipper component; 9: Shell component; 10: ESP32 CAM camera development board; 11: 3.7V lithium battery; 12: Upper cover component; 13: Glass hemisphere component; 14: M4 machine screw; 15: Positive pressure airway control module; 16: Negative pressure airway control module; 17: Arduino uno development board; 18: the first first plastic hose five-way joint; 18-1: the first first plastic hose five-way joint of the joint; 18-2: the first first plastic hose five-way joint of the joint; 18-3: the first first plastic hose five-way joint of the joint; 18-4: the first first plastic hose five-way joint of the joint; 18-5: the first first plastic hose five-way joint of the joint; 18-6: the second first plastic hose five-way joint of the joint; 18-7: the second first plastic hose five-way joint of the joint; 18-8: the second Connector 3 of the first five-way connector of the first plastic hose; 18-9: Connector 4 of the second five-way connector of the first plastic hose; 18-10: Connector 5 of the second five-way connector of the first plastic hose; 18-11: Connector 1 of the third five-way connector of the first plastic hose; 18-12: Connector 2 of the third five-way connector of the first plastic hose; 18-13: Connector 3 of the third five-way connector of the first plastic hose; 18-14: Connector 4 of the third five-way connector of the first plastic hose; 18-15: Connector 5 of the third five-way connector of the first plastic hose; 19: First rubber hose; 2 0: First 5V relay; 20-1: Relay interface 1; 20-2: Relay interface 2; 20-3: Relay interface 3; 20-4: Relay interface 4; 20-5: Relay interface 5; 20-6: Relay interface 6; 20-7: Relay interface 7; 20-8: Relay interface 8; 21: First normally closed micro two-position two-way solenoid valve; 21-1: Exhaust port 1; 21-2: Exhaust port 2; 21-3: Exhaust port 3; 21-4: Exhaust port 4; 21-5: Inlet port 1; 21-6: Inlet port 2; 21-7: Inlet port 3; 21-8: air inlet 4; 21-9: positive and negative poles 1 of the solenoid valve; 21-10: positive and negative poles 2 of the solenoid valve; 21-11: positive and negative poles 3 of the solenoid valve; 21-12: positive and negative poles 4 of the solenoid valve; 22: a high-power air pump that provides positive pressure; 23: the first connector of the second plastic hose five-way connector; 23-1: connector 1 of the first second plastic hose five-way connector; 23-2: connector 2 of the first second plastic hose five-way connector; 23-3: connector 3 of the first second plastic hose five-way connector; 23-4: connector 4 of the first second plastic hose five-way connector;23-5: Connector 5 of the first second plastic hose five-way connector; 23-6: Connector 1 of the second second plastic hose five-way connector; 23-7: Connector 2 of the second second plastic hose five-way connector; 23-8: Connector 3 of the second second plastic hose five-way connector; 23-9: Connector 4 of the second second plastic hose five-way connector; 23-10: Connector 5 of the second second plastic hose five-way connector; 23-11: Connector 1 of the third second plastic hose five-way connector; 23-12: Connector 2 of the five-way connector of the plastic hose; 23-13: Connector 3 of the third five-way connector of the second plastic hose; 23-14: Connector 4 of the third five-way connector of the second plastic hose; 23-15: Connector 5 of the third five-way connector of the second plastic hose; 24: Second rubber hose; 25: Second 5V relay; 25-1: Relay interface 9; 25-2: Relay interface 10; 25-3: Relay interface 11; 25-4: Relay interface 12; 25-5: Relay interface 13; 25-6 : Relay interface fourteen; 25-7: Relay interface fifteen; 25-8: Relay interface sixteen; 26: Second normally closed micro two-position two-way solenoid valve; 26-1: Exhaust port five; 26-2: Exhaust port six; 26-3: Exhaust port seven; 26-4: Exhaust port eight; 26-5: Air inlet five; 26-6: Air inlet six; 26-7: Air inlet seven; 26-8: Air inlet eight; 26-9: Solenoid valve positive and negative pole five; 26-10: Solenoid valve positive and negative pole six; 26-11: Solenoid valve positive and negative pole seven; 26-12: positive and negative poles of electromagnetic valve 8; 27: high-power air pump for providing negative pressure; 28: origami structure; 29, origami fluid grid structure; 30: origami strain limiting layer structure; 31: hexagonal body; 32: quadrilateral body; 33: thinner hexagonal body; 34: diamond fold line ring; 35: cube component with folds; 36: circular cover component; 36-1: through groove rubber hose 1; 36-2: through groove rubber hose 2; 36-3: through groove rubber hose 3; 36-4: through groove rubber hose 4. ; DETAILED DESCRIPTION

[0047] The following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all the embodiments. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0048] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the 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 position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" 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 components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] like Figure 1 and Figure 2 As shown, a soft amphibious robot based on a double-layer origami structure and a torsion origami structure comprises an origami structure unit 1, a body structure unit 2 and a tracheal control system unit 3.

[0051] The origami structure unit 1 is distributed at both ends of the body structure unit 2 and is symmetrically installed with respect to the body structure unit 2, with the installation angles of both sides being 60°. The origami structure unit includes four groups of origami assembly modules 4. Figure 3 As shown, each group of origami assembly modules 4 includes a double-layer origami module 5, a twisted origami module 6, a connecting block component 7 and a flipper component 8, wherein the assembly sequence is: double-layer origami module 5—connecting block component 7—twisted origami module 6—flipper component 8, and the connection points need to be sealed with silicone glue to prevent air leakage.

[0052] like Figure 6 As shown, the body structure unit includes a shell component 9, an ESP32 CAM camera development board 10, a 3.7V lithium battery 11, an upper cover component 12, six glass hemisphere components 13 and eight M4 machine screws 14. In addition, except for the glass hemisphere component 13, M4 machine screws 14, ESP32 CAM camera development board 10 and 3.7V lithium battery 11 in the origami structure unit 1 and the body structure unit 2, the remaining modules can be directly printed by a low-cost fused deposition modeling (FDM) 3D printer using flexible filaments of thermoplastic elastomers (TPE) such as thermoplastic polyurethane (TPU).

[0053] like Figure 2 As shown, the airway control system unit 3 includes a group of positive pressure air circuit control modules 15, a group of negative pressure air circuit control modules 16 and an Arduino uno development board 17, and the positive pressure air circuit control module 15 is composed of three first plastic hose five-way connectors 18, fourteen first rubber hoses 19, four first 5V relays 20, four first normally closed micro two-position two-way solenoid valves 21 and a high-power air pump 22 that provides positive pressure;

[0054] The negative pressure air circuit control module 16 is composed of three second plastic hose five-way connectors 23, fourteen second rubber hoses 24, four second 5V relays 25, four second normally closed micro two-position two-way solenoid valves 26 and a high-power air pump 27 for providing negative pressure. The high-power air pump 22 for providing positive pressure and the high-power air pump 27 for providing negative pressure are in a continuous air supply state during the entire movement of the robot, and the four first 5V relays 20 and the four second 5V relays 25 are all controlled by an Arduino uno development board 17 to control their power on and off.

[0055] like Figure 4 As shown, the main part of the double-layer origami module 5 is composed of three groups of origami structures 28, each group of origami structures 28 includes an origami fluid grid structure 29 and an origami strain limiting layer structure 30. The origami fluid grid structure 29 is folded together by two hexagonal bodies 31 and a quadrilateral body 32, the quadrilateral body 32 is distributed between the two hexagonal bodies 31, and the quadrilateral body 32 and the hexagonal body 31 are connected by a cavity to form a C-shaped channel. The origami strain limiting layer structure 30 is folded by two thinner hexagonal bodies 33, and there is a diamond fold line ring 34 at the folding point of one end of the two thinner hexagonal bodies 33, and a V-shaped incision is selectively designed at the fold of the diamond fold line ring 34 to adjust the folding stiffness. Two rectangular structures are also designed at the top and bottom of the origami structure 28. The bottom rectangular structure is in interference fit with the flipper member 8, and the top rectangular structure is in interference fit with the connecting block member 7. Through holes are designed inside the origami structure 28, and the through holes are connected to the inside of the origami structure 28. All the fittings need to be sealed with silicone glue to prevent air leakage. When gas is introduced into the C-shaped channel, the origami fluid grid structure 29 is directly unfolded at the entire crease line under positive pressure. Then, since the unfolding length of the origami strain limiting layer structure 30 remains unchanged, the origami fluid grid structure 29 will change from its own unfolding movement to driving the entire double-layer origami module 5 to achieve bending, thereby realizing programmable movement.

[0056] like Figure 5As shown, the twist origami module 6 is composed of a cube component 35 with a crease and a circular cover component 36. One of the six surfaces of the cube component 35 with a crease is designed with a circular boss. The inside of the circular boss is connected to the inside of the cube component 35 with a crease by a cavity. One end of the circular cover component 36 has a circular through groove running through the entire component. The circular boss and the circular through groove are interference fit, and the fitting part is sealed with silicone glue to prevent air leakage. The circular through groove of the circular cover component 36 is connected to the rubber hose 24. When the inside of the rubber hose 24 is provided with negative pressure, the inside of the cube component 35 with a crease is evacuated, and a twisting movement is performed according to the crease, causing the bottom surface of the twist origami module 6 to rotate. As the negative pressure increases, the twisting angle can reach a maximum of 60°.

[0057] like Figure 3 As shown, the connecting block member 7 is a rectangular parallelepiped structure with a rectangular through groove, and a circular hole is provided on one side of the rectangular parallelepiped structure, and the circular hole is connected to the rectangular through groove. The internal cavity of the connecting block member 7 can be connected to the internal cavity of the double-layer origami module 5, and the rubber hose 19 is connected to the circular hole of the connecting block member 7, so that the high-power air pump 22 providing positive pressure can provide driving gas for the double-layer origami module 5. When the rubber hose 19 is provided with positive pressure, the double-layer origami module 5 is inflated, so that the double-layer origami module 5 is unfolded and bent, and the programmable movement is realized. The flipper member 8 is composed of a serrated rectangular parallelepiped sheet structure and a rectangular hole structure. The serrated rectangular parallelepiped sheet structure and the rectangular hole structure are connected by a rectangular body structure. The rectangular hole structure of the flipper member 8 can achieve interference fit with the rectangular body structure at the bottom of the origami frame 28. When the double-layer origami module 5 is unfolded and bent, the flipper member 8 can be driven to move. When the robot swims on the water, the flipper structure 8 can greatly increase the contact area with the water surface, enabling the soft amphibious robot to move straight or turn; when the robot crawls on land, the design of the serrated rectangular sheet structure can create greater friction between the robot and the ground, allowing better forward and turning crawling.

[0058] like Figure 6As shown, there are ten 4mm circular grooves on the bottom surface of the shell member 9, four of which are used to penetrate the rubber hose 19, and the positive pressure is used to inflate the double-layer origami module 5 through the rubber hose 19. The remaining six circular grooves can be used to install M4 machine screws 14. The surface of the glass hemispherical member 13 has a circular hole. The circular groove on the bottom surface of the shell member 9 can be aligned with the circular hole on the surface of the glass hemispherical member 13, so that the shell member 9 and the glass hemispherical member 13 are fitted and fixed together. The function of the glass hemispherical member 13 is to avoid the contact area between the bottom surface of the shell member 9 and the ground when the soft amphibious robot crawls on land, so that the glass hemispherical member 13 is in direct contact with the ground. The surface of the glass is relatively smooth and can reduce friction with the ground. Therefore, under the driving action of the flipper member 8 driven by the double-layer origami module 5, it can move forward or turn more efficiently. Four 14mm circular grooves are opened on the surface of the shell member 9 around the periphery, which can be used to install a circular cover member 36, and the circular cover member 36 is connected to the rubber hose 24. In addition, two semicircular boss structures are designed on the top of the shell member 9, and a circular through groove is designed on the surface of the semicircular boss structure. A circular through groove is also designed on the surface of the upper cover member 12, and the circular through groove on the surface of the semicircular boss and the circular through groove on the surface of the upper cover member 12 can be aligned concentrically, and the two circular through grooves can be used to install M4 machine screws 14, so that the shell member 9 and the upper cover member 12 are fitted and fixed together. There is a rectangular through groove on the surface of the upper cover member 12 for installing the ESP32 CAM camera development board 10, and the 3.7V lithium battery 11 is placed inside the shell member 9. The 3.7V lithium battery 11 supplies power to the ESP32 CAM camera development board 10. The ESP32 CAM camera development board 10 can shoot dynamic videos of the surrounding environment of the soft amphibious robot when it is swimming / crawling, which is conducive to surveying the surrounding situation. In addition, the rubber hoses 19 / 24 connected to the circular holes on the surface of the connecting block member 7 and the through grooves of the circular cover member 36 are placed inside the shell member 9, and there are eight 4mm through holes at the end of the shell member 9, which are used to extend the first rubber hose 19 and the second rubber hose 24 and connect them to the positive pressure air circuit control module 15 and the negative pressure air circuit control module 16. Therefore, the air circuit connection generated by the first rubber hose 19 and the second rubber hose 24 is regularly placed inside the shell member 9, which greatly utilizes the space of the internal cavity of the shell member 9.

[0059] like Figure 7As shown, a group of positive pressure air circuit control modules 15 of the airway control system unit 3 is composed of the following components: Take a group of air circuits as an example: one end of four first rubber hoses 19 is connected to the round hole on the surface of the connecting block component 7, and the other end is connected to four joints of the first first plastic hose five-way joint 18, the joint 5 18-5 of the first first plastic hose five-way joint is connected to the joint 1 18-6 of the second first plastic hose five-way joint, the four joints of the second first plastic hose five-way joint are connected to the exhaust ports of four first normally closed micro two-position two-way solenoid valves 21, and the four first normally closed micro two-position two-way solenoid valves 21 are connected to the exhaust ports of the four first normally closed micro two-position two-way solenoid valves 21. The air inlet of the two-way solenoid valve 21 is connected to the four joints of the third first plastic hose five-way joint, and the joint five 18-15 of the third first plastic hose five-way joint is connected to the high-power air pump 22 that provides positive pressure; the air circuit connection sequence is: round hole rubber hose one 7-1—joint one 18-1 of the first first plastic hose five-way joint, round hole rubber hose two 7-2—joint two 18-2 of the first first plastic hose five-way joint, round hole rubber hose three 7-3—joint three 18-3 of the first first plastic hose five-way joint, round hole rubber hose four 7-4—first first plastic hose The connector 18-4 of the five-way connector, the connector 18-5 of the first first plastic hose five-way connector—the connector 18-6 of the second first plastic hose five-way connector, the connector 18-7 of the second first plastic hose five-way connector—the exhaust port 1 21-1, the connector 18-8 of the second first plastic hose five-way connector—the exhaust port 2 21-2, the connector 18-9 of the second first plastic hose five-way connector—the exhaust port 3 21-3, the connector 18-10 of the second first plastic hose five-way connector—the exhaust port 4 21-4, the air inlet 1 21-5—the third first plastic hose five-way connector Connector 1 18-11 of the hose five-way connector, air inlet 2 21-6—connector 2 18-12 of the third first plastic hose five-way connector, air inlet 3 21-7—connector 3 18-13 of the third first plastic hose five-way connector, air inlet 4 21-8—connector 4 18-14 of the third first plastic hose five-way connector, connector 5 18-15 of the third first plastic hose five-way connector—a high-power air pump 22 for providing positive pressure; the positive and negative poles of the first normally closed micro two-position two-way solenoid valve 21 are connected to the first 5V relay 20, and the first 5V relay 20 is controlled by the Arduino uno development board 17;The circuit connection sequence is: positive and negative poles 1 of the solenoid valve 21-9—relay interface 1 20-1, positive and negative poles 2 of the solenoid valve 21-10—relay interface 2 20-2, positive and negative poles 3 of the solenoid valve 21-11—relay interface 3 20-3, positive and negative poles 4 of the solenoid valve 21-12—relay interface 4 20-4, relay interface 5 20-5—Arduino uno development board 17, relay interface 6 20-6—Arduino uno development board 17, relay interface 7 20-7—Arduino uno development board 17, relay interface 8 20-8—Arduino uno development board 17. ;

[0060] A set of negative pressure air circuit control modules 16 of the airway control system unit 3 is composed of the following components: one end of four second rubber hoses 24 is connected to the through groove of the circular cover component 36, and the other end is connected to the four joints of the first second plastic hose five-way joint 23, and the remaining connection parts are basically the same as the connection method of the positive pressure air circuit control module 15, so the air circuit connection sequence is: through groove rubber hose 1 36-1—joint 1 23-1 of the first second plastic hose five-way joint, through groove rubber hose 2 36-2—joint 1 23-1 of the first second plastic hose five-way joint, The second connector 23-2 of the head, the third through-groove rubber hose 36-3—the third connector 23-3 of the first second plastic hose five-way connector, the fourth through-groove rubber hose 36-4—the fourth connector 23-4 of the first second plastic hose five-way connector, the fifth connector 23-5 of the first second plastic hose five-way connector—the first connector 23-6 of the second second plastic hose five-way connector, the second connector 23-7 of the second second plastic hose five-way connector—the fifth exhaust port 26-1, the third connector 23-8 of the second second plastic hose five-way connector—the exhaust port Six 26-2, the second second plastic hose five-way joint joint four 23-9 - exhaust port seven 26-3, the second second plastic hose five-way joint joint five 23-10 - exhaust port eight 26-4, air inlet five 26-5 - the third second plastic hose five-way joint joint one 23-11, air inlet six 26-6 - the third second plastic hose five-way joint joint two 23-12, air inlet seven 26-7 - the third second plastic hose five-way joint joint three 23-13, air inlet eight 26-8 - the third Connector four 23-14 of the second plastic hose five-way connector, connector five 23-15 of the third second plastic hose five-way connector—a high-power air pump 27 that provides negative pressure; the circuit connection sequence is: positive and negative poles five 26-9 of the solenoid valve—relay interface nine 25-1, positive and negative poles six 26-10 of the solenoid valve—relay interface ten 25-2, positive and negative poles seven 26-11 of the solenoid valve—relay interface eleven 25-3, positive and negative poles eight 26-12 of the solenoid valve—relay interface twelve 25-4, relay interface thirteen 25-5—Arduino uno development board 17, relay interface fourteen 25-6—Arduino uno development board 17, relay interface fifteen 25-7—Arduino uno development board 17, relay interface sixteen 25-8—Arduino uno development board 17. According to the power on and off of the four first 5V relays 20 and the four second 5V relays 25 controlled by the Arduino uno development board 17, the valve opening and closing of the four first normally closed micro two-position two-way solenoid valves 21 and the four second normally closed micro two-position two-way solenoid valves 26 are controlled in combination, thereby controlling the unfolding / bending of the double-layer origami module 5 and the torsion of the torsion origami module 6, and finally realizing the water surface swimming and land crawling of the soft amphibious robot.

[0061] like Figure 8 As shown, the double-layer origami module 5 has the characteristics of a small initial form. When positive pressure driving is provided in the cavity, it undergoes quasi-sequential unfolding and bending motion, wherein the origami fluid grid structure 29 and the origami strain limiting layer structure 30 are both compliant origami structures. In the initial stage of gas driving, both structures unfold simultaneously, and the double-layer origami module 5 is mainly unfolded, and slight bending also occurs, which depends on the hardness of the origami strain limiting layer structure 30. When the origami strain limiting layer structure 30 is almost fully unfolded, as the pressure increases, the origami fluid grid structure 29 is still unfolding, but it will drive the entire double-layer origami module 5 to bend, thereby reaching a state beyond origami kinematics. The origami structure has a unique function. It can be folded into a compact form when not in use, which can reduce the volume, and converted to a large shape when in use, so as to exert its own function.

[0062] like Fig. 9 As shown, the torsion origami module 6 undergoes a folding motion driven by negative pressure gas, and it twists itself according to the folds to cause a change in height from the bottom to the top, and the corresponding folds are composed of equidistant mountain folds and valley folds. The combination of mountain and valley folds produces a rotationally symmetrical cube component 35 with folds. The thickness of the bottom and top of the cube component 35 is greater than the thickness of the wall, and is considered to be rigid during the folding motion, and can achieve an angle change effect during the motion, with a maximum angle of up to 60°. This combination of a torsion origami structure and a double-layer origami structure first provides portability and mobility in the folded state, and can produce larger movements in the unfolded state. Secondly, through multiple combinations, the robot can achieve multi-degree-of-freedom motion.

[0063] like Fig.10 As shown, the soft amphibious robot based on the twisted origami structure and the double-layer origami structure of the present invention is placed on the water surface and moves forward in the following manner:

[0064] Stage 1: The robot is in the initial state; Stage 2: Relay interface 5 20-5, relay interface 6 20-6, relay interface 7 20-7, and relay interface 8 20-8 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered on, and positive pressure gas is introduced into the air inlet 1 21-5, air inlet 21-6, air inlet 3 21-7, and air inlet 4 21-8 of the first normally closed micro two-position two-way solenoid valve 21, and the double-layer origami module 5 is driven by positive pressure inflation, and the robot is in a semi-driven state; Stage 3: Arduino The relay interface 5 20-5, relay interface 6 20-6, relay interface 7 20-7, and relay interface 8 20-8 of the first 5V relay 20 controlled by the uno development board 17 are powered off, and the air inlet 1 21-5, air inlet 2 21-6, air inlet 3 21-7, and air inlet 4 21-8 of the first normally closed micro two-position two-way solenoid valve 21 are prohibited from entering the positive pressure gas, and the double-layer origami module 5 is slowly retracted by the elastic force of its own flexible material, and the robot is in a recovery state. The above three stages are a cycle of the robot's forward movement on the water surface.

[0065] like Fig.11 As shown, the soft amphibious robot based on the twisted origami structure and the double-layer origami structure of the present invention is placed on the water surface and moves to the left in the following manner:

[0066] Phase 1: The robot is in the initial state; Phase 2: The relay interface 5 20-5 and the relay interface 6 20-6 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered on, and the air inlet 1 21-5 and the air inlet 2 21-6 of the first normally closed micro two-position two-way solenoid valve 21 are supplied with positive pressure gas. Fig.11 The double-layer origami module 5 on the right side of the middle is driven by positive pressure inflation, and the robot is in a semi-driven state; the third stage: the relay interface 5 20-5 and the relay interface 6 20-6 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered off, the air inlet 1 21-5 and the air inlet 2 21-6 of the first normally closed micro two-position two-way solenoid valve 21 are prohibited from entering positive pressure gas, and the double-layer origami module 5 is slowly retracted by the elastic force of its own flexible material, and the robot is in a recovery state. The above three stages are a cycle of the robot's leftward movement on the water surface.

[0067] like Fig.11 As shown, the soft amphibious robot based on the twisted origami structure and the double-layer origami structure of the present invention is placed on the water surface and moves to the right in the following manner:

[0068] Phase 1: The robot is in the initial state; Phase 2: The relay interface 7 20-7 and the relay interface 8 20-8 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered on, and the positive pressure gas is introduced into the air inlet 3 21-7 and the air inlet 4 21-8 of the first normally closed micro two-position two-way solenoid valve 21. Fig.11 The left-side double-layer origami module 5 is driven by positive pressure inflation, and the robot is in a semi-driven state; the third stage: the relay interface 7 20-7 and the relay interface 8 20-8 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered off, the air inlet 3 21-7 and the air inlet 4 21-8 of the first normally closed micro two-position two-way solenoid valve 21 are prohibited from entering positive pressure gas, and the double-layer origami module 5 is slowly retracted by the elastic force of its own flexible material, and the robot is in a recovery state. The above three stages are a cycle of the robot's rightward movement on the water surface.

[0069] like Fig.12 As shown, the soft amphibious robot based on the twisted origami structure and the double-layer origami structure of the present invention is placed on the ground and moves forward in the following manner:

[0070] Phase 1: the robot is in the initial state; Phase 2: the relay interface 13 25-5, the relay interface 14 25-6, the relay interface 15 25-7, and the relay interface 16 25-8 of the second 5V relay 25 controlled by the Arduino uno development board 17 are powered on, and negative pressure gas is introduced into the air inlet 5 26-5, the air inlet 6 26-6, the air inlet 7 26-7, and the air inlet 8 26-8 of the second normally closed micro two-position two-way solenoid valve 26, and the torsion origami module 6 is driven by negative pressure inflation, and the robot is in a semi-driven state; Phase 3: the state of the torsion origami module 6 remains unchanged, and the Arduino The relay interface 13 25-5, relay interface 14 25-6, relay interface 15 25-7 and relay interface 16 25-8 of the second 5V relay 25 controlled by the uno development board 17 are energized, and the air inlet 5 26-5, air inlet 6 26-6, air inlet 7 26-7 and air inlet 8 26-8 of the second normally closed micro two-position two-way solenoid valve 26 are introduced with positive pressure gas, and the double-layer origami module 5 is driven by positive pressure inflation. At this time, the double-layer origami module 5 and the torsion origami module 6 are driven in coordination, and the robot is in a fully driven state; the fourth stage: the state of the double-layer origami module 5 remains unchanged, and the Arduino The relay interface 13 25-5, relay interface 14 25-6, relay interface 15 25-7 and relay interface 16 25-8 of the second 5V relay 25 controlled by the uno development board 17 are powered off, and the air inlet 5 26-5, air inlet 6 26-6, air inlet 7 26-7 and air inlet 8 26-8 of the second normally closed micro two-position two-way solenoid valve 26 are prohibited from entering negative pressure gas, and the torsional origami module 6 is slowly retracted due to the elastic force of its own flexible material, and the robot is in a semi-driven state; the fifth stage: Arduino The relay interface 5 20-5, relay interface 6 20-6, relay interface 7 20-7, and relay interface 8 20-8 of the first 5V relay 20 controlled by the uno development board 17 are powered off, and the air inlet 1 21-5, air inlet 2 21-6, air inlet 3 21-7, and air inlet 4 21-8 of the first normally closed micro two-position two-way solenoid valve 21 are prohibited from entering positive pressure gas, and the double-layer origami module 5 is slowly retracted by the elastic force of its own flexible material, and the robot is in a recovery state. The above five stages are a cycle of the robot's forward ground motion.

[0071] like Fig.13 As shown, the soft amphibious robot based on the twisted origami structure and the double-layer origami structure of the present invention is placed on the ground and moves to the left in the following manner:

[0072] Phase 1: The robot is in the initial state; Phase 2: The relay interface 13 25-5 and the relay interface 14 25-6 of the second 5V relay 25 controlled by the Arduino uno development board 17 are powered on, and the air inlet 5 26-5 and the air inlet 6 26-6 of the second normally closed micro two-position two-way solenoid valve 26 are fed with negative pressure gas. Fig.13 The torsion origami module 6 on the right side is driven by negative pressure inflation, and the robot is in a semi-driven state; the third stage: the state of the torsion origami module 6 remains unchanged, the relay interface 5 20-5 and the relay interface 6 20-6 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered on, and the air inlet 1 21-5 and the air inlet 2 21-6 of the first normally closed micro two-position two-way solenoid valve 21 are fed with positive pressure gas, Fig.14 The double-layer origami module 5 on the middle right side is driven by positive pressure inflation. At this time, the double-layer origami module 5 and the torsion origami module 6 are driven in coordination, and the robot is in a fully driven state; the fourth stage: the state of the double-layer origami module 5 remains unchanged, the relay interface thirteen 25-5 and the relay interface fourteen 25-6 of the second 5V relay 25 controlled by the Arduino uno development board 17 are powered off, the air inlet five 26-5 and the air inlet six 26-6 of the second normally closed micro two-position two-way solenoid valve 26 are prohibited from entering negative pressure gas, the torsion origami module 6 is slowly retracted by the elastic force of its own flexible material, and the robot is in a semi-driven state; the fifth stage: the relay interface five 20-5 and the relay interface six 20-6 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered off, the air inlet one 21-5 and the air inlet two 21-6 of the first normally closed micro two-position two-way solenoid valve 21 are prohibited from entering positive pressure gas, the double-layer origami module 5 is slowly retracted by the elastic force of its own flexible material, and the robot is in a recovery state. The above five stages are a periodic motion of the robot moving leftward on the ground.

[0073] like Fig.14 As shown, the soft amphibious robot based on the twisted origami structure and the double-layer origami structure of the present invention is placed on the ground and moves to the right in the following manner:

[0074] Phase 1: The robot is in the initial state; Phase 2: The relay interface 15 25-7 and the relay interface 16 25-8 of the second 5V relay 25 controlled by the Arduino uno development board 17 are powered on, and the air inlet 7 26-7 and the air inlet 8 26-8 of the second normally closed micro two-position two-way solenoid valve 26 are fed with negative pressure gas. Fig.15The torsion origami module 6 on the left side is driven by negative pressure inflation, and the robot is in a semi-driven state; the third stage: the state of the torsion origami module 6 remains unchanged, the relay interface 7 20-7 and the relay interface 8 20-8 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered on, and the air inlet 3 21-7 and the air inlet 4 21-8 of the first normally closed micro two-position two-way solenoid valve 21 are fed with positive pressure gas, Fig.14 The double-layer origami module 5 on the left side is driven by positive pressure inflation. At this time, the double-layer origami module 5 and the twist origami module 6 are driven in coordination, and the robot is in a fully driven state; the fourth stage: the state of the double-layer origami module 5 remains unchanged, the relay interface 15 25-7 and the relay interface 16 25-8 of the second 5V relay 25 controlled by the Arduino uno development board 17 are powered off, the air inlet 7 26-7 and the air inlet 8 26-8 of the second normally closed micro two-position two-way solenoid valve 26 are prohibited from entering negative pressure gas, the twist origami module 6 is slowly retracted by the elastic force of its own flexible material, and the robot is in a semi-driven state; the fifth stage: the relay interface 7 20-7 and the relay interface 8 20-8 of the first 5V relay 20 controlled by the Arduino uno development board 17 are powered off, the air inlet 3 21-7 and the air inlet 4 21-8 of the first normally closed micro two-position two-way solenoid valve 21 are prohibited from entering positive pressure gas, the double-layer origami module 5 is slowly retracted by the elastic force of its own flexible material, and the robot is in a recovery state. The above five stages are a periodic motion of the robot moving rightward on the ground.

[0075] like Fig.15 As shown, in the water, the robot adopts the movement mechanism of swimming forward in the water. When approaching the shore, it quickly switches to the movement mechanism of crawling forward on the ground, realizing amphibious movement.

[0076] The above is only a preferred specific implementation manner of the present invention; but the protection scope of the present invention is not limited thereto; any technician familiar with the technical field within the technical scope disclosed by the present invention; any equivalent replacement or change based on the technical solution and improved concept of the present invention shall be covered by the protection scope of the present invention.

Claims

1. A soft amphibious robot based on a double-layer origami structure and a twisted origami structure, characterized in that: It comprises an origami structure unit (1), a body structure unit (2) and a trachea control system unit (3); The origami structural unit (1) is distributed at both ends of the body structural unit (2), and the origami structural unit (1) comprises four groups of origami assembly modules (4); Each group of origami assembly modules (4) comprises a double-layer origami module (5), a twisted origami module (6), a connecting block component (7) and a flipper component (8); The body structure unit (2) comprises a shell component (9), an ESP32 CAM camera development board (10), a 3.7V lithium battery (11), an upper cover component (12), six glass hemispherical components (13) and eight M4 machine screws (14); The tracheal control system unit (3) comprises a group of positive pressure air path control modules (15), a group of negative pressure air path control modules (16) and an Arduino uno development board (17); The positive pressure air circuit control module (15) is composed of three first plastic hose five-way connectors (18), fourteen first rubber hoses (19), four first 5V relays (20), four first normally closed micro two-position two-way solenoid valves (21) and a high-power air pump (22) for providing positive pressure; The negative pressure air circuit control module (16) is composed of three second plastic hose five-way connectors (23), fourteen second rubber hoses (24), four second 5V relays (25), four second normally closed micro two-position two-way solenoid valves (26) and a high-power air pump (27) for providing negative pressure.

2. A soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 1, characterized in that: The double-layer origami module (5) is composed of three groups of origami structures (28), each group of origami structures (28) includes an origami fluid grid structure (29) and an origami strain limiting layer structure (30); the torsion origami module (6) is composed of a cubic component (35) with folds and a circular cover component (36); the connecting block component (7) is a rectangular parallelepiped structure with a rectangular through groove, one side of the rectangular parallelepiped structure has a circular hole, and the circular hole is connected to the rectangular through groove; the flipper component (8) is composed of a rectangular parallelepiped sheet structure with a serrated shape and a rectangular hole structure.

3. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 2, characterized in that: The origami fluid grid structure (29) is formed by folding two hexagonal bodies (31) and a quadrilateral body (32), wherein the quadrilateral body (32) is distributed between the two hexagonal bodies (31), and the interiors of the quadrilateral body (32) and the hexagonal body (31) are connected by a cavity; the origami strain limiting layer structure (30) is formed by folding two thinner hexagonal bodies (33), and a diamond fold line loop (34) is provided at the folded portion at one end of the two thinner hexagonal bodies (33); one of the six surfaces of the folded cube component (35) is designed with a circular boss, and the interior of the circular boss is connected with the interior of the folded cube component (35) by a cavity; one end of the circular cover component (36) is provided with a circular through groove running through the entire component, and an interference fit is performed between the circular boss and the circular through groove; the serrated rectangular sheet structure and a rectangular hole structure are connected by a rectangular body structure.

4. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 2, characterized in that: The bottom surface of the shell component (9) is provided with ten 4 mm circular through grooves, four of which are used to penetrate the first rubber hose (19), and the remaining six circular through grooves are provided for installing M4 machine screws (14); the surface of the glass hemispherical component (13) is provided with circular holes, and the circular through grooves on the bottom surface of the shell component (9) can be aligned with the circular holes on the surface of the glass hemispherical component (13) in a concentric circle, so that the shell component (9) and the glass hemispherical component (13) are fitted and fixed together; the surface of the shell component (9) is provided with four circular through grooves for installing a circular cover component (36); the shell component (9) is provided with two semicircular boss structures, and the surface of the semicircular boss structures is provided with circular through grooves.

5. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 4, characterized in that: The surface of the upper cover member (12) is also designed with a circular through groove; the circular through groove on the surface of the semicircular boss and the circular through groove on the surface of the upper cover member (12) can be aligned concentrically, and the two circular through grooves can be used to install M4 machine screws (14), so that the shell member (9) and the upper cover member (12) are fitted and fixed together; the surface of the upper cover member (12) has a rectangular through groove for installing the ESP32 CAM camera development board (10), and the 3.7V lithium battery (11) is placed inside the shell member (9), and the 3.7V lithium battery (11) supplies power to the ESP32 CAM camera development board (10).

6. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 2, characterized in that: A set of positive pressure airway control modules (15) of the airway control system unit (3) is composed of the following components: one end of the four first rubber hoses (19) is connected to the circular hole on the surface of the connecting block component (7), and the other end is connected to the four joints of the first first plastic hose five-way joint (18), the joint 5 (18-5) of the first first plastic hose five-way joint is connected to the joint 1 (18-6) of the second first plastic hose five-way joint, the four joints of the second first plastic hose five-way joint are connected to the exhaust ports of four first normally closed micro two-position two-way solenoid valves (21), and the air inlets of the four first normally closed micro two-position two-way solenoid valves (21) are connected to the air inlets of the four first normally closed micro two-position two-way solenoid valves (21). The rubber hose is connected to the four joints of the third first plastic hose five-way joint, and the joint five (18-15) of the third first plastic hose five-way joint is connected to the high-power air pump (22) providing positive pressure; the air circuit connection sequence is: round hole rubber hose one (7-1) - joint one (18-1) of the first first plastic hose five-way joint, round hole rubber hose two (7-2) - joint two (18-2) of the first first plastic hose five-way joint, round hole rubber hose three (7-3) - joint three (18-3) of the first first plastic hose five-way joint, round hole rubber hose four (7-4) - joint four (18-4) of the first first plastic hose five-way joint. ), the first first plastic hose five-way joint connector (18-5) - the second first plastic hose five-way joint connector (18-6), the second first plastic hose five-way joint connector (18-7) - the exhaust port (21-1), the second first plastic hose five-way joint connector (18-8) - the exhaust port (21-2), the second first plastic hose five-way joint connector (18-9) - the exhaust port (21-3), the second first plastic hose five-way joint connector (18-10) - the exhaust port (21-4), the air inlet (21-5) - the third first plastic hose five-way joint connector ( 18-11), air inlet two (21-6)—connector two (18-12) of the third first plastic hose five-way connector, air inlet three (21-7)—connector three (18-13) of the third first plastic hose five-way connector, air inlet four (21-8)—connector four (18-14) of the third first plastic hose five-way connector, and connector five (18-15) of the third first plastic hose five-way connector—a high-power air pump (22) providing positive pressure; the positive and negative electrodes of the first normally closed micro two-position two-way solenoid valve (21) are connected to the first 5V relay (20), and the first 5V relay (20) is controlled by the Arduino uno development board (17);The circuit connection sequence is: positive and negative poles 1 (21-9) of the solenoid valve—relay interface 1 (20-1), positive and negative poles 2 (21-10) of the solenoid valve—relay interface 2 (20-2), positive and negative poles 3 (21-11) of the solenoid valve—relay interface 3 (20-3), positive and negative poles 4 (21-12) of the solenoid valve—relay interface 4 (20-4), relay interface 5 (20-5)—Arduino uno development board (17), relay interface 6 (20-6)—Arduino uno development board (17), relay interface 7 (20-7)—Arduino uno development board (17), relay interface 8 (20-8)—Arduino uno development board (17). ; 7. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 6, characterized in that: A set of negative pressure air circuit control modules (16) of the air pipe control system unit (3) is composed of the following components: one end of the four second rubber hoses (24) is connected to the through groove of the circular cover component (36), and the other end is connected to the four joints of the first second plastic hose five-way joint (23), and the remaining connection parts are basically the same as the connection method of the positive pressure air circuit control module (15), so the air circuit connection sequence is: through groove rubber hose one (36-1) - joint one (23-1) of the first second plastic hose five-way joint, through groove rubber hose two (36-2) - the first second plastic hose five-way joint The second connector (23-2) of the five-way connector of the pipe, the third connector (36-3) of the through-groove rubber hose—the third connector (23-3) of the first second plastic hose five-way connector, the fourth connector (36-4) of the through-groove rubber hose—the fourth connector (23-4) of the first second plastic hose five-way connector, the fifth connector (23-5) of the first second plastic hose five-way connector—the first connector (23-6) of the second second plastic hose five-way connector, the second connector (23-7) of the second second plastic hose five-way connector—the fifth exhaust port (26-1), the third connector (23-8) of the second second plastic hose five-way connector—the exhaust port Air port six (26-2), connector four (23-9) of the second second plastic hose five-way connector—exhaust port seven (26-3), connector five (23-10) of the second second plastic hose five-way connector—exhaust port eight (26-4), air inlet five (26-5)—connector one (23-11) of the third second plastic hose five-way connector, air inlet six (26-6)—connector two (23-12) of the third second plastic hose five-way connector, air inlet seven (26-7)—connector three (23-13) of the third second plastic hose five-way connector, air inlet eight (26-8)— The fourth connector (23-14) of the third second plastic hose five-way connector, the fifth connector (23-15) of the third second plastic hose five-way connector—a high-power air pump (27) that provides negative pressure; the circuit connection sequence is: positive and negative poles five (26-9) of the solenoid valve—relay interface nine (25-1), positive and negative poles six (26-10) of the solenoid valve—relay interface ten (25-2), positive and negative poles seven (26-11) of the solenoid valve—relay interface eleven (25-3), positive and negative poles eight (26-12) of the solenoid valve—relay interface twelve (25-4), relay interface thirteen (25-5)— Arduino uno development board (17), relay interface fourteen (25-6)—Arduino uno development board (17), relay interface fifteen (25-7)—Arduino uno development board (17), relay interface sixteen (25-8)—Arduino uno development board (17).

8. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 7, characterized in that: The first rubber hose (19) and the second rubber hose (24) connected to the circular hole on the surface of the connecting block member (7) and the through groove of the circular cover member (36) are both placed inside the shell member (9), and there are eight 4 mm through holes at the end of the shell member (9) for extending the rubber hoses (19, 24) and connecting them to the positive pressure air circuit control module (15) and the negative pressure air circuit control module (16).

9. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 7, characterized in that: The high-power air pump (22) providing positive pressure and the high-power air pump (27) providing negative pressure are in a continuous air supply state, and the four first-channel 5V relays (20) and the four second-channel 5V relays (25) are all controlled by an Arduino uno development board (17).

10. The soft amphibious robot based on a double-layer origami structure and a twisted origami structure according to claim 1, characterized in that: Except for the glass hemispherical component (13), M4 machine screws (14), ESP32 CAM camera development board (10) and 3.7V lithium battery (11) in the origami structure unit (1) and the body structure unit (2), the remaining modules can be directly printed by a low-cost fused deposition modeling (FDM) 3D printer using flexible filaments of thermoplastic elastomer (TPE).

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