Bionic leech soft robot capable of crossing narrow space and marching method thereof

Abstract

The application discloses a bionic leech soft robot capable of crossing narrow space and a marching method thereof, and belongs to the field of bionic soft robots.The device body of the application is composed of a front section, a middle section and a rear section, each section comprising a pneumatic telescopic rod and a ring-shaped air bag for controlling the telescopic action of each section of the device.Two suction cups are fixed to the front section and the rear section respectively for anchoring during marching.The application utilizes two control circuits of positive pressure and negative pressure to control the action of each pneumatic part and the suction cup respectively.The structure and marching strategy of the device are designed through observation and bionics during the marching of the leech.The flexible control of the device by the pneumatic circuit can realize the telescopic action of the overall length of the device, the expansion and contraction of the cross-sectional area, and the flexible turning and pitching at multiple angles, and can realize the marching and crossing of the device through narrow space, and effectively improves the deformation motion ability of the soft robot in response to various complex terrains and marching routes.

Description

Technical Field

[0001] This invention relates to the field of biomimetic soft robots, and in particular to a biomimetic leech soft robot capable of traversing narrow spaces and its method of travel. Background Technology

[0002] With the rapid expansion of the robotics industry, the application fields of robots are becoming increasingly broad. Traditional robots are usually assembled from rigid components. Although they have advantages such as strong power and high precision, their limited degrees of freedom and rigid structure prevent them from navigating confined spaces smaller than themselves. In contrast, soft robots are modeled after soft-bodied animals in nature. Their bodies are mainly composed of elastic materials that can withstand large deformations. Theoretically, they have unlimited degrees of freedom and continuous deformation capabilities, and can arbitrarily change their shape and size according to actual needs. They can adapt to narrow and variable working environments, making soft robots a promising candidate for applications in unstructured, highly constrained, and confined spaces such as pipeline inspection, minimally invasive surgery, and rubble search and rescue.

[0003] Current global research on soft robots remains largely confined to a relatively unconstrained space, exploring their crawling, jumping, and rolling capabilities. Limited research on soft robots navigating confined spaces focuses on their ability to pass through narrow gaps in flat or relatively rugged terrain, gaps far exceeding the robot's effective cross-sectional area. However, in practical applications such as pipeline inspection, minimally invasive surgery, rubble search and rescue, and military reconnaissance, in addition to relatively flat gaps, there are also extremely narrow openings smaller than or far smaller than the robot's dimensions, which current soft robots clearly cannot handle. Therefore, developing a soft robot capable of navigating narrow openings is urgently needed. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic leech soft robot capable of traversing narrow spaces and its method of travel, so as to solve the technical problem of soft robots traversing narrow spaces.

[0005] A biomimetic leech soft robot capable of traversing narrow spaces includes a robot body, which is composed of three parts: a front section, a middle section, and a rear section.

[0006] The front section includes a front end cap I, a front end cap II, three front pneumatic telescopic rods, three air tubes II, six tube clamps, a front annular airbag, and air tube I. Each of the front end caps I and II has three circular grooves for positioning the three front pneumatic telescopic rods. After the three front pneumatic telescopic rods are fitted into the front annular airbag, their ends are fixed by three tube clamps with bolts and nuts. The tube clamps at both ends of the front pneumatic telescopic rods are fixed to the front end caps I and II with bolts and nuts. After the internal structure is installed, the front annular airbag is connected to the threaded holes on the front end caps I and II using screws. The three air tubes II pass through pre-drilled holes on the front end caps II and connect to the three front pneumatic telescopic rods. One end of air tube I connects to the front annular airbag, and the other end of air tube I connects to the pneumatic circuit.

[0007] The middle section includes a middle section end cap I, a middle section end cap II, three middle section pneumatic telescopic rods, three air tubes II, six tube clamps, a middle section annular airbag, and air tube I. Each of the middle section end caps I and II has three circular grooves for positioning the three middle section pneumatic telescopic rods. After the two ends of the three middle section pneumatic telescopic rods are fitted into the middle section annular airbag, they are respectively fixed by three tube clamps with bolts and nuts. The tube clamps at both ends of the middle section pneumatic telescopic rods are fixed to the middle section end caps I and II respectively with bolts and nuts. After the internal structure is installed, the middle section annular airbag is connected by screws to the threaded holes on the middle section end caps I and II. The three air tubes II pass through the pre-drilled holes on the middle section end caps II and connect to the three front section pneumatic telescopic rods. One end of air tube I is connected to the middle section annular airbag, and the other end of air tube I is connected to the pneumatic circuit.

[0008] The rear section includes a rear end cap I, a rear end cap II, three rear pneumatic telescopic rods, three air tubes II, six tube clamps, a rear annular airbag, and air tube I. Each of the rear end caps I and II has three circular grooves for positioning the three rear pneumatic telescopic rods. After the three rear pneumatic telescopic rods are fitted into the rear annular airbag, their ends are fixed by three tube clamps with bolts and nuts. The tube clamps at both ends of the rear pneumatic telescopic rods are fixed to the rear end caps I and II with bolts and nuts. After the internal structure is installed, the rear annular airbag is connected by screws to the threaded holes on the rear end caps I and II. The three air tubes II pass through pre-drilled holes on the rear end caps II and connect to the three rear pneumatic telescopic rods. One end of air tube I connects to the rear annular airbag, and the other end of air tube I connects to the pneumatic circuit.

[0009] The front end cap II and the middle end cap I are respectively fitted with the end cap support and fixed with bolts and nuts to fix the front and middle sections of the device. The middle end cap II and the rear end cap I are respectively fitted with the end cap support and fixed with bolts and nuts to fix the middle and rear sections of the device.

[0010] The front end cap I is also provided with a front suction cup support. The outer side of the front end cap I is fixed to the front suction cup support by bolts and nuts. The front suction cup support is provided with a front suction cup. The front suction cup support and the front suction cup are fixed to each other by screws. The rear end cap II is also provided with a rear suction cup support. The outer side of the rear end cap II is fixed to the rear suction cup support by bolts and nuts. The rear suction cup support is provided with a rear suction cup. The rear suction cup support and the rear suction cup are fixed to each other by screws. An air pipe IV is connected to the front suction cup. One end of the air pipe IV is connected to the front suction cup. The other end passes through the holes in the center of the front end cap I, the front end cap II, the middle end cap I, the middle end cap II, the rear end cap I, and the rear end cap II in sequence, and then passes out from the rear of the device and connects to the pneumatic circuit. The rear suction cup is connected to the pneumatic circuit through an air pipe III.

[0011] The nine air pipes II connected to the three front pneumatic telescopic rods, three middle pneumatic telescopic rods, and three rear pneumatic telescopic rods, and the three air pipes I connected to the front annular airbag, the middle annular airbag, and the rear annular airbag are respectively connected to 12 air pressure regulating valves I. Each air pressure regulating valve I is connected to an air pump and an overflow valve I to form a positive pressure pneumatic control circuit for controlling the movement of each section of the device. Air pipes III and IV are respectively connected to two air pressure regulating valves II. The two air pressure regulating valves II are connected to a negative pressure air pump and an overflow valve II to form a negative pressure pneumatic control circuit for controlling the anchoring of the suction cup.

[0012] A method for a biomimetic leech soft robot capable of traversing confined spaces to move includes the following steps:

[0013] S1. The rear suction cup is anchored and the front suction cup is released by controlling the negative pressure pneumatic control circuit. Then, the front pneumatic telescopic rod is inflated and extended by controlling the positive pressure pneumatic control circuit, and the front annular airbag is depressurized, passively stretched and contracted, so that the front of the device extends forward.

[0014] S2. While maintaining the extension of the front section of the device and the anchoring of the rear suction cup, the middle section pneumatic telescopic rod is inflated and extended by controlling the positive pressure pneumatic control circuit, and the middle section annular airbag is depressurized, passively stretched and contracted, so that the front and middle sections of the device extend forward.

[0015] S3. While maintaining the extension of the front and middle sections of the device and the anchoring of the rear suction cup, the rear pneumatic telescopic rod is inflated and extended by the positive pressure pneumatic control circuit, and the rear annular airbag is depressurized, passively stretched and contracted. The entire device, namely the front, middle and rear sections, is in a forward-extended state.

[0016] S4. The front suction cup is anchored and the rear suction cup is released by the negative pressure pneumatic control circuit. Then, the front annular airbag is inflated and contracted by the positive pressure pneumatic control circuit and the front pneumatic telescopic rod is depressurized and contracted, and the front section of the device retracts forward.

[0017] S5. While maintaining the front section of the device retracted and the front suction cup anchored, the middle section annular airbag is inflated and retracted through the positive pressure pneumatic control circuit, and the middle section pneumatic telescopic rod is depressurized and retracted, causing the front and middle sections of the device to retract forward.

[0018] S6. While maintaining the retraction of the front and middle sections of the device and the anchoring of the front suction cup, the rear annular airbag is inflated and retracted through the positive pressure pneumatic control circuit, and the rear pneumatic telescopic rod is depressurized and retracted. At this time, the device returns to its initial state, that is, the front, middle and rear sections of the device are all in the retracted state. The device has now completed one movement. If it is necessary to continue moving, the steps S1 to S6 above can be repeated. In addition, each part of the front, middle and rear sections of the device is equipped with three pneumatic telescopic rods. By applying different air pressures to them, the device can be controlled more flexibly to complete more complex movements such as turning and pitching.

[0019] The beneficial effects of this invention are:

[0020] The main body of this invention is made of soft materials. Through pneumatic control, it can flexibly extend its length and contract its cross-sectional area, allowing it to travel on surfaces with complex obstacles, rugged terrain, and traverse confined spaces. The invention has a simple structure, and the shapes of its parts are easy to manufacture. All mating connections use standard bolts, screws, and nuts, making assembly convenient.

[0021] The control strategy of this invention is clear and simple. The movement and anchoring of the device are controlled by two loops: positive pressure and negative pressure. The invention is designed as three parts: front section, middle section and rear section. Each section has three controllable pneumatic telescopic rods. By adjusting the air pressure, each section of the device can be flexibly bent and deformed in various directions to cope with various complex terrains and routes.

[0022] This invention is based on the deformation motion mechanism of leeches passing through narrow holes. It comprehensively considers the coupling effect of multiple factors such as the three-dimensional configuration, topology, spatial configuration, and material mechanical properties distribution of soft tissues of leeches to develop a leech-inspired soft robot with excellent ability to pass through narrow holes. This invention overcomes the technical difficulty of traditional soft robots passing through narrow holes smaller than or much smaller than their own size, and obtains key technologies for the design and manufacturing of soft robots that can pass through narrow holes. It is expected to significantly improve the deformation motion performance of existing soft robots in narrow spaces, and provide important biomechanical theoretical basis and technical support for the further practical application of soft robots. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the main body of the present invention;

[0024] Figure 2 This is a schematic diagram of the exploded structure of the part of the present invention;

[0025] Figure 3 This is a schematic diagram of the travel strategy of the present invention.

[0026] The components include: 1. Robot body; 2. Air pressure regulating valve I; 3. Air pump; 4. Overflow valve I; 5. Negative pressure air pump; 6. Air pressure regulating valve II; 7. Overflow valve II; 8. Front annular airbag; 9. Air tube I; 10. Mid-section annular airbag; 11. Rear annular airbag; 12. Air tube II; 13. Rear end cap II; 14. Air tube III; 15. Rear suction cup support; 16. Rear suction cup; 17. Rear pneumatic telescopic rod; 18. Rear end cap I; 19. Mid-section end cap II; 20. Mid-section pneumatic telescopic rod; 21. Mid-section end cap I; 22. Front end cap II; 23. End cap support; 24. Front pneumatic telescopic rod; 25. Front suction cup; 26. Front suction cup support; 27. Air tube IV; 28. Tube clamp; 29. ​​Front end cap I. Detailed Implementation

[0027] Please see Figures 1 to 3 As shown, a biomimetic leech soft robot capable of traversing narrow spaces includes a robot body 1, which is composed of three parts: a front section, a middle section, and a rear section.

[0028] The front section includes a front end cap I 29, a front end cap II 22, three front pneumatic telescopic rods 24, three air tubes II 12, six tube clamps 28, a front annular airbag 8, and an air tube I 9. Each of the front end caps I 29 and II 22 has three circular grooves for positioning the three front pneumatic telescopic rods 24. After the two ends of the three front pneumatic telescopic rods 24 are fitted into the front annular airbag 8, they are respectively fixed by the three tube clamps 28 with bolts and nuts. The clamps 28 at both ends of 24 are fixed to the front end cap I 29 and the front end cap II 22 with bolts and nuts respectively. After the internal structure is installed, the front annular airbag 8 is connected to the threaded holes on the front end cap I 29 and the front end cap II 22 respectively by screws. The three air tubes II 12 pass through the reserved holes on the front end cap II 22 and are connected to the three front pneumatic telescopic rods 24 respectively. One end of the air tube I 9 is connected to the front annular airbag 8, and the other end of the air tube I 9 is connected to the pneumatic circuit.

[0029] The middle section includes a middle section end cap I 21, a middle section end cap II 19, three middle section pneumatic telescopic rods 20, three air tubes II 12, six tube clamps 28, a middle section annular airbag 10, and air tubes I 9. Each of the middle section end caps I 21 and II 19 has three circular grooves for positioning the three middle section pneumatic telescopic rods 20. After the two ends of the three middle section pneumatic telescopic rods 20 are fitted into the middle section annular airbag 10, they are respectively fixed by the three tube clamps 28 with bolts and nuts. The tube clamps 28 at both ends of 20 are fixed to the middle end cap I 21 and the middle end cap II 19 with bolts and nuts respectively. After the internal structure is installed, the middle annular airbag 10 is connected to the threaded holes on the middle end cap I 21 and the middle end cap II 19 respectively by screws. The three air tubes II 12 pass through the reserved holes on the middle end cap II 19 and are connected to the three front pneumatic telescopic rods 24 respectively. One end of the air tube I 9 is connected to the middle annular airbag 10, and the other end of the air tube I 9 is connected to the pneumatic circuit.

[0030] The rear section includes a rear end cap I 18, a rear end cap II 13, three rear pneumatic telescopic rods 17, three air tubes II 12, six tube clamps 28, a rear annular airbag 11, and an air tube I 9. Each of the rear end caps I 18 and II 13 has three circular grooves for positioning the three rear pneumatic telescopic rods 17. After the two ends of the three rear pneumatic telescopic rods 17 are fitted into the rear annular airbag 11, they are respectively fixed by the three tube clamps 28 with bolts and nuts. The tube clamps 28 at both ends of 17 are fixed to the rear end cap I 18 and the rear end cap II 13 with bolts and nuts respectively. After the internal structure is installed, the rear annular airbag 11 is connected to the threaded holes on the rear end cap I 18 and the rear end cap II 13 respectively by screws. The three air tubes II 12 pass through the reserved holes on the rear end cap II 13 and are connected to the three rear pneumatic telescopic rods 17. One end of the air tube I 9 is connected to the rear annular airbag 11, and the other end of the air tube I 9 is connected to the pneumatic circuit.

[0031] The front end cap II 22 and the middle end cap I 21 are respectively fitted with the end cap support 23 and fixed with bolts and nuts to fix the front and middle sections of the device. The middle end cap II 19 and the rear end cap I 18 are respectively fitted with the end cap support 23 and fixed with bolts and nuts to fix the middle and rear sections of the device.

[0032] The front end cap I 29 is also provided with a front suction cup support 26. The outer side of the front end cap I 29 is fixed to the front suction cup support 26 by bolts and nuts. The front suction cup support 26 is provided with a front suction cup 25. The front suction cup support 26 and the front suction cup 25 are fixed to each other by screws. The rear end cap II 13 is also provided with a rear suction cup support 15. The outer side of the rear end cap II 13 is fixed to the rear suction cup support 15 by bolts and nuts. The rear suction cup support 15 is provided with... A rear suction cup 16 is provided, and the rear suction cup support 15 is fixed to the rear suction cup 16 by screws. An air pipe IV 27 is connected to the front suction cup 25. One end of the air pipe IV 27 is connected to the front suction cup 25, and the other end passes through the holes in the center of the front end cap I 29, the front end cap II 22, the middle end cap I 21, the middle end cap II 19, the rear end cap I 18, and the rear end cap II 13 in sequence, and then passes out from the rear of the device and connects to the pneumatic circuit. The rear suction cup 16 is connected to the pneumatic circuit through the air pipe III 14.

[0033] The nine air pipes II12 connected to the three front pneumatic telescopic rods 24, the three middle pneumatic telescopic rods 20, and the three rear pneumatic telescopic rods 17, and the three air pipes I9 connected to the front annular airbag 8, the middle annular airbag 10, and the rear annular airbag 11 are respectively connected to 12 air pressure regulating valves I2. Each air pressure regulating valve I2 is connected to the air pump 3 and the overflow valve I4 to form a positive pressure pneumatic control circuit for controlling the movement of each section of the device. Air pipes III14 and IV27 are respectively connected to two air pressure regulating valves II6. The two air pressure regulating valves II6 are connected to the negative pressure air pump 5 and the overflow valve II7 to form a negative pressure pneumatic control circuit for controlling the anchoring of the suction cup.

[0034] A method for a biomimetic leech soft robot capable of traversing confined spaces to move includes the following steps:

[0035] S1. The rear suction cup 16 is anchored and the front suction cup 25 is released by controlling the negative pressure pneumatic control circuit. Then, the front pneumatic telescopic rod 24 is inflated and extended by controlling the positive pressure pneumatic control circuit, and the front annular airbag 8 is depressurized, passively stretched and contracted, so that the front of the device extends forward.

[0036] S2. While maintaining the extension of the front section of the device and the anchoring of the rear suction cup 16, the middle section pneumatic telescopic rod 20 is inflated and extended by controlling the positive pressure pneumatic control circuit, and the middle section annular airbag 10 is depressurized, passively stretched and contracted, so that the front and middle sections of the device extend forward.

[0037] S3. While maintaining the extension of the front and middle sections of the device and the anchoring of the rear suction cup 16, the rear pneumatic telescopic rod 17 is inflated and extended by controlling the positive pressure pneumatic control circuit, and the rear annular airbag 11 is depressurized, passively stretched and contracted, so that the entire device, namely the front, middle and rear sections, is in a forward-extended state.

[0038] S4. The front suction cup 25 is anchored and the rear suction cup 16 is released by the negative pressure pneumatic control circuit. Then, the front annular airbag 8 is inflated and contracted by the positive pressure pneumatic control circuit, and the front pneumatic telescopic rod 24 is depressurized and contracted, and the front section of the device retracts forward.

[0039] S5. While keeping the front section of the device retracted and the front suction cup 25 anchored, the middle section annular airbag 10 is inflated and retracted through the positive pressure pneumatic control circuit, and the middle section pneumatic telescopic rod 20 is depressurized and retracted, so that the front and middle sections of the device retract forward.

[0040] S6. With the front and middle sections of the device retracted and the front suction cup 25 anchored, the rear annular airbag 11 is inflated and retracted through the positive pressure pneumatic control circuit, and the rear pneumatic telescopic rod 17 is depressurized and retracted. At this time, the device returns to its initial state, that is, the front, middle and rear sections of the device are all in the retracted state. The device has completed one movement. If it is necessary to continue moving, the steps S1 to S6 above can be repeated. In addition, each part of the front, middle and rear sections of the device is equipped with three pneumatic telescopic rods. By applying different air pressures to them, the device can be controlled more flexibly to complete more complex movements such as turning and pitching.

Claims

1. A biomimetic leech soft robot capable of traversing confined spaces, characterized in that: The robot body (1) consists of three parts: a front section, a middle section, and a rear section. The front section includes a front end cap I (29), a front end cap II (22), three front pneumatic telescopic rods (24), three air tubes II (12), six tube clamps (28), a front annular airbag (8), and air tube I (9). Each of the front end caps I (29) and II (22) has three circular grooves for positioning with the three front pneumatic telescopic rods (24). After the three front pneumatic telescopic rods (24) are fitted into the front annular airbag (8), they are respectively fixed by the three tube clamps (28) with bolts and nuts. (24) The pipe clamps (28) at both ends are fixed to the front end cap I (29) and the front end cap II (22) respectively with bolts and nuts. After the internal structure is installed, the front annular airbag (8) is connected to the threaded holes on the front end cap I (29) and the front end cap II (22) respectively by screws. The three air pipes II (12) pass through the reserved holes on the front end cap II (22) and are connected to the three front pneumatic telescopic rods (24). One end of the air pipe I (9) is connected to the front annular airbag (8), and the other end of the air pipe I (9) is connected to the pneumatic circuit. The middle section includes a middle section end cap I (21), a middle section end cap II (19), three middle section pneumatic telescopic rods (20), three air tubes II (12), six tube clamps (28), a middle section annular airbag (10), and air tube I (9). Each of the middle section end caps I (21) and II (19) has three circular grooves for positioning with the three middle section pneumatic telescopic rods (20). After the three middle section pneumatic telescopic rods (20) are fitted into the middle section annular airbag (10), they are respectively fixed by three tube clamps (28) with bolts and nuts. (20) The pipe clamps (28) at both ends are fixed to the middle end cap I (21) and the middle end cap II (19) with bolts and nuts respectively. After the internal structure is installed, the middle annular airbag (10) is connected to the threaded holes on the middle end cap I (21) and the middle end cap II (19) respectively by screws. The three air pipes II (12) pass through the reserved holes on the middle end cap II (19) and are connected to the three front pneumatic telescopic rods (24). One end of the air pipe I (9) is connected to the middle annular airbag (10), and the other end of the air pipe I (9) is connected to the pneumatic circuit. The rear section includes a rear end cap I (18), a rear end cap II (13), three rear pneumatic telescopic rods (17), three air tubes II (12), six tube clamps (28), a rear annular airbag (11), and air tube I (9). Each of the rear end caps I (18) and II (13) has three circular grooves for positioning with the three rear pneumatic telescopic rods (17). After the three rear pneumatic telescopic rods (17) are fitted into the rear annular airbag (11), they are respectively fixed by the three tube clamps (28) with bolts and nuts. (17) The pipe clamps (28) at both ends are fixed to the rear end cap I (18) and the rear end cap II (13) respectively with bolts and nuts. After the internal structure is installed, the rear annular airbag (11) is connected to the threaded holes on the rear end cap I (18) and the rear end cap II (13) respectively by screws. The three air pipes II (12) pass through the reserved holes on the rear end cap II (13) and are connected to the three rear pneumatic telescopic rods (17). One end of the air pipe I (9) is connected to the rear annular airbag (11), and the other end of the air pipe I (9) is connected to the pneumatic circuit. The front end cap II (22) and the middle end cap I (21) are respectively fitted with the end cap support (23) and fixed with bolts and nuts to fix the front and middle sections of the device. The middle end cap II (19) and the rear end cap I (18) are respectively fitted with the end cap support (23) and fixed with bolts and nuts to fix the middle and rear sections of the device.

2. The biomimetic leech soft robot capable of traversing confined spaces according to claim 1, characterized in that: The front end cap I (29) is also provided with a front suction cup support (26). The outer side of the front end cap I (29) is fixed to the front suction cup support (26) by bolts and nuts. The front suction cup support (26) is provided with a front suction cup (25). The front suction cup support (26) and the front suction cup (25) are fixed to each other by screws. The rear end cap II (13) is also provided with a rear suction cup support (15). The outer side of the rear end cap II (13) is fixed to the rear suction cup support (15) by bolts and nuts. The rear suction cup support (15) is provided with a front suction cup support (25). The rear suction cup (16) and the rear suction cup support (15) are fixed to the rear suction cup (16) by screws. The front suction cup (25) is connected to the air pipe IV (27). One end of the air pipe IV (27) is connected to the front suction cup (25), and the other end passes through the holes in the center of the front end cap I (29), the front end cap II (22), the middle end cap I (21), the middle end cap II (19), the rear end cap I (18) and the rear end cap II (13) in sequence, and then passes out from the rear of the device and connects to the pneumatic circuit. The rear suction cup (16) is connected to the pneumatic circuit through the air pipe III (14).

3. The biomimetic leech soft robot capable of traversing confined spaces according to claim 2, characterized in that: The nine air pipes II (12) connected to the three front pneumatic telescopic rods (24), the three middle pneumatic telescopic rods (20) and the three rear pneumatic telescopic rods (17), and the three air pipes I (9) connected to the front annular airbag (8), the middle annular airbag (10) and the rear annular airbag (11) are respectively connected to 12 air pressure regulating valves I (2). Each air pressure regulating valve I (2) is connected to the air pump (3) and the overflow valve I (4) to form a positive pressure pneumatic control circuit for controlling the movement of each section of the device. Air pipe III (14) and air pipe IV (27) are respectively connected to two air pressure regulating valves II (6). The two air pressure regulating valves II (6) are connected to the negative pressure air pump (5) and the overflow valve II (7) to form a negative pressure pneumatic control circuit for controlling the anchoring of the suction cup.

4. A method for a biomimetic leech soft robot capable of traversing confined spaces, based on the biomimetic leech soft robot capable of traversing confined spaces as described in any one of claims 1 to 3, comprising the following steps: S1. The rear suction cup (16) is anchored and the front suction cup (25) is released by controlling the negative pressure pneumatic control circuit. Then, the front pneumatic telescopic rod (24) is inflated and extended by controlling the positive pressure pneumatic control circuit, and the front annular airbag (8) is depressurized, passively stretched and contracted, so that the front of the device extends forward. S2. While keeping the front section of the device extended and the rear suction cup (16) anchored, the middle section pneumatic telescopic rod (20) is inflated and extended by controlling the positive pressure pneumatic control circuit, and the middle section annular airbag (10) is depressurized, passively stretched and contracted, so that the front and middle sections of the device extend forward. S3. While maintaining the extension of the front and middle sections of the device and the anchoring of the rear suction cup (16), the rear pneumatic telescopic rod (17) is inflated and extended by controlling the positive pressure pneumatic control circuit, and the rear annular airbag (11) is depressurized, passively stretched and contracted, so that the entire device, namely the front, middle and rear sections, is in a forward-extended state. S4. The front suction cup (25) is anchored and the rear suction cup (16) is released by controlling the negative pressure pneumatic control circuit. Then, the front annular airbag (8) is inflated and contracted by controlling the positive pressure pneumatic control circuit and the front pneumatic telescopic rod (24) is depressurized and contracted, and the front section of the device contracts forward. S5. While keeping the front section of the device contracted and the front suction cup (25) anchored, the middle section annular airbag (10) is inflated and contracted by controlling the positive pressure pneumatic control circuit, and the middle section pneumatic telescopic rod (20) is depressurized and contracted, and the front and middle sections of the device contract forward. S6. While keeping the front and middle sections of the device retracted and the front suction cup (25) anchored, the rear annular airbag (11) is inflated and retracted by controlling the positive pressure pneumatic control circuit, and the rear pneumatic telescopic rod (17) is depressurized and retracted. At this time, the device returns to its initial state, that is, the front, middle and rear sections of the device are all in a retracted state. The device has completed one movement. If it is necessary to continue moving, the steps S1 to S6 above can be repeated. In addition, each part of the front, middle and rear sections of the device is equipped with three pneumatic telescopic rods. By giving them different air pressures, the device can be controlled more flexibly to complete more complex movements such as turning and pitching.

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