A reconfigurable soft actuator structure, soft robot and control method

Abstract

The application discloses a reconfigurable soft body driving structure, a soft robot and a control method, wherein the reconfigurable soft body driving structure comprises: an edge module driving assembly, the edge module driving assembly comprising a first flexible driving part linearly stretching and contracting along a preset direction and a first connecting part connected to the first flexible driving part; an angle module driving assembly, the angle module driving assembly comprising a second connecting part and a second flexible driving part spherically expanding or contracting connected to the second connecting part; a plurality of edge module driving assemblies are arranged along different straight lines to form a polyhedral frame, and a plurality of angle module driving assemblies are located at vertices of the polyhedral frame, and the edge module driving assembly is detachably connected to the two end angle module driving assemblies through the first connecting part and the second connecting part. The problem that the robot in the prior art has poor flexibility and poor adaptability to the environment due to the rigid structure is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of soft robot, in particular to a reconfigurable soft body driving structure, a soft robot and a control method. BACKGROUND

[0002] With the gradual rise of robot technology, there are more and more applications in the fields of intelligent manufacturing, medicine, etc., making the characteristics and functions of robots more and more diversified. The demand for the ability of robots to perform various tasks in different and uncertain environments is increasing, so higher requirements are put forward for the structural adaptability of robots. Under the use demand, modular reconfigurable robots are also more and more applied. Modular reconfigurable robots are composed of single robot module units in different combinations, which can be reconfigured into robots of different forms, giving robots unique and adaptive capabilities, so that robots can complete different tasks in different environments.

[0003] However, the reconfiguration and cluster of robots are mostly completed by rigid robots. In the process of working with rigid robots, due to their rigid structure, there are problems of limited flexibility and poor adaptability to the environment in some relatively tortuous path working environments, which limits the robots in completing specific tasks or in complex working environments.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] In view of the above shortcomings of the prior art, the purpose of the present application is to provide a reconfigurable soft body driving structure, a soft robot and a control method, which solves the problem of poor flexibility and poor adaptability to the environment of robots due to the rigid structure in the prior art.

[0006] The technical scheme of the present application is as follows:

[0007] On the one hand, the present application provides a reconfigurable soft body driving structure, comprising: an edge module driving assembly, the edge module driving assembly comprising a first flexible driving part linearly extending in a preset direction, and a first connecting part connected to the first flexible driving part;

[0008] an angle module driving assembly, the angle module driving assembly comprising a second connecting part, and a second flexible driving part connected to the second connecting part and capable of spherical expansion or contraction;

[0009] A plurality of edge module driving assemblies are arranged in different straight line directions to form a polyhedral frame, a plurality of angle module driving assemblies are respectively located at the vertices of the polyhedral frame, and the edge module driving assembly and the angle module driving assembly at both ends are detachably connected through the first connecting part and the second connecting part.

[0010] Optionally, the first flexible driving part comprises a flexible shell, and a gas cavity is arranged in the flexible shell and extends in a preset direction.

[0011] A flexible support body is arranged in the gas cavity and extends in the preset direction.

[0012] A first gas pressure conveying pipeline is connected to the gas cavity and is used to connect an external gas source to provide positive and negative gas pressure to make the flexible shell linearly stretch and retract.

[0013] Optionally, the second flexible driving part comprises a driving air bag connected to the second connecting part.

[0014] A second gas pressure conveying pipeline is connected to the driving air bag and is used to connect an external gas source to provide positive and negative gas pressure to make the driving air bag expand or contract.

[0015] Optionally, the first connecting part comprises a first magnetic attraction element arranged in the flexible shell and located at both ends of the flexible support body.

[0016] The second connecting part comprises a base frame, and the driving air bag is arranged in the base frame.

[0017] A second magnetic attraction element is arranged on the base frame and is used to generate an attractive force with the first magnetic attraction element.

[0018] Optionally, the base frame comprises at least three clamping seats, and the three clamping seats are arranged perpendicular to each other in pairs to form an expansion limiting space with an opening.

[0019] Three second magnetic attraction elements are respectively fixed on the three clamping seats and are respectively attracted to the side module driving assembly in the up-down direction, the left-right direction and the front-back direction.

[0020] The driving air bag is arranged in the expansion limiting space, and the expansion direction of the driving air bag is limited in the opening direction.

[0021] Optionally, the polyhedral frame comprises a cubic frame, and a plurality of side module driving assemblies in the cubic frame are arranged in the up-down direction, the left-right direction and the front-back direction, respectively.

[0022] A plurality of corner module driving assemblies are respectively located at the vertices of the cubic frame.

[0023] On the other hand, the application also proposes a soft robot comprising at least two reconfigurable soft driving structures as described above; the corner module brake of one soft driving structure and the corner module brake of another soft driving structure are connected by magnetic force to form a reconfigurable connecting unit.

[0024] In the reconfigurable connection unit, the side of the second connection part located at the two ends of the edge module driving assembly and facing outward has different magnetic poles.

[0025] Optionally, the soft robot comprises four reconfigurable connection units, and at least two pairs of corner module brakes in each reconfigurable connection unit have mutual attraction.

[0026] In a third aspect, the application further provides a control method of the reconfigurable soft driving structure, which is used for the reconfigurable soft driving structure as above, and the method comprises the steps of:

[0027] Controlling the first flexible driving part to linearly stretch and contract along a preset direction to drive the cubic frame to stretch and contract in the up-down direction, the front-back direction or the left-right direction;

[0028] Controlling the second flexible driving part to expand or contract in the vertex direction to drive each vertex of the cubic frame to stretch and contract.

[0029] Further, in the step of controlling the first flexible driving part to linearly stretch and contract along a preset direction to drive the cubic frame to stretch and contract in the up-down direction, the front-back direction or the left-right direction:

[0030] The external air source inputs negative pressure to the edge module driving assembly through the first air pressure conveying pipeline to make the edge module driving assembly contract;

[0031] The external air source inputs positive pressure to the edge module driving assembly through the first air pressure conveying pipeline to make the edge module driving assembly stretch;

[0032] Further, in the step of controlling the second flexible driving part to expand or contract in the vertex direction to drive each vertex of the cubic frame to stretch and contract:

[0033] The external air source inputs positive pressure to the corner module driving assembly through the second air pressure conveying pipeline to make the corner module driving assembly expand;

[0034] The external air source inputs negative pressure to the corner module driving assembly through the second air pressure conveying pipeline to make the corner module driving assembly contract.

[0035] Beneficial effects: Compared with the prior art, the reconfigurable soft body driving structure, the soft body robot and the control method provided in the application, in which the reconfigurable soft body driving structure is combined by the edge module driving assembly and the corner module driving assembly to form a polygonal polyhedral frame, the edge module driving assembly is detachably connected with the corner module driving assemblies at both ends through the first connecting part and the second connecting part, so that the reconfiguration can be realized after disassembly, and the polyhedral frame can also be connected with another polyhedral frame to be combined into different soft body robot structures, so that the function of reconfiguration is realized. Moreover, the soft body robot formed by the linear telescopic first flexible driving part and the spherical expansion or contraction second flexible driving part as the main structure has simple structure, low cost and simple operation. Compared with the traditional rigid robot, the soft body robot can complete different tasks in different environments, adapt to more variable environment task execution, and has better use effect. Moreover, the first flexible driving part and the second flexible driving part are mainly made of soft material, so that the robot constructed has higher flexibility and structural variability, better environmental adaptability and freedom, so that the robot can complete various different tasks in complex environment. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A structural schematic view of a reconfigurable soft body driving structure according to an embodiment of the application;

[0037] Figure 2 A structural schematic view of an edge module driving assembly of a reconfigurable soft body driving structure according to an embodiment of the application;

[0038] Figure 3 A structural schematic view of a corner module driving assembly of a reconfigurable soft body driving structure according to an embodiment of the application;

[0039] Figure 4 A structural schematic view of a second flexible driving part of a corner module driving assembly of a reconfigurable soft body driving structure according to an embodiment of the application;

[0040] Figure 5 A structural schematic view of a second connecting part of a corner module driving assembly of a reconfigurable soft body driving structure according to an embodiment of the application;

[0041] Figure 6 A structural schematic view of a reconfigurable soft body driving structure according to an embodiment of the application;

[0042] Figure 7 A flow chart of a control method of a reconfigurable soft body driving structure according to an embodiment of the application.

[0043] 10, soft body driving structure; 100, edge module driving assembly; 110, first flexible driving part; 111, flexible shell; 112, flexible support body; 113, first air pressure conveying pipeline; 120, first connecting part; 121, first magnetic attraction piece; 200, corner module driving assembly; 210, second flexible driving part; 211, driving air bag; 212, second air pressure conveying pipeline; 213, rolling belt; 220, second connecting part; 221, base frame; 222, clamping seat; 223, pipeline opening; 224, expansion limiting space; 225, second magnetic attraction piece. DETAILED DESCRIPTION

[0044] The application provides a reconfigurable soft body driving structure, a soft robot and a control method. In order to make the purpose, technical scheme and effect of the application more clear and explicit, the application is optionally described in detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the application and do not limit the application.

[0045] The rigid robot not only has the problems of poor flexibility and poor adaptability to the environment, but also usually has a complex transmission structure to realize activities, thereby leading to a complex structure and poor adaptability to different environments. In addition, the rigid robot is easy to collide with the working environment, resulting in damage to the working environment or the rigid robot, and the safety is not high. Based on the above shortcomings, the robot is limited in completing specific tasks or in complex working environments. Therefore, the present application proposes the following embodiments to solve the above problems.

[0046] Embodiment one

[0047] As Figure 1 , Figure 2 , Figure 3As shown, the embodiment proposes a reconfigurable soft drive structure 10, which comprises an edge module drive assembly 100 and a corner module drive assembly 200. The edge module drive assembly 100 is connected with the corner module drive assembly 200, wherein the edge module drive assembly 100 comprises a first flexible drive part 110 linearly extending and retracting along a preset direction, and a first connecting part 120 connected with the first flexible drive part 110. The corner module drive assembly 200 comprises a second connecting part 220, and a second flexible drive part 210 spherically expanding or retracting on the second connecting part 220. A plurality of edge module drive assemblies 100 are arranged along different straight lines to form a polyhedral frame, and a plurality of corner module drive assemblies 200 are respectively arranged at the vertices of the polyhedral frame. The edge module drive assembly 100 and the corner module drive assemblies 200 at both ends are detachably connected through the first connecting part 120 and the second connecting part 220. By arranging the corner module drive assembly 200 at each end of the edge module drive assembly 100, and connecting the plurality of edge module drive assemblies 100 and the plurality of corner module drive assemblies 200, different frame structures can be formed, such as a cuboid structure, a cube structure, an oblique hexahedron structure, and other polyhedral structure forms.

[0048] In the scheme of the embodiment, the first flexible drive part 110 in the edge module drive assembly 100 can perform linear extension and retraction movement, and the second flexible drive part 210 in the corner module drive assembly 200 can perform spherical expansion or retraction movement at the vertex end of the frame. By controlling the extension and retraction amount of the first flexible drive part 110 and the expansion amount of the second flexible drive part 210, the extension and position adjustment of the soft drive structure 10 can be controlled. A plurality of polyhedral frames can be reconfigured and combined according to the required length and size, so as to form a flexible robot. Since the polyhedral frame can move in multiple directions under control, it can move in three-dimensional space like a mechanical arm, and can be controlled to reach a preset position as required to realize the function of the robot.

[0049] And the reconfigurable soft body driven structure 10 is combined by the edge module driven assembly 100 and the corner module driven assembly 200 to form a polyhedral frame with a polygonal shape, and the edge module driven assembly 100 is detachably connected with the corner module driven assemblies 200 at both ends through the first connecting part 120 and the second connecting part 220, so that the reconfiguration can be realized after disassembly, and the polyhedral frame can also be connected with another polyhedral frame to be combined into different soft robot structures, so that the function of reconfiguration is realized. Moreover, the soft robot formed by using the linearly telescopic first flexible driving part 110 and the spherically expandable or contractible second flexible driving part 210 as the main structure has simple structure, low cost and simple operation. Compared with the traditional rigid robot, the soft robot can complete different tasks in different environments, adapt to more variable task execution in different environments, and has better use effect. Moreover, the first flexible driving part 110 and the second flexible driving part 210 are mainly made of soft materials, so that the robot constructed has higher flexibility and structural variability, better environmental adaptability and freedom, so that the robot can complete various different tasks in complex environments.

[0050] As shown in Figure 1 、 Figure 2 The first flexible driving part 110 of the embodiment specifically includes: a flexible shell 111, a flexible support 112 and a first air pressure conveying pipeline 113. The flexible shell 111 is provided with an air cavity extending along a preset direction, and the preset direction is a straight line direction. The flexible support 112 is arranged in the air cavity and extends along the preset direction. The flexible support 112 in the embodiment can adopt a sponge body, which has a certain supporting strength and can also be compressed and stretched, and can stably support the flexible shell 111. The flexible support 112 can also be made of other materials, such as a spring with certain plasticity and other flexible materials that can provide support. The flexible support 112 in the embodiment can adopt a cuboid shape for deformation to generate a braking effect, or can adopt a cylindrical shape. The flexible shell 111 is made of plastic material that can be sealed, used for packaging the flexible support 112, and can be provided with apertures. The first air pressure conveying pipeline 113 is connected with the air cavity through the apertures, and other places of the air cavity in the flexible shell 111 are completely sealed. The first air pressure conveying pipeline 113 is connected with an external air source to provide positive and negative air pressure to make the flexible shell 111 linearly telescopic.

[0051] When the flexible support 112 in the embodiment adopts a sponge body, the sponge body is square, and the size can be 80mmx40mmx40mm. The sponge body with this size form can make the length-width ratio of the sponge body meet the support requirements of the first flexible driving part 110, and also has very good telescopic performance while realizing the support function of the soft robot.

[0052] Further, the first connecting part 120 can be provided in various structural forms. Moreover, the first connecting part 120 can be arranged inside the flexible shell 111 and fixedly connected to the two ends of the flexible support 112, or arranged outside the flexible shell 111 and fixedly connected to the two ends of the flexible shell 111. The first connecting part 120 in the embodiment specifically comprises a first magnetic attraction member 121, which is arranged inside the flexible shell 111 and located at the two ends of the flexible support 112. By arranging the first magnetic attraction member 121 inside the flexible shell 111, the first magnetic attraction member 121 can be limited by the flexible shell 111, thereby ensuring the stability of installation. It should be noted that the first connecting part 120 can also be fixed to the two ends of the flexible shell 111 in a clamping form and clamped with the second connecting part 220 in a clamping manner, or can be formed in a detachable fixed connection, and the connection manner is relatively complex.

[0053] Further, as shown in Figure 1 , Figure 3 , Figure 4 The second flexible driving part 210 in the embodiment specifically comprises a driving air bag 211 and a second air pressure conveying pipeline 212. The driving air bag 211 is connected to the second connecting part 220 and can be docked with the first connecting part 120 arranged on the first flexible driving part 110 through the second connecting part 220. The driving air bag 211 can be a circular latex balloon, and the second air pressure conveying pipeline 212 is connected to the driving air bag 211 and used for connecting an external air source to provide positive and negative air pressure to make the driving air bag 211 expand or contract. In the specific structure, a pipeline opening 223 (as shown in Figure 5 ) is arranged on the second connecting part 220, and the inlet end of the driving air bag 211 is wrapped on the second air pressure conveying pipeline 212 through the pipeline opening 223 and fixed by a rolling belt 213. Under the driving of the external air source, the driving air bag 211 can be provided with positive and negative air pressure by the second air pressure conveying pipeline 212 to achieve expansion and contraction. In this way, the lifting and lowering of the edge module driving assembly 100 can be achieved, and the function of changing the stretching direction of the edge module driving assembly 100 can be achieved.

[0054] As shown in Figure 4 , Figure 5As shown, the structure of the second connecting part 220 is arranged corresponding to the structure of the first connecting part 120, and can also have various forms. When the first connecting part 120 adopts the form of the first magnetic part 121, the second connecting part 220 in this embodiment specifically includes: a base frame 221 and a second magnetic part 225. The driving airbag 211 is arranged in the base frame 221, and an opening is provided on the base frame 221 so that the driving airbag 211 can protrude from the opening, so that the expansion of the driving airbag 211 will not be excessively interfered with by the base frame 221. The second magnetic part 225 is arranged on the base frame 221 and is used to generate suction with the first magnetic part 121. When the first flexible driving part 110 is connected to the second flexible driving part 210, the docking between the two can be achieved directly through the suction between the first magnetic part 121 and the second magnetic part 225. This connection method is simple and easy to reconstruct after disassembly. It is more flexible to use, allowing the soft robot to be adjusted in time according to the usage scenario. It should be noted that the second connection portion 220 can also be designed as a snap-fit ​​structure to match the snap-fit ​​form of the first connection portion 120. The snap-fit ​​form between the two can be a plug-in connection, a hook-type fixed connection, or other connection structures, such as a screw connection.

[0055] Furthermore, if Figure 1 As shown, the polyhedron framework in this embodiment is a cubic framework. Multiple edge module drive assemblies 100 are arranged in the vertical, left-right, and front-back directions within the cubic framework; multiple corner module drive assemblies 200 are located at the vertices of the cubic framework. By adopting a cubic framework, the edge module drive assemblies 100 on each side of the cubic framework are of equal length, and the corner module drive assemblies 200 at each corner are of the same size. This facilitates the formation of reconfigurable modules and facilitates the precise control of the flexible robot.

[0056] Furthermore, if Figure 4 、 Figure 5As shown, the base frame 221 in the embodiment specifically comprises: at least three card seats 222 and three second magnetic attraction members 225. The three card seats 222 are arranged perpendicular to each other in pairs and form an expansion limiting space 224, and an opening is formed in the direction not limited (the direction opposite to the three card seats 222). The driving air bag 211 is arranged in the expansion limiting space 224, and the expansion direction of the driving air bag 211 is limited to the opening formed by the three perpendicular directions. The three second magnetic attraction members 225 are respectively fixed on the three card seats 222 and respectively attract the side module driving assembly 100 in the up-down direction, the left-right direction and the front-back direction. The base frame 221 in the form of three card seats 222 covers three faces of the hexahedron, and the other three faces are open. The pipeline opening 223 is arranged at the connecting top corner of the three card seats 222, and the air inlet of the driving air bag 211 is located at the position. The expansion limiting space 224 formed in this way can limit the driving air bag 211, so that the driving air bag 211 can only expand towards the direction indicated by the top corner of the polyhedral frame. This conforms to the expansion law of the balloon, and is convenient for realizing accurate control of the expansion of the driving air bag 211. Moreover, the second magnetic attraction members 225 are arranged on the three card seats 222, so that the second magnetic attraction members 225 can be connected with the side module driving assembly 100 in the front-back direction, the left-right direction and the up-down direction. While realizing the connection function, the structure is more conducive to reconstruction.

[0057] The side wall of each card seat 222 towards the expansion limiting space 224 is provided with a sink groove, and the second magnetic attraction member 225 is embedded in the sink groove for fixation, so that the surface of the second magnetic attraction member 225 does not protrude from the inner side wall of the expansion limiting space 224. In this way, the surface of the inner side wall of the expansion limiting space 224 is a relatively flat surface, and when the driving air bag 211 is inflated, the pressing force of each inner wall surface on the driving air bag 211 is relatively uniform and stable.

[0058] The working principle is: when the first gas pressure conveying pipeline 113 is filled with negative pressure, the first flexible driving part 110 (sponge) in the air cavity of the flexible shell 111 contracts, so that the first flexible driving part 110 contracts; when the first gas pressure conveying pipeline 113 is filled with positive pressure, the sponge in the air cavity of the flexible shell 111 expands, so that the first flexible driving part 110 expands; thus, the first flexible driving part 110 realizes linear expansion and contraction. When the second gas pressure conveying pipeline 212 is filled with positive pressure, the driving air bag 211 (latex balloon) on the base frame 221 expands. Due to the geometric shape characteristics of the base frame 221, the expansion direction of the latex balloon is limited in three perpendicular directions; when the second gas pressure conveying pipeline 212 is filled with negative pressure, the latex balloon on the base frame 221 contracts; thus, the second flexible driving part 210 realizes braking.

[0059] Embodiment Two

[0060] The embodiment proposes a soft robot, including at least two reconfigurable soft driving structures 10 as described above (as shown in Figure 1 One of the soft driving structures 10 is connected to another soft driving structure 10 through the magnetic force of the corner module brake and the corner module brake to form a reconfigurable connection unit (as shown in Figure 6 In the reconfigurable connection unit, the second connection part 220 at both ends of the side module driving assembly 100 has different magnetic poles on the outward side. In the reconfigurable connection unit, the second connection part 220 at both ends of the side module driving assembly 100 is provided with different magnetic poles to realize the docking of the reconfigurable soft driving structure 10 in sequence, that is, the planes of the two reconfigurable soft driving structures 10 coincide, and the two magnets on the same corner module brake have an attractive force, so that the magnetic poles of the two second connection parts 220 on one side are different, thereby being attracted to the other soft driving structure 10 to realize effective connection.

[0061] Further, the soft robot in the embodiment includes four reconfigurable connection units, and at least two pairs of corner module brakes in each reconfigurable connection unit have an attractive force. Thus, the connection of multiple soft driving structures 10 can be realized, the diversity of splicing is realized, and it is conducive to adapting to different working environments.

[0062] Embodiment Three

[0063] As shown in Figure 7 The embodiment proposes a control method of a reconfigurable soft driving structure, which is used for the reconfigurable soft driving structure as described above, and the method includes the following steps:

[0064] Step S100, controlling the first flexible driving part to linearly stretch and contract along a preset direction to drive the cubic frame to stretch and contract in the up-down direction, the front-back direction, or the left-right direction;

[0065] Step S200, controlling the second flexible driving part to expand or contract in the vertex direction to drive each vertex of the cubic frame to stretch and contract.

[0066] Through the driving control of the first flexible driving part and the second flexible driving part, the first flexible driving part linearly stretches and contracts along the preset direction, changes the length of the robot, and the second flexible driving part expands or contracts in the vertex direction, changes the height of the robot.

[0067] In the specific control process.

[0068] In step S100, the following steps are specifically included:

[0069] Step S110, the external air source inputs negative pressure, and air suction is performed on the edge module driving assembly through the first air pressure conveying pipeline, so that the edge module driving assembly is contracted;

[0070] Step S120, the external air source inputs positive pressure, and air inflation is performed on the edge module driving assembly through the first air pressure conveying pipeline, so that the edge module driving assembly is elongated;

[0071] In step S200, the following steps are specifically included:

[0072] Step S210, the external air source inputs positive pressure, and air inflation is performed on the corner module driving assembly through the second air pressure conveying pipeline, so that the corner module driving assembly is inflated;

[0073] Step S220, the external air source inputs negative pressure, and air suction is performed on the corner module driving assembly through the second air pressure conveying pipeline, so that the corner module driving assembly is contracted.

[0074] To sum up, the application provides a reconfigurable soft body driving structure, a soft body robot and a control method. The application has simple structure, low cost and simple operation. Compared with the traditional rigid robot, the application has better effect when completing different tasks in different environments. The soft body robot is generally made of soft material, so that the robot has higher flexibility and structural variability, better environmental adaptability and freedom, so that the robot can complete various tasks in complex environments. When interfering with the working environment, the flexible structure avoids rigid collision and ensures the safety of use. The gas is used for driving, which simplifies the driving structure and greatly reduces the rigid structure of the whole soft body robot, and the flexibility of the soft body robot is more prominent.

[0075] It should be understood that the application of the application is not limited to the above examples, and those skilled in the art can improve or change according to the above description, and all these improvements and changes should belong to the protection scope of the claims attached to the application.

Claims

1. A reconfigurable software-driven structure, characterized in that: include: An edge module drive assembly, the edge module drive assembly comprising a first flexible drive portion that linearly extends and contracts along a preset direction, and a first connecting portion connected to the first flexible drive portion; An angular module drive assembly, the angular module drive assembly comprising a second connecting portion, and a second flexible drive portion connected to the second connecting portion and capable of spherically expanding or contracting; The plurality of side module drive assemblies are respectively arranged along different straight lines to form a polyhedron frame, the plurality of corner module drive assemblies are respectively located at the vertices of the polyhedron frame, and the side module drive assembly and the corner module drive assemblies at both ends are detachably connected via the first connecting portion and the second connecting portion; The first flexible driving part includes: a flexible shell, wherein an air cavity extending along a preset direction is provided in the flexible shell; a flexible support body, the flexible support body being arranged in the air cavity and extending along a preset direction; a first air pressure delivery pipe, the first air pressure delivery pipe being connected to the air cavity and being used to connect to an external air source to provide positive and negative air pressure to enable the flexible shell to linearly expand and contract; The second flexible driving portion includes: a driving airbag, the driving airbag being connected to the second connecting portion; a second air pressure delivery pipe, the second air pressure delivery pipe being connected to the driving airbag and being used to connect to an external air source to provide positive and negative air pressure to expand or contract the driving airbag; The first connecting portion includes: a first magnetic member, the first magnetic member is respectively arranged in the flexible shell and located at both ends of the flexible support body; The second connecting portion includes: a base frame, and the driving airbag is arranged in the base frame; a second magnetic member, the second magnetic member being disposed on the base frame and configured to generate an attractive force with the first magnetic member; The base frame includes: at least three card seats, the three card seats are arranged perpendicular to each other in pairs and form an expansion limiting space with an opening; Three second magnetic members, which are respectively fixed on the three holders and respectively attract the side module drive components in the up-down direction, the left-right direction, and the front-back direction; The driving airbag is arranged in the expansion limiting space, and the expansion direction of the driving airbag is limited to the opening direction.

2. The reconfigurable software drive structure according to claim 1, characterized in that: The polyhedron frame includes a cube frame, and multiple side module driving components in the cube frame are respectively arranged along the up and down directions, left and right directions, and front and back directions; multiple corner module driving components are respectively located at the vertices of the cube frame.

3. A soft robot, characterized in that: Comprising at least two reconfigurable soft drive structures according to any one of claims 1-2; wherein the corner module brake of one of the soft drive structures and the corner module brake of the other soft drive structure are connected by magnetic force to form a reconfigurable connection unit; In the reconfigurable connection unit, the outwardly facing sides of the second connection portions at both ends of the side module driving assembly have different magnetic poles.

4. The soft robot according to claim 3, characterized in that The soft robot includes four reconfigurable connection units, and at least two pairs of corner module brakes in each reconfigurable connection unit have mutual attraction.

5. A control method for a reconfigurable software-driven structure, characterized in that: For the reconfigurable software drive structure according to any one of claims 1-2, the method comprises the steps of: Controlling the first flexible driving portion to linearly extend and retract along a preset direction to drive the cubic frame to extend and retract along the up-down direction, the front-back direction, or the left-right direction; The second flexible driving portion is controlled to expand or contract in the vertex direction to drive each vertex of the cube frame to expand and contract.

6. The control method of the reconfigurable software drive structure according to claim 5, wherein: In the step of controlling the first flexible driving portion to linearly extend and retract along a preset direction to drive the cubic frame to extend and retract along the up-down direction, the front-back direction, or the left-right direction: An external air source inputs negative pressure to the side module drive assembly through a first air pressure delivery pipe to inhale air, so as to cause the side module drive assembly to contract; An external air source inputs positive pressure to inflate the side module drive assembly through a first air pressure delivery pipe, so as to extend the side module drive assembly; In the step of controlling the second flexible driving portion to expand or contract in the vertex direction to drive each vertex of the cube frame to expand and contract: An external air source inputs positive pressure to inflate the corner module drive assembly through a second air pressure delivery pipe, so as to expand the corner module drive assembly; An external air source inputs negative pressure, and air is sucked into the corner module drive assembly through a second air pressure delivery pipe, so that the corner module drive assembly contracts.

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