A four-degree-of-freedom origami soft robot for underground cable inspection

Abstract

The application provides a four-degree-of-freedom origami soft robot for underground cable inspection, and belongs to the technical field of soft crawling robots. The structure comprises an origami soft driver, movable rigid-flexible clamping jaws, a ring-type silica gel soft foot, a front sleeve, a rear sleeve, a front soft gasket, a rear soft gasket, a front fixed pin, a rear fixed pin, a front Z-shaped base, a rear Z-shaped base, an arc-shaped front base, an arc-shaped rear base, a front rotating shaft, a rear rotating shaft, a front clamping groove, a rear clamping groove, a front infrared camera and a rear infrared camera, and further comprises a manufacturing process of the origami soft driver, parallel gas-liquid driving control multi-chamber and gait planning of four-degree-of-freedom movement in imitation of lepidopterous larva peristalsis. The origami soft driver has four degrees of freedom. Through parallel control algorithm design and multi-chamber gas-liquid driving control, different movement effects of the origami soft robot are achieved. Through imitation of the crawling process of lepidopterous larvae, peristaltic crawling of the robot and various movement effects can be achieved.

Description

Technical Field

[0001] This invention relates to the field of soft crawling robot technology, and in particular to a four-degree-of-freedom origami soft robot for underground cable inspection. Background Technology

[0002] With social development and urban redevelopment, the overhead power lines built in the last century, such as those using poles and maneuvering cables, have gradually been replaced by underground cables due to concerns about urban appearance and electrical safety. Underground cables offer advantages such as smaller footprint and reliable power transmission, making them the preferred choice for this type of redevelopment. However, due to incomplete urban planning at the beginning of the century, underground cables in older urban areas suffer from various problems, including haphazard wiring, difficult inspections, and poor environmental conditions. The messy wiring makes conventional inspection robots unable to replace manual inspections, and 40% of the underground cable inspection space has a diameter of less than 50cm, making it impossible for manual inspections. Underground cables may also contain rotting animal carcasses, leaks, and toxic gases. Furthermore, with the passage of time, circuit aging problems have become increasingly frequent and severe, making the inspection of underground cables in older urban areas even more demanding.

[0003] Currently, the most common method for inspecting underground cables is manual inspection, requiring workers to climb into confined spaces. This method carries inherent risks, such as unknown underground conditions, prolonged work in confined spaces, and the presence of decaying animal carcasses, all of which pose significant safety hazards. Another method involves pulling the cable out for inspection or replacing the entire cable, but this method still incurs higher costs and longer time commitments, sometimes doubling the inspection time. Therefore, there is an urgent need for intelligent, portable inspection robots capable of handling the complex underground environments of old urban areas to replace manual inspections and reduce costs.

[0004] Most existing inspection robots are designed for inspecting newly constructed underground cables, such as integrated utility tunnel inspection robots and Boston Dynamics' quadruped robots. These robots require relatively large, flat spaces for movement and inspection, making them unable to navigate confined areas. They are even less capable of effectively inspecting the crisscrossing underground cables in older urban areas. Furthermore, the rigid structure of rigid robots limits their ability to handle complex underground environments, such as situations involving electrical leaks, tangled wires, or tripping hazards. While a small number of soft robots exist, most are limited to specific locations, such as smooth pipe walls or crawling pipes. Their soft actuators mostly only enable single-dimensional movement, and those that achieve multi-dimensional movement often incorporate rigid structures or constraint layers, but still only allow for single-degree-of-freedom movement. In short, neither rigid nor soft inspection robots can currently handle the complexities of underground cables in older urban areas, let alone perform normal inspection tasks. Summary of the Invention

[0005] In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a four-degree-of-freedom origami soft robot for underground cable inspection, which solves the problem of being unable to cope with the complex situation of unknown underground cables in old urban areas, and even more so, being unable to complete normal inspection operations.

[0006] To achieve the above objectives, the present invention provides the following solution: a four-degree-of-freedom origami soft robot for underground cable inspection, comprising: an origami soft actuator, movable rigid-flexible grippers, and embracing silicone soft feet. The two ends of the origami soft actuator are fixedly connected to a front soft pad in the front sleeve and a rear soft pad in the rear sleeve respectively by applying silicone. The front sleeve and the rear sleeve are fixedly connected to a front Z-shaped base and a rear Z-shaped base respectively by a front fixing pin and a rear fixing pin. The front Z-shaped base and the rear Z-shaped base are respectively interference-fitted to a front rotating shaft and a rear rotating shaft via an arc-shaped front base and an arc-shaped rear base. The front rotating shaft and the rear rotating shaft are fixedly connected to a front slot and a rear slot respectively. A front infrared camera is fitted inside the front slot, and a rear infrared camera is fitted inside the rear slot. Movable rigid-flexible grippers are fastened to both sides of the lower part of the front Z-shaped base and the rear Z-shaped base. Embracing silicone soft feet are connected to both sides of the lower part of the arc-shaped front base and the arc-shaped rear base. Front and rear infrared cameras are used for observation and recording of the cables in dark environments, helping inspection workers to detect internal conditions and cable damage. The curved front and rear bases feature an arc design to easily fit the circular structure of the cable, increasing the contact area and preventing the robot from tipping over during crawling. The upper ring width of the curved front and rear bases is also designed. The front and rear sleeves employ a four-hole hollow design, ensuring structural strength while minimizing material consumption and allowing silicone air tubes to pass through.

[0007] Preferably, the origami soft actuator includes a right origami soft airbag, a left origami soft airbag, and an upper origami soft airbag. These airbags are equidistantly arranged and fixedly connected to the front and rear soft pads. Utilizing the characteristics of the origami soft body, it expands to maximize longitudinal elongation and bending, rather than losing length through lateral expansion. Combined with pneumatic-hydraulic drive control, the origami soft body is inflated and inhaled. This, along with combined control of the front left and front right soft feet, and the rear left and rear right soft feet, fixes the robot's position, achieving the origami soft robot's extension, lifting, and bending effects. The outer surfaces of the right, left, and upper origami soft airbags are all Yoshimura origami structures, and the inner surfaces are all tubular origami structures. The Yoshimura origami structures are triangular configurations, with each triangular layer offset by 60°. Yoshimura origami structures are characterized by a high folding ratio, strong extensibility, and high pressure resistance. Utilizing the high folding ratio of Yoshimura origami, excellent extensibility and bending capabilities are achieved. However, a single Yoshimura origami body can only achieve a single degree of freedom in extensibility. Therefore, a Yoshimura origami body is divided into three equal chambers. An inner surface structure is added inside the Yoshimura origami body. This inner surface needs to have the same folding effect as the Yoshimura origami body and be able to undergo bending deformation. The tubular origami structure has excellent folding performance and can complete bending movements. Utilizing the air bladders that couple the Yoshimura origami, which are divided into three parts by the tubular origami structure and are centrally symmetrical, the extensibility and bending movements are accomplished.

[0008] Preferably, the movable rigid-flexible jaws include a front right jaw, a front left jaw, a rear right jaw, and a rear left jaw. The front right jaw and the front left jaw are both fastened to the front Z-shaped base, and the rear right jaw and the rear left jaw are both fastened to the rear Z-shaped base. This ensures mutual fixation, and through the opening and closing movement, combined with the rounded corner structure designed on the inner side of the jaws, it achieves a preliminary adaptive effect to the upper outer diameter of the cable.

[0009] Preferably, the front left claw and the front right claw form a front rigid opening and closing foot structure, and the rear left claw and the rear right claw form a rear rigid opening and closing foot structure.

[0010] Preferably, the wraparound silicone soft feet include a front right soft foot, a front left soft foot, a rear right soft foot, and a rear left soft foot. The front right and front left soft feet are fixedly connected to the arc-shaped front base, and the rear right and rear left soft feet are fixedly connected to the arc-shaped rear base. When the soft feet are inflated, they bend. The angle and range of bending are controlled by the air pressure during inflation, allowing the soft feet on both sides to adapt to and wrap around cables of different diameters. This further conforms to the circular structure of the cable's outer diameter, making the foot more securely fixed to the cable during gait planning and adaptable to cables of different outer diameters. When the soft feet are deflated, they bend slightly outward, separating the foot from the cable and eliminating contact. This avoids friction caused by contact, preventing friction from hindering movement during head lifting and forward movement, resulting in more flexible movement.

[0011] Preferably, the front left soft foot, the front right soft foot, the rear left soft foot, and the rear right soft foot are all segmented airbag structures. The front left soft foot, the front right soft foot, the rear left soft foot, and the rear right soft foot consist of four airbags. Two airbags at the same end can be considered as a chamber. By simultaneously inflating and deflating the two airbags and controlling the air pressure, different contact types between the feet and the cable can be achieved. By changing the contact type, it can adapt to different movement posture requirements and cables of different diameters that need to be inspected.

[0012] A manufacturing process for an origami soft actuator for a four-degree-of-freedom origami soft robot used for underground cable inspection includes the following steps:

[0013] S1. The design of the origami soft actuator involves a one-to-one correspondence between Yoshimura origami and tubular origami. The outward protrusion of Yoshimura origami corresponds to the inward indentation of the corresponding tubular origami, and vice versa. A three-dimensional model of the two origami structures is designed, and then the origami soft airbag model is designed by fitting and cutting the two origami structure models. The three origami soft airbags are then rotated 120° in sequence to achieve a three-in-one design, thus completing the origami soft actuator design.

[0014] S2. Manufacturing process: The origami soft body is integrally molded using a silicone formula and modular mold design, ensuring that the pressure resistance of the silicone soft body can reach 0.5MPa and the air leakage probability is less than 1%.

[0015] S21. Silicone mixing process: Posilicone silicone material with a softness of 20% is used. 39.1g of A-grade silicone and 39.2g of B-grade silicone are used, with a mass error within 0.5g. Both A and B-grade silicone are added simultaneously to a clean container. This simultaneous addition improves the mixing degree of the A and B-grade silicone and reduces the possibility of improper proportions in certain areas during silicone production. The mixture is then stirred counterclockwise for 2 minutes, followed by clockwise for 2 minutes. During stirring, the container is tilted at a 45° angle, ensuring the mixture touches the bottom of the container to achieve optimal mixing. The silicone is then placed in a vacuum container, maintaining a temperature of 20℃-25℃ to prevent overheating and solidification. A vacuum is then applied for 5 minutes to remove air bubbles from the silicone.

[0016] S22. Origami soft casting mold manufacturing process: By using intersecting shearing, the original model is cut by intersecting the rectangle and completing the initial mold design. The mold wall thickness is reduced by 1.5mm through push-pull operation. Then, using modular design thinking, the outer wall mold is disassembled into the left Yoshimura outer wall mold, the right Yoshimura outer wall mold, the tubular outer wall mold, and the origami middle mold. After silicone molding, it can be quickly demolded by quick disassembly to complete the one-piece molding of the origami soft airbag. The mold is 3D printed with PLA polylactic acid as the material. The bed temperature is 50℃ and the extrusion temperature is 170℃. After the mold is printed, the mold is spliced ​​together with a splicing tilt of no more than 0.5°. After the assembly is completed, the base is sealed with hot melt glue and the outside is wrapped with sealing tape.

[0017] S23. Origami soft airbag casting process: During the casting process, cast on one side and ensure that there are air outlets on the other sides. Ensure the temperature is between 20℃ and 25℃ and the silicone extrusion rate does not exceed 10mL / min. After all casting is completed, place the mold in a constant temperature chamber with the temperature set at 60℃ and the time set at 4 hours. Then take the mold out.

[0018] S24. Modular mold disassembly and soft packaging process: First, remove the outer layer of sealant and the base hot melt adhesive. Then, remove the base. Next, remove the outer wall molds of the left and right Yoshimura through the mold gaps. Finally, remove the tubular outer wall mold. Then, extract the origami middle mold by reverse peeling. By trimming the outer perimeter, obtain a one-piece origami soft airbag. Repeat the operation twice to complete the production of three origami soft airbags. Then, splice the three origami soft airbags along the contact surface and fix them with silicone glue to obtain the initial version of the origami soft driver. Then, seal the origami soft driver with silicone sealant. Then, insert and seal the trachea to obtain a four-degree-of-freedom origami soft driver.

[0019] A parallel pneumatic-hydraulic driven control multi-chamber system for a four-degree-of-freedom origami soft robot used for underground cable inspection includes: 12 solenoid valves. Each of the 12 solenoid valves has an air inlet 2 at one end of its upper surface, and air inlets 1 and 3 on its lower surface, arranged parallel and equidistantly. The solenoid valves used are two-position three-way, normally closed, monostable solenoid valves. Pneumatic-hydraulic path changes are achieved electrically, with spring reset. The flow direction is limited and reversible, the operating voltage is 24V DC, and the interface type is QS-4, each with three through holes. In the normally closed state, air inlets 2 and 3 provide a gas / liquid passage. After energization, air inlets 2 and 1 provide a gas / liquid passage. The system can adapt to gas flow pressures of -0.9MPa to 0.8MPa and liquid flow pressures of 0 to 0.7MPa.

[0020] Preferably, the 12 solenoid valves are respectively for positive air source / hydraulic input control, front soft foot gas / liquid state control, rear soft foot gas / liquid state control, upper folding soft airbag gas / liquid state control, left folding soft airbag gas / liquid state control, right folding soft airbag gas / liquid state control, front soft foot deformation state maintenance control, rear soft foot deformation state maintenance control, upper folding soft airbag deformation state maintenance control, left folding soft airbag deformation state maintenance control, right folding soft airbag deformation state maintenance control, and negative air source / hydraulic input control.

[0021] A gait planning system for a four-DOF origami soft robot used for underground cable inspection, mimicking the peristaltic four-DOF movement of a lepidopteran larva, includes the first crawling cycle, a stationary state, a cyclic crawling state, and a head-up state. The front right soft leg, front left soft leg, rear left soft leg, and rear right soft leg are respectively engaged with the grooves of the front right claw, front left claw, rear left claw, and rear right claw to simulate the foot structure of a lepidopteran larva. This is complemented by a four-DOF dual-origami coupled soft actuator consisting of a right-folding soft airbag, a left-folding soft airbag, and an upper-folding soft airbag, simulating the nine segments of a lepidopteran larva's body, thus establishing the structural basis for the biomimetic peristaltic crawling gait planning.

[0022] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0023] This invention provides a four-degree-of-freedom origami soft robot for underground cable inspection. Through an origami structure coupling design, the lateral expansion of the original soft body is reduced, the longitudinal expansion is increased, and the pressure resistance of the soft body is improved. The coupling of the double-origami structure enables the extension, contraction, and bending of the origami soft body's air bladders. By bonding three origami soft air bladders together, the origami soft actuator design is completed. This actuator has four degrees of freedom: extension, lifting and lowering, left lifting and right lowering, and right lifting and left lowering. By combining rigid claws and soft feet, the rigid claw fixing method is improved. Through the rotational connection of the central pivot, the two rigid claws can rotate relative to each other, allowing the origami soft robot to adapt to cable diameters of 20mm-60mm without requiring additional foot replacements. Through parallel control algorithm design and multi-chamber pneumatic-hydraulic drive control, different motion effects of the origami soft robot can be achieved by inflating or aspirating the liquid. By mimicking the movement of lepidopteran larvae during crawling, and utilizing the coordination of foot air bladders and the central origami soft actuator, the robot can achieve peristaltic crawling and various movement effects. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a four-degree-of-freedom origami soft robot for underground cable inspection, provided in an embodiment of the present invention.

[0026] Figure 2 A schematic diagram of a modular origami soft mold structure for a four-degree-of-freedom origami soft robot used for underground cable inspection, provided in an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of a modular embracing soft mold structure for a four-degree-of-freedom origami soft robot used for underground cable inspection, provided in an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of the bottom sealing mold structure of a four-degree-of-freedom origami soft robot for underground cable inspection provided in an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the solenoid valve gas-liquid interface structure of a four-degree-of-freedom origami soft robot for underground cable inspection provided in an embodiment of the present invention;

[0030] Figure 6A schematic diagram of the solenoid valve pneumatic-hydraulic circuit for a four-degree-of-freedom origami soft robot used for underground cable inspection is provided for an embodiment of the present invention.

[0031] Figure 7 A schematic diagram of the gait planning scheme for the first crawling cycle of a four-degree-of-freedom origami soft robot for underground cable inspection, provided in an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1-Front infrared camera, 2-Front slot, 3-Front hinge, 4-Arc-shaped front base, 5-Front Z-shaped base, 6-Front fixing pin, 7-Front sleeve, 8-Front soft pad, 9-Front right jaw, 10-Front left jaw, 11-Front right soft foot, 12-Front left soft foot, 13-Right origami soft airbag, 14-Left origami soft airbag, 15-Upper origami soft airbag, 16-Rear left soft foot, 17- 18-Rear right soft foot, 19-Rear left jaw, 20-Rear right jaw, 21-Rear soft pad, 22-Rear sleeve, 23-Rear fixing pin, 24-Rear Z-shaped base, 25-Rear pivot, 26-Rear slot, 27-Rear infrared camera, 28-Left Yoshimura outer wall mold, 29-Right Yoshimura outer wall mold, 30-Tube-shaped outer wall mold, 31-Origami middle mold, 32-Origami Mold base, 33-Soft foot mold slot lower top cover, 34-Soft foot mold insert lower top cover, 35-Soft foot mold upper top cover, 36-Bottom sealing mold, 37-Positive air source / hydraulic input control, 38-Front soft foot gas / liquid state control, 39-Rear soft foot gas / liquid state control, 40-Upper folding soft airbag gas / liquid state control, 41-Left folding soft airbag gas / liquid state control, 42-Right folding soft airbag gas / liquid state control, 43-Front soft foot deformation state maintenance control, 44-Rear soft foot deformation state maintenance control, 45-Upper folding soft airbag deformation state maintenance control, 46-Left folding soft airbag deformation state maintenance control, 47-Right folding soft airbag deformation state maintenance control, 48-Negative air source / hydraulic input control. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1

[0036] The purpose of this invention is to provide a four-degree-of-freedom origami soft robot for underground cable inspection, such as... Figure 1 As shown, it includes: an origami soft actuator, movable rigid-flexible claws, and a wraparound silicone soft foot. The two ends of the origami soft actuator are fixedly connected to the front soft pad 8, which is fitted in the front sleeve 7, and the rear soft pad 20, which is fitted in the rear sleeve 21, respectively, by applying silicone. The front sleeve 7 and the rear sleeve 21 are fixedly connected to the front Z-shaped base 5 and the rear Z-shaped base 23, respectively, by the front fixing pin 6 and the rear fixing pin 22. The front Z-shaped base 5 and the rear Z-shaped base 23 are respectively connected by... The arc-shaped front base 4 and arc-shaped rear base 24 are interference-fitted with the front pivot 3 and rear pivot 25, respectively. The front pivot 3 and rear pivot 25 are fixedly connected to the front slot 2 and rear slot 26, respectively. A front infrared camera 1 is fitted inside the front slot 2, and a rear infrared camera 27 is fitted inside the rear slot 26. Movable rigid-flexible claws are fastened to both sides of the lower part of the front Z-shaped base 5 and rear Z-shaped base 23. Ring-shaped silicone soft claws are connected to both sides of the lower part of the arc-shaped front base 4 and arc-shaped rear base 24. The front infrared camera 1 and rear infrared camera 27 are used for observation and recording of the front and rear cables in dark environments, helping inspection workers to discover internal conditions and cable damage. The arc-shaped front base 4 and arc-shaped rear base 24 adopt an arc-shaped design, which facilitates the fitting of the circular structure of the cable, increases the contact area, prevents the robot from tipping over during crawling, and also utilizes the width design of the upper circular ring of the arc-shaped front and rear bases. The front sleeve 7 and the rear sleeve 21 adopt a four-hole hollow design, which can reduce the use of materials while ensuring structural strength, and can also allow silicone air tubes to pass through.

[0037] The origami soft actuator includes a right origami soft airbag 13, a left origami soft airbag 14, and an upper origami soft airbag 15. These airbags are equidistantly arranged and fixedly connected to the front soft pad 8 and the rear soft pad 20. Utilizing the characteristics of the origami soft body, it expands to maximize longitudinal elongation and bending, rather than losing length through lateral expansion. Through pneumatic-hydraulic drive control, the origami soft body is inflated and inhaled. Combined with the combined control of the front left soft foot 12 and front right soft foot 11, and the rear left soft foot 16 and rear right soft foot 17, the robot's position is fixed, achieving effects such as extension, lifting, and bending of the origami soft robot.

[0038] The movable rigid-flexible jaws include a front right jaw 9, a front left jaw 10, a rear right jaw 19, and a rear left jaw 18. The front right jaws 9 and 10 are both fastened to the front Z-shaped base 5, while the rear right jaws 19 and 18 are both fastened to the rear Z-shaped base 23. This ensures mutual fixation, and through opening and closing movement, combined with the rounded corner structure designed on the inner side of the jaws, it achieves a preliminary adaptive effect to the upper outer diameter of the cable.

[0039] The wraparound silicone soft feet include a front right soft foot 11, a front left soft foot 12, a rear right soft foot 17, and a rear left soft foot 16. The front right soft feet 11 and 12 are fixedly connected to the arc-shaped front base 4, while the rear right soft feet 17 and 16 are fixedly connected to the arc-shaped rear base 24. When the soft feet are inflated, they bend. The angle and range of bending are controlled by the air pressure during inflation, allowing the soft feet to adapt to and wrap around cables of different diameters. This further conforms to the circular structure of the cable's outer diameter, making the foot more securely fixed to the cable during gait planning and adaptable to cables of different outer diameters. When the soft feet are deflated, they bend slightly outwards, separating the foot from the cable and eliminating contact. This avoids friction caused by contact, preventing friction from hindering movement during head lifting and forward movement, resulting in more flexible movement.

[0040] The wraparound silicone soft foot is molded using a wraparound silicone soft foot mold. The mold is created by intersecting and shearing the original model using a rectangular shape, thus completing the initial mold design. Through a push-pull operation, the mold wall thickness is reduced by 1.2mm, which is the thickness after the wraparound soft airbag is formed. Using a modular design approach, the outer mold is divided into three parts: the soft foot mold slot lower top cover 33, the soft foot mold insert lower top cover 34, and the soft foot mold upper top cover 35. After the silicone is formed, it can be quickly demolded by rapid disassembly. Simultaneously, silicone is poured into the bottom sealing mold 36, and the demolded airbag part is placed on the filled bottom sealing mold, completing the bottom sealing of the wraparound soft airbag. Figure 3 , Figure 4 As shown.

[0041] The outer surfaces of the right-folding soft airbag 13, the left-folding soft airbag 14, and the upper-folding soft airbag 15 are all Yoshimura origami structures, while the inner surfaces are all tubular origami structures. The Yoshimura origami structure is a triangular configuration, with each layer of the triangular configuration offset by 60°. The Yoshimura origami structure has a high folding ratio, strong extensibility, and strong pressure resistance. Utilizing the high folding ratio of Yoshimura origami, excellent extensibility and bending capabilities are achieved. However, a single Yoshimura origami soft body can only achieve a single degree of freedom in extensibility. Therefore, a Yoshimura origami soft body is divided into three equal chambers. An inner surface structure is added inside the Yoshimura origami soft body. This inner surface needs to have the same folding effect as the Yoshimura origami soft body and be able to undergo bending deformation. The tubular origami structure has excellent folding performance and can complete bending movements. By using the airbags that are centrally symmetrically coupled with the three parts divided by the tubular origami structure, the extensibility and bending movements are completed.

[0042] The front left pawl 10 and the front right pawl 9 form a front rigid opening and closing foot structure, and the rear left pawl 18 and the rear right pawl 19 form a rear rigid opening and closing foot structure.

[0043] The front left soft foot 12, front right soft foot 11, rear left soft foot 16, and rear right soft foot 17 are all segmented airbag structures. These four airbags, with two airbags at the same end forming a single chamber, allow for simultaneous inflation and deflation of the two airbags, as well as pressure control. This enables different contact types between the feet and the cable, adapting to varying movement postures and different diameters of cables requiring inspection.

[0044] like Figure 2 As shown, the manufacturing process of an origami soft actuator for a four-degree-of-freedom origami soft robot used for underground cable inspection includes the following steps:

[0045] S1. The design of the origami soft actuator involves a one-to-one correspondence between Yoshimura origami and tubular origami. The outward protrusion of Yoshimura origami corresponds to the inward concavity of the corresponding tubular origami, and vice versa. A three-dimensional model of the two origami structures is designed, and then the origami soft airbag model is designed by fitting and cutting the two origami structure models. The three origami soft airbags are then rotated 120° sequentially to achieve a three-in-one design, thus completing the origami soft actuator design.

[0046] S2. Manufacturing Process: The origami soft body is integrally molded using a self-developed silicone formula and modular mold design. The superior silicone formula ensures the soft body can withstand pressure up to 0.5MPa. The integral molding technology guarantees the soft body's sealing performance and improves its toughness. Under certain deformation, after 100 inflation tests, the air leakage probability is less than 1%, compared to 10% for the original spliced ​​origami soft body, representing a 9% improvement. The following are the design and manufacturing steps for the origami soft body's actuator:

[0047] S21. Silicone Mixing and Manufacturing Process: This origami soft actuator uses Posilicone silicone material with a softness of 20%. 39.1g of A-grade silicone and 39.2g of B-grade silicone are used, with a mass error within 0.5g. Both A and B-grade silicone are added simultaneously to a clean container. This simultaneous addition improves the mixing degree of the A and B-grade silicone and reduces the possibility of improper mixing in certain areas during silicone manufacturing. The mixture is then stirred counterclockwise for 2 minutes, followed by clockwise for 2 minutes. During stirring, the container is tilted at a 45° angle, ensuring the mixture touches the bottom of the container to achieve optimal mixing. The silicone is then placed in a vacuum container, maintaining a temperature of 20℃-25℃ to prevent overheating and solidification. A vacuum is then applied for 5 minutes to remove air bubbles from the silicone, ensuring there are no air bubbles present. This effectively improves the success rate of the origami soft airbag design.

[0048] S22. Origami soft body casting mold manufacturing process: Based on the above origami principles, a three-dimensional model design for a single origami soft airbag is completed. After the model is completed, the original model is cut by intersecting with a rectangle to complete the initial mold design. The mold wall thickness is reduced by 1.5mm through push-pull operations. This thickness is the thickness of the origami soft airbag after molding. Then, using modular design thinking, the outer wall mold is divided into four parts: the left Yoshimura outer wall mold 28, the right Yoshimura outer wall mold 29, the tubular outer wall mold 30, and the origami middle mold 31. Silicone molding... Afterwards, quick demolding can be achieved through rapid disassembly, completing the one-piece molding of the origami soft airbag. The mold is 3D printed using PLA (polylactic acid) material, with a bed temperature of 50℃ and an extrusion temperature of 170℃. After the mold is printed, it is assembled as shown in the figure below. During assembly, the origami middle mold 31 needs to be fixed to the fixing point in the origami mold base 32. If the origami middle mold 31 is tilted, it will cause uneven thickness of the origami soft body. Therefore, the tilt angle should not exceed 0.5°. After assembly, the base is sealed with hot melt glue, and the outside is wrapped with sealing tape to prevent silicone from flowing out.

[0049] S23. Origami Soft Airbag Casting Process: After the above steps, silicone casting begins. During casting, only one side needs to be cast, ensuring that the other sides have air vents to prevent the formation of a vacuum, which would lead to failure in the origami soft airbag production. The temperature must be maintained between 20℃ and 25℃ during casting to prevent the silicone from overheating and solidifying. The silicone extrusion rate should not exceed 10mL / min; too high a rate will cause air bubbles to form in the origami soft airbag, leading to production failure. After all casting is completed, the mold is placed in a constant temperature chamber set at 60℃ for 4 hours. After the time is up, the mold is removed; at this point, the silicone has completely solidified.

[0050] S24. Modular mold disassembly and soft packaging process: First, remove the outer layer of sealant and the base hot melt adhesive. Then, remove the base. Next, remove the left Yoshimura outer wall mold 28 and the right Yoshimura outer wall mold 29 through the mold gap. Finally, remove the tubular outer wall mold 30. Then, extract the origami middle mold 31 by reverse peeling. By trimming the outer perimeter, obtain an integrated origami soft airbag. Repeat the operation twice to complete the production of three origami soft airbags. Then, splice the three origami soft airbags along the contact surface and fix them with silicone glue to obtain the initial version of the origami soft driver. Then, seal the origami soft driver with silicone sealant. Then, insert the trachea and seal it to obtain a complete origami soft driver with four degrees of freedom.

[0051] like Figure 5As shown, a parallel pneumatic-hydraulic driven control multi-chamber system for a four-degree-of-freedom origami soft robot used for underground cable inspection includes: 12 solenoid valves. Each of the 12 solenoid valves has an air inlet 2 on one end of its upper surface, and air inlets 1 and 3 on its lower surface, arranged parallel and equidistantly. The solenoid valves used are two-position three-way, normally closed, monostable solenoid valves. Pneumatic-hydraulic path changes are achieved electrically, with spring reset. The flow direction is limited and reversible, the operating voltage is 24V DC, and the interface type is QS4. Each valve has three through holes. In the normally closed state, air inlets 2 and 3 provide a gas / liquid passage. After energization, air inlets 2 and 1 provide a gas / liquid passage. The system can adapt to gas flow pressures of -0.9MPa to 0.8MPa and liquid flow pressures of 0 to 0.7MPa.

[0052] The 12 solenoid valves are: positive air source / hydraulic input control 37, front soft foot gas / liquid state control 38, rear soft foot gas / liquid state control 39, upper folding soft airbag gas / liquid state control 40, left folding soft airbag gas / liquid state control 41, right folding soft airbag gas / liquid state control 42, front soft foot deformation state maintenance control 43, rear soft foot deformation state maintenance control 44, upper folding soft airbag deformation state maintenance control 45, left folding soft airbag deformation state maintenance control 46, right folding soft airbag deformation state maintenance control 47, and negative air source / hydraulic input control 48.

[0053] The front right soft foot 11 and front left soft foot 12 are considered as the same front soft foot chamber, and the rear left soft foot 16 and rear right soft foot 17 are considered as the same rear soft foot chamber. Based on this premise, the principle of the multi-chamber parallel gas-liquid drive control system is to implement different gas-liquid path opening and closing schemes for the five chambers: the front soft foot chamber, the rear soft foot chamber, the right folding soft airbag 13, the left folding soft airbag 14, and the upper folding soft airbag 15, so as to realize the corresponding gait planning operation. The gas-liquid path opening and closing schemes designed so far are: single airbag positive gas / liquid source input and output, single airbag negative gas / liquid source input and output, multiple airbags simultaneously realize positive gas / liquid source input and output, and multiple airbags simultaneously realize negative gas / liquid source input and output.

[0054] Here, the gas / liquid circuit connecting solenoid valve 37 to solenoid valves 38-42 is marked as section I, the gas / liquid circuit connecting solenoid valves 38-42 to solenoid valves 43-47 is marked as section II, the gas / liquid circuit connecting solenoid valves 43-47 to the chamber is marked as section III, and the gas / liquid circuit connecting solenoid valves 38-42 to solenoid valve 48 is marked as section IV.

[0055] like Figure 7As shown in the figure, H is the crawling distance in one cycle, h1 is the crawling distance of the hind legs in one cycle, and h2 is the crawling distance of the front legs in one cycle. A gait planning method for a four-degree-of-freedom origami soft robot used for underground cable inspection, employing a lepidopteran larval-inspired peristaltic four-degree-of-freedom motion, using gas control as an example, includes the following steps:

[0056] S101. Gait planning scheme for a soft robot mimicking the first crawling cycle of a lepidopteran larva: The origami soft robot is positioned on a cable with a diameter of 20mm-60mm. Positive air pressure is applied to the rear left soft foot 16 and rear right soft foot 17 to expand the robot, achieving an inward bending and wrapping around the cable, thus fixing the relative position of the robot's rear feet and the cable. The same positive air pressure is simultaneously applied to the three chambers of the right origami soft airbag 13, left origami soft airbag 14, and upper origami soft airbag 15. Through the mutual compression stress of the internal "tubular origami" structure, the three airbags expand and unfold, causing the double origami coupled soft actuator to extend longitudinally along the forward direction, and the front feet to move forward. Positive air pressure is applied to the right soft foot 11 and the front left soft foot 12 to expand them, achieving an inward bending and wrapping effect around the cable, thus fixing the relative position of the origami soft robot's front foot and the cable. Negative air pressure is applied to the rear left soft foot 16 and the rear right soft foot 17 to achieve an outward stretching effect of the wrapping airbag, maintaining zero contact with the cable. At this time, the rear foot of the origami soft robot is in a non-fixed state with the cable. The same negative air pressure is simultaneously applied to the three chambers of the right origami soft airbag 13, the left origami soft airbag 14, and the upper origami soft airbag 15. Through the mutual tensile stress of the internal "tubular origami" structure, the three airbag "Yoshimura origami" structure is folded and contracted. The double origami coupled soft actuator shortens longitudinally along the forward direction, and the rear foot moves forward. Two gait planning schemes for two movement states can be subsequently connected: stationary state and cyclic crawling state.

[0057] S102. Gait planning scheme for the soft robot entering the stopped state: After completing the first cycle of crawling, positive air pressure is applied to the rear left soft foot 16 and rear right soft foot 17 to achieve the effect of bending inward and hugging the cable, fixing the relative position of the rear feet of the origami soft robot and the cable; negative air pressure is applied to the front right soft foot 11 and front left soft foot 12 to achieve the effect of the hugging airbag extending outward, maintaining zero contact with the cable. At this time, the front feet of the origami soft robot are in a non-fixed state with the cable; the right origami soft airbag... 13. The left-folding soft airbag 14 and the upper-folding soft airbag 15 are simultaneously connected to atmospheric pressure to maintain equal air pressure inside and outside the actuator. The folding structure unfolds and returns to its original length. After the actuator state initialization is completed, the front right soft foot 11, front left soft foot 12, rear left soft foot 16, and rear right soft foot 17 are simultaneously connected to atmospheric pressure to maintain equal air pressure inside and outside the foot-encircling airbag. The four airbags contact the cable due to gravity, and friction ensures a stable state when stopped on the cable. At this time, two gait planning schemes can be connected: the first crawling cycle and the head-up state.

[0058] S103. Gait planning scheme for maintaining cyclic crawling state of soft robot: Taking gas control as an example, after completing the first cycle of crawling, the gait planning scheme for cyclic crawling is entered; positive air pressure is applied to the rear left soft foot 16 and rear right soft foot 17 to expand, achieving the effect of bending inward and hugging the cable, fixing the relative position of the rear foot of the origami soft robot and the cable; negative air pressure is applied to the front right soft foot 11 and front left soft foot 12 to achieve the effect of hugging the airbag and extending outward, maintaining zero contact with the cable. At this time, the front foot of the origami soft robot is in a non-fixed state with the cable; the same positive air pressure is applied simultaneously to the three chambers of right origami soft airbag 13, left origami soft airbag 14, and upper origami soft airbag 15. Through the mutual compression stress of the internal "tubular origami" structure, the three airbag "Yoshimura origami" structure expands and unfolds. The double-folding coupled soft actuator extends longitudinally along the forward direction, and the front feet move forward. Positive air pressure is applied to the front right soft foot 11 and front left soft foot 12 to expand, achieving an inward bending and wrapping effect around the cable, fixing the relative position of the robot's front feet and the cable. Negative air pressure is applied to the rear left soft foot 16 and rear right soft foot 17 to achieve an outward stretching effect around the airbag, maintaining zero contact with the cable. At this time, the robot's rear feet and cable are in a non-fixed state. The same negative air pressure is simultaneously applied to the three chambers of the right folding soft airbag 13, left folding soft airbag 14, and upper folding soft airbag 15. Through the mutual tensile stress of the internal "tubular folding" structure, the three airbag "Yoshimura folding" structure contracts and folds, the double-folding coupled soft actuator shortens longitudinally along the forward direction, and the rear feet move forward. At this point, one state gait planning scheme can be connected: the stopped state.

[0059] S104. Gait planning scheme for soft robots in head-up state: Taking gas control as an example, when the origami soft robot is in a stopped state, positive air pressure is applied to the rear left soft foot 16 and rear right soft foot 17 to achieve the effect of bending inward and hugging the cable, fixing the relative position of the rear feet of the origami soft robot and the cable; negative air pressure is applied to the front right soft foot 11 and front left soft foot 12 to achieve the effect of hugging the airbag and extending outward, maintaining zero contact with the cable and eliminating the friction between the front feet and the cable; phase pressure is simultaneously applied to the right origami soft airbag 13 and left origami soft airbag 14. Under positive air pressure, the internal "tubular origami" structure exerts mutual compressive stress, causing the left and right airbags to expand and unfold like the "Yoshimura origami" structure. Simultaneously, negative air pressure is applied to the upper origami soft airbag 15. Through the mutual tensile stress of the internal "tubular origami" structure, the upper airbag contracts and folds. The contrast between the elongation of the left and right airbags and the shortening of the upper airbag achieves a bending and folding effect for the "Yoshimura origami" structure. The double-origami coupled soft actuator bends in the folding direction of the upper origami soft airbag 15, lifting the front foot. The front Z-shaped base 5 is not in contact with the cable. According to the lifting... The head-mounted camera inspection time needs to maintain the effect of the front foot being raised; after the inspection, the three chambers of the right-folding soft airbag 13, left-folding soft airbag 14, and upper-folding soft airbag 15 are simultaneously connected to atmospheric pressure to maintain the internal and external air pressure of the actuator equal. At this time, the right-folding soft airbag 13 and left-folding soft airbag 14 are equivalent to inputting negative air pressure. Through the mutual tensile stress of the internal "tubular origami" structure, the left and right airbags are folded and contracted. The upper-folding soft airbag 15 is equivalent to inputting positive air pressure. Through the mutual compressive stress of the internal "tubular origami" structure, it achieves... The left and right airbags, resembling the "Yoshimura Origami" structure, expand and unfold. Through the contrasting combination of the left and right airbags contracting and the upper airbag extending, the "Yoshimura Origami" structure achieves a bending and folding effect. The double-folding coupled soft actuator bends the upper folding soft airbag 15 in the direction of its extension, and the front Z-shaped base 5 re-contacts the cable. At this time, the front right soft foot 11, front left soft foot 12, rear left soft foot 16, and rear right soft foot 17 are simultaneously connected to atmospheric pressure, maintaining equal air pressure inside and outside the foot-encircling airbags. Due to gravity, the four airbags contact the cable, and friction ensures stability when stopped on the cable. At this point, one gait planning scheme can be initiated: the first crawling cycle.

[0060] Example 2

[0061] like Figure 5 , Figure 6 As shown, a parallel pneumatic-hydraulic drive control multi-chamber system for a four-degree-of-freedom origami soft robot used for underground cable inspection, with airbag positive air / liquid source input and output pneumatic-hydraulic drive control logic (taking the previous soft-leg operation state as an example):

[0062] When the positive air / hydraulic input control solenoid valve 37 is energized, the internal channel of the solenoid valve achieves a passage between air interface 2 and air interface 1, allowing air / liquid flow to the first stage. When the front soft leg filling / pumping gas / liquid state control solenoid valve 38 is energized, the internal channel of the solenoid valve achieves a passage between air interface 2 and air interface 1, allowing air / liquid flow to the second stage. Because the front soft leg deformation state maintenance control 43 is normally closed, it achieves a passage between the second and third stages, so air / liquid flow simultaneously to the third stage, realizing the positive working state of the front soft leg, which wraps around the cable, and the front leg is relatively fixed to the cable. At this time, the front soft leg deformation state maintenance control 43 is energized, and the internal channel of the solenoid valve achieves a passage between air interface 2 and air interface 1. Because air interface 1 is blocked, the air bag forms a sealed state, and the front leg maintains the wrapping state. If all energized solenoid valves are de-energized at this time, the wrapping state is also maintained.

[0063] Example 3

[0064] like Figure 5 , Figure 6 As shown, a parallel pneumatic-hydraulic drive control multi-chamber, single-airbag negative air / liquid source input and output pneumatic-hydraulic drive control logic for a four-degree-of-freedom origami soft robot for underground cable inspection (taking the previous soft-leg operation state as an example).

[0065] When the negative air / hydraulic input control solenoid valve 48 is energized, the internal channel of the solenoid valve achieves the passage between air interface 2 and air interface 1, and the air / liquid flow flows to section I. Due to the normally closed state of the front soft leg filling gas / liquid state control solenoid valve 38 and the front soft leg deformation state maintenance control solenoid valve 43, sections II, III and IV are achieved, realizing the negative working state of the front soft leg, bending outward and canceling contact with the cable, eliminating the relative friction between the front leg and the cable. At this time, the front soft leg deformation state maintenance control 43 is energized, and the internal channel of the solenoid valve achieves the passage between air interface 2 and air interface 1. Due to the blockage of air interface 1, the air bag forms a sealed state, and the front leg maintains the outward bending state. If all energized solenoid valves are de-energized at this time, the same wrapping state is maintained.

[0066] Example 4

[0067] like Figure 5 , Figure 6 As shown, a parallel pneumatic-hydraulic drive control multi-chamber system for a four-degree-of-freedom origami soft robot used for underground cable inspection is implemented. Multiple airbags simultaneously realize positive and negative pneumatic / hydraulic source input and output pneumatic-hydraulic drive control logic (taking the operation state of three origami soft airbags as an example).

[0068] First, the states of solenoid valves 40-42 are adjusted to control the connection with the positive / liquid and negative / liquid supply interfaces. The three airbags have a total of eight different control combinations, thus achieving eight different movement states. When solenoid valves 40-42 are energized, the internal channels of the solenoid valves connect air interface 2 and air interface 1, indicating a positive / liquid supply connection, allowing inflation and output of positive hydraulic pressure. When solenoid valves 40-42 are de-energized or normally closed, the internal channels of the solenoid valves connect air interface 2 and air interface 3, indicating a negative / liquid supply connection, allowing de-airing and output of negative hydraulic pressure.

[0069] When the positive air / hydraulic input control solenoid valve 37 is energized, the internal channel of the solenoid valve connects air interface 2 and air interface 1, allowing air / liquid flow to stage I. Simultaneously, the negative air / hydraulic input control solenoid valve 48 is energized, also connecting air interface 2 and air interface 1, allowing air / liquid flow to stage I. Based on the initial air / liquid source interface connection state, different chambers can operate simultaneously in both positive and negative states to achieve the three-dimensional motion effect of the software actuator. When any chamber meets the state requirements, the corresponding solenoid valves 45-47 are energized, connecting air interface 2 and air interface 1. Due to the blockage of air interface 1, the airbag forms a sealed state, and the chamber can maintain its state. If all energized solenoid valves are de-energized at this time, the operating state is maintained.

[0070] The beneficial effects of this invention are as follows:

[0071] (1) This invention reduces the lateral expansion of the original soft body, increases the longitudinal expansion, and improves the pressure resistance of the soft body through the coupling design of the origami structure. Through the coupling of the double origami structure, the origami soft body airbag can be stretched and bent. Then, the three origami soft body airbags are glued together to complete the origami soft body actuator design. The origami soft body actuator has four degrees of freedom: stretching, lifting and lowering, lifting left and lowering right, and lifting right and lowering left.

[0072] (2) This invention improves the rigid claw fixing method by combining rigid claws and soft feet. Through the rotational connection of the middle rotating shaft, the two rigid claws can rotate relative to each other, so that the origami soft robot can be adapted to cable diameters of 20mm-60mm without the need to replace the feet.

[0073] (3) Through parallel control algorithm design and multi-chamber gas-liquid drive control, this invention can achieve different motion effects of the origami soft robot by means of air-liquid inflating or air-liquid suction.

[0074] (4) By mimicking the movement effect of lepidopteran larvae crawling, this invention utilizes the cooperation between foot airbags and the middle origami soft actuator to realize the robot's peristaltic crawling and various movement effects.

[0075] (5) The designer of the origami soft actuator in this invention uses origami coupling to work with other soft bodies to achieve the maximum amount of elongation and bending. The actuator uses an origami + soft body structure to utilize the folding characteristics of origami to change the original method of using the elasticity of the soft body to deform and achieve the expansion and contraction of a single soft body. This is improved to use the folding method to deform, effectively reducing the lateral deformation of the soft body (lateral deformation will affect the actuator in the inflatable state, increase the actuator diameter, reduce the length, and cause a significant reduction in the elongation of the actuator), and converting most of the deformation into longitudinal deformation (longitudinal deformation can maximize the elongation, thereby obtaining a faster crawling speed).

[0076] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0077] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A four-degree-of-freedom origami soft robot for underground cable inspection, characterized in that, include: The device comprises an origami soft actuator, movable rigid-flexible claws, and wrap-around silicone soft feet. The two ends of the origami soft actuator are fixedly connected to a front soft pad in the front sleeve and a rear soft pad in the rear sleeve respectively via silicone coating. The front and rear sleeves are fixedly connected to a front Z-shaped base and a rear Z-shaped base respectively via a front fixing pin and a rear fixing pin. The front and rear Z-shaped bases are respectively interference-fitted to a front pivot and a rear pivot via an arc-shaped front base and an arc-shaped rear base. The front and rear pivots are fixedly connected to a front slot and a rear slot respectively. A front infrared camera is fitted inside the front slot, and a rear infrared camera is fitted inside the rear slot. Movable rigid-flexible claws are fastened to both sides of the lower part of the front and rear Z-shaped bases. Wrap-around silicone soft feet are connected to both sides of the lower part of the arc-shaped front and rear bases. The origami soft actuator includes a right origami soft airbag, a left origami soft airbag, and an upper origami soft airbag. The right origami soft airbag, the left origami soft airbag, and the upper origami soft airbag are arranged at equal intervals and are all fixedly connected to the front soft pad and the rear soft pad. The outer surfaces of the right-folding soft airbag, the left-folding soft airbag, and the upper-folding soft airbag are all Yoshimura origami structures, and the inner surfaces are all tubular origami structures. The Yoshimura origami structure is a triangular configuration, and the misalignment angle of each triangular configuration is 60°. The movable rigid-flexible jaws include a front right jaw, a front left jaw, a rear right jaw, and a rear left jaw. The front right jaw and the front left jaw are both fastened to the front Z-shaped base, and the rear right jaw and the rear left jaw are both fastened to the rear Z-shaped base. The front left pawl and the front right pawl form a front rigid opening and closing foot structure, and the rear left pawl and the rear right pawl form a rear rigid opening and closing foot structure. The wraparound silicone soft feet include a front right soft foot, a front left soft foot, a rear right soft foot, and a rear left soft foot. The front right soft foot and the front left soft foot are both fixedly connected to the arc-shaped front base, and the rear right soft foot and the rear left soft foot are both fixedly connected to the arc-shaped rear base.

2. The four-degree-of-freedom origami soft robot for underground cable inspection according to claim 1, characterized in that, The front left soft leg, the front right soft leg, the rear left soft leg, and the rear right soft leg are all segmented airbag structures.

3. A manufacturing process for an origami soft actuator for a four-degree-of-freedom origami soft robot for underground cable inspection according to any one of claims 1-2, characterized in that, Includes the following steps: S1. The design of the origami soft actuator involves a one-to-one correspondence between Yoshimura origami and tubular origami. The outward protrusion of Yoshimura origami corresponds to the inward indentation of the corresponding tubular origami, and vice versa. A three-dimensional model of the two origami structures is designed, and then the origami soft airbag model is designed by fitting and cutting the two origami structure models. The three origami soft airbags are then rotated 120° in sequence to achieve a three-in-one design, thus completing the origami soft actuator design. S2. Manufacturing process: The origami soft body is integrally molded using a silicone formula and modular mold design, ensuring that the silicone soft body can withstand pressure up to 0.5MPa and has a leakage probability of less than 1%. S21. Silicone mixing process: Posilicone silicone material with a softness of 20% is used. 39.1g of A-grade silicone and 39.2g of B-grade silicone are used, with a mass error within 0.5g. Both A and B-grade silicone are added simultaneously to a clean container. This simultaneous addition improves the mixing degree of the A and B-grade silicone and reduces the possibility of improper proportions in some areas during silicone production. Then, stir counterclockwise for 2 minutes, followed by clockwise for 2 minutes. During stirring, the container is tilted at a 45° angle, touching the bottom of the container to achieve optimal mixing. The silicone is then placed in a vacuum container, maintaining a temperature of 20℃-25℃ to prevent overheating and solidification. Vacuuming is performed for 5 minutes to remove air bubbles from the silicone. S22. Origami soft casting mold manufacturing process: By using intersecting shearing, the original model is cut through the intersection of a rectangle and the original model to complete the initial mold design. The mold wall thickness is reduced by 1.5mm through push-pull operation. Then, using modular design thinking, the outer wall mold is disassembled into the left Yoshimura outer wall mold, the right Yoshimura outer wall mold, the tubular outer wall mold, and the origami middle mold. After silicone molding, quick demolding is achieved through quick disassembly to complete the one-piece molding of the origami soft airbag. The mold is 3D printed with PLA polylactic acid as the material. The bed temperature is 50℃ and the extrusion temperature is 170℃. After the mold is printed, the mold is spliced ​​together with a splicing tilt of no more than 0.5°. After assembly, the base is sealed with hot melt glue and the outside is wrapped with sealing tape. S23. Origami soft airbag casting process: During the casting process, cast on one side and ensure that there are air outlets on the other sides. Ensure the temperature is between 20℃ and 25℃ and the silicone extrusion rate does not exceed 10mL / min. After all casting is completed, place the mold in a constant temperature chamber with the temperature set at 60℃ and the time set at 4 hours. Then take the mold out. S24. Modular mold disassembly and soft packaging process: First, remove the outer layer of sealant and the base hot melt adhesive. Then, remove the base. Next, remove the outer wall molds of the left and right Yoshimura through the mold gaps. Finally, remove the tubular outer wall mold. Then, extract the origami middle mold by reverse peeling. By trimming the outer perimeter, obtain a one-piece origami soft airbag. Repeat the operation twice to complete the production of three origami soft airbags. Then, splice the three origami soft airbags along the contact surface and fix them with silicone glue to obtain the initial version of the origami soft driver. Then, seal the origami soft driver with silicone sealant. Then, insert and seal the trachea to obtain a four-degree-of-freedom origami soft driver.

4. A parallel pneumatic-hydraulic driven control multi-chamber system for a four-degree-of-freedom origami soft robot for underground cable inspection according to any one of claims 1-2, characterized in that, include: The system comprises 12 solenoid valves, each having an air inlet 2 at one end of its upper surface and an air inlet 1 and an air inlet 3 on its lower surface, with the air inlets 1 and 3 arranged in parallel and at equal intervals.

5. The parallel pneumatic-hydraulic driven control multi-chamber system for a four-degree-of-freedom origami soft robot for underground cable inspection according to claim 4, characterized in that, The 12 solenoid valves are respectively for positive air source / hydraulic input control, front soft foot gas / liquid state control, rear soft foot gas / liquid state control, upper folding soft airbag gas / liquid state control, left folding soft airbag gas / liquid state control, right folding soft airbag gas / liquid state control, front soft foot deformation state maintenance control, rear soft foot deformation state maintenance control, upper folding soft airbag deformation state maintenance control, left folding soft airbag deformation state maintenance control, right folding soft airbag deformation state maintenance control, and negative air source / hydraulic input control.

6. A gait planning method for a four-degree-of-freedom origami soft robot for underground cable inspection, as described in any one of claims 1-2, characterized in that, This includes the first crawling cycle, the stopped state, the cyclic crawling state, and the head-up state.

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