A soft robot and a middle connecting module suitable for various sports environments

Abstract

This invention relates to the field of biomimetic robotics technology and relates to a soft robot adaptable to various motion environments and its intermediate connecting module. The invention addresses the problems of existing soft robots having limited motion modes and environments, and poor flexibility and adaptability. The intermediate connecting module of the soft robot adaptable to various motion environments includes a fixed module and a bidirectional sliding module. The bidirectional sliding module is disposed on the outer end face of the fixed module and is linearly slidably connected to the outer end face of the fixed module. The soft robot includes the intermediate connecting module and four soft modules. Two soft modules are connected to each end of the intermediate connecting module, and the two soft modules are fixedly connected vertically and backwards. The soft modules have a hollow shell structure. This invention is used in biomimetic robots.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, specifically to a soft robot adapted to various motion environments and its intermediate connection module. Background Technology

[0002] In recent years, the field of soft robotics has achieved remarkable development, as soft and flexible materials have the potential to endow robots with new capabilities, unprecedented adaptability, and inherently safe interaction with humans and the environment. The deformability of soft robots allows them to surpass traditional rigid robots' attempts to simulate continuous biological motion and promotes stress distribution over large areas, preventing mechanical damage from accidental impacts. Biomimetic soft robots can cope with complex environments and achieve remote operation and detection through integrated vision and control. Particularly useful when the working environment poses a risk to humans, biomimetic soft robots with mobility can replace humans in environmental detection and inspection, and even perform tasks in their place.

[0003] While biomimetic soft robots offer significant advantages in flexibility and environmental adaptability, they also face several challenges, such as how to adapt rigid connectors to flexible bodies, how to design connectors to facilitate robot configuration changes, and how to plan motion to adapt to the environment. Therefore, this design is based on a modular design philosophy. The key to modular design lies in the design of the connecting modules between them to ensure interoperability and reliability. Motion is primarily achieved through structural design and the connections between multiple modules, improving the collaborative efficiency and reliability of the modular soft robot. Connecting components for soft robots typically employ robust materials and designs to provide high strength and stability, while also facilitating installation and disassembly. The design advantages of connecting components lie in their strength and stability, disassembly and maintainability, as well as adaptability and compatibility. This makes connecting components a crucial component in many modular soft systems, ensuring the robot's operational stability.

[0004] This design is a modular soft robot, where each module can independently generate worm-like movements. Connectors allow for various robot configurations and more complex movements, such as movement on sand, slopes, and underwater. This design enables the robot system to add or remove modules as needed for the task, significantly improving the flexibility and adaptability of the soft robot. Summary of the Invention

[0005] In order to solve the problems of existing soft robots having limited movement modes and environments, as well as poor flexibility and adaptability, this invention proposes a soft robot and its intermediate connection module that can adapt to multiple movement environments.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] An intermediate connection module for a soft robot adaptable to various motion environments includes a fixed module and a bidirectional sliding module. The bidirectional sliding module is disposed on the outer end face of the fixed module and is linearly slidably connected to the outer end face of the fixed module.

[0008] Furthermore, the fixing module includes an outer frame, a pressing module, an L-shaped bracket, and a front cover. The outer frame is a rectangular frame. The middle part of the pressing module is vertically inserted into the front side wall of the outer frame. The outer end of the pressing module is provided with a pressing handle. The inner end of the pressing module is fixedly connected to an inverted U-shaped bracket. The inverted U-shaped bracket is set inside the outer frame and is slidably connected along the length of the outer frame. The vertical section of the L-shaped bracket is set in the middle of the outer frame and is set inside the inverted U-shaped bracket. The horizontal section of the L-shaped bracket is set at the rear side of the lower end of the outer frame. The lower end face of the rear side wall of the inverted U-shaped bracket is slidably connected to the upper end face of the horizontal section of the L-shaped bracket. A first spring is provided between the middle part of the vertical section of the L-shaped bracket and the middle part of the front side wall of the inverted U-shaped bracket. Two second springs are arranged side by side between the rear side wall of the inverted U-shaped bracket and the rear side wall of the outer frame. The front cover is fixedly connected to the outer end face of the outer frame.

[0009] Furthermore, a first upper positioning protrusion is vertically fixed to the middle of the front sidewall of the inverted U-shaped bracket, a first lower positioning protrusion is vertically fixed to the middle of the vertical section of the L-shaped bracket, the upper end of the first spring is fitted onto the first upper positioning protrusion, the lower end of the first spring is fitted onto the first lower positioning protrusion, a second upper positioning protrusion is vertically fixed to both sides of the rear sidewall of the inverted U-shaped bracket, a second lower positioning protrusion is vertically fixed to both sides of the rear sidewall of the outer frame, the upper end of the second spring is fitted onto the second upper positioning protrusion, and the lower end of the second spring is fitted onto the second lower positioning protrusion.

[0010] Furthermore, the outer frame has positioning posts at two diagonal corners, and cylindrical fixing holes are opened in the positioning posts. Cylindrical inserts are provided at two diagonal corners on the inner end face of the front sealing layer, and each cylindrical insert is inserted into a cylindrical fixing hole.

[0011] Furthermore, the bidirectional sliding module includes a slot plate and a connecting plate. The slot plate is disposed on the outer end face of the front sealing layer, and the connecting plate is disposed inside the outer frame. A slot is formed on the inner end face of the slot plate. The outer end of the connecting plate is inserted into the slot and slidably connected with the slot. The upper end face of the connecting plate is inserted into the vertical section of the L-shaped bracket, and the lower end face of the connecting plate is inserted into the rear side wall of the inverted U-shaped bracket.

[0012] Furthermore, the slot includes a transverse slide and a longitudinal slide, which are arranged perpendicularly at their middle sections.

[0013] Furthermore, the outer end of the connecting plate is provided with a dovetail slider, and both the transverse and longitudinal slide grooves are dovetail slide grooves, with the dovetail slider slidably connected to the transverse or longitudinal slide groove.

[0014] Furthermore, the upper end face of the connecting plate is provided with upper cylindrical protrusions on both sides, and the vertical section of the L-shaped bracket is provided with upper cylindrical insertion holes on both sides. Each upper cylindrical protrusion is inserted into an upper cylindrical insertion hole. The lower end face of the connecting plate is provided with a lower cylindrical protrusion in the middle, and the rear side wall of the inverted U-shaped bracket is provided with a lower cylindrical insertion hole. The lower cylindrical protrusion is inserted into the lower cylindrical insertion hole.

[0015] A soft robot adaptable to various motion environments includes an intermediate connecting module and four soft modules. Two soft modules are connected to each end of the intermediate connecting module. The two soft modules are fixedly connected vertically and backwards. The soft modules have a hollow shell structure and a closed cavity inside. The fixed module of the intermediate connecting module is embedded in the closed cavity of two adjacent soft modules. The bidirectional sliding module of the intermediate connecting module is embedded in the closed cavity of two adjacent soft modules. Air inlet and outlet ports are provided on both sides of the soft modules.

[0016] Furthermore, the software module includes a middle partition, a strain layer, a partition plate, two side plates, and two end plates. The strain layer is horizontally disposed on the outer side, the middle partition is parallel disposed on the inner side of the strain layer, the end plates are vertically fixed to the ends between the strain layer and the middle partition, the side plates are vertically fixed to the sides between the strain layer and the middle partition, and the partition plate is parallel disposed in the middle between the two side plates. The upper end of the partition plate is vertically fixed to the inner sidewall of the strain layer, and the lower end of the partition plate is vertically fixed to the middle partition.

[0017] The beneficial effects of this invention compared to the prior art are:

[0018] Because soft robots with a certain degree of folding have significantly improved bending and response rates compared to soft robots with a lower degree of folding, and their symmetrical structure allows for bidirectional movement, they can adapt more smoothly to the needs of different environments and tasks. Modular soft robots are composed of four soft, enclosed chambers and an intermediate connecting module, which can switch between multiple movement modes under different connection methods. The soft robot can be integrated and connected by pressing the intermediate connecting module, which is convenient to operate, highly reconfigurable, and the robust mechanical structure is also suitable for the multi-mode movement switching of modular soft robots, greatly increasing flexibility. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a soft robot adapted to various motion environments according to the present invention.

[0020] Figure 2 for Figure 1 The main view;

[0021] Figure 3 This is a schematic diagram of the overall structure of the soft robot in this invention when the front and rear sides are rotated 90° and connected.

[0022] Figure 4 for Figure 3 The main view;

[0023] Figure 5 This is a schematic diagram of the structure of a single software module 2 after removing the intermediate partition 23 in this invention;

[0024] Figure 6 This is an isometric view of software module 2 in this invention;

[0025] Figure 7 This is an isometric view of the intermediate connecting module 1 in this invention;

[0026] Figure 8 This is an isometric view of the fixed module in this invention;

[0027] Figure 9 This is a cross-sectional view of the intermediate connection module 1 in this invention;

[0028] Figure 10 This is an isometric view of the slot plate 121 in this invention;

[0029] Figure 11 This is an isometric view of the connecting plate 122 in this invention;

[0030] Figure 12 This is an isometric view of the bidirectional sliding module 12 in this invention;

[0031] Figure 13 The front view of the structural process of the soft bionic robot in turning direction mode one;

[0032] Figure 14 for Figure 13 Top view;

[0033] Figure 15 This is a front view of the structural process of the soft bionic robot in turning direction mode two.

[0034] Figure 16 for Figure 15 Top view;

[0035] Figure 17 A front view of a soft biomimetic robot structure in forward, backward, or climbing modes;

[0036] Figure 18 for Figure 17 Top view;

[0037] Figure 19 A front view of a soft-body bionic robot structure in a mode of advancing through muddy and sandy terrain;

[0038] Figure 20 for Figure 19 Top view;

[0039] Figure 21 A top view of the soft-body bionic robot structure in its water-propelled mode. Detailed Implementation

[0040] Specific implementation method one: Combining Figures 7 to 12 This embodiment describes an intermediate connection module for a soft robot adaptable to various motion environments, comprising a fixed module and a bidirectional sliding module 12. The bidirectional sliding module 12 is disposed on the outer end face of the fixed module and is linearly slidably connected to the outer end face of the fixed module.

[0041] Specific Implementation Method Two: Combining Figures 7 to 12 This embodiment describes a fixing module comprising an outer frame 11, a pressing module 13, an L-shaped bracket 14, and a front cover 15. The outer frame 11 is a rectangular frame. The pressing module 13 is vertically inserted into the front side wall of the outer frame 11 at its center. A pressing handle 131 is provided at the outer end of the pressing module 13. An inverted U-shaped bracket 132 is fixedly connected to the inner end of the pressing module 13. The inverted U-shaped bracket 132 is disposed within the outer frame 11 and is slidably connected along the length of the outer frame 11. The vertical section of the L-shaped bracket 14 is disposed within the outer frame. The middle part of the outer frame 11 is located inside the inverted U-shaped bracket 132. The horizontal section of the L-shaped bracket 14 is located at the rear of the lower end of the outer frame 11. The lower end face of the rear sidewall of the inverted U-shaped bracket 132 is slidably connected to the upper end face of the horizontal section of the L-shaped bracket 14. A first spring 16 is provided between the middle of the vertical section of the L-shaped bracket 14 and the middle of the front sidewall of the inverted U-shaped bracket 132. Two second springs 17 are arranged side by side between the rear sidewall of the inverted U-shaped bracket 132 and the rear sidewall of the outer frame 11. The front sealing layer 15 is fixed to the outer end face of the outer frame 11. The undisclosed technical features in this embodiment are the same as those in specific embodiment one.

[0042] The outer frame 11 is rectangular in shape and made of rigid plastic. The outer frame 11 is used to support the intermediate connecting module.

[0043] By applying a downward force to the pressing module 13, the first spring 16 and the two second springs 17 are compressed under the action of the pressing module 13, thereby increasing the gap between the vertical section of the L-shaped bracket 14 and the rear side wall of the inverted U-shaped bracket 132, so as to realize the separation between the bidirectional sliding module 12 and the fixed module, and complete the modular assembly and disassembly.

[0044] Specific implementation method three: Combining Figures 7 to 12 In this embodiment, a first upper positioning protrusion 134 is vertically fixed to the middle of the front sidewall of the inverted U-shaped bracket 132, and a first lower positioning protrusion 142 is vertically fixed to the middle of the vertical section of the L-shaped bracket 14. The upper end of the first spring 16 is fitted onto the first upper positioning protrusion 134, and the lower end of the first spring 16 is fitted onto the first lower positioning protrusion 142. Second upper positioning protrusions 135 are vertically fixed to both sides of the rear sidewall of the inverted U-shaped bracket 132, and second lower positioning protrusions 112 are vertically fixed to both sides of the rear sidewall of the outer frame 11. The upper end of the second spring 17 is fitted onto the second upper positioning protrusion 135, and the lower end of the second spring 17 is fitted onto the second lower positioning protrusion 112. The undisclosed technical features in this embodiment are the same as in specific embodiment two.

[0045] This design is intended to achieve effective positioning of the first spring 16 and the second spring 17.

[0046] Specific implementation method four: Combination Figures 7 to 12 In this embodiment, the outer frame 11 has two diagonally opposite positioning posts 113, each with a cylindrical fixing hole. The inner end face of the front sealing layer 15 has two diagonally opposite cylindrical inserts 151, each inserted into a cylindrical fixing hole. The undisclosed technical features in this embodiment are the same as in specific embodiment two.

[0047] This design achieves effective fixation between the front sealing layer 15 and the outer frame 11.

[0048] Specific Implementation Method Five: Combining Figures 7 to 12 This embodiment describes a bidirectional sliding module 12 comprising a slot plate 121 and a connecting plate 122. The slot plate 121 is disposed on the outer end face of the front sealing layer 15, and the connecting plate 122 is disposed within the outer frame 11. A slot 123 is formed on the inner end face of the slot plate 121. The outer end of the connecting plate 122 is inserted into and slidably connected to the slot 123. The upper end face of the connecting plate 122 is inserted into and connected to the vertical section of the L-shaped bracket 14, and the lower end face of the connecting plate 122 is inserted into and connected to the rear side wall of the inverted U-shaped bracket 132. The undisclosed technical features in this embodiment are the same as in specific embodiment two.

[0049] The connecting plate 122 is disposed between the rear side wall of the inverted U-shaped bracket 132 and the vertical section of the L-shaped bracket 14, and is clamped by the rear side wall of the inverted U-shaped bracket 132 and the vertical section of the L-shaped bracket 14 under the elastic force of the first spring 16 and the second spring 17. The connecting plate 122 is slidably connected to the slot 123, so that relative movement can occur between the two, thereby realizing the relative movement between the bidirectional sliding module 12 and the fixed module.

[0050] Specific Implementation Method Six: Combination Figures 7 to 12 This embodiment describes a slot 123 comprising a transverse groove and a longitudinal groove, which are perpendicularly intersecting at their midpoints. Undisclosed technical features in this embodiment are the same as in specific embodiment five.

[0051] This design allows for a 90° rotation connection between the front and rear sides of the soft robot, with the dovetail slider 126 positioned within a transverse or longitudinal groove as needed.

[0052] Specific implementation method seven: Combination Figures 7 to 12 In this embodiment, the outer end of the connecting plate 122 is provided with a dovetail slider 126. Both the transverse and longitudinal sliding grooves are dovetail grooves, and the dovetail slider 126 is slidably connected to the transverse or longitudinal sliding groove. The undisclosed technical features in this embodiment are the same as in specific embodiment six.

[0053] Specific implementation method eight: Combination Figures 7 to 12 In this embodiment, the upper end face of the connecting plate 122 has vertically arranged upper cylindrical protrusions 124 on both sides, and the vertical section of the L-shaped bracket 14 has upper cylindrical insertion holes 141 on both sides. Each upper cylindrical protrusion 124 is inserted into one upper cylindrical insertion hole 141. The lower end face of the connecting plate 122 has a vertically arranged lower cylindrical protrusion 125 in the middle, and the rear side wall of the inverted U-shaped bracket 132 has a lower cylindrical insertion hole 133 in the middle, where the lower cylindrical protrusion 125 is inserted. The undisclosed technical features in this embodiment are the same as those in specific embodiment five.

[0054] This design allows the connecting plate 122 to slide between the rear side wall of the inverted U-shaped bracket 132 and the vertical section of the L-shaped bracket 14 for gap opening and closing adjustment.

[0055] Specific Implementation Method Nine: Combining Figures 1 to 12 This embodiment describes a soft robot adaptable to various motion environments, comprising an intermediate connecting module 1 and four soft modules 2. Two soft modules 2 are connected to each end of the intermediate connecting module 1, with the two soft modules 2 fixedly connected vertically and facing away from each other. Each soft module 2 has a hollow shell structure and a closed chamber inside. The fixing module of the intermediate connecting module 1 is embedded in the closed chamber of two adjacent soft modules 2, and the bidirectional sliding module 12 of the intermediate connecting module 1 is embedded in the closed chamber of two adjacent soft modules 2. Air inlet and outlet ports 26 are provided on both sides of each soft module 2.

[0056] The software module 2 is designed with internal chambers, and the whole robot has a total of eight chambers. The eight air inlet and outlet ports 26 can be set one-to-one with the eight chambers to realize the air intake and exhaust of the eight chambers, thereby realizing the change of robot shape and realizing multi-mode movement.

[0057] The software module 2 is made of elastic materials, such as silicone.

[0058] In this embodiment, in order to achieve a unified and aesthetically pleasing overall shape of the soft robot, the fixing module of the intermediate connecting module 1 is embedded in the closed cavity of two adjacent soft modules 2, and the bidirectional sliding module 12 of the intermediate connecting module 1 is embedded in the closed cavity of two adjacent soft modules 2.

[0059] The fixing module is set in a trapezoidal cavity at one end of the connecting module 1 in the middle of the connecting end, and the fixing module is fixed in a separate trapezoidal cavity by injection. In order to enhance the stability of the fixing module, multiple first through grooves 111 are evenly distributed along the length direction on the upper and lower side walls of the outer frame 11. During injection, glue is also injected into the first through grooves 111 to enhance the bonding performance.

[0060] The bidirectional sliding module 12 is disposed in a trapezoidal cavity at one end of the connecting module 1 in the middle of the connecting end, and is fixed in a separate trapezoidal cavity by injection of glue. In order to enhance the stability of the bidirectional sliding module 12, multiple second through grooves 124 are evenly distributed along the length direction between the upper and lower end faces and between the front and rear end faces of the slot plate 121. A rectangular groove is provided on the outer end face of the slot plate 121. Glue is also injected into the second through grooves 124 and the rectangular groove during glue injection to enhance the bonding performance.

[0061] Specific Implementation Method Ten: Combining Figures 1 to 12 This embodiment describes a software module 2 comprising a central partition 23, a strain layer 24, a partition plate 25, two side plates 21, and two end plates 22. The strain layer 24 is horizontally disposed on the outer side, the central partition 23 is parallelly disposed on the inner side of the strain layer 24, the end plates 22 are vertically fixed to the ends between the strain layer 24 and the central partition 23, the side plates 21 are vertically fixed to the sides between the strain layer 24 and the central partition 23, and the partition plate 25 is parallelly disposed in the middle between the two side plates 21. The upper end of the partition plate 25 is vertically fixed to the inner sidewall of the strain layer 24, and the lower end of the partition plate 25 is vertically fixed to the central partition 23. Undisclosed technical features in this embodiment are the same as in specific embodiment nine.

[0062] The strain layer 24 is a wavy curved surface with multiple grooves evenly distributed along its length, and the cross-sectional shape of the grooves is trapezoidal. This design facilitates deformation of the strain layer 24.

[0063] Working principle

[0064] A soft robot adaptable to various motion environments includes a partition plate 25, a strain layer 24, a middle partition plate 23, an end plate 22, a side plate 21, and an intermediate connecting module 1. Each strain layer 24 is composed of multiple interconnected trapezoidal unit arrays. The strain layer 24, middle partition plate 23, end plate 22, side plate 21, and partition plate 25 divide the soft module 2 into enclosed chambers. Air is pumped into or out of eight chambers through air inlet and outlet ports 26, achieving deformation of the strain layer 24. Different motion modes are generated when different internal cavities are inflated or deflated. By pressing the push module 13 in the intermediate connecting module 1, the fixed module and the bidirectional sliding module 12 can be quickly connected and separated, thereby achieving integrated connection of the soft robot. This facilitates operation, provides strong reconfigurability, and the robust mechanical structure is suitable for multi-mode motion switching of modular soft robots, greatly increasing flexibility.

[0065] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intermediate connection module for a soft robot adaptable to various motion environments, characterized in that: It includes a fixed module and a bidirectional sliding module (12), the bidirectional sliding module (12) is disposed on the outer end face of the fixed module and is linearly slidably connected to the outer end face of the fixed module; The fixing module includes an outer frame (11), a push module (13), an L-shaped bracket (14), and a front cover (15). The outer frame (11) is a rectangular frame. The middle part of the push module (13) is vertically inserted into the front side wall of the outer frame (11). The outer end of the push module (13) is provided with a push handle (131). The inner end of the push module (13) is fixedly connected with an inverted U-shaped bracket (132). The inverted U-shaped bracket (132) is set inside the outer frame (11) and is slidably connected along the length direction of the outer frame (11). The vertical section of the L-shaped bracket (14) is located in the middle of the outer frame (11) and inside the inverted U-shaped bracket (132). The horizontal section of the L-shaped bracket (14) is located at the rear of the lower end of the outer frame (11). The lower end face of the rear side wall of the inverted U-shaped bracket (132) is slidably connected to the upper end face of the horizontal section of the L-shaped bracket (14). A first spring (16) is provided between the middle of the vertical section of the L-shaped bracket (14) and the middle of the front side wall of the inverted U-shaped bracket (132). Two second springs (17) are provided side by side between the rear side wall of the inverted U-shaped bracket (132) and the rear side wall of the outer frame (11). The front sealing layer (15) is fixed to the outer end face of the outer frame (11). The bidirectional sliding module (12) includes a slot plate (121) and a connecting plate (122). The slot plate (121) is disposed on the outer end face of the front sealing layer (15), and the connecting plate (122) is disposed in the outer frame (11). A slot (123) is provided on the inner end face of the slot plate (121). The outer end of the connecting plate (122) is inserted into the slot (123) and slidably connected with the slot (123). The upper end face of the connecting plate (122) is inserted into the vertical section of the L-shaped bracket (14), and the lower end face of the connecting plate (122) is inserted into the rear side wall of the inverted U-shaped bracket (132). The upper end face of the connecting plate (122) is provided with upper cylindrical protrusions (124) on both sides, and upper cylindrical insertion holes (141) are provided on both sides of the vertical section of the L-shaped bracket (14). Each upper cylindrical protrusion (124) is inserted into an upper cylindrical insertion hole (141). The lower end face of the connecting plate (122) is provided with a lower cylindrical protrusion (125) on the middle, and a lower cylindrical insertion hole (133) is provided in the middle of the rear side wall of the inverted U-shaped bracket (132). The lower cylindrical protrusion (125) is inserted into the lower cylindrical insertion hole (133).

2. The intermediate connection module of a soft robot adaptable to various motion environments according to claim 1, characterized in that: The inverted U-shaped bracket (132) has a first upper positioning protrusion (134) vertically fixed to the middle of the front side wall, and the L-shaped bracket (14) has a first lower positioning protrusion (142) vertically fixed to the middle of the vertical section. The upper end of the first spring (16) is fitted onto the first upper positioning protrusion (134), and the lower end of the first spring (16) is fitted onto the first lower positioning protrusion (142). The two sides of the rear side wall of the inverted U-shaped bracket (132) are respectively vertically fixed to the second upper positioning protrusion (135). The two sides of the rear side wall of the outer frame (11) are respectively vertically fixed to the second lower positioning protrusion (112). The upper end of the second spring (17) is fitted onto the second upper positioning protrusion (135), and the lower end of the second spring (17) is fitted onto the second lower positioning protrusion (112).

3. The intermediate connection module for a soft robot adaptable to various motion environments according to claim 1, characterized in that: The outer frame (11) has two diagonally opposite positioning posts (113), and the positioning posts (113) have cylindrical fixing holes. The inner end face of the front sealing layer (15) has two diagonally opposite cylindrical inserts (151), and each cylindrical insert (151) is inserted into a cylindrical fixing hole.

4. The intermediate connection module for a soft robot adaptable to various motion environments according to claim 1, characterized in that: The slot (123) includes a transverse groove and a longitudinal groove, which are arranged perpendicularly at the middle.

5. The intermediate connection module for a soft robot adaptable to various motion environments according to claim 4, characterized in that: The outer end of the connecting plate (122) is provided with a dovetail slider (126), and both the transverse and longitudinal grooves are dovetail grooves. The dovetail slider (126) is slidably connected to the transverse or longitudinal groove.

6. A soft robot adaptable to various motion environments, characterized in that: It includes an intermediate connection module (1) of a soft robot adaptable to various motion environments as described in any one of claims 1 to 5, and also includes four soft modules (2). Two soft modules (2) are connected to each end of the intermediate connection module (1). The two soft modules (2) are fixedly connected to each other vertically and back to back. The soft module (2) has a hollow shell structure. The interior of the soft module (2) is provided with a closed cavity. The fixed module of the intermediate connection module (1) is embedded in the closed cavity of the two adjacent soft modules (2). The bidirectional sliding module (12) of the intermediate connection module (1) is embedded in the closed cavity of the two adjacent soft modules (2). The two sides of the soft module (2) are respectively provided with air inlet and outlet ports (26).

7. A soft robot adaptable to various motion environments according to claim 6, characterized in that: The software module (2) includes a middle partition (23), a strain layer (24), a partition plate (25), two side plates (21) and two end plates (22). The strain layer (24) is horizontally arranged on the outside, the middle partition plate (23) is parallel to the inside of the strain layer (24), the end plates (22) are vertically fixed to the ends between the strain layer (24) and the middle partition plate (23), the side plates (21) are vertically fixed to the sides between the strain layer (24) and the middle partition plate (23), the partition plate (25) is parallel to the middle between the two side plates (21), the upper end of the partition plate (25) is vertically fixed to the inner wall of the strain layer (24), and the lower end of the partition plate (25) is vertically fixed to the middle partition plate (23).

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