A pneumatic snake-like soft robot

Abstract

The present invention relates to the field of robot technology, and specifically to a pneumatic serpentine soft robot, comprising: an anchoring foot unit, a supporting foot unit, a body, an electromagnetic commutation module, a pressure supply module, a commutation control module, an overload protection module, a central control unit, a power supply module, a foot support assembly, a body support and a ball joint support. The soft robot of the present invention adopts a serial modular design, and the electromagnetic commutation module, the pressure supply module, the commutation control module, the overload protection module, the central control unit and the power supply module are serially connected from front to back between each anchoring foot, supporting foot and body through a ball joint support, forming a serial modular structure. The serial design makes each module independent of each other and interconnected, and at the same time facilitates the addition of new functional modules to adapt to new work requirements.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a pneumatic snake-shaped soft robot. Background Art

[0002] Pipelines are widely used in the fields of petrochemicals, agricultural and forestry irrigation, urban water supply and drainage, etc. During the medium transportation process, due to the deposition of the transported medium and the blockage of pollutants, pipelines often break or medium leaks, so specific means are needed to detect pipelines;

[0003] The existing technology uses pipeline robots to inspect pipelines, but most of the current pipeline robots are cable-type robots made of rigid materials. Rigid pipeline robots are limited by their own materials and are not convenient for working in curved pipelines. In addition, robots made of rigid materials are prone to damage the inner wall of the pipeline.

[0004] In addition, the cable-type pipeline robot is separated from the control system, and its rear part drags a large number of cables or gas cables. When performing long-distance operations in the pipeline, especially when encountering angled bends, as the crawling distance increases, the cable's own weight and the drag of the towing cable continue to increase, and the robot's traction force decreases significantly until it cannot move forward, which seriously limits its working range and greatly affects the robot's working efficiency.

[0005] In summary, how to design a pneumatic snake-like soft robot that can operate in a multi-curved pipe, whose material will not cause damage to the inner wall of the pipe, and does not require additional cables to affect its working range and work efficiency, has become an urgent problem to be solved. Summary of the invention

[0006] The object of the present invention is to provide a pneumatic snake-like soft robot to solve the above problems.

[0007] In order to achieve the above objectives, the following technical solutions are provided:

[0008] A pneumatic snake-shaped soft robot, comprising: an anchoring foot unit, a supporting foot unit, a body, an electromagnetic reversing module, a pressure supply module, a reversing control module, an overload protection module, a central control unit, a power supply module, a foot support assembly, a body support and a ball joint support;

[0009] Each of the supporting foot units is arranged between a pair of anchoring foot units, and two adjacent anchoring foot units and a supporting foot unit arranged between the two constitute a motion module, and the motion module is symmetrically installed at the left and right ends of the body with the body as the center;

[0010] The electromagnetic reversing module, the pressure supply module, the reversing control module, the overload protection module, the central control unit and the power supply module are arranged in sequence from one end of the soft robot to the other end thereof, and both ends of the electromagnetic reversing module, the pressure supply module, the reversing control module, the overload protection module, the central control unit and the power supply module are connected to one of the anchoring foot unit, the supporting foot unit or the body through a ball joint support;

[0011] The two ends of the anchoring foot unit are mounted on the foot support assembly, and an anchoring foot hole is provided in the center, an annular air cavity is provided inside, and an air guide hole is provided for connecting the trachea and inputting pressurized gas. The anchoring foot unit can be extended and retracted along its radial direction;

[0012] The support foot unit is provided with a through hole at its center and is mounted on the foot support assembly to assist in supporting the robot body;

[0013] The body is installed on the body bracket, with inverted cone-shaped protrusions at both ends and a telescopic body in the middle. The telescopic body has a cone-shaped cavity array inside and is provided with an air inlet. When pressure gas is input into the body, the body stretches along its axial direction.

[0014] Preferably, the electromagnetic reversing module comprises an electromagnetic reversing valve, a reversing valve bracket and a sheath, and the electromagnetic reversing valves are arranged in groups of two, and are respectively used to control the air flow and deflation of the anchoring foot unit and the body, and to protect the air path from air pressure overload;

[0015] The pressure supply module includes a micro pump, a pressure supply module bracket and a sheath, and is used to supply pressurized gas;

[0016] The reversing control module includes a reversing relay, a reversing relay bracket and a sheath, wherein the reversing relay is centrally symmetrically installed in the reversing relay bracket and is used to control the on and off of the electromagnetic reversing valve;

[0017] The overload protection module includes an overload relay, an overload relay bracket and a sheath, wherein the overload relay is centrally symmetrically installed in the overload relay bracket to prevent the electromagnetic reversing valve from overloading;

[0018] The central control unit includes an air pressure sensor, a data receiving module, a voltage conversion module, a single chip microcomputer, a switch, a data conversion module, a control unit bracket and a sheath;

[0019] The power supply module includes a battery, a power supply module bracket and a sheath, and is used for power supply;

[0020] The central control unit is used to control the ventilation and deflation sequence of the anchoring foot unit and the trunk, and the trunk is used to drive the robot body to move through its pressure inflation and extension and pressure relief and retraction.

[0021] Preferably, the foot support assembly is a disc-shaped structure, with four rectangular notches evenly distributed on its edge, and a connecting plate is provided at the rectangular notches. The soft robot also includes a supporting wheel assembly, and the supporting wheel assembly and the foot support assembly are both fixedly connected to the connecting plate;

[0022] The foot support assembly includes a front foot support and a rear foot support, a hollow cylindrical boss is provided in the center of one side of the front foot support, a cylindrical boss is provided in the center of one side of the rear foot support, and a spiral protrusion is provided on the end face. Three connecting cylinders are provided on the other side of the front foot support and the rear foot support, and the connecting cylinders are provided with a central opening for connecting a ball joint support. A spiral cavity is provided at one end of the cylindrical boss, and a circular hole is provided on the inner wall. The air guide hole is limited in the circular hole, and the spiral protrusion matches the spiral cavity for locking and anchoring the foot unit.

[0023] Preferably, the support wheel assembly includes a support seat, a wheel shell, a support wheel, a wheel axle and a spring. The exterior of the support seat is an arc-shaped structure, and a rectangular wheel groove is opened inside it. Rectangular grooves that are connected to the rectangular wheel groove are symmetrically provided on both sides of the rectangular wheel groove. The support wheel is connected to the wheel axle and is arranged in the rectangular wheel groove. The spring is arranged at both ends of the wheel axle and is correspondingly located in the rectangular grooves.

[0024] Preferably, the body support is composed of two symmetrical connecting parts, the bottoms of the two connecting parts are fixedly connected to a disc base, the disc base is provided with a connecting cylinder, a frustum-shaped groove is opened inside the connecting part, and the inverted cone-shaped protrusion on the body is limitedly set in the frustum-shaped groove.

[0025] Preferably, the ball joint support includes a ball support and a ball sleeve support, the bottoms of the ball support and the ball sleeve support are both triangular structures, and mounting holes are provided at the corners for installing and connecting the cylinder. A ball head is provided on one end surface of the ball support, and a ball sleeve is provided on one end surface of the ball sleeve support. A ball groove matching the ball head is opened in the ball sleeve, and the ball head limiter is set in the ball groove.

[0026] Preferably, the sheath is made of soft material, and the sheath can extend or contract along its axial direction.

[0027] Preferably, the soft robot is also provided with a visual sensing module.

[0028] Preferably, the anchoring foot unit has the same structure as the supporting foot unit.

[0029] The beneficial effects of the present invention are:

[0030] 1. The soft robot of the present invention adopts a serial modular design. The electromagnetic reversing module, the pressure supply module, the reversing control module, the overload protection module, the central control unit and the power supply module are sequentially connected in series from front to back between the anchoring feet, the supporting feet and the body through the ball joint support, forming a serial modular structure. The serial design makes each module independent and interconnected, and it is convenient to add new functional modules to meet new work requirements;

[0031] 2. The robot of the present invention adopts an electromechanical integration method, including a pressure supply module and a power supply module, which provide energy and power for the entire robot, realize the cable-free operation mode of the robot in the pipe, and further improve the work efficiency;

[0032] 3. The circumferentially arranged elastic support wheel groups of the present invention effectively alleviate the friction resistance encountered by the robot when crawling in the pipeline; the elastic compressible design enables the robot to adapt to changes in a certain pipe diameter; the ball joint support connection method enhances the flexibility of the robot, allowing the robot to adapt to the working environment with angled pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0034] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0035] Figure 3 It is a partial schematic diagram of one side of the body of the present invention after the sheath is removed;

[0036] Figure 4 It is a partial cross-sectional view of one side of the body of the present invention after the sheath is removed;

[0037] Figure 5 It is a partial schematic diagram of the other side of the body of the present invention after the sheath is removed;

[0038] Figure 6 A partial cross-sectional view of the other side of the body of the present invention after the sheath is removed;

[0039] Figure 7 A schematic diagram of the structure of the foot support assembly and the anchor foot unit assembly;

[0040] Figure 8 An exploded schematic diagram of the foot support assembly and the anchor foot unit assembly;

[0041] Fig. 9 It is a schematic diagram of the explosion of the body support and the body;

[0042] Fig.10 is a cross-sectional schematic diagram of a central control unit;

[0043] Fig.11 A schematic diagram of the body structure.

[0044] Fig.12 is a schematic diagram of the structure of the anchor foot;

[0045] Fig.13 is a schematic diagram of the structure of the sheath;

[0046] Fig.14 This is a structural diagram of the ball joint bearing.

[0047] In the figure:

[0048] 1-anchoring foot unit, 101-anchoring foot hole, 102-annular air cavity, 103-air guide hole;

[0049] 2-support foot unit;

[0050] 3-body, 301-inverted cone-shaped protrusion, 302-telescopic body, 303-cone-shaped cavity, 304-air inlet;

[0051] 4- electromagnetic reversing module, 401- electromagnetic reversing valve, 402 reversing valve bracket;

[0052] 5-pressure supply module, 501-micro pump, 502-pressure supply module bracket;

[0053] 6- reversing control module, 601- reversing relay, 602- reversing relay bracket;

[0054] 7-overload protection module, 701-overload relay, 702-overload relay bracket;

[0055] 8-central control unit, 801-air pressure sensor, 802-data receiving module, 803-voltage conversion module, 804-single chip microcomputer, 805-switch, 806-data conversion module, 807-control unit bracket;

[0056] 9-power supply module, 901-battery, 902-power supply module bracket;

[0057] 10-foot support assembly, 1001-front foot support, 1002-rear foot support, 1003-cylindrical boss, 1004-cylindrical boss, 1005-spiral protrusion, 1006-spiral cavity groove, 1007-circular hole, 1008-rectangular notch, 1009-connecting plate;

[0058] 11-support wheel assembly, 1101-support seat, 1102-wheel shell, 1103-support wheel, 1104-wheel axle, 1105-spring;

[0059] 12-body support, 1201-connecting piece, 1202-disc base;

[0060] 13-ball hinge support, 1301-ball support, 1302-ball sleeve support;

[0061] 14- sheath;

[0062] 15- Connecting cylinder;

[0063] 16-Vision sensor module. DETAILED DESCRIPTION

[0064] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions of the schematic diagrams in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] A pneumatic snake-like soft robot, comprising: an anchoring foot unit 1, a supporting foot unit 2, a body 3, an electromagnetic reversing module 4, a pressure supply module 5, a reversing control module 6, an overload protection module 7, a central control unit 8, a power supply module 9, a foot support assembly 10, a body support 12 and a ball joint support 13;

[0066] Each supporting foot unit 2 is arranged between a pair of anchoring foot units 1, and two adjacent anchoring foot units 1 and a supporting foot unit 2 arranged therebetween constitute a motion module, and the motion module is symmetrically installed at the left and right ends of the body 3 with the body 3 as the center;

[0067] The electromagnetic reversing module 4, the pressure supply module 5, the reversing control module 6, the overload protection module 7, the central control unit 8 and the power supply module 9 are arranged in sequence from one end of the soft robot to the other end thereof, and both ends of the electromagnetic reversing module 4, the pressure supply module 5, the reversing control module 6, the overload protection module 7, the central control unit 8 and the power supply module 9 are connected to one of the anchoring foot unit 1, the supporting foot unit 2 or the body 3 through a ball joint support 13;

[0068] Both ends of the anchor foot unit 1 are mounted on the foot support assembly 10, with an anchor foot hole 101 in the center, an annular air cavity 102 inside, and an air guide hole 103 for connecting the trachea and inputting pressurized gas. The anchor foot unit 1 can be extended and retracted along its radial direction;

[0069] The greater the applied pressure, the greater the expansion of the anchor foot unit 1;

[0070] A through hole is provided at the center of the support foot unit 2, which is mounted on the foot support assembly 10 to assist in supporting the robot body;

[0071] The body 3 is mounted on the body support 12, and has inverted cone-shaped protrusions 301 at both ends thereof, and a telescopic body 302 in the middle. The telescopic body 302 has a cone-shaped cavity 303 arranged in an array inside, and is provided with an air inlet 304. When pressurized gas is input into the body 3, the body 3 stretches along its axial direction;

[0072] The greater the pressure applied, the greater the extension of the body 3;

[0073] In some embodiments, the electromagnetic reversing module 4 includes an electromagnetic reversing valve 401, a reversing valve bracket 402 and a sheath 14. The electromagnetic reversing valves 401 are arranged in pairs, and are used to control the air flow and deflation of the anchoring foot unit 1 and the body 3 and to protect the air path from air pressure overload.

[0074] The pressure supply module 5 includes a micro pump 501, a pressure supply module bracket 502 and a sheath 14, and is used to supply pressurized gas;

[0075] The reversing control module 6 includes a reversing relay 601, a reversing relay bracket 602 and a sheath 14. The reversing relay 601 is centrally symmetrically installed in the reversing relay bracket 602, and is used to control the on and off of the electromagnetic reversing valve 401;

[0076] The overload protection module 7 includes an overload relay 701, an overload relay bracket 702 and a sheath 14. The overload relay 701 is centrally symmetrically installed in the overload relay bracket 702 to prevent the electromagnetic reversing valve 401 from overloading.

[0077] The central control unit 8 includes an air pressure sensor 801, a data receiving module 802, a voltage conversion module 803, a single chip computer 804, a switch 805, a data conversion module 806, a control unit bracket 807 and a sheath 14;

[0078] The power supply module 9 includes a battery 901, a power supply module bracket 902 and a sheath 14, and is used for power supply;

[0079] The central control unit 8 is used to control the ventilation and deflation sequence of the anchoring foot unit 1 and the trunk 3. The trunk 3 is used to drive the robot body to move by its pressure expansion and pressure release and retraction;

[0080] In some embodiments, the foot support assembly 10 is a disc-shaped structure, with four rectangular notches 1008 evenly distributed on its edge, and a connecting plate 1009 is provided at the rectangular notch 1008. The soft robot also includes a support wheel assembly 11, and the support wheel assembly 11 and the foot support assembly 10 are both fixedly connected to the connecting plate 1009;

[0081] The foot support assembly 10 includes a front foot support 1001 and a rear foot support 1002. A hollow cylindrical boss 1003 is provided at the center of one side of the front foot support 1001, and a cylindrical boss 1004 is provided at the center of one side of the rear foot support 1002, and a spiral protrusion 1005 is provided on the end surface thereof. Three connecting cylinders 15 are provided on the other side of the front foot support 1001 and the rear foot support 1002. The connecting cylinder 15 is provided with a central opening for connecting the ball joint support 13. A spiral cavity 1006 is provided at one end of the cylindrical boss 1003, and a circular hole 1007 is provided on the inner wall. The air guide hole 103 is limitedly set in the circular hole 1007, and the spiral protrusion 1005 matches the spiral cavity 1006 for locking and anchoring the foot unit 1;

[0082] In some embodiments, the support wheel assembly 11 includes a support seat 1101, a wheel shell 1102, a support wheel 1103, a wheel axle 1104 and a spring 1105. The support seat 1101 is an arc-shaped structure on the outside, and a rectangular wheel groove is provided therein. Rectangular grooves communicating with the rectangular wheel groove are symmetrically provided on both sides of the rectangular wheel groove. The support wheel 1103 is connected to the wheel axle 1104 and is arranged in the rectangular wheel groove. The spring 1105 is arranged at both ends of the wheel axle 1104, and is correspondingly located in the rectangular grooves.

[0083] The support wheel assembly 11 plays a role in smoothing the robot's movement, ensuring that the robot's feet always contact the pipeline;

[0084] In some embodiments, the body support 12 is composed of two symmetrical connecting members 1201, the bottoms of the two connecting members 1201 are fixedly connected to a disc base 1202, the disc base 1202 is provided with a connecting cylinder 15, a truncated cone-shaped groove is opened inside the connecting member 1201, and the inverted cone-shaped protrusion 301 on the body 3 is limitedly set in the truncated cone-shaped groove;

[0085] In some embodiments, the ball joint support 13 includes a ball support 1301 and a ball sleeve support 1302. The bottoms of the ball support 1301 and the ball sleeve support 1302 are both triangular structures, and mounting holes are provided at their corners for mounting the connecting cylinder 15. A ball head is provided on one end surface of the ball support 1301, and a ball sleeve is provided on one end surface of the ball sleeve support 1302. A ball groove matching the ball head is provided in the ball sleeve, and the ball head limiter is set in the ball groove;

[0086] In some embodiments, the sheath 14 is made of a soft material, and the sheath 14 can extend or contract along its axial direction;

[0087] In some embodiments, the soft robot is further provided with a visual sensing module 16;

[0088] In some embodiments, the anchoring foot unit 1 has the same structure as the supporting foot unit 2;

[0089] In this embodiment, each module is powered by the power supply module 9, the inner cavity of the body 3 and the anchoring foot unit 1 is pressurized by the pressure supply module 5, the anchoring foot unit 1 is pressurized and expanded to press against the pipe wall to anchor the body, and the body is driven and pulled to move by the pressurized extension and depressurized retraction of the body 3. The central control unit 8 controls the ventilation and deflation sequence of the front and rear anchoring feet and the body 3 through the reversing control module 6 and the electromagnetic reversing module 4, so that the robot feet are alternately anchored, and the body 3 is stretched and retracted to achieve creeping forward in the pipeline;

[0090] Workflow:

[0091] The upper computer controls the gait program and sends it to the single-chip microcomputer 804 of the central control unit 8 through the serial port, then turns on the switch 805, and the single-chip microcomputer 804 sends instructions to the reversing control module 6, and controls each anchoring foot unit 1 and the body 3 according to the planned gait through the electromagnetic reversing module 4, so that the robot moves forward or backward;

[0092] The robot's forward gait planning is as follows:

[0093] Step 1: When in use, all anchoring foot units 1 are pressurized at the same time, and after expansion, the outer wall of the anchoring foot presses against the tube wall to anchor the main body, and at this time, the body 3 is depressurized;

[0094] Step 2: The anchoring foot unit 1 of one side of the motion module is depressurized, and the body 3 is pressurized and extended, pushing the anchoring foot unit 1 of the one side of the motion module to move forward, thereby moving the center of gravity of the robot forward;

[0095] Step 3: The anchoring foot unit 1 of the motion module on one side is pressurized and expanded to anchor the main body;

[0096] Step 4: The anchoring foot unit 1 of the motion module on the other side, and then the body 3 releases pressure to pull the anchoring foot unit 1 of the motion module on the other side to move forward, so that the robot can achieve a forward motion gait;

[0097] Similar to the forward gait planning, after the robot is anchored to the main body, the reverse pressure of each anchoring foot can realize the backward shift of the robot's overall center of gravity, so that the robot can realize the backward movement gait, that is:

[0098] Step 1: First, the anchoring foot unit 1 of the other side movement module is depressurized, and the body 3 is pressurized and extended to push the anchoring foot unit 1 of the other side movement module to move backward, and then the anchoring foot unit 1 of the other side movement module is pressurized, expanded and anchored;

[0099] Step 2: The anchoring foot unit 1 of the motion module on one side is then depressurized, and the body 3 is depressurized to pull the anchoring foot unit 1 of the motion module on one side to move backward, and then the anchoring foot unit 1 of the motion module on one side is pressurized, expanded, and anchored to achieve retreat;

[0100] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pneumatic snake-like soft robot, characterized in that: include: Anchoring foot unit, supporting foot unit, body, electromagnetic reversing module, pressure supply module, reversing control module, overload protection module, central control unit, power supply module, foot bracket assembly, body bracket and ball joint support; Each of the supporting foot units is arranged between a pair of anchoring foot units, and two adjacent anchoring foot units and a supporting foot unit arranged between the two constitute a motion module, and the motion module is symmetrically installed at the left and right ends of the body with the body as the center; The electromagnetic reversing module, the pressure supply module, the reversing control module, the overload protection module, the central control unit and the power supply module are arranged in sequence from one end of the soft robot to the other end thereof, and both ends of the electromagnetic reversing module, the pressure supply module, the reversing control module, the overload protection module, the central control unit and the power supply module are connected to one of the anchoring foot unit, the supporting foot unit or the body through a ball joint support; The two ends of the anchoring foot unit are mounted on the foot support assembly, and an anchoring foot hole is provided in the center, an annular air cavity is provided inside, and an air guide hole is provided for connecting the trachea and inputting pressurized gas. The anchoring foot unit can be extended and retracted along its radial direction; The support foot unit is provided with a through hole at its center and is mounted on the foot support assembly to assist in supporting the robot body; The body is mounted on the body bracket, and has inverted cone-shaped protrusions at both ends and a telescopic body in the middle. The telescopic body has a cone-shaped cavity array inside and an air inlet hole. When pressure gas is input into the body, the body stretches along its axial direction. The electromagnetic reversing module includes an electromagnetic reversing valve, a reversing valve bracket and a sheath. The electromagnetic reversing valves are arranged in groups of two, and are respectively used to control the air flow and deflation of the anchoring foot unit and the body, and to protect the air path from air pressure overload; The pressure supply module includes a micro pump, a pressure supply module bracket and a sheath, and is used to supply pressurized gas; The reversing control module includes a reversing relay, a reversing relay bracket and a sheath, wherein the reversing relay is centrally symmetrically installed in the reversing relay bracket and is used to control the on and off of the electromagnetic reversing valve; The overload protection module includes an overload relay, an overload relay bracket and a sheath, wherein the overload relay is centrally symmetrically installed in the overload relay bracket to prevent the electromagnetic reversing valve from overloading; The central control unit includes an air pressure sensor, a data receiving module, a voltage conversion module, a single chip microcomputer, a switch, a data conversion module, a control unit bracket and a sheath; The power supply module includes a battery, a power supply module bracket and a sheath, and is used for power supply; The central control unit is used to control the ventilation and deflation sequence of the anchoring foot unit and the trunk, and the trunk is used to drive the robot body to move by its pressure expansion and pressure release and retraction; The foot support assembly is a disc-shaped structure, with four rectangular notches evenly distributed on its edge, and a connecting plate is provided at the rectangular notches. The soft robot also includes a support wheel assembly, and the support wheel assembly and the foot support assembly are both fixedly connected to the connecting plate; The foot support assembly comprises a front foot support and a rear foot support, a hollow cylindrical boss is provided at the center of one side of the front foot support, a cylindrical boss is provided at the center of one side of the rear foot support, and a spiral protrusion is provided on the end face thereof, and three connecting cylinders are provided on the other side of the front foot support and the rear foot support, and the connecting cylinders are provided with a central opening for connecting a ball joint support, a spiral cavity is provided at one end of the cylindrical boss, and a circular hole is provided on the inner side wall, the air guide hole is limitedly set in the circular hole, and the spiral protrusion matches the spiral cavity for locking and anchoring the foot unit; The support wheel assembly includes a support seat, a wheel shell, a support wheel, a wheel axle and a spring. The support seat has an arc-shaped structure on the outside and a rectangular wheel groove on the inside. Rectangular grooves communicating with the rectangular wheel groove are symmetrically provided on both sides of the rectangular wheel groove. The support wheel is connected to the wheel axle and is arranged in the rectangular wheel groove. The spring is arranged at both ends of the wheel axle and is correspondingly located in the rectangular grooves.

2. The pneumatic snake-like soft robot according to claim 1, characterized in that: The body support is composed of two symmetrical connecting parts, the bottoms of the two connecting parts are fixedly connected to a disc base, the disc base is provided with a connecting cylinder, a truncated cone-shaped groove is opened inside the connecting part, and the inverted cone-shaped protrusion on the body is limitedly set in the truncated cone-shaped groove.

3. The pneumatic snake-like soft robot according to claim 2, characterized in that: The ball joint support includes a ball support and a ball sleeve support. The bottoms of the ball support and the ball sleeve support are both triangular structures, and mounting holes are provided at the corners for installing and connecting cylinders. A ball head is provided on one end surface of the ball support, and a ball sleeve is provided on one end surface of the ball sleeve support. A ball groove matching the ball head is opened in the ball sleeve, and the ball head limiter is set in the ball groove.

4. The pneumatic snake-like soft robot according to claim 3, characterized in that: The sheath is made of soft material and can extend or contract along its axial direction.

5. The pneumatic snake-like soft robot according to claim 4, characterized in that: The soft robot is also provided with a visual sensing module.

6. The pneumatic snake-like soft robot according to claim 5, characterized in that: The anchoring foot unit has the same structure as the supporting foot unit.

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