Multi-mode soft robot based on bistable structure and use method of multi-mode soft robot

Abstract

The invention provides a multi-mode soft robot based on a bistable structure and a using method of the multi-mode soft robot, and belongs to the technical field of soft robots. The robot has two working modes of quick grabbing and wriggling and crawling. According to the structure, a lower elastic plate is fixed in a groove of a connecting base, an upper elastic plate and the lower elastic plate are connected through a symmetrical hinge, the upper elastic plate and a top plate are also connected through a rotating hinge, and four sets of elastic plate-hinge structures are evenly arranged along the circumference. And when the robot is in the rapid grabbing working mode, the top plate is pressed to move downwards, when the acting force exceeds an energy threshold value, the robot can rapidly jump from the first stable state to the second stable state and capture the object, and the air bag is actuated to be inflated to release the object to restore the initial state. And when the robot is in the wriggling and crawling working mode, the robot takes the second steady state as the initial state, and the single-side actuating air bag is repeatedly inflated and deflated, so that the robot advances in the corresponding direction. The soft robot has two working modes of quick grabbing and wriggling and crawling, and the potential application value of the soft robot is expanded.

Description

Technical Field

[0001] The present invention belongs to the technical field of soft robots and relates to a multi-mode soft robot based on a bistable structure and a use method thereof. Background Art

[0002] Soft robots represent a new type of robotic technology with significant structural flexibility and environmental adaptability. By utilizing their material and structural properties, soft robots are able to perform a variety of complex tasks in unstructured environments, such as environmental detection, object manipulation, human-computer interaction, etc. However, current soft robots mostly adopt relatively simple structural designs, such as a single chamber or a more limited multi-chamber system. This structural form limits the functional diversity and adaptability of the robot to a certain extent. Specifically, simple structural designs often lead to the limitation of soft robots showing a single functional mode when performing tasks, and it is difficult to meet the changing task requirements in dynamic environments.

[0003] As a mechanical structure with two stable states, the bistable structure can maintain any stable state in the absence of external forces; when external energy input is applied to cross the energy barrier, it can switch between the two stable states. This feature gives the bistable structure unique advantages in achieving flexible state transitions, energy saving and stability. At present, bistable structures have been studied and applied in many fields, such as micro-electromechanical systems and elastic elements. However, the application of bistable structures to soft robots to improve their task adaptability and interaction diversity has not been fully explored. How to use the state transition mechanism of the bistable structure to enable soft robots to have multifunctional modes has become a technical problem that needs to be solved urgently in this field. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention proposes a multi-mode soft robot based on a bistable structure and a method for using the same, aiming to utilize the characteristics of the bistable structure to give the soft robot diversified interaction and operation capabilities. Specifically, the soft robot can switch between functional modes such as fast grasping and crawling through the two working modes of the bistable structure, meeting the diversified operation requirements in different task scenarios.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A multi-mode soft robot based on a bistable structure, the multi-mode soft robot comprises a connecting base 1, four groups of power transmission components with the same structure for constituting a driving device, and a top plate 9, each group of power transmission components is composed of an air hose 2, an actuating airbag 3, a lower elastic plate 4, a symmetrical hinge 5, a rigid gripper 6, an upper elastic plate 7, and a rotating hinge 8, which are evenly arranged around the center of the connecting base 1 as the axis, and the power source of the power transmission component is provided by an air pump extending from the air hose 2. Specifically:

[0007] There are four air guide hoses 2 in total, which respectively pass through the air guide tube mounting holes 101 on the connection base 1 and are connected to the actuating airbag 3 , and the far end is connected to the air pump.

[0008] The top of the lower elastic plate 4 is connected to the bottom of the upper elastic plate 7 via a symmetrical hinge 5 to form a revolute pair.

[0009] The top of the upper elastic plate 7 is connected to the top plate 9 via a rotary hinge 8 to form a rotary pair.

[0010] The base 1, lower elastic plate 4, hinge 5, upper elastic plate 7, hinge 8, and top plate 9 constitute a bistable structure. The state in which both elastic plates 4 and 7 are not deformed and the top plate 9 is farthest from the base 1 is taken as the initial state (first stable state); the state in which both elastic plates 4 and 7 are not deformed and the top plate 9 is closest to the base 1 is taken as the trigger state (second stable state); the state in which the deformation of the elastic plate 7 reaches the maximum, and the elastic plate 4 is parallel to the base 1 or one end of the elastic plate 4 is parallel to the base 1 after being compressed and unstable is taken as the critical state. Furthermore, any other state between the two stable states will automatically transform to a closer stable state according to the relative position between the current state and the critical state.

[0011] The rigid gripper 6 is fixed to the upper hinge of the symmetrical hinge 5 by means of bolts so as to move along with the upper elastic plate 7 .

[0012] Furthermore, one end of the symmetrical hinge 5 is attached to the lower elastic plate 4 and fixedly connected by bolts, and the other end is attached to the upper elastic plate 7 and connected by bolts, so that the lower elastic plate 4 and the upper elastic plate 7 form a revolving pair. The rotating hinge 8 is connected to the top plate 9 through a pin shaft to form a revolving pair.

[0013] Furthermore, the connecting base 1 is provided with four groups of lower elastic plate mounting grooves 103 inclined at a small angle, which are used to constrain the angle of the lower elastic plate 4. Four pairs of through holes are arranged along the circumference of the connecting base 1, which serve as lower elastic plate bolt holes 102 for bolt fixing. The connecting base 1 is provided with four inclined holes as air duct mounting holes 101, which are integrally connected at the bottom of the base 1 and are used to fix the air duct hose 2. The connecting bottom 1 is additionally provided with four through holes for bolting magnets or other connecting devices that can be combined with an external robotic arm, etc. The bottom of the lower elastic plate 4 is inserted into the lower elastic plate groove 103 on the connecting base 1, and the bolt hole 102 passes through the lower elastic plate mounting groove 103 and is perpendicular to it, and the lower elastic plate 4 is fixed to the base 1 by bolts.

[0014] Furthermore, two openings are provided on the surfaces of the symmetrical hinge 5 and the rotary hinge 8, and are respectively fixed to the lower elastic plate 4 and the upper elastic plate 7 by bolts.

[0015] Furthermore, the lower elastic plate 4 is slightly longer than the upper elastic plate 7. By designing the angle between the slot 103 on the base 1 and the bottom surface of the lower elastic plate 4, the lengths of the upper and lower elastic plates are controlled so that they are close to a parallel state in the trigger state (second stable state), which is convenient for bending under pressure. Specifically, if the length of the upper elastic plate 7 is L cm, the thickness of the base is d1 cm, and the thickness of the top plate is d2 cm, the length of the lower elastic plate 4 is L+d1+d2 / 2 cm to L+d1+d2 / 2+1 cm.

[0016] Furthermore, the lower elastic plate 4 and the upper elastic plate 7 are carbon fiber sheets, which have good bending energy storage capacity and can withstand torsion at a certain angle.

[0017] Furthermore, the symmetrical hinge 5 forms a revolute pair between the upper elastic plate 7 and the lower elastic plate 4. According to specific operation requirements, a torsion spring can be added to the symmetrical hinge 5 to provide additional force, thereby changing the threshold of the bistable trigger critical state.

[0018] A method for using a multi-mode soft robot based on a bistable structure, wherein the multi-mode soft robot has two working modes: a fast grasping mode and a crawling mode. The fast grasping mode and the creeping crawling mode are switched through the two working modes, and the operation mode includes the following:

[0019] Working mode 1: Fast grab mode

[0020] When the bistable structure is in the first stable state, sufficient external energy is applied to make the structural system cross its energy barrier and realize the transition from stable state one to stable state two. This transition process is accompanied by the rapid release of mechanical movement, thereby realizing fast and efficient grasping of the target object. This mode can complete the grasping task in a short time and is suitable for efficient target capture and precise positioning needs.

[0021] Working mode 2: crawling mode

[0022] When the bistable structure is in the second stable state, the robot can generate small vibrations or deformations while maintaining a stable state by periodically applying external forces with less energy than the energy required for state switching. Through reasonable structural design, these vibrations can generate propulsion on the contact surface, realizing the crawling motion of the soft robot. This mode is suitable for slow movement with low energy consumption and can adapt to exploration tasks in complex terrain or small spaces.

[0023] The details are as follows:

[0024] When working as Quick Grab mode:

[0025] The definitions of the initial state (first stable state) and the grasping state (second stable state) mentioned above are used.

[0026] The entire device is connected to the end of an external robotic arm, the base 1 is fixed on the robotic arm, the robotic arm drives the device close to the target object, the top plate 9 contacts the target object and is subjected to pressure, the distance between the top plate 9 and the connecting base 1 is reduced, the lower elastic plate 4 is compressed and bent, and when the energy exceeds the critical threshold of the bistable structure, the soft robot quickly jumps from the first stable state to the second stable state to grab the target object. After completing the rapid grasping action, the air pump at the far end inflates the actuating airbag 3 through the air guide hose 2, and the lower elastic plate 4 bends. When the critical threshold of the bistable structure is exceeded, the soft robot quickly jumps from the second stable state to the first stable state to push the rigid gripper 6 to loosen, release the target object, and return to the initial state. In this way, repeated grasping and releasing actions can be completed.

[0027] When operating in creep mode:

[0028] With the bistable trigger state (i.e., the second stable state) as the initial state, the end of the soft robot is only connected to the air guide hose 2. When one of the actuating airbags 3 is inflated and the other actuating airbags are not inflated, the top plate 9 is tilted by the unbalanced pressure, and the upper elastic plate 7 corresponding to the inflated actuating airbag is compressed and bends together with the lower elastic plate 4. The elastic plates in the other three directions are less bent, so the soft robot tilts in the forward direction. When the inflation reaches a certain extent, the actuating airbag 3 that has been inflated is deflated. Since the center of gravity of the overall structure deviates from the central axis of the base 1 at this time, and the angle between the tip of the rigid gripper 6 in the direction corresponding to the inflated actuating airbag and the ground is larger, the rigid gripper 6 in this direction generates greater friction, driving the soft robot to move in this direction. In this way, the soft robot can complete continuous movement and perform free detection activities within a certain space.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The present invention has a simple structure and an ingenious design. It realizes rapid switching between two stable states through the mechanical properties of a multi-hinge structure and an elastic plate, so that it has two working modes: rapid grasping and creeping.

[0031] (2) The power system of the soft robot provided by the present invention is deployed on a remote base, and the main body structure is simple and light in weight.

[0032] (3) The fast grasping mode of the soft robot provided by the present invention has the advantages of strong adaptability, fast response speed, and gentle grasping contact, and can also release the grasped object by pneumatic control, restore the initial state, and achieve repeated grasping.

[0033] (4) The peristaltic crawling mode of the soft robot provided by the present invention can freely explore the surrounding space, enhance the working accessibility of the flexible arm, and solve the problem of insufficient endurance of existing crawling robots.

[0034] To sum up, the present invention has the advantages of simple structure, fast response, strong scalability and low cost. It solves the problem of the single working mode of existing soft robots. It also has two working modes: fast grasping and crawling. It has broad application prospects in operations in unstructured environments in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of a first stable structure of the present invention;

[0036] Figure 2 is a schematic diagram of a second stable structure of the present invention;

[0037] Figure 3 It is a schematic diagram of the connection base structure of the present invention; Figure 3 (a) is a structural diagram of the assembly of the base 1, the air guide tube 2, and the actuating airbag 3. Figure 3 (b) and (c) are part drawings of the connection base 1, which are used to show the position relationship of the openings of the connection base 1;

[0038] Figure 4 This is a schematic diagram of the working process of the present invention as a fast grasping mode of a soft robot;

[0039] Figure 5 It is a schematic diagram of the working process of the present invention as a soft robot in creeping mode;

[0040] In the figure: 1 connecting base, 2 air guide hose, 3 actuating airbag, 4 lower elastic plate, 5 symmetrical hinge, 6 rigid gripper, 7 upper elastic plate, 8 connecting hinge, 9 top plate,

[0041] 101 air guide pipe mounting hole; 102 lower elastic plate bolt hole; 103 lower elastic plate mounting groove. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted here that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0043] Figure 1 The first stable structure schematic diagram of the soft robot is shown, which includes a connecting base 1, an air hose 2, an actuating airbag 3, a lower elastic plate 4, a symmetrical hinge 5, a rigid gripper 6, an upper elastic plate 7, a connecting hinge 8, and a top plate 9. Among them, one end of the air hose 2 is connected to the air pump at the far end, and the other end passes through the mounting hole 101 on the connecting base 1 and is connected to the actuating airbag 3. The lower elastic plate 4 is inserted into the mounting groove 103 of the connecting base 1 and fixed by bolts, and its bending angle is limited by the depth and position of the mounting groove 103. The upper and lower ends of the symmetrical hinge 5 are respectively attached to the lower elastic plate 4 and the upper elastic plate 7 and fixedly connected by bolts. At the same time, a rigid gripper 6 is provided on the upper end of the symmetrical hinge 5, which can increase the gripping force and improve the gripping stability when grasping an object. The rotating hinge 8 is connected to the top plate 9 by a pin to form a rotating pair, and is also attached to the upper elastic plate 7 and fixedly connected by bolts. The air guide hose 2, the actuating airbag 3, the lower elastic plate 4, the symmetrical hinge 5, the rigid gripper 6, the upper elastic plate 7, and the rotating hinge 8 are all in four groups, and are evenly arranged around the center of the connecting base 1. Preferably, the elastic plate is made of carbon fiber sheets, which have good bending energy storage capacity. Preferably, the triggering condition of the bistable structure can be changed by adding torsion springs of different wire diameters and diameters between the symmetrical hinge 5 and the rotating hinge 8, and lubricating oil can be sprayed to reduce friction.

[0044] Figure 2 It is a schematic diagram of the second stable state structure of the soft robot. When the top plate 9 contacts the target object, the top plate 9 moves downward by pressure, and the rotating hinge 8 rotates counterclockwise around the pin shaft, driving the upper elastic plate 7 to move downward and expand outward along the axis, and the upper end of the symmetrical hinge 5 rotates around the pin shaft, the middle angle becomes smaller, and the lower elastic plate 4 is compressed and bent outward. When the upper elastic plate 7 is horizontal with the plane where the connecting base 1 is located, it exceeds the critical state, the lower elastic plate 4 rebounds, and the hinge 5 rotates counterclockwise, driving the upper elastic plate 7 to quickly flip and fall to a stable position, and the rigid gripper 6 clamps the target object. If it is necessary to return to the first stable state, the four actuating airbags 3 can be inflated at the same time, the top plate 9 is uniformly forced to move upward, and the lower elastic plate 4 is compressed and bent. When it exceeds the critical position, the lower elastic plate 4 restores its initial posture and releases the stored energy, and the top plate 9 quickly rebounds to the initial position and releases the object. Repeating the above process can achieve rapid and repeated grasping and releasing operations.

[0045] like Figure 3 The structural diagram of the connection base 1 of the present invention is manufactured by 3D printing technology; wherein the hole 101 is a fixing hole for the air guide hose, and the air guide hose 2 is introduced through the hole on the bottom surface of the base 1, and is divided into 4 pipelines evenly distributed along the circumference on the upper surface of the connection base 1, corresponding to the directions of the four groups of lower elastic plates 4, respectively, for applying forces to the elastic plates in different directions. The connection base 1 is provided with four elastic plate mounting grooves 103 inclined 20 degrees from the vertical plane, for constraining the turning angle of the lower elastic plate 4. At the same time, the connection base 1 is evenly provided with four pairs of holes 102 circumferentially for passing bolts to fasten the elastic plate 4.

[0046] like Figure 4 The schematic diagram of the working process of the bistable soft robot in the fast grasping mode is as follows:

[0047] In the first step, the soft robot is connected to the end of an external robotic arm through a magnet, vacuum or other means, and is carried to the working position by the external robotic arm. When the soft robot touches the surface of the object, the top plate 9 is compressed, and the pressure is transmitted to the lower elastic plate 4 through the upper elastic plate 7. The lower elastic plate 4 bends, and the upper elastic plate 7 expands outward with the rotation of the symmetrical hinge 5. The angle between the symmetrical hinges 5 becomes smaller, and the distance between the top plate 9 and the connecting base 1 is reduced.

[0048] In the second step, when the upper elastic plate 7 is parallel to the bottom surface, the energy threshold of the bistable structure is reached. The pressure on the top plate 9 is no longer balanced with the vertical force component of the axial force of the elastic plate 7, and the bistable structure jumps, the top plate 9 falls rapidly, and at the same time, the lower elastic plate 4 is no longer under pressure, and rebounds rapidly under the action of internal force, driving the symmetrical hinge 5 and the rigid gripper 6 to move toward the center to clamp the target object.

[0049] The third step is to wait for the soft robot to move to the desired release position, and inflate the four actuating airbags 3 simultaneously through the air guide hose 2, pushing the top plate 9 to move upward. When the upper elastic plate 7 is parallel to the bottom surface, the critical state of the bistable structure is exceeded. The lower elastic plate 4 rebounds, pushing the symmetrical hinge 5, the rigid gripper 6, the upper elastic plate 7 and other structures to move upward, and quickly releasing the object.

[0050] In the fourth step, the four actuating air bags 3 are deflated through the air guide hose 2 to return to the initial state, and the next clamping operation can be performed.

[0051] like Figure 5 The schematic diagram of the working process of the bistable soft robot in the creeping mode is as follows:

[0052] In the first step, the bistable trigger state (i.e., the second stable state) is used as the initial state, and the end of the soft robot is only connected to the air guide hose 2. When one of the actuating airbags 3 is inflated and the other actuating airbags are not inflated, the top plate 9 tilts due to the unbalanced pressure, and the upper elastic plate 7 corresponding to the inflated actuating airbag is compressed and bends together with the lower elastic plate 4. The elastic plates in the other three directions are less bent, so the soft robot tilts in the forward direction.

[0053] In the second step, when the inflation reaches a certain level, the actuating airbag 3 that has been inflated is deflated. Since the center of gravity of the overall structure deviates from the central axis of the base 1 at this time, and the angle between the tip of the rigid gripper 6 in the direction corresponding to the inflated actuating airbag and the ground is larger, the rigid gripper 6 in this direction generates greater friction, driving the soft robot to move in this direction.

[0054] By repeating this process over and over again, the soft robot can complete continuous movement and perform free exploration activities within a certain space.

[0055] The basic principle of the present invention is described above in conjunction with specific embodiments, but it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and facilitation of understanding, rather than limitation, and the above details do not limit the present invention to being implemented by adopting the above specific details.

[0056] The above-described embodiments merely express the implementation methods of the present invention, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A multi-mode soft robot based on a bistable structure, characterized in that: The multi-mode soft robot comprises a connecting base (1), four groups of power transmission components with the same structure for constituting a driving device, and a top plate (9), each group of power transmission components is composed of an air guide hose (2), an actuating airbag (3), a lower elastic plate (4), a symmetrical hinge (5), a rigid gripper (6), an upper elastic plate (7), and a rotating hinge (8), which are evenly arranged in a circle with the center of the connecting base (1) as the axis, and the power source of the power transmission component is provided by an air pump extended from the air guide hose (2); specifically: There are four air guide hoses (2) in total, which respectively pass through the air guide tube mounting holes 101 on the connection base (1) and are connected to the actuating airbag (3), and the far end is connected to the air pump; The top of the lower elastic plate (4) is connected to the bottom of the upper elastic plate (7) via a symmetrical hinge (5) to form a revolute pair; The top of the upper elastic plate (7) is connected to the top plate (9) via a rotary hinge (8) to form a rotary pair; The base (1), the lower elastic plate (4), the hinge 5, the upper elastic plate (7), the hinge 8, and the top plate (9) form a bistable structure; The rigid gripper (6) is fixed to the upper hinge of the symmetrical hinge (5) so as to move along with the upper elastic plate (7).

2. A multi-mode soft robot based on a bistable structure according to claim 1, characterized in that: The bistable state of the bistable structure specifically refers to: The state in which the lower elastic plate (4) and the upper elastic plate (7) are both not deformed and the distance between the top plate (9) and the base (1) is the farthest is taken as the initial state, as the first stable state; the state in which the lower elastic plate (4) and the upper elastic plate (7) are both not deformed and the distance between the top plate (9) and the base (1) is the closest is taken as the trigger state, as the second stable state; the state in which the deformation of the upper elastic plate (7) reaches the maximum, and the lower elastic plate (4) is parallel to the base (1) or one end of the lower elastic plate (4) is parallel to the base (1) after the lower elastic plate (4) is compressed and unstable is taken as the critical state; A torsion spring can be added to the symmetrical hinge (5) to provide additional force, thereby changing the threshold of the bistable triggering critical state.

3. A multi-mode soft robot based on a bistable structure according to claim 2, characterized in that: Any other state between two steady states will automatically transform to a closer steady state according to the relative position of the current state to the critical state.

4. The multi-mode soft robot based on a bistable structure according to claim 1, characterized in that: One end of the symmetrical hinge (5) is attached to the lower elastic plate (4) and fixedly connected by bolts, and the other end is attached to the upper elastic plate (7) and connected by bolts, so that the lower elastic plate (4) and the upper elastic plate (7) form a rotating pair; the rotating hinge (8) is connected to the top plate (9) through a pin shaft to form a rotating pair.

5. The multi-mode soft robot based on a bistable structure according to claim 1, characterized in that: The connection base (1) is provided with four groups of lower elastic plate mounting grooves (103) inclined at a small angle, which are used to constrain the angle of the lower elastic plate (4); four pairs of through holes are arranged along the circumference of the connection base (1) as lower elastic plate bolt holes (102); the bottom of the lower elastic plate (4) is inserted into the lower elastic plate groove (103) on the connection base (1), and the bolt hole (102) passes through the lower elastic plate mounting groove (103) and is perpendicular to it, and the lower elastic plate (4) is fixed to the base (1) by bolts; two openings are arranged on the surface of the symmetrical hinge (5) and the rotary hinge (8), which are respectively fixed to the lower elastic plate (4) and the upper elastic plate (7) by bolt penetration.

6. The multi-mode soft robot based on a bistable structure according to claim 1, characterized in that: The lower elastic plate (4) is longer than the upper elastic plate (7). By designing the angle between the upper slot (103) of the connecting base (1) and the bottom surface of the lower elastic plate (4), the lengths of the upper and lower elastic plates are controlled so that they are close to a parallel state in the triggered state, thereby facilitating bending under pressure.

7. The multi-mode soft robot based on a bistable structure according to claim 6, characterized in that: If the length of the upper elastic plate (7) is L cm, the thickness of the base is d1 cm, and the thickness of the top plate is d2 cm, then the length of the lower elastic plate (4) is L+d1+d2 / 2 cm to L+d1+d2 / 2+1 cm.

8. The multi-mode soft robot based on a bistable structure according to claim 1, characterized in that: The lower elastic plate (4) and the upper elastic plate (7) are carbon fiber sheets.

9. A method for using the multi-mode soft robot based on a bistable structure according to any one of claims 1 to 8, characterized in that: The multi-mode soft robot has two working modes: fast grasping mode and crawling mode. The two working modes are used to switch between fast grasping and creeping function modes, including the following operation modes: Working mode 1: Fast grab mode When the bistable structure is in the first stable state, the transition from the first stable state to the second stable state is realized by applying external energy, thereby realizing fast and efficient grasping of the target object; Working mode 2: crawling mode When the bistable structure is in the second stable state, by periodically applying external forces with energy lower than the energy required for state switching, the robot can produce small vibrations or deformations while maintaining a stable state; thereby generating a propulsion force on the contact surface, realizing the crawling motion of the soft robot.

10. The method for using a multi-mode soft robot according to claim 9, characterized in that: The details are as follows: When working as Quick Grab mode: The entire device is connected to the end of an external robotic arm, the base (1) is fixed on the robotic arm, the robotic arm drives the device to approach the target object, the top plate (9) contacts the target object and is subjected to pressure, the distance between the top plate (9) and the connection base 1 is reduced, the lower elastic plate (4) is compressed and bent, and when the energy exceeds the critical threshold of the bistable structure, the soft robot quickly jumps from the first stable state to the second stable state to grasp the target object; after completing the rapid grasping action, the air pump at the far end inflates the actuating airbag (3) through the air guide hose (2), the lower elastic plate (4) is bent, and when the critical threshold of the bistable structure is exceeded, the soft robot quickly jumps from the second stable state to the first stable state to push the rigid gripper 6 to loosen, release the target object, and return to the initial state; This process is repeated to complete the grabbing and releasing actions. When operating in creep mode: With the bistable trigger state as the initial state, the end of the soft robot is only connected to the air guide hose (2); when one of the actuating airbags (3) is inflated and the other actuating airbags are not inflated, the top plate (9) is tilted due to the unbalanced pressure, and the upper elastic plate (7) corresponding to the inflated actuating airbag is compressed and bends together with the lower elastic plate (4), and the elastic plates in the other three directions are less bent, so that the soft robot tilts in the forward direction; when the inflation reaches a certain extent, the actuating airbag (3) performing the inflation operation is deflated, because at this time the center of gravity of the overall structure deviates from the central axis of the base (1), and the angle between the tip of the rigid gripper (6) in the direction corresponding to the inflated actuating airbag and the ground is larger, so the rigid gripper (6) in this direction generates friction, driving the soft robot to move in this direction; in this way, the soft robot can complete continuous movement and perform free detection activities within a certain space.

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