Peristaltic soft robot

Abstract

The invention relates to a robot, in particular to a peristaltic soft robot which comprises N sections of silica gel barrels and N + 1 connecting bodies fixedly connected to the ends of the silica gel barrels, each connecting body is provided with three rod-shaped feet evenly distributed in the circumferential direction, and compared with the prior art, the silica gel barrels are configured to be capable of stretching out and drawing back in the axial direction and bending in at least eight directions, the rod-shaped foot can stretch in the radial direction, and N is larger than or equal to 1. Compared with the prior art, through the unique design and structure, not only are the adaptability and flexibility of the pipeline robot improved, but also the navigation and control capability of the pipeline robot in a complex pipeline environment is enhanced, and a more efficient and intelligent solution is provided for pipeline detection and maintenance.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a creeping soft robot. Background Art

[0002] As an important part of modern industry, pipeline robot technology plays a vital role in urban infrastructure maintenance, industrial transportation systems and other fields. With the advancement of science and technology, the design and function of pipeline robots are constantly optimized to adapt to the complex and changing pipeline environment and improve operation efficiency. However, existing technologies still have significant limitations in adaptability and flexibility.

[0003] Existing pipeline robots mainly use wheeled or tracked structures, which have poor mobility in pipelines. Especially when facing curved and irregular pipelines, motion interference is prone to occur, resulting in insufficient driving force, wall deformation, or the robot deviating from the correct posture, or even overturning and getting stuck. In addition, the steering ability of existing robots at pipeline forks is limited, making it difficult to adapt to changes in complex structures in pipelines.

[0004] The Chinese invention patent with publication number CN 112828870 A discloses a pneumatic soft robot for pipelines, which adopts an airbag structure to adapt to different pipe diameters. However, the expansion scale of these airbags is limited and cannot adapt to pipes with larger diameters. In large-diameter pipes, the airbags cannot form a sufficient contact area with the inner wall of the pipe, resulting in insufficient grip of the robot, affecting its stability and maneuverability in the pipe. In terms of steering capability, it uses airbags that expand in three directions to achieve steering. This design lacks flexibility and controllability when steering, especially at pipe forks or when precise steering is required. The airbags in three directions are difficult to provide sufficient steering force and accuracy, limiting the robot's navigation ability in complex pipe environments. Summary of the invention

[0005] In view of the limitations of existing pipeline robots in terms of adaptability and steering ability, it is urgent to develop a new pipeline robot that can adapt to pipelines of different diameters and has higher flexibility and control ability when steering. This robot should be able to achieve precise steering and navigation while maintaining good contact with the inner wall of the pipeline to meet the needs of modern industry for pipeline inspection and maintenance. To this end, the technical solution adopted by the present invention is: A peristaltic soft robot comprises N sections of a silicone cylinder and N+1 connectors fixedly connected to the ends of the silicone cylinder, wherein the connectors are provided with three rod-shaped feet evenly distributed along the circumferential direction. Different from the prior art, the silicone cylinder is configured to be able to expand and contract axially and bend in at least eight directions, and the rod-shaped feet can expand and contract radially, and N≥1.

[0006] Furthermore, the silicone cylinder includes an outer cylinder wall, an inner cylinder wall, four partition walls and a plurality of compartment walls which are connected as one body. The partition walls are arranged in a circumferential array along the circumferential direction and the compartment walls are arranged in a linear array along the axial direction to divide the annular cavity of the silicone cylinder into a plurality of fan-shaped upper chambers, lower chambers, left chambers and right chambers. An air passage is opened from the lower end of the silicone cylinder to pass through all the upper chambers, lower chambers, left chambers and right chambers respectively. 4N cylinder air pipes are arranged in the center hole of the cylinder enclosed by the inner cylinder wall, one end of the 4N cylinder air pipes is respectively connected to each of the air passages, and the other end is connected to an electromagnetic valve. Under the control of a control system, the electromagnetic valve connects one or more cylinder air pipes to high-pressure gas according to a predetermined timing.

[0007] Furthermore, the order of magnitude of the bulkhead is in double digits.

[0008] Further, the connector includes a front disc body, a rear disc body and a pressure ring, the front disc body and the rear disc body respectively have three inlay grooves with semicircular cross-sections arranged in a circumferential direction, one end of the rod-shaped foot with a circular cross-section can be fixedly embedded in the inlay groove after the front disc body and the rear disc body are matched, a connector center hole is provided in the center of the front disc body and the rear disc body, N+1 foot air tubes are passed through the center hole of the connector, one end of the foot air tube is connected to the air inlets of the three rod-shaped feet, and the other end is connected to the solenoid valve, and the solenoid valve connects the three rod-shaped feet to high-pressure gas according to a predetermined timing under the control of the control system; the rear disc body An air nozzle through hole is provided at the position corresponding to the air passage; the cross section of the pressure ring is Z-shaped, including a connecting portion fixedly connected to the front disc body or the rear disc body, and an abutting portion protruding outward, and three connector fixing holes are provided on the connecting portion and the corresponding front disc body and rear disc body; the outer cylinder wall close to the front and rear ends of the silicone cylinder body is correspondingly recessed inwardly to form a flange, and the abutting portion extends into the recess on the outer cylinder wall to press the flange against the front disc body or the rear disc body; a plurality of fastening screws are passed through the connector fixing holes to fix the front disc body, the rear disc body and the pressure ring together and fix the silicone cylinder body to the front disc body and / or the rear disc body.

[0009] Furthermore, the rod-shaped foot is a single-acting mini cylinder, the cylinder body is embedded in the embedding groove and passes through the circumferential circular surfaces of the front disc body and the rear disc body, and a rubber shoe is fixed to the end of the piston rod.

[0010] Furthermore, the pressure ring is divided into three sections, and mortise and tenon joint structures are respectively arranged at both ends of each section. The three sections are assembled to form a whole circle, and the connector fixing holes are opened at the joints of each section.

[0011] Furthermore, the air channel is connected to the cylinder air nozzle outside the rear end surface of the silicone cylinder, and the cylinder air nozzle is connected to the cylinder air pipe after passing through the air nozzle through hole.

[0012] Furthermore, a camera is fixedly connected to the center of the front disk body at the front end, and a cable connected to the camera passes through the center hole of the connector and the center hole of the cylinder body and out of the rear disk body at the rear end.

[0013] Furthermore, a micro air pump, a battery and a control unit are fixedly installed on the rear disc located at the rear end; the cylinder air pipe and the foot air pipe are connected to the micro air pump through an electromagnetic valve; the battery supplies power to the micro air pump and the camera unit; and the control unit is responsible for regulating the on-off timing of the electromagnetic valve.

[0014] Furthermore, the control unit includes a wireless communication module, which enables the control unit to wirelessly exchange data and receive instructions with external devices.

[0015] Compared with the prior art, the beneficial technical effects of the present invention are mainly reflected in the following aspects: 1. Enhanced adaptability: The peristaltic soft robot of the present invention can adapt to pipes of different diameters. Through the design of N-section silicone cylinder, the robot can be extended and retracted along the axial direction to adapt to pipes of different diameters, which is limited in the prior art, especially for large-diameter pipes.

[0016] 2. Improved flexibility and steering ability: The soft robot of the present invention can bend in at least 8 directions. This multi-directional bending ability greatly improves the flexibility and steering ability of the robot in the pipeline, especially when facing curved and irregular pipelines.

[0017] 3. Optimized grip and stability: Through the design of rod-shaped feet evenly distributed along the circumference, the robot of the present invention can form a sufficient contact area on the inner wall of the pipeline, provide better grip, and thus improve stability and maneuverability in the pipeline.

[0018] 4. Precise steering and navigation: The present invention realizes precise control of various parts of the robot through the design of partition walls and compartment walls, combined with precise control of airways and solenoid valves, thereby improving steering force and accuracy, especially at pipeline junctions or when precise steering is required.

[0019] 5. Efficient motion control: The control system connects the high-pressure gas to the cylinder air pipe through a predetermined sequence, making the robot's movement more efficient and controllable, which is difficult to achieve in the three-direction expansion airbag design of the prior art.

[0020] 6. Structural innovation: The structural design of the present invention is novel. Through the combination of the silicone cylinder and the connector, a new soft robot design scheme is provided, which is not available in the prior art.

[0021] In summary, through its unique design and structure, the present invention not only improves the adaptability and flexibility of the pipeline robot, but also enhances its navigation and control capabilities in complex pipeline environments, providing a more efficient and intelligent solution for pipeline inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0023] Figure 2 for Figure 1 A partial enlarged view of point A in the middle.

[0024] Figure 3 It is a schematic diagram of the structure of the silica gel cylinder of the present invention.

[0025] Figure 4 It is a schematic structural diagram of the silicone cylinder of the present invention from another perspective.

[0026] Figure 5 for Figure 4 Cross-sectional view of .

[0027] Figure 6 for Figure 4 Another cross-sectional view.

[0028] Figure 7 for Figure 4 Longitudinal section view of .

[0029] Figure 8 Schematic diagram of the structure of the connector of the present invention.

[0030] Fig. 9 This is a diagram showing the separation of components of the connector of the present invention.

[0031] Fig.10 This is a component separation diagram of the connector of the present invention from another perspective. DETAILED DESCRIPTION

[0032] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are 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.

[0035] A peristaltic soft robot as shown in the accompanying drawings includes three sections of silicone cylinder 100 and four connectors 200 fixedly connected to the ends of the silicone cylinder 100, and three rod-shaped feet 300 evenly distributed along the circumferential direction are arranged on the connector 200. The silicone cylinder 100 is configured to be able to expand and contract axially and bend in at least eight directions, and the rod-shaped feet 300 can expand and contract radially.

[0036] The specific structures of the silicone cylinder 100 and the connector 200 are as follows: The silicone cylinder 100 comprises an outer cylinder wall 101, an inner cylinder wall 102, four partition walls 103 and 19 compartment walls 104 which are connected as one body. The partition walls 103 are arranged in a circumferential direction and the compartment walls 104 are arranged in a linear direction to divide the annular cavity of the silicone cylinder 100 into 20 fan-shaped upper compartments 105, lower compartments 106, left compartments 107 and right compartments 108. A plurality of partition walls 103 are provided from the lower end of the silicone cylinder 100 to penetrate all the upper compartments 105, 106, 107 and 108. 05, the air passages 109 of the lower chamber 106, the left chamber 107 and the right chamber 108; 12 cylinder air pipes 400 are passed through the cylinder center hole 110 enclosed by the inner cylinder wall 102, one end of the 12 cylinder air pipes 400 is respectively connected to the air passages 109 on each section of the silicone cylinder 100, and the other end is connected to the solenoid valve, and the solenoid valve connects the high-pressure gas to one or more cylinder air pipes 400 according to a predetermined timing under the control of the control system.

[0037] The connector 200 comprises a front disc 201, a rear disc 202 and a pressure ring 203. The front disc 201 and the rear disc 202 respectively have three inlay grooves 2011 with semicircular cross-sections arranged along the circumferential direction. When the front disc 201 and the rear disc 202 are aligned, one end of the rod-shaped foot 300 with a circular cross-section can be fixedly embedded in the inlay groove 2011. The center of the front disc 201 and the rear disc 202 is provided with a connector center hole 2012. N+1 foot air tubes 500 are passed through the center hole 2012 of the connector. One end of the foot air tube 500 is connected to the air inlets of the three rod-shaped feet 300 and the other end is connected to the solenoid valve. The solenoid valve connects the three rod-shaped feet 300 with high-pressure gas according to a predetermined timing under the control of the control system. The rear disc 202 is provided with a connecting body center hole 2012 corresponding to the airway 109. The air nozzle through hole 2014; the cross-section of the pressure ring 203 is Z-shaped, including a connecting portion 2031 fixedly connected to the front disc body 201 or the rear disc body 202, and an abutting portion 2032 protruding outward, and three connector fixing holes 2013 are opened on the connecting portion 2031 and the corresponding front disc body 201 and the rear disc body 202; the outer cylinder wall 101 close to the front and rear ends of the silicone cylinder body 100 is concave inward to form a flange 112, and the abutting portion 2032 extends into the concave on the outer cylinder wall 101 to press the flange 112 against the front disc body 201 or the rear disc body 202; a plurality of fastening screws are passed through the connector fixing holes 2013 to fix the front disc body 201, the rear disc body 202 and the pressure ring 203 together and fix the silicone cylinder body 100 to the front disc body 201 and / or the rear disc body 202.

[0038] Here's how the steering works: 1. Basic motion unit: The silicone cylinder 100 of the robot is divided into a plurality of independent fan-shaped chambers, including 20 chambers each on the upper, lower, left and right sides, for a total of 80 chambers.

[0039] 2. Bending in a single direction: By introducing high pressure gas into all the chambers in a certain direction (e.g. all 20 upper chambers 105), the silicone cylinder 100 will bend in that direction. For example: Venting the upper chamber 105 causes the front end to bend downwardly relative to the rear end.

[0040] Venting the downward chamber 106 causes the front end to bend upward relative to the rear end.

[0041] Venting the left chamber 107 causes the front end to bend to the right relative to the rear end.

[0042] Venting the right chamber 108 causes the front end to bend to the left relative to the rear end.

[0043] 3. Combined direction bending: By simultaneously introducing high pressure gas into two compartments in different directions (such as the upper compartment 105 and the left compartment 107), diagonal bending can be achieved. For example: Simultaneous ventilation to the upper chamber 105 and the left chamber 107 causes the front end to bend downward to the right.

[0044] Ventilation to the upper chamber 105 and the right chamber 108 simultaneously causes the front end to bend downward to the left.

[0045] Ventilating the lower chamber 106 and the right chamber 108 simultaneously causes the front end to bend upward and to the left.

[0046] Simultaneous ventilation of the lower chamber 106 and the left chamber 107 causes the front end to bend upward to the right.

[0047] 4. Multi-directional movement: Through the bending in the above single direction and combined directions, the robot can achieve movement in at least 8 basic directions. By adjusting the gas pressure in different chambers, the robot can also achieve more subtle directional adjustments and even omnidirectional movement.

[0048] 5. Pressure control: The control system precisely controls the solenoid valves to connect high-pressure gas to different cylinder air pipes 400 and foot air pipes 500 according to a predetermined sequence, thereby precisely controlling the gas pressure in each compartment.

[0049] 6. Auxiliary function of the rod-shaped foot: The rod-shaped foot 300 at the rear end of the silicone cylinder 100 expands radially, and the rod-shaped foot 300 at the front end contracts radially, which assists the robot to fix its position or provide additional support when turning.

[0050] 7. The restraining effect of the partition wall and the bulkhead: The partition wall 103 and the bulkhead 104 not only divide the cylinder into independent compartments, but also provide necessary restraint so that the gas pressure can be evenly distributed and produce the expected bending effect.

[0051] Here’s how walking works: 1. Axial expansion and radial contraction: When the same pressure of gas is introduced into the upper chamber 105, the lower chamber 106, the left chamber 107 and the right chamber 108, due to the restraining effect of the partition wall 103 and the partition wall 104, the expansion of the silicone cylinder 100 in the axial direction is much greater than the expansion in the radial direction.

[0052] 2. Front end protrudes: The front end of the silicone cylinder 100 protrudes forward due to axial expansion, simulating the stretching action of the earthworm.

[0053] 3. Coordinated movement of the rod-shaped feet: The rod-shaped feet 300 at the front end expand radially to provide support and propulsion, while the rod-shaped feet 300 at the rear end contract radially to assist the robot in fixing its position or providing additional support when turning.

[0054] 4. Cyclic decompression and contraction: After the rod-shaped foot 300 at the front end is expanded, all the chambers are decompressed, causing the silicone cylinder 100 to contract axially, with the rear end moving closer to the front end, simulating the contraction action of an earthworm.

[0055] 5. Continuous cycle: Through the above-mentioned cyclic process of extension and contraction, the robot achieves continuous creeping walking.

[0056] 6. Precise control: The control system precisely controls the solenoid valve to connect and release high-pressure gas to different cylinder gas pipes 400 according to a predetermined sequence, thereby precisely controlling the gas pressure in each cabin and realizing the walking and turning of the robot.

[0057] 7. Auxiliary role of the rod-shaped foot: The radial extension and retraction of the rod-shaped foot 300 not only assists the robot to fix its position when turning, but also provides the necessary propulsion force, so that the robot can move stably in the pipeline.

[0058] This embodiment is a bionic simulation of the annelid earthworm, which has the following beneficial effects: 1. Bionic motion mechanism: By imitating the segmented structure of earthworms, the silicone cylinder 100 of the robot is divided into multiple independent compartments by partition walls 103 and compartment walls 104, realizing earthworm-like peristaltic motion, thereby improving the robot's adaptability and passability in complex pipeline environments.

[0059] 2. Multi-directional bending capability: The restraining effect of the partition wall 103 and the compartment wall 104 enables the silicone cylinder 100 to achieve more flexible turning without being affected by radial expansion, especially in narrow or irregular pipes.

[0060] 3. Enhanced grip and stability: The design of the rod-shaped foot 300 is similar to the bristles of an earthworm, providing the necessary grip to ensure the robot's stable movement and precise steering within the pipeline while avoiding direct contact with the inner wall of the pipeline.

[0061] 4. High propulsion efficiency: A large number of partition walls 103 and compartment walls 104 are provided to optimize the internal structure of the silicone cylinder 100. Through the restraining effect of the partition walls 103 and compartment walls 104, ineffective radial expansion is eliminated, so that energy is more concentrated on axial expansion and contraction, similar to the peristalsis of earthworms, thereby improving the propulsion efficiency of the robot in the pipeline.

[0062] 5. Modular design: The modular design of the robot, including the independent silicone cylinder 100 and the connector 200, is convenient for maintenance and replacement, thus improving the practicality and economy of the robot.

[0063] 6. Adaptability to different pipe diameters: The design of the rod-shaped foot 300 allows it to adapt to pipes of different diameters, similar to how earthworms adapt to soil gaps of different diameters.

[0064] In this embodiment, the rod-shaped foot 300 is a single-acting mini cylinder, the cylinder body is embedded in the inlay groove 2011 and passes through the circumferential circular surface of the front disc body 201 and the rear disc body 202, and the rubber shoe 301 is fixed to the end of the piston rod. The rubber shoe 301 fixed to the end of the piston rod provides a good grip, which is similar to the interaction between the earthworm's bristles and the soil to move. The rubber shoe 301 can adapt to different pipeline surfaces and provide stable support and friction. If the rubber shoe 301 is worn or damaged, it can be replaced relatively easily.

[0065] In this embodiment, the pressure ring 203 is divided into three sections, and a mortise and tenon joint structure is provided at both ends of each section. The three sections are assembled to form a full circle, and the connector fixing hole 2013 is provided at the joint of each section. This modular design facilitates manufacturing and assembly, because the smaller sections can form a complete circular structure after assembly, which simplifies the manufacturing process and may reduce costs.

[0066] In this embodiment, the air channel 109 is connected to the cylinder air nozzle 111 outside the rear end face of the silicone cylinder 100, and the cylinder air nozzle 111 is connected to the cylinder air pipe 400 after passing through the air nozzle through hole 2014. By connecting the cylinder air nozzle 111 outside the rear end face of the silicone cylinder 100, the internal structure of the robot is simplified, the number of pipelines and connectors is reduced, and the manufacturing complexity and potential failure points are reduced. When the cylinder air nozzle 111 passes through the air nozzle through hole 2014 and is connected to the cylinder air pipe 400, sealing measures such as O-rings or special sealing pads can be used to ensure that the gas does not leak and ensure the stability and reliability of the pneumatic system.

[0067] In this embodiment, the center of the front disc 201 at the front end is fixedly connected to the camera 600, and the cable connecting the camera 600 passes through the center hole 2012 of the connector and the center hole 110 of the cylinder and then passes through the rear disc 202 at the rear end. The camera 600 is fixedly connected to the center of the front disc 201, which provides the robot with visual functions, enabling it to perform visual monitoring and environmental recognition inside the pipeline. The camera 600 is located at the front end of the robot and can directly obtain real-time images inside the pipeline, which is crucial for detecting pipeline conditions, identifying obstacles and navigation.

[0068] In another preferred embodiment, a micro air pump, a battery and a control unit are fixedly mounted on the rear disc 202 at the rear end; the cylinder air tube 400 and the foot air tube 500 are connected to the micro air pump through an electromagnetic valve; the battery supplies power to the micro air pump and the camera unit 600; and the control unit is responsible for regulating the on-off timing of the electromagnetic valve. Integrating the micro air pump, the battery and the control unit on the rear disc 202 simplifies the overall structure of the robot, reduces external connection wires, and makes the robot more compact and portable. The fixedly mounted battery provides energy for the micro air pump and the camera unit 600, allowing the robot to work independently without an external power source, thereby improving the robot's autonomy and flexibility.

[0069] In another preferred embodiment, the control unit includes a wireless communication module, which enables the control unit to wirelessly exchange data and receive instructions with external devices. The wireless communication module integrated in the control unit enables the robot to wirelessly exchange data and receive instructions with external devices, improving the remote control capability and intelligence level of the robot. In pipelines or other inaccessible environments, the wireless communication module allows the robot to work without physical connection, reducing restrictions on operators.

[0070] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

[0071] The matters not described in detail in the present invention are the prior art or common knowledge in the field.

Claims

1. A peristaltic soft robot, comprising N sections of a silicone cylinder (100) and N+1 connectors (200) fixedly connected to the end of the silicone cylinder (100), wherein the connector (200) is provided with three rod-shaped feet (300) evenly distributed along the circumferential direction, characterized in that: The silicone tube (100) is configured to be able to expand and contract along the axial direction and bend in at least eight directions, and the rod-shaped foot (300) is able to expand and contract along the radial direction, and N≥1.

2. A creeping soft robot according to claim 1, characterized in that: The silicone cylinder (100) comprises an outer cylinder wall (101), an inner cylinder wall (102), four partition walls (103) and a plurality of partition walls (104) which are connected as one body. The partition walls (103) are arranged in a circumferential array, and the partition walls (104) are arranged in an axial linear array to divide the annular cavity of the silicone cylinder (100) into a plurality of fan-shaped upper chambers (105), lower chambers (106), left chambers (107) and right chambers (108). The silicone cylinder (100) is provided with through holes respectively extending from the lower end thereof. The air passages (109) of all the upper chambers (105), the lower chambers (106), the left chambers (107) and the right chambers (108); 4N cylinder air pipes (400) are passed through the cylinder center hole (110) enclosed by the inner cylinder wall (102); one end of the 4N cylinder air pipes (400) is respectively connected to each of the air passages (109), and the other end is connected to an electromagnetic valve; under the control of a control system, the electromagnetic valve connects one or more cylinder air pipes (400) to high-pressure gas according to a predetermined timing.

3. A creeping soft robot according to claim 2, characterized in that: The order of magnitude of the bulkhead (104) is in double digits.

4. A creeping soft robot according to claim 2, characterized in that: The connecting body (200) comprises a front disc body (201), a rear disc body (202) and a pressure ring (203); three inlay grooves (2011) with semicircular cross sections are arranged in a circumferential direction in the front disc body (201) and the rear disc body (202); after the front disc body (201) and the rear disc body (202) are matched, one end of the rod-shaped foot (300) with a circular cross section can be fixedly embedded in the inlay groove (2011); the front disc body (201) and the rear disc body (202) are connected. 02) a central hole (2012) of the connector is provided in the center, N+1 foot air tubes (500) are arranged in the central hole (2012) of the connector, one end of the foot air tubes (500) is commonly connected to the air inlets of the three rod-shaped feet (300), and the other end is connected to the solenoid valve, and the solenoid valve connects the high-pressure gas to the three rod-shaped feet (300) according to a predetermined timing under the control of the control system; a gas nozzle hole is provided on the rear disc (202) corresponding to the airway (109) (2014); the cross section of the pressure ring (203) is Z-shaped, comprising a connecting portion (2031) fixedly connected to the front disk body (201) or the rear disk body (202), and an outwardly protruding abutting portion (2032); three connecting body fixing holes (2013) are provided on the connecting portion (2031) and the corresponding front disk body (201) and the rear disk body (202); the outer cylinder wall (101) close to the front and rear ends of the silicone cylinder body (100) is concave inwardly The flange (112) is formed, and the abutting portion (2032) extends into the recess on the outer cylinder wall (101) to press the flange (112) against the front disk body (201) or the rear disk body (202); a plurality of fastening screws pass through the connecting body fixing holes (2013) to fix the front disk body (201), the rear disk body (202) and the pressure ring (203) together, and to fix the silicone cylinder (100) to the front disk body (201) and / or the rear disk body (202).

5. A creeping soft robot according to claim 4, characterized in that: The rod-shaped foot (300) is a single-acting mini cylinder, the cylinder body is embedded in the embedding groove (2011) and passes through the circumferential circular surfaces of the front disc body (201) and the rear disc body (202), and the rubber shoe (301) is fixedly connected to the end of the piston rod.

6. The creeping soft robot according to claim 4, characterized in that: The pressure ring (203) is divided into three sections, and mortise and tenon joint structures are respectively arranged at both ends of each section. The three sections are assembled to form a whole circle, and the connector fixing hole (2013) is provided at the joint of each section.

7. The creeping soft robot according to claim 4, characterized in that: The air channel (109) is connected to the cylinder air nozzle (111) outside the rear end surface of the silicone cylinder (100), and the cylinder air nozzle (111) passes through the air nozzle through hole (2014) and is connected to the cylinder air pipe (400).

8. The creeping soft robot according to claim 4, characterized in that: The center of the front disk body (201) at the frontmost end is fixedly connected to a camera (600), and a cable connected to the camera (600) passes through the center hole (2012) of the connector and the center hole (110) of the cylinder body and passes out of the rear disk body (202) at the rearmost end.

9. The peristaltic soft robot according to claim 8, characterized in that: A micro air pump, a storage battery and a control unit are fixedly mounted on the rear disc (202) at the rear end; the cylinder air pipe (400) and the foot air pipe (500) are connected to the micro air pump via a solenoid valve; the storage battery supplies power to the micro air pump and the camera unit (600); and the control unit is responsible for regulating the on-off timing of the solenoid valve.

10. The peristaltic soft robot according to claim 9, characterized in that: The control unit includes a wireless communication module, which enables the control unit to wirelessly exchange data and receive instructions with external equipment.

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