Composite hardness wheel foot type soft robot suitable for various environments

Abstract

The invention discloses a composite-hardness wheel-foot type soft robot adapting to various environments, relates to the field of wheel-foot type soft robots, and aims to solve the problems that an existing mobile robot is low in movement rate, single in movement environment and poor in adaptability. The wheel-foot type soft robot comprises a middle supporting unit and four soft wheel-foot units; the four soft wheel foot units are averagely divided into two soft wheel foot unit sets, the two soft wheel foot unit sets are symmetrically arranged along the center line of the length extending direction of the middle supporting unit, and the two soft wheel foot units in each soft wheel foot unit set are oppositely arranged on the two sides of the middle supporting unit. And each soft wheel foot unit is detachably connected with the middle supporting unit. The invention mainly provides a wheel-foot type soft robot which can adapt to various working environments in a narrow space.

Description

Technical Field

[0001] The invention relates to the field of wheel-legged soft robots, and in particular to a composite hardness wheel-legged soft robot adaptable to a variety of environments. Background Art

[0002] In the field of robotics, soft robots, with their inherent high flexibility and good compliance, show great potential in the fields of medical treatment, education, service, rescue, exploration, detection, wearable devices, etc. Soft robots are usually made of soft materials. Compared with rigid robots, soft materials give robots the characteristics of multiple freedoms and nonlinear deformation, thus ensuring adaptability in unstructured space environments;

[0003] Mobile robots have the characteristics of fast movement speed and excellent performance in ground movement, but existing mobile robots are usually made of rigid materials, which leads to their poor deformation ability and inability to adapt to unstructured environments, which greatly restricts the working range of mobile robots;

[0004] In view of the shortcomings of existing mobile robots and the technical advantages of soft robots, it is in line with practical needs to innovatively combine the two technologies to develop a new mobile robot with high movement speed and strong environmental adaptability. Summary of the invention

[0005] The present invention aims to solve the problems of low movement speed, single movement environment and poor adaptability of existing mobile robots, and further provides a composite hardness wheel-foot soft robot that can adapt to multiple environments;

[0006] A composite hardness wheel-foot soft robot adaptable to various environments, the wheel-foot soft robot comprising a middle support unit and four soft wheel-foot units, the four soft wheel-foot units being evenly divided into two soft wheel-foot unit groups, the two soft wheel-foot unit groups being symmetrically arranged along a center line of a length extension direction of the middle support unit, the two soft wheel-foot units in each soft wheel-foot unit group being relatively arranged on both sides of the middle support unit, and each soft wheel-foot unit being detachably connected to the middle support unit;

[0007] Further, the middle support unit includes two intermediate connection modules and a central airbag, the central airbag is arranged between the two intermediate connection modules, and each end of the central airbag is detachably connected to a corresponding intermediate connection module, each soft wheel foot unit group is arranged on an intermediate connection module, and two soft wheel foot units in each soft wheel foot unit group are relatively arranged on both sides of the intermediate connection module, and each soft wheel foot unit is detachably connected to the intermediate connection module;

[0008] Furthermore, the soft wheel-foot unit comprises a soft arm module, a wheel-foot module and a micro air pump, one end of the soft arm module is detachably connected to the intermediate connecting module, the wheel-foot module is arranged on the other end of the soft arm module and is detachably connected to the other end of the soft arm module, the micro air pump is detachably connected to the intermediate connecting module, and the gas output end of the micro air pump is connected to the soft arm module through the intermediate connecting module;

[0009] Furthermore, the soft support arm module includes a soft shell and a carbon fiber sheet, wherein the carbon fiber sheet is embedded in the bottom of the soft shell and forms a hollow soft support arm structure with the soft shell;

[0010] Further, the wheel-foot module includes a motor fixing seat, a Mecanum wheel, a motor and a tail connection block, the tail connection block is inserted on the other end of the soft support arm module, and the tail connection block is detachably connected to the carbon fiber sheet, the motor is arranged on the top of the tail connection block, and the motor is detachably connected to the tail connection block through the motor fixing seat, the motor output shaft of the motor is arranged toward the side of the tail connection block away from the middle connection module, and the Mecanum wheel is sleeved on the motor output shaft of the motor;

[0011] Furthermore, the intermediate connection module is equipped with two air passages, each of which is arranged corresponding to a soft support arm module, the air inlet end of each air passage is connected to a quick-connect threaded hole on a side wall of the intermediate connection module, the air outlet end of each air passage is connected to a strip-shaped air hole on a side wall of the intermediate connection module, an annular protrusion is arranged on the outer end of the strip-shaped air hole, one end of the soft support arm module is sleeved on the annular protrusion at the outer end of the strip-shaped air hole and is tightly and sealedly connected to the annular protrusion through a front-end fixing clamp, a trachea quick connector is inserted into the quick-connect threaded hole, and the trachea quick connector is threadedly connected to the intermediate connection module, and the gas output end of the micro air pump is connected to an air passage built into the intermediate connection module through the trachea quick connector;

[0012] Furthermore, an air pump fixing seat is respectively provided on both sides of the intermediate connection module, each air pump fixing seat is detachably connected to the intermediate connection module, each micro air pump is correspondingly embedded in an air pump fixing seat, and each micro air pump is detachably connected to the intermediate connection module via an air pump fixing seat;

[0013] Furthermore, a tail end fixing fixture is sleeved on the other end of the soft arm module, and the other end of the soft arm module is tightly and sealedly connected to the tail connection block through the tail end fixing fixture;

[0014] Furthermore, a plurality of air cavities are equidistantly arranged on the top of the soft shell along the length extension direction of the soft shell, and each air cavity is connected to the soft shell;

[0015] Furthermore, a connecting column is provided at each end of the central airbag, and an external thread is processed on the outer circumferential wall of each connecting column, and a threaded connection hole is processed on one end of the intermediate connection module corresponding to the central airbag, and each connecting column in the central airbag is inserted into the threaded connection hole on the corresponding intermediate connection module, and the central airbag and the two intermediate connection modules are all threadedly detachable connections;

[0016] The beneficial effects of this application compared to the prior art are as follows:

[0017] The present application proposes a composite hardness wheel-footed soft robot that can adapt to a variety of environments. It innovatively proposes a solution that combines soft feet and wheels, and adopts a design of rigid wheels and soft legs. The rigid wheels ensure that the robot has strong mobility, and the soft legs are deformed through high-voltage drive, thereby adapting to unstructured environments. At the same time, the soft legs adopt a combination of silicone and carbon fiber plates, which not only ensures the bending and deformation of the legs, but also has a certain hardness to ensure the movement of the wheels. Through the above design, the wheel-footed soft robot can adapt to a variety of environments, such as flat environments, obstacle environments, pipeline environments, etc.

[0018] The present application proposes a composite hardness wheel-legged soft robot that can adapt to a variety of environments. The present application adopts a four-legged design. The overall structure of the robot is spliced ​​together by four soft closed chambers and the connectors required by the hardware. The overall assembly process is relatively simple, which greatly improves the production efficiency. The preparation cost of a single component is low and it also has good economy. The present application introduces a carbon fiber structure in the soft leg for the first time to constrain the deformation of the soft module, thereby improving the deformation stability of the soft module. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the wheel-legged soft robot described in this application;

[0020] Figure 2 This is a schematic diagram of the structure of the central connection module in the wheel-legged soft robot described in this application;

[0021] Figure 3 This is a schematic diagram of the structure of the built-in airway in the central connection module of the wheeled-legged soft robot described in this application;

[0022] Figure 4 This is a schematic diagram of the structure of the central airbag in the wheeled-legged soft robot described in this application;

[0023] Figure 5 This is a schematic diagram of the interior of the central airbag in the wheeled-legged soft robot described in this application;

[0024] Figure 6 This is a schematic diagram of the structure of the soft shell of the wheel-legged soft robot described in this application;

[0025] Figure 7 This is a bottom partial cross-sectional schematic diagram of the soft arm module in the wheeled-legged soft robot described in this application;

[0026] Figure 8 This is a schematic diagram of the structure of the tail connection block in the wheel-legged soft robot described in this application;

[0027] Fig. 9 This is a schematic diagram of the structure of the motor fixing seat in the wheel-legged soft robot described in this application;

[0028] Fig.10 This is a schematic diagram of the structure of the air pump fixing seat in the wheel-legged soft robot described in this application;

[0029] Fig.11 This is a schematic diagram of the structure of the front-end fixing fixture in the wheel-legged soft robot described in this application;

[0030] Fig.12 This is a schematic diagram of the structure of the tail end fixing fixture in the wheel-legged soft robot described in this application;

[0031] Fig.13 This is a front view of the wheel-legged soft robot moving on flat ground as described in this application;

[0032] Fig.14 A top view of the wheeled-legged soft robot moving on flat ground as described in this application;

[0033] Fig.15 This is a front view of the deformation motion of the wheel-legged soft robot described in this application;

[0034] Fig.16 A top view of the deformation motion of the wheel-legged soft robot described in this application;

[0035] Fig.17 A top view of the wheel-legged soft robot in this application during turning motion;

[0036] In the figure, 1 is a middle connection module, 2 is a central airbag, 3 is an air pump fixing seat, 4 is an air pipe quick connector, 5 is a tail fixing fixture, 6 is a motor fixing seat, 7 is a Mecanum wheel, 8 is a front fixing fixture, 9 is a micro air pump, 10 is a soft shell, 11 is a motor, 12 is a threaded connection hole, 13 is a quick-connect threaded hole, 14 is a strip-shaped air hole, 15 is a tail connection block, 16 is a No. 1 mounting hole, 17 is a carbon fiber sheet, 18 is a No. 2 mounting hole, 19 is a No. 3 mounting hole, 20 is a No. 4 mounting hole, 21 is a No. 5 mounting hole, 22 is a No. 6 mounting hole and 23 is a mounting threaded hole DETAILED DESCRIPTION

[0037] Specific implementation method 1: Combination Figures 1 to 17The present embodiment describes a composite hardness wheel-footed soft robot that can adapt to a variety of environments. The wheel-footed soft robot includes a central support unit and four soft wheel-foot units. The four soft wheel-foot units are evenly divided into two soft wheel-foot unit groups. The two soft wheel-foot unit groups are symmetrically arranged along a center line of the length extension direction of the central support unit. The two soft wheel-foot units in each soft wheel-foot unit group are relatively arranged on both sides of the central support unit, and each soft wheel-foot unit is detachably connected to the central support unit.

[0038] The present embodiment provides a composite hardness wheel-footed soft robot that can adapt to a variety of environments. It adopts a four-legged structure design, with a middle support unit as the main supporting component, which is used to carry four soft wheel-foot units. Each soft wheel-foot has both the flexible deformation of a soft robot and the high mobility of a traditional mobile robot, so that the wheel-footed soft robot provided in this application has high environmental adaptability while moving in a high-speed and stable state.

[0039] Specific implementation method 2: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the first embodiment is that the middle support unit includes two intermediate connection modules 1 and a central airbag 2. The central airbag 2 is arranged between the two intermediate connection modules 1, and each end of the central airbag 2 is detachably connected to a corresponding intermediate connection module 1. Each soft wheel foot unit group is arranged on an intermediate connection module 1. The two soft wheel foot units in each soft wheel foot unit group are relatively arranged on both sides of the intermediate connection module 1, and each soft wheel foot unit is detachably connected to the intermediate connection module 1. Other components and connection methods are the same as those in the first embodiment.

[0040] In this embodiment, the intermediate connection module 1 is used as a load-bearing component to connect the soft wheel-foot units, and the central airbag 2 is helpful in adjusting the relative swinging state between the two intermediate connection modules 1, which is helpful in improving the flexibility of the wheel-foot soft robot in turning when working.

[0041] Specific implementation method three: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the second embodiment is that the soft wheel foot unit includes a soft arm module, a wheel foot module and a micro air pump 9. One end of the soft arm module is detachably connected to the intermediate connection module 1. The wheel foot module is arranged on the other end of the soft arm module and is detachably connected to the other end of the soft arm module. The micro air pump 9 is detachably connected to the intermediate connection module 1, and the gas output end of the micro air pump 9 is connected to the soft arm module through the intermediate connection module 1. Other components and connection methods are the same as those of the second embodiment.

[0042] In this embodiment, the soft arm module can be deformed by the high-pressure drive of the micro air pump 9, so as to adapt to the unstructured environment. The wheel and foot module ensures the mobility of the robot and is used to stabilize the movement rate of the robot during movement.

[0043] Specific implementation method four: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the third embodiment is that the soft arm module includes a soft shell 10 and a carbon fiber sheet 17. The carbon fiber sheet 17 is embedded in the bottom of the soft shell 10 and forms a hollow soft arm structure with the soft shell 10. Other components and connection methods are the same as those of the third embodiment.

[0044] In this embodiment, the soft shell 10 is innovatively combined with the carbon fiber sheet 17. The soft shell 10 is generally made of silicone. By introducing the carbon fiber structure, the deformation state of the soft arm module can be effectively constrained, thereby improving the deformation stability of the soft module. This combination method not only ensures that the arm portion can be bent and deformed, but also provides a certain hardness guarantee for the arm within the deformation range of the arm. Such a setting helps to broaden the working range of the wheel foot module. Fig.15 As shown in some narrow gaps, the soft arm module provided in the present application can make the leg structure of the robot have a certain tension, and under the action of the tension, the wheel feet of the robot can move close to the wall, thereby ensuring the stability of the robot moving at high places in the gap.

[0045] Specific implementation method five: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the fourth embodiment is that the wheel foot module includes a motor fixing seat 6, a Mecanum wheel 7, a motor 11 and a tail connection block 15. The tail connection block 15 is inserted on the other end of the soft arm module, and the tail connection block 15 is detachably connected to the carbon fiber sheet 17. The motor 11 is arranged on the top of the tail connection block 15, and the motor 11 is detachably connected to the tail connection block 15 through the motor fixing seat 6. The motor output shaft of the motor 11 is arranged toward the side of the tail connection block 15 away from the middle connection module 1, and the Mecanum wheel 7 is sleeved on the motor output shaft of the motor 11. Other components and connection methods are the same as those of the fourth embodiment.

[0046] In this embodiment, two No. 3 connection holes 19 for connection are processed on the motor fixing seat 6 in the wheel-foot module, two No. 2 connection holes 18 for connection are processed on the top of the tail connection block 15, and two No. 1 connection holes 16 for connection are also processed on the carbon fiber sheet 17. Each No. 1 connection hole 16 is coaxially arranged with a No. 2 connection hole 18 and a No. 3 connection hole 19. When arranged, the motor fixing seat 6, the tail connection block 15 and the carbon fiber sheet 17 are arranged in a superimposed manner, and the three are disassembled and connected by two bolt and nut assemblies. The motor 11 is located in the motor fixing seat 6, and the motor 11 is fixed on the tail connection block 15 under the constraint of the motor fixing seat 6. The Mecanum wheel 7 is used as the execution component in the wheel-foot module. Considering that the Mecanum wheel 7 is different from the conventional wheel body structure, it has high adaptability itself, and is conducive to improving the motion stability of the wheel-foot robot in combination with the structural design provided by the present application.

[0047] Specific implementation method six: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the fifth embodiment is that the intermediate connection module 1 has two airways built in, each airway is arranged corresponding to a soft arm module, the air inlet end of each airway is connected to the quick-connect threaded hole 13 on one side wall of the intermediate connection module 1, and the air outlet end of each airway is connected to the strip air hole 14 on one side wall of the intermediate connection module 1. The outer end of the strip air hole 14 is provided with an annular protrusion, one end of the soft arm module is sleeved on the annular protrusion at the outer end of the strip air hole 14 and is tightly and sealedly connected to the annular protrusion through the front end fixing clamp 8, a trachea quick connector 4 is inserted into the quick-connect threaded hole 13, and the trachea quick connector 4 is threadedly connected to the intermediate connection module 1, and the gas output end of the micro air pump 9 is connected to an airway built in the intermediate connection module 1 through the trachea quick connector 4. Other components and connection methods are the same as those of the fifth embodiment.

[0048] In the present embodiment, each intermediate connecting module 1 is to be connected to two soft wheel-foot units at the same time, and the two built-in air passages are to enable each micro air pump 9 to independently control the working state of the corresponding soft arm module. In this way, when working, the four soft wheel-foot units can realize independent morphological changes as well as synchronous morphological changes, further improving the flexibility of the wheel-foot robot. It is worth noting that in order to improve the sealing performance of the connection between the soft arm module and the intermediate connecting module 1 and avoid air leakage during operation of the micro air pump 9 that affects the deformation accuracy of the soft arm module, an annular protrusion for connection is provided on the outer side of the strip air hole 14 in the present embodiment, and one end of the soft arm module is sleeved on the annular protrusion, so as to ensure the soft arm through the annular protrusion. The connection accuracy between the module and the strip-shaped air hole 14. Since the soft shell 10 in the soft arm module is made of silicone material and has good compressibility and deformability, the present application uses this to set a front-end fixing clamp 8 at the connection between the soft arm module and the annular protrusion. The front-end fixing clamp 8 includes two front-end U-shaped frames with connecting ears. Each front-end U-shaped frame has a No. 5 mounting hole 21 processed on the connecting ear. When in use, the two front-end U-shaped frames are assembled and clamped on the outside of the soft arm module and the annular protrusion, and the upper and lower groups of No. 5 mounting holes 21 are coaxially arranged. The two front-end U-shaped frames are fastened by bolt and nut assemblies. Under the clamping action of the front-end fixing clamp 8, the soft shell 10 will be tightly wrapped around the outside of the annular protrusion, thereby achieving a sealing effect.

[0049] Specific implementation method seven: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the sixth embodiment is that an air pump fixing seat 3 is respectively provided on both sides of the intermediate connection module 1, each air pump fixing seat 3 is detachably connected to the intermediate connection module 1, each micro air pump is correspondingly embedded in an air pump fixing seat 3, and each micro air pump is detachably connected to the intermediate connection module 1 via an air pump fixing seat 3. The other components and connection methods are the same as those of the sixth embodiment.

[0050] In this embodiment, the air pump fixing base 3 is used to fix the micro air pump 9. The air pump fixing base 3 is processed with a No. 4 mounting hole 20 for connection. The No. 4 mounting hole 20 is coaxially arranged with the mounting threaded hole 23 on the side of the intermediate connecting module 1, and the air pump fixing base 3 is disassembled and connected with the intermediate connecting module 1 by fastening bolts.

[0051] Specific implementation method eight: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the seventh embodiment is that a tail end fixing fixture 5 is sleeved on the other end of the soft arm module, and the other end of the soft arm module is tightly and sealedly connected to the tail connection block 15 through the tail end fixing fixture 5. The other components and connection methods are the same as those of the seventh embodiment.

[0052] In this embodiment, the function of the tail end fixing clamp 5 is the same as that of the front end fixing clamp 8, both of which are to ensure the sealing of the soft arm module during operation. The tail end fixing clamp 5 includes two rear end C-shaped frames with connecting ears, and each rear end C-shaped frame has a No. 6 mounting hole 22 processed on the connecting ear. When in use, the two rear end C-shaped frames are assembled and clamped on the outer side of the soft arm module and the rear connecting block 15, and the upper and lower groups of No. 6 mounting holes 22 are coaxially arranged, and the two rear end C-shaped frames are fastened by bolt and nut assemblies. Under the clamping action of the tail end fixing clamp 5, the soft shell 10 will be tightly wrapped around the outer side of the rear connecting block 15, thereby achieving a sealing effect.

[0053] Specific implementation method nine: Combination Figures 1 to 17 This embodiment is different from the eighth embodiment in that a plurality of air cavities are provided at equal intervals on the top of the soft shell 10 along the length of the soft shell 10, and each air cavity is connected to the soft shell 10. Other components and connection methods are the same as those of the eighth embodiment.

[0054] In this embodiment, the top of the soft shell 10 is optimized into a pleated structure through the design of multiple air cavities. This structure is more sensitive to changes in air pressure and is more stable when deforming.

[0055] Specific implementation method ten: Combination Figures 1 to 17 This embodiment is described. The difference between this embodiment and the ninth embodiment is that a connecting column is provided at each end of the central airbag 2, and an external thread is processed on the outer circumferential wall of each connecting column, and a threaded connection hole 12 is processed on the end corresponding to the central airbag 2 of the intermediate connection module 1, and each connecting column in the central airbag 2 is inserted into the threaded connection hole 12 on the corresponding intermediate connection module 1, and the central airbag 2 and the two intermediate connection modules 1 are both threadedly detachable. Other components and connection methods are the same as those of the ninth embodiment.

[0056] In this embodiment, the central airbag 2 is a multi-stage driven airbag. When the device faces a turn, the parts of the multi-stage driven airbag located on the inner side of the curve squeeze each other, and the parts located on the outer side of the curve extend each other, thereby changing the deflection angle between the front and rear intermediate connection modules 1 to help the wheeled robot pass through the curve area smoothly.

[0057] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0058] How it works

[0059] When the present application is in operation, first assemble the various components according to the connection relationships described in Specific Embodiments 1 to 10, and then assemble the components according to the connection relationships described in Specific Embodiments 1 to 10. Fig.13 and attached Fig.14 It is explained that before the wheeled-legged soft robot brakes, the central connection module 1 is always in contact with the ground. When the soft robot brakes, four micro air pumps 9 input positive pressure into the airway in the middle connection module 1 through the air pipe and the air pipe quick connector 4. The four soft arm modules are deformed due to the influence of the internal positive pressure. The central connection module 1 leaves the ground under the action of the deformation of the soft arm modules, and the micro air pump 9 stops inputting positive pressure. The motor 11 drives the Mecanum wheel 7 to rotate. The Mecanum wheel 7 generates friction with the ground, and the soft robot realizes functions such as movement and steering. Figures 15 to 17 It is explained that when encountering a narrow space or a small obstacle, the micro air pump 9 inputs a larger positive pressure, and the deformation degree of the soft arm module increases until the deformation degree of the soft arm module is about 90°, and the input of positive pressure is stopped. The motor 11 drives the Mecanum wheel 7 to rotate, and the Mecanum wheel 7 generates friction with the wall, so that the soft robot can walk in a narrow space or cross obstacles. When encountering a curved route in a narrow space, the central airbag 2 is passively deformed to realize the posture change of the middle support unit, thereby realizing the turning action of the wheeled-legged robot in a narrow space.

Claims

1. A composite hardness wheel-foot soft robot adaptable to various environments, characterized by: The wheel-footed soft robot includes a central support unit and four soft wheel-foot units. The four soft wheel-foot units are evenly divided into two soft wheel-foot unit groups. The two soft wheel-foot unit groups are symmetrically arranged along the center line of the length extension direction of the central support unit. The two soft wheel-foot units in each soft wheel-foot unit group are relatively arranged on both sides of the central support unit, and each soft wheel-foot unit is detachably connected to the central support unit.

2. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 1, characterized in that: The middle support unit comprises two middle connection modules (1) and a central airbag (2); the central airbag (2) is arranged between the two middle connection modules (1), and each end of the central airbag (2) is detachably connected to a corresponding middle connection module (1); each soft wheel-foot unit group is arranged on an middle connection module (1), and two soft wheel-foot units in each soft wheel-foot unit group are relatively arranged on two sides of the middle connection module (1), and each soft wheel-foot unit is detachably connected to the middle connection module (1).

3. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 2, characterized in that: The soft wheel-foot unit comprises a soft arm module, a wheel-foot module and a micro air pump (9); one end of the soft arm module is detachably connected to an intermediate connection module (1); the wheel-foot module is arranged on the other end of the soft arm module and is detachably connected to the other end of the soft arm module; the micro air pump (9) is detachably connected to the intermediate connection module (1); and a gas output end of the micro air pump (9) is connected to the soft arm module via the intermediate connection module (1).

4. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 3, characterized in that: The soft support arm module comprises a soft shell (10) and a carbon fiber sheet (17); the carbon fiber sheet (17) is embedded in the bottom of the soft shell (10) and forms a hollow soft support arm structure with the soft shell (10).

5. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 1, characterized in that: The wheel foot module comprises a motor fixing seat (6), a Mecanum wheel (7), a motor (11) and a tail connecting block (15); the tail connecting block (15) is inserted on the other end of the soft support arm module, and the tail connecting block (15) is detachably connected to the carbon fiber sheet (17); the motor (11) is arranged on the top of the tail connecting block (15), and the motor (11) is detachably connected to the tail connecting block (15) through the motor fixing seat (6); the motor output shaft of the motor (11) is arranged toward a side of the tail connecting block (15) away from the middle connecting module (1), and the Mecanum wheel (7) is sleeved on the motor output shaft of the motor (11).

6. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 1, characterized in that: The intermediate connection module (1) has two air passages built in, each air passage is arranged corresponding to a soft support arm module, the air inlet end of each air passage is connected to a quick-connect threaded hole (13) on a side wall of the intermediate connection module (1), the air outlet end of each air passage is connected to a strip-shaped air passage hole (14) on a side wall of the intermediate connection module (1), an annular protrusion is arranged on the outer end of the strip-shaped air passage hole (14), one end of the soft support arm module is sleeved on the annular protrusion at the outer end of the strip-shaped air passage hole (14) and is tightly and sealably connected to the annular protrusion through a front-end fixing clamp (8), an air pipe quick connector (4) is inserted into the quick-connect threaded hole (13), and the air pipe quick connector (4) is threadedly connected to the intermediate connection module (1), and the gas output end of the micro air pump (9) is connected to an air passage built in the intermediate connection module (1) through the air pipe quick connector (4).

7. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 6, characterized in that: An air pump fixing seat (3) is respectively provided on both sides of the intermediate connection module (1); each air pump fixing seat (3) is detachably connected to the intermediate connection module (1); each micro air pump is correspondingly embedded in an air pump fixing seat (3); and each micro air pump is detachably connected to the intermediate connection module (1) via an air pump fixing seat (3).

8. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 7, characterized in that: A tail end fixing fixture (5) is sleeved on the other end of the soft arm module, and the other end of the soft arm module is tightly and sealingly connected to the tail connection block (15) via the tail end fixing fixture (5).

9. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 4, characterized in that: A plurality of air cavities are arranged at equal intervals on the top of the soft shell (10) along the length extension direction of the soft shell (10), and each air cavity is connected to the soft shell (10).

10. The composite hardness wheel-foot soft robot adaptable to various environments according to claim 2, characterized in that: A connecting column is provided at each end of the central airbag (2), and an external thread is processed on the outer circumferential wall of each connecting column. A threaded connecting hole (12) is processed on one end of the intermediate connecting module (1) corresponding to the central airbag (2). Each connecting column in the central airbag (2) is inserted into the threaded connecting hole (12) on the corresponding intermediate connecting module (1), and the central airbag (2) and the two intermediate connecting modules (1) are both threadedly detachably connected.

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