Soft mobile robot

Abstract

The invention relates to the field of robots, in particular to a soft mobile robot. The device comprises a movement unit, the movement unit comprises a flexible rolling base body, a driving inner ring assembly and a driven outer ring assembly, the flexible rolling base body comprises a flexible film and fluid, the flexible film passes through a center point in the axial direction and is folded inwards or outwards along a plane perpendicular to the axis, and a film inner layer and a film outer layer which are connected end to end are formed; a cavity is formed between the film inner layer and the film outer layer, and the cavity is filled with the fluid; the driving inner ring assembly is arranged in the cavity; the driven outer ring assembly is arranged outside the thin film outer layer, and the driving inner ring assembly and the driven outer ring assembly are connected through magnetic force so as to clamp the flexible thin film and drive the flexible thin film to roll inwards and outwards. The driving inner ring assembly and the driven outer ring assembly are connected through magnetic force to drive the flexible film to roll inwards and outwards, a complex gas path or oil path system is not needed, the whole system is more concise and reliable, and the robot can adjust the posture and flexibly shuttle in a narrow space.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a soft mobile robot. Background Art

[0002] Due to the strong structural rigidity, traditional rigid robots have poor adaptability in complex terrains. In recent years, soft robots have received extensive attention due to their flexibility, deformability, and high adaptability.

[0003] However, most current soft robots still rely on a single driving method, such as pneumatic or hydraulic driving, which makes their system structures relatively complex and also poses high difficulties in control. Especially in complex terrains, existing soft robots do not perform ideally in terms of movement efficiency and stability, which limits their wide use in practical applications. Summary of the Invention The technical problem to be solved by the present invention is: to solve one or more technical problems existing in the prior art, and at least provide a beneficial alternative or create conditions.

[0004] The solution of the present invention to solve its technical problem is: a soft mobile robot, which includes a motion unit. The motion unit includes a flexible rolling matrix, an active inner ring assembly, and a passive outer ring assembly. The flexible rolling matrix includes a flexible film and a fluid. The flexible film folds inward or outward along a plane passing through the center point axially and perpendicular to the axis, forming a film inner layer and a film outer layer connected end to end. A cavity is formed between the film inner layer and the film outer layer, and the fluid is filled in the cavity. The active inner ring assembly is arranged in the cavity. The passive outer ring assembly is arranged outside the film outer layer. The active inner ring assembly and the passive outer ring assembly are magnetically connected to clamp the flexible film and drive the flexible film to roll inward and outward, so as to achieve rolling motion relative to the ground.

[0005] The beneficial effects of the present invention are as follows: The flexible rolling matrix lays the foundation for the overall deformation of the robot and its adaptation to complex terrains. The flexible thin film can change its rolling form according to the undulations and potholes of the ground, maintaining stable rolling. The fluid inside it plays certain buffering and regulating roles during the movement process; the active inner ring assembly and the passive outer ring assembly are magnetically connected to clamp the flexible thin film, and under the drive of the active inner ring assembly, they cooperate to complete the actions of turning the flexible thin film inside and outside, thereby realizing the rolling movement of the robot relative to the ground. In the present invention, the active inner ring assembly and the passive outer ring assembly drive the flexible thin film to turn inside and outside through magnetic connection, without the need for a complex air circuit or oil circuit system, making the overall system simpler and more reliable. It is convenient for the robot to adjust its posture and move flexibly in a narrow space; the active inner ring assembly and the passive outer ring assembly are tightly combined with the flexible rolling matrix, and rely on the continuous action of the magnetic force to maintain good coordination, enabling the flexible thin film to continuously and stably perform the inside and outside turning movements, avoiding problems such as movement interruption and out-of-control caused by poor adaptation between the driving method and the robot structure, and effectively improving the stability of the robot moving in a complex terrain environment.

[0006] As a further improvement of the above technical solution, the active inner ring assembly includes a hollow motor base and at least two groups of inner ring units. The hollow motor base is arranged in the cavity, and a first through hole is provided on the hollow motor base, which allows the inner layer of the thin film to pass through. All the inner ring units are arranged in a circular pattern on the hollow motor base. Each group of inner ring units includes an active annular magnet, a shaft ring connecting piece, and a motor. The active annular magnet is fixedly connected to the output end of the motor through the shaft ring connecting piece, so that the motor drives the active annular magnet to rotate.

[0007] As a further improvement of the above technical solution, the passive outer ring assembly includes at least two groups of outer ring units. All the outer ring units are connected end to end to form a closed loop. Each group of outer ring units includes a connecting shaft, a passive annular magnet, a bearing, and a connecting rod. The outer ring of the bearing is fixedly connected to the inner wall of the passive annular magnet, and the inner ring of the bearing is fixedly connected to the outer wall of the connecting shaft, so that the passive annular magnet rotates around the connecting shaft. The connecting rod is used to connect two adjacent connecting shafts, and the passive annular magnet and the active annular magnet are magnetically attracted to each other.

[0008] As a further improvement of the above technical solution, the number of the inner ring units and the outer ring units is the same, and the number is at least two groups.

[0009] As a further improvement of the above technical solution, a step is provided on the connecting shaft, and the bearing is arranged at the step to limit the axial movement of the passive annular magnet.

[0010] As a further improvement of the above technical solution, the connecting shaft includes a first magnetic ring shaft and a second magnetic ring shaft. One end of the first magnetic ring shaft is provided with a first connection groove for cooperating with the connecting rod, the other end of the first magnetic ring shaft is provided with a second connection groove, one end of the second magnetic ring shaft is provided with a third connection groove for cooperating with the connecting rod, the other end of the second magnetic ring shaft is provided with a first connection portion for cooperating with the second connection groove, and the inner ring of the bearing is fixedly connected to the second magnetic ring shaft.

[0011] As a further improvement of the above technical solution, the number of the active inner ring assemblies and the passive outer ring assemblies is set to two groups, and one group of active inner ring assemblies and passive outer ring assemblies are installed at both the front and rear ends of the flexible rolling matrix.

[0012] As a further improvement of the above technical solution, the number of the motion units is set to at least two, and all the motion units are connected in series.

[0013] As a further improvement of the above technical solution, any two adjacent motion units are magnetically connected to the active ring magnets at the tail / head positions of the adjacent motion units through a passive ring magnet in one of the passive outer ring assemblies.

[0014] As a further improvement of the above technical solution, the fluid is liquid, gas or a combination thereof, and is used to provide support and buffering. Description of the Drawings

[0015] Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 is a structural sectional view of an embodiment of the present invention; Figure 3 is a schematic structural diagram of an active inner ring assembly of an embodiment of the present invention; Figure 4 is a schematic structural diagram of a passive outer ring assembly of an embodiment of the present invention; Figure 5 is a schematic structural diagram of another embodiment of the present invention; Figure 6 is a schematic structural diagram of still another embodiment of the present invention.

[0016] In the accompanying drawings: 100 - flexible rolling matrix, 110 - flexible film, 111 - inner layer of the film, 112 - outer layer of the film, 120 - fluid, 200 - active inner ring assembly, 210 - hollow motor base, 220 - inner ring unit, 221 - active ring magnet, 222 - collar connecting piece, 223 - first motor, 300 - passive outer ring assembly, 310 - outer ring unit, 311 - connecting shaft, 312 - passive ring magnet, 313 - bearing, 314 - connecting rod, 315 - step, 320 - first magnetic ring shaft, 321 - first connecting groove, 322 - second connecting groove, 330 - second magnetic ring shaft, 331 - third connecting groove, 332 - first connecting portion. Detailed implementation manners

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for the description of the embodiments above are briefly described. Obviously, the described drawings are only a part of the embodiments of the present invention, rather than all the embodiments. Without creative efforts, those skilled in the art can also obtain other design solutions and drawings based on these drawings.

[0018] The following will clearly and completely describe the concept, specific structure and technical effects generated by the present invention in combination with the embodiments and the accompanying drawings to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention all fall within the scope of protection of the present invention. In addition, all the connection / connection relationships mentioned in the text do not refer only to the direct connection of components, but refer to the more optimal connection structure that can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the present invention can be combined with each other without conflicting with each other.

[0019] Due to the strong structural rigidity of traditional rigid robots, their adaptability in complex terrains is relatively poor. In recent years, soft robots have received extensive attention due to their flexibility, deformability and high adaptability.

[0020] However, most current soft robots still rely on a single driving method, such as pneumatic or hydraulic driving, which makes their system structures relatively complex and also poses high difficulties in control. Especially in complex terrains, the existing soft robots perform unsatisfactorily in terms of moving efficiency and stability, which limits their wide use in practical applications.

[0021] For this reason, the present invention proposes a soft mobile robot, referring to Figures 1 to 4, which includes a motion unit. The motion unit includes a flexible rolling matrix 100, an active inner ring assembly 200, and a passive outer ring assembly 300. The flexible rolling matrix 100 includes a flexible film 110 and a fluid 120. The flexible film 110 folds inwards or outwards along a plane passing through the center point axially and perpendicular to the axis, forming a film inner layer 111 and a film outer layer 112 that are connected end to end. A cavity is formed between the film inner layer 111 and the film outer layer 112, and the fluid 120 is filled in the cavity. The active inner ring assembly 200 is arranged in the cavity. The passive outer ring assembly 300 is arranged outside the film outer layer 112. The active inner ring assembly 200 and the passive outer ring assembly 300 are magnetically connected to clamp the flexible film 110 and drive the flexible film 110 to roll inwards and outwards to achieve rolling motion relative to the ground.

[0022] The flexible rolling matrix 100 lays the foundation for the deformation of the whole robot and its adaptation to complex terrains. The flexible film 110 can change its rolling form according to the undulations and potholes of the ground to maintain stable rolling. The internal fluid 120 plays a role in buffering and adjusting during the movement process. The active inner ring assembly 200 and the passive outer ring assembly 300 are magnetically connected to clamp the flexible film 110 and cooperate to complete the action of rolling the flexible film 110 inwards and outwards under the drive of the active inner ring assembly 200, thereby realizing the rolling motion of the robot relative to the ground. In the present invention, the active inner ring assembly 200 and the passive outer ring assembly 300 drive the flexible film 110 to roll inwards and outwards through magnetic connection, without the need for a complex air circuit or oil circuit system, making the overall system simpler and more reliable. It is convenient for the robot to adjust its posture and shuttle flexibly in a narrow space. The active inner ring assembly 200 and the passive outer ring assembly 300 are closely combined with the flexible rolling matrix 100, and rely on the continuous action of the magnetic force to maintain good coordination, enabling the flexible film 110 to continuously and stably roll inwards and outwards, avoiding problems such as motion interruption and out-of-control caused by poor adaptation of the drive mode to the robot structure, and effectively improving the stability of the robot's movement in a complex terrain environment.

[0023] When the robot is started, the active inner ring assembly 200 starts to work. Since it is magnetically connected to the passive outer ring assembly 300, the two will exert forces on the flexible film 110 sandwiched in the middle. The movement of the active inner ring assembly 200 drives the flexible film 110 to roll inwards or outwards along a plane passing through the center point axially and perpendicular to the axis. The positions of the film inner layer 111 and the film outer layer 112 continuously alternate, making the entire flexible rolling matrix 100 become a rollable structure. During the contact with the ground and the rolling process, relying on the flexible film 110 to adapt to the undulations of complex terrains, etc., the robot realizes its movement on the ground through this continuous inwards and outwards rolling motion, thus giving play to the adaptability advantages of the soft robot in a complex environment.

[0024] In complex terrains such as narrow spaces and environments with multiple obstacles, it may be difficult for the robot to avoid obstacles and pass through narrow channels. Thus, in one embodiment, the active inner ring assembly 200 includes a hollow motor base 210 and at least two groups of inner ring units 220. The hollow motor base 210 is disposed in the cavity. A first through hole is provided on the hollow motor base 210, and the first through hole allows the inner layer 111 of the film to pass through. All the inner ring units 220 are arranged in a circumferential pattern on the hollow motor base 210. Each group of inner ring units 220 includes an active annular magnet 221, a shaft ring connector 222, and a motor. The active annular magnet 221 is fixedly connected to the output end of the motor through the shaft ring connector 222, so that the motor drives the active annular magnet 221 to rotate. The active inner ring assembly 200 realizes steering by setting at least two groups of inner ring units 220 and relying on the differential rotation of multiple active annular magnets 221, and can flexibly adjust the traveling route of the robot according to the actual terrain and task requirements; the motors in each inner ring unit 220 can independently drive the corresponding active annular magnets 221 to rotate, and the active annular magnets 221 can cooperate through differential to achieve the steering function. While ensuring a stable driving force for the flexible film 110, the coordination of each component in the driving and steering processes is enhanced, making the overall movement of the robot smoother and more efficient.

[0025] External magnetic components may have uneven magnetic force, unstable connection, etc., affecting the overall motion performance of the robot. Therefore, in one embodiment, the passive outer ring assembly 300 includes at least two groups of outer ring units 310. All the outer ring units 310 are connected end to end to form a closed loop. Each group of outer ring units 310 includes a connecting shaft 311, a passive annular magnet 312, a bearing 313, and a connecting rod 314. The outer ring of the bearing 313 is fixedly connected to the inner wall of the passive annular magnet 312, and the inner ring of the bearing 313 is fixedly connected to the outer wall of the connecting shaft 311, so that the passive annular magnet 312 can rotate around the connecting shaft 311. The connecting rod 314 is used to connect two adjacent connecting shafts 311. The passive annular magnet 312 and the active annular magnet 221 attract each other magnetically. The passive annular magnet 312 and the active annular magnet 221 in the active inner ring assembly 200 attract each other magnetically, providing a stable clamping force to drive the flexible film 110 to perform internal and external rolling motions. By reasonable layout, the magnetic force is relatively evenly distributed in the circumferential direction, avoiding the situation that the flexible film 110 moves unstably due to uneven local stress. In each group of outer ring units 310, the passive annular magnet 312 is connected to the connecting shaft 311 through the bearing 313, enabling it to rotate flexibly around the connecting shaft 311. When the active annular magnet 221 of the active inner ring assembly 200 performs differential rotation to achieve actions such as turning, the passive annular magnet 312 can adaptively adjust its own angle and position according to the magnetic force change and motion requirements, better coordinating with the rolling motion of the flexible film 110.

[0026] When turning and adapting to irregular road surfaces, the robot may lack flexibility. Therefore, in one embodiment, the number of the inner ring units 220 is the same as that of the outer ring units 310, and the number is at least two groups. The inner ring units 220 and the outer ring units 310 correspond to each other one by one in the circumferential direction, so that the magnetic force between the active annular magnet 221 and the passive annular magnet 312 can be evenly distributed, ensuring that the flexible film 110 receives a relatively balanced clamping force at each circumferential position, avoiding situations such as motion jamming and film deformation caused by excessive or too small local stress. During the turning process, by controlling the differential rotation of the active annular magnet 221 in the inner ring units 220 at different positions, the passive annular magnet 312 of the corresponding outer ring unit 310 can respond in a timely manner and cooperate. The multi-group configuration enables more precise adjustment of the magnetic force change and stress situation at different positions, thereby achieving more precise steering angle control and increasing the flexibility of turning.

[0027] During complex movements and when subjected to external forces, axial movement is likely to occur, which will disrupt the uniformity of the magnetic force cooperation with the active ring magnet 221 and affect the normal rolling movement of the flexible film 110 and the smooth progress of the robot. Therefore, in one embodiment, a step 315 is provided on the connecting shaft 311, and the bearing 313 is arranged at the step 315 to limit the axial movement of the passive ring magnet 312. By restricting the axial movement of the passive ring magnet 312, during the process of magnetically attracting with the active ring magnet 221 and jointly driving the flexible film 110 to roll, a relatively fixed axial position is maintained, avoiding problems such as uneven magnetic force changes and unstable magnetic coupling caused by the axial movement of the passive ring magnet 312; it also avoids wear caused by unnecessary axial collisions and friction between it and adjacent components.

[0028] When connected to multiple components or when bearing variable external forces in complex terrains, local damage to the connecting shaft 311 may occur and be difficult to repair or replace. Therefore, in one embodiment, the connecting shaft 311 includes a first magnetic ring shaft 320 and a second magnetic ring shaft 330. One end of the first magnetic ring shaft 320 is provided with a first connection groove 321 for cooperating with the connecting rod 314, the other end of the first magnetic ring shaft 320 is provided with a second connection groove 322, one end of the second magnetic ring shaft 330 is provided with a third connection groove 331 for cooperating with the connecting rod 314, the other end of the second magnetic ring shaft 330 is provided with a first connection portion 332 for cooperating with the second connection groove 322, and the inner ring of the bearing 313 is fixedly connected to the second magnetic ring shaft 330. By designing the connecting shaft 311 as two parts, namely the first magnetic ring shaft 320 and the second magnetic ring shaft 330, during the assembly process, each component can be precisely connected according to the corresponding groove and portion structures, the operation is relatively simple, and the assembly efficiency is improved; when subsequent maintenance and component replacement are required, there is no need to disassemble the entire robot structure on a large scale, reducing the maintenance cost and difficulty; in complex terrains, the robot will be subjected to external forces in different directions and magnitudes. The split connecting shaft 311 structure can better adapt to the external force changes, can buffer and disperse the external forces to a certain extent, and avoid damage to the connecting shaft 311 caused by excessive local stress; there is a certain adjustment space for the connection angles and relative positions between the outer ring units 310, further enhancing the adaptability of the entire passive outer ring assembly 300 and the robot structure to complex terrains.

[0029] When dealing with complex movement requirements, it may be difficult to achieve efficient and flexible steering relying solely on a single drive structure. Therefore, in one embodiment, referring to Figure 5, the number of the active inner ring components 200 and the passive outer ring components 300 is set to two groups, and one group of the active inner ring components 200 and the passive outer ring components 300 is installed at both the front and rear ends of the flexible rolling matrix 100. Setting two groups of the active inner ring components 200 and the passive outer ring components 300 is equivalent to equipping the robot with a dual power source, which can provide a stronger driving force, enabling the robot to easily move on soft ground, roads with a certain slope, etc.; the symmetrical layout at the front and rear ends makes the driving force more evenly and balancedly distributed on the whole robot, avoiding problems such as uneven force and unstable movement that may occur due to single-point driving, greatly improving the stability of the robot's movement, and ensuring that it can move continuously and smoothly; by using differential driving of the dual-drive motion unit to achieve steering, the rotational speed difference of the active ring magnets 221 in the front and rear two groups of drive units can be more precisely controlled, so as to accurately adjust the steering angle and direction of the robot.

[0030] When it is necessary to adapt to different working scenarios or expand new functions, it is often necessary to carry out large-scale transformation of the whole robot, which is costly and time-consuming. Therefore, in one embodiment, referring to Figure 6 , the number of the motion units is set to at least two, and all the motion units are connected in series. The functional requirements of the robot vary greatly in different working scenarios. Through modular design, different numbers and types of motion units can be selected and connected according to specific scenario requirements; increasing the number of motion units can improve the driving force and load capacity of the robot to adapt to heavy-load handling scenarios; reducing the number of motion units can make the robot more compact and flexible, suitable for operating in narrow spaces.

[0031] Traditional connection methods may rely on complex mechanical structures, additional connectors or cumbersome wiring, etc. to transmit force and motion information, which will increase the overall weight and structural complexity of the robot. Therefore, in one embodiment, any two adjacent motion units are magnetically connected to the active ring magnets 221 at the tail / head positions of the adjacent motion units through a passive ring magnet 312 in a passive outer ring component 300. Through the magnetic connection between the passive ring magnet 312 and the active ring magnet 221, there is no need for traditional connection components such as complex mechanical connectors, bolts and nuts, simplifying the connection structure between adjacent motion units, which has more advantages in some application scenarios with strict weight requirements; the magnetic connection has the characteristic of non-contact. Compared with rigid mechanical connections, it can better adapt to the small deformations and attitude adjustments of the motion units during movement. In complex terrains, the relative positions and angles of the motion units may change due to factors such as ground undulations and collisions, while the magnetic connection can automatically adapt to these changes within a certain range, still maintaining effective connection and force transmission, ensuring that the collaborative work between the motion units is not affected.

[0032] During movement in complex terrains, the robot may be damaged due to collisions, jolts, etc., affecting the service life and movement stability of the robot. Thus, in one embodiment, the fluid 120 is a liquid, a gas, or a combination thereof, and is used to provide support and buffering. When the robot is in a stationary state, the fluid 120 can maintain the shape of the flexible rolling substrate 100, keeping it with a certain structural integrity and avoiding excessive deformation due to its own gravity or external slight pressure; during movement, the fluid 120 can evenly disperse the forces received, ensuring that each part of the flexible rolling substrate 100 can obtain corresponding support, guaranteeing the stability of the overall structure of the robot and being conducive to achieving smooth movement; when the robot encounters external impacts such as collisions and jolts, the fluid 120 can effectively absorb and disperse the impact force through its own compressibility and fluidity, buffering the large impact force generated instantaneously and reducing the damage to the flexible film 110 and other components.

[0033] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent variations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A soft mobile robot, comprising a motion unit, characterized in that, The motion unit includes: A flexible rolling substrate, which includes a flexible film and a fluid. The flexible film folds inward or outward along a plane passing through the center point and perpendicular to the axis in the axial direction, forming a film inner layer and a film outer layer that are connected end to end. A cavity is formed between the film inner layer and the film outer layer, and the fluid is filled in the cavity; An active inner ring assembly, which is arranged in the cavity; A passive outer ring assembly, which is arranged outside the film outer layer. The active inner ring assembly and the passive outer ring assembly are magnetically connected to clamp the flexible film and drive the flexible film to roll inward and outward, so as to achieve rolling motion relative to the ground.

2. The soft mobile robot according to claim 1, characterized in that The active inner ring assembly includes a hollow motor base and at least two groups of inner ring units. The hollow motor base is arranged in the cavity, and a first through hole is provided on the hollow motor base. The first through hole allows the film inner layer to pass through. All the inner ring units are arranged in a circular pattern on the hollow motor base. Each group of inner ring units includes an active ring magnet, a shaft ring connecting piece and a motor. The active ring magnet is fixedly connected to the output end of the motor through the shaft ring connecting piece, so that the motor drives the active ring magnet to rotate.

3. The soft mobile robot according to claim 2, characterized in that, The passive outer ring assembly includes at least two groups of outer ring units. All the outer ring units are connected end to end to form a closed loop. Each group of outer ring units includes a connecting shaft, a passive ring magnet, a bearing and a connecting rod. The outer ring of the bearing is fixedly connected to the inner wall of the passive ring magnet, and the inner ring of the bearing is fixedly connected to the outer wall of the connecting shaft, so that the passive ring magnet rotates around the connecting shaft. The connecting rod is used to connect two adjacent connecting shafts, and the passive ring magnet and the active ring magnet are magnetically attracted to each other.

4. A soft mobile robot according to claim 3, wherein, The number of the inner ring units and the outer ring units is the same, and the number is at least two groups.

5. The soft mobile robot according to claim 3, characterized in that, A step is provided on the connecting shaft, and the bearing is arranged at the step to limit the axial movement of the passive ring magnet.

6. A soft mobile robot according to claim 3, characterized in that, The connecting shaft includes a first magnetic ring shaft and a second magnetic ring shaft. One end of the first magnetic ring shaft is provided with a first connecting groove for cooperating with the connecting rod, and the other end of the first magnetic ring shaft is provided with a second connecting groove. One end of the second magnetic ring shaft is provided with a third connecting groove for cooperating with the connecting rod, and the other end of the second magnetic ring shaft is provided with a first connecting portion for cooperating with the second connecting groove. The inner ring of the bearing is fixedly connected to the second magnetic ring shaft.

7. A soft mobile robot according to claim 1, characterized in that, The number of the active inner ring assemblies and the passive outer ring assemblies is set to two groups, and one group of active inner ring assemblies and passive outer ring assemblies are installed at both the front and rear ends of the flexible rolling substrate.

8. A soft mobile robot according to claim 3, wherein The number of the motion units is set to at least two, and all the motion units are connected in series.

9. A soft mobile robot according to claim 8, characterized in that, Any two adjacent motion units are magnetically connected to the active ring magnets at the tail / head positions of the adjacent motion units through the passive ring magnets in a passive outer ring assembly at the same time.

10. A soft mobile robot according to claim 1, characterized in that, The fluid is liquid, gas or a combination thereof, and is used to provide support and buffering.

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