Rope-driven wireless multi-motion-mode soft robot system and control method thereof

Abstract

The invention relates to a rope-driven wireless multi-motion-mode soft robot system and a control method thereof.The soft robot system comprises a soft driver module, a driving control module and a wheel module, and the soft driver module comprises a paper folding shell, a spring, a spacing disc, a rope, a front wheel connecting piece and a rear wheel connecting piece; the driving control module provides loading force for the rope according to the set loading time and sequence so as to drive the soft driver to generate corresponding deformation. The soft robot system realizes multiple motion modes through a single structure, including S-shaped crawling similar to a gecko, linear wriggling similar to an earthworm and overturning motion. In addition, according to the soft robot, a driving control module is integrated on the soft robot, so that the motion stroke of the soft robot is not limited, and the soft robot has higher environment adaptability. Furthermore, a ratchet mechanism is integrated on the wheels, and the system can achieve the steering function and reverse movement after overturning.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to a rope-driven wireless multi-motion mode soft robot system and a control method thereof. Background Art

[0002] With the continuous evolution of technology, rigid robots face increasingly prominent challenges in terms of structural complexity, maintenance difficulty, and environmental adaptability. Conversely, soft robotics, driven by the application of innovative technologies and advanced materials, has rapidly developed and garnered widespread attention from the academic community. Researchers worldwide are actively conducting research, demonstrating the remarkable adaptability of soft robots in dynamic and unstructured environments, as well as their excellent interpersonal interaction.

[0003] However, existing soft robotics research has shown that most robots possess only a single motion mode, and achieving multiple motion modes remains challenging. While some soft robots are capable of diverse motion modes, most rely on external stimuli (such as light intensity and magnetic fields) and pneumatics. These actuation methods require large external devices to provide energy, limiting their applicability in unstructured environments. Summary of the Invention

[0004] In light of this, the present invention aims to provide a cable-driven, wireless, multi-motion-mode soft robot system and its control method. This soft robot, with a single structure, achieves multiple motion modes, including gecko-like S-shaped crawling, earthworm-like linear peristalsis, and flipping. Furthermore, the soft robot integrates a drive control module, enabling unrestricted range of motion and enhanced environmental adaptability. Furthermore, by integrating a ratchet mechanism into the wheels, the system enables steering and reverse motion after flipping.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a rope-driven wireless multi-motion mode soft robot system, comprising a soft driver module, a drive control module and a wheel module; the soft driver module comprises an origami shell, a spring, a spacer disc, a rope, a front wheel connector and a rear wheel connector; the drive control module comprises a frame and several drive control components installed inside the frame; the wheel module comprises a front wheel axle, a rear wheel axle, a left front wheel, a right front wheel, a left rear wheel and a right rear wheel.

[0006] In a preferred embodiment, the cross-section of the origami shell is a regular octagon, and when unfolded, the origami shell becomes a rectangular cardboard with multiple straight folds. The folds perpendicular to the length direction are valley lines, and the folds intersecting the valley lines along the width direction are mountain lines. There are also two rows of rectangular folds on both sides of the width direction of the rectangular cardboard, which form square bosses after folding, making it convenient to fix the two ends of the origami shell on the front wheel connector and the rear wheel connector, and two rows of rope holes are arranged on the rectangular cardboard, which form two rows of symmetrical channels after folding; the origami shell is printing paper, and polypropylene film is covered on both sides of the printing paper.

[0007] In a preferred embodiment, the plurality of spacer disks are arranged separately and equidistantly on the inner side of the origami shell. A plurality of transverse springs are connected between adjacent spacer disks. The plurality of transverse springs are symmetrically arranged along the circumference of the spacer disks. The spacer disks are provided with a plurality of rope holes along the circumference. The ropes pass through the rope holes and springs on the spacer disks symmetrically on the left and right, and pass through the rope holes on the spacer disks and the symmetrical channels on the origami shell symmetrically on the top and bottom. The spring generates elastic potential energy when the soft actuator contracts. When the drive control module completely releases the rope, the soft actuator achieves extension motion under the action of the elastic potential energy of the spring.

[0008] In a preferred embodiment, the frame includes a first drive layer frame and a second control layer frame, the components within the first drive layer frame include a motor and a winding drum, the winding drum is fixed on the motor shaft, the motor is fixed on the frame, and the frame is fixed on the rear wheel connecting member; the components within the second control layer frame include a motor control board and a battery, the motor control board and the power battery are fixed on the frame.

[0009] In a preferred embodiment, the rope is a nylon rope, which includes an upper rope, a lower rope, a left rope and a right rope. The first end of the rope is fixed on the front wheel connector, and the second end is fixed on the winding reel. When the rope changes in length to different degrees under the action of the drive control module, the soft driver deforms to produce corresponding multi-directional bending and axial expansion and contraction. The drive control module adjusts the shape of the soft driver and cooperates with the wheel module to enable the soft robot to perform two crawling, flipping or turning actions on the ground.

[0010] In a preferred embodiment, the front wheel axle and the rear wheel axle are respectively fixed to the front wheel connecting member and the rear wheel connecting member, and an axle groove is opened on the axle. The left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are respectively matched with the wheel axle through bearings, and the parts on the axle are axially positioned by a retaining spring; the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel each include an internally meshing ratchet, a pawl, a pawl shaft, and a pawl shaft fixing member, the pawl shaft fixing member is tightly fitted and fixed to the wheel axle, the pawl shaft is tightly fitted and fixed to the pawl shaft fixing member, and the pawl is matched with the pawl shaft and rotates relative to the pawl shaft; The pawl shaft fixing member is provided with a limiting boss, which realizes the unidirectional rotation of the left front wheel, right front wheel, left rear wheel and right rear wheel by limiting the rotation range of the pawl. The pawl is connected to the ratchet wheel at its upper end by gravity. When the soft robot is flipped over, the pawl can work in the same way.

[0011] The present invention also provides a control method for the aforementioned rope-driven wireless multi-motion mode soft robot system. When the soft robot performs forward linear creep on a horizontal ground, the control method comprises the following steps: Step A1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to all be one-way wheels that can only roll forward. When the drive control module controls all ropes on the flexible actuator to retract, the flexible actuator retracts axially and drives the left rear wheel and right rear wheel to roll forward, while the left front wheel and right front wheel are stably anchored to the ground. Step A2: When all the ropes are contracted and the rolling distance of the left and right rear wheels reaches a threshold, the drive control module unloads the loading force on all the ropes. Under the action of the elastic potential energy of the springs, the soft actuator naturally extends and pushes the left and right front wheels to roll forward, while the left and right rear wheels are stably anchored to the ground. This completes a forward linear creep until the soft actuator returns to its original length. If the drive control module controls all the ropes on the soft actuator to retract again, the above steps A1 and A2 are performed in sequence, and the soft robot continuously performs forward linear creep.

[0012] The present invention also provides a control method based on the aforementioned rope-driven wireless multi-motion mode soft robot system. When the soft robot performs forward S-shaped crawling on a horizontal ground, the control method comprises the following steps: Step B1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to all be one-way wheels that can only roll forward. When the drive control module controls the left rope of the flexible actuator to retract, the flexible actuator bends to the left and drives the left rear wheel and right front wheel to roll forward. At the same time, the left front wheel and right rear wheel are stably anchored to the ground. Step B2: When the left rope contracts and the rolling distance of the left rear wheel and the right front wheel reaches a threshold, the drive control module switches to control the rope on the right side of the soft actuator to contract and unload the loading force on the left rope to restore it to its original length. At the same time, the soft actuator bends to the right and drives the left front wheel and the right rear wheel to roll forward. The left rear wheel and the right front wheel are stably anchored on the ground. An S-shaped crawl is completed until the right rope contracts and the rolling distance of the left front wheel and the right rear wheel reaches a threshold. If the driving control module switches again to control the contraction of the rope on the left side of the soft actuator and unloads the loading force on the rope on the right side, and the above steps B1 and B2 are performed in sequence, the soft robot will continuously perform forward S-shaped crawling.

[0013] The present invention also provides a control method based on the aforementioned rope-driven wireless multi-motion mode soft robot system. When the soft robot performs a forward flipping motion on a horizontal ground, the control method comprises the following steps: Step C1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to become one-way wheels that can only roll forward. The soft robot moves forward in a linear creeping or S-shaped crawling manner until the left front wheel and the right front wheel approach the wall. The drive control module controls all ropes of the soft actuator to retract, causing the soft actuator to retract axially and drive the left rear wheel and the right rear wheel to roll forward. At the same time, the left front wheel and the right front wheel are stably anchored to the ground. Step C2: When all the ropes contract and the rolling distance of the left and right rear wheels reaches a threshold, the drive control module unloads the load on the left, right, and lower ropes to restore them to their original lengths, while retaining the load on the upper ropes. The flexible actuator bends upward under the contraction of the upper ropes, and the left and right rear wheels are stably anchored to the ground. The left and right front wheels follow the bending of the flexible actuator and lean against the wall. Step C3: When the upper rope contracts and the rolling distance of the left front wheel and the right front wheel reaches a threshold, the drive control module continues to control all ropes to contract until the left rear wheel and the right rear wheel are basically close to the wall. The drive control module unloads the loading force on all ropes to restore them to their original length. At this time, the soft actuator basically stands against the wall; the drive control module controls the upper rope to contract, and the soft actuator bends as the upper rope contracts, causing the center of gravity to shift. The left front wheel and the right front wheel of the soft robot move downward under the action of gravity until they land. Step C4: When the soft robot is completely flipped over, the drive control module unloads the loading force of all ropes, and the soft actuator gradually stretches into a linear state and finally lies on the ground. At this time, the pawl is still engaged with the ratchet under the action of gravity. After flipping over, the soft robot can still perform two reverse crawling, flipping or turning actions.

[0014] The present invention also provides a control method based on the aforementioned rope-driven wireless multi-motion mode soft robot system. When the soft robot performs a turning action on a horizontal ground, the control method includes the following steps: Step D1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to all be one-way wheels that can only roll forward. When the drive control module controls the right rope of the soft actuator to retract, the soft actuator bends to the right and drives the left front wheel and right rear wheel to roll forward. The left front wheel rotates clockwise and the right rear wheel rotates counterclockwise. At the same time, the right front wheel follows the left front wheel in clockwise rotation, and the left rear wheel follows the right rear wheel in counterclockwise rotation, and they remain stationary relative to the ground. Step D2: When the wheels rotate to the desired angle, the drive control module unloads the loading force on the right rope. Under the action of the elastic potential energy of the spring, the soft actuator naturally extends and pushes the right front wheel and the left rear wheel to roll forward. The right front wheel rotates counterclockwise, and the left rear wheel rotates clockwise. At the same time, the left front wheel follows the right front wheel to rotate counterclockwise, and the right rear wheel follows the left rear wheel to rotate clockwise, and remains stationary relative to the ground. Since the elastic potential energy of the spring is less than the loading force of the rope, the clockwise angle of the front wheel is greater than the counterclockwise angle. Therefore, when the soft actuator returns to its original length, the soft robot completes a clockwise rotation. In the above steps D1 and D2, if the driving control module first controls the left rope of the soft actuator, the soft robot turns counterclockwise.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) A rope-driven wireless multi-motion mode soft robot system. The soft robot can achieve multiple motion modes through a single structure by performing S-shaped crawling like a gecko, linear peristalsis like an earthworm, and flipping motion.

[0016] (2) The soft robot in the present invention integrates a drive control module into the soft robot, so that its movement range is not restricted, it has stronger environmental adaptability, and can move continuously, stably and controllably in various complex environments.

[0017] (3) The soft robot of the present invention has a simple structure and is easy to install and maintain. If any 3D printed parts or origami shell are damaged, they can be quickly disassembled and replaced. Therefore, the present invention has strong practicality and broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the structure of the soft robot system in an embodiment of the present invention.

[0019] Figure 2 Schematic diagram of the soft driver skeleton structure according to an embodiment of the present invention.

[0020] Figure 3 Schematic diagram of the structure of the drive control module in an embodiment of the present invention.

[0021] Figure 4 Schematic diagram of the circuit connection of the drive control module in an embodiment of the present invention.

[0022] Figure 5 Schematic diagram of the linear creeping process of the soft robot in an embodiment of the present invention.

[0023] Figure 6 Schematic diagram of the S-shaped crawling process of the soft robot in an embodiment of the present invention.

[0024] Figure 7 Schematic diagram of the flipping process of the soft robot in an embodiment of the present invention.

[0025] Figure 8 Schematic diagram of the turning motion process of the soft robot in an embodiment of the present invention.

[0026] Figure 9 2 is a schematic diagram of the unfolding of the origami shell in an embodiment of the present invention.

[0027] In the figure: rear wheel axle 1, left rear wheel 2, bearing 3, origami shell 4, left front wheel 5, front wheel axle 6, internal meshing ratchet 7 (integrated with the wheel), pawl 8, right rear wheel 9, right front wheel 10, pawl shaft 11, pawl shaft fixing part 12, front wheel connecting part 13, upper rope 14, spacer disk 15, spring 16, right rope 17, retaining spring 18, lower rope 19, left rope 20, rear wheel connecting part 21, battery 22, battery bracket 23, second control layer frame 24, motor control board 25, motor 26, motor bracket 27, winding drum 28, first drive layer frame 29. DETAILED DESCRIPTION

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form, and it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0031] like Figure 1-9 As shown, this embodiment provides a rope-driven wireless multi-motion mode soft robot system, which includes a soft driver module, a drive control module and a wheel module. The soft driver module includes an origami shell 4, a spring 16, a spacer disk 15, four ropes 14, 17, 19, 20, a front wheel connector 13 and a rear wheel connector 21; the drive control module includes a frame and several drive control components installed inside the frame; the wheel module includes a front wheel axle 6, a rear wheel axle 1, a left front wheel 5, a right front wheel 10, a left rear wheel 2, and a right rear wheel 9.

[0032] In this embodiment, the length of the entire soft robot is 307.2 mm, the width is 115 mm, and the height is 94.2 mm. The length of the overall soft actuator module (i.e., the origami shell 4) is 223 mm, and the width and height are both 49.5 mm. The length of the front wheel axle 6 and the rear wheel axle 1 are both 114.3 mm and the diameter is 6 mm.

[0033] The cross section of the origami shell 4 is a regular octagon, and the side length of the regular octagon is 18.94 mm. When the origami shell 4 is unfolded, it becomes a rectangular cardboard. Figure 9 As shown, the rectangular cardboard has multiple straight folds, the dotted folds perpendicular to the length are valley lines, and the solid folds intersecting the valley lines along the width are mountain lines. There are also two rows of rectangular folds on both sides of the width of the rectangular cardboard, which form square bosses after folding. The length, width and height of the bosses are 35*35*10 mm, which is convenient for gluing the two ends of the origami shell 4 to the front wheel connector 13 and the rear wheel connector 21, and holes with a diameter of 6 mm are opened on both sides of the square bosses to facilitate the passage of the wheel axles 1 and 6; two rows of rope holes are arranged on the rectangular cardboard, the distance d from the rope holes to the valley lines is 4.5 mm, the diameter of the rope holes is 0.6 mm, and the rope holes form two rows of symmetrical channels after folding; the origami shell 4 is printing paper, and polypropylene film is covered on both sides of the printing paper to enhance the repeatable folding performance of the origami shell 4.

[0034] The three spacer disks 15 are arranged separately, and each spacer disk 15 is glued to the inner side of the origami shell 4 at equal distances. Each spacer disk 15 is 50 mm apart. The spacer disk 15 is a regular octagonal column with a side length of 18.94 mm. There are bosses on the left and right sides of the regular octagon for fixing the spring 16; the spacer disk 15 is provided with a plurality of rope holes along the circumference, and the left rope 20 and the right rope 17 pass through the rope holes and the spring 16 on the spacer disk symmetrically, and the upper rope 14 and the lower rope 19 pass through the rope holes on the spacer disk 15 and the symmetrical channels on the origami shell 4 symmetrically.

[0035] The spring 16 generates elastic potential energy when the soft actuator contracts. When the drive control module completely releases the ropes 14, 17, 19, and 20, the soft actuator achieves extension motion under the action of the elastic potential energy of the spring.

[0036] The frame includes a first drive layer frame 29 and a second control layer frame 24. The components fixed on the first drive layer frame 29 include a motor 26 and a winding drum 28. The winding drum 28 is fixed on the motor shaft. The motor 26 is fixed to the first drive layer frame 29 through a motor bracket 27. The first drive layer frame 29 is fixed to the rear wheel connecting member 21. The components fixed on the second control layer frame 24 include a motor control board 25 and a battery 22. The battery 22 is fixed to the second control layer frame 24 through a battery bracket 23. The motor control board 25 is fixed to the cylindrical platform of the first drive layer frame 29 by gluing.

[0037] like Figure 4 As shown, the motor control board 25 includes a main control board, a power chip and a motor drive chip. The battery 26 supplies power to the power chip, and the power chip supplies power to the main control board and the motor drive chip. The main control board controls the drive chip through a PWM (pulse width modulation) wave of a specified frequency, thereby controlling the rotation direction, drive sequence and time of the motor 26.

[0038] The ropes 14, 17, 19, and 20 are nylon ropes with a diameter of 0.5 mm. The first ends of the ropes 14, 17, 19, and 20 are fixed on the front wheel connector 13, and the second ends are fixed on the winding reel 28. When the ropes 14, 17, 19, and 20 change in length to different degrees under the action of the drive control module, the soft driver deforms to produce multi-directional bending and axial expansion and contraction. The drive control module adjusts the shape of the soft driver and cooperates with the wheel module to enable the soft robot to perform two crawling, flipping or turning actions on the ground.

[0039] The front wheel axle 6 and the rear wheel axle 1 are respectively fixed on the front wheel connecting member 13 and the rear wheel connecting member 21, and an axle groove is opened on the axle. The left front wheel 5, the right front wheel 10, the left rear wheel 5, and the right rear wheel 9 are respectively matched with the wheel axles 1 and 6 through bearings 3, and the parts on the axles are axially positioned by the retaining spring 18; the left front wheel 5, the right front wheel 10, the left rear wheel 2, and the right rear wheel 9 all include an internally meshing ratchet 7, a pawl 8, a pawl shaft 11 and a pawl shaft fixing member 12, the pawl shaft fixing member 12 and the wheel axles 1 and 6 are tightly fitted and fixed, the pawl shaft 11 and the pawl shaft fixing member 12 are tightly fitted and fixed, the pawl 8 is matched with the pawl shaft 11, and rotates relative to the pawl shaft 11.

[0040] The pawl shaft fixing member 12 is provided with a limiting boss, which realizes the unidirectional rotation of the left front wheel 5, the right front wheel 10, the left rear wheel 2, and the right rear wheel 9 by limiting the rotation range of the pawl 8. The pawl 8 is connected to the ratchet 7 at its upper end by gravity. When the soft robot is flipped over, the pawl 8 can work in the same way.

[0041] Except for standard parts such as the bearing 3 and the retaining spring 18, all the components are made by 3D technology, using acrylonitrile-styrene-acrylate as the manufacturing material.

[0042] Furthermore, the multi-motion mode soft robot system drives the soft robot to perform forward linear creeping, S-shaped crawling, flipping and turning movements on a flat ground as follows: In this embodiment, Figure 1 The figure shows the initial static state. Taking the forward linear creep of the soft robot as an example, the ratchet 7 and the pawl 8 are in contact under the action of gravity, resulting in the left front wheel 5, the right front wheel 10, the left rear wheel 2, and the right rear wheel 9 being one-way wheels that can only roll forward. When the drive control module controls all the ropes 14, 17, 19, and 20 on the soft driver to contract, the soft driver contracts axially and drives the left rear wheel 2 and the right rear wheel 9 to roll forward, while the left front wheel 5 and the right front wheel 10 are stably anchored on the ground; when all the ropes 14, 17, 19, and 20 contract so that the rolling distance of the left rear wheel 2 and the right rear wheel 9 reaches a threshold, the drive control module unloads the loading force on all the ropes 14, 17, 19, and 20. Under the action of the elastic potential energy of the spring 16, the soft driver naturally extends and pushes the left front wheel 5 and the right front wheel 10 to roll forward, while the left rear wheel 2 and the right rear wheel 9 are stably anchored on the ground until the soft driver returns to its original length. The schematic diagram of this linear creep process is shown in FIG. Figure 5 If the drive control module again controls all the ropes 14, 17, 19, 20 on the soft drive to contract, the above method is performed in sequence, and the linear peristaltic motion of the soft robot can be continuously achieved.

[0043] When the soft robot wants to perform S-shaped crawling motion, the initial static state is the same as the linear creeping motion. The ratchet 7 and the pawl 8 are in contact under the action of gravity, resulting in the left front wheel 5, the right front wheel 10, the left rear wheel 2, and the right rear wheel 9 being one-way wheels that can only roll forward. When the drive control module controls the left rope 20 of the soft driver to contract, the soft driver bends to the left and drives the left rear wheel 2 and the right front wheel 10 to roll forward, while the left front wheel 5 and the right rear wheel 9 are stably anchored on the ground; when the left rope 20 contracts and the rolling distance of the left rear wheel 2 and the right front wheel 10 reaches a threshold, the drive control module switches to control the right rope 17 of the soft driver to contract, and unloads the loading force on the left rope 20 to restore it to its original length. At the same time, the soft driver bends to the right and drives the left front wheel 5 and the right rear wheel 9 to roll forward, while the left rear wheel 2 and the right front wheel 10 are stably anchored on the ground; until the right rope 17 contracts and the rolling distance of the left front wheel 5 and the right rear wheel 9 reaches a threshold, the schematic diagram of this S-shaped crawling process is as shown in FIG. Figure 6 If the drive control module switches again to control the contraction of the left rope 20 of the soft driver and unloads the loading force on the right rope 17, the above method is carried out in sequence to continuously realize the S-shaped crawling action of the soft robot.

[0044] The schematic diagram of the soft robot performing the flipping action is shown in the figure. Figure 7As shown, the ratchet 7 and the pawl 8 are in contact under the action of gravity, resulting in the left front wheel 5, the right front wheel 10, the left rear wheel 2, and the right rear wheel 9 being one-way wheels that can only roll forward; the soft robot moves forward in a straight line creeping or S-shaped crawling manner until the left front wheel 5 and the right front wheel 10 approach the wall; when the drive control module controls all the ropes 14, 17, 19, and 20 of the soft drive to contract, the soft drive contracts axially and drives the left rear wheel 2 and the right rear wheel 9 to roll forward, while the left front wheel 5 and The right front wheel 10 is stably anchored on the ground; when all the ropes 14, 17, 19, and 20 are contracted so that the rolling distance of the left rear wheel 2 and the right rear wheel 9 reaches a threshold, the drive control module unloads the loading force on the left rope 20, the right rope 17, and the lower rope 19 to restore them to their original length, while retaining the loading force of the upper rope 14; the soft drive bends upward under the contraction of the upper rope 14, and the left rear wheel 2 and the right rear wheel 9 are stably anchored on the ground, and the left front wheel 5 and the right front wheel 10 follow the soft drive. The actuator bends against the wall; when the upper rope 14 contracts and the rolling distance of the left front wheel 5 and the right front wheel 10 reaches a threshold, the drive control module continues to control all ropes 14, 17, 19, and 20 to contract until the left rear wheel 2 and the right rear wheel 9 are basically close to the wall, and the drive control module unloads the loading force on all ropes 14, 17, 19, and 20 to restore them to their original length. At this time, the soft actuator basically stands against the wall; the drive control module controls the upper rope 14 to contract, and the soft actuator bends with the contraction of the upper rope 14, causing the center of gravity to shift, and the left front wheel 5 and the right front wheel 10 of the soft robot move downward under the action of gravity until they fall to the ground; when the soft robot is completely flipped over, the drive control module unloads the loading force of all ropes 14, 17, 19, and 20, and the soft actuator gradually stretches into a linear state and finally lies on the ground. At this time, the pawl 8 is still engaged with the ratchet 7 under the action of gravity. After the soft robot is flipped over, it can still perform two reverse crawling, flipping or turning actions.

[0045] When the soft robot wants to perform a turning movement, the initial static state is the same as the linear creep. The ratchet 7 and the pawl 8 are in contact under the action of gravity, resulting in the left front wheel 5, the right front wheel 10, the left rear wheel 2, and the right rear wheel 9 being one-way wheels that can only roll forward. When the drive control module controls the right rope 17 of the soft driver to contract, the soft driver bends to the right and drives the left front wheel 5 and the right rear wheel 9 to roll forward. The left front wheel 5 rotates clockwise and the right rear wheel 9 rotates counterclockwise. At the same time, the right front wheel 10 follows the left front wheel 5 to rotate clockwise, and the left rear wheel 2 follows the right rear wheel 9 to rotate counterclockwise, and remains stationary relative to the ground. When the wheels rotate to the required angle, the drive control module controls the right rope 17 of the soft driver to contract. The control module unloads the loading force on the right rope 17. Under the action of the elastic potential energy of the spring, the soft driver naturally extends and pushes the right front wheel 10 and the left rear wheel 2 to roll forward. The right front wheel 10 rotates counterclockwise and the left rear wheel 2 rotates clockwise. At the same time, the left front wheel 5 follows the right front wheel 10 to rotate counterclockwise, and the right rear wheel 9 follows the left rear wheel 2 to rotate clockwise, and remains stationary relative to the ground. Since the elastic potential energy of the spring is less than the loading force of the rope, the clockwise rotation angle of the front wheels 5 and 10 is greater than the counterclockwise rotation angle. Therefore, when the soft driver returns to its original length, the soft robot completes a clockwise rotation. The schematic diagram of this steering motion process is shown in FIG. Figure 8 In the above method, if the driving control module first controls the left rope 20 of the soft actuator to contract, the soft robot turns counterclockwise.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other manner. Any person skilled in the art may utilize the above-disclosed technical content to modify or modify the present invention into equivalent embodiments. However, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the technical content of the present invention and are based on the technical essence of the present invention remain within the scope of protection of the present invention.

Claims

1. A rope-driven wireless multi-motion mode soft robot system, characterized in that: It includes a soft drive module, a drive control module and a wheel module; the soft drive module includes an origami shell, a spring, a spacer disc, a rope, a front wheel connector and a rear wheel connector; the drive control module includes a frame and several drive control components installed inside the frame; the wheel module includes a front wheel axle, a rear wheel axle, a left front wheel, a right front wheel, a left rear wheel and a right rear wheel.

2. The cable-driven wireless multi-motion mode soft robot system according to claim 1, characterized in that: The origami shell has a regular octagonal cross-section. When unfolded, it becomes a rectangular cardboard with multiple straight folds. The folds perpendicular to the length are valley lines, and the folds intersecting the valley lines along the width are mountain lines. There are also two rows of rectangular folds on both sides of the width of the rectangular cardboard, which form square bosses after folding, making it convenient to fix the two ends of the origami shell on the front wheel connector and the rear wheel connector. Two rows of rope holes are arranged on the rectangular cardboard, which form two rows of symmetrical channels after folding. The origami shell is printing paper, and polypropylene film is covered on both sides of the printing paper.

3. The cable-driven wireless multi-motion mode soft robot system according to claim 1, characterized in that: The plurality of spacer disks are arranged separately and equidistantly on the inner side of the origami shell. A plurality of transverse springs are connected between adjacent spacer disks. The plurality of transverse springs are symmetrically arranged along the circumference of the spacer disk. The spacer disk is provided with a plurality of rope holes along the circumference. The rope passes through the rope holes and springs on the spacer disk symmetrically on the left and right, and passes through the rope holes on the spacer disk and the symmetrical channels on the origami shell symmetrically on the top and bottom. The spring generates elastic potential energy when the soft actuator contracts. When the drive control module completely releases the rope, the soft actuator achieves extension motion under the action of the elastic potential energy of the spring.

4. The cable-driven wireless multi-motion mode soft robot system according to claim 1, characterized in that: The frame includes a first drive layer frame and a second control layer frame. The components within the first drive layer frame include a motor and a winding drum. The winding drum is fixed on the motor shaft. The motor is fixed on the frame. The frame is fixed on the rear wheel connecting piece. The components within the second control layer frame include a motor control board and a battery. The motor control board and the power battery are fixed on the frame.

5. The cable-driven wireless multi-motion mode soft robot system according to claim 1, characterized in that: The rope is a nylon rope, which includes an upper rope, a lower rope, a left rope and a right rope. The first end of the rope is fixed on the front wheel connector, and the second section is fixed on the winding drum. When the rope changes in length to different degrees under the action of the drive control module, the soft driver deforms to produce corresponding multi-directional bending and axial expansion and contraction. The drive control module adjusts the shape of the soft driver and cooperates with the wheel module to enable the soft robot to perform two crawling, flipping or turning actions on the ground.

6. The cable-driven wireless multi-motion mode soft robot system according to claim 1, characterized in that: The front wheel axle and the rear wheel axle are respectively fixed to the front wheel connecting member and the rear wheel connecting member, and an axle groove is opened on the axle, and the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are respectively matched with the wheel axle through bearings, and the parts on the axle are axially positioned by a retaining spring; the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel each include an internally meshing ratchet, a pawl, a pawl shaft, and a pawl shaft fixing member, the pawl shaft fixing member is tightly fitted and fixed to the wheel axle, the pawl shaft is tightly fitted and fixed to the pawl shaft fixing member, and the pawl is matched with the pawl shaft and rotates relative to the pawl shaft; The pawl shaft fixing member is provided with a limiting boss, which realizes the unidirectional rotation of the left front wheel, right front wheel, left rear wheel and right rear wheel by limiting the rotation range of the pawl. The pawl is connected to the ratchet wheel at its upper end by gravity. When the soft robot is flipped over, the pawl can work in the same way.

7. A control method for a cable-driven wireless multi-motion mode soft robot system according to any one of claims 1 to 6, wherein the control method comprises the following steps when the soft robot is performing forward linear creep on a horizontal surface: Step A1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to all be one-way wheels that can only roll forward. When the drive control module controls all ropes on the flexible actuator to retract, the flexible actuator retracts axially and drives the left rear wheel and right rear wheel to roll forward, while the left front wheel and right front wheel are stably anchored to the ground. Step A2: When all the ropes are contracted and the rolling distance of the left and right rear wheels reaches a threshold, the drive control module unloads the loading force on all the ropes. Under the action of the elastic potential energy of the springs, the soft actuator naturally extends and pushes the left and right front wheels to roll forward, while the left and right rear wheels are stably anchored to the ground. This completes a forward linear creep until the soft actuator returns to its original length. If the drive control module controls all the ropes on the soft actuator to retract again, the above steps A1 and A2 are performed in sequence, and the soft robot continuously performs forward linear creep.

8. A control method for a cable-driven wireless multi-motion mode soft robot system according to any one of claims 1 to 6, wherein the control method comprises the following steps when the soft robot performs forward S-shaped crawling on a horizontal surface: Step B1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to all be one-way wheels that can only roll forward. When the drive control module controls the left rope of the flexible actuator to retract, the flexible actuator bends to the left and drives the left rear wheel and right front wheel to roll forward. At the same time, the left front wheel and right rear wheel are stably anchored to the ground. Step B2: When the left rope contracts and the rolling distance of the left rear wheel and the right front wheel reaches a threshold, the drive control module switches to control the rope on the right side of the soft actuator to contract and unload the loading force on the left rope to restore it to its original length. At the same time, the soft actuator bends to the right and drives the left front wheel and the right rear wheel to roll forward. The left rear wheel and the right front wheel are stably anchored on the ground. An S-shaped crawl is completed until the right rope contracts and the rolling distance of the left front wheel and the right rear wheel reaches a threshold. If the driving control module switches again to control the contraction of the rope on the left side of the soft actuator and unloads the loading force on the rope on the right side, and the above steps B1 and B2 are performed in sequence, the soft robot will continuously perform forward S-shaped crawling.

9. A control method for a tether-driven wireless multi-motion mode soft robot system according to any one of claims 1 to 6, wherein when the soft robot performs a forward flip motion on a horizontal surface, the control method comprises the following steps: Step C1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to become one-way wheels that can only roll forward. The soft robot moves forward in a linear creeping or S-shaped crawling manner until the left front wheel and the right front wheel approach the wall. The drive control module controls all ropes of the soft actuator to retract, causing the soft actuator to retract axially and drive the left rear wheel and the right rear wheel to roll forward. At the same time, the left front wheel and the right front wheel are stably anchored to the ground. Step C2: When all the ropes contract and the rolling distance of the left and right rear wheels reaches a threshold, the drive control module unloads the load on the left, right, and lower ropes to restore them to their original lengths, while retaining the load on the upper ropes. The flexible actuator bends upward under the contraction of the upper ropes, and the left and right rear wheels are stably anchored to the ground. The left and right front wheels follow the bending of the flexible actuator and lean against the wall. Step C3: When the upper rope contracts and the rolling distance of the left front wheel and the right front wheel reaches a threshold, the drive control module continues to control all ropes to contract until the left rear wheel and the right rear wheel are basically close to the wall. The drive control module unloads the loading force on all ropes to restore them to their original length. At this time, the soft actuator basically stands against the wall; the drive control module controls the upper rope to contract, and the soft actuator bends as the upper rope contracts, causing the center of gravity to shift. The left front wheel and the right front wheel of the soft robot move downward under the action of gravity until they land. Step C4: When the soft robot is completely flipped over, the drive control module unloads the loading force of all ropes, and the soft actuator gradually stretches into a linear state and finally lies on the ground. At this time, the pawl is still engaged with the ratchet under the action of gravity. After flipping over, the soft robot can still perform two reverse crawling, flipping or turning actions.

10. A control method for a cable-driven wireless multi-motion mode soft robot system according to any one of claims 1 to 6, wherein when the soft robot performs a turning motion on a horizontal surface, the control method comprises the following steps: Step D1: The ratchet and pawl come into contact under the action of gravity, causing the left front wheel, right front wheel, left rear wheel, and right rear wheel to all be one-way wheels that can only roll forward. When the drive control module controls the right rope of the soft actuator to retract, the soft actuator bends to the right and drives the left front wheel and right rear wheel to roll forward. The left front wheel rotates clockwise and the right rear wheel rotates counterclockwise. At the same time, the right front wheel follows the left front wheel in clockwise rotation, and the left rear wheel follows the right rear wheel in counterclockwise rotation, and they remain stationary relative to the ground. Step D2: When the wheels rotate to the desired angle, the drive control module unloads the loading force on the right rope. Under the action of the elastic potential energy of the spring, the soft actuator naturally extends and pushes the right front wheel and the left rear wheel to roll forward. The right front wheel rotates counterclockwise, and the left rear wheel rotates clockwise. At the same time, the left front wheel follows the right front wheel to rotate counterclockwise, and the right rear wheel follows the left rear wheel to rotate clockwise, and remains stationary relative to the ground. Since the elastic potential energy of the spring is less than the loading force of the rope, the clockwise angle of the front wheel is greater than the counterclockwise angle. Therefore, when the soft actuator returns to its original length, the soft robot completes a clockwise rotation. In the above steps D1 and D2, if the driving control module first controls the left rope of the soft actuator, the soft robot turns counterclockwise.

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