阅读说明：本技术 球状空间架构可变形软体机器人及其爬行方法 (Spherical space framework deformable software robot and crawling method thereof ) 是由 武力 胡鹏 于 2021-09-08 设计创作，主要内容包括：本发明涉及机器人技术领域,具体是一种球状空间架构可变形软体机器人及其爬行方法,所述球状空间架构可变形软体机器人包括壳体集成、驱动及控制模块,所述壳体集成是由多个可变形的六面集合体围合而成的球状空间结构；且所述壳体集成在完全展开状态下,所述的多个可变形的六面集合体构成直线型结构；所述驱动及控制模块安装在壳体集成的内部,所述驱动及控制模块能够控制六面集合体围合和展开,以在球状空间结构与直线型结构之间相互切换,完成爬行运动；本发明实施例结构轻便,控制方式简单；可实现球状空间结构与直线型结构之间的相互切换,在狭窄空间、危险环境、复杂和未知的环境具有很强的适应性。(The invention relates to the technical field of robots, in particular to a deformable soft robot with a spherical space structure and a crawling method thereof, wherein the deformable soft robot with the spherical space structure comprises a shell integration module, a driving module and a control module, wherein the shell integration module is a spherical space structure formed by enclosing a plurality of deformable six-surface aggregates; the shell is integrated in a fully unfolded state, and the deformable six-side aggregate forms a linear structure; the driving and control module is arranged in the shell body assembly and can control the six-surface aggregate to be enclosed and unfolded so as to switch between a spherical space structure and a linear structure to complete crawling movement; the embodiment of the invention has light structure and simple control mode; the switching between the spherical space structure and the linear structure can be realized, and the device has strong adaptability in narrow space, dangerous environment, complex and unknown environment.)

1. A deformable soft robot with a spherical space structure is characterized by comprising a shell integration module, a driving module and a control module,

the shell integration is a spherical space structure formed by enclosing a plurality of deformable six-side aggregates; the shell is integrated in a fully unfolded state, and the deformable six-side aggregate forms a linear structure;

the drive and control module is installed in the integrated inside of casing, drive and control module can control six aggregate and enclose and expand to switch each other between globular space structure and linear type structure, accomplish the crawl motion.

2. The spherical space architecture deformable soft robot as claimed in claim 1, wherein the housing assembly is integrally formed of flexible material by 3D printing.

3. The flexible robot as claimed in claim 1, wherein the housing assembly comprises a housing and a plurality of fasteners, the housing is formed by a plurality of flexible six-sided aggregates, and the fasteners are respectively mounted on the six-sided aggregates for mounting the driving and control module.

4. The robot of claim 1, wherein the size of the top bending line of the six-sided aggregate is larger than the size of the hollow line inside the surface; the line width of the intersection line of two adjacent surfaces of the six-surface aggregate and the surface is larger than the width of the hollow line inside the surface.

5. The robot as claimed in claim 3, wherein the fixing members are respectively installed at the top bends of the six-sided aggregates.

6. The robot of claim 1, wherein the driving and control module comprises driving members disposed in the housing assembly and a control board electrically connected to the driving members, the driving members respectively apply an acting force greater than the self-elasticity of the six-sided assemblies to drive the six-sided assemblies at the head and the tail of the housing assembly to expand, and when the housing assembly expands to a linear structure and stands on the ground, the housing assembly is reversely applied to the six-sided assemblies and then is switched to a spherical hollow structure in combination with the self-elasticity of the six-sided assemblies.

7. The flexible robot as claimed in claim 6, wherein the driving member further drives the six-sided aggregates adjacent to the six-sided aggregates at the head and tail of the integrated housing to be unfolded.

8. The flexible robot as claimed in claim 6, wherein the driving member comprises a motor and a pulling rope, the motor is mounted in the housing assembly, one end of the pulling rope is wound around the output end of the motor, and the other end of the pulling rope is fixedly connected to the six-sided aggregate of the head and the tail of the housing assembly and the six-sided aggregate adjacent to the six-sided aggregate of the head and the tail of the housing assembly.

9. The ball-space-architecture deformable soft robot of claim 1, wherein the number of six-sided aggregates is seven.

10. The crawling method for the spherical space architecture deformable software robot as claimed in any one of claims 1 to 9, wherein the crawling method comprises:

when the casing is integrated to be globular spatial structure:

driving six-side aggregates positioned at the head end and the tail end of the shell integration to be unfolded, and enabling the unfolded shell integration to be in a linear structure and stand on the ground;

when the casing integration is linear type structure:

driving the six-sided aggregate adjacent to the six-sided aggregate at the integrated head end of the shell to be unfolded so that the shell is completely unfolded;

driving the six-side aggregate positioned at the integrated tail end of the shell to contract, or driving the six-side aggregate positioned at the integrated tail end of the shell to contract by means of self elasticity to drive the shell to move in an integrated manner;

the six-side assembly positioned at the integrated head end of the shell is driven to contract, or the six-side assembly positioned at the integrated head end of the shell contracts by means of self elasticity to drive the shell to move integrally;

driving a six-side aggregate positioned at the integrated head end of the shell to unfold and drive the shell to move integrally;

driving a six-surface aggregate positioned at the integrated tail end of the shell to unfold and drive the shell to move integrally;

the driving process after the shell is integrated to be in a linear structure is repeated, and the shell is driven to be integrated to continuously walk.

Technical Field

The invention relates to the technical field of robots, in particular to a deformable soft robot with a spherical space architecture and a crawling method thereof.

Background

Robots are increasingly applied to production and life, and relate to the fields of walking navigation, transportation, carrying and sorting; for example, the robot arm is widely applied to automobile paint spraying, the machine trolley is applied to logistics and sorting, and the robot is applied to navigation and guidance robots of hotels and banks, but the robots all belong to rigid robots;

compared with a rigid robot, the soft robot has better flexibility, can randomly change the shape and the size in a large range, and has the advantages of simplified driving control system, good human-computer interaction performance and the like;

however, most of the current software robot researches stay in the laboratory stage, and can complete the specified movement, but the bearing capacity is limited, and the practical application is difficult.

Disclosure of Invention

The present invention provides a deformable soft robot with spherical space structure and its crawling method, which utilizes the large deformation range and high carrying capacity of the soft robot to solve the problems in the background art.

In order to achieve the purpose, the invention provides the following technical scheme:

the spherical space structure deformable soft robot comprises a shell integration, a driving and controlling module, wherein the shell integration is a spherical space structure formed by enclosing a plurality of deformable six-side aggregates; the shell is integrated in a fully unfolded state, and the deformable six-side aggregate forms a linear structure; the drive and control module is installed in the integrated inside of casing, drive and control module can control six aggregate and enclose and expand to switch each other between globular space structure and linear type structure, accomplish the crawl motion.

As a further scheme of the invention: the casing is integrated to be printed integrated into one piece by flexible material through 3D.

As a still further scheme of the invention: the casing is integrated to include casing and mounting, the casing is enclosed by a plurality of six deformable aggregates and closes and forms, and a plurality of the mounting is installed respectively on six partial aggregates for installation drive and control module.

As a still further scheme of the invention: the size of the line at the top bending part of the six-side aggregate is larger than that of the hollow line inside the surface; the line width of the intersection line of two adjacent surfaces of the six-surface aggregate and the surface is greater than the line width of the hollow line inside the surface; the number of the six-side aggregate is seven.

As a still further scheme of the invention: and the fixing pieces are respectively arranged at the top bending parts of the partial six-side aggregate.

As a still further scheme of the invention: drive and control module including set up in the integrated driving piece of casing and with driving piece electric connection's control panel, a plurality of the effort that is greater than six aggregate self elasticity is applyed respectively to the driving piece drives the six aggregates that are located the integrated head and the tail of casing and expand to at the integrated expansion of casing for linear type structure stand in ground after, reverse application effort combines six aggregate self elasticity to switch into spherical hollow out construction.

As a still further scheme of the invention: the driving piece can also drive the six-side aggregate adjacent to the six-side aggregate positioned at the head and the tail of the shell to be unfolded.

As a still further scheme of the invention: the driving piece comprises a motor and a traction rope, the motor is installed in the shell assembly, one end of the traction rope is wound at the output end of the motor, and the other end of the traction rope is fixedly connected with the six-face assembly of the shell assembly in the head and the tail and the six-face assembly adjacent to the six-face assembly of the shell assembly in the head and the tail.

As another technical scheme provided by the invention: the crawling method of the spherical space architecture deformable soft robot comprises the following steps:

when the casing is integrated to be globular spatial structure:

driving six-side aggregates positioned at the head end and the tail end of the shell integration to be unfolded, and enabling the unfolded shell integration to be in a linear structure and stand on the ground;

when the casing integration is linear type structure:

driving the six-sided aggregate adjacent to the six-sided aggregate at the integrated head end of the shell to be unfolded so that the shell is completely unfolded;

driving the six-side aggregate positioned at the integrated tail end of the shell to contract, or driving the six-side aggregate positioned at the integrated tail end of the shell to contract by means of self elasticity to drive the shell to move in an integrated manner;

the six-side assembly positioned at the integrated head end of the shell is driven to contract, or the six-side assembly positioned at the integrated head end of the shell contracts by means of self elasticity to drive the shell to move integrally;

driving a six-side aggregate positioned at the integrated head end of the shell to unfold and drive the shell to move integrally;

driving a six-surface aggregate positioned at the integrated tail end of the shell to unfold and drive the shell to move integrally;

the driving process after the shell is integrated to be in a linear structure is repeated, and the shell is driven to be integrated to continuously walk.

Compared with the prior art, the invention has the beneficial effects that:

acting force is applied through the driving and controlling module, and six-side aggregate of the controlling part contracts and expands to realize the mutual switching between the spherical space structure and the linear structure;

the hollow foldable spherical hollow framework is adopted, so that the weight is light and the carrying is convenient; other components such as motors, controllers, drivers and sensors can also be arranged inside the robot; the method has strong adaptability in narrow space, dangerous environment and complex and unknown environment;

the shell assembly is made of flexible materials, so that the shell assembly has a wider application range under the condition of meeting a certain strength requirement;

the control mode of the driving and control module is simple, and the complex control system of the existing robot is simplified.

Drawings

Fig. 1 is a front view of a deformable soft robot with a spherical space structure according to an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of a deformable soft robot with a spherical space structure according to an embodiment of the present invention.

FIG. 3 is a schematic diagram illustrating an embodiment of a deformable soft robot with a spherical space structure.

In the drawings: 1. integrating a shell; 11. a housing; 12. an internal retaining rail A; 13. an internal retaining rail B; 14. an internal retaining rail C; 111. a six-sided aggregate A; 112. a six-sided aggregate B; 113. a six-sided aggregate C; 114. a six-sided aggregate D; 115. a six-sided aggregate E; 116. a six-sided aggregate F; 117. a six-sided aggregate G; 2. a drive and control module; 21. driving A; 22. driving B; 23. driving C; 24. and a control panel.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Referring to fig. 1-3, in an embodiment of the present invention, a deformable software robot with spherical space structure includes a housing assembly, a driving and controlling module, wherein the housing assembly is a spherical space structure surrounded by a plurality of deformable six-sided aggregates; the shell is integrated in a fully unfolded state, and the deformable six-side aggregate forms a linear structure; the drive and control module is installed in the integrated inside of casing, drive and control module can control six aggregate and enclose and expand to switch each other between globular space structure and linear type structure, accomplish the crawl motion.

In the embodiment, the shell body is integrally formed by 3D printing of a flexible material, the flexible material can be a TPU-75A material (TPU, thermoplastic polyurethane elastomer), and a Raise 3D N2 Plus printer is adopted for one-time printing forming; therefore, the produced shell assembly has enough strength and flexibility, and when the shell assembly is printed, the deformation key part of the spherical space structure is reinforced by adopting local lines, so that the flexibility of the soft robot is kept, and the problem of weak bearing capacity of a common soft robot is solved;

seven six-sided aggregates are provided, namely a six-sided aggregate A111, a six-sided aggregate B112, a six-sided aggregate C113, a six-sided aggregate D114, a six-sided aggregate E115, a six-sided aggregate F116 and a six-sided aggregate G117; the six-sided aggregate A111 and the six-sided aggregate G117 can be unfolded and stand on the ground when the driving and control module applies driving force to partial six-sided aggregates such as the six-sided aggregate A111 and the six-sided aggregate G117; in the process of unfolding the six-side aggregate A111 and the six-side aggregate G117, the adjacent six-side aggregate B112 and the adjacent six-side aggregate F116 are influenced by force transmission, and are also contracted to assist the unfolding of the six-side aggregate A111 and the six-side aggregate G117 and transmit the force to the adjacent six-side aggregate C113, the six-side aggregate E115 and the six-side aggregate D114, so that the overall unfolding of a spherical space structure is realized, and a linear structure is formed;

when the casing integration is linear type structure: controlling the driving and controlling module to operate, and executing the following steps:

s21, driving the six-side aggregate B112 adjacent to the six-side aggregate A111 to unfold so that the shell assembly is completely unfolded;

s22, driving the six-sided aggregate G117 to contract, or driving the six-sided aggregate G117 to contract by self elasticity to drive the shell to move integrally;

s23, driving the six-sided aggregate A111 to contract, or driving the six-sided aggregate A111 to contract by self elasticity to drive the shell to move integrally;

s24, driving the six-face aggregate A111 to unfold and drive the shell to move integrally;

s25, driving the six-side aggregate G117 to unfold and driving the shell to move integrally;

and repeating the driving process of the steps S21-S25, and driving the shell assembly to continuously walk.

In the driving process of the six-sided aggregate a111 and the six-sided aggregate G117, the six-sided aggregate a111 and the six-sided aggregate G117 also transmit the driving force received by them to the other adjacent six-sided aggregate, for example, the six-sided aggregate a111 and the six-sided aggregate G117 transmit the driving force to the six-sided aggregate B112 and the six-sided aggregate F116, respectively, and similarly, the six-sided aggregate B112 and the six-sided aggregate F116 transmit the force to the adjacent six-sided aggregate C113, the six-sided aggregate E115, and the six-sided aggregate D114, respectively.

In summary, the flexible soft robot with the spherical space structure according to the present embodiment repeats the driving process of steps S21-S25, and organically combines the driving and control module and the driving force with the elasticity of each six-sided aggregate in the housing assembly 1, so as to realize the mutual switching between the spherical space structure and the linear structure of the housing assembly 1, and complete the crawling motion; the problems that the existing rigid robot is complex in structure, poor in environmental adaptability and easy to be limited by the structure of the robot in a narrow space are solved; the deformable soft robot with the spherical space structure has the advantages of light weight, convenience in driving and high movement efficiency, can complete detection tasks in special environments unsuitable for human work, and has wide application prospects.

In one scenario of this embodiment, the housing assembly is formed by injection molding a flexible material, which may be rubber or plastic with a certain elastic deformation; performing hollow-out treatment on the molded workpiece after injection molding, so that the molded workpiece is processed into a shell integration with a spherical space structure state;

in another scene of this embodiment, the casing is integrated to adopt the components of a whole that can function independently processing, specifically is to divide into six aggregates of a plurality of with the casing integration and processes, and the rethread bonds six aggregates of a plurality of and processes the casing integration that constitutes an organic whole, and this kind of processing mode is lower to the requirement of mould, and the mass production of being convenient for, has the help to the efficiency and the quality promotion of production. The number of the six-sided aggregate in this embodiment is not limited to seven, and the specific number may be flexibly set according to an actual use scenario under the condition that a spherical space structure is satisfied, and is not limited to seven, which is limited by space and is not described herein again.

Referring to fig. 1-3, in another embodiment of the present invention, the housing assembly includes a housing 11 and fixing members, the housing 11 is formed by enclosing a plurality of deformable six-sided aggregates, and a plurality of fixing members are respectively mounted on a portion of the six-sided aggregates for mounting the driving and control module.

Specifically, the number of the six-sided aggregates is seven, and the six-sided aggregates are a111, a B112, a C113, a D114, an E115, an F116, and a G117; the fasteners are respectively an internal fixed fence A12, an internal fixed fence B13 and an internal fixed fence C14 and are respectively arranged on the inner walls of the six-side aggregate C113, the six-side aggregate D114 and the six-side aggregate E115; for mounting the drive and control module 2;

in order to improve the strength of the six-sided aggregate when the spherical space structure and the linear structure are switched, in another scenario of the embodiment, the line size at the top bending part of the six-sided aggregate is larger than the hollow line size inside the surface; the line width of the intersection line of two adjacent surfaces of the six-surface aggregate and the surface is greater than the line width of the hollow line inside the surface;

in the embodiment, in the 3D printing process, the structural size of the top bending part of the six-sided aggregate and the intersection line of two adjacent surfaces and faces of the six-sided aggregate is enhanced, so that each six-sided aggregate has high strength, each face of the six-sided aggregate is set to be thin, and the hollow design is performed, so that the light design can be realized, and the consumption of printing materials can be reduced; meanwhile, as the integral shell is lighter in integration, the energy consumption of the driving and control module 2 in the driving process is correspondingly reduced, and the improvement of endurance is facilitated.

In another scenario of this embodiment, as shown in fig. 2, a plurality of the fixing members are respectively installed at the top bends of the six-sided aggregate.

As described above, in the 3D printing process, the structural dimension passing through the top bend of the six-sided aggregate and the intersection line of two adjacent faces and faces of the six-sided aggregate is enhanced; therefore, the fixing piece is arranged at the bent part at the top of the six-side aggregate, so that the stability and the safety of installing the driving and control module 2 are ensured; in the process of realizing the driving control of the driving and controlling module 2, the driving and controlling module is not influenced by the contraction and the expansion of the six-surface aggregate.

Referring to fig. 1 and 2, in another embodiment of the present invention, the driving and control module 2 includes driving components disposed in the housing assembly and a control board 24 electrically connected to the driving components, the driving components respectively apply an acting force greater than the self-elasticity of the six-sided assembly to drive the six-sided assembly located at the head and the tail of the housing assembly to unfold, and after the housing assembly is unfolded into a linear structure and stands on the ground, the housing assembly is switched into a spherical hollow structure by applying an acting force in a reverse direction in combination with the self-elasticity of the six-sided assembly.

In this embodiment, the driving element includes a motor and a pulling rope, the motor is installed in the housing assembly, one end of the pulling rope is wound at the output end of the motor, and the other end of the pulling rope is fixedly connected with the six-sided aggregate of the housing assembly head and tail, and the six-sided aggregate adjacent to the six-sided aggregate of the housing assembly head and tail;

the three motors are respectively composed of a drive A21, a drive B22 and a drive C23 and are respectively arranged on an internal fixed fence A12, an internal fixed fence B13 and an internal fixed fence C14; furthermore, the traction rope can be a nylon rope, a carbon fiber wire or a steel wire rope;

one nylon rope is used as a nylon rope A, one end of the nylon rope A is fixed at the output end of a motor driving the A21, and the other end of the nylon rope A is fixed at the top point of the free end of the hexahedral aggregate A111; one nylon rope is used as a nylon rope B, one end of the nylon rope B is fixed at the output end of a motor driving the B22, and the other end of the nylon rope B is fixed at the intersection vertex of the six-side aggregate B112 and the six-side aggregate C113; a nylon rope is arranged as a nylon rope C, one end of the nylon rope C is fixed at the output end of a motor of the driving C23, and the other end of the nylon rope C is fixed at the top point of the free section of the hexahedral aggregate G117; the control panel 24 is an integrated control panel, is fixed on the internal fixing fence B13 and is respectively connected with the motors of the drive A21, the drive B22 and the drive C23 through leads; the power on and off of the motor and the forward and reverse rotation of the motor are controlled, and the nylon rope A, the nylon rope B and the nylon rope C are wound.

In this embodiment, the control board 24 can independently drive the motors of the drive a21, the drive B22 and the drive C23 to operate, and then the nylon rope a, the nylon rope B and the nylon rope C are used to contract and expand the six-sided aggregate a111, the six-sided aggregate B112 and the six-sided aggregate C113, and the six-sided aggregate G117; the driving piece, the control panel and the auxiliary supporting structure of the soft robot are positioned in the shell, so that the size of the soft robot is greatly reduced, and the soft robot has strong adaptability to dangerous environments, complex and unknown environments in narrow spaces.

In another scenario, the driving member can also drive the six-sided aggregate adjacent to the six-sided aggregate positioned at the head and the tail of the shell integration to be unfolded. Specifically, a motor for driving A21 operates to contract and expand six-sided aggregate A111, and indirectly contracts and expands adjacent six-sided aggregate B112; the motor of the C23 is driven to operate, the six-sided aggregate G117 is driven to contract and expand, and the adjacent six-sided aggregate F116 is indirectly contracted and expanded; further, the transmission of the gradual change of the driving force is realized, and the six-sided aggregate F116 and the six-sided aggregate E115 connected in sequence are driven. The motor and the control board are positioned in the shell, so that the size of the motor and the control board is greatly reduced, and the motor and the control board have strong adaptability to dangerous environments, complex and unknown environments in narrow spaces.

In a preferred scenario, the control board may adopt a programmable logic circuit board or a switching power supply, and the programmable logic circuit board or the switching power supply is connected with the motors of the drive a21, the drive B22 and the drive C23 through wires respectively;

the driving piece further comprises an angular velocity sensor or a pressure sensor; the angular speed sensors are respectively arranged at the output end of a motor for driving A21, the output end of a motor for driving B22 and the output end of a motor for driving C23, are used for monitoring the running states of the drive A21, the drive B22 and the drive C23, comprise the rotating speed and the acceleration of the drive A21, the drive B22 and the drive C23, and calculate the winding condition of the traction rope through the running time of the drive A21, the drive B22 and the drive C23; controlling the forward and reverse rotation switching of the drive A21, the drive B22 and the drive C23;

the pressure sensors are arranged on the surfaces of the six-side aggregates and used for monitoring the contraction and expansion conditions of the six-side aggregates and feeding back signals to the motor of the driving piece according to the monitoring conditions; and controlling the forward and reverse rotation switching of the motor.

Referring to fig. 1-3, in another embodiment, a crawling method for a spherical space-based deformable software robot is provided, the crawling method comprising:

when the casing is integrated to be globular spatial structure:

driving six-side aggregates positioned at the head end and the tail end of the shell integration to be unfolded, and enabling the unfolded shell integration to be in a linear structure and stand on the ground;

when the casing integration is linear type structure:

driving the six-sided aggregate adjacent to the six-sided aggregate at the integrated head end of the shell to be unfolded so that the shell is completely unfolded;

driving the six-side aggregate positioned at the integrated tail end of the shell to contract, or driving the six-side aggregate positioned at the integrated tail end of the shell to contract by means of self elasticity to drive the shell to move in an integrated manner;

the six-side assembly positioned at the integrated head end of the shell is driven to contract, or the six-side assembly positioned at the integrated head end of the shell contracts by means of self elasticity to drive the shell to move integrally;

driving a six-side aggregate positioned at the integrated head end of the shell to unfold and drive the shell to move integrally;

driving a six-surface aggregate positioned at the integrated tail end of the shell to unfold and drive the shell to move integrally;

the driving process after the shell is integrated to be in a linear structure is repeated, and the shell is driven to be integrated to continuously walk.

Specifically, seven six-sided aggregates are provided, namely a six-sided aggregate A111, a six-sided aggregate B112, a six-sided aggregate C113, a six-sided aggregate D114, a six-sided aggregate E115, a six-sided aggregate F116 and a six-sided aggregate G117; the internal fixed fence A12, the internal fixed fence B13 and the internal fixed fence C14 are arranged and are respectively arranged on the inner walls of the six-side aggregate C113, the six-side aggregate D114 and the six-side aggregate E115; the device comprises a driving and control module 2, a control module and a control module, wherein the driving and control module is used for installing a motor, a traction rope and a control panel, and the traction rope is respectively a nylon rope A, a nylon rope B and a nylon rope C; the driving A, the driving B and the driving C are formed by arranging a motor and a traction rope and are respectively used for driving the contraction and the expansion of the six-sided aggregate A111, the six-sided aggregate B112 and the six-sided aggregate G117 and indirectly controlling the contraction and the expansion of the six-sided aggregate C113, the six-sided aggregate D114, the six-sided aggregate E115 and the six-sided aggregate F116; the soft robot can be switched between a spherical space structure and a linear structure to finish walking.

In this embodiment, the switching between the spherical space structure and the linear structure is specifically divided into the following processes:

the first process is as follows: the initial state of the shell assembly 1 is a closed sphere, the motors driving A21 and C23 rotate in the positive direction, the shell assembly 1 is unfolded under the drive of the nylon rope and stands on the ground;

and a second process: driving the B22 motor to further rotate in the positive direction, and unfolding the shell assembly 1 to a limit state;

the third process: the motor of the C23 is driven to rotate reversely, the shell 11 at one side of the C23 is driven to restore under the self elasticity, and the soft robot is pulled to move forwards;

the process four is as follows: the motor driving the A21 rotates reversely, the shell 11 on one side of the A21 is driven to restore under the action of the elasticity of the shell, and the whole soft robot moves forwards for a certain distance;

and a fifth process: the A21 motor is driven to rotate forward, the shell 11 on one side of the A21 is driven to unfold, and the soft robot moves forward;

the process six: : the motor driving the C23 rotates forwards to drive the shell 11 at one side of the C23 to unfold, and the robot reaches the limit unfolding state again;

repeating the second to the sixth process, and the soft robot continuously walks forwards.

The working principle of the invention is as follows: the shell integration is integrally formed through 3D printing and consists of a plurality of deformable six-side aggregates; the motor and the traction rope arranged on the driving and control module form a drive A, a drive B and a drive C which are respectively used for driving the contraction and the expansion of the six-side aggregate A111, the six-side aggregate B112 and the six-side aggregate G117 and indirectly controlling the contraction and the expansion of the six-side aggregate C113, the six-side aggregate D114, the six-side aggregate E115 and the six-side aggregate F116; the soft robot can be switched between a spherical space structure and a linear structure to finish walking.

It should be noted that the motor, the control board, the angular velocity sensor and the pressure sensor adopted in the present invention are all prior art applications, and those skilled in the art can implement the intended functions according to the related description, or implement the technical characteristics required to be achieved through similar techniques, and will not be described in detail herein.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.