CN112061261A - Software crawling robot based on paper folding structure - Google Patents

Abstract

The invention discloses a soft crawling robot based on a paper folding structure. The supporting device is a clockwise torsion telescopic unit or an anticlockwise torsion telescopic unit, and a telescopic device is connected between the two supporting units. Each of the torsion expansion units includes an upper bottom surface, a lower bottom surface and side plane surfaces. An air hole is arranged in the middle of one side edge of the upper bottom surface of the torsion telescopic unit, the air nozzle is inserted and connected in the hole, and the air nozzle is connected to an external air source through a silicone tube. After the air source vacuumizes the cavity, the torsion telescopic unit descends while rotating, and after the cavity is communicated with atmospheric pressure, the torsion telescopic unit ascends while rotating. The robot is manufactured by 3D printing through flexible thermoplastic materials based on a low-cost fused deposition modeling method, the formed robot is flexible in movement and not easy to damage, the functions of advancing, retreating, steering, crossing advancing and the like can be realized, and the application prospect is wide.

Description

A soft crawling robot based on origami structure

technical field

The invention relates to the field of soft robots, in particular to a soft crawling robot based on an origami structure.

Background technique

In the field of soft robot development, traditional soft robots use fluid as the driving method of the actuator, which is mainly driven by applying pressure inside a chamber made of highly deformable materials. The limitation of the maximum strain has an impact on the overall motion of the soft robot; soft robots driven by smart materials such as shape memory polymers and shape memory alloys usually heat or cool the smart materials to make the robot complete certain actions. However, it has poor controllability, slow motion response, and sluggish response. The driving methods of the above two traditional soft robots have high requirements on materials, and at the same time have shortcomings such as single robot motion mode and poor environmental adaptability. Recently, crawling robots driven by soft pneumatic actuators that use silicone-like materials to form closed air chambers, mainly by replacing molds to produce pneumatic actuators with different motion modes. However, it has the disadvantages that the mold manufacturing process is complicated and tedious, the manufacturing success rate is low, the versatility is poor, and the motion response time of the silicone-like material is long.

In view of the above situation, it is particularly important to invent a new type of soft pneumatic actuator with simple manufacturing method, few consumables, low cost, and rapid motion response, so as to improve the performance of the soft crawling robot.

SUMMARY OF THE INVENTION

In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a soft crawling robot based on an origami structure. The soft pneumatic actuator is made of a flexible thermoplastic material directly 3D printed based on a fused deposition modeling method, which can reduce the production cost. At the same time, its anti-stretching ability is outstanding, that is, it can bear a large load when it is not driven, and the motion recovers quickly. By designing different motion modes, the crawling robot can be applied to complex working environments.

In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

A soft crawling robot based on an origami structure, comprising two supporting devices, a telescopic device, two connecting devices and two suction cup adhering devices connected to form a door frame structure; The bottom surface and the lower bottom surface of a counterclockwise twisting telescopic unit are fixedly connected by magnets; the supporting device is a clockwise twisting telescopic unit or a counterclockwise twisting telescopic unit; in the two supporting devices, the lower bottom surface of the twisting telescopic unit is respectively attached to the suction cup adhering device The upper and bottom surfaces of the two torsion telescopic units are fixedly connected with the lower bottom surface of the connecting device respectively to form two supporting units; a telescopic device is connected between the two supporting units, and both ends of the telescopic device are respectively connected with The sides of the device are held together by magnets.

Preferably, each torsional telescopic unit includes an upper bottom surface, a lower bottom surface and a side plane; there are corresponding grooves on the four sides of the side plane to divide the surface into two equal triangular areas, and by changing the side plane concave The direction of the slot can make the twisting telescopic unit realize twisting in different directions.

Preferably, the side plane and the lower bottom surface are integrally printed and sealed and fixed with the upper bottom surface, so that the entire torsional telescopic unit forms a sealed cavity, and the entire torsional telescopic unit forms a rectangular parallelepiped; between the upper bottom surface and the lower bottom surface, a There is a groove, and the magnet is installed inside for connection; there is an air hole in the middle of one side of the bottom surface of the twisting telescopic unit, the air nozzle is inserted into the hole, and the air nozzle is connected to the external air source through a silicone tube. Clockwise twist the side plane of the telescopic unit to twist and shrink in the clockwise direction, and counterclockwise to twist the side plane of the telescopic unit to twist and shrink counterclockwise; , the side planes perform positive torsion and simultaneously drive the upper and lower bottom surfaces to contract, that is, the torsional telescopic unit performs torsion and contraction movements at the same time. When the cavity is connected to atmospheric pressure, the side planes reversely twist and simultaneously drive the upper and lower bottom surfaces to stretch, that is, the twisting and stretching unit performs twisting and relaxation movements at the same time, and the entire twisting and stretching unit returns to its normal shape.

Preferably, the telescopic device is fixedly connected with the lower bottom surface of the anti-clockwise twisting telescopic unit and the upper bottom surface of the clockwise twisting telescopic unit by magnets, and the two ends of the telescopic device are respectively fixed with the side surface of the connecting device by magnets. The two twisting and telescopic units in different directions are connected to the external air source through the air nozzle and the silicone tube, and the two twisting and expanding units are controlled at the same time through the air source. The torsion direction of the telescopic unit is opposite, and the telescopic motion of the bottom surface is synchronized, which offsets the rotation of the two torsional telescopic units, so that the entire telescopic device only performs telescopic motion.

Preferably, in addition to using a magnet for connection between the clockwise twisting telescopic unit and the counterclockwise twisting telescopic unit of the telescopic device, a tenon-and-mortise-like structure is also used for fixing, wherein the lower bottom surface of the counterclockwise twisting telescopic module has a The four grooves are used as negative surfaces, and the upper bottom surface of the clockwise twisted telescopic module has four bosses as positive surfaces, which are mutually matched and connected to achieve the purpose of preventing loosening during assembly.

Preferably, the fixing between the connecting device and the torsional telescopic unit also uses a tenon-and-mortise-like structure to prevent loosening.

Preferably, the crawling robot constituted by the flexible torsion telescopic drive device of the present invention has flexible movement and can realize functions such as forward, backward, steering and cross movement.

Preferably, the soft pneumatic actuator based on the origami structure is based on the improved design of the triangular cylindrical origami structure. Good tensile properties and rapid shrinkage and recovery properties;

Preferably, one of the two supporting devices is a clockwise twisting telescopic unit, and the other is a counterclockwise twisting telescopic unit.

Preferably, the air nozzles of each of the twisting and telescopic units are connected to the external air source through a silicone tube, all the air nozzles are arranged in the middle of the side edges of the upper bottom surface of the twisting and telescopic unit, and the silicone tube is connected to the external air source from the same side.

Compared with the background technology, the present invention has the following obvious outstanding substantive features and remarkable technological progress:

1. The driving device based on the origami structure adopted in the present invention adopts the pneumatic method and adopts the fused deposition modeling method to manufacture. By changing the arrangement of the grooves on the side of the twisting and expanding unit, the movement direction of the twisting and expanding unit can be changed, and the manufacturing process is simple. , less consumables, low cost;

2. The driver based on the origami structure has good anti-stretch performance, and has a greater performance improvement than the traditional soft pneumatic actuator in terms of output force, load capacity and stability; the driver has the characteristics of rapid expansion and contraction, which can make the software The movement of the crawling robot is more agile;

3. The soft crawling robot in the present invention is flexible in movement and has various combinations; when adjusting the air pressure of the torsion telescopic unit at different positions, it can realize functions such as forward, backward, steering and cross forward, and it has the advantages of flexibility, flexibility and adaptability. There is a big improvement.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic diagram of the air-extraction deformation of the anti-clockwise twisting telescopic unit.

Figure 3 is a schematic diagram of the deformation of the telescopic device after air extraction.

Figure 4 is a detailed view of the assembly of the telescopic device.

Figure 5 Schematic diagram of the forward motion of the crawling robot.

Figure 6 Schematic diagram of the backward movement of the crawling robot.

Fig. 7 Schematic diagram of the steering motion of the crawling robot.

Figure 8 Schematic diagram of the cross motion of the crawling robot.

Detailed ways

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

Example 1:

Referring to Figures 1-8, a soft crawling robot based on origami structure includes two supporting devices, one telescopic device, two connecting devices and two suction cup adhesion devices connected to form a door frame structure; the telescopic device consists of a The upper bottom surface of the clockwise twisting telescopic unit 21 and the lower bottom surface of a counterclockwise twisting telescopic unit 22 are fixedly connected by magnets 14; the supporting device is a clockwise twisting telescopic unit 21 or a counterclockwise twisting telescopic unit 22; The lower bottom surfaces 20 of the torsion telescopic unit are respectively fixed with the upper bottom surface of the suction cup adhering device, and the upper bottom surfaces 17 of the two torsion telescopic units are respectively fixed with the lower bottom surface of the connecting device to form two supporting units; two supporting units A telescopic device is connected between them, and the two ends of the telescopic device are respectively fixedly connected with the side surfaces of the connecting device through magnets.

The driving device based on the origami structure adopted in this embodiment adopts the pneumatic method and adopts the fused deposition modeling method to manufacture. By changing the arrangement of the grooves on the side of the twisting and expanding unit, the moving direction of the twisting and expanding unit can be changed. The manufacturing process is simple and the consumables are low. Less and low cost.

Embodiment 2:

This embodiment is basically the same as the first embodiment, and the special features are:

As shown in FIG. 1, the specific implementation of the crawling robot of the present invention includes two supporting devices, one telescopic device, five pairs of magnets, two connecting devices, two suction cup adhering devices and six air nozzles, and the supporting device is a clockwise twisting device. Telescopic unit 21 or counterclockwise twisting telescopic unit 22; the telescopic device is composed of an upper bottom surface of a clockwise twisting telescopic unit 21 and a lower bottom surface of a counterclockwise twisting telescopic unit 22 fixedly connected by magnets 14; among the two supporting devices, the twisting telescopic unit The lower bottom surfaces of the two suction cup adhering devices are fixedly connected with the upper bottom surfaces of the two suction cup adhering devices respectively, and the upper bottom surfaces of the two torsion telescopic units are respectively fixed with the lower bottom surfaces of the two connecting devices with magnets to form two supporting units; A telescopic device is connected between the units, and the two ends of the telescopic device are respectively fixedly connected with the side surfaces of the connecting device through magnets 14 .

As shown in FIG. 2, each torsion telescopic unit includes an upper bottom surface 17, a lower bottom surface 20 and a side plane 19; the four sides of the side plane 19 have corresponding grooves 18 to divide the surface into two equal triangles By changing the direction of the side plane grooves 18, the twisting telescopic unit can be twisted in different directions. The side plane 19 and the lower bottom surface 20 are integrally printed and tightly connected with the upper bottom surface 17, so that the entire torsional expansion and contraction unit forms a sealed cavity, and the entire torsional contraction device forms a rectangular parallelepiped; on the upper bottom surface 17 and the lower bottom surface 20 There is a groove 15 in the middle, and the magnet 14 is installed in it for connection; an air hole 16 is arranged in the middle of a side edge of the upper bottom surface 17, and the air nozzle 2 is inserted and connected in the hole, and the air nozzle is connected to the hole through a silicone tube. For the external air source, twist the side plane of the telescopic unit 21 clockwise to twist the hand in the clockwise direction, and twist the side plane of the telescopic unit 22 counterclockwise to twist the hand in the counterclockwise direction; the air nozzle is connected to the external air source through the silicone tube and The cavity is evacuated, the side planes are twisted in a positive direction and simultaneously drive the upper bottom surface 17 and the lower bottom surface 20 to shrink, and the twisting telescopic unit reduces the height while twisting. When the cavity is connected to the atmospheric pressure, the side plane reversely twists and simultaneously drives the upper bottom surface 17 and the lower bottom surface 20 to recover, that is, the twisting and shrinking device increases its height while twisting, and the entire retractable device returns to its normal shape.

As shown in FIG. 3, in the telescopic device, the lower bottom surface of the telescopic unit 22 twisted counterclockwise and the upper bottom surface of the telescopic unit 21 twisted clockwise are fixedly connected by magnets 14, and the two ends of the telescopic device are respectively connected to the side of the connecting device by magnets Fixed connection. The two torsion and expansion units are connected to the external air source through the air nozzle and the silicone tube, and the same control is performed on the two torsion and expansion units at the same time through the air source, that is, the control is to perform air extraction or turn on the atmospheric pressure at the same time, so that the torsion of the two torsion and expansion units is controlled. In the opposite direction, the telescopic movement of the bottom surface is synchronized, which offsets the rotation of the two torsional telescopic units, so that the entire telescopic device only performs telescopic movement.

As shown in FIG. 4 , in addition to using the magnet 14 for fixed connection between the clockwise twisting telescopic unit 21 and the counterclockwise twisting telescopic unit 22 of the telescopic device 6, a tenon-like structure is also used for fixing, wherein the counterclockwise The lower bottom surface of the torsional telescopic module has four grooves 25 as the negative surface, and the upper bottom surface of the clockwise twisted expansion and contraction module has four bosses 24 as the positive surface.

In the specific implementation, the supporting devices are respectively A supporting device 3 and B supporting device 11 , the lower bottom surface of A supporting device 3 is fixedly connected with the upper bottom surface of A suction cup adhering device 1 , and the upper bottom surface of A supporting device 3 is connected with A connecting device 5 . The lower bottom surface of the telescopic device 6 is fixedly connected to the lower bottom surface of the clockwise twisting telescopic unit 21 and the side surface of the A connecting device 5 is fixedly connected by magnets. The A gas nozzle 2, B gas nozzle 4 and C gas nozzle 7 are respectively connected to the silicone tube and connected to the gas source.

The lower bottom surface of the B supporting device 11 is fixedly connected with the upper bottom surface of the B suction cup adhering device 13 , the upper bottom surface of the B supporting device 11 is fixedly connected with the lower bottom surface of the B connecting device 9 , and the lower surface of the telescopic unit 22 in the telescopic device 6 is twisted counterclockwise. The bottom surface is fixedly connected with the side of the B connection device 9, and the B suction cup adhesion device 13, the B support device 11 and the clockwise twisting telescopic unit 21 correspond to the respective D air nozzles 8, E air nozzles 10 and F air nozzles 12 respectively connected to the silicone pipe joints. ventilation source.

The flexible robot driven by the soft pneumatic actuator based on the origami structure of the present invention is placed on a plane and moves forward in the following manner:

The forward movement of the robot can be divided into 6 actions and performed sequentially, as shown in Figure 5.

Action M1: A gas nozzle 2 is connected to the atmospheric pressure, the suction cup adhesion device A connected to the A gas nozzle 2 is released from the plane; the B gas nozzle 4 is connected to a small negative pressure, and the A support device 3 connected to the B gas nozzle 4 is lifted a certain height.

Action M2: The C air nozzle 7 and the D air nozzle 8 are connected to the negative pressure at the same time, and the two torsional expansion and contraction units in the telescopic module 6 connected with the C air nozzle 7 and the D air nozzle 8 are simultaneously retracted, driving the A support device 3 and A to connect The apparatus 5 and the A suction cup adhering apparatus 1 move forward, ie, toward the B supporting apparatus 11 , the B connecting apparatus 9 and the B suction cup adhering apparatus 13 .

Action M3: The B air nozzle 4 is connected to a small negative pressure, and the A support device 3 connected to the B air nozzle 4 returns to the initial state. The A air nozzle 2 is connected to the negative pressure, so that the A suction cup adhesion device 1 is sucked into the plane;

Action M4: The F air nozzle 12 is connected to atmospheric pressure, the B suction cup adhesion device connected to the F air nozzle 12 is released from the suction state; the E air nozzle 10 is connected to a small negative pressure, and the B support device 11 connected to the E air nozzle 10 is lifted a certain height.

Action M5: The C air nozzle 7 and the D air nozzle 8 are connected to the atmospheric pressure at the same time, and the two torsional expansion and contraction units in the telescopic module 6 connected with the C air nozzle 7 and the D air nozzle 8 restore their forms at the same time, and push the B support device 11 and the B connection device. 9 and B suction cup adhering device 13 moves forward.

Action M6: The E air nozzle 10 is connected to a small negative pressure, and the B support device 11 connected to the E air nozzle 10 is restored to the initial state; the F air nozzle 12 is connected to the negative pressure, so that the B suction cup adhesion device 13 is sucked into the plane. The forward movement of the robot is completed.

The backward movement of the crawling robot is similar to the forward movement, as shown in Figure 6.

The steering motion of the crawling robot can be decomposed into 4 actions to be performed in sequence, as shown in Figure 7.

Action M1: The B air nozzle 4 and the E air nozzle 10 are connected with negative pressure at the same time, and the A support device 3 and the B support device 11 connected with the B air nozzle 4 and the E air nozzle 10 are simultaneously retracted.

Action M2: The A air nozzle 2 is connected to the atmospheric pressure, so that the A suction cup adhesion device and the bottom surface are released from the suction state; at the same time, the negative pressure in the E air nozzle 10 is reduced, so that the B support device 11 is twisted and gradually restores its shape, while driving The A supporting device 3 and the A suction cup adhering device 1 are disengaged from the plane and make the whole crawling robot turn.

Action M3: When the required angle is reached, that is, when the B support device 11 may not completely return to the initial state, keep the air pressure value of the E air nozzle 10 unchanged, the F air nozzle 12 is connected to the atmospheric pressure, and the B suction cup connected to the F air nozzle 12 is glued. The attachment device 13 is released from the suction state with the plane; the B air nozzle 4 is connected to atmospheric pressure, so that the A support device 3 returns to the initial state; the A air nozzle 2 is connected to negative pressure, so that the A suction cup adhesion device 1 is sucked and fixed with the plane. At the same time, the B support device is driven to move up a certain distance.

Action M4: The E air nozzle 10 is connected to atmospheric pressure, and the B support device 11 connected to the E air nozzle 10 returns to normal; the F air nozzle 12 is connected to negative pressure, and the B support device 11 connected to the F air nozzle 12 is sucked and fixed with the plane. Robot steering movement is complete.

The cross motion of the crawling robot can be decomposed into 4 actions, as shown in Figure 8.

Action M1: The F air nozzle 12 is connected to the atmospheric pressure, and the B suction cup adhesion device 13 connected to the F air nozzle 12 is released from the plane; When the device 11 completes the action, the B air nozzle 4 is connected to negative pressure, and the A support device 3 connected to the B air nozzle 4 twists and contracts, driving the crawling robot to rotate as a whole.

Action M2: The E air nozzle 10 is connected to atmospheric pressure, the B support device 11 connected to the E air nozzle 10 is restored to its initial state, the F air nozzle 12 is connected to negative pressure, and the B suction cup adhesion device 13 connected to the F air nozzle 12 is sucked into the plane Fixed; at the same time, the B air nozzle 4 is connected to the atmospheric pressure, and the A support device 3 connected to the B air nozzle 4 returns to the initial state upward.

Action M3: A gas nozzle 2 is connected to the atmospheric pressure, and the suction cup adhesion device 1 connected to the A gas nozzle 2 is released from the plane; the B gas nozzle 4 is connected to the negative pressure, so that the A support device 3 is retracted upward; At the same time when the device completes the action, the E gas nozzle 10 is connected to the negative pressure, and the B support device 11 connected to the E gas nozzle 4 is twisted and contracted to drive the crawling robot to rotate.

Action M4: The B air nozzle 4 is connected to the atmospheric pressure, the A support device 3 connected to the B air nozzle 4 is restored to the initial state, the A air nozzle 2 is connected to the negative pressure, and the A suction cup adhesion device 1 is sucked and fixed with the plane; at the same time, the E air The nozzle 10 is connected to the atmospheric pressure, and the B support device 11 connected to the E gas nozzle 10 returns to the initial state upward. The robot cross motion is complete.

The soft crawling robot based on the origami structure in this embodiment includes a suction cup adhering device, a supporting device, a telescopic device and a connecting device. The support device is a clockwise torsion telescopic unit or a counterclockwise torsion telescopic unit. The lower bottom surfaces of the torsional expansion and contraction units in the two support devices are respectively fixed with the upper bottom surfaces of the two suction cup adhering devices, and the upper bottom surfaces of the torsion expansion and contraction units are respectively connected with the upper bottom surfaces of the two suction cup adhering devices. The lower bottom surfaces of the two connecting devices are fixedly connected to form two supporting units. A telescopic device is connected between the two supporting units, and the telescopic device is composed of a lower bottom surface of a counterclockwise twisting telescopic unit and an upper bottom surface of a clockwise twisting telescopic unit fixedly connected. Each torsional telescopic unit includes an upper bottom surface, a lower bottom surface and side planes. The side plane and the lower bottom surface are integrally printed and tightly connected with the upper bottom surface, so that the entire torsional telescopic unit forms a sealed cavity. An air hole is arranged in the middle of a side edge of the upper bottom surface of the twisting telescopic unit, the air nozzle is inserted and connected in the hole, and the air nozzle is connected to an external air source through a silicone tube. After the air source evacuates the cavity, the torsional telescopic unit descends while rotating. After the cavity is connected to atmospheric pressure, the torsional telescopic unit rises while rotating. The soft pneumatic actuator based on the origami structure in this embodiment The soft pneumatic actuator based on the origami structure is all based on the improved design of the triangular cylindrical origami structure. They are all made of flexible thermoplastic materials based on the low-cost fused deposition modeling method through 3D printing. The robot is flexible in movement, not easy to be damaged, and can realize functions such as forward, backward, steering and cross-forward, and has a wide application prospect.

The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and various changes can also be made according to the purpose of the invention and creation of the present invention. Changes, modifications, substitutions, combinations or simplifications should be equivalent substitution methods, as long as they meet the purpose of the present invention, as long as they do not deviate from the technical principles and inventive concepts of the present invention, all belong to the protection scope of the present invention.

Claims (7)

1. A soft crawling robot based on an origami structure is characterized in that: it comprises two supporting devices, a telescopic device, two connecting devices and two suction cup adhesion devices connected to form a door frame frame; The upper bottom surface of the clockwise twisting telescopic unit (21) and the lower bottom surface of a counterclockwise twisting telescopic unit (22) are fixedly connected by magnets (14); the supporting device is a clockwise twisting telescopic unit (21) or a counterclockwise twisting telescopic unit (22); the lower bottom surfaces (20) of the torsional telescopic units in the two supporting devices are respectively fixedly connected with the upper bottom surfaces of the suction cup adhering device, and the upper bottom surfaces (17) of the two torsional expansion and contraction units are respectively connected with the lower bottom surface of the connecting device Two supporting units are formed by being fixedly connected; a telescopic device is connected between the two supporting units, and the two ends of the telescopic device are respectively fixedly connected with the side surfaces of the connecting device through magnets. 2. The soft crawling robot based on the origami structure according to claim 1, wherein each torsion telescopic unit comprises an upper bottom surface (17), a lower bottom surface (20) and a side plane (19); 19) There are corresponding grooves (18) on the four faces to divide the surface into two equal triangular areas, and by changing the direction of the side plane grooves (18), the twisting telescopic unit can be twisted in different directions; The plane (19) and the lower bottom surface (20) are integrally printed and tightly connected with the upper bottom surface (17), so that the entire torsional expansion and contraction unit forms a sealed cavity, and the entire torsion contraction device forms a rectangular parallelepiped; on the upper bottom surface ( 17) and the middle of the lower bottom surface (20) are respectively provided with a groove (15), the magnet (14) is installed inside for connection; an air hole (16) is provided in the middle of a side edge of the upper bottom surface (17), there are The air nozzle is inserted and connected in the hole, and the air nozzle is connected to the external air source through a silicone tube; the side plane of the telescopic unit (21) is twisted and contracted in a clockwise direction by twisting clockwise, and the side of the telescopic unit (22) is twisted counterclockwise. The plane is twisted in the counterclockwise direction to shrink the hand; the air nozzle is connected to the external air source through the silicone tube and the cavity is pumped, and the side plane is rotated in a positive direction while driving the upper bottom surface (17) and the lower bottom surface (20) to shrink, that is, torsion The telescopic unit reduces the height while twisting; when the cavity is connected to atmospheric pressure, the side plane reversely twists and drives the upper bottom surface (17) and the lower bottom surface (20) to separate, that is, the twisting and shrinking unit increases the height while twisting. 3. The origami-based soft crawling robot according to claim 2, characterized in that, in the telescopic device, the bottom surface of the telescopic unit (22) is twisted counterclockwise and the upper bottom surface of the telescopic unit (21) is twisted clockwise. The magnets (14) are fixedly connected to each other; the two torsion telescopic units are connected to the external air source through the air nozzle (1) and the silicone tube, and the two torsion telescopic units are controlled simultaneously through the air source to perform the same control, that is, control the simultaneous pumping or Turn on atmospheric pressure. 4. The soft crawling robot based on the origami structure according to claim 2, characterized in that, in addition to using magnets (14) for fixed connection between the two torsional telescopic units of the telescopic device, a tenon-and-mortise-like structure is also used. The anti-loose fixing is performed, wherein the lower bottom surface of the anti-clockwise twisted telescopic module has four grooves (25) as the female surface, and the upper bottom surface of the clockwise twisted expansion module has four bosses (24) as the positive surface, which are mutually connected during assembly. Cooperate to fix to achieve the purpose of preventing loosening. 5. The soft crawling robot based on the origami structure according to claim 2, wherein the soft pneumatic actuator based on the origami structure is designed based on the improved design of the triangular cylindrical origami structure, and its upper bottom surface (17), the lower bottom surface (20) and the side plane 19 are all made of flexible thermoplastic materials based on low-cost fused deposition modeling method to directly 3D print, and have good tensile properties and rapid expansion and contraction properties; 6. The origami-based soft crawling robot according to claim 2, wherein one of the two supporting devices is a clockwise twisting telescopic unit (21), and the other is a counterclockwise twisting telescopic unit (22) . 7. The soft crawling robot based on the origami structure according to claim 2, wherein the air nozzles of each of the torsion telescopic units are connected to an external air source through a silicone tube, and all air nozzles are arranged on the torsion telescopic unit. In the middle of the side of the upper bottom surface, the silicone tube is connected to the external air source from the same side.

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