The invention discloses a pneumatic worm-imitating worm soft
robot with a ring longitudinal
muscle structure. The pneumatic worm-imitating worm soft
robot comprises a head body joint and a
tail body joint and is divided into an inner layer structure and an outer layer structure. The inner layer is of a longitudinal
muscle structure and comprises a left-right symmetric semicircular longitudinal
muscle gas cavity and a
metal radial limiting ring. The outer layer is of a ring muscle structure and comprises three ring muscle gas cavities located at the bottom, a sliding piece is stuck to the outerportion, and a friction foot with a protruding point is arranged beside the sliding piece. The
robot has the following beneficial effects that firstly, inflation and deflation are conducted on all the gas cavities so as to conduct driving control; secondly, the inner layer longitudinal muscle gas cavity can be inflated so that the robot
body joints can stretch to deform, and when the inflation pressure intensity of the left gas cavity and the right cavity is not consistent, the
body joints are bent and deformed; and thirdly, the outer layer ring muscle gas cavities can be inflated so that thesliding piece can stretch out. Benefit from the above beneficial effects, the robot can have various movement
modes such as linear climbing, turning climbing, climbing movement and obstacle striding.By means of the pneumatic worm-imitating worm soft robot, high
air tightness specialty rubber and
compressed air are applied, environment friendliness and
energy conservation are benefited, and the pneumatic worm-imitating worm soft robot has good application prospects in the fields of resource survey, disaster relief and rescue, pipeline detection and military reconnaissance.