A flexible robot

Abstract

The present invention discloses a flexible robot, which includes a flexible arm and a steering mechanism for driving the flexible arm to turn. The flexible arm includes an inner contraction part located inside and an outer extension part located outside the inner contraction part; a heat shrinkable film is provided on the flexible arm, and the heat shrinkable film is evenly and spacedly attached to the circumference of the flexible arm, and the extending direction of the heat shrinkable film is the same as the extending direction of the flexible arm; the steering mechanism includes a first clamping component, a second clamping component and a heating component arranged at the end of the flexible arm. The first clamping component and the heating component are arranged inside the cavity, and the second clamping component is arranged outside the cavity. The heating component is correspondingly arranged with the heat shrinkable film and is used for heating the heat shrinkable film, and the heat shrinkable film is used for shrinking after being heated and driving the flexible arm to turn.

Description

Technical Field

[0001] The present invention relates to the technical fields of robots and pipeline endoscopy, and in particular to a flexible robot. Background Art

[0002] In the prior art, there has been no good solution for the internal visual inspection of long-distance and multi-branch pipeline systems. It is difficult to achieve inspection, or the device structure is complex, the cost is high, and it cannot pass through variable cross-section channels, making it difficult to achieve internal turning in pipelines. Summary of the Invention

[0003] In view of this, in order to overcome the defects of the prior art, the object of the present invention is to provide a flexible robot capable of turning inside a pipeline.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A flexible robot includes a flexible arm and a steering mechanism for driving the flexible arm to turn. The flexible arm includes an inner contraction part located inside and an outer extension part located outside the inner contraction part. A cavity is formed between the inner contraction part and the outer extension part. After filling the cavity with a medium, the end of the inner contraction part extends outward to form the outer extension part; a heat shrinkable film is provided on the flexible arm, and the heat shrinkable film is evenly spaced and attached to the circumference of the flexible arm, and the extending direction of the heat shrinkable film is the same as the extending direction of the flexible arm;

[0006] The steering mechanism includes a first clamping component, a second clamping component, and a heating component provided at the end of the flexible arm. The first clamping component and the heating component are provided inside the cavity, the second clamping component is provided outside the cavity, the heating component is correspondingly arranged with the heat shrinkable film and is used for heating the heat shrinkable film, and the heat shrinkable film is used for shrinking after being heated and driving the flexible arm to turn.

[0007] According to some preferred embodiments of the present invention, a first permanent magnet is provided on one side of the first clamping component close to the second clamping component, and a second permanent magnet is provided on one side of the second clamping component close to the first clamping component. The first permanent magnet and the second permanent magnet are used to attract each other so that the first clamping component and the second clamping component are connected to each other; the end of the inner contraction part passes through between the first permanent magnet and the second permanent magnet and then extends outward to form the outer extension part.

[0008] According to some preferred implementation aspects of the present invention, a channel for the end of the flexible arm to extend outward is formed between the first clamping assembly and the second clamping assembly; the first clamping assembly includes an arc portion, a receiving portion for receiving the first permanent magnet, and a first clamping portion; the second clamping assembly includes a pressing portion and a second clamping portion; the second permanent magnet is disposed at a position facing the receiving portion at the connection between the pressing portion and the second clamping portion; the second clamping portion is inserted into the first clamping portion. The length of the second clamping portion is greater than the length of the first clamping portion.

[0009] According to some preferred implementation aspects of the present invention, a shrapnel is provided on the first clamping portion, one end of the shrapnel is fixed circumferentially on the first clamping portion, and the heating assembly is fixed to the other end of the shrapnel. The shrapnel is used to drive the heating assembly to fit with the flexible arm.

[0010] According to some preferred implementation aspects of the present invention, the first clamping assembly is integrally formed, and / or the second clamping assembly is integrally formed; the first permanent magnet is annular, and / or the second permanent magnet is annular.

[0011] According to some preferred implementation aspects of the present invention, a pressing ring protruding toward the arc portion is provided on the pressing portion. The pressing ring corresponds to the topmost end of the arc portion.

[0012] According to some preferred implementation aspects of the present invention, it includes a filling mechanism for filling a medium into the cavity. The filling mechanism is used to make the pressure in the cavity greater than the external ambient pressure and make the inner contraction portion extend outward along its length direction. Usually, the medium is preferably a gas. Then the filling mechanism is used to fill the cavity with gas so that the internal air pressure is greater than the external air pressure, providing power for the inner contraction portion to extend forward to form an outer extension portion. The robot in the present invention can also be used in underwater detection and monitoring environments. At this time, the medium can preferably be a liquid, but at the same time, the sealing effect of the components needs to be strengthened.

[0013] According to some preferred implementation aspects of the present invention, it includes a control module. The control module includes a temperature control component for heating the corresponding heating assembly and a first cable, and / or a gravity detection component and a second cable. The control module also needs to control the start and stop of the motor, the start and stop of the filling mechanism, data collection, etc.

[0014] According to some preferred implementation aspects of the present invention, a cylinder is provided at the end of the outer extension portion. A driving mechanism for releasing or winding the inner contraction portion and / or the first cable and the second cable is provided inside the cylinder. The filling mechanism is used to fill the cylinder with a medium.

[0015] According to some preferred implementation aspects of the present invention, the driving mechanism includes a first reel for releasing or winding up the inner shrinkage part, a first motor for driving the first reel to rotate, a second reel for winding up or releasing the first cable and / or the second cable, and a second motor for driving the second reel to rotate.

[0016] According to some preferred implementation aspects of the present invention, a flange is provided at the end of the outer extension part. The cylindrical body is connected to the flange, and the inner shrinkage part passes through the flange and enters the outer extension part. One end of the outer extension part is fixed between the cylindrical body and the flange. When the first motor is started, the first reel rotates to convey the inner shrinkage part forward. At the same time, the filling mechanism fills the cylindrical body with gas and enters the space between the inner shrinkage part and the outer extension part, so that the end of the inner shrinkage part is continuously turned outwards to form the outer extension part.

[0017] According to some preferred implementation aspects of the present invention, a first slip ring for passing electricity and a second slip ring for passing electricity are respectively provided on the first reel and the second reel, and the control module is electrically connected to the first slip ring for passing electricity and the second slip ring for passing electricity.

[0018] According to some preferred implementation aspects of the present invention, the control module includes a visual detection component. The visual detection component includes a camera provided on the second clamping component and a third cable connected to the control module. The third cable can be located inside the inner shrinkage part and then connected to the control module.

[0019] According to some preferred implementation aspects of the present invention, the filling mechanism includes a compressor and a pipeline, and the pipeline is communicated with the external environment or a gas source.

[0020] In some preferred embodiments of the present invention, the glass transition temperature of the material of the flexible film is greater than 150 °C, preferably high molecular materials such as polypropylene PP (glass transition temperature is 170 °C), polystyrene PS (glass transition temperature is 212 °C), polytetrafluoroethylene PTFE (decomposition temperature is 450 °C, no melting point), polyethylene terephthalate PET (glass transition temperature is 255 °C), etc.

[0021] Due to the above technical solutions, compared with the prior art, the beneficial effects of the present invention are as follows: The flexible robot of the present invention drives the flexible arm to turn by attaching a heat shrinkable film to the flexible arm and correspondingly arranging a heating component, and heating the heat shrinkable film through the heating component to make the heat shrinkable film shrink. Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0023] Figure 1 Structural schematic diagram of the flexible robot in the preferred embodiment of the present invention;

[0024] Figure 2 Enlarged structural schematic diagram of the driving mechanism of the flexible robot in the preferred embodiment of the present invention;

[0025] Figure 3 Enlarged structural schematic diagram of the steering mechanism of the flexible robot in the preferred embodiment of the present invention;

[0026] Figure 4 Corresponding to Figure 3 The top view in;

[0027] Figure 5 Structural schematic diagram of the first clamping assembly in the preferred embodiment of the present invention;

[0028] Figure 6 Interface schematic diagram of the first clamping assembly in the preferred embodiment of the present invention;

[0029] Figure 7 Structural schematic diagram of the second clamping assembly in the preferred embodiment of the present invention;

[0030] Figure 8 Interface schematic diagram of the second clamping assembly in the preferred embodiment of the present invention;

[0031] In the accompanying drawings, flexible robot - 1, flexible arm - 2, inner contraction part - 21, outer extension part - 22, heat shrinkable film - 23, filling mechanism - 3, steering mechanism - 4, first clamping assembly - 41, arc part - 411, accommodating part - 412, first clamping part - 413, second clamping assembly - 42, pressing part - 421, second clamping part - 422, pressing ring - 423, elastic piece - 43, heating assembly - 44, first permanent magnet - 451, second permanent magnet - 452, driving mechanism - 5, first reel - 51, second reel - 52, first motor - 53, second motor - 54, cylinder body - 55, first slip ring - 56, second slip ring - 57, flange - 6, control module - 7, first cable - 81, second cable - 82, third cable - 83, temperature control assembly - 9, gravity detection assembly - 10, camera - 11, cavity - 12. Detailed implementation manners

[0032] To enable those skilled in the art to better understand the technical solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0033] As Figures 1-8 shown, the flexible robot 1 in this embodiment includes a flexible arm 2, a steering mechanism 4 for driving the flexible arm 2 to turn, a filling mechanism 3 for filling a medium into the flexible arm 2 to make the flexible arm 2 extend forward, a driving mechanism 5 for winding or releasing the flexible arm 2, and a control module 7.

[0034] The flexible arm 2 includes an inner contraction part 21 located inside and an outer extension part 22 located outside the inner contraction part 21. A cavity 12 is formed between the inner contraction part 21 and the outer extension part 22. After filling the medium into the cavity 12 through the filling mechanism 3, the end of the inner contraction part 21 extends outward to form the outer extension part 22. The filling mechanism 3 is used to make the pressure in the cavity 12 greater than the external ambient pressure and make the inner contraction part 21 extend outward along its length direction. Usually, the medium is preferably gas, then the filling mechanism 3 is used to fill gas into the cavity 12 to make the internal air pressure greater than the external air pressure, providing the power for the inner contraction part 21 to extend forward to form the outer extension part 22. The robot in the present invention can also be used in underwater detection and monitoring environments. At this time, the medium can be preferably liquid.

[0035] As Figures 3-4 shown, the steering mechanism 4 in this embodiment includes a first clamping assembly 41, a second clamping assembly 42 and a heating assembly 44 arranged at the end of the flexible arm 2. The first clamping assembly 41 and the heating assembly 44 are arranged inside the cavity 12, and the second clamping assembly 42 is arranged outside the cavity 12. A channel for the end of the flexible arm 2 to extend outward is formed between the first clamping assembly 41 and the second clamping assembly 42. A heat shrinkable film 23 is arranged on the flexible arm 2. The heat shrinkable film 23 is evenly spaced and attached to the circumference of the flexible arm 2. The extending direction of the heat shrinkable film 23 is the same as the extending direction of the flexible arm 2. The heating assembly 44 is correspondingly arranged with the heat shrinkable film 23 and is used to heat the heat shrinkable film 23. The heat shrinkable film 23 is used to shrink after being heated and drive the flexible arm 2 to turn. The heating assembly 44 can use a medium-temperature electric tracing band (80°C).

[0036] On one side of the first clamping assembly 41 close to the second clamping assembly 42, a first permanent magnet 451 is provided. On one side of the second clamping assembly 42 close to the first clamping assembly 41, a second permanent magnet 452 is provided. The first permanent magnet 451 and the second permanent magnet 452 are used to attract each other so that the first clamping assembly 41 and the second clamping assembly 42 are connected to each other. The end of the inner contraction part 21 passes through between the first permanent magnet 451 and the second permanent magnet 452 and then extends outward to form an outer extension part 22.

[0037] As Figures 3-6 shown, the first clamping assembly 41 in this embodiment includes an arc part 411, a receiving part 412 for receiving the first permanent magnet 451, and a first clamping part 413. As Figures 7-8 shown, the second clamping assembly 42 includes a pressing part 421 and a second clamping part 422; the second permanent magnet 452 is arranged at a position facing the receiving part 412 at the connection between the pressing part 421 and the second clamping part 422; the second clamping part 422 is inserted into the first clamping part 413, and the length of the second clamping part 422 is greater than the length of the first clamping part 413. A pressing ring 423 protruding towards the arc part 411 is arranged on the pressing part 421, and the pressing ring 423 corresponds to the topmost end of the arc part 411. A spring piece 43 is arranged on the first clamping part 413. One end of the spring piece 43 is fixed in the circumferential direction of the first clamping part 413, and a heating component 44 is fixed at the other end of the spring piece 43. The spring piece 43 is used to drive the heating component 44 to fit with the flexible arm 2. As Figures 3-4 shown, the spring piece 43 is arc-shaped, extends from the first clamping part 413 to the outer extension part 22 and the heating component 44, and protrudes towards the arc part 411, so that the heating component 44 has a tendency to open towards the outside and does not block the movement of the outer extension part 22.

[0038] Both the first clamping assembly 41 and the second clamping assembly 42 in this embodiment are integrally formed; the first permanent magnet 451 and the second permanent magnet 452 are annularly arranged or arranged at intervals. The first permanent magnet 451 and the second permanent magnet 452 can be fixedly or detachably arranged on the first clamping assembly 41 and the second clamping assembly 42 respectively. The clamping assembly can be formed by 3D printing. At the same time, because there is no additional motion execution mechanism, the structure is simple and light, and the movement is flexible, which is suitable for flexible robots in detection environments.

[0039] The control module 7 in this embodiment includes a temperature control component 9 for heating the corresponding heating component 44, a first cable 81, a gravity detection component 10 for performing gravity detection, and a second cable 82. At the same time, the control module 7 also needs to control the start and stop of the motor, the start and stop of the filling mechanism 3, the collection of data, etc. The function of the gravity detection component 10 is to detect the pose of the first clamping component 41 and feedback it to the control module 7. After receiving the pose information, when the flexible arm 2 needs to turn, the control module 7 can accurately control the corresponding heating component 44 to heat up, so that the corresponding heat shrinkable film 23 shrinks to drive the flexible arm 2 to turn.

[0040] As Figures 1-2 shown, a cylinder body 55 is provided at the end of the outer extension part 22, and a driving mechanism 5 is arranged inside the cylinder body 55. The filling mechanism 3 is used to fill the medium into the cylinder body 55. Specifically, the driving mechanism 5 includes a first reel 51 for releasing or winding the inner contraction part 21, a first motor 53 for driving the first reel 51 to rotate, a second reel 52 for winding or releasing the first cable 81 and the second cable 82, and a second motor 54 for driving the second reel 52 to rotate. It is also possible to preferably set a plurality of second reels 52 and second motors 54 corresponding to the first cable 81 and the second cable 82 respectively to realize the separate control of the first cable 81 and the second cable 82.

[0041] As Figures 1-2 shown, a flange 6 is provided at the end of the outer extension part 22. The cylinder body 55 is connected to the flange 6, and the inner contraction part 21 passes through the flange 6 and enters the outer extension part 22. One end of the outer extension part 22 is fixed between the cylinder body 55 and the flange 6. When the first motor 53 is started and the first reel 51 rotates, the inner contraction part 21 is conveyed forward. At the same time, the filling mechanism 3 fills the cylinder body 55 with gas and enters the cavity 12 between the inner contraction part 21 and the outer extension part 22, so that the end of the inner contraction part 21 continuously turns outwards to form the outer extension part 22.

[0042] The filling mechanism 3 includes a compressor, a pipeline, a pressure gauge, a flow meter, etc. The pipeline is connected to the external environment to convey air into the air compressor. After the air compressor compresses the air, it is conveyed into the cylinder body 55 and filled into the cavity 12, so that the air pressure in the internal cavity 12 is greater than the external environmental pressure, driving the inner contraction part 21 to extend and turn forward to form the outer extension part 22. The pressure gauge and the flow meter are used to control the stability of the pressure in the cavity 12. A first slip ring 56 and a second slip ring 57 are respectively arranged on the first reel 51 and the second reel 52, and the control module 7 is electrically connected to the first slip ring 56 and the second slip ring 57.

[0043] The control module 7 further includes a vision detection component. The vision detection component includes a camera 11 disposed on the second clamping component 42 and a third cable 83 connected to the control module 7. The third cable 83 can be located inside the inner contraction part 21 and then connected to the control module 7.

[0044] In this embodiment, the glass transition temperature of the material of the flexible film is greater than 150 °C, and preferably a polytetrafluoroethylene film with good heat resistance is used.

[0045] The working process of the flexible robot 1 in this embodiment is briefly described as follows:

[0046] The control module 7 controls the filling mechanism 3 to start, and fills the cylinder 55 with gas and enters the cavity 12 between the inner contraction part 21 and the outer extension part 22. At the same time, the control module 7 controls the first motor 53 and the first reel 51, and the second motor 54 and the second reel 52 to start, so that the end of the inner contraction part 21 continuously turns outwards to form the outer extension part 22.

[0047] The front-end environment of the flexible arm 2 is observed in real time through the camera 11. When it is determined that a turn is needed, the attitude of the first clamping component 41 is judged through the gravity detection component 10 (gravity chip), and the pose signal is fed back to the control module 7. The control module 7 calculates the area that needs to be heated for the correct turn and sends a heating signal to the temperature control component 9 (temperature control chip). The temperature control chip energizes the target electric heating tape to generate heat. After the electric heating tape generates heat, the heat-shrinkable film 23 in the corresponding area shrinks, and the flexible arm 2 film is forced to shrink simultaneously. Through the combination of the controllable heat shrinkage and inflation feeding movements, the turn is finally successfully completed.

[0048] The turning principle in this embodiment is based on a hot-melt shrinkage turning structure and adopts a local shape control method. The scheme is roughly as follows: 8 groups of strip-shaped heat-shrinkable films 23 are attached along the length extension direction on one side (inner side or outer side) of the flexible arm. 8 groups of heating components 44 are correspondingly arranged on the first clamping component 41, and the heating components 44 are made to fit with the heat-shrinkable films 23 through the elastic pieces 43. The gravity detection component 10 is used to detect and feedback the poses of the first clamping component 41 and the second clamping component 42, and the control module 7 controls the temperature control component 9 to control the corresponding heating components 44, so as to realize the shrinkage of the heat-shrinkable film in the corresponding area, and thus realize the target turn.

[0049] The most remarkable working characteristic of the flexible arm 2 at the front end of the flexible robot 1 is that it continuously turns outwards and grows. However, due to the instability at the arm end, the front-end clamping device has become a technical problem. The present invention designs a special clamping component using magnetic attraction fixation to solve this technical problem. The clamping component includes a first clamping component 41 and a second clamping component 42 inserted into the first clamping component 41 in a matching manner. A channel for the flexible arm 2 to pass through is formed between the first clamping component 41 and the second clamping component 42. Permanent magnets are correspondingly arranged on the first clamping component 41 and the second clamping component 42. The rear extending section of the second clamping component 42 is inserted into the non-inverted flexible arm, which can increase the clamping stability. The second clamping component 42 is made of Teflon material with a small friction coefficient and an arc-shaped outer contour, which can improve the smoothness of passing. The camera 11 can be embedded in the second clamping component 42, and the outside is covered with a transparent plexiglass guard plate. A through hole for the third cable 83 connected to the camera 11 to penetrate is provided on the second clamping part 422 of the second clamping component 42. A pressure ring 423 is arranged on the pressing part 421 of the second clamping component 42. The pressure ring 423 is arranged corresponding to the highest point of the arc-shaped part 411 of the first clamping component 41, so that the inner and outer clamping components are only tightly matched at the pressure ring 423, clamping the film of the flexible arm 2, and the gaps at the remaining parts are relatively large, allowing the flexible arm film to pass freely.

[0050] The clamping component of the flexible robot 1 in this embodiment can be formed by 3D printing. At the same time, because there is no additional motion execution mechanism, the structure is simple and light, which is especially suitable for flexible robots; the manufacturing cost of the flexible arm is low, and the manufacturing difficulty is very small. Except for the heat-shrinkable film that has undergone heat shrinkage deformation and cannot be recycled and reused, the rest of the components can be used twice; after the robot has run for a period of time, the flexible arm may be twisted to a certain extent. Through the gravity detection chip, the actual pose of the flexible arm end at this time can be quickly and accurately judged. Cooperating with 8 groups of electric heating tapes and heat shrinkable films 23 distributed circumferentially, it can adapt to any twisted pose and control accurate steering in any direction.

[0051] The above embodiments are only used to illustrate the technical concept and characteristics of the present invention. The purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A flexible robot, characterized in that, It includes a flexible arm and a steering mechanism for driving the flexible arm to steer. The flexible arm includes an inner contraction part located inside and an outer extension part located outside the inner contraction part. A cavity is formed between the inner contraction part and the outer extension part. After filling the cavity with a medium, the end of the inner contraction part extends outward to form the outer extension part. A heat shrinkable film is provided on the flexible arm, and the heat shrinkable film is evenly spaced and attached circumferentially to the flexible arm. The extending direction of the heat shrinkable film is the same as the extending direction of the flexible arm. The steering mechanism includes a first clamping component, a second clamping component, and a heating component provided at the end of the flexible arm. The first clamping component and the heating component are provided inside the cavity, and the second clamping component is provided outside the cavity. The heating component is correspondingly arranged with the heat shrinkable film and is used to heat the heat shrinkable film. The heat shrinkable film is used to shrink after being heated and drive the flexible arm to steer.

2. The flexible robot according to claim 1, wherein A first permanent magnet is provided on one side of the first clamping component close to the second clamping component, and a second permanent magnet is provided on one side of the second clamping component close to the first clamping component. The first permanent magnet and the second permanent magnet are used to attract each other so that the first clamping component and the second clamping component are connected to each other. The end of the inner contraction part passes through between the first permanent magnet and the second permanent magnet and then extends outward to form the outer extension part.

3. The flexible robot according to claim 2, wherein, A channel for the end of the flexible arm to extend outward is formed between the first clamping component and the second clamping component. The first clamping component includes an arc part, a receiving part for receiving the first permanent magnet, and a first clamping part. The second clamping component includes a pressing part and a second clamping part. The second permanent magnet is provided at the position facing the receiving part at the connection between the pressing part and the second clamping part. The second clamping part is inserted into the first clamping part.

4. The flexible robot according to claim 3, characterized in that, A spring piece is provided on the first clamping part. One end of the spring piece is fixed circumferentially on the first clamping part, and the other end of the spring piece is fixed with the heating component. The spring piece is used to drive the heating component to fit with the flexible arm.

5. The flexible robot according to claim 3, characterized in that, The first clamping component is integrally formed, and / or the second clamping component is integrally formed; the first permanent magnet is annular, and / or the second permanent magnet is annular.

6. The flexible robot according to claim 3, wherein, A pressing ring protruding toward the arc part is provided on the pressing part.

7. The flexible robot according to any one of claims 1-6, characterized in that, It includes a filling mechanism for filling the cavity with a medium. The filling mechanism is used to make the pressure in the cavity greater than the external ambient pressure and make the inner contraction part extend outward along its length direction.

8. The flexible robot according to claim 7, wherein It includes a control module. The control module includes a temperature control component for heating the corresponding heating component and a first cable, and / or a gravity detection component and a second cable.

9. The flexible robot according to claim 8, wherein A cylinder is provided at the end of the outer extension part. A driving mechanism for releasing or winding the inner contraction part and / or the first cable and the second cable is provided inside the cylinder. The filling mechanism is used to fill the cylinder with a medium.

10. The flexible robot according to claim 9, wherein, The driving mechanism includes a first reel for releasing or winding the inner retractable part, a first motor for driving the first reel to rotate, a second reel for winding or releasing the first cable and / or the second cable, and a second motor for driving the second reel to rotate.

11. The flexible robot according to claim 9, wherein, A flange is provided at the end of the outer extension part, the cylinder body is connected to the flange, and the inner retractable part passes through the flange and enters the outer extension part.

12. The flexible robot according to claim 10, wherein, A first slip ring for passing electricity and a second slip ring for passing electricity are respectively provided on the first reel and the second reel, and the control module is electrically connected to the first slip ring for passing electricity and the second slip ring for passing electricity.

13. The flexible robot according to claim 8, wherein The control module includes a visual detection component, and the visual detection component includes a camera provided on the second clamping component and a third cable connected to the control module.

14. The flexible robot according to claim 7, characterized in that, The filling mechanism includes a compressor and a pipeline, and the pipeline is communicated with the external environment or a gas source.

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