A flexible robot

Abstract

This invention discloses a flexible robot, including a walking mechanism; a flexible steering mechanism comprising several pneumatic muscles and a pneumatic drive assembly, both mounted on the walking mechanism. The pneumatic drive assembly drives the pneumatic muscles to extend and retract, which in turn drive the walking mechanism to turn; and a non-powered drive mechanism comprising a flexible track and a fluid drive assembly, mounted on the walking mechanism and used to drive the walking mechanism to move on the flexible track. This invention has a simple structure, low failure rate, and is applicable to the exploration of magnetic pipes, non-magnetic pipes, and pipes containing hazardous media. It can autonomously turn and move within small to medium-sized pipes with irregular inner walls and varying inner diameters, possessing good traction ability, pipe adaptability, and the ability to pass through bends.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, and in particular to a flexible robot. Background Technology

[0002] Pipelines are widely used in the oil and gas industry, urban sewage systems, and other fields, providing low-cost transportation for materials such as oil, natural gas, and wastewater. However, after long-term use, pipelines are prone to defects such as breakage, deformation, and surface damage, causing problems such as supply fluctuations, resource waste, and environmental pollution, and may even lead to explosions. Therefore, regular inspection, cleaning, and maintenance of pipelines are necessary. For long-distance pipelines with relatively small diameters, manual inspection and foreign object removal are extremely difficult, necessitating the use of pipeline robots.

[0003] Existing pipeline robots mainly include wheeled robots, tracked robots, pipe-climbing robots, and legged robots. Wheeled robots are suitable for flat surfaces. When inspecting pipelines, they need magnetic wheels to adhere to the magnetic pipe. However, when encountering damaged pipe sections, the drive wheels of wheeled robots cannot make close contact with the pipe wall, causing the pipeline robot to lose its driving force and become trapped inside the pipe.

[0004] Tracked robots have a large contact area with the walls of oil and gas pipelines, which can provide sufficient friction for the robot and increase its load capacity. However, the overall structure of the tracks is relatively bulky and requires a large turning radius, making them unsuitable for walking in small pipelines or complex pipelines with many turns.

[0005] Pipe-climbing robots mainly use permanent magnets to adhere to the outer wall of the pipe and crawl, which is not suitable for the inspection of underground pipes and non-magnetic pipes.

[0006] Legged robots can adapt to various complex terrains, but their walking speed is low, and they are prone to tipping over due to their center of gravity. They cannot guarantee stability when encountering damaged pipe sections, and they cannot perform inspections in vertically arranged pipes.

[0007] In summary, existing pipeline robots are unsuitable for inspecting non-magnetic pipelines and vertically arranged pipelines. Most rely on drive motors for movement and require internal power supplies, which is detrimental to long-term operation. Furthermore, the drive motors and related structures complicate the robot, increasing manufacturing costs, reducing production efficiency, and raising the failure rate. Considering the power requirements of the motor drive, they are also unsuitable for pipelines carrying hazardous media. Moreover, due to the limitations of the robot's structure, robots deep inside pipelines cannot adjust their travel path or body posture, especially at bends in complex pipelines such as T-shaped and cross-shaped pipes, making it impossible to continue detecting and repairing damaged or clogged pipelines.

[0008] To address this, a flexible robot is proposed. Summary of the Invention

[0009] The purpose of this invention is to provide a flexible robot that aims to solve or improve at least one of the above-mentioned technical problems.

[0010] To achieve the above objectives, the present invention provides the following solution: The present invention provides a flexible robot, comprising:

[0011] Walking mechanism;

[0012] A flexible steering mechanism includes a plurality of pneumatic muscles and a pneumatic drive assembly. The plurality of pneumatic muscles and the pneumatic drive assembly are all mounted on the walking mechanism. The pneumatic drive assembly is used to drive the pneumatic muscles to extend and retract. After the pneumatic muscles extend and retract, they are used to drive the walking mechanism to turn.

[0013] A non-powered drive mechanism includes a flexible track and a fluid drive assembly. The fluid drive assembly is mounted on the walking mechanism and is used to drive the walking mechanism to move on the flexible track.

[0014] Preferably, the walking mechanism includes a housing head, a housing middle, and a housing rear. Roller assemblies are installed on the outer walls of the housing head, the housing middle, and the housing rear. A plurality of pneumatic muscles are fixedly connected between the housing head and the housing middle, and between the housing middle and the housing rear. The roller assemblies are in rolling contact with the flexible track.

[0015] The pneumatic drive assembly is installed at the rear of the housing, and the pneumatic muscle extends and retracts to drive the head and middle of the housing to turn; the fluid drive assembly is installed at the head of the housing.

[0016] Preferably, the fluid drive assembly includes a first damping block, a second damping block, and a third damping block arranged at intervals. The first damping block, the second damping block, and the third damping block are all fixed to the wall of the central circular hole in the head of the outer shell. The first damping block is located at the end of the head of the outer shell away from the middle of the outer shell. A PE cylindrical membrane is inserted through and slidably connected to the first damping block, the second damping block, and the third damping block. The top of the PE cylindrical membrane extends out of the central circular hole. The PE cylindrical membrane extending out of the central circular hole is turned outward at the top of the head of the outer shell and connected to the outlet of the external air supply box to form the flexible track. The flexible track is sleeved on the head of the outer shell, the middle of the outer shell, and the rear of the outer shell.

[0017] Preferably, the first damping block has a first elliptical hole at its center, the second damping block has a second elliptical hole at its center, and the third damping block has a first circular hole at its center. The major axis of the first elliptical hole is perpendicular to the major axis of the second elliptical hole, and the PE membrane is slidably connected to the first elliptical hole, the second elliptical hole, and the first circular hole.

[0018] Preferably, the pneumatic drive assembly includes two symmetrically arranged fixed seats, which are fixedly connected to the inner sidewall of the rear part of the housing. A miniature solenoid valve is fixedly connected to the fixed seat. Two solenoid valve outlets, a solenoid valve inlet, and a solenoid valve exhaust port are fixedly installed on the miniature solenoid valve. Air pipes are fixedly connected to the two solenoid valve outlets, the solenoid valve inlet, and the solenoid valve exhaust port. One of the solenoid valve outlets is fixedly connected and communicated with several pneumatic muscles near the head of the housing through the air pipe. The other solenoid valve outlet is fixedly connected and communicated with several pneumatic muscles near the rear part of the housing through the air pipe. The solenoid valve inlet is connected to an external air source through the air pipe. The solenoid valve exhaust port is fixedly connected and communicated with several pneumatic muscles through the air pipe.

[0019] Preferably, the pneumatic muscle includes a rubber tube and two connectors, the two connectors being fixedly connected to both ends of the rubber tube. The rubber tube is covered with a woven mesh, the two ends of which are fixedly connected to the two connectors. Several rubber tubes are fixedly connected between the head and middle of the outer shell, and between the middle and rear of the outer shell, through the connectors. The rubber tubes are connected to the air outlet of the solenoid valve through the air pipe, and the rubber tubes are fixedly connected to and connected to the exhaust port of the solenoid valve through the air pipe.

[0020] Preferably, the outer wall of the head of the outer shell, the outer wall of the middle part of the outer shell, and the outer wall of the rear part of the outer shell are all provided with a plurality of through grooves arranged at intervals in the circumferential direction;

[0021] The roller assembly includes a plurality of roller shafts fixed in the through groove, with rollers rotatably connected to the roller shafts. The rollers protrude out of the through groove and make rolling contact with the flexible track.

[0022] Preferably, the major axis of the first elliptical hole is shorter than the major axis of the second elliptical hole.

[0023] Preferably, two oppositely arranged rubber tubes are fixedly connected between the head and middle of the outer shell, and between the middle and rear of the outer shell, and the plane containing the axis of the two rubber tubes near the head of the outer shell is perpendicular to the plane containing the axis of the two rubber tubes near the rear of the outer shell.

[0024] Preferably, a plurality of U-shaped blocks are fixedly connected to the inner walls of the head, middle and rear of the outer shell, and pins are fixedly connected to two of the U-shaped blocks, and the pins are fixedly connected to the connector.

[0025] This invention discloses the following technical effects: The flexible track of this invention is laid on the inner wall of the pipe to be detected. The fluid drive component drives the walking mechanism to walk on the flexible track. When a turn is required, the pneumatic drive component drives the corresponding pneumatic muscle to shorten, causing the walking mechanism to tilt and turn in the direction of the shortened pneumatic muscle. The fluid drive component and pneumatic drive component of this invention do not require motor drive, which is conducive to long-term stable operation. Moreover, the absence of motor drive simplifies its own structure, reduces manufacturing costs, and reduces the failure rate. It is applicable to the exploration of magnetic pipes, non-magnetic pipes, and pipes containing hazardous media. At the same time, through fluid drive, flexible track support, and flexible extension and contraction of pneumatic muscles, the walking mechanism can autonomously turn and move in small and medium-sized pipes with irregular inner walls and varying inner diameters, and has good traction ability, pipe adaptability, and pipe bend passage ability. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is the front view of the present invention;

[0029] Figure 3 This is an exploded view of the head of the outer shell in this invention;

[0030] Figure 4 This is a schematic diagram of the structure of the middle part of the outer shell in this invention;

[0031] Figure 5 This is a schematic diagram of the structure of the rear part of the outer shell in this invention.

[0032] Figure 6 This is a schematic diagram of the pneumatic muscle in this invention without inflation;

[0033] Figure 7 This is a schematic diagram of the pneumatic muscle inflation and shortening in this invention;

[0034] Figure 8 This is a two-dimensional planar schematic diagram of the present invention turning to the right;

[0035] Figure 9This is a three-dimensional spatial diagram of the present invention turning to the right rear.

[0036] The components are as follows: 1. Outer shell head; 2. Roller groove; 3. Roller; 4. Roller shaft; 5. Pneumatic muscle; 6. Outer shell middle; 7. U-shaped block; 8. Pin; 9. Set screw; 10. Outer shell rear; 11. Fixing seat; 12. Miniature solenoid valve; 13. Solenoid valve outlet; 14. Air tube; 15. Flexible track; 16. First damping block; 17. Second damping block; 18. Third damping block; 19. Inflated pneumatic muscle; 20. Connector; 21. Braided mesh; 22. Rubber tube; 23. Solenoid valve inlet; 24. Solenoid valve outlet; 25. First elliptical hole; 26. Second elliptical hole; 27. First round hole; 28. PE membrane. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Reference Figure 1-9 This invention provides a flexible robot, comprising:

[0040] Walking mechanism;

[0041] The flexible steering mechanism includes several pneumatic muscles 5 and a pneumatic drive assembly. The several pneumatic muscles 5 and the pneumatic drive assembly are all installed on the walking mechanism. The pneumatic drive assembly is used to drive the pneumatic muscles 5 to extend and retract. After the pneumatic muscles 5 extend and retract, they are used to drive the walking mechanism to turn.

[0042] The non-powered drive mechanism includes a flexible track 15 and a fluid drive assembly. The fluid drive assembly is mounted on the walking mechanism and is used to drive the walking mechanism to move on the flexible track 15.

[0043] The flexible track 15 of this invention is laid on the inner wall of the pipe to be probed. The fluid drive component drives the walking mechanism to walk on the flexible track 15. When a turn is required, the pneumatic drive component drives the corresponding pneumatic muscle 5 to shorten, causing the walking mechanism to tilt and turn in the direction of the shortened pneumatic muscle 5. The fluid drive component and pneumatic drive component of this invention do not require motor drive, which is conducive to long-term stable operation. Moreover, the absence of motor drive simplifies its own structure, reduces manufacturing costs, and reduces the failure rate. It can be applied to the exploration of magnetic pipes, non-magnetic pipes, and pipes containing hazardous media. At the same time, through fluid drive, support of the flexible track 15, and flexible extension and retraction of the pneumatic muscle 5, the walking mechanism can autonomously turn and move in small and medium-sized pipes with irregular inner walls and varying inner diameters, and has good traction ability, pipe adaptability, and pipe bend passage ability.

[0044] The design is further optimized. The walking mechanism includes a head shell 1, a middle shell 6, and a rear shell 10. Roller assemblies are installed on the outer walls of the head shell 1, the middle shell 6, and the rear shell 10. Several pneumatic muscles 5 are fixed between the head shell 1 and the middle shell 6, and between the middle shell 6 and the rear shell 10. The roller assemblies are in rolling contact with the flexible track 15.

[0045] The pneumatic drive assembly is installed at the rear of the housing 10, and the pneumatic muscle 5 extends and retracts to drive the roller assembly to turn; the fluid drive assembly is installed at the head of the housing 1.

[0046] Further optimization of the scheme: the fluid drive component includes a first damping block 16, a second damping block 17, and a third damping block 18 arranged at intervals. The first damping block 16, the second damping block 17, and the third damping block 18 are all fixed to the wall of the central circular hole of the outer shell head 1. The first damping block 16 is located at the end of the outer shell head 1 away from the middle of the outer shell 6. A PE cylindrical membrane 28 is inserted through and slidably connected to the first damping block 16, the second damping block 17, and the third damping block 18. The top of the PE cylindrical membrane 28 extends out of the central circular hole. The PE cylindrical membrane 28 extending out of the central circular hole is turned outward at the top of the outer shell head 1 and connected to the outlet of the external air supply box (not shown in the figure) to form a flexible track 15. The flexible track 15 is sleeved on the outer shell head 1, the middle of the outer shell 6, and the rear of the outer shell 10.

[0047] The distance between the second damping block 17 and the first damping block 16 and the third damping block 18 is 10cm.

[0048] The scheme is further optimized. The first damping block 16 has a first elliptical hole 25 in the center, the second damping block 17 has a second elliptical hole 26 in the center, and the third damping block 18 has a first circular hole 27 in the center. The major axis of the ellipse of the first elliptical hole 25 is perpendicular to the major axis of the ellipse of the second elliptical hole 26. The PE cylindrical membrane 28 is slidably connected to the first elliptical hole 25, the second elliptical hole 26 and the first circular hole 27.

[0049] When the PE tubular membrane 28 slides through the first elliptical hole 25, the second elliptical hole 26 and the first circular hole 27, friction is generated on the surface of the PE tubular membrane 28. The optimal friction is provided by changing the aperture size of the first elliptical hole 25, the second elliptical hole 26 and the first circular hole 27 to adapt to PE tubular membranes 28 of different thicknesses.

[0050] Further optimization of the scheme: the pneumatic drive assembly includes two symmetrically arranged fixed seats 11, which are fixed to the inner side wall of the rear part 10 of the outer shell. A miniature solenoid valve 12 is fixed to the fixed seat 11 and is glued to the fixed seat 11. The miniature solenoid valve 12 is fixedly mounted with two solenoid valve outlets 13, a solenoid valve inlet 23, and a solenoid valve exhaust port 24. Air pipes 14 are fixedly connected to the two solenoid valve outlets 13, the solenoid valve inlet 23, and the solenoid valve exhaust port 24. One solenoid valve outlet 13 is fixedly connected and communicates with several pneumatic muscles 5 near the head 1 of the outer shell through the air pipe 14. The other solenoid valve outlet 13 is fixedly connected and communicates with several pneumatic muscles 5 near the rear part 10 of the outer shell through the air pipe 14. The solenoid valve inlet 23 is connected to an external air source (not shown in the figure) through the air pipe 14. The solenoid valve exhaust port 24 is fixedly connected and communicates with several of the pneumatic muscles 5 through the air pipe 14.

[0051] The solenoid valve outlet 13 of the micro solenoid valve 12 is opened by the program control, and air is inflated into the pneumatic muscle 5 through the air tube 14. After the pneumatic muscle 5 is inflated, the circumferential radius increases and the length decreases. The pneumatic muscle 5 becomes the inflated pneumatic muscle 19.

[0052] The pneumatic muscle 5 is further optimized by including a rubber tube 22 and two connectors 20. The two connectors 20 are fixed to both ends of the rubber tube 22. The rubber tube 22 is covered with a braided mesh 21. The two ends of the braided mesh 21 are fixed to the two connectors 20. Several rubber tubes 22 are fixed between the head 1 and the middle 6 of the outer shell, and between the middle 6 and the rear 10 of the outer shell, through the connectors 20. The rubber tubes 22 are connected to the air outlet 13 of the solenoid valve through the air pipe 14. The rubber tubes 22 are fixed to and connected to the exhaust port 24 of the solenoid valve through the air pipe 14.

[0053] Air is injected into the rubber tube 22 through the air tube 14. After the rubber tube 22 is inflated, its circumferential radius increases, which shortens its axial length. Since the rubber tube 22 is covered with a braided mesh 21, the braided mesh 21 will not extend further after the circumferential radius of the rubber tube 22 has increased to a certain range. This limits the further expansion of the circumferential radius of the rubber tube 22 and the continued shortening of its axial length, thus protecting the rubber tube 22.

[0054] The design is further optimized by providing several circumferentially spaced through slots on the outer wall of the head 1, the outer wall of the middle 6, and the outer wall of the rear 10 of the outer shell.

[0055] The roller assembly includes several roller shafts 4 fixed in the through groove, with rollers 3 rotatably connected to the roller shafts 4. The rollers 3 protrude out of the through groove and roll in contact with the flexible track 15.

[0056] Eight equally spaced through grooves are circumferentially arranged on the outer wall of the head 1, the outer wall of the middle part 6, and the outer wall of the rear part 10 of the outer shell. Three roller grooves 2 are evenly arranged in the through grooves. The roller shaft 4 is fixed to the roller groove 2 by AB glue. The roller 3 is a Teflon roller. The rolling friction of the Teflon roller can reduce resistance and make it easier to move in the flexible track 15.

[0057] The scheme is further optimized so that the major axis length of the first elliptical hole 25 is less than the major axis length of the second elliptical hole 26.

[0058] In a further optimized design, two opposing rubber tubes 22 are fixedly connected between the head 1 and the middle 6 of the outer shell, and between the middle 6 and the rear 10 of the outer shell. The plane containing the axes of the two rubber tubes 22 near the head 1 of the outer shell is perpendicular to the plane containing the axes of the two rubber tubes 22 near the rear 10 of the outer shell.

[0059] The scheme is further optimized by fixing several U-shaped blocks 7 on the inner walls of the outer shell head 1, the middle part of the outer shell 6, and the rear part of the outer shell 10. Pins 8 are fixed on the U-shaped blocks 7 and the pins 8 are fixed to the connector 20.

[0060] Two symmetrical U-shaped blocks 7 are fixed to the bottom of the inner wall of the head 1 of the outer shell. A symmetrical through hole is opened on the opposite side of the U-shaped block 7. One of the through holes has a threaded hole. The connector 20 is fixed in the U-shaped block 7 by a pin 8. The pin 8 is fixed in the U-shaped block 7 by the threaded hole and the set screw 9. Two U-shaped blocks 7 are fixed to the top and bottom of the inner wall of the middle part 6 of the outer shell. The center line connecting the two U-shaped blocks 7 at the top of the inner wall of the middle part 6 of the outer shell is perpendicular to the center line connecting the two U-shaped blocks 7 at the bottom of the inner wall of the middle part 6 of the outer shell.

[0061] Working principle: When traveling inside the pipeline, the flexible track 15 is inflated by an external air supply box to extend it. During the extension of the flexible track 15, the PE membrane 28 is driven to pass through the first damping block 16, the second damping block 17 and the third damping block 18. Therefore, the shape of the PE membrane is constantly changing. When the PE membrane passes through the first damping block 16, the second damping block 17 and the third damping block 18, friction is generated on the surface of the PE membrane. The friction generated drives the head 1 of the outer shell to move forward, which in turn drives the middle part 6 and the rear part 10 of the outer shell to move forward as a whole.

[0062] When turning through complex pipes such as T-tubes and cross tubes, the solenoid valve outlet 13 on the micro solenoid valve 12 is opened by program control to inflate the rubber tube 22, shortening its length. Since the head 1, middle 6, and rear 10 of the outer shell are all connected by pneumatic muscles 5, after the pneumatic muscles 5 are inflated and shortened axially, the head 1 of the outer shell will deflect in the shortening direction under the pulling force of the pneumatic muscles 5, thereby driving the flexible track 15 to turn together. After turning through the T-tube and cross tube, the solenoid valve exhaust port 24 of the micro solenoid valve 12 is opened to exhaust the air, and the inflated pneumatic muscles 19 return to their original shape, in a straight-line driving state.

[0063] When turning to the right, the pneumatic muscle 5 near the right side of the outer shell head 1 is inflated. The pneumatic muscle 5 inflates and contracts, causing the outer shell head 1 to turn to the right under the pull of the pneumatic muscle 5. The flexible track 15 also turns to the right under the influence of the outer shell head 1, thereby causing the middle and rear parts of the outer shell 10 to turn to the right as a whole. When turning to the right rear, while turning the outer shell head 1 to the right, the pneumatic muscle 5 near the rear part of the outer shell 10 is inflated. The pneumatic muscle 5 inflates and contracts, causing the middle part of the outer shell 6 to turn to the rear under the pull of the pneumatic muscle 5. The flexible track 15 turns to the right rear under the influence of the outer shell head 1 and the middle part of the outer shell 6.

[0064] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0065] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A flexible robot, characterized in that, include: Walking mechanism; A flexible steering mechanism includes several pneumatic muscles (5) and a pneumatic drive assembly. The several pneumatic muscles (5) and the pneumatic drive assembly are all mounted on the walking mechanism. The pneumatic drive assembly is used to drive the pneumatic muscles (5) to extend and retract. After the pneumatic muscles (5) extend and retract, they are used to drive the walking mechanism to turn. A non-powered drive mechanism, comprising a flexible track (15) and a fluid drive assembly, wherein the fluid drive assembly is mounted on the walking mechanism and is used to drive the walking mechanism to walk on the flexible track (15); The walking mechanism includes a housing head (1), a housing middle (6), and a housing rear (10). Roller assemblies are installed on the outer walls of the housing head (1), the housing middle (6), and the housing rear (10). A plurality of pneumatic muscles (5) are fixed between the housing head (1) and the housing middle (6) and between the housing middle (6) and the housing rear (10). The roller assemblies are in rolling contact with the flexible track (15). The pneumatic drive assembly is installed at the rear (10) of the housing, and the pneumatic muscle (5) extends and retracts to drive the head (1) of the housing and the middle of the housing to turn; the fluid drive assembly is installed at the head (1) of the housing. The fluid drive assembly includes a first damping block (16), a second damping block (17), and a third damping block (18) arranged at intervals. The first damping block (16), the second damping block (17), and the third damping block (18) are all fixed to the wall of the central circular hole of the outer shell head (1). The first damping block (16) is located at one end of the outer shell head (1) away from the middle part (6) of the outer shell. A PE cylindrical membrane (28) is inserted and slidably connected on the first damping block (16), the second damping block (17), and the third damping block (18). The top of the PE cylindrical membrane (28) extends out of the central circular hole. The PE cylindrical membrane (28) extending out of the central circular hole is turned outward at the top of the outer shell head (1) and connected to the outlet of the external air supply box to form the flexible track (15). The flexible track (15) is sleeved on the outer shell head (1), the middle part (6) of the outer shell, and the rear part (10) of the outer shell. The first damping block (16) has a first elliptical hole (25) in its center, the second damping block (17) has a second elliptical hole (26) in its center, and the third damping block (18) has a first circular hole (27) in its center. The major axis of the ellipse of the first elliptical hole (25) is perpendicular to the major axis of the ellipse of the second elliptical hole (26). The PE cylindrical membrane (28) is slidably connected to the first elliptical hole (25), the second elliptical hole (26), and the first circular hole (27). The pneumatic drive assembly includes two symmetrically arranged fixed seats (11), which are fixed to the inner sidewall of the rear part (10) of the outer shell. A miniature solenoid valve (12) is fixedly connected to the fixed seat (11). The miniature solenoid valve (12) is fixedly equipped with two solenoid valve outlets (13), a solenoid valve inlet (23), and a solenoid valve exhaust port (24). Air pipes (14) are fixedly connected to the two solenoid valve outlets (13), the solenoid valve inlet (23), and the solenoid valve exhaust port (24). One of the solenoid valve outlets (13) is fixedly connected and communicated with several pneumatic muscles (5) near the head (1) of the outer shell through the air pipe (14), and another solenoid valve outlet (13) is fixedly connected and communicated with several pneumatic muscles (5) near the rear (10) of the outer shell through the air pipe (14). The solenoid valve inlet (23) is connected to an external air source through the air pipe (14), and the solenoid valve outlet (24) is fixedly connected and communicated with several pneumatic muscles (5) through the air pipe (14). The pneumatic muscle (5) includes a rubber tube (22) and two connectors (20). The two connectors (20) are respectively fixed to both ends of the rubber tube (22). The rubber tube (22) is covered with a braided mesh (21). The two ends of the braided mesh (21) are fixed to the two connectors (20). Several rubber tubes (22) are fixed between the head (1) and the middle part (6) of the outer shell, and between the middle part (6) and the rear part (10) of the outer shell, through the connectors (20). The rubber tubes (22) are connected to the air outlet (13) of the solenoid valve through the air pipe (14). The rubber tubes (22) are fixed to and connected to the exhaust port (24) of the solenoid valve through the air pipe (14).

2. The flexible robot according to claim 1, characterized in that: The outer wall of the head (1) of the outer shell, the outer wall of the middle part (6) of the outer shell, and the outer wall of the rear part (10) of the outer shell are all provided with several through grooves arranged at intervals in the circumferential direction; The roller assembly includes a plurality of roller shafts (4) fixed in the through groove, and rollers (3) are rotatably connected to the roller shafts (4). The rollers (3) protrude out of the through groove and roll in contact with the flexible track (15).

3. The flexible robot according to claim 1, characterized in that: The major axis of the first elliptical hole (25) is less than the major axis of the second elliptical hole (26).

4. The flexible robot according to claim 1, characterized in that: Two opposing rubber tubes (22) are fixedly connected between the head (1) and the middle (6) of the outer shell, and between the middle (6) and the rear (10) of the outer shell. The plane containing the axes of the two rubber tubes (22) near the head (1) of the outer shell is perpendicular to the plane containing the axes of the two rubber tubes (22) near the rear (10) of the outer shell.

5. The flexible robot according to claim 1, characterized in that: Several U-shaped blocks (7) are fixedly connected to the inner walls of the head (1), middle (6) and rear (10) of the outer shell. Pins (8) are fixedly connected to two of the U-shaped blocks (7), and the pins (8) are fixedly connected to the connector (20).

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