Double-elastic-sheet type flexible robot

Abstract

The utility model discloses a double-elastic-piece type flexible robot which comprises a first elastic piece support, a second elastic piece support and a third elastic piece support. The second elastic piece support and the first elastic piece support are arranged in parallel, the second elastic piece support and the first elastic piece support are connected through a flexible connecting piece, and clamping jaws are arranged at the two ends of the bottom of the second elastic piece support respectively; the driving component comprises a first driving component installed at the bottom of the first elastic piece support and a second driving component installed at the bottom of the second elastic piece support, the first driving component comprises a first connecting piece and a first folding and unfolding mechanism, and one end of the first connecting piece is fixedly connected with the bottom of one end of the first elastic piece support; one end of the second connecting piece is fixedly connected with the bottom of one end of the second elastic piece support, and the other end of the second connecting piece is connected with the second folding and unfolding mechanism. Movement of the double-elastic-piece type flexible robot is achieved by controlling the first retracting and releasing mechanism and the second retracting and releasing mechanism to retract / release the first connecting piece and the second connecting piece.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a dual-spring flexible robot. Background Technology

[0002] People are often forced into confined spaces due to disasters and accidents. Common examples include: ① earthquakes causing building collapses; ② mudslides and collapsed buildings; ③ explosions creating confined spaces; ④ traffic accidents, including deformed vehicle interiors; and ⑤ coal mine accidents in confined spaces. Working in such spaces is inherently difficult, let alone conducting rescue operations. Countless confined space (CS) accidents have caused tragic casualties. The root cause lies in the failure of personnel to clearly recognize the dangers or potential hazards present within or near the confined space, or the confined space itself may not pose a significant hazard, but the potential environmental changes or introduction of new work-related hazards during work within it are not considered, making CS a series of "silent killers." The dangers of CS are complex and real, including common hazards such as oxygen deficiency, oxygen enrichment, toxic pollutants, flammable pollutants, submersion, entrapment or suffocation, machinery lacking safety devices, or exposed live conductors.

[0003] Due to the complex conditions in narrow spaces, existing human detection methods or equipment cannot effectively detect the specific situation within narrow spaces. In view of this, this utility model proposes a robot suitable for target detection in narrow spaces. Utility Model Content

[0004] This utility model proposes a dual-elastic flexible robot capable of various crawling modes, including straight-line movement and turning, making it better suited for target detection in confined spaces and applications such as rescue and reconnaissance. Specifically, the following technical solution is adopted:

[0005] A dual-elastic flexible robot, comprising:

[0006] The first spring clip bracket has claws at both ends of its bottom.

[0007] The second spring clip bracket is arranged in parallel with the first spring clip bracket. The second spring clip bracket and the first spring clip bracket are connected by a flexible connector. The bottom ends of the second spring clip bracket are respectively provided with claws.

[0008] The driving component includes a first driving component installed at the bottom of the first spring support and a second driving component installed at the bottom of the second spring support. The first driving component includes a first connector and a first retraction mechanism. One end of the first connector is fixedly connected to the bottom of one end of the first spring support, and the other end is connected to the first retraction mechanism. One end of the second connector is fixedly connected to the bottom of one end of the second spring support, and the other end is connected to the second retraction mechanism.

[0009] The movement of the dual-spring flexible robot is achieved by controlling the first and second retraction mechanisms to retract / release the first and second connecting parts.

[0010] As an optional embodiment of this utility model, the first retracting mechanism is installed at the bottom of the first end of the first spring support, one end of the first connector is fixedly connected to the bottom of the second end of the first spring support, and the other end is connected to the first retracting mechanism.

[0011] The second retractable mechanism is installed at the bottom of the second end of the second spring support, and one end of the second connector is fixedly connected to the bottom of the first end of the second spring support, while the other end is connected to the first retractable mechanism.

[0012] The forward movement of the dual-spring flexible robot is achieved by controlling the first retraction mechanism to retract / release the first connecting member, and the backward movement of the dual-spring flexible robot is achieved by controlling the second retraction mechanism to retract / release the second connecting member.

[0013] As an optional embodiment of this utility model, the first retracting mechanism is installed at the bottom of the first end of the first spring support, one end of the first connector is fixedly connected to the bottom of the second end of the first spring support, and the other end is connected to the first retracting mechanism.

[0014] The second retractable mechanism is installed at the bottom of the first end of the second spring support, and one end of the second connector is fixedly connected to the bottom of the second end of the second spring support, while the other end is connected to the first retractable mechanism.

[0015] By controlling the first and second retraction mechanisms to simultaneously retract / release the first and second connecting pieces, the double-spring flexible robot can move straight. By controlling the first and second retraction mechanisms to retract / release the first and second connecting pieces asynchronously, the double-spring flexible robot can turn.

[0016] As an optional embodiment of this utility model, the first retracting mechanism includes a first drive motor and a first rotating component. The first rotating component is rotatably mounted on the bottom of the first spring support. The other end of the first connecting component is fixedly connected to the outer peripheral wall of the first rotating component. The first drive motor is connected to the rotation center of the first rotating component.

[0017] As an optional embodiment of this utility model, the second retracting mechanism includes a second drive motor and a second rotating component. The second rotating component is rotatably mounted on the bottom of the second spring support. The other end of the second connecting component is fixedly connected to the outer peripheral wall of the second rotating component. The second drive motor is connected to the rotation center of the second rotating component.

[0018] As an optional embodiment of this utility model, both the first rotating component and the second rotating component include a rotating wheel, and the outer peripheral wall of the rotating wheel has a rotating groove. The first connecting component and the second connecting component are respectively connected to the bottom wall of the rotating groove.

[0019] As an optional embodiment of this utility model, both the first connector and the second connector are rigid connecting ropes.

[0020] As an optional embodiment of this utility model, a dual-spring flexible robot of this utility model includes a main controller, which is communicatively connected to a first driving component and a second driving component.

[0021] As an optional embodiment of this utility model, a first shooting probe is provided on the first spring clip bracket, and a second shooting probe is provided on the second spring clip bracket. Both the first shooting probe and the second shooting probe are communicatively connected to the main controller.

[0022] As an optional embodiment of this utility model, the flexible connector is a rubber column, and the first spring plate bracket and the second spring plate bracket are respectively fixedly connected to the rubber column.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0024] This utility model discloses a dual-elastic flexible robot, the specific motion logic of which includes:

[0025] Energy Accumulation Phase: The first retraction mechanism retracts the first connecting piece, and the second retraction mechanism retracts the second connecting piece. The first and second connecting pieces are tightened and shortened, thereby causing one end of the first and second spring support brackets to bend and deform. The front claws of the first and second spring support brackets engage with the ground, and the rear claws disengage from the ground. The first and second spring support brackets deform, generating elastic potential energy. When the first and second spring support brackets deform to a certain extent, the first retraction mechanism stops retracting.

[0026] Release phase: The first retraction mechanism releases the first connector, the second retraction mechanism releases the second connector, the first and second spring clip brackets need to return to their original state due to the existence of elastic potential energy, the rear claw grips the ground, the front claw disengages from the ground, and the double spring clip flexible robot moves forward.

[0027] Therefore, the dual-spring flexible robot of this utility model can drive the first spring support and the second spring support to move in a creaking motion through the first driving component and the second driving component. At the same time, by controlling the first driving component and the second driving component respectively, the dual-spring flexible robot can move forward, backward and turn. It is suitable for more complex terrain environments and can be used to detect targets in confined spaces for rescue, reconnaissance and other purposes. Attached Figure Description

[0028] Figure 1 A top view of a dual-elastic flexible robot according to an embodiment of this utility model;

[0029] Figure 2 This utility model embodiment discloses a dual-elastic flexible robot along... Figure 1 Cross-sectional view of surface AA;

[0030] Figure 3 This utility model embodiment discloses a dual-elastic flexible robot along... Figure 1 Cross-sectional view of the middle BB surface;

[0031] Figure 4 This utility model provides a schematic diagram of the motion logic of a dual-plate flexible robot. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0033] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely to illustrate some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0034] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this utility model and simplifying the description, and do not 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 on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] See Figures 1-4 As shown, a dual-elastic flexible robot according to this embodiment includes:

[0038] The first spring clip bracket 100A has claws (101, 102) at both ends of its bottom.

[0039] The second spring support 100B is arranged in parallel with the first spring support 100A. The second spring support 100B and the first spring support 100A are connected by a flexible connector 300. The bottom ends of the second spring support 100B are respectively provided with claws (101, 102).

[0040] The driving component includes a first driving component installed at the bottom of the first spring support 100A and a second driving component installed at the bottom of the second spring support 100B. The first driving component includes a first connector 203A and a first retraction mechanism. One end of the first connector 203A is fixedly connected to the bottom of one end of the first spring support 100A, and the other end is connected to the first retraction mechanism. One end of the second connector 203B is fixedly connected to the bottom of one end of the second spring support 100B, and the other end is connected to the second retraction mechanism.

[0041] The movement of the dual-spring flexible robot is achieved by controlling the first and second retraction mechanisms to retract / release the first connector 203A and the second connector 203B.

[0042] The specific motion logic of the dual-elastic flexible robot in this embodiment includes:

[0043] Energy Accumulation Phase: The first retraction mechanism retracts the first connecting member 203A, and the second retraction mechanism retracts the second connecting member 203B. The first connecting member 203A and the second connecting member 203B are tightened and shortened, thereby causing one end of the first spring support 100A and the second spring support 100B to bend and deform. The front claw 101 of the first spring support 100A and the second spring support 100B engages with the ground, and the rear claw 102 disengages from the ground. The first spring support 100A and the second spring support 100B deform, generating elastic potential energy. When the first spring support 100A and the second spring support 100B deform to a certain extent, the first retraction mechanism stops retracting.

[0044] Release phase: The first retraction mechanism releases the first connector 203A, the second retraction mechanism releases the second connector 203B, the first spring support 100A and the second spring support 100B need to return to their original state due to the existence of elastic potential energy, the rear claw 102 is stuck on the ground, the front claw 101 is released from the ground, and the double spring flexible robot moves forward.

[0045] Therefore, the dual-spring flexible robot of this embodiment can drive the first spring support 100A and the second spring support 100B to undulate through the first driving component and the second driving component. At the same time, by controlling the first driving component and the second driving component respectively, the dual-spring flexible robot can move forward, backward and turn. It can be applied to more complex terrain environments and can be used to detect targets in confined spaces for rescue, reconnaissance and other purposes.

[0046] As an optional implementation of this embodiment, the claws (101, 102) at both ends of the bottom of the first spring support 100A can be driven by the first claw driving device to rotate and change the tilt direction and tilt angle. The claws (101, 102) at both ends of the bottom of the second spring support 100B can be driven by the second claw driving device to rotate and change the tilt direction and tilt angle. Together with the first and second retraction mechanisms, the forward and backward movement of the dual spring flexible robot can be realized.

[0047] It should be understood by those skilled in the art that the grippers (101, 102) can also be set as vertical grippers, so that they can cooperate with the first and second retraction mechanisms to realize the forward and backward movement of the double-spring flexible robot without changing the tilt angle.

[0048] As an optional implementation method in this embodiment, see Figures 1-3 As shown in the figure, in this embodiment of a dual-spring flexible robot, the first retraction mechanism is installed at the bottom of the first end of the first spring bracket 100A, one end of the first connector 203A is fixedly connected to the bottom of the second end of the first spring bracket 100A, and the other end is connected to the first retraction mechanism.

[0049] The second retractable mechanism is installed at the bottom of the first end of the second spring support 100B. One end of the second connector 203B is fixedly connected to the bottom of the second end of the second spring support 100B, and the other end is connected to the first retractable mechanism.

[0050] By controlling the first and second retraction mechanisms to simultaneously retract / release the first connector 203A and the second connector 203B, the double-spring flexible robot can move straight. By controlling the first and second retraction mechanisms to retract / release the first connector 203A and the second connector 203B asynchronously, the double-spring flexible robot can turn.

[0051] In this embodiment, the first and second retraction mechanisms are located on the same side and are installed side by side. By controlling the first and second retraction mechanisms to retract / release the first connector 203A and the second connector 203B at different times, the first spring support 100A and the second spring support 100B of the dual-spring flexible robot bend and deform in sequence, thereby realizing the turning of the dual-spring flexible robot.

[0052] As an optional implementation of this embodiment, in a dual-spring flexible robot of this embodiment, the first retraction mechanism is installed at the bottom of the first end of the first spring bracket 100A, one end of the first connector 203A is fixedly connected to the bottom of the second end of the first spring bracket 100A, and the other end is connected to the first retraction mechanism.

[0053] The second retractable mechanism is installed at the bottom of the second end of the second spring support 100B. One end of the second connector 203B is fixedly connected to the bottom of the first end of the second spring support 100B, and the other end is connected to the first retractable mechanism.

[0054] The forward movement of the dual-spring flexible robot is achieved by controlling the first retraction mechanism to retract / release the first connector 203A, and the backward movement of the dual-spring flexible robot is achieved by controlling the second retraction mechanism to retract / release the second connector 203B.

[0055] In this embodiment, the first retraction mechanism and the second retraction mechanism are located on opposite sides. By controlling the first retraction mechanism to retract / release the first connecting member 203A, the forward movement of the dual-spring flexible robot is realized. By controlling the second retraction mechanism to retract / release the second connecting member 203B, the backward movement of the dual-spring flexible robot is realized.

[0056] Specifically, in this embodiment, the first retracting mechanism includes a first drive motor 201A and a first rotating component 202A. The first rotating component 202A is rotatably mounted on the bottom of the first spring support 100A. The other end of the first connecting component 203A is fixedly connected to the outer peripheral wall of the first rotating component 202A. The first drive motor 201A is connected to the rotation center of the first rotating component 202A.

[0057] In this embodiment, the first take-up and release mechanism rotates the first drive motor 201A, which drives the first rotating component 202A to retract the first connecting component 203A.

[0058] In this embodiment, the second retracting mechanism includes a second drive motor 201B and a second rotating component 202B. The second rotating component 202B is rotatably mounted on the bottom of the second spring support 100B. The other end of the second connecting component 203B is fixedly connected to the outer peripheral wall of the second rotating component 202B. The second drive motor 201B is connected to the rotation center of the second rotating component 202B.

[0059] In this embodiment, the second take-up and release mechanism rotates the second drive motor 201B, which drives the second rotating component 202B to retract the second connecting component 203B.

[0060] To enable the rotatable installation of the first rotating component 202A and the second rotating component 202B, in this embodiment, the bottoms of the first spring support 100A and the second spring support 100B are respectively provided with a first support block 105A and a second support block 105B facing each other. The first rotating component 202A and the second rotating component 202B are respectively disposed between the first support block 105A and the second support block 105B. The first rotating component 202A and the second rotating component 202B include a rotating wheel and a rotating support shaft 207. One end of the rotating support shaft 207 is fixedly connected to the rotation center on one side of the rotating wheel, and the other end of the rotating support shaft 207 is rotatably mounted on the first support block 105A. The first drive motor 201A and the second drive motor 201B are respectively connected to the rotation center on the other side of the rotating wheel through the second support block 105B via a connecting shaft.

[0061] Meanwhile, to ensure that the rotary wheel can smoothly rotate to recycle the first connecting piece 203A and the second connecting piece 203B when the first drive motor 201A and the second drive motor 201B stop working, the following implementation method is adopted:

[0062] In Method 1, one end of the connecting shaft in this embodiment is fixedly connected to the rotation center on the other side of the rotary wheel. The motor shafts of the first drive motor 201A and the second drive motor 201B are fixedly connected to the other end of the connecting shaft. When the first drive motor 201A and the second drive motor 201B are energized, the motor shafts drive the rotary wheel to rotate through the connecting shaft. When the first drive motor 201A and the second drive motor 201B are de-energized, the motor shafts stop rotating and are in a free state, and the rotary wheel rotates in the opposite direction. In this embodiment, after the first drive motor 201A and the second drive motor 201B are de-energized, the motor shafts are in a free state and do not interfere with the reverse rotation of the rotary wheel.

[0063] Method 2, see Figure 2 As shown, the connecting shaft in this embodiment includes a cylindrical shaft 205 and a polygonal shaft 206. One end of the cylindrical shaft 205 is fixedly connected to the motor shafts of the first drive motor 201A and the second drive motor 201B. The other end of the cylindrical shaft 205 passes through the second support block 105B and is fixedly connected to one end of the polygonal shaft 206. The other end of the polygonal shaft 206 can be inserted into a polygonal hole opened at the rotation center on the other side of the rotary wheel. The polygonal hole matches the polygonal shaft 206.

[0064] The driving component described in this embodiment includes a first push-pull motor 204A and a second push-pull motor 204B. The output end of the first push-pull motor 204A is connected to a first drive motor 201A, and the output end of the second push-pull motor 204B is connected to a second drive motor 201B. The first drive motor 201A and the second drive motor 201B are in their initial positions. The other end of the polygonal shaft 206 is inserted into the polygonal hole of the rotary wheel. The first drive motor 201A and the second drive motor 201B pass through a circular... The column shaft 205 and the polygonal shaft 206 are connected to the rotary wheel. The first drive motor 201A and the second drive motor 201B are powered on and turned on, and the motor shaft drives the rotary wheel to rotate. The first drive motor 201A and the second drive motor 201B are powered off and turned off. The first push-pull motor 204A pulls the first drive motor 201A to move axially outward, and the second push-pull motor 204B pulls the second drive motor 201B to move axially outward until the polygonal shaft 206 disengages from the polygonal hole of the rotary wheel 202, and the rotary wheel rotates in the opposite direction.

[0065] In this embodiment, the first drive motor 201A and the second drive motor 201B are de-energized. The first push-pull motor 204A and the second push-pull motor 204B disengage the rotary wheel and the polygonal shaft 206, and the first spring support 100A and the second spring support 100B release potential energy. When power needs to be stored, the first push-pull motor 204A and the second push-pull motor 204B push the two together. To ensure that the two are perfectly aligned, while the first push-pull motor 204A and the second push-pull motor 204B are pushing, the first drive motor 201A and the second drive motor 201B are energized and micro-operated until the two are perfectly aligned. Then, the first drive motor 201A and the second drive motor 201B stop operating, having been pushed into place. Finally, the first drive motor 201A and the second drive motor 201B are energized again and operate.

[0066] Furthermore, in this embodiment, the rotary support shaft 207 is rotatably mounted on the first support block 105A via a rotary bearing. This ensures that even when the polygonal shaft 206 is disengaged from the rotary wheel, the rotary support shaft 207 can effectively support the rotary wheel.

[0067] In addition, the slewing wheel can be positioned as close as possible to the first support block 105A to ensure that the slewing support shaft 207 provides effective support for the slewing wheel.

[0068] As an optional implementation of this embodiment, both the first rotating component 202A and the second rotating component 202B in this embodiment include a rotating wheel. The outer peripheral wall of the rotating wheel has a rotating groove, and the first connecting component 203A and the second connecting component 203B are respectively connected to the bottom wall of the rotating groove.

[0069] As an optional implementation of this embodiment, both the first connector 203A and the second connector 203B are rigid connecting ropes.

[0070] Furthermore, in this embodiment, a dual-spring flexible robot includes a main controller, which is communicatively connected to a first driving component and a second driving component.

[0071] As an optional implementation of this embodiment, a first shooting probe 501 is provided on the first spring support 100A and a second shooting probe 502 is provided on the second spring support 100B. Both the first shooting probe 501 and the second shooting probe 502 are communicatively connected to the main controller.

[0072] As an optional implementation of this embodiment, the flexible connector 300 is a rubber column, and the first spring plate bracket 100A and the second spring plate bracket 100B are respectively fixedly connected to the rubber column 300. Specifically, the first spring plate bracket 100A is fixedly connected to the rubber column through the first connector 402, and the second spring plate bracket 100B is fixedly connected to the rubber column through the second connector 401.

[0073] This embodiment of a dual-spring flexible robot includes a power module electrically connected to the main controller.

[0074] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. A dual-elastic flexible robot, characterized in that, include: The first spring clip bracket has claws at both ends of its bottom. The second spring clip bracket is arranged in parallel with the first spring clip bracket. The second spring clip bracket and the first spring clip bracket are connected by a flexible connector. The bottom ends of the second spring clip bracket are respectively provided with claws. The driving component includes a first driving component installed at the bottom of the first spring support and a second driving component installed at the bottom of the second spring support. The first driving component includes a first connector and a first retraction mechanism. One end of the first connector is fixedly connected to the bottom of one end of the first spring support, and the other end is connected to the first retraction mechanism. One end of the second connector is fixedly connected to the bottom of one end of the second spring support, and the other end is connected to the second retraction mechanism. The movement of the dual-spring flexible robot is achieved by controlling the first and second retraction mechanisms to retract / release the first and second connecting parts.

2. The dual-elastic flexible robot according to claim 1, characterized in that, The first retractable mechanism is installed at the bottom of the first end of the first spring support, and one end of the first connector is fixedly connected to the bottom of the second end of the first spring support, while the other end is connected to the first retractable mechanism. The second retractable mechanism is installed at the bottom of the second end of the second spring support, and one end of the second connector is fixedly connected to the bottom of the first end of the second spring support, while the other end is connected to the first retractable mechanism. The forward movement of the dual-spring flexible robot is achieved by controlling the first retraction mechanism to retract / release the first connecting member, and the backward movement of the dual-spring flexible robot is achieved by controlling the second retraction mechanism to retract / release the second connecting member.

3. The dual-elastic flexible robot according to claim 1, characterized in that, The first retractable mechanism is installed at the bottom of the first end of the first spring support, and one end of the first connector is fixedly connected to the bottom of the second end of the first spring support, while the other end is connected to the first retractable mechanism. The second retractable mechanism is installed at the bottom of the first end of the second spring support, and one end of the second connector is fixedly connected to the bottom of the second end of the second spring support, while the other end is connected to the first retractable mechanism. By controlling the first and second retraction mechanisms to simultaneously retract / release the first and second connecting pieces, the double-spring flexible robot can move straight. By controlling the first and second retraction mechanisms to retract / release the first and second connecting pieces asynchronously, the double-spring flexible robot can turn.

4. A dual-elastic flexible robot according to any one of claims 1-3, characterized in that, The first take-up and take-down mechanism includes a first drive motor and a first rotating component. The first rotating component is rotatably mounted on the bottom of the first spring support. The other end of the first connecting component is fixedly connected to the outer peripheral wall of the first rotating component. The first drive motor is connected to the rotation center of the first rotating component.

5. A dual-elastic flexible robot according to claim 4, characterized in that, The second take-up and take-down mechanism includes a second drive motor and a second rotating component. The second rotating component is rotatably mounted on the bottom of the second spring support. The other end of the second connecting component is fixedly connected to the outer peripheral wall of the second rotating component. The second drive motor is connected to the rotation center of the second rotating component.

6. A dual-elastic flexible robot according to claim 5, characterized in that, Both the first rotating component and the second rotating component include a rotating wheel, and the outer peripheral wall of the rotating wheel has a rotating groove. The first connecting component and the second connecting component are respectively connected to the bottom wall of the rotating groove.

7. A dual-elastic flexible robot according to claim 1, characterized in that, Both the first connector and the second connector are rigid connecting ropes.

8. A dual-elastic flexible robot according to claim 1, characterized in that, It includes a main controller, which is communicatively connected to a first drive component and a second drive component.

9. A dual-elastic flexible robot according to claim 8, characterized in that, A first imaging probe is mounted on the first spring clip bracket, and a second imaging probe is mounted on the second spring clip bracket. Both the first and second imaging probes are communicatively connected to the main controller.

10. A dual-elastic flexible robot according to claim 1, characterized in that, The flexible connector is a rubber column, and the first spring plate bracket and the second spring plate bracket are fixedly connected to the rubber column.

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