Double-pneumatic type flexible robot

Abstract

The utility model discloses a double-pneumatic type flexible robot which comprises a first elastic piece support, a second elastic piece support and a third elastic piece support. The first elastic piece support is internally provided with a first inflation channel, the two ends of the bottom are provided with clamping jaws respectively, and the first elastic piece support is bent upwards in the initial state. 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, a second inflation channel is formed in the second elastic piece support, clamping jaws are arranged at the two ends of the bottom of the second elastic piece support respectively, and the second elastic piece support is bent upwards in the initial state; the air pump system is used for inflating the first inflation channel and the second inflation channel, the first elastic piece support and the second elastic piece support are unfolded to be in a straight shape, the inflation channels are exhausted, and the first elastic piece support and the second elastic piece support move forwards through the clamping jaws. The air pump system achieves straight movement by controlling synchronous inflation or deflation of the first inflation channel and the second inflation channel, and achieves turning by controlling asynchronous inflation or deflation of the first inflation channel and the second inflation channel.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a dual-pneumatic 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-pneumatic flexible robot capable of various crawling modes, including straight-line movement and turning, making it better suited for target detection in confined spaces for rescue, reconnaissance, and other applications. Specifically, the following technical solution is adopted:

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

[0006] The first spring clip bracket has a first air channel inside, and the bottom ends of the first spring clip bracket have claws respectively. The first spring clip bracket is initially bent upwards.

[0007] The second spring support is arranged in parallel with the first spring support. The second spring support is connected to the first spring support by a flexible connector. The second spring support has a second inflation channel inside. The bottom two ends of the second spring support have claws respectively. The second spring support is initially bent upwards.

[0008] The air pump system is used to inflate the first and second inflation channels respectively. The first and second spring support brackets are unfolded into a straight shape. After inflation stops, the inflation channels are vented, and the first and second spring support brackets move forward through the grippers. The air pump system controls the synchronous inflation or deflation of the first and second inflation channels to enable the dual pneumatic flexible robot to move straight, and controls the asynchronous inflation or deflation of the first and second inflation channels to enable the dual pneumatic flexible robot to turn.

[0009] As an optional embodiment of the present invention, the air pump system includes a first air pump mounted on a first spring support and a second air pump mounted on a second spring support. The first air pump and the second air pump are located on the same side. The first air pump is connected to one end of the first inflation channel, and the second air pump is connected to one end of the second inflation channel.

[0010] By controlling the first air pump to inflate the first inflation channel and the second air pump to inflate the second inflation channel synchronously or asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be achieved.

[0011] As an optional embodiment of this utility model, the first air pump and the second air pump have the same rated power. By controlling the order in which the first air pump and the second air pump are turned on, the first air pump can be used to inflate the first inflation channel and the second air pump can be used to inflate the second inflation channel synchronously or asynchronously.

[0012] As an optional embodiment of this utility model, at least one of the first air pump and the second air pump has an adjustable operating power. The first air pump and the second air pump are turned on simultaneously. By controlling and adjusting the operating power of the first air pump or the second air pump, the first air pump can be used to inflate the first inflation channel and the second air pump can be used to inflate the second inflation channel synchronously or asynchronously.

[0013] As an optional embodiment of this utility model, the air pump system includes a first exhaust control valve installed at the other end of the first inflation channel and a second exhaust control valve installed at the other end of the second inflation channel;

[0014] By controlling the first exhaust control valve and the second exhaust control valve to release air synchronously or asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be achieved.

[0015] As an optional embodiment of this utility model, the air pump system includes a main air pump. The main air pump is connected to one end of the first inflation channel through a first air inlet pipe and to one end of the second inflation channel through a second air inlet pipe. The connection positions of the first air inlet pipe and the first inflation channel and the connection positions of the second air inlet pipe and the second inflation channel are located on the same side. A first air inlet control valve is provided on the first air inlet pipe, and a second air inlet control valve is provided on the second air inlet pipe.

[0016] By controlling the first and second air intake control valves to allow air to enter synchronously or asynchronously, the dual pneumatic flexible robot can move straight or turn.

[0017] As an optional embodiment of this utility model, the main air pump is connected to the other end of the first inflation channel through a third air inlet pipe and to the other end of the second inflation channel through a fourth air inlet pipe. The connection positions of the third air inlet pipe and the first inflation channel and the fourth air inlet pipe and the second inflation channel are located on the same side. A third air inlet control valve is provided on the third air inlet pipe and a fourth air inlet control valve is provided on the fourth air inlet pipe.

[0018] The main air pump is controlled to inflate one end of the first and second inflation channels through the first and second air inlet pipes, enabling the dual pneumatic flexible robot to move forward. The main air pump is controlled to inflate the other end of the first and second inflation channels through the third and fourth air inlet pipes, enabling the dual pneumatic flexible robot to move backward. During the backward movement, the third and fourth air inlet control valves are controlled to allow air to enter synchronously or asynchronously, enabling the dual pneumatic flexible robot to move straight or turn.

[0019] As an optional embodiment of this utility model, the main air pump is installed on the flexible connector, or the first spring plate bracket, or the second spring plate bracket.

[0020] As an optional embodiment of this utility model, the air pump system includes a first exhaust control valve installed on the first inflation channel and a second exhaust control valve installed on the second inflation channel;

[0021] By controlling the first exhaust control valve and the second exhaust control valve to release air synchronously or asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be achieved.

[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] The present invention relates to a dual-pneumatic flexible robot, the specific motion logic of which includes:

[0025] During the energy storage phase: The first and second spring clip supports are initially bent upwards. The air pump system inflates the first and second inflation channels respectively. During inflation, the rear claws of the first and second spring clip supports lock onto the surface of the support body, and the front claws extend forward. The first and second spring clip supports unfold into a straight shape and deform, generating elastic potential energy.

[0026] Release phase: The air pump system stops inflating, the first and second inflation channels are vented, and due to the existence of elastic potential energy, the first and second spring clip supports need to return to their original state. The front claw grips the ground, the rear claw detaches from the ground, and the dual pneumatic flexible robot moves forward.

[0027] In addition, the present invention provides a dual-pneumatic flexible robot in which the air pump system controls the synchronous inflation or deflation of the first and second inflation channels to enable the robot to move straight; and by controlling the first and second inflation channels to be inflated or deflated asynchronously, the deformation of the first and second spring support is asynchronous, thus enabling the robot to turn.

[0028] Therefore, the dual pneumatic flexible robot of this invention can drive the first and second spring support brackets to move straight or turn by means of an air pump system. 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

[0029] Figure 1 A front view (initial state) of a dual-pneumatic flexible robot according to an embodiment of this utility model;

[0030] Figure 2 A front view (flattened state) of a dual-pneumatic flexible robot according to an embodiment of this utility model;

[0031] Figure 3 A right view of a dual-pneumatic flexible robot according to an embodiment of this utility model;

[0032] Figure 4 This utility model provides a schematic diagram of the motion logic of a dual-pneumatic flexible robot (one embodiment);

[0033] Figure 5 This utility model provides a schematic diagram of the motion logic of a dual-pneumatic flexible robot (another embodiment);

[0034] Figure 6 This utility model provides a schematic diagram of the motion logic of a dual-pneumatic flexible robot (another embodiment). Detailed Implementation

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] See Figures 1-4 As shown, a dual-pneumatic flexible robot of this embodiment includes:

[0041] The first spring support 100A has a first inflation channel 103A inside. The bottom ends of the first spring support 100A have claws (101, 102) respectively. The first spring support 100A is initially bent upwards.

[0042] The second spring support 100B is arranged side by side 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 second spring support 100B has a second inflation channel 103B inside. The bottom ends of the second spring support 100B have claws (101, 102) respectively. The second spring support 100B is initially bent upwards.

[0043] The air pump system is used to inflate the first inflation channel 103A and the second inflation channel 103B respectively. The first spring support 100A and the second spring support 100B are unfolded into a straight shape. After inflation stops, the inflation channels are vented, and the first spring support 100A and the second spring support 100B move forward through the grippers (101, 102). The air pump system controls the synchronous inflation or deflation of the first inflation channel 103A and the second inflation channel 103B respectively to realize the straight movement of the dual pneumatic flexible robot. By controlling the asynchronous inflation or deflation of the first inflation channel 103A and the second inflation channel 103B, the dual pneumatic flexible robot can turn.

[0044] The specific motion logic of the dual-pneumatic flexible robot in this embodiment includes:

[0045] During the energy storage phase: The first spring support 100A and the second spring support 100B are initially bent upwards. The air pump system inflates the first inflation channel 103A and the second inflation channel 103B respectively. During inflation, the rear claws 101 of the first spring support 100A and the second spring support 100B lock onto the surface of the support body, and the front claws 102 extend forward. The first spring support 100A and the second spring support 100B unfold into a straight shape and deform, generating elastic potential energy.

[0046] Release phase: The air pump system stops inflating, the first inflation channel 103A and the second inflation channel 103B are vented, and due to the existence of elastic potential energy, the first spring support 100A and the second spring support 100B need to return to their original state. The front claw 102 is stuck to the ground, the rear claw 101 is released from the ground, and the dual pneumatic flexible robot moves forward.

[0047] In addition, in this embodiment, a dual-pneumatic flexible robot can move straight by controlling the air pump system to simultaneously inflate or deflate the first inflation channel 103A and the second inflation channel 103B, respectively; and turn by controlling the first inflation channel 103A and the second inflation channel 103B to inflate or deflate asynchronously, so that the deformation of the first spring support 100A and the second spring support 100B is asynchronous.

[0048] Therefore, the dual-pneumatic flexible robot of this embodiment can drive the first spring support 100A and the second spring support 100B to move straight or turn by means of an air pump system. It is applicable to more complex terrain environments and can be used to detect targets in confined spaces for rescue, reconnaissance and other purposes.

[0049] As an optional implementation of this embodiment, the air pump system in this embodiment includes a first air pump 200A mounted on a first spring support 100A and a second air pump 200B mounted on a second spring support 100B. The first air pump 200A and the second air pump 200B are located on the same side. The first air pump 200A is connected to one end of the first inflation channel 103A, and the second air pump 200B is connected to one end of the second inflation channel 103B. By controlling the first air pump 200A to inflate the first inflation channel 103A and the second air pump 200B to inflate the second inflation channel 103B synchronously or asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be realized.

[0050] Furthermore, as an optional implementation of this embodiment, the first air pump 200A and the second air pump 200B have the same rated power. By controlling the order in which the first air pump 200A and the second air pump 200B are turned on, the first air pump 200A can simultaneously or asynchronously inflate the first inflation channel 103A, and the second air pump 200B can simultaneously inflate the second inflation channel 103B. Thus, when the first air pump 200A inflates the first inflation channel 103A and the second air pump 200B inflates the second inflation channel 103B, the deformation of the first spring support 100A and the second spring support 100B is synchronized, and the dual-pneumatic flexible robot performs straight-line peristalsis. When the first air pump 200A inflates the first inflation channel 103A and the second air pump 200B inflates the second inflation channel 103B asynchronously, the deformation of the first spring support 100A and the second spring support 100B is asynchronous, and the dual-pneumatic flexible robot performs turning peristalsis.

[0051] Furthermore, as another optional implementation of this embodiment, at least one of the first air pump 200A and the second air pump 200B has an adjustable operating power. The first air pump 200A and the second air pump 200B are turned on simultaneously. By controlling and adjusting the operating power of the first air pump 200A or the second air pump 200B, the first air pump 200A can be used to inflate the first inflation channel 103A, and the second air pump 200B can be used to inflate the second inflation channel 103B synchronously or asynchronously. In this way, the first air pump 200A to the first inflation channel 103A and the second air pump 200B to the second inflation channel 103B are turned on simultaneously with the same working power, and the deformation of the first spring support 100A and the second spring support 100B is synchronized, so the dual pneumatic flexible robot performs straight-line peristalsis. When the first air pump 200A to the first inflation channel 103A and the second air pump 200B to the second inflation channel 103B are turned on simultaneously but with different working power, the deformation of the first spring support 100A and the second spring support 100B is not synchronized, so the dual pneumatic flexible robot performs turning peristalsis.

[0052] As an optional implementation of this embodiment, the air pump system in this embodiment includes a first exhaust control valve 203A installed at the other end of the first inflation channel 103A and a second exhaust control valve 203B installed at the other end of the second inflation channel 103B; by controlling the first exhaust control valve 203A and the second exhaust control valve 203B to release air synchronously / asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be realized.

[0053] As an optional implementation method in this embodiment, see Figure 5 As shown, the air pump system in this embodiment includes a main air pump 201. The main air pump 201 is connected to one end of the first inflation channel 103A through a first air intake pipe 201A and to one end of the second inflation channel 103B through a second air intake pipe 201B. The connection positions of the first air intake pipe 201A and the first inflation channel 103A, and the connection positions of the second air intake pipe 201B and the second inflation channel 103B are located on the same side. A first air intake control valve is provided on the first air intake pipe 201A, and a second air intake control valve is provided on the second air intake pipe 201B. By controlling the first air intake control valve and the second air intake control valve to allow synchronous / asynchronous air intake, the straight-line / turning of the dual pneumatic flexible robot can be realized.

[0054] Further, see Figure 6 As shown, in this embodiment, the main air pump 201 is connected to the other end of the first inflation channel 103A via a third air intake pipe 201C, and to the other end of the second inflation channel 103B via a fourth air intake pipe 201D. The connection positions of the third air intake pipe 201C and the first inflation channel 103A, and the connection positions of the fourth air intake pipe 201D and the second inflation channel 103B, are on the same side. A third air intake control valve is provided on the third air intake pipe 201C, and a fourth air intake control valve is provided on the fourth air intake pipe 201D. The main air pump 201 is controlled to... The first air intake pipe 201A and the second air intake pipe 201B inflate one end of the first inflation channel 103A and the second inflation channel 103B, enabling the dual pneumatic flexible robot to move forward. The main air pump 201 is controlled to inflate the other end of the first inflation channel 103A and the second inflation channel 103B through the third air intake pipe 201C and the fourth air intake pipe 201D, enabling the dual pneumatic flexible robot to move backward. During the backward movement, the third air intake control valve and the fourth air intake control valve are controlled to allow for synchronous / asynchronous air intake, enabling the dual pneumatic flexible robot to move straight or turn.

[0055] Furthermore, in order to facilitate the forward and backward bidirectional movement of the dual pneumatic flexible robot, the claws (101, 102) at both ends of the bottom of the first spring support 100A in this embodiment can be driven by the first claw drive 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 in this embodiment can be driven by the second claw drive device to rotate and change the tilt direction and tilt angle. The forward and backward movement is achieved in conjunction with the inflation and deflation of the first inflation channel 103A and the second inflation channel 103B.

[0056] As should be understood by those skilled in the art, the claws 101 and 102 can also be configured as vertical claws, so that they can move forward and backward in conjunction with the inflation and deflation of the first inflation channel 103A and the second inflation channel 103B without changing the tilt angle.

[0057] Specifically, in this embodiment, the main air pump 201 is installed on the flexible connector 300, or the first spring support 100A, or the second spring support 100B.

[0058] Meanwhile, the air pump system described in this embodiment includes a first exhaust control valve 203A installed on the first inflation channel 103A and a second exhaust control valve 203B installed on the second inflation channel 103B; by controlling the first exhaust control valve 203A and the second exhaust control valve 203B to release air synchronously / asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be realized.

[0059] 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. 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.

[0060] As an optional implementation of this embodiment, in a dual-pneumatic flexible robot, one end of the flexible connector 300 is provided with a camera probe 500. Thus, the dual-pneumatic flexible robot of this embodiment captures and detects target information using the camera probes 500.

[0061] Furthermore, in this embodiment, a dual-pneumatic flexible robot includes a central processing unit (CPU). The CPU is connected to the imaging probe 500 via a communication cable. The CPU transmits the target information captured by the first and second imaging probes to a smart terminal via a wireless communication module. Thus, the smart terminal can remotely control the pneumatic flexible robot and observe its detection results via the communication module.

[0062] This embodiment of a dual-pneumatic flexible robot includes a power module electrically connected to the central processing unit.

[0063] As an optional implementation of this embodiment, in a dual-pneumatic flexible robot, the first spring support 100A and the second spring support 100B are elastic non-metallic sheets or elastic metallic sheets. Specifically, the first spring support 100A and the second spring support 100B of this embodiment can be selected as elastic metallic sheets with memory function so that their initial state remains bent upwards.

[0064] 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-pneumatic flexible robot, characterized in that, include: The first spring clip bracket has a first air channel inside, and the bottom ends of the first spring clip bracket have claws respectively. The first spring clip bracket is initially bent upwards. The second spring support is arranged in parallel with the first spring support. The second spring support is connected to the first spring support by a flexible connector. The second spring support has a second inflation channel inside. The bottom two ends of the second spring support have claws respectively. The second spring support is initially bent upwards. The air pump system is used to inflate the first and second inflation channels respectively. The first and second spring support brackets are unfolded into a straight shape. After inflation stops, the inflation channels are vented, and the first and second spring support brackets move forward through the grippers. The air pump system controls the synchronous inflation or deflation of the first and second inflation channels to enable the dual pneumatic flexible robot to move straight, and controls the asynchronous inflation or deflation of the first and second inflation channels to enable the dual pneumatic flexible robot to turn.

2. The dual-pneumatic flexible robot according to claim 1, characterized in that, The air pump system includes a first air pump mounted on a first spring support and a second air pump mounted on a second spring support. The first air pump and the second air pump are located on the same side. The first air pump is connected to one end of the first inflation channel, and the second air pump is connected to one end of the second inflation channel. By controlling the first air pump to inflate the first inflation channel and the second air pump to inflate the second inflation channel synchronously or asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be achieved.

3. The dual-pneumatic flexible robot according to claim 2, characterized in that, The first and second air pumps have the same rated power. By controlling the order in which the first and second air pumps are turned on, the first air pump can charge the first inflation channel synchronously and the second air pump can charge the second inflation channel asynchronously.

4. A dual-pneumatic flexible robot according to claim 2, characterized in that, At least one of the first and second air pumps has an adjustable operating power. The first and second air pumps are turned on simultaneously. By controlling and adjusting the operating power of the first or second air pump, the first air pump can charge the first inflation channel synchronously or asynchronously, and the second air pump can charge the second inflation channel asynchronously or asynchronously.

5. A dual-pneumatic flexible robot according to any one of claims 2-4, characterized in that, The air pump system includes a first exhaust control valve installed at the other end of the first inflation channel and a second exhaust control valve installed at the other end of the second inflation channel; By controlling the first exhaust control valve and the second exhaust control valve to release air synchronously or asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be achieved.

6. A dual-pneumatic flexible robot according to claim 1, characterized in that, The air pump system includes a main air pump, which is connected to one end of a first inflation channel via a first air inlet pipe and to one end of a second inflation channel via a second air inlet pipe. The connection points of the first air inlet pipe and the first inflation channel and the connection points of the second air inlet pipe and the second inflation channel are located on the same side. A first air inlet control valve is provided on the first air inlet pipe, and a second air inlet control valve is provided on the second air inlet pipe. By controlling the first and second air intake control valves to allow air to enter synchronously or asynchronously, the dual pneumatic flexible robot can move straight or turn.

7. A dual-pneumatic flexible robot according to claim 6, characterized in that, The main air pump is connected to the other end of the first inflation channel through the third air intake pipe and to the other end of the second inflation channel through the fourth air intake pipe. The connection positions of the third air intake pipe and the first inflation channel and the fourth air intake pipe and the second inflation channel are located on the same side. A third air intake control valve is provided on the third air intake pipe and a fourth air intake control valve is provided on the fourth air intake pipe. The main air pump is controlled to inflate one end of the first and second inflation channels through the first and second air inlet pipes, enabling the dual pneumatic flexible robot to move forward. The main air pump is controlled to inflate the other end of the first and second inflation channels through the third and fourth air inlet pipes, enabling the dual pneumatic flexible robot to move backward. During the backward movement, the third and fourth air inlet control valves are controlled to allow air to enter synchronously or asynchronously, enabling the dual pneumatic flexible robot to move straight or turn.

8. A dual-pneumatic flexible robot according to claim 6, characterized in that, The main air pump is mounted on the flexible connector, or the first spring clip bracket, or the second spring clip bracket.

9. A dual-pneumatic flexible robot according to any one of claims 6-8, characterized in that, The air pump system includes a first exhaust control valve installed on the first inflation channel and a second exhaust control valve installed on the second inflation channel; By controlling the first exhaust control valve and the second exhaust control valve to release air synchronously or asynchronously, the straight-line / turning of the dual pneumatic flexible robot can be achieved.

10. A dual-pneumatic 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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