Air bag type flexible robot

Abstract

The utility model discloses an air bag type flexible robot, which comprises a first air bag assembly, a second air bag assembly, a second air bag assembly, a third air bag assembly and a fourth air bag assembly, the second air bag assembly and the first air bag assembly are arranged in parallel, the second air bag assembly is connected with the first air bag assembly through a connecting piece, and the second air bag assembly comprises a second telescopic air bag, a second front air bag support and a second rear air bag support, the air pump assembly communicates with the first telescopic air bag and the second telescopic air bag, the first telescopic air bag is inflated with air through the air pump assembly, and the first telescopic air bag is unfolded to drive the first front air bag support or the first rear air bag support to slide and wriggle; and / or the second telescopic air bag is inflated with air through the air pump assembly, and the second telescopic air bag is unfolded to drive the second front air bag support or the second rear air bag support to slide and wriggle. The device can be better suitable for target detection in a narrow space.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically relates to a flexible robot of air bag type. BACKGROUND

[0002] Because of disaster and sudden accident, personnel is forced to be in narrow space: the more common ones are ① earthquake building collapse; ② mud flow and collapsed building; 3 narrow space caused by explosion; 4 car accident also includes the deformed car after traffic accident; 5 coal mine accident narrow space etc.. It is very difficult to operate in such space, more not to mention to implement rescue in such environment. Countless narrow space (confined space, CS) accident, its fundamental reason is in the narrow space inside or adjacent area exists dangerous or latent danger that relevant personnel fails to recognize clearly, or the narrow space itself has no major harm, but does not consider that operating in the narrow space can cause environmental change or introduce new harm related to operation. The danger of CS is very complex and realistic, and the common dangers include oxygen deficiency, oxygen enrichment, toxic pollutants, flammable pollutants, engulfment, entrapment or suffocation, machinery lacking safety devices or exposed live conductors, etc.

[0003] Due to the complex situation of the narrow space, the existing human detection method or detection device cannot effectively detect the specific situation in the narrow space. Therefore, the utility model provides a robot suitable for target detection in narrow space. UTILITY MODEL CONTENT

[0004] The utility model provides a flexible robot of air bag type, can move forward and backward, better be applicable to narrow space detection target, be used for rescue, reconnaissance etc., specifically, adopt the following technical scheme:

[0005] A flexible robot of air bag type, comprising:

[0006] A first air bag assembly comprises a first front air bag support, a first rear air bag support and a first telescopic air bag, both ends of the first telescopic air bag are installed on the first front air bag support and the first rear air bag support respectively;

[0007] A second air bag assembly is arranged parallel to the first air bag assembly, and the second air bag assembly is connected to the first air bag assembly through a connecting piece, the second air bag assembly comprises a second front air bag support, a second rear air bag support and a second telescopic air bag, both ends of the second telescopic air bag are installed on the second front air bag support and the second rear air bag support respectively;

[0008] The air pump assembly is communicated with the first telescopic air bag and the second telescopic air bag respectively, and the air pump assembly is used to fill the first telescopic air bag with air, so that the first telescopic air bag is expanded, and the first front air bag support or the first rear air bag support is driven to slide and creep; and / or the air pump assembly is used to fill the second telescopic air bag with air, so that the second telescopic air bag is expanded, and the second front air bag support or the second rear air bag support is driven to slide and creep.

[0009] As an optional embodiment of the present embodiment, the air pump assembly comprises an air pump, a first air filling and discharging pipeline and a second air filling and discharging pipeline. The air pump is communicated with the rear end of the first telescopic air bag through the first air filling and discharging pipeline, and the air pump is communicated with the rear end of the second telescopic air bag through the second air filling and discharging pipeline. The rear end of the first telescopic air bag is connected to one end of the first rear air bag support, and the rear end of the second telescopic air bag is connected to one end of the second rear air bag support.

[0010] The air pump fills the first telescopic air bag with air through the first air filling and discharging pipeline, so that the first telescopic air bag is expanded, the first rear air bag support is clamped on the support surface, and the first front air bag support slides and creeps forward. After the first telescopic air bag is completely expanded, the air pump stops filling air, the air in the first telescopic air bag is discharged through the first air filling and discharging pipeline, the first front air bag support is clamped on the support surface, and the first rear air bag support slides and creeps forward.

[0011] The air pump fills the second telescopic air bag with air through the second air filling and discharging pipeline, so that the second telescopic air bag is expanded, the second rear air bag support is clamped on the support surface, and the second front air bag support slides and creeps forward. After the second telescopic air bag is completely expanded, the air pump stops filling air, the air in the second telescopic air bag is discharged through the second air filling and discharging pipeline, the second front air bag support is clamped on the support surface, and the second rear air bag support slides and creeps forward.

[0012] As an optional embodiment of the present embodiment, a first control valve for controlling the opening and closing of the first air filling and discharging pipeline is arranged on the first air filling and discharging pipeline, and a second control valve for controlling the opening and closing of the second air filling and discharging pipeline is arranged on the second air filling and discharging pipeline.

[0013] As an optional embodiment of the present embodiment, the air pump assembly comprises a third air filling and discharging pipeline and a fourth air filling and discharging pipeline. The air pump is communicated with the front end of the first telescopic air bag through the third air filling and discharging pipeline, and the air pump is communicated with the front end of the second telescopic air bag through the fourth air filling and discharging pipeline. The front end of the first telescopic air bag is connected to one end of the first front air bag support, and the front end of the second telescopic air bag is connected to one end of the second front air bag support.

[0014] The air pump fills the first telescopic air bag with gas through the third gas charging and discharging pipeline, the first telescopic air bag is unfolded, the first front air bag support is stuck to the support surface, and the first rear air bag support slides and peristalsis backward, after the first telescopic air bag is completely unfolded, the air pump stops inflating, the gas in the first telescopic air bag is discharged through the third gas charging and discharging pipeline, the first rear air bag support is stuck to the support surface, and the first front air bag support slides and peristalsis backward.

[0015] The air pump fills the second telescopic air bag with gas through the fourth gas charging and discharging pipeline, the second telescopic air bag is unfolded, the second front air bag support is stuck to the support surface, and the second rear air bag support slides and peristalsis backward, after the second telescopic air bag is completely unfolded, the air pump stops inflating, the gas in the second telescopic air bag is discharged through the fourth gas charging and discharging pipeline, the second rear air bag support is stuck to the support surface, and the second front air bag support slides and peristalsis backward.

[0016] As an optional implementation of the embodiment, a third control valve for controlling the opening and closing of the third gas charging and discharging pipeline is arranged on the third gas charging and discharging pipeline, and a fourth control valve for controlling the opening and closing of the fourth gas charging and discharging pipeline is arranged on the fourth gas charging and discharging pipeline.

[0017] As an optional implementation of the embodiment, the air bag type flexible robot of the embodiment comprises a main controller, and the air pump, the first control valve, the second control valve, the third control valve and the fourth control valve are respectively connected with the main controller in communication.

[0018] As an optional implementation of the embodiment, a first pressure sensor is arranged in the first telescopic air bag, and a second pressure sensor is arranged in the second telescopic air bag, and the first pressure sensor and the second pressure sensor are respectively connected with the main controller in communication.

[0019] As an optional implementation of the embodiment, the connecting member is a flexible connecting body, the first front air bag support and the first rear air bag support are respectively connected with the flexible connecting body, and the second front air bag support and the second rear air bag support are respectively connected with the flexible connecting body.

[0020] As an optional implementation of the embodiment, the air pump is mounted on the flexible connecting body.

[0021] As an optional implementation of the embodiment, the first air bag assembly comprises a first elastic connecting member, and two ends of the first elastic connecting member are respectively connected with the first front air bag support and the first rear air bag support.

[0022] The second air bag assembly comprises a second elastic connecting member, and two ends of the second elastic connecting member are respectively connected with the second front air bag support and the second rear air bag support.

[0023] Compared with the prior art, the air bag type flexible robot has the advantages that:

[0024] The utility model discloses a kind of air bag type flexible robots, including first air bag assembly and second air bag assembly, by air pump assembly can be realized to the first telescopic air bag of first air bag assembly and / or the second telescopic air bag of second air bag assembly carries out inflation and deflation, first telescopic air bag / second telescopic air bag telescopic movement, realize the slippage peristalsis of air bag type flexible robot.

[0025] Specifically, the air pump assembly of the utility model inflates and deflates to the same side of first telescopic air bag and second telescopic air bag, can realize the slippage peristalsis of air bag type flexible robot towards one direction, but by air pump assembly control to the asynchronous inflation of first telescopic air bag and second telescopic air bag, in this way, first telescopic air bag and second telescopic air bag are not synchronous telescopic movement, can realize the steering of air bag type flexible robot.

[0026] And / or, the air pump assembly of the utility model inflates and deflates to the two sides of first telescopic air bag and second telescopic air bag respectively, by air pump assembly control to the inflation and deflation of first telescopic air bag or second telescopic air bag, first telescopic air bag or second telescopic air bag telescopic movement, can realize the advance or retreat of air bag type flexible robot.

[0027] Therefore, the utility model provides a kind of air bag type flexible robot, can carry out advance, retreat and steering in the process of advance, retreat and so on Multiple moving mode, better be applicable to narrow space detection target, for rescue, reconnaissance and other specific scene. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 The utility model embodiment a kind of air bag type flexible robot's plan view;

[0029] Fig. 2 The utility model embodiment a kind of air bag type flexible robot's front view;

[0030] Fig. 3 The utility model embodiment a kind of air bag type flexible robot's front view (towards forward stretch movement state). DETAILED DESCRIPTION

[0031] To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below, to the technical scheme in the utility model embodiment, clear, complete description is carried out with the drawings. Obviously, the described embodiment is the part of embodiment of the utility model, not all embodiments.

[0032] Therefore, the following detailed description of embodiments of the present application is not intended to limit the scope of the present application as claimed, but merely represents some embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0033] It should be noted that the embodiments in the present application and the features and technical solutions in the embodiments can be combined with each other without conflict.

[0034] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0035] In the description of the present application, it should be noted that the orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship commonly used when the product of the present application is used, or the orientation or position relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only used for differentiation and cannot be understood as indicating or implying relative importance.

[0036] Referring to Figs. 1-3 The air bag type flexible robot of the embodiment comprises:

[0037] The first air bag assembly comprises a first front air bag support 102, a first rear air bag support 103 and a first telescopic air bag 101, both ends of the first telescopic air bag 101 are respectively installed on the first front air bag support 102 and the first rear air bag support 103;

[0038] The second air bag assembly is arranged side by side with the first air bag assembly, and the second air bag assembly is connected with the first air bag assembly through a connecting piece 300. The second air bag assembly comprises a second front air bag support 202, a second rear air bag support 203 and a second telescopic air bag 201, both ends of the second telescopic air bag 201 are respectively installed on the second front air bag support 202 and the second rear air bag support 203;

[0039] The air pump assembly is communicated with the first telescopic air bag 101 and the second telescopic air bag 201 respectively, and the air pump assembly is used for inflating the first telescopic air bag 101 and the second telescopic air bag 201, so that the first telescopic air bag 101 and the second telescopic air bag 201 are expanded, and the first front air bag support 102 or the first rear air bag support 103 is driven to slide and creep; and / or the air pump assembly is used for inflating the second telescopic air bag 201, so that the second telescopic air bag 201 is expanded, and the second front air bag support 202 or the second rear air bag support 203 is driven to slide and creep.

[0040] The air bag type flexible robot of the embodiment comprises a first air bag assembly and a second air bag assembly, and the air pump assembly is used for inflating and deflating the first telescopic air bag 101 of the first air bag assembly and / or the second telescopic air bag 201 of the second air bag assembly, so that the first telescopic air bag 101 / second telescopic air bag 201 is expanded and contracted, and the air bag type flexible robot is driven to slide and creep.

[0041] Specifically, the air pump assembly of the embodiment is used for inflating and deflating the same side of the first telescopic air bag 101 and the second telescopic air bag 201, so that the air bag type flexible robot is driven to slide and creep in one direction, but the air pump assembly is used for controlling the asynchronous inflation of the first telescopic air bag 101 and the second telescopic air bag 201, so that the first telescopic air bag 101 and the second telescopic air bag 201 are expanded and contracted asynchronously, and the air bag type flexible robot is driven to turn.

[0042] Furthermore, the air pump assembly of the embodiment is used for inflating and deflating the two sides of the first telescopic air bag 101 and the second telescopic air bag 201 respectively, and the air pump assembly is used for controlling the inflation and deflation of the first telescopic air bag 101 or the second telescopic air bag 201, so that the first telescopic air bag 101 or the second telescopic air bag 201 is expanded and contracted, and the air bag type flexible robot is driven to move forward or backward. As an optional embodiment of the embodiment, the air pump assembly of the embodiment comprises an air pump 401, a first inflation and deflation pipeline 402 and a second inflation and deflation pipeline 404, the air pump 401 is communicated with the rear end of the first telescopic air bag 101 through the first inflation and deflation pipeline 402, the air pump 401 is communicated with the rear end of the second telescopic air bag 201 through the second inflation and deflation pipeline 404, the rear end of the first telescopic air bag 101 is connected with the first rear air bag support 103, and the rear end of the second telescopic air bag 201 is connected with the second rear air bag support 203. Therefore, the air pump 401 of the embodiment is communicated with the same side of the first telescopic air bag 101 and the second telescopic air bag 201 through the first inflation and deflation pipeline 402 and the second inflation and deflation pipeline 404, and is used for inflating and deflating.

[0043] Based on the above communication mode between the air pump 401 and the first and second telescopic air bags 101 and 201, the air pump 401 of the embodiment fills the first telescopic air bag 101 with gas through the first gas charging and discharging pipeline 402, the first telescopic air bag 101 expands, the first rear air bag support 103 clamps the support surface, the first front air bag support 102 slides forward and peristalsis, and after the first telescopic air bag 101 completely expands, the air pump 401 stops inflating, the gas in the first telescopic air bag 101 is discharged through the first gas charging and discharging pipeline 402, the first front air bag support 102 clamps the support surface, and the first rear air bag support 103 slides forward and peristalsis.

[0044] The air pump 401 of the embodiment fills the second telescopic air bag 201 with gas through the second gas charging and discharging pipeline 404, the second telescopic air bag 201 expands, the second rear air bag support 203 clamps the support surface, the second front air bag support 202 slides forward and peristalsis, and after the second telescopic air bag 201 completely expands, the air pump 401 stops inflating, the gas in the second telescopic air bag 201 is discharged through the second gas charging and discharging pipeline 404, the second front air bag support 202 clamps the support surface, and the second rear air bag support 203 slides forward and peristalsis.

[0045] Further, the first control valve 403 is arranged on the first gas charging and discharging pipeline 402 to control the opening and closing thereof, and the second control valve 405 is arranged on the second gas charging and discharging pipeline 404 to control the opening and closing thereof. By controlling the opening and closing of the first control valve 403 and the second control valve 405, the air pump 401 inflates the first telescopic air bag 101 or the second telescopic air bag 201, and by controlling the opening and closing of the first control valve 403 and the second control valve 405 in sequence, the first telescopic air bag 101 and the second telescopic air bag 201 are inflated asynchronously, and the turning of the air bag type flexible robot during forward sliding and peristalsis is realized.

[0046] As an optional embodiment of the embodiment, the air pump assembly of the embodiment includes a third gas charging and discharging pipeline 406 and a fourth gas charging and discharging pipeline 408, the air pump 401 communicates with the front end of the first telescopic air bag 101 through the third gas charging and discharging pipeline 406, and the air pump 401 communicates with the front end of the second telescopic air bag 201 through the fourth gas charging and discharging pipeline 408, the front end of the first telescopic air bag 101 is the end connected with the first front air bag support 102, and the front end of the second telescopic air bag 201 is the end connected with the second front air bag support 202.

[0047] The air pump 401 fills the first telescopic air bag 101 with gas through the third gas charging and discharging pipeline 406, the first telescopic air bag 101 expands, the first front air bag support 102 clamps the support surface, the first rear air bag support 103 slides and peristalsis backward, and after the first telescopic air bag 101 completely expands, the air pump 401 stops charging, the gas in the first telescopic air bag 101 is discharged through the third gas charging and discharging pipeline 406, the first rear air bag support 103 clamps the support surface, and the first front air bag support 102 slides and peristalsis backward.

[0048] The air pump 401 fills the second telescopic air bag 201 with gas through the fourth gas charging and discharging pipeline 408, the second telescopic air bag 201 expands, the second front air bag support 202 clamps the support surface, the second rear air bag support 203 slides and peristalsis backward, and after the second telescopic air bag 201 completely expands, the air pump 401 stops charging, the gas in the second telescopic air bag 201 is discharged through the fourth gas charging and discharging pipeline 408, the second rear air bag support 203 clamps the support surface, and the second front air bag support 202 slides and peristalsis backward.

[0049] Further, the third control valve 407 is arranged on the third gas charging and discharging pipeline 406 to control the opening and closing thereof, and the fourth control valve 409 is arranged on the fourth gas charging and discharging pipeline 408 to control the opening and closing thereof. In this embodiment, by controlling the opening and closing of the third control valve 407 and the fourth control valve 409, the air pump 401 can charge the first telescopic air bag 101 or the second telescopic air bag 201, and by controlling the opening and closing of the third control valve 407 and the fourth control valve 409 in sequence, the first telescopic air bag 101 and the second telescopic air bag 201 can be charged asynchronously to realize the turning of the air bag type flexible robot during the backward sliding and peristalsis process.

[0050] Therefore, by controlling the opening and closing of the first control valve 403, the second control valve 405, the third control valve 407 and the fourth control valve 409, the air bag type flexible robot can realize the forward and backward sliding and peristalsis, and the turning during the forward and backward sliding and peristalsis process.

[0051] Further, in order to realize the charging control of the air pump 401 and the first telescopic air bag 101 and the second telescopic air bag 201, the air bag type flexible robot of this embodiment comprises a main controller (not shown), and the air pump 401, the first control valve 403, the second control valve 405, the third control valve 407 and the fourth control valve 409 are respectively connected in communication with the main controller.

[0052] As an optional implementation of the embodiment, the first telescopic air bag 101 is provided with a first pressure sensor (not shown), and the second telescopic air bag 201 is provided with a second pressure sensor (not shown), and the first pressure sensor and the second pressure sensor are respectively in communication connection with the main controller. The main controller of the embodiment monitors the gas pressure inside the first telescopic air bag 101 and the second telescopic air bag 201 through the first pressure sensor and the second pressure sensor, so as to determine whether the inflation and deflation is completed.

[0053] As an optional implementation of the embodiment, the connecting member 300 is a flexible connecting body, the first front air bag support 102 and the first rear air bag support 103 are respectively connected with the flexible connecting body, and the second front air bag support 202 and the second rear air bag support 203 are respectively connected with the flexible connecting body. In this way, when the first telescopic air bag 101 and the second telescopic air bag 201 are inflated asynchronously, the flexible connecting body can adaptively deform to realize steering in the sliding and creeping process of the air bag type flexible robot.

[0054] Specifically, the first front air bag support 102, the first rear air bag support 103, the second front air bag support 202 and the second rear air bag support 203 of the embodiment are respectively connected with the flexible connecting body through the elastic connecting member 500.

[0055] Further, the air pump 401 of the embodiment is installed on the flexible connecting body.

[0056] As an optional implementation of the embodiment, the first air bag assembly includes a first elastic connecting member 701, and two ends of the first elastic connecting member 700 are respectively connected with the first front air bag support 102 and the first rear air bag support 103.

[0057] The second air bag assembly includes a second elastic connecting member 702, and two ends of the second elastic connecting member 702 are respectively connected with the second front air bag support 202 and the second rear air bag support 203.

[0058] When the first telescopic air bag 101 and the second telescopic air bag 201 themselves do not have the elastic recovery characteristic, the first elastic connecting member 701 and the second elastic connecting member 702 can realize the recovery of the retracted state. When the first telescopic air bag 101 and the second telescopic air bag 201 are inflated and stretched to be unfolded, the first elastic connecting member 701 and the second elastic connecting member 702 are stretched and deformed and have elastic force. When the first telescopic air bag 101 and the second telescopic air bag 201 are deflated, the first elastic connecting member 701 and the second elastic connecting member 702 recover the deformation under the action of the elastic force, and pull the first telescopic air bag 101 and the second telescopic air bag 201 to recover the retracted state.

[0059] In addition, it needs to be explained that if the first telescopic air bag 101 and the second telescopic air bag 201 have elastic recovery ability, the first elastic connecting piece 701 and the second elastic connecting piece 702 do not need to be additionally arranged.

[0060] As an optional implementation of the embodiment, the air bag type flexible robot of the embodiment comprises a detection camera 600, which can be arranged on the first front air bag support 102, the second front air bag support 202, the first rear air bag support 103, the second rear air bag support 203, and / or the connecting piece 300.

[0061] As an optional implementation of the embodiment, the air bag type flexible robot of the embodiment, the bottom of the first front air bag support 102 and the first rear air bag support 103 is respectively arranged with a claw 900, and the bottom of the second front air bag support 202 and the second rear air bag support 203 is respectively arranged with a claw 900, wherein the claw 900 is a vertical claw, and the claw tip of the free end of the claw can be better clamped on the support surface to slide and creep.

[0062] As an optional implementation of the embodiment, the claw 900 arranged at the bottom of the first front air bag support 102 and the first rear air bag support 103 of the embodiment can be driven to rotate by the first claw driving device to change the tilting direction and the tilting angle, and the claw 900 arranged at the bottom of the second front air bag support 202 and the second rear air bag support 203 can be driven to rotate by the second claw driving device to change the tilting direction and the tilting angle, so as to realize the forward and backward sliding and creeping of the air bag type flexible robot in cooperation with the first telescopic air bag 101 and the second telescopic air bag 201. The detection camera 600 of the embodiment can realize real-time collection of environmental images, and the detection camera 600 is in communication connection with the main controller, and the main controller can send the real-time collected environmental images to the intelligent control terminal through the communication module, so as to facilitate remote observation and control of the staff.

[0063] As an optional implementation of the embodiment, the air bag type flexible robot of the embodiment comprises a power module in electrical connection with the main controller.

[0064] The above embodiments are only used to illustrate the technical solutions described in the utility model and do not limit the technical solutions described in the utility model. Although the utility model has been described in detail with reference to the above embodiments, the utility model is not limited to the above specific embodiments, and any modification or equivalent replacement of the utility model is included in the scope of the claims of the utility model. Any technical solution and improvement within the spirit and scope of the utility model is included in the scope of the claims of the utility model.

Claims

1. A flexible, airbag-type robot, characterized in that, include: The first airbag assembly includes a first front airbag support, a first rear airbag support, and a first telescopic airbag, with the two ends of the first telescopic airbag respectively mounted on the first front airbag support and the first rear airbag support. The second airbag assembly is arranged in parallel with the first airbag assembly. The second airbag assembly is connected to the first airbag assembly via a connector. The second airbag assembly includes a second front airbag support, a second rear airbag support, and a second telescopic airbag. The two ends of the second telescopic airbag are respectively installed on the second front airbag support and the second rear airbag support. An air pump assembly is connected to a first telescopic airbag and a second telescopic airbag respectively. The air pump assembly inflates the first telescopic airbag, causing it to deploy and drive the first front airbag support or the first rear airbag support to slide and peristalse; and / or the air pump assembly inflates the second telescopic airbag, causing it to deploy and drive the second front airbag support or the second rear airbag support to slide and peristalse.

2. The airbag-type flexible robot according to claim 1, characterized in that, The air pump assembly includes an air pump, a first inflation / deflation line, and a second inflation / deflation line. The air pump is connected to the rear end of the first telescopic airbag through the first inflation / deflation line, and the air pump is connected to the rear end of the second telescopic airbag through the second inflation / deflation line. The rear end of the first telescopic airbag is connected to the support of the first rear airbag, and the rear end of the second telescopic airbag is connected to the support of the second rear airbag. The air pump inflates the first telescopic airbag through the first inflation / deflation pipeline. The first telescopic airbag unfolds, the first rear airbag supports and locks onto the support surface, and the first front airbag supports slide and wiggle forward. After the first telescopic airbag is fully unfolded, the air pump stops inflating, and the gas inside the first telescopic airbag is released through the first inflation / deflation pipeline. The first front airbag supports and lock onto the support surface, and the first rear airbag supports slide and wiggle forward. The air pump inflates the second telescopic airbag through the second inflation / deflation pipeline. The second telescopic airbag unfolds, the second rear airbag supports and locks onto the support surface, and the second front airbag supports slide and wiggle forward. After the second telescopic airbag is fully unfolded, the air pump stops inflating, and the gas inside the second telescopic airbag is released through the second inflation / deflation pipeline. The second front airbag supports and lock onto the support surface, and the second rear airbag supports slide and wiggle forward.

3. The airbag-type flexible robot according to claim 2, characterized in that, A first control valve is provided on the first inflation / deflation pipeline to control its on / off state, and a second control valve is provided on the second inflation / deflation pipeline to control its on / off state.

4. The airbag-type flexible robot according to claim 3, characterized in that, The air pump assembly includes a third inflation / deflation line and a fourth inflation / deflation line. The air pump is connected to the front end of the first telescopic airbag through the third inflation / deflation line, and the air pump is connected to the front end of the second telescopic airbag through the fourth inflation / deflation line. The front end of the first telescopic airbag is connected to the support of the first front airbag, and the front end of the second telescopic airbag is connected to the support of the second front airbag. The air pump inflates the first telescopic airbag through the third inflation / deflation pipeline. The first telescopic airbag unfolds, the first front airbag supports and locks onto the support surface, and the first rear airbag supports slide and wiggle backward. After the first telescopic airbag is fully unfolded, the air pump stops inflating, and the gas inside the first telescopic airbag is released through the third inflation / deflation pipeline. The first rear airbag supports and lock onto the support surface, and the first front airbag supports slide and wiggle backward. The air pump inflates the second telescopic airbag through the fourth inflation / deflation pipe. The second telescopic airbag unfolds, the second front airbag supports and locks onto the support surface, and the second rear airbag supports slide and wiggle backward. After the second telescopic airbag is fully unfolded, the air pump stops inflating, and the gas inside the second telescopic airbag is released through the fourth inflation / deflation pipe. The second rear airbag supports and lock onto the support surface, and the second front airbag supports slide and wiggle backward.

5. The airbag-type flexible robot according to claim 4, characterized in that, A third control valve is installed on the third inflation / deflation pipeline to control its on / off state, and a fourth control valve is installed on the fourth inflation / deflation pipeline to control its on / off state.

6. The airbag-type flexible robot according to claim 5, characterized in that, It includes a main controller, and the air pump, the first control valve, the second control valve, the third control valve, and the fourth control valve are respectively connected to the main controller for communication.

7. A flexible airbag robot according to claim 6, characterized in that, A first pressure sensor is installed inside the first telescopic airbag, and a second pressure sensor is installed inside the second telescopic airbag. The first pressure sensor and the second pressure sensor are respectively connected to the main controller.

8. The airbag-type flexible robot according to claim 2, characterized in that, The connector is a flexible connector. The first front airbag support and the first rear airbag support are respectively connected to the flexible connector, and the second front airbag support and the second rear airbag support are respectively connected to the flexible connector.

9. A flexible airbag robot according to claim 8, characterized in that, The air pump is mounted on the flexible connector.

10. A flexible airbag robot according to claim 1, characterized in that, The first airbag assembly includes a first elastic connector, and the two ends of the first elastic connector are respectively connected to a first front airbag support and a first rear airbag support; The second airbag assembly includes a second elastic connector, with its two ends connected to a second front airbag support and a second rear airbag support, respectively.

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