An integrated torsion soft robot module

Abstract

The present invention provides an integral torsion soft robot module, comprising a soft torsion structure, wherein the soft torsion structure comprises an elastic torsion body; a top connecting plate, arranged at one end of the soft torsion structure; a bottom connecting plate, arranged at the other end of the soft torsion structure; and a driving cavity formed by the bottom connecting plate, the top connecting plate and the elastic torsion body; wherein the elastic torsion body is a hollow tubular structure, and the inner and outer wall surfaces of the elastic torsion body are respectively formed with a multi-line internal thread groove and a multi-line external thread groove. The integral torsion soft robot module of the present invention has the characteristics of simple structure, integral molding, easy processing and manufacturing, large output torque and high action execution efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an integral torsion soft robot module. Background Art

[0002] In recent years, with the emergence of new materials and the improvement of processing and manufacturing technology, a wave of soft robot research has been set off worldwide. Soft robots are a new idea in robot research. Inspired by nature, researchers have begun to explore the design and control of soft robots composed of flexible materials. Modularity has proven its practicality in soft robots, which can simplify control and increase system redundancy. For robot application fields with quality requirements and complex environments, such as deep-sea fields and rehabilitation robots, soft pneumatic torsion joints can replace traditional mechanical torsion joints to a certain extent. Soft actuation modules can achieve complex movements through relatively simple control, which has advantages over traditional electromechanical systems. Soft actuation modules are also practical because they are compatible with air pressure and hydraulic pressure generated by various fluids and gases, and have been proven to be a rugged and durable solution for harsh environments.

[0003] Traditional fiber-reinforced soft actuators can achieve various movements such as bending, twisting, expansion, stretching and contraction by changing the fiber arrangement. However, the traditional manufacturing method is complicated, cannot be integrally formed, requires fine fiber binding processing, and has the problem of small torsional torque. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an integral torsion soft robot module to solve the problems of the torsion module of the existing soft robot being complicated to manufacture, unable to be integrally formed, and having small torsion torque.

[0005] To achieve the above objectives and other related objectives, the present invention provides an integrated torsion soft robot module, the integrated torsion soft robot module comprising:

[0006] A soft torsion structure, wherein the soft torsion structure comprises an elastic torsion body;

[0007] A top connecting plate, arranged at one end of the soft torsion structure;

[0008] A bottom connecting plate, disposed at the other end of the soft torsion structure; and

[0009] A driving cavity formed by the bottom connecting plate, the top connecting plate and the elastic torsion body;

[0010] The elastic torsion body is a hollow tubular structure, and the inner and outer wall surfaces of the elastic torsion body are respectively formed with multi-line internal thread grooves and multi-line external thread grooves.

[0011] In an optional embodiment, the multi-line external thread groove includes at least two external thread grooves that are evenly arranged on the circumferential direction of the outer wall surface of the elastic torsion body with the central axis of the integral torsion soft robot module as the axis; the multi-line internal thread groove includes at least two internal thread grooves that are evenly arranged on the circumferential direction of the inner wall surface of the elastic torsion body with the central axis of the integral torsion soft robot module as the axis; one of the internal thread grooves is located between two adjacent external thread grooves.

[0012] In an optional embodiment, the external thread groove forms a first preset rotation angle with the radial plane of the soft torsion structure, and the internal thread groove forms a second preset rotation angle with the radial plane of the soft torsion structure; the first preset rotation angle and the second preset rotation angle are consistent.

[0013] In an optional embodiment, the first preset rotation angle and the second preset rotation angle are greater than 0 and less than 90°.

[0014] In an optional embodiment, the first preset rotation angle and the second preset rotation angle are greater than or equal to 15° and less than or equal to 45°.

[0015] In an optional embodiment, the tooth profile of the multi-line external thread on the outer wall surface of the elastic torsion body includes triangular, trapezoidal, rectangular, serrated or circular arc threads; the tooth profile of the multi-line internal thread on the inner wall surface of the elastic torsion body includes triangular, trapezoidal, rectangular, serrated or circular arc threads.

[0016] In an optional embodiment, on an axial cross section of the elastic torsion body, the tube wall of the elastic torsion body has a "bow"-shaped structure, and the tube wall of the "bow"-shaped structure has the same thickness at all locations.

[0017] In an optional embodiment, the top connecting plate and the soft torsion structure are integrally formed, or the top connecting plate and the soft torsion structure are separately formed and then connected and fixed together.

[0018] In an optional embodiment, the integral torsion soft robot module further includes a central limiting column disposed at the center of the elastic torsion body, and both ends of the central limiting column are respectively connected to the bottom connecting plate and the top connecting plate.

[0019] In an optional embodiment, the integral torsion soft robot module further includes a central through hole that sequentially passes through the bottom connecting plate, the central limiting column, and the top connecting plate.

[0020] In an optional embodiment, the integral torsion soft robot module further includes a plurality of external air pipes, and the plurality of external air pipes are connected to the driving cavity.

[0021] In an optional embodiment, a plurality of air pipe connectors are evenly arranged in the circumferential direction of the surface of the bottom connecting plate away from the soft torsion structure, and each of the external air pipes is connected to the driving cavity via an air pipe connector.

[0022] In an optional embodiment, the material of the soft torsion structure includes an elastic material; the material of the top connecting plate and the bottom connecting plate includes an elastic material or a non-elastic material.

[0023] The integral torsion soft robot module of the present invention is an elastic structure, does not contain rigid elements, has a simple structure, can be integrally formed, is easy to process and manufacture, and has a large output torque and a high action execution efficiency.

[0024] The integral torsion soft robot module of the present invention can be integrally formed to ensure the stability of the robot's joint motion.

[0025] The present invention adopts a soft torsion structure with a "bow"-shaped axial cross-section. The torsion angle and torque can be controlled by controlling the pressure in the driving cavity of the soft torsion structure, and different torsion effects can be achieved by adopting thread structures with different characteristic parameters.

[0026] The integrated torsion soft robot module of the present invention is capable of realizing torsion movement of the soft robot module, and can be further operated together with other functional components (such as bending and extension modules) to realize a variety of complex movements.

[0027] Compared with a super-redundant manipulator including a plurality of bending modules connected in series to increase the degree of freedom, the integrated torsional soft robot module of the present invention can more conveniently perform torsional operations in a smaller space and is easier to control.

[0028] The integrated torsion soft robot module of the present invention has a wide range of applications and can be used in fields with complex environments, such as the deep sea field, the rehabilitation robot field, the minimally invasive surgery field, the rehabilitation medical equipment field, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Shown is a three-dimensional structural schematic diagram of the integrated torsion soft robot module of the present invention.

[0030] Figure 2 Shown is a front view of the integrated torsion soft robot module of the present invention.

[0031] Figure 3Display as Figure 2 Middle AA section view.

[0032] Figure 4 Shown is a cross-sectional view of the bottom connecting plate of the integral torsion soft robot module of the present invention. DETAILED DESCRIPTION

[0033] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] See also Figure 1-4 , Figure 1 The three-dimensional structure diagram of the integrated torsion soft robot module of the present invention is shown. Figure 2 The front view of the integrated torsion soft robot module of the present invention is shown. Figure 3 Shows Figure 2 Middle AA section view, Figure 4 The cross-sectional view of the bottom connecting plate 3 of the integrated torsion soft robot module of the present invention is shown. Figure 1-4The integral torsion soft robot module of the present invention includes a soft torsion structure 2, a top connecting plate 1 and a bottom connecting plate 3 respectively arranged at both ends of the soft torsion structure 2, and an air pipe connector 32; the soft torsion structure 2 includes a central limiting column 22 and an elastic torsion body 21 arranged around the periphery of the central limiting column 22, the bottom connecting plate 3, the top connecting plate 1, the central limiting column 22 and the elastic torsion body 21 together surround and form a closed driving cavity 23; the air pipe connector 32 is arranged on the surface of the bottom connecting plate 3 away from the soft torsion structure 2, and the air pipe connector 32 is connected to the driving cavity 23, and the air pipe connector 32 can be used to fill or extract fluid into or out of the driving cavity 23 to drive the integral torsion soft robot module to work.

[0037] See also Figure 1-3 In the present invention, the soft torsion structure 2 includes a central limiting column 22 and an elastic torsion body 21 arranged around the periphery of the central limiting column 22. An annular gap is reserved between the inner wall of the elastic torsion body 21 and the outer wall of the central limiting column 22, so that the bottom connecting plate 3, the top connecting plate 1, the central limiting column 22 and the elastic torsion body 21 together surround a closed driving cavity 23, and the driving cavity 23 can be driven by filling with gas or liquid, or by filling with other fluids that can achieve actuation deformation. The elastic torsion body 21 is a hollow tubular structure, and the inner and outer wall surfaces of the elastic torsion body 21 are respectively formed with multi-line internal thread grooves and multi-line external thread grooves. In other words, the inner and outer wall surfaces of the elastic torsion body 21 are respectively formed with multi-line internal threads and multi-line external threads. The tooth profile of the multi-line external thread on the outer wall surface 21a of the elastic torsion body 21 includes triangular, trapezoidal, rectangular, serrated or circular arc threads; the tooth profile of the multi-line internal thread on the inner wall surface 21b of the elastic torsion body 21 includes triangular, trapezoidal, rectangular, serrated or circular arc threads.

[0038] See also Figure 1-3In the present invention, the multi-line external thread groove includes at least two external thread grooves 211 which are evenly arranged on the circumferential direction of the outer wall surface 21a of the elastic torsion body 21 with the center limiting column 22 as the axis; the multi-line internal thread groove includes at least two internal thread grooves 212 which are evenly arranged on the circumferential direction of the inner wall surface 21b of the elastic torsion body 21 with the center limiting column 22 as the axis; one of the internal thread grooves 212 is located between two adjacent external thread grooves 211. In other words, the internal thread grooves 212 and the external thread grooves 211 are arranged at intervals along the axial direction of the integral torsion soft robot module, so that on the axial section of the elastic torsion body 21, the tube wall of the elastic torsion body 21 has a "bow"-shaped structure, and the tube wall of the "bow"-shaped structure has the same thickness everywhere. By setting the characteristic parameters of the rotating thread structure, a torsion in the range of 0-180° can be achieved, and a larger torque can be achieved. It should be noted that the use of multi-line internal thread grooves and multi-line external thread grooves can avoid the problem of the torsion axis deviating from the axis of the integral torsion soft robot module when loading torsion when using single-line internal thread grooves and single-line external thread grooves. This may cause the elastic torsion body 21 to bend or fluctuate, affecting the performance of the integral torsion soft robot module.

[0039] See also Figure 1-3 In the present invention, the external thread groove 211 is at a first preset rotation angle with the radial plane of the soft torsion structure 2, and the internal thread groove 212 is at a second preset rotation angle with the radial plane of the soft torsion structure 2; the first preset rotation angle is consistent with the second preset rotation angle (the angle values ​​are equal and the directions are the same), and the first preset rotation angle / the second preset rotation angle is greater than 0 and less than 90°. As an example, the first preset rotation angle / the second preset rotation angle may be greater than or equal to 15° and less than or equal to 45°, such as 15°, 20°, 25°, 30°, 35°, 40°, 45°, etc. It should be noted that the preset rotation angle can be defined as the angle between the thread line of the external thread groove 211 or the internal thread groove 212 and the radial plane of the soft torsion structure 2 after the elastic torsion body 21 is unfolded along the circumferential surface and the thread line of the external thread groove 211 or the internal thread groove 212 is straight.

[0040] It should be noted that the number of the internal thread grooves 212 included in the multi-thread internal thread groove can be flexibly adjusted according to actual needs. For example, in order to achieve a larger torsion angle, under the same loading conditions, with a larger torque, and to drive a larger load to work, the number of internal thread grooves 212 included in the multi-line internal thread groove is positively correlated with the inner diameter of the elastic torsion body 21. The larger the inner diameter of the elastic torsion body 21, the more internal thread grooves 212 the multi-line internal thread groove includes. This is because the larger the inner diameter of the elastic torsion body 21, the longer its circumference. Under the same thread size, the inner wall of the elastic torsion body 21 can accommodate more internal thread grooves 212, thereby better realizing the torsion action; similarly, the number of external thread grooves 211 included in the multi-line external thread groove is positively correlated with the outer diameter of the elastic torsion body 21. The larger the outer diameter of the elastic torsion body 21, the more external thread grooves 211 the multi-line external thread groove includes. This is because the larger the outer diameter of the elastic torsion body 21, the longer its circumference. Under the same thread size, the inner wall of the elastic torsion body 21 can accommodate more internal thread grooves 212, thereby better realizing the torsion action.

[0041] In the present invention, please refer to Figure 1-3 , the central limiting column 22 of the soft torsion structure 2 can be, for example, a hollow cylinder with a first central through hole 221 at the center. When the elastic torsion body 21 is twisted, the central limiting column 22 can prevent the elastic torsion body 21 from stretching or contracting along its axial direction during the torsion process, and can play a role in strengthening the module rigidity and overload protection; the first central through hole 221 and the second central through hole 11 and the third central through hole 221 to be introduced later can be used to place connecting air pipes and other communication equipment when connected in series with other modules. It can be understood that, in an optional embodiment, the central limiting column 22 of the soft torsion structure 2 may not be provided with a central through hole, that is, the central limiting column 22 may adopt a solid cylindrical structure. It should be noted that, in some embodiments, the integral torsion soft robot module may not be provided with the central limiting column 22.

[0042] In the present invention, please refer to Figure 1-3 The top connecting plate 1 can be, for example, a circular plate with a second central through hole 11 at the center; the top connecting plate 1 and the soft torsion structure 2 can be, for example, integrally formed, or the top connecting plate 1 and the soft torsion structure 2 can also be formed separately and then fixedly connected together by gluing, binding, or the like.

[0043] In the present invention, please refer to Figure 1-4The bottom connecting plate 3 is coaxially arranged at the end of the soft torsion structure 2 away from the top connecting plate 1. The bottom connecting plate 3 can be, for example, pasted or clamped at the end of the soft torsion structure 2 away from the top connecting plate 1. The bottom connecting plate 3 can be, for example, a disc-shaped plate with a third center through hole 221 arranged at the center position; in order to achieve the cooperation between the bottom connecting plate 3 and the soft torsion structure 2, an annular protrusion 34 that cooperates with the end of the driving cavity 23 and a center protrusion 33 that cooperates with the end of the first center through hole 221 are respectively arranged on the surface of the bottom connecting plate 3 close to the soft torsion structure 2; when the bottom connecting plate 3 is pasted or clamped at the end of the soft torsion structure 2, the annular protrusion 34 and the center protrusion 33 are respectively inserted into the end of the driving cavity 23 and the end of the first center through hole 221, thereby increasing the contact area and improving the connection strength between the bottom connecting plate 3 and the soft torsion structure 2. The third central through hole 221 is interconnected with the first central through hole 221 and the second central through hole 11 to form a central through hole that sequentially penetrates the bottom connecting plate 3, the central limiting column 22 and the top connecting plate 1.

[0044] In the present invention, please refer to Figure 1-4 , at least one (of course, it can also be, for example, 1, 2, 3, 4, 5...) air pipe connector 32 connected to the driving cavity 23 is arranged on the surface of the bottom connecting plate 3 away from the soft torsion structure 2; the integral torsion soft robot module also includes at least one external air pipe 4, each of the external air pipes 4 is connected to the driving cavity through an air pipe connector 32, one end of the external air pipe 4 is connected to the air pipe connector 32, and the other end of the external air pipe 4 is connected to an external device, and a fluid (including gas, liquid or other fluid capable of actuating deformation) can be filled into or drawn out of the driving cavity 23 through the external air pipe 4 and the air pipe connector 32. As an example, the air pipe connector 32 may include, for example, a plurality of ( Figure 1-4 The figure shows a case where four of them are included), and the plurality of air pipe connectors 32 are evenly arranged along the circumferential direction of the surface of the bottom connecting plate 3 away from the soft torsion structure 2, so that the fluid can be evenly filled into or extracted from the driving cavity 23 at the same time through the plurality of external air pipes 4, thereby improving the torsion control accuracy of the integral torsion soft robot module.

[0045] In the present invention, the material of the soft torsion structure 2 includes elastic material, so that it is easier to torsion under loading; the material of the top connecting plate 1 and the bottom connecting plate 3 includes elastic material or non-elastic material.

[0046] The integrated torsion soft robot module of the present invention adopts a pressure-driven soft torsion structure 2, which can realize torsion deformation movement at different angles without additional transmission elements, and realizes torsion by utilizing the strain difference between the multi-line internal thread groove at the inner wall surface 21b of the elastic torsion body 21 under the pressurized state and the multi-line external thread groove at the outer surface. Specifically, when the soft torsion structure 2 expands, its elastic torsion body 21 extends in a direction perpendicular to the distribution of the multi-line internal thread groove, and the multi-line internal thread groove on the inner wall surface 21b of the elastic torsion body 21 will expand outward, thereby forming a strain difference with the groove corresponding to the multi-line external thread groove on the outer wall surface 21a of the elastic torsion body 21, so that the torsion movement can be deflected according to the arrangement of the multi-line internal thread groove, and different torsion angles can be achieved by configuring different numbers of threads and the pressure in the driving cavity 23.

[0047] The integral torsion soft robot module of the present invention is an elastic structure, does not contain rigid elements, has a simple structure, can be integrally formed, is easy to process and manufacture, and has a large output torque and a high action execution efficiency; the present invention adopts a soft torsion structure with a "bow"-shaped axial cross-section, and its torsion angle and torque can be controlled by controlling the pressure in the driving cavity of the soft torsion structure, and different torsion effects can be achieved by adopting thread structures with different characteristic parameters; the integral torsion soft robot module of the present invention can realize the torsion movement of the soft robot module, and can be further operated with other functional components (such as bending and elongation modules) to realize a variety of complex movements; compared with a super-redundant manipulator including multiple series-connected bending modules to increase the degree of freedom, the integral torsion soft robot module of the present invention can more conveniently perform torsion operations in a smaller space and is easier to control; the integral torsion soft robot module of the present invention has a wide range of applications and can be used in fields with complex environments, such as the deep sea field, the rehabilitation robot field, the minimally invasive surgery field, the rehabilitation medical equipment field, etc.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0049] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0050] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0051] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0052] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0053] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0054] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0055] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0056] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are intended within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. An integral torsion soft robot module, characterized in that: The integral torsion soft robot module comprises: A soft torsion structure, wherein the soft torsion structure comprises an elastic torsion body; A top connecting plate, arranged at one end of the soft torsion structure; A bottom connecting plate, disposed at the other end of the soft torsion structure; and A driving cavity formed by the bottom connecting plate, the top connecting plate and the elastic torsion body; A central limiting column, arranged at the center of the elastic torsion body, wherein two ends of the central limiting column are respectively connected to the bottom connecting plate and the top connecting plate; Wherein, the elastic torsion body is a hollow tubular structure, and the inner and outer wall surfaces of the elastic torsion body are respectively formed with a multi-line internal thread groove and a multi-line external thread groove; Among them, the multi-line external thread groove includes at least two external thread grooves that are evenly arranged on the circumferential direction of the outer wall surface of the elastic torsion body with the central axis of the integral torsion soft robot module as the axis; the multi-line internal thread groove includes at least two internal thread grooves that are evenly arranged on the circumferential direction of the inner wall surface of the elastic torsion body with the central axis of the integral torsion soft robot module as the axis; one of the internal thread grooves is located between two adjacent external thread grooves.

2. The integral torsion soft robot module according to claim 1, characterized in that: The external thread groove and the radial plane of the soft torsion structure form a first preset rotation angle, and the internal thread groove and the radial plane of the soft torsion structure form a second preset rotation angle; the first preset rotation angle is consistent with the second preset rotation angle.

3. The integral torsion soft robot module according to claim 2, characterized in that: The first preset rotation angle and the second preset rotation angle are greater than 0 and less than 90°.

4. The integral torsion soft robot module according to claim 1, characterized in that: On the axial cross section of the elastic torsion body, the tube wall of the elastic torsion body has a "bow"-shaped structure, and the tube wall of the "bow"-shaped structure has the same thickness at all locations.

5. The integral torsion soft robot module according to claim 1, characterized in that: The top connecting plate and the soft torsion structure are integrally formed, or the top connecting plate and the soft torsion structure are separately formed and then connected and fixed together.

6. The integral torsion soft robot module according to claim 1, characterized in that: The integrated torsion soft robot module also includes a plurality of external air pipes, and the plurality of external air pipes are connected to the driving cavity.

7. The integral torsion soft robot module according to claim 6, characterized in that: A plurality of air pipe connectors are evenly arranged in the circumferential direction of the surface of the bottom connecting plate away from the soft torsion structure, and each of the external air pipes is connected to the driving cavity through an air pipe connector.

8. The integral torsion soft robot module according to any one of claims 1 to 7, characterized in that: The material of the soft torsion structure includes elastic material; the material of the top connecting plate and the bottom connecting plate includes elastic material or non-elastic material.

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