Modularized flexible reconfigurable robot system

Abstract

The invention provides a modular flexible reconfigurable robot system, which ensures that joint motors of modules with the same structure in a robot have the same CAN bus IP address and joint motors of modules with different structures have different CAN bus IP addresses. The structure detection module calls a corresponding control program by identifying the CAN bus ID of the to-be-recombined module, and generates a corresponding control instruction according to the control program to realize rapid driving of the to-be-recombined module; that is to say, the modular robot joints and the link interfaces thereof are adopted, so that the modular recombination of the robot in structure can be realized; the robot joint communication circuit adopting a universal interface can realize modular recombination of a robot on circuit topology and communication architecture; a communication system supporting automatic modular identification of the reorganized robot is adopted, and modular reorganization of the robot on control software can be achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of robot control, and in particular relates to a modular, flexible and reconfigurable robot system. Background Art

[0002] Robots need to cope with a variety of complex and diverse tasks. In order to work efficiently in different tasks and environments, modular robot structures have many advantages over non-modular robots. First, modular design allows each part of the robot to be manufactured and tested independently, thereby improving production efficiency and quality control. Secondly, modular structure facilitates maintenance and repair. When a module fails, the module can be replaced alone without replacing the entire robot, reducing maintenance costs and downtime. In addition, modular design can flexibly adjust the functions and configurations of the robot according to demand, making it more adaptable and scalable to meet the needs of different application scenarios. This flexibility also makes modular robots easier to upgrade and improve, extending their service life. In general, modular robot structures have significant advantages in production, maintenance, adaptability and scalability. Therefore, designing a modular, high-precision, small-volume robot structure is a problem that needs to be solved urgently. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a modular, flexible and reconfigurable robot system, which can realize modular reconfiguration of the robot in structure, circuit topology, communication architecture and control software.

[0004] A modular flexible reconfigurable robot system, comprising a modular identification software subsystem arranged on a robot chassis, and more than three modules to be reconfigured connected to the modular identification software subsystem via a CAN bus; wherein modules to be reconfigured with different structures have different CAN bus IDs, and the modular identification software subsystem comprises a structure detection module, a control module, and a CAN bus to serial port communication module, and the control module pre-stores control programs of different modules to be reconfigured;

[0005] The structure detection module is used to identify the CAN bus ID of the module to be reorganized and send the CAN bus ID to the control module;

[0006] The control module calls the corresponding control program according to the received CAN bus ID, and generates corresponding control instructions according to the control program;

[0007] The CAN bus to serial communication module is used to transmit control instructions to the module to be reorganized, so as to realize the driving of the module to be reorganized.

[0008] Furthermore, the CAN bus ID is a fixed 11-bit binary number, wherein bits 0-2 are the mechanical size flags of the module to be reorganized, bits 3-4 are the model flags of the motor used by the module to be reorganized, bits 5-6 are the reducer model flags of the motor used by the module to be reorganized, and bits 7-10 are the serial numbers of the motor used by the module to be reorganized.

[0009] Furthermore, each module to be reassembled is equipped with a joint motor, and an end effector is installed at the end of each module to be reassembled;

[0010] The control module is used to measure the joint motor position, joint motor angular velocity, and opening and closing angle of the end effector of each module to be reorganized in the current state, and input the joint angular position and joint angular velocity of each module to be reorganized in the current state into the control program corresponding to each module to be reorganized, and generate the joint motor target position, joint motor target angular velocity, and target opening and closing angle of the end effector of each module to be reorganized;

[0011] The CAN bus to serial communication module is used to pack the joint motor target position, joint motor target angular velocity, and end effector target opening and closing angle of each module to be reorganized into a serial communication package, and send each serial communication package to each module to be reorganized via the CAN bus.

[0012] Furthermore, there are four modules to be reorganized, namely robot module 1, robot module 2, robot module 3, and robot module 4; at the same time, the link interface between the robot chassis and robot module 1 is recorded as robot interface 1, the link interface between robot module 1 and robot module 2 is recorded as robot interface 2, the link interface between robot module 2 and robot module 3 is recorded as robot interface 3, the link interface between robot module 3 and robot module 4 is recorded as robot interface 4, and the link interface between robot module 4 and the robot end gripper module is recorded as robot interface 5;

[0013] The robot interface 1 on the robot chassis has four 3mm through holes, distributed on the four corners of a 60mm×73mm square. The robot interface 1 on the robot module 1 has four 3mm through holes, distributed on the four corners of a 60mm×73mm square. The two parts are connected with M3 screws and nuts.

[0014] The robot interface 2 has six 3mm through holes on the robot module 1 and a reducer threaded hole on the robot module 2. The two are evenly distributed on a circle with a diameter of 20.5mm, and the two parts are connected with M3 screws.

[0015] The robot interface 3 has a threaded hole for the reducer on the robot module 2 and four 3mm through holes on the robot module 3. The two are evenly distributed on a circle with a diameter of 15.5mm, and the two parts are connected by M3 screws.

[0016] The robot interface 4 has four 3mm through holes on the robot module 3 and a reducer threaded hole on the robot module 4. The two are evenly distributed on a circle with a diameter of 15.5mm, and the two parts are connected with M3 screws.

[0017] The robot interface 5 at the robot module 4 is composed of four 3mm through holes on the end flange, and at the robot end gripper module is composed of four M3 threaded holes at the bottom, both of which are evenly distributed on a circle with a diameter of 32mm, and the two parts are connected by M3 screws.

[0018] Furthermore, the robot chassis is used for the fastening and fixing function of the robot, and the chassis part of the robot interface 1 is provided thereon;

[0019] The robot module 1 provides the robot with one rotational freedom and an axis 1 with the gravity direction as the axial direction. At the same time, the robot module 1 is provided with a robot interface 1 located at a part of the robot module 1 and a robot interface 2 located at a part of the robot module 1;

[0020] The robot module 2 provides the robot with two rotational degrees of freedom, namely, axis 2 and axis 3, which are parallel to each other and have the horizontal direction as the axis. Meanwhile, the robot module 2 is provided with a portion of the robot interface 2 located at the robot module 2 and a portion of the robot interface 3 located at the robot module 2.

[0021] The robot module 3 provides the robot with an axis 4 with one degree of rotational freedom, the axis 4 is coplanar with and perpendicular to the axis 1, and the axis 4 is perpendicular to the axis 2; at the same time, the robot module 3 is provided with a portion of the robot interface 3 located at the robot module 3 and a portion of the robot interface 4 located at the robot module 3;

[0022] The robot module 4 provides the robot with two rotational degrees of freedom, namely, axis 5 and axis 6, and axis 5 is parallel to axis 2, axis 5 is perpendicular to and intersects axis 4, axis 6 intersects axis 4 and axis 5 at one point, and axis 6 is perpendicular to axis 2; at the same time, the robot module 4 is provided with a portion where the robot interface 4 is located in the robot module 4 and a portion where the robot interface 5 is located in the robot module 4;

[0023] The robot end gripper module is used for installing a robot gripper or a tool, and a robot interface 5 is provided on the robot end gripper module, which is located at the part of the robot end gripper module.

[0024] Further, robot interface 1, robot interface 2, robot interface 3, robot interface 4, and robot interface 5 are all universal interfaces, and the robot joint connection circuit of the universal interface includes a robot joint motor drive board interface and a robot joint motor connection line;

[0025] The robot joint motor drive board interface is a standard PH2.0-8P interface. On each robot joint motor drive board, there are at least two standard PH2.0-8P interfaces, and the corresponding pins of the standard PH2.0-8P interfaces are interconnected to achieve the series connection between the robot joint motors.

[0026] The robot joint motor connection line is a PH2.0-8P connection line with a reverse line sequence. The length of the PH2.0-8P connection line is determined according to the length of the robot connecting rod, and the length of the PH2.0-8P connection line needs to ensure the normal operation of the robot in the workspace.

[0027] Beneficial effects:

[0028] The present invention provides a modular, flexible and reconfigurable robot system. On the basis of ensuring that the joint motors of modules with the same structure in the robot have the same CAN bus IP address, while the joint motors of modules with different structures have different CAN bus IP addresses, a structure detection module calls a corresponding control program by identifying the CAN bus ID of a module to be reconfigured, and generates corresponding control instructions according to the control program to realize rapid driving of the module to be reconfigured; that is, the present invention adopts modular robot joints and their link interfaces to realize modular reconfiguration of the robot in structure; adopts a robot joint communication circuit with a universal interface to realize modular reconfiguration of the robot in circuit topology and communication architecture; adopts a communication system that supports automatic modular identification of a reconfigured robot to realize modular reconfiguration of the robot in control software. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a modular, flexible and reconfigurable robot system provided by the present invention;

[0030] Figure 2 It is a schematic diagram of the connection between the robot chassis and the robot module 1;

[0031] Figure 3 A schematic diagram of the robot module 2 and its connection interface;

[0032] Figure 4 A schematic diagram of the robot module 3 and its connection interface;

[0033] Figure 5 A schematic diagram of the robot module 4 and its connection interface;

[0034] Figure 6 A schematic diagram of the robot module 5 and its connection interface;

[0035] Figure 7 This is a schematic diagram of the interface arrangement of the motor driver board. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0037] like Figure 1 As shown, a modular flexible reconfigurable robot system includes a modular identification software subsystem arranged on a robot chassis, and more than three modules to be reconfigured connected to the modular identification software subsystem via a CAN bus; wherein modules to be reconfigured with different structures have different CAN bus IDs, and modules to be reconfigured with the same structure have the same CAN bus ID, and at the same time, the modular identification software subsystem includes a structure detection module, a control module, and a CAN bus to serial port communication module, and the control module pre-stores control programs of different modules to be reconfigured;

[0038] The structure detection module is used to identify the CAN bus ID of the module to be reorganized when the robot is started, and send the CAN bus ID to the control module; the CAN bus ID is a fixed 11-bit binary number, wherein bits 0-2 are the mechanical size flags of the module to be reorganized, which are used to distinguish robot modules that use the same connection interface but have different mechanical sizes; bits 3-4 are the model flags of the motor used by the module to be reorganized, which are used to distinguish the joint motor model used by the module; bits 5-6 are the reducer model flags of the motor used by the module to be reorganized, which are used to distinguish the reduction ratio of the reducer used by the module; bits 7-10 are the serial numbers of the motors used by the module to be reorganized.

[0039] The control module calls the corresponding control program according to the received CAN bus ID, and generates corresponding control instructions according to the control program; specifically, the control module is used to calculate the current state of the robot based on the joint angle parameters returned by the robot, and present it to the user in the form of intuitive data or images. The module can also receive the user's instructions to the robot, generate motion commands based on the inverse kinematics algorithm and send them to the robot.

[0040] For example, taking a six-degree-of-freedom robotic arm assembled using robot modules 1-4 as an example, robot module 1 includes a joint motor of model 42BYGH34, connected to a harmonic reducer with a reduction ratio of 30; the above-mentioned robot module 2 includes two joint motors of model 42BYGH48 and 42BYGH60, respectively connected to reducers with reduction ratios of 50 and 30; the above-mentioned robot module 3 includes a joint motor of model 42BYGH34, connected to a reducer with a reduction ratio of 5.18; the above-mentioned robot module 4 includes two joint motors of model 42BYGH40 and 42BYGH34, respectively connected to a reducer with a reduction ratio of 5.18 and no reducer. The CAN bus standard frame ID definition of its joint motor is shown in the following table:

[0041]

[0042] The CAN bus to serial communication module is used to transmit the control instructions to the module to be reorganized to realize the driving of the module to be reorganized. In other words, the communication module is used for the serial communication and CAN bus communication of the robot. Specifically, the CAN bus to serial communication module is used to send the position, speed and control torque commands of each joint motor calculated by the robot control module to each joint motor using the CAN bus, and receive feedback data of each joint motor.

[0043] It should be noted that each module to be reorganized is equipped with a joint motor, and an end effector is installed at the end of each module to be reorganized; the control module is used to measure the joint motor position, joint motor angular velocity, and opening and closing angle of the end effector of each module to be reorganized in the current state, and input the joint angular position and joint angular velocity of each module to be reorganized in the current state into the control program corresponding to each module to be reorganized, and generate the joint motor target position, joint motor target angular velocity, and target opening and closing angle of the end effector of each module to be reorganized; the CAN bus to serial communication module is used to respectively package the joint motor target position, joint motor target angular velocity, and target opening and closing angle of the end effector of each module to be reorganized into a serial communication package, and send each serial communication package to each module to be reorganized through the CAN bus. Among them, the serial communication package totals (number of joint motors + 2) × 4 bytes, including the header, the tail, the target position of each joint motor, the target velocity, the opening and closing angle of the end effector and other data, as shown in the following table:

[0044]

[0045] The robot CAN bus communication is used to send the position, speed and control torque commands of each joint motor calculated by the robot control module to each joint motor using the CAN bus, and receive feedback data from each joint motor. A typical CAN bus standard frame information is 11 bytes, including 3 bytes of frame description and 8 bytes of frame data. The specific description of each byte is shown in the following table:

[0046]

[0047]

[0048] It should be noted that the modular identification hardware subsystem used to implement the modular identification software subsystem includes a CAN bus circuit, a CAN bus to serial port communication module and a host computer module.

[0049] Among them, the CAN bus circuit includes a bus connection line, a main control information processing node, a robot joint motor node and a robot end effector node. Among them, all nodes are connected to the CAN bus in series, and each node should be equipped with a CAN bus signal receiving chip to realize two-way communication between the node main control chip and other nodes on the CAN bus. Its logical priority is defined as main control information processing node-robot joint motor node-robot end effector node based on its function. It should be noted that the logical priority here only refers to the functional priority at the software level. In the CAN bus protocol, the arbitration priority of all devices at the hardware level is the same.

[0050] The CAN bus to serial communication module is used to collect and process the data on the CAN bus, and send the collected data through serial communication. At the same time, it is also responsible for receiving control instructions from the host computer module, and sending these instructions to the CAN bus after processing. This module not only participates in CAN bus communication as the main control information processing node in the CAN bus system, but also participates in serial communication as part of the serial communication system.

[0051] The host computer module is used to receive and process the robot's joint angle data in real time. This module is usually a computer running a robot control program, which allows users to detect the robot's status in real time and issue control instructions to it.

[0052] It can be seen that the operation process of the robot for automatic structural detection is as follows:

[0053] 1. The structure detection module packages all possible CAN bus IP addresses and transmits them to the robot communication module. The robot communication module performs polling access to all IP addresses. This polling process includes sending RTR (remote request frame) to each possible IP address and waiting for the robot joint to process and respond.

[0054] 2. Set the CAN bus mask of each robot joint motor to its own ID, that is, the robot's joint motor will only reply to the data frame with the same CAN bus ID. When receiving the remote request frame of its corresponding IP address, it will respond with the remote frame of the same IP address.

[0055] 3. After the robot communication module receives the remote response frame from the robot joint motor, it marks the module as "detected". If it does not receive the remote response frame from the joint motor within the specified time, it marks the module as "undetected". Repeat the above steps until all possible CAN bus IP addresses have been polled.

[0056] 4. After the robot communication module has polled and accessed all possible CAN bus IP addresses, it transmits all module addresses marked as "detected" to the structure detection module.

[0057] 5. The structure detection module extracts the mechanical structure data, motor model and reduction ratio data of the corresponding module from the database, and packages all the detected robot module mechanical structure data and joint motor data, and transmits them to the robot control module for subsequent forward and inverse solution of the robot.

[0058] The following takes the case where there are four modules to be reconfigured as an example to describe in detail a modular, flexible and reconfigurable robot system of the present invention.

[0059] The four modules to be reorganized are robot module 1, robot module 2, robot module 3, and robot module 4; at the same time, the link interface between the robot chassis and robot module 1 is recorded as robot interface 1, the link interface between robot module 1 and robot module 2 is recorded as robot interface 2, the link interface between robot module 2 and robot module 3 is recorded as robot interface 3, the link interface between robot module 3 and robot module 4 is recorded as robot interface 4, and the link interface between robot module 4 and the robot end gripper module is recorded as robot interface 5;

[0060] The robot interface 1 on the robot chassis has four 3mm through holes, distributed on the four corners of a 60mm×73mm square. The robot interface 1 on the robot module 1 has four 3mm through holes, distributed on the four corners of a 60mm×73mm square. The two parts are connected with M3 screws and nuts.

[0061] The robot interface 2 has six 3mm through holes on the robot module 1 and a reducer threaded hole on the robot module 2. The two are evenly distributed on a circle with a diameter of 20.5mm, and the two parts are connected with M3 screws.

[0062] The robot interface 3 has a threaded hole for the reducer on the robot module 2 and four 3mm through holes on the robot module 3. The two are evenly distributed on a circle with a diameter of 15.5mm, and the two parts are connected by M3 screws.

[0063] The robot interface 4 has four 3mm through holes on the robot module 3 and a reducer threaded hole on the robot module 4. The two are evenly distributed on a circle with a diameter of 15.5mm, and the two parts are connected with M3 screws.

[0064] The robot interface 5 at the robot module 4 is composed of four 3mm through holes on the end flange, and at the robot end gripper module is composed of four M3 threaded holes at the bottom, both of which are evenly distributed on a circle with a diameter of 32mm, and the two parts are connected by M3 screws.

[0065] The robot chassis is used for fastening and fixing functions of the robot, and the chassis part of the robot interface 1 is provided on it;

[0066] The robot module 1 provides the robot with one rotational degree of freedom (denoted as axis 1), with the gravity direction as the axial direction. At the same time, the robot module 1 is provided with a robot interface 1 located in the robot module 1 and a robot interface 2 located in the robot module 1. A possible schematic diagram of the structure of the robot chassis and the robot module 1 is shown in FIG. Figure 2 shown.

[0067] The robot module 2 provides the robot with two rotational degrees of freedom (respectively denoted as axis 2 and axis 3), and axis 2 and axis 3 are parallel to each other and both have the horizontal direction as the axis. At the same time, the robot module 2 is provided with a portion of the robot interface 2 located at the robot module 2 and a portion of the robot interface 3 located at the robot module 2. A possible structural schematic diagram of the robot module 2 is shown in FIG. Figure 3 shown.

[0068] The robot module 3 provides the robot with one rotational degree of freedom (denoted as axis 4), axis 4 is coplanar and perpendicular to axis 1, and axis 4 is perpendicular to axis 2; at the same time, the robot module 3 is provided with a portion of the robot interface 3 located at the robot module 3 and a portion of the robot interface 4 located at the robot module 3; a possible structural schematic diagram of the robot module 3 is shown as follows Figure 4 shown.

[0069] The robot module 4 provides the robot with two rotational degrees of freedom (respectively denoted as axis 5 and axis 6), and axis 5 is parallel to axis 2, axis 5 is perpendicular to and intersects axis 4, axis 6 intersects axis 4 and axis 5 at one point, and axis 6 is perpendicular to axis 2; at the same time, the robot module 4 is provided with a portion of the robot interface 4 located at the robot module 4 and a portion of the robot interface 5 located at the robot module 4; a possible structural schematic diagram of the robot module 4 is shown as follows Figure 5 shown.

[0070] The robot end gripper module is used for installing the robot gripper or tool, and the robot end gripper module is provided with a robot interface 5 located at the part of the robot end gripper module; a possible structural schematic diagram of the robot end gripper module is shown as follows: Figure 6 shown.

[0071] Further, robot interface 1, robot interface 2, robot interface 3, robot interface 4, and robot interface 5 are all universal interfaces, and the robot joint connection circuit of the universal interface includes a robot joint motor drive board interface and a robot joint motor connection line;

[0072] The robot joint motor drive board interface is a standard PH2.0-8P interface. On each robot joint motor drive board, there are at least two standard PH2.0-8P interfaces, and the corresponding pins of the standard PH2.0-8P interfaces are interconnected to achieve the series connection between the robot joint motors. The pin functions are shown in the following table. A possible interface arrangement of the robot joint motor drive board is shown in the following figure. Figure 7 shown.

[0073]

[0074] The robot joint motor connection line is a PH2.0-8P connection line with a reverse line sequence. The length of the PH2.0-8P connection line is determined according to the length of the robot connecting rod, and the length of the PH2.0-8P connection line needs to ensure the normal operation of the robot in the workspace.

[0075] In summary, the present invention provides a modular, flexible and reconfigurable robot system. On the basis of ensuring that the joint motors of modules with the same structure in the robot have the same CAN bus IP address, and the joint motors of modules with different structures have different CAN bus IP addresses, the structure detection module calls the corresponding control program by identifying the CAN bus ID of the module to be reconfigured, and generates corresponding control instructions according to the control program to realize the rapid driving of the module to be reconfigured; that is, the present invention adopts modular robot joints and their link interfaces, which can realize the modular reconfiguration of the robot in structure; adopts the robot joint communication circuit with a universal interface, which can realize the modular reconfiguration of the robot in circuit topology and communication architecture; adopts a communication system that supports automatic modular identification of reconfigured robots, which can realize the modular reconfiguration of the robot in control software.

[0076] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may certainly make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A modular, flexible and reconfigurable robot system, characterized in that: It includes a modular recognition software subsystem arranged on a robot chassis, and more than three modules to be reassembled connected to the modular recognition software subsystem via a CAN bus; wherein the modules to be reassembled with different structures have different CAN bus IDs, and the modular recognition software subsystem includes a structure detection module, a control module, and a CAN bus to serial port communication module, and the control module pre-stores control programs of different modules to be reassembled; The structure detection module is used to identify the CAN bus ID of the module to be reorganized and send the CAN bus ID to the control module; The control module calls the corresponding control program according to the received CAN bus ID, and generates corresponding control instructions according to the control program; The CAN bus to serial communication module is used to transmit control instructions to the module to be reorganized, so as to realize the driving of the module to be reorganized.

2. A modular flexible reconfigurable robot system as claimed in claim 1, characterized in that: The CAN bus ID is a fixed 11-bit binary number, wherein bits 0-2 are the mechanical size flags of the module to be reorganized, bits 3-4 are the model flags of the motor used by the module to be reorganized, bits 5-6 are the reducer model flags of the motor used by the module to be reorganized, and bits 7-10 are the serial numbers of the motors used by the modules to be reorganized.

3. A modular flexible reconfigurable robot system as claimed in claim 1, characterized in that: Each module to be reassembled is equipped with a joint motor, and the end of each module to be reassembled is equipped with an end effector; The control module is used to measure the joint motor position, joint motor angular velocity, and opening and closing angle of the end effector of each module to be reorganized in the current state, and input the joint angular position and joint angular velocity of each module to be reorganized in the current state into the control program corresponding to each module to be reorganized, and generate the joint motor target position, joint motor target angular velocity, and target opening and closing angle of the end effector of each module to be reorganized; The CAN bus to serial communication module is used to pack the joint motor target position, joint motor target angular velocity, and end effector target opening and closing angle of each module to be reorganized into a serial communication package, and send each serial communication package to each module to be reorganized via the CAN bus.

4. A modular flexible reconfigurable robot system as claimed in claim 1, characterized in that: There are 4 modules to be reorganized, namely robot module 1, robot module 2, robot module 3, and robot module 4; at the same time, the link interface between the robot chassis and robot module 1 is recorded as robot interface 1, the link interface between robot module 1 and robot module 2 is recorded as robot interface 2, the link interface between robot module 2 and robot module 3 is recorded as robot interface 3, the link interface between robot module 3 and robot module 4 is recorded as robot interface 4, and the link interface between robot module 4 and the robot end gripper module is recorded as robot interface 5; The robot interface 1 on the robot chassis has four 3mm through holes, distributed on the four corners of a 60mm×73mm square. The robot interface 1 on the robot module 1 has four 3mm through holes, distributed on the four corners of a 60mm×73mm square. The two parts are connected with M3 screws and nuts. The robot interface 2 has six 3mm through holes on the robot module 1 and a reducer threaded hole on the robot module 2. The two are evenly distributed on a circle with a diameter of 20.5mm, and the two parts are connected with M3 screws. The robot interface 3 has a threaded hole for the reducer on the robot module 2 and four 3mm through holes on the robot module 3. The two are evenly distributed on a circle with a diameter of 15.5mm, and the two parts are connected by M3 screws. The robot interface 4 has four 3mm through holes on the robot module 3 and a reducer threaded hole on the robot module 4. The two are evenly distributed on a circle with a diameter of 15.5mm, and the two parts are connected with M3 screws. The robot interface 5 at the robot module 4 is composed of four 3mm through holes on the end flange, and at the robot end gripper module is composed of four M3 threaded holes at the bottom, both of which are evenly distributed on a circle with a diameter of 32mm, and the two parts are connected by M3 screws.

5. A modular flexible reconfigurable robot system as claimed in claim 4, characterized in that: The robot chassis is used for fastening and fixing functions of the robot, and the chassis part of the robot interface 1 is provided on it; The robot module 1 provides the robot with one rotational freedom and an axis 1 with the gravity direction as the axial direction. At the same time, the robot module 1 is provided with a robot interface 1 located at a part of the robot module 1 and a robot interface 2 located at a part of the robot module 1; The robot module 2 provides the robot with two rotational degrees of freedom, namely, axis 2 and axis 3, which are parallel to each other and have the horizontal direction as the axis. Meanwhile, the robot module 2 is provided with a portion of the robot interface 2 located at the robot module 2 and a portion of the robot interface 3 located at the robot module 2. The robot module 3 provides the robot with an axis 4 with one degree of rotational freedom, the axis 4 is coplanar with and perpendicular to the axis 1, and the axis 4 is perpendicular to the axis 2; at the same time, the robot module 3 is provided with a portion of the robot interface 3 located at the robot module 3 and a portion of the robot interface 4 located at the robot module 3; The robot module 4 provides the robot with two rotational degrees of freedom, namely, axis 5 and axis 6, and axis 5 is parallel to axis 2, axis 5 is perpendicular to and intersects axis 4, axis 6 intersects axis 4 and axis 5 at one point, and axis 6 is perpendicular to axis 2; at the same time, the robot module 4 is provided with a portion where the robot interface 4 is located in the robot module 4 and a portion where the robot interface 5 is located in the robot module 4; The robot end gripper module is used for installing a robot gripper or a tool, and a robot interface 5 is provided on the robot end gripper module, which is located at the part of the robot end gripper module.

6. A modular flexible reconfigurable robot system as claimed in claim 4, characterized in that: Robot interface 1, robot interface 2, robot interface 3, robot interface 4, and robot interface 5 are all universal interfaces, and the robot joint connection circuit of the universal interface includes a robot joint motor drive board interface and a robot joint motor connection line; The robot joint motor drive board interface is a standard PH2.0-8P interface. On each robot joint motor drive board, there are at least two standard PH2.0-8P interfaces, and the corresponding pins of the standard PH2.0-8P interfaces are interconnected to achieve the series connection between the robot joint motors. The robot joint motor connection line is a PH2.0-8P connection line with a reverse line sequence. The length of the PH2.0-8P connection line is determined according to the length of the robot connecting rod, and the length of the PH2.0-8P connection line needs to ensure the normal operation of the robot in the workspace.

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