Modular flexible reconfigurable robotic system

Abstract

The application provides a modular flexible reconfigurable robot system, on the basis of ensuring that joint motors of modules with the same structure in the robot have the same CAN bus IP address, and 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 a corresponding control instruction according to the control program to realize rapid driving of the module to be reconfigured; that is, the application adopts modular robot joints and their linking interfaces, can realize modular reconfiguration of the robot in structure, adopts a robot joint communication circuit with a universal interface, can realize modular reconfiguration of the robot in circuit topology and communication architecture, and adopts a communication system supporting automatic modular identification of the reconfigurable robot, and can realize modular reconfiguration of the robot in control software.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, and in particular relates to a modular, flexible and reconfigurable robot system. Background Technology

[0002] Robots need to handle a wide variety of complex tasks. To work efficiently in different tasks and environments, modular robot structures offer several advantages over non-modular robots. First, modular design allows each part of the robot to be manufactured and tested independently, improving production efficiency and quality control. Second, modular structures facilitate maintenance and repair; when a module fails, it can be replaced individually without replacing the entire robot, reducing maintenance costs and downtime. Furthermore, modular design allows for flexible adjustments to the robot's functions and configurations to meet diverse application needs, making it more adaptable and scalable. This flexibility also makes modular robots easier to upgrade and improve, extending their lifespan. In summary, modular robot structures offer significant advantages in production, maintenance, adaptability, and scalability. Therefore, designing modular, high-precision, and compact robot structures is a pressing issue that needs to be addressed. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a modular, flexible, and reconfigurable robot system that enables modular reconfiguration of the robot's structure, circuit topology, communication architecture, and control software.

[0004] A modular, flexible, and reconfigurable robot system includes a modular identification software subsystem mounted on a robot chassis, and four modules to be reconfigured connected to the modular identification software subsystem via a CAN bus. The modules to be reconfigured with different structures have different CAN bus IDs. The modular identification software subsystem includes a structure detection module, a control module, and a CAN bus to serial communication module. The control module has pre-stored control programs for the different modules to be reconfigured.

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

[0006] The control module calls the corresponding control program based on the received CAN bus ID, and generates the corresponding control command based on the control program.

[0007] The CAN bus to serial communication module is used to transmit control commands to the module to be reassembled, thereby driving the module to be reassembled.

[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 reassembled, bits 3-4 are the model flags of the motor used in the module to be reassembled, bits 5-6 are the reducer model flags of the motor used in the module to be reassembled, and bits 7-10 are the serial number of the motor used in the module to be reassembled.

[0009] Furthermore, each module to be reassembled is equipped with a joint motor, and an end gripper module is connected in series at the end of the last module to be reassembled.

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

[0011] The CAN bus to serial communication module is used to package the target position of the articulated motor, the target angular velocity of the articulated motor, and the target opening and closing angle of the end effector module of each module to be reassembled into serial communication packets, and send each serial communication packet to the corresponding module to be reassembled via the CAN bus.

[0012] Furthermore, there are four modules to be reassembled: robot module 1, robot module 2, robot module 3, and robot module 4. The connection interface between the robot chassis and robot module 1 is denoted as robot interface 1; the connection interface between robot module 1 and robot module 2 is denoted as robot interface 2; the connection interface between robot module 2 and robot module 3 is denoted as robot interface 3; the connection interface between robot module 3 and robot module 4 is denoted as robot interface 4; and the connection interface between robot module 4 and the robot end effector gripper module is denoted as robot interface 5.

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

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

[0015] The robot interface 3 has a reducer threaded hole in the part of the robot module 2 and four 3mm through holes in the part of 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 in the part of the robot module 3 and a reducer threaded hole in the part of the robot module 4. The two are evenly distributed on a circle with a diameter of 15.5mm, and the two parts are connected by M3 screws.

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

[0018] Furthermore, the robot chassis is used for the robot's fastening and fixing function, and the chassis portion thereon provides the robot interface 1;

[0019] The robot module 1 provides the robot with one rotational degree of freedom and an axis 1 with the direction of gravity as the axis. At the same time, the robot module 1 provides a portion of the robot interface 1 located in the robot module 1 and a portion of the robot interface 2 located in the robot module 1.

[0020] The robot module 2 provides the robot with two rotational degrees of freedom, axes 2 and 3, which are parallel to each other and both oriented with the horizontal direction as the axis; at the same time, the robot module 2 provides a portion of the robot interface 2 located in the robot module 2 and a portion of the robot interface 3 located in the robot module 2.

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

[0022] The robot module 4 provides the robot with two rotational degrees of freedom, axes 5 and 6. Axis 5 is parallel to axis 2, perpendicular to and intersects axis 4, and axis 6 intersects axis 4 and axis 5 at a point. Axis 6 is perpendicular to axis 2. At the same time, the robot module 4 provides a portion of robot interface 4 and a portion of robot interface 5 located in the robot module 4.

[0023] The robot end effector module is used for mounting robot grippers or tools, and the robot end effector module provides a robot interface 5 located in the part of the robot end effector module.

[0024] Furthermore, robot interface 1, robot interface 2, robot interface 3, robot interface 4, and robot interface 5 are all general-purpose interfaces, and the robot joint connection circuit of the general-purpose interface includes the robot joint motor drive board interface and the robot joint motor connection wire.

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

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

[0027] Beneficial effects:

[0028] This invention provides a modular, flexible, and reconfigurable robot system. While ensuring that joint motors of modules with the same structure have the same CAN bus IP address, and that joint motors of different structural modules have different CAN bus IP addresses, the structure detection module identifies the CAN bus ID of the module to be reconfigured to call the corresponding control program, and generates corresponding control instructions based on the control program to achieve rapid drive of the module to be reconfigured. In other words, this invention uses modular robot joints and their connection interfaces to achieve modular reconfiguration of the robot's structure; it uses a universal interface robot joint communication circuit to achieve modular reconfiguration of the robot's circuit topology and communication architecture; and it uses a communication system that supports automatic modular identification of the reconfigurable robot to achieve modular reconfiguration of the robot's control software. Attached Figure Description

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

[0030] Figure 2 This is a schematic diagram showing the connection between the robot chassis and robot module 1.

[0031] Figure 3 This is a schematic diagram of robot module 2 and its connection interface;

[0032] Figure 4 This is a schematic diagram of robot module 3 and its connection interfaces;

[0033] Figure 5 This is a schematic diagram of robot module 4 and its connection interfaces;

[0034] Figure 6 This is a schematic diagram of robot module 5 and its connection interfaces;

[0035] Figure 7 This is a schematic diagram of the interface arrangement of the motor drive board. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0037] like Figure 1 As shown, a modular, flexible, and reconfigurable robot system includes a modular identification software subsystem mounted on a robot chassis, and three or more modules to be reconfigured connected to the modular identification software subsystem via a CAN bus. The modules to be reconfigured with different structures have different CAN bus IDs, while modules to be reconfigured with the same structure have the same CAN bus ID. The modular identification software subsystem includes a structure detection module, a control module, and a CAN bus-to-serial communication module. The control module pre-stores control programs for the different modules to be reconfigured.

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

[0039] The control module calls the corresponding control program based on the received CAN bus ID and generates corresponding control commands based on 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 user commands to the robot, calculate and 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 42BYGH34 articulated motor connected to a harmonic reducer with a reduction ratio of 30; robot module 2 includes two articulated motors, 42BYGH48 and 42BYGH60, connected to reducers with reduction ratios of 50 and 30 respectively; robot module 3 includes a 42BYGH34 articulated motor connected to a reducer with a reduction ratio of 5.18; robot module 4 includes two articulated motors, 42BYGH40 and 42BYGH34, connected to a reducer with a reduction ratio of 5.18 and without a reducer connected. The CAN bus standard frame ID definitions for its articulated motors are shown in the table below:

[0041]

[0042] The CAN bus to serial communication module is used to transmit control commands to the module to be reassembled, thereby driving the module. In other words, the communication module is used for serial communication and CAN bus communication between the robot. Specifically, the CAN bus to serial communication module sends the position, speed, and control torque commands calculated by the robot control module to each joint motor via the CAN bus, and receives feedback data from each joint motor.

[0043] It should be noted that each module to be reassembled is equipped with a joint motor, and an end effector module is installed in series at the end of the last module to be reassembled. The control module is used to measure the joint motor position, joint motor angular velocity, and end effector module opening / closing angle of each module to be reassembled in the current state, and inputs the joint angular position and joint angular velocity of each module to be reassembled into the corresponding control program of each module to generate the target joint motor position, target joint motor angular velocity, and target end effector module opening / closing angle of each module to be reassembled. The CAN bus to serial communication module is used to package the target joint motor position, target joint motor angular velocity, and target end effector module opening / closing angle of each module to be reassembled into serial communication packets, and send each serial communication packet to the corresponding module to be reassembled via the CAN bus. The serial communication packet is a total of (number of joint motors + 2) × 4 bytes, including packet header, packet tail, target position and target velocity of each joint motor, and opening / closing angle of the end effector module, as shown in the table below:

[0044]

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

[0046]

[0047] 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 communication module, and a host computer module.

[0048] The CAN bus circuit includes bus connection lines, a main control information processing node, robot joint motor nodes, and robot end effector gripper module nodes. All nodes are connected to the CAN bus in series, and each node should be equipped with a CAN bus signal receiving chip to enable bidirectional communication between the node's main control chip and other nodes on the CAN bus. Their logical priority, based on their function, is defined as: Main Control Information Processing Node – Robot Joint Motor Node – Robot End Effector Gripper Module Node. It is important to note that this logical priority refers only to the functional priority at the software level. In the CAN bus protocol, all devices have the same arbitration priority at the hardware level.

[0049] The CAN bus to serial communication module is used to collect and process data on the CAN bus and send the collected data out via serial communication. Simultaneously, it is also responsible for receiving control commands from the host computer module, processing these commands, and sending them to the CAN bus. This module participates in CAN bus communication as both the master control information processing node in the CAN bus system and as part of the serial communication system.

[0050] The host computer module is used to receive and process the robot's joint angle data in real time. This module is typically a computer running robot control programs, allowing users to monitor the robot's status in real time and issue control commands to it.

[0051] Therefore, the operation process of the robot for automatic structural inspection is as follows:

[0052] 1. The structure detection module packages all possible CAN bus IP addresses and transmits them to the robot communication module. The robot communication module polls all IP addresses. This polling process involves sending an RTR (Remote Request Frame) to each possible IP address and waiting for the robot joints to process and respond.

[0053] 2. Set the CAN bus mask of each robot joint motor to its own ID. That is, the robot joint motor will only reply to data frames with the same CAN bus ID. When it receives a remote request frame with the corresponding IP address, it will respond with a remote frame with the same IP address.

[0054] 3. After receiving a remote response frame from the robot's joint motor, the robot communication module marks the module as "detected". If no remote response frame is received from the joint motor within a specified time, the module is marked as "not detected". This process is repeated until all possible CAN bus IP addresses have been polled and visited.

[0055] 4. After the robot communication module has polled and accessed all possible CAN bus IP addresses, it transmits the addresses of all modules marked as "detected" to the structure detection module.

[0056] 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 calculations of the robot.

[0057] The following section uses four modules to be reconfigured as an example to provide a detailed description of the modular, flexible, and reconfigurable robot system of the present invention.

[0058] The four modules to be reassembled are robot module 1, robot module 2, robot module 3, and robot module 4. The connection interface between the robot chassis and robot module 1 is denoted as robot interface 1, the connection interface between robot module 1 and robot module 2 is denoted as robot interface 2, the connection interface between robot module 2 and robot module 3 is denoted as robot interface 3, the connection interface between robot module 3 and robot module 4 is denoted as robot interface 4, and the connection interface between robot module 4 and robot end effector module is denoted as robot interface 5.

[0059] The robot interface 1 has four 3mm through holes on the robot chassis, distributed at the four corners of a 60mm×73mm square. The robot interface 1 also has four 3mm through holes on the robot module 1, distributed at the four corners of a 60mm×73mm square. The two parts are connected by M3 screws and nuts.

[0060] The robot interface 2 has six 3mm through holes in the part of the robot module 1 and a reducer threaded hole in the part of the robot module 2. The two are evenly distributed on a circle with a diameter of 20.5mm, and the two parts are connected by M3 screws.

[0061] The robot interface 3 has a reducer threaded hole in the part of the robot module 2 and four 3mm through holes in the part of 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.

[0062] The robot interface 4 has four 3mm through holes in the part of the robot module 3 and a reducer threaded hole in the part of the robot module 4. 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 5 consists of four 3mm through holes on the end flange of the robot module 4 and four M3 threaded holes on the bottom of the robot end gripper module. The two are evenly distributed on a circle with a diameter of 32mm and are connected by M3 screws.

[0064] The robot chassis is used for the robot's fastening and fixing function, and the chassis portion thereon provides the robot interface 1;

[0065] The robot module 1 provides the robot with one rotational degree of freedom (denoted as axis 1), with the direction of gravity as the axis. The robot module 1 also includes a portion of the robot module 1 containing robot interface 1 and a portion of the robot module 1 containing robot interface 2. A possible structural diagram of the robot chassis and robot module 1 is shown below. Figure 2 As shown.

[0066] The robot module 2 provides the robot with two rotational degrees of freedom (denoted as axis 2 and axis 3), and axes 2 and 3 are parallel to each other, both with the horizontal direction as their axis. Simultaneously, the robot module 2 provides a portion of the robot module 2 containing robot interface 2 and a portion of the robot module 2 containing robot interface 3. A possible structural schematic diagram of the robot module 2 is shown below. Figure 3 As shown.

[0067] The robot module 3 provides the robot with one rotational degree of freedom (denoted as axis 4), where axis 4 is coplanar with and perpendicular to axis 1, and perpendicular to axis 2. Simultaneously, the robot module 3 provides a portion of the robot module 3 containing robot interface 3 and a portion of the robot module 3 containing robot interface 4. A possible structural schematic diagram of the robot module 3 is shown below. Figure 4 As shown.

[0068] The robot module 4 provides the robot with two rotational degrees of freedom (denoted as axis 5 and axis 6), where axis 5 is parallel to axis 2, perpendicular to and intersects axis 4, and axis 6 intersects axis 4 and axis 5 at a single point, and is perpendicular to axis 2. Simultaneously, the robot module 4 provides a portion of the robot module 4 containing robot interface 4 and a portion of the robot module 4 containing robot interface 5. A possible structural schematic diagram of the robot module 4 is shown below. Figure 5 As shown.

[0069] The robot end effector module is used for mounting robot grippers or tools, and the robot end effector module provides a robot interface 5 located on the part of the robot end effector module; a possible structural schematic diagram of the robot end effector module is shown below. Figure 6 As shown.

[0070] Furthermore, robot interface 1, robot interface 2, robot interface 3, robot interface 4, and robot interface 5 are all general-purpose interfaces, and the robot joint connection circuit of the general-purpose interface includes the robot joint motor drive board interface and the robot joint motor connection wire.

[0071] The robot joint motor drive board uses a standard PH2.0-8P interface. Each robot joint motor drive board has at least two standard PH2.0-8P interfaces, ensuring that the corresponding pins of these interfaces are interconnected. This is used to achieve series connection between the robot joint motors. The pin functions are shown in the table below. A schematic diagram of a possible interface arrangement for the robot joint motor drive board is shown below. Figure 7 As shown.

[0072]

[0073] The robot joint motor connection cable is a PH2.0-8P connection cable with reverse wiring sequence. The length of the PH2.0-8P connection cable is determined according to the length of the robot link, and the length of the PH2.0-8P connection cable must ensure the normal operation of the robot in the workspace.

[0074] In summary, this invention provides a modular, flexible, and reconfigurable robot system. While ensuring that joint motors of modules with identical structures have the same CAN bus IP address, and that joint motors of different structural modules have different CAN bus IP addresses, the structure detection module identifies the CAN bus ID of the module to be reconfigured to call the corresponding control program, and generates corresponding control commands based on the control program to achieve rapid drive of the module to be reconfigured. In other words, this invention uses modular robot joints and their connection interfaces to achieve modular reconfiguration of the robot's structure; it uses a universal interface robot joint communication circuit to achieve modular reconfiguration of the robot's circuit topology and communication architecture; and it uses a communication system that supports automatic modular identification of the reconfigurable robot to achieve modular reconfiguration of the robot's control software.

[0075] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A modular, flexible, and reconfigurable robot system, characterized in that, It includes a modular identification software subsystem mounted on the robot chassis, and four modules to be reassembled connected to the modular identification software subsystem via a CAN bus. The modules to be reassembled with different structures have different CAN bus IDs. The modular identification software subsystem includes a structure detection module, a control module, and a CAN bus to serial communication module. The control module has pre-stored control programs for the different modules to be reassembled. The structure detection module is used to identify the CAN bus ID of the module to be reassembled and send the CAN bus ID to the control module; The control module calls the corresponding control program based on the received CAN bus ID, and generates the corresponding control command based on the control program. The CAN bus to serial communication module is used to transmit control commands to the module to be reassembled, thereby driving the module to be reassembled. The CAN bus ID is a fixed 11-bit binary number, where bits 0-2 are the mechanical size flags of the module to be reassembled, bits 3-4 are the model flags of the motor used in the module to be reassembled, bits 5-6 are the model flags of the reducer of the motor used in the module to be reassembled, and bits 7-10 are the serial number of the motor used in the module to be reassembled. The four modules to be reassembled are robot module 1, robot module 2, robot module 3, and robot module 4. The connection interface between the robot chassis and robot module 1 is denoted as robot interface 1, the connection interface between robot module 1 and robot module 2 is denoted as robot interface 2, the connection interface between robot module 2 and robot module 3 is denoted as robot interface 3, the connection interface between robot module 3 and robot module 4 is denoted as robot interface 4, and the connection interface between robot module 4 and robot end effector module is denoted as robot interface 5. Robot Interface 1, Robot Interface 2, Robot Interface 3, Robot Interface 4, and Robot Interface 5 are all general-purpose interfaces, and the robot joint connection circuit of the general-purpose interface includes the robot joint motor drive board interface and the robot joint motor connection cable. The robot joint motor drive board interface is a standard PH2.0-8P interface. Each robot joint motor drive board has at least two standard PH2.0-8P interfaces, and the corresponding pins of the standard PH2.0-8P interfaces are interconnected to realize the series connection between robot joint motors. The robot joint motor connection cable is a PH2.0-8P connection cable with reverse wiring sequence. The length of the PH2.0-8P connection cable is determined according to the length of the robot link, and the length of the PH2.0-8P connection cable must ensure the normal operation of the robot in the workspace.

2. The modular, flexible, and reconfigurable robot system as described in claim 1, characterized in that, Each module to be reassembled is equipped with a joint motor, and an end gripper module is connected in series at the end of the last module to be reassembled. The control module is used to measure the joint motor position, joint motor angular velocity, and end-gripper module opening and closing angle of each module to be reassembled in the current state, and input the joint angular position and joint angular velocity of each module to be reassembled in the current state into the control program corresponding to each module to be reassembled, and generate the joint motor target position, joint motor target angular velocity, and end-gripper module target opening and closing angle of each module to be reassembled. The CAN bus to serial communication module is used to package the target position of the articulated motor, the target angular velocity of the articulated motor, and the target opening and closing angle of the end effector module of each module to be reassembled into serial communication packets, and send each serial communication packet to the corresponding module to be reassembled via the CAN bus.

3. The modular, flexible, and reconfigurable robot system as described in claim 1, characterized in that, The robot interface 1 has four 3mm through holes on the robot chassis, distributed at the four corners of a 60mm×73mm square. The robot interface 1 also has four 3mm through holes on the robot module 1, distributed at the four corners of a 60mm×73mm square. The two parts are connected by M3 screws and nuts. The robot interface 2 has six 3mm through holes in the part of the robot module 1 and a reducer threaded hole in the part of the robot module 2. The two are evenly distributed on a circle with a diameter of 20.5mm, and the two parts are connected by M3 screws. The robot interface 3 has a reducer threaded hole in the part of the robot module 2 and four 3mm through holes in the part of 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 in the part of the robot module 3 and a reducer threaded hole in the part of the robot module 4. 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 5 consists of four 3mm through holes on the end flange of the robot module 4 and four M3 threaded holes on the bottom of the robot end gripper module. The two are evenly distributed on a circle with a diameter of 32mm and are connected by M3 screws.

4. The modular, flexible, and reconfigurable robot system as described in claim 3, characterized in that, The robot chassis is used for the robot's fastening and fixing function, and the chassis portion thereon provides the robot interface 1; The robot module 1 provides the robot with one rotational degree of freedom and an axis 1 with the direction of gravity as the axis. At the same time, the robot module 1 provides a portion of the robot interface 1 located in the robot module 1 and a portion of the robot interface 2 located in the robot module 1. The robot module 2 provides the robot with two rotational degrees of freedom, axes 2 and 3, which are parallel to each other and both oriented with the horizontal direction as the axis; at the same time, the robot module 2 provides a portion of the robot interface 2 located in the robot module 2 and a portion of the robot interface 3 located in the robot module 2. The robot module 3 provides the robot with one rotational degree of freedom, axis 4, which is coplanar with and perpendicular to axis 1, and perpendicular to axis 2; at the same time, the robot module 3 provides a portion of robot interface 3 located in the robot module 3 and a portion of robot interface 4 located in the robot module 3. The robot module 4 provides the robot with two rotational degrees of freedom, axes 5 and 6. Axis 5 is parallel to axis 2, perpendicular to and intersects axis 4, and axis 6 intersects axis 4 and axis 5 at a point. Axis 6 is perpendicular to axis 2. At the same time, the robot module 4 provides a portion of robot interface 4 and a portion of robot interface 5 located in the robot module 4. The robot end effector module is used for mounting robot grippers or tools, and the robot end effector module provides a robot interface 5 located in the part of the robot end effector module.

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