CN106313028A - Unit module of software module robot - Google Patents

Abstract

The invention discloses a software module. The robot unit module includes a telescopic power mechanism and a steering mechanism. The telescopic power mechanism and the steering mechanism are movably linked through a ball connection pair holding seat; The telescopic movement can realize the turning movement in any direction within the range of 360° at the same time; due to the excellent movement performance of a single module, the robot unit modules of multiple software modules are connected in turn to form a flexible arm, forming a rich movement configuration, making the software module Robots can complete complex manipulation tasks that are difficult for traditional rigid robots in unstructured environments. Moreover, the modular design of the robot enables the software module robot to allocate different numbers of modules according to the complexity of the task, so as to achieve the maximum completion of the required tasks at the lowest cost, so that the software module robot can be used for different tasks. Have the best economic benefits.

Description

Software Module Robot Cell Module

technical field

The invention relates to the technical field of robots, in particular to a software module robot unit module.

Background technique

The research on soft robots originates from people's imitation of some movement behaviors of molluscs (such as octopuses, elephant trunks, earthworms, etc.) in nature. With its flexibility, adaptability, super-redundancy or unlimited degrees of freedom, soft robots have overcome the problems of highly dependent on structured environments and precise mathematical models for control. Through the modularization of the soft robot, it can change its own module configuration according to the change of the work task and the work environment, form the best configuration suitable for the environment, and complete different operation tasks. Due to the uniformity and interchangeability of the unit modules, the manufacturing and maintenance costs of the soft module robot are also greatly reduced. For the detection of complex and unknown environments, such as: seabed resource exploration, planetary terrain exploration, mine disaster and earthquake rescue, etc., the advantages of soft module robot's movement flexibility are more obvious.

At present, most of the research on soft robots focuses on how to use the properties of some special materials or special physical and chemical processes to imitate the movement behavior of molluscs in nature. In order to carry out effective detection in a small space, in 2007, the Advanced Research Agency of the US Department of Defense proposed to develop a small chemical robot ChemBots. It can pass through a channel smaller than its own normal size, and can also reconfigure its own shape and size. It is a medium-sized soft robot (Dynamic Model of a Special Robot From First Principles. Schroll, G.C. 2010, Colorado State University.). The Meshmorm robot (Design of the Shape Memory Alloy Coil Spring Actuator for the Soft Deformable Wheel Robot, 9th URAI, 26 November 2012), jointly developed by MIT, Harvard University and Seoul National University of Korea, uses a mesh-like Shape memory alloy (Shape Memory Alloy, SMA) to simulate the creeping of earthworms and can resist strong impact. Shingo Maeda of Waseda University in Japan, etc. used the Belousov-Zhabotinskii (B-Z) chemical reaction to realize the stretching motion of bionic inchworms (Self-oscillating gel as novel biomimetic materials, Journal of Controlled Release, Volume 14, Issue 3, 16 December 2009, Pages 186-193 ). At present, there are relatively few researches on soft robots in China, mainly including: a soft robot system based on SMA, self-feedback and SSMA drive developed by Beijing University of Aeronautics and Astronautics, and a bionic earthworm based on SMA drive and silicone skin developed by Liu Weiting of Zhejiang University. . In terms of soft module robots, Swiss Federal Institute of Technology German J et al. developed a robot module based on electroglue technology and connected by electrostatic force (Stretchable electroadhesion for soft robots, IROS 2014, September 2014, Pages 3933-3938). Sehyuk Yim and others from the Massachusetts Institute of Technology developed a capsule robot that relies on an external magnetic field to change its shape (Magnetically Actuated SoftCapsule With the Multimodal Drug Release Function, IEEE/ASME Transactions on Mechatronics, Volume 18, Issue 4, March 2013). Fei Yanqiong of Shanghai Jiaotong University in China designed a modular soft robot in 2013, which is composed of a plurality of deformable spherical unit modules. The specific structure is disclosed in the patent CN104924305A.

However, due to the lack of freedom of movement of the unit modules of the currently developed soft robots, complex connection mechanisms, and poor flexibility, there are generally problems such as slow motion, weak load capacity, and poor scalability, which lead to small movement spaces for soft robots. The connection between modules is not stable enough, so it is difficult to apply in reality.

Contents of the invention

The purpose of the present invention is to provide a soft modular robot that uses a purely rigid mechanical structure and a pneumatic drive device, and imitates the movement behavior of octopus tentacles, so that the soft modular robot can quickly adapt to the environment and perform corresponding tasks in an unstructured working environment unit module.

For this reason, technical scheme of the present invention is as follows:

A soft module robot unit module, including a telescopic power mechanism and a steering mechanism, the telescopic power mechanism and the steering mechanism are movably linked through a ball connection pair holding seat;

The telescopic power mechanism includes at least three cylinders vertically arranged on the cylinder fixing groove seat and uniformly distributed along the circumferential direction, and at least one air hole for communicating with the air supply system is provided on the cylinder, and the piston of the cylinder A spherical member is threaded at the top of the rod;

The steering mechanism includes an upper base provided with guide rails and multiple sets of ball joint compensation mechanisms composed of telescopic rods with sliders and ball joint holders. The number of the ball joint compensation mechanisms is the same as that of the cylinder The same number; where:

The guide rail is a frame structure surrounded by a plurality of H-shaped members, the number of the H-shaped members is consistent with the number of the cylinders, and the H-shaped member includes a horizontal part and a vertical part fixed at both ends of the horizontal part, The vertical part is fixed on the cylindrical base plate;

The telescopic rod provided with a slider includes a telescopic rod with a multi-stage telescopic movement function and a sliding sleeve arranged at one end of the telescopic rod, and the sliding sleeve is provided with a through hole so that each sliding sleeve passes through a square The through holes are respectively set on the transverse parts of different H-shaped members of the upper base, so that the telescopic rod can reciprocate on the transverse parts of the corresponding set H-shaped members through the sliding sleeve;

The ball connection pair holding seat includes an inner ball connection pair holding seat and an outer ball connection pair holding seat, and a 1/4 spherical groove is opened on the inner ball connection pair holding seat and the outer ball connection pair holding seat, so The inner ball connection pair holding seat can be inserted and fixed in the outer ball connection pair holding seat to form a whole, and the 1/4 spherical groove on the inner ball connection pair holding seat and the outer ball connection pair holding seat A 1/2 spherical groove is formed; the other end of the telescopic rod is fixed on the outer ball connection pair holder.

Wherein, the number of cylinders of the telescopic power mechanism, the number of H-shaped members constituting the guide rail in the telescopic power mechanism and the number of the ball joint compensation mechanism are consistent, and the specific number can be 3 or 4 , 5, etc.; make each cylinder of the telescopic power mechanism drive the ball connection pair compensation mechanism of the telescopic power mechanism to undergo telescopic movement and corresponding multi-directional offset or rotation.

Further, the cylinder fixing groove seat includes a cylindrical base and four bar frames with grooves that are vertically arranged and evenly distributed on the cylindrical base along the circumferential direction; the side of the bar frame facing the outside It is set as an opening, and a fixed through hole is opened on the top surface, so that the cylinder is arranged in the bar frame, the piston rod passes through the fixed through hole, and the cylinder is fixed through the bolt and the nut sleeved on the outer side of the bolt. Secured in the bar rack.

Further, two sets of notches are symmetrically arranged on the side walls on both sides of the opening of the bar frame, so that the cylinder is fixed in the bar frame by rubber bands or nylon ties arranged in the notches.

Further, the depth of the 1/2 spherical groove is slightly larger than the radius of the spherical member, so that when the ball connection pair holder is connected to the spherical member, the spherical member can be locked on the ball connection pair In the 1/2 spherical groove of the holder.

A flexible arm, which is formed by sequentially connecting a plurality of software modules robot unit modules, specifically, an upper connection mechanism and a lower connection mechanism are respectively provided on the telescopic power mechanism and the steering mechanism, and the upper base There is at least one pin hole on the same axis as the cylinder fixing groove seat; the upper connection mechanism and the lower connection mechanism are a plurality of arc-shaped slots arranged along the circumference, and in the slots One side is provided with a blocking wall that cooperates with each other, so that a plurality of software module robot unit modules are sequentially rotated and buckled between the upper connection mechanism and the lower connection mechanism and arranged in the pin holes through interference fit The pin connections are fixed to form flexible arms.

Compared with the existing technology, the soft module robot unit module can not only realize the telescopic movement, but also the single module can realize the turning movement in any direction within the range of 360° while realizing the telescopic movement, precisely because the single module has excellent movement The performance makes the soft modular robot composed of multiple modules have rich motion configurations, so that the soft modular robot can complete complex manipulation tasks that are difficult for traditional rigid robots to complete in an unstructured environment. Moreover, the modular design of the robot enables the software module robot to allocate different numbers of modules according to the complexity of the task, and to complete the required tasks to the greatest extent at the lowest cost, so that the software module robot has different functions for different tasks. Optimum economic benefit.

Description of drawings

Fig. 1 is a schematic diagram of the rear side structure of the software module robot unit module of the present invention;

Fig. 2 is a schematic diagram of the front side structure of the software module robot unit module of the present invention;

Fig. 3 is a structural schematic diagram of the telescopic power mechanism of the robot unit module of the software module of the present invention;

Fig. 4 is a schematic structural view of the cylinder fixing groove seat of the robot unit module of the software module of the present invention;

Fig. 5 is the structural representation of the cylinder of the software module robot unit module of the present invention;

Fig. 6 is a structural schematic diagram of a spherical member of the software module robot unit module of the present invention;

Fig. 7 is a schematic structural view of the cylinder fixing nut of the robot unit module of the software module of the present invention;

Fig. 8 is a schematic structural view of the trachea joint of the robot unit module of the software module of the present invention;

Fig. 9 is a schematic structural view of the steering mechanism (the slide block is in the middle, and the telescopic rod is extended) of the software module robot unit module of the present invention;

Fig. 10 is a schematic structural view of the steering mechanism (the slide block is in the middle and the telescopic rod shrinks) of the software module robot unit module of the present invention;

Fig. 11 is a schematic structural view of the steering mechanism (the slide block is on one side, and the telescopic rod is extended) of the software module robot unit module of the present invention;

Fig. 12 is an assembly diagram of the ball connection pair compensation mechanism of the robot unit module of the software module of the present invention;

Fig. 13 is an exploded view of the ball connection pair compensation mechanism of the robot unit module of the software module of the present invention;

Fig. 14 is the ball joint holder of the robot unit module of the software module of the present invention;

Fig. 15 is the upper base of the band guide rail group of the soft module robot unit module of the present invention;

Fig. 16 is the telescoping rod with slider of the software module robot unit module of the present invention;

Fig. 17 is the ball connection pair fixing screw of the robot unit module of the software module of the present invention;

Fig. 18 is the upper connection mechanism of the robot unit module of the software module of the present invention;

Fig. 19 is the lower connecting mechanism of the robot unit module of the software module of the present invention;

Fig. 20 is the pin of the software module robot unit module of the present invention;

Fig. 21 is the telescopic configuration of the robot unit module of the software module of the present invention;

Fig. 22 is the steering configuration of the software module robot unit module of the present invention;

Fig. 23 is the flexible arm assembly model that is made up of five software module robot unit modules of the present invention;

Fig. 24 is the helical forward motion configuration of the flexible arm composed of five soft module robot unit modules of the present invention;

Fig. 25 is the forward tilting bending motion configuration of the flexible arm composed of five soft module robot unit modules of the present invention;

Fig. 26 is an envelope diagram of five soft module robot unit modules of the present invention being connected in series to form a flexible arm that first performs a bending motion and then rotates in a curved configuration;

Fig. 27 is an envelope diagram of the movement space where five soft module robot unit modules of the present invention are connected in series to form a flexible arm that rotates in a helical twisted configuration;

Fig. 28 is an envelope diagram of the movement space when five soft module robot unit modules of the present invention are serially connected in series to form a flexible arm that performs spiral upward movement in four directions: front, back, left, and right.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the following embodiments in no way limit the present invention.

As shown in Figures 1-2, the robot unit module of the software module includes a telescopic power mechanism, a steering mechanism and a connecting mechanism; where:

As shown in Figure 3, the telescopic power mechanism includes a cylinder fixing groove seat 9, a cylinder 8, a spherical member 4 and an air pipe joint 5; specifically,

As shown in FIG. 4 , the cylinder fixing housing 9 includes a cylindrical base 901 and four bar frames 902 with grooves that are vertically arranged and evenly distributed on the cylindrical base 901 along the circumferential direction. Shaped frame is used for accommodating described cylinder 8, and the side of described strip frame 902 towards the outside is set as opening, and top surface offers fixing through hole 903; On both sides of each described strip frame 902 notches Four rectangular gaps are symmetrically opened, and the gaps are used to locate and guide the nylon cable ties when the cylinder 8 is radially fixed, and each of the cylinders 8 uses two nylon cable ties to connect the cylinder 8 for radial fixation;

As shown in Figures 5-8, an air hole 801 is provided at both ends of the cylinder 8, and a trachea elbow 7 is threadedly connected to the air hole 801, and the trachea elbow 7 bends downward and communicates with the air supply system , used to supply air to the cylinder 8 to provide power for the cylinder to move up and down reciprocatingly; the cylinder 8 is vertically arranged in the bar frame 902, and the upper part of the piston rod passes through the fixed through hole 903, And the cylinder 8 is fixed in the bar frame 902 by bolts and nuts 5 sleeved on the outside of the bolts; the top end of the piston rod is threaded with a spherical member 4; the spherical member 4 is a sphere with a through hole in the center ;

The telescopic power mechanism adopts a circular layout of four cylinders, which not only enables the telescopic power mechanism to provide powerful power to complete the telescopic translation movement, but also when the displacements of the cylinder piston rods of the four cylinders of the telescopic power mechanism are different , the telescopic power mechanism can drive the steering mechanism to make a steering movement within any range of 360 degrees;

As shown in Figures 9-11, the steering mechanism includes an upper base 1 provided with guide rails, and four sets of ball joint compensation mechanisms composed of telescopic rods 2 provided with sliders and ball joint holders 3, specifically ,

As shown in Figure 15, the upper base 1 includes a cylindrical base plate 101 and a positive direction frame 102 surrounded by four H-shaped members; the four H-shaped members include a horizontal part and vertical parts fixed at both ends of the horizontal part , forming an H shape, the bottom surface of the vertical part is fixed on the cylindrical base plate 101, and a certain distance between the horizontal part and the cylindrical base plate 101 is set as a guide rail, so that the four H-shaped members surround a square guide rail;

As shown in Figures 12-13 and Figure 18, the telescopic rod 2 provided with a slider includes a telescopic rod 201 with a secondary telescopic movement function and a sliding sleeve 202 arranged at one end of the telescopic rod, the sliding sleeve 202 has a square through hole, so that the sliding sleeve 202 is set on the transverse part of an H-shaped member 102 of the upper base 1 through the square through hole, so that the telescopic rod 2 can pass through the sliding sleeve 202 on its The horizontal portion of the H-shaped member 102 of the corresponding suit is reciprocating; meanwhile, since the telescopic rod 2 provided with the slider includes a telescopic rod 201 with a secondary telescopic movement function, the telescopic rod 2 provided with the slider The telescopic rod 2 can be contracted to be completely located on the cylindrical base 101 through the telescopic rod 201, and can also be stretched through the telescopic rod 201 in order to extend out of the cylindrical base 101;

As shown in Figures 12-14 and Figures 16-17, the ball connection pair holder 3 includes an inner ball connection pair holder 301 and an outer ball connection pair holder 302, the inner ball connection pair holder 301 and the A 1/4 spherical groove is provided on the outer ball connection pair holding seat 302, and the inner ball connection pair holding seat 301 can be inserted into the outer ball connection pair holding seat 302 to form a rectangular block as a whole, and the rectangular block A 1/2 spherical groove is formed on one side surface of the whole block, and the depth of the 1/2 spherical groove is slightly larger than the radius of the spherical member 4, so that when the ball connection pair holding seat 3 and the spherical member 4 are connected , the spherical member 4 can be locked in the 1/2 spherical groove of the ball joint holding seat 3; the inner ball joint holding seat 301 and the outer ball joint holding seat 302 are arranged on both sides The fixing screw 303 is connected and fixed as a whole;

The ball connection pair holding seat 3 is connected and fixed on the other end of the telescopic rod 2 provided with a slider to form four sets of ball connection pair compensation mechanisms; each of the ball connection pair compensation mechanisms communicates with the corresponding Square guide rail connection, so that the ball connection pair compensation mechanism of each ball has two degrees of freedom of movement in the plane, so as to compensate the upper base with the guide rail set relative to the telescopic movement during the steering mechanism in any direction of 360°. The radial offset of the central axis of the cylinder of the power mechanism. At the same time, because the square guide rail is distributed in the four directions of front, rear, left and right on the base, there are four balls in each steering mechanism. The connection pair compensation mechanism, and because each ball connection pair compensation mechanism has two degrees of freedom in translation in the plane, so each steering mechanism has eight degrees of freedom in total; the ball connection pair holding seat 3 passes through the spherical member 4. Connect with the telescopic power mechanism;

As shown in Figure 20 and Figure 21, the connection mechanism includes an upper connection mechanism 11 and a lower connection mechanism 10; specifically,

As shown in Figure 20, the upper connection mechanism 11 is three first arc-shaped parts arranged on the cylindrical base 901 of the cylinder fixing groove seat 9, and the three first arc-shaped parts are located at the On the opposite side of the groove bar frame 902 and along the circumferential direction of the cylindrical base 901, the three first arc-shaped parts are sequentially terminated and connected to form a connection with the cylindrical base 901. Concentric rings; the three first arc-shaped parts include a first bar-shaped part vertically arranged on the cylindrical base 901 and a second bar-shaped part horizontally arranged on the top surface of the first bar-shaped part part, so that the axial cross-section of the first arc-shaped parts is L-shaped, and a blocking wall is also provided on the same side of the three first arc-shaped parts, so that the three first arc-shaped parts form an opening to Outer card slot structure; three pin holes are opened at the center of the cylindrical base 901, and the three pin holes are also uniformly distributed along the circumferential direction of the cylindrical base 901, and are respectively located in the three third third pin holes. the radial bisector of an arc-shaped part;

As shown in Figure 21, the lower connection mechanism 10 is three second arc-shaped parts arranged on the cylindrical base plate 101 of the upper base 1, and the three second arc-shaped parts are located at the On the opposite side of the cylindrical base plate 101 and evenly distributed along the circumferential direction of the cylindrical base plate 101, so that the three second arc-shaped parts can be sequentially terminated and connected to form a connection with the cylindrical base plate 101 concentric rings; the three second arc parts include a first bar-shaped part vertically arranged on the cylindrical base plate 101 and a second bar-shaped part horizontally arranged on the top surface of the first bar-shaped part The bar-shaped part makes the axial section of the first arc-shaped part L-shaped, and a blocking wall is also provided on the same side of the three second arc-shaped parts, so that the three second arc-shaped parts form A card-slot structure with an opening to the outside; three pin holes are opened at the center of the cylindrical base plate 101, and the three pin holes are also uniformly distributed along the circumferential direction of the cylindrical base plate 101, and are respectively located in the three on the radial bisector of the three second arc-shaped components;

Wherein, the first strip-shaped part of the first arc-shaped part is arranged inside the cylindrical base 901, and the first strip-shaped part of the second arc-shaped part is arranged at the edge of the cylindrical base 101, And the direction of the blocking wall arranged on the side of the first arc-shaped part is opposite to the direction of the blocking wall arranged on the side of the second arc-shaped part. In addition, the height of the first arc-shaped part is slightly lower than that of the second arc-shaped part. The height of the parts is such that when the two software modules are connected to the robot unit module, the first arc part and the second arc part can be misplaced and rotated to make the first arc part and the second arc part The second arc-shaped parts are interlocked, and the three pin holes located on the cylindrical base 901 and the cylindrical base plate 101 are in one-to-one axial correspondence, and the pins are inserted in an interference fit manner. The hole realizes the connection between the two soft-body modules robot cell modules.

Using the upper connection mechanism 11 and the lower connection mechanism 10 of the above design to realize the connection between the two software module robot unit modules can ensure the stability and reliability of the connected mechanism, that is, when the two unit modules are connected, the upper The first arc-shaped part of the connecting mechanism 11 and the second arc-shaped part of the lower connecting mechanism 10 are adjusted to a staggered position, and the second bar-shaped part of the first arc-shaped part and the second bar-shaped part of the second arc-shaped part parts are parallel to each other, then let the upper connection mechanism 11 and the lower connection mechanism 10 counter-rotate along the axis at the center of the distribution surface of the cuboid-like component on it to the position where it hits the blocking wall, so that the connection between the two modules The axial and radial displacements are fixed. When the two modules are screwed to a position where they cannot be further screwed together, the axes of the pin holes between the two connecting mechanisms coincide, and finally a pin is inserted into the pin hole. In this way, the connection between the two unit modules is completed, so that the connection between the soft module robot unit modules is not only firm and reliable, but also has the characteristics of simple and convenient establishment and disconnection, which is very conducive to the distribution of soft module robots according to the needs of tasks The number of unit modules.

As shown in Fig. 21 and Fig. 22, the movement mode of the robot unit module of the software module is a combination of telescopic movement and steering movement, and both the telescopic movement and the steering movement are realized by the steering mechanism. Its biggest feature is that the steering mechanism can realize telescopic movement and steering movement in any direction within the range of 360° at the same time.

As shown in Figures 23 to 25, five software module robot unit modules are connected in series to form a simple helical forward or forward bending motion configuration of the flexible arm. It can be seen that when a single software module robot unit module moves through stretching or turning When five modules are connected, a superposition effect is generated, so that the soft modular robot composed of multiple modules can well imitate the movement behavior of octopus tentacles.

As shown in Figures 26 to 28, five software modules and robot unit modules are connected in series to form the envelope diagram of the motion space of the flexible arm when it simulates three different motions through Creo software. A single module can not only realize 360° Turning movement, and a single module can also achieve 360°rotational movement in the turning configuration, so when five soft module robot unit modules are connected to produce a superimposed effect, a very complex control space structure can be produced type, which is very beneficial for it to complete the operations required for the next task in a complex environment.

Claims (5)

1. A software module robot unit module, characterized in that, comprises a telescopic power mechanism and a steering mechanism, and the telescopic power mechanism and the steering mechanism are movably linked by a ball connection secondary holder (3); The telescopic power mechanism includes at least three cylinders (8) vertically arranged on the cylinder fixing groove seat (9) and uniformly distributed along the circumferential direction, and the cylinders (8) are provided with at least one cylinder for connecting with the air supply system. A connected air hole (801), the top of the piston rod of the cylinder (8) is threadedly connected with a spherical member (4); The steering mechanism includes an upper base (1) provided with a guide rail, and a multi-set ball joint pair compensation mechanism composed of a telescopic rod (2) provided with a slider and a ball joint pair holding seat (3). The quantity of secondary compensating mechanism is consistent with the quantity of described cylinder (8); Wherein: The guide rail is a frame structure surrounded by a plurality of H-shaped members, and the number of the H-shaped members is consistent with the number of the cylinders (8). a vertical part, the vertical part is fixed on the cylindrical base plate (101); The telescopic rod (2) provided with a slider includes a telescopic rod (201) with a multi-stage telescopic movement function and a sliding sleeve (202) arranged at one end of the telescopic rod, and the sliding sleeve (202) is provided with Through holes, so that each of the sliding sleeves (202) is respectively sleeved on the cross portions of different H-shaped members (102) of the upper base (1) through square through holes, so that the telescopic rod (2) can The sliding sleeve (202) reciprocates on the transverse portion of the corresponding H-shaped component (102); The ball connection pair holder (3) includes an inner ball connection pair holder (301) and an outer ball connection pair holder (302), the inner ball connection pair holder (301) and the outer ball connection pair holder A 1/4 spherical groove is opened on the seat (302), and the inner ball connection pair holding seat (301) can be inserted and fixed in the outer ball connection pair holding seat (302) to form a whole and the inner The 1/4 spherical groove on the ball connection pair holder (301) and the outer ball connection pair holder (302) forms a 1/2 spherical groove; the other end of the telescopic rod (2) is fixed on the outer ball Connect to the secondary holder (302). 2. The software module robot unit module according to claim 1, characterized in that, an upper connection mechanism (11) and a lower connection mechanism (10) are respectively provided on the telescopic power mechanism and the steering mechanism, and The upper base (1) and the cylinder fixing groove seat (9) are provided with at least one pin hole on the same axis; the upper connection mechanism (11) and the lower connection mechanism (10) are multiple An arc-shaped draw-in slot arranged along the circumferential direction, and a blocking wall cooperating with each other is provided on one side of the draw-in slot, so that a plurality of software module robot unit modules pass through the upper connecting mechanism (11) and the described upper connection mechanism (11) sequentially. The lower connecting mechanisms (10) are buckled by opposite rotation and connected and fixed by pins arranged in the pin holes through interference fit to form flexible arms. 3. The software module robot unit module according to claim 1, characterized in that, the cylinder fixing groove seat (9) includes a cylindrical base (901) and four vertically arranged and uniformly distributed in the circumferential direction on the There is a strip frame (902) with a groove on the cylindrical base (901); the side of the strip frame (902) facing the outside is set as an opening, and the top surface is provided with a fixing through hole (903), so that the The cylinder (8) is arranged in the bar frame (902), the piston rod passes through the fixing through hole (903), and the cylinder (8) is fixed by bolts and nuts (5) sleeved on the outside of the bolts Inside the strip rack (902). 4. The software module robot unit module according to claim 3, characterized in that two groups of openings are arranged symmetrically on the side walls of the opening of the strip frame (902), so that the cylinder (8 ) is fixed in the strip frame (902) by rubber bands or nylon ties arranged in the gap. 5. The software module robot unit module according to claim 1, characterized in that, the depth of the 1/2 spherical groove is slightly greater than the radius of the spherical member (4), so that the ball joint holder (3 ) and the spherical member (4), the spherical member (4) can be locked in the 1/2 spherical groove of the ball joint holding seat (3).