Modular multi-cell series variable axis robotic arm

Abstract

The application discloses a modularized multi-cell series variable axis mechanical arm, and belongs to the technical field of folding and unfolding mechanisms, deformable mechanical structures and robot mechanical arms. The mechanical arm comprises a large cell, a small cell, a fixed cell, a rotating connecting piece, a hanging connecting piece, an elastic resetting piece and a guide piece. The large cell and the small cell are connected in series along the length direction, and adjacent cells are connected through the rotating connecting piece. An external flexible traction piece transmits traction force to the corresponding large cell through the guide piece, so that the large cell is unfolded as a whole, and two block bodies directly connected in adjacent small cells are relatively rotated, a local rotational degree of freedom is released, one-side or two-side bending and axis change are realized. After the traction force is released, the elastic resetting piece drives the corresponding large cell to reset. The mechanical arm is compact in structure, high in modularization degree and simple in driving, and is suitable for scenes such as narrow space operation.

Description

Technical Field

[0001] This invention relates to the fields of folding mechanisms, deformable mechanical structures, and robotic arms, and particularly to a modular multi-cell serial variable axis robotic arm. Background Technology

[0002] In applications such as robot manipulation, confined space operations, foldable mechanisms, and biomimetic deformable mechanisms, robotic arms typically need to possess the capabilities of folding and storage, posture adjustment, spatial obstacle avoidance, and end effector position adjustment. Traditional robotic arms often use rigid links and rotary joints in series to achieve posture changes. This type of structure has a clear motion pattern, but it usually relies on multiple independent joints and drive units, resulting in a complex structure, large size, and limited adaptability and folding and storage capabilities in confined spaces.

[0003] Existing flexible or continuous robotic arms can achieve relatively continuous bending deformation, but their structural deformation mostly relies on flexible materials, flexible cavities, or continuous elastic bodies, and still has shortcomings in terms of load-bearing capacity, repeatability, structural stability, and modular expansion. Origami-inspired folding mechanisms have the characteristics of folding and storage, unfolding deformation, and structural reconfigurability, but existing folding structures are mostly concentrated on a single folding unit or simple planar folding, making it difficult to directly form an integral robotic arm structure with multi-segment bending capabilities and variable axis capabilities.

[0004] For variable-axis robotic arms, modularly connecting multiple unfolding cells and controlling the overall unfolding and partial resetting of large cells at different positions through simple external traction allows the robotic arm to change its local structural state and undergo bending deformation at corresponding positions. This improves the robotic arm's structural simplicity, motion flexibility, and spatial adaptability. Furthermore, if an elastic resetting structure can achieve automatic resetting after the traction force is removed, the use of complex drive and resetting mechanisms can be reduced, improving structural reliability and scalability.

[0005] Therefore, developing a variable-axis robotic arm with a compact structure, high modularity, and the ability to achieve multi-segment bending and axial direction changes through the series combination of multiple folding cells and external traction has become an urgent technical problem to be solved in the field of folding mechanisms and deformable robotic arms. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, the present invention provides a modular multi-cell serial variable axis robotic arm to solve the problems of complex structure, insufficient folding and storage capacity, complex drive and reset mechanism, and difficulty in realizing multi-segment local axis changes in existing robotic arms.

[0007] The present invention discloses a modular multi-cell serial variable axis robotic arm, mainly comprising large cells, small cells, fixed cells, rotating connectors, hook-ups, elastic reset components, and guide components. The robotic arm is arranged in series along its length, with fixed cells at its ends. Large and small cells are positioned between the fixed cells and arranged in series along the length of the robotic arm. Adjacent fixed cells, small cells, and large cells are connected by rotating connectors, thereby forming a continuous modular multi-cell serial robotic arm body.

[0008] It should be noted that in this invention, fixed cells are respectively provided at both ends of the robotic arm, and four small cells and three large cells are sequentially connected in series between the two fixed cells. The above-mentioned quantities are only a preferred configuration of this invention and do not constitute a limitation on the scope of protection of this invention. Those skilled in the art can, without creative effort, make adaptive adjustments to the number and arrangement of fixed cells, small cells, and large cells according to the length of the robotic arm, the number of bending positions, the degree of freedom requirements, the installation space, and the load requirements.

[0009] The large cells are used to achieve the main folding and unfolding deformation of the robotic arm. Each large cell includes an upper left folding block, a lower left folding block, an unfolding operation block, an upper right folding block, and a lower right folding block. The upper left, lower left, unfolding operation, upper right, and lower right folding blocks are connected by rotating connectors, allowing the large cell to unfold under external traction and return to its initial state after the external traction is released via elastic reset components. Multiple large cells can be arranged sequentially along the length of the robotic arm to provide folding and unfolding deformation capabilities at different positions. In this invention, there are three large cells. The overall unfolding of the large cells at different positions can cause relative movement between two blocks in adjacent small cells that are directly connected to the large cell via rotating connectors, resulting in bending deformation and changes in the axial direction of the robotic arm at the corresponding positions.

[0010] The small cells are used to connect adjacent large cells and to connect fixed cells with adjacent large cells, providing a transition and auxiliary unfolding function during the movement of the large cells. Each small cell includes an upper left transition block, a lower left transition block, a central connecting block, an upper right transition block, and a lower right transition block. The upper left, lower left, central connecting block, upper right, and lower right transition blocks are connected by rotating connectors, allowing the small cell to undergo corresponding transitional unfolding deformations with the movement of adjacent cells. Two blocks in the small cell directly connected to adjacent large cells via rotating connectors serve as local degree-of-freedom release blocks. Depending on the connection position, the two blocks can be the upper left and lower left transition blocks, or the upper right and lower right transition blocks. When the large cell at the corresponding position unfolds as a whole, the two blocks can rotate relative to each other under the influence of the large cell, causing the small cell at that location to change from a constrained connection state to a bendable transition state, thus providing a degree of freedom for the robot arm to bend at that position. In this invention, each small cell is equipped with two guide members. The guide component is used to cooperate with the external flexible traction component to guide the external flexible traction component, so that the external traction force can be stably transmitted to the corresponding large cell along the length of the robotic arm.

[0011] The fixed cells are located at both ends of the robotic arm and connected to adjacent smaller cells via rotating connectors. Fixed cells closer to the drive end are used to connect to an external drive end, while fixed cells closer to the actuator end are used to connect to or fix the actuator. By setting fixed cells, the installation, fixation, and load transfer at both ends of the robotic arm can be achieved, while ensuring the overall connection stability of the multi-cell series structure.

[0012] The hook-and-mount component is located at the center of the bottom of the unfolding operation block of the large cell, and the elastic reset component is connected between the corresponding hook-and-mount components. When the external traction force causes the corresponding large cell to unfold as a whole, the elastic reset component is stretched and stores elastic potential energy; when the external traction force is released, the elastic reset component releases the elastic potential energy, causing the corresponding large cell to reset from the unfolded state to the initial state, and through the rotational connection between the large cell and the adjacent small cells, the local series structure is able to perform follow-up reset.

[0013] This invention enables a robotic arm to achieve multi-position folding and deformation under external traction by modularly combining fixed cells, small cells, and large cells. By traction of large cells at different positions, the local structural state of different sections of the robotic arm can be changed, transforming the overall axis of the robotic arm from its initial state to a bent state or a multi-segment variable axis state, thereby forming a variable axis robotic arm.

[0014] It should be noted that the terms "large cell," "small cell," and "fixed cell" in this invention are used to distinguish folding units with different positions and functions. The large cell is mainly used to provide the main folding deformation, the small cell is mainly used to provide the connection transition between adjacent cells and auxiliary folding, and the fixed cell is mainly used for fixing, supporting, or connecting the end of the robotic arm. The above names should not be construed as limiting specific geometric shapes, size ratios, or application scenarios. Without departing from the concept of this invention, the specific number, size ratio, arrangement, connection method, guide arrangement, and traction method of the large cell, small cell, and fixed cell can be equivalently replaced or adaptively adjusted.

[0015] Beneficial Effects: The modular multi-cell serial variable axis robotic arm provided by this invention forms a multi-cell robotic arm structure with scalable characteristics through the modular serial combination of fixed cells, small cells, and large cells. Adjacent cells are connected by rotating connectors, enabling the robotic arm to have a continuous unfolding and folding motion relationship. The large cell, as the main unfolding and deformation unit, can unfold under external traction force and reset via an elastic reset component; the small cell, as the connecting transition unit, has guide components that guide the external flexible traction component, improving the stability of traction force transmission; the fixed cell enables the installation and fixation of both ends of the robotic arm and the connection of actuators. By controlling the overall unfolding and reset of the large cells at different positions, the local structural state of the corresponding positions of the robotic arm can be changed, enabling the robotic arm to achieve segmented bending and axial direction changes. This invention has a compact structure, high modularity, simple driving method, reliable reset, and the number and arrangement of cells can be adjusted according to usage requirements. It can serve as the basic structure for variable axis robotic arms, unfolding robots, or confined space operation mechanisms. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings involved in the embodiments will be briefly described below. It should be understood that the following drawings are only schematic diagrams of some embodiments and are not intended to limit the present invention. Those skilled in the art can obtain other embodiments based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of a modular multi-cell serial variable axis robotic arm provided in an embodiment of the present invention.

[0018] Figure 2 A front view of a modular multi-cell serial variable axis robotic arm provided in an embodiment of the present invention.

[0019] Figure 3 A top view of a modular multi-cell serial variable axis robotic arm provided in an embodiment of the present invention.

[0020] Figure 4 Bottom view of a modular multi-cell serial variable axis robotic arm provided for an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the large cell of a modular multi-cell serial variable axis robotic arm provided in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the back of the large cell of a modular multi-cell serial variable axis robotic arm provided in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of a modular multi-cell serial variable axis robotic arm with a small cell, provided as an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the small cells of a modular multi-cell serial variable axis robotic arm provided in an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the serial connection structure of the cells of a modular multi-cell series variable axis robotic arm provided in an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of a modular multi-cell serial variable axis robotic arm bending on one side of any large cell, as provided in an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the bending of any large cell on both sides of a modular multi-cell serial variable axis robotic arm, provided as an embodiment of the present invention.

[0028] Labeling Explanation: 1. Large cell; 101. Upper left folding block; 102. Lower left folding block; 103. Unfolding operation block; 104. Upper right folding block; 105. Lower right folding block; 2. Small cell; 201. Upper left transition block; 202. Lower left transition block; 203. Center connecting block; 204. Upper right transition block; 205. Lower right transition block; 3. Fixed cell; 4. Rotating connector; 5. Hanging component; 6. Elastic reset component; 7. Guide component. Detailed Implementation

[0029] The following description, in conjunction with the accompanying drawings, provides a detailed account of specific embodiments of the present invention. It should be understood that the same or similar reference numerals in the drawings correspond to the same or similar elements or functional modules. This description, in conjunction with the accompanying drawings, is for illustrative purposes only and is intended to clarify the technical solutions of the present invention; it should not be construed as limiting the scope of protection of the present invention in any way.

[0030] In the description of this invention, it should be noted that terms such as "left," "right," "up," "down," "front," "back," "bottom," "middle," "center," and "both sides," which indicate direction or positional relationships, are defined based on the orientation or positional relationships shown in the accompanying drawings. These definitions are merely for the convenience of describing and simplifying the invention and should not be construed as limiting the invention.

[0031] The different embodiments or examples provided in this invention are used to illustrate the possible structures and variations of the invention. For the sake of simplicity, specific components and their configurations in particular examples will be described in detail. It should be emphasized that these descriptions are merely illustrative and not intended to limit the invention.

[0032] It should be noted that the same reference numerals may be used repeatedly in different embodiments of the present invention, or some repetitive elements may be simplified. This is only for the purpose of pursuing conciseness and clarity of expression, and does not imply any specific relationship between the different implementation methods or structures, nor should it be construed as a limitation of the present invention.

[0033] Please see Figures 1 to 11 This invention provides a modular multi-cell serial variable axis robotic arm, whose structure mainly includes a large cell 1, a small cell 2, a fixed cell 3, a rotating connector 4, a hanging member 5, an elastic reset member 6, and a guide member 7. The robotic arm is arranged along its length, with a fixed cell 3 at one end. The large cell 1 and the small cell 2 are arranged between the fixed cells 3 and connected in series along the length of the robotic arm. Adjacent fixed cells 3, small cells 2, and large cells 1 are connected by rotating connectors 4, thereby forming a continuous modular multi-cell serial robotic arm body.

[0034] It should be noted that fixed cells 3 are provided at both ends of the robotic arm. One fixed cell 3 can be used to connect to an external drive end, and the other fixed cell 3 can be used to connect to an actuator or to fix the actuator.

[0035] It should be noted that the three large cells 1 serve as the main folding and deformation units of the robotic arm, the four small cells 2 serve as connecting and transitioning units between adjacent cells, and the two fixed cells 3 serve as fixed connecting units at both ends of the robotic arm. The large cells 1 change the structural state of the corresponding position of the robotic arm by unfolding and closing, enabling that position to bend; the small cells 2 play a role in connecting and transitioning, assisting in folding and unfolding, and adjusting the posture during the movement of the large cells 1; the fixed cells 3 are used to realize the connection between the robotic arm and the external drive end, actuator, or mounting structure.

[0036] See Figures 1 to 6The large cell 1 includes an upper left folding block 101, a lower left folding block 102, an unfolding operation block 103, an upper right folding block 104, and a lower right folding block 105. These four blocks are connected by multiple rotating connectors 4, allowing each folding block to rotate relative to the corresponding connector 4, thus forming the main folding structure of the large cell 1. The upper left and upper right folding blocks 101 and 104 are located in the upper regions on both sides of the large cell 1, while the lower left and lower right folding blocks 102 and 105 are located in the lower regions on both sides of the large cell 1. The unfolding operation blocks 103 are arranged in pairs on both sides of the large cell 1 and are connected to adjacent folding blocks via rotating connectors 4. The unfolding operation block 103 is used to receive external traction force and drive the unfolding blocks inside the macrocell 1 to rotate relative to each other.

[0037] See Figure 1 , Figure 7 and Figure 8 The small cell 2 includes an upper left transition block 201, a lower left transition block 202, a central connecting block 203, an upper right transition block 204, and a lower right transition block 205. The upper left transition block 201, the lower left transition block 202, the central connecting block 203, the upper right transition block 204, and the lower right transition block 205 are connected by multiple rotating connectors 4, so that the small cell 2 forms a transition folding structure that can deform with movement.

[0038] Small cells 2 are positioned between adjacent cells to connect adjacent large cells 1, or to connect fixed cells 3 with adjacent large cells 1. By rotating the connector 4, small cells 2 can rotate relative to adjacent large cells 1 or fixed cells 3, and form corresponding transitional folding deformations during the movement of large cells 1. Through this arrangement, small cells 2 can play a role in connecting transitions, assisting in folding deformations, and adjusting local postures within the overall robotic arm.

[0039] See Figures 1 to 4 , Figures 9 to 11 Fixed cells 3, small cells 2, and large cells 1 are arranged in series along the length of the robotic arm. Specifically, fixed cells 3 are set at both ends of the robotic arm, and four small cells 2 and three large cells 1 are set between the two fixed cells 3. Adjacent cells are connected by rotating connectors 4, so that the robotic arm forms a continuous multi-cell series structure. When some or all of the large cells 1 undergo overall deployment, the adjacent small cells 2 can undergo transitional deformation with the adjacent cells, causing the local centerline of the robotic arm to deflect relative to the initial state, thereby forming a variable axis motion. When the external traction force is released, the corresponding large cell 1 undergoes a reset motion under the action of the elastic reset member 6, so that the local structure at the corresponding position returns to the initial state.

[0040] See Figure 3 , Figure 4 and Figure 6 A hook 5 is provided at the center of the bottom of the unfolding operation block 103 of the large cell 1, and an elastic reset member 6 is connected between adjacent hooks 5. In this embodiment, the rotating connector 4 is preferably a hinge, the hook 5 is preferably a spur nail, and the elastic reset member 6 is preferably a tension spring. The two ends of the elastic reset member 6 are respectively connected to the corresponding hooks 5. When the large cell 1 unfolds under the action of external traction force, the elastic reset member 6 is stretched and stores elastic potential energy. When the external traction force is released, the elastic reset member 6 releases the elastic potential energy and applies a restoring force to the large cell 1 through the hooks 5, so that the large cell 1 returns to the initial state from the unfolded state.

[0041] See Figures 1 to 4 , Figures 9 to 11 Each small cell 2 is equipped with two guide members 7. The guide members 7 cooperate with external flexible traction members to guide them, enabling the external flexible traction members to stably transmit traction force along the length of the robotic arm. By setting the guide members 7, the frictional resistance of the external flexible traction members during movement can be reduced, the direction of traction force transmission can be changed, and the stability of multiple cells moving in tandem can be improved. It should be noted that the external flexible traction members are used to apply traction force to the large cell 1, and their arrangement can be determined according to the actual driving method. For clarity of the robotic arm's main structure, the external flexible traction members are not shown in the attached diagram. The external flexible traction members can be set as one or more as needed, and can act on large cells 1 at different positions to drive the corresponding large cell 1 to unfold as a whole. After the large cell 1 unfolds as a whole, its local area can form a unilateral or bilateral bend depending on the structural movement state.

[0042] In this embodiment, the guide member 7 is preferably a guide wheel. Two guide members 7 are provided on each small cell 2. The two guide members 7 can limit and guide the external flexible traction member, so that the traction force can be transmitted to the corresponding large cell 1 more stably.

[0043] In use, the external drive end applies traction force to the external flexible traction component. After being guided by the guide component 7 on the small cell 2, the external flexible traction component transmits the traction force to the corresponding large cell 1. The pulled large cell 1 unfolds as a whole under the action of the traction force, changing the structure at that location from its initial folded state to its unfolded state. After the large cell 1 unfolds as a whole, it causes relative movement between the two blocks in the adjacent small cell 2 that are directly connected to the large cell 1 through the rotating connector 4, thereby releasing the rotational degree of freedom at the local connection point, enabling the robotic arm to bend and deform at the location of the corresponding large cell 1, thus allowing the robotic arm to bend and deform at that location.

[0044] By selecting different positions of the large cell 1 for traction and deployment, bending control of the robotic arm at different positions can be achieved. When the external traction force is released, the elastic reset member 6 in the corresponding large cell 1 releases elastic potential energy, causing the relevant unfolding blocks of the large cell 1 to rotate in the opposite direction around the rotating connector 4, so that the large cell 1 is reset from the unfolded state to the initial state. Adjacent small cells 2 can be locally reset by rotating the connector 4 along with the reset movement of the large cell 1, thereby restoring the local structure of the corresponding position of the robotic arm to the initial state.

[0045] See Figure 10 The robotic arm described in this invention can form a unilateral bending state at any location of the large cell 1. Specifically, after any large cell 1 is fully unfolded under external traction, the large cell 1 drives the two blocks in the adjacent small cells 2 that are directly connected to it via the rotating connector 4 to move relative to each other, thereby releasing the rotational degree of freedom at the local connection point. In this state, the local area where the large cell 1 is located can bend to either the left or right (i.e., unilaterally along direction A), thereby enabling the robotic arm to form a unilateral bending state at the location of the large cell 1. By selecting different locations for the large cell 1 to be fully unfolded and unilaterally bent, unilateral variable axis movement of the robotic arm at different locations can be achieved.

[0046] See Figure 11 The robotic arm described in this invention can also form a double-sided bending state at any location of the large cell 1. Specifically, after any large cell 1 is fully unfolded under external traction, the large cell 1 drives the two blocks in the adjacent small cells 2 that are directly connected to it via the rotating connector 4 to move relative to each other, thereby releasing the rotational degree of freedom at the local connection point. In this state, the local area where the large cell 1 is located can bend to both sides (i.e., both sides along direction A), thus forming a double-sided bending state. By controlling the overall unfolding state and the double-sided bending state of the large cell 1 at different positions, the robotic arm can achieve multi-position and multi-directional axis adjustment.

[0047] Specific examples have been used in this invention to illustrate the principles and implementation schemes of the invention. The above embodiments are merely illustrative and intended to aid in understanding the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the principles of this invention. Therefore, the content of this specification should not be construed as limiting the invention.

[0048] The above description is merely a specific embodiment of the present invention, used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any non-creative modifications, adaptive adjustments, and reasonable variations made by those skilled in the art based on the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A modular multi-cell serial variable axis robotic arm, characterized in that, include: The system comprises a large cell (1), a small cell (2), a fixed cell (3), a rotating connector (4), a hook (5), an elastic reset component (6), and a guide component (7). The fixed cell (3) is located at the end of the robotic arm, and the large cell (1) and the small cell (2) are located between the fixed cells (3) and arranged in series along the length of the robotic arm. Adjacent fixed cells (3), small cells (2), and large cells (1) are connected by rotating connectors (4), forming a continuous modular multi-cell series structure for the robotic arm. The large cell (1) can be fully deployed under external traction. And provide the main bending and deformation capability at the corresponding position; the small cell (2) is used to connect the adjacent large cell (1) or connect the fixed cell (3) with the adjacent large cell (1), and provide connection transition and auxiliary bending and deformation function during the movement of the large cell (1); the two blocks in the small cell (2) that are directly connected to the adjacent large cell (1) through the rotating connector (4) are used as local degree of freedom release blocks. When the large cell (1) at the corresponding position is fully unfolded, the two blocks can rotate relative to each other under the drive of the large cell (1), so that the robotic arm can bend and deform and change the axis direction at the corresponding position.

2. The modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, The large cell (1) includes an upper left folding block (101), a lower left folding block (102), an unfolding operation block (103), an upper right folding block (104), and a lower right folding block (105). The upper left folding block (101), lower left folding block (102), unfolding operation block (103), upper right folding block (104), and lower right folding block (105) are connected by multiple rotating connectors (4), so that each folding block can rotate relative to the corresponding rotating connector (4), thereby forming the main folding structure of the large cell (1). The unfolding operation blocks (103) are arranged in pairs on both sides of the large cell (1) and are connected to the adjacent folding blocks by rotating connectors (4). The unfolding operation blocks (103) are used to receive external traction force and drive the folding blocks inside the large cell (1) to rotate relative to each other, so that the large cell (1) changes from the initial folded state to the overall unfolded state.

3. The modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, The small cell (2) includes an upper left transition block (201), a lower left transition block (202), a central connecting block (203), an upper right transition block (204), and a lower right transition block (205); the upper left transition block (201), the lower left transition block (202), the central connecting block (203), the upper right transition block (204), and the lower right transition block (205) are connected by multiple rotating connectors (4), so that the small cell (2) forms a transition folding structure that can generate transition folding deformation with the movement of adjacent cells.

4. A modular multi-cell serial variable axis robotic arm according to claim 3, characterized in that, The two blocks in the small cell (2) that are directly connected to the adjacent large cell (1) through the rotating connector (4) are the upper left transition block (201) and the lower left transition block (202), or the upper right transition block (204) and the lower right transition block (205). When the large cell (1) at the corresponding position is fully unfolded, the two blocks can rotate relative to each other under the drive of the large cell (1), so that the small cell (2) changes from a constrained connection state to a bendable transition state, thereby providing rotational freedom for the robot arm to bend at this position.

5. A modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, The fixed cell (3) is located at both ends of the robotic arm and is connected to the adjacent small cell (2) through the rotating connector (4); the fixed cell (3) near the drive end is used to connect to the external drive end, and the fixed cell (3) near the execution end is used to connect to the actuator or to fix the actuator.

6. A modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, The hook (5) is located at the bottom center of the unfolding operation block (103) of the large cell (1), and the elastic reset member (6) is connected between the corresponding hook (5). When the external traction force drives the corresponding large cell (1) to unfold as a whole, the elastic reset member (6) is stretched and stores elastic potential energy. When the external traction force is released, the elastic reset member (6) releases elastic potential energy, drives the corresponding large cell (1) to reset from the unfolded state to the initial state, and through the rotational connection relationship between the large cell (1) and the adjacent small cell (2), the local series structure generates follow-up reset.

7. A modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, The guide (7) is provided on the small cell (2). The guide (7) is used to cooperate with the external flexible traction component to limit and guide the external flexible traction component, so that the external flexible traction component can stably transmit the traction force to the corresponding large cell (1) along the length direction of the robotic arm. There are two guides (7) on each small cell (2), and the external flexible traction component is guided by the two guides (7).

8. A modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, The robotic arm is provided with fixed cells (3) at both ends, and four small cells (2) and three large cells (1) are connected in series between the two fixed cells (3). The number and arrangement of the fixed cells (3), small cells (2) and large cells (1) can be adaptively adjusted according to the length of the robotic arm, the number of bending positions, the degree of freedom requirements, the installation space and the load requirements.

9. A modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, After any large cell (1) is fully unfolded under the action of external traction force, it can drive the two blocks in the adjacent small cell (2) that are directly connected to it through the rotating connector (4) to move relative to each other, thereby releasing the rotational degree of freedom at the local connection point; in the unfolded state, the local part where the large cell (1) is located can bend to either the left or the right side, forming a unilateral bending state; or the local part where the large cell (1) is located can bend to both sides respectively, forming a bilateral bending state.

10. A modular multi-cell serial variable axis robotic arm according to claim 1, characterized in that, The external flexible traction component can be set as one or more, and can act on the large cell (1) at different positions to drive the corresponding large cell (1) to unfold as a whole; the rotating connector (4) is a hinge, the hook (5) is a ram's horn nail, the elastic reset component (6) is a tension spring, and the guide component (7) is a guide wheel.

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