Radiation-resistant robotic arm based on multi-arm rotary transmission

Abstract

This invention discloses a radiation-resistant robotic arm based on multi-arm rotary transmission, belonging to the field of robotic arm manufacturing technology. It includes a large arm, a small arm, a clamp, and a drive assembly connected sequentially. The drive assembly includes a drive housing and a drive motor, a drive main gear, and a drive driven gear mounted on and connected to each other. Multiple primary drive shafts form an inner and outer sleeve structure, with adjacent primary drive shafts connected by corresponding bearings. These primary drive shafts are respectively connected to multiple primary synchronous pulleys, multiple primary synchronous belts, multiple secondary upper synchronous pulleys, multiple secondary drive shafts, multiple secondary lower synchronous pulleys, multiple tertiary synchronous belts, multiple tertiary synchronous pulleys, and the clamp. This invention utilizes pure mechanical transmission to achieve radiation resistance, long lifespan, and high stability, meeting the needs of working in strong radiation environments, improving transmission and control accuracy, and reducing the failure rate.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm manufacturing technology, specifically relating to a radiation-resistant robotic arm based on multi-arm rotary transmission. Background Technology

[0002] A robotic arm, also known as a robotic hand, is a device that mimics the function of a human arm. It can move in three-dimensional space and grasp objects. It is the most widely used automated mechanical device in the field of robotics, and has a wide range of applications in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing and other fields.

[0003] In the context of nuclear technology applications, some working environments contain highly radioactive media. The infrastructure widely used in the production and processing of nuclear materials is the hot chamber. The internal environment of the hot chamber is relatively harsh, containing highly radioactive substances. Humans cannot operate some of the equipment by hand and must rely on a type of robotic arm for various operations within the hot chamber.

[0004] The nuclear industry environment is harsh for robot applications. It not only has special spaces with high radioactivity, but also requires sophisticated and complex equipment. Ordinary robots, because most of their motors and related components are built into the robotic arm, can hardly meet the requirements of the nuclear industry environment in terms of lifespan and reliability.

[0005] Currently, most traditional industrial robots employ numerous sensors and integrate servo motors into the robotic arm to achieve precise and automated operation, improving accuracy and automation levels. However, most sensors, encoders, and other electrical components cannot be used for extended periods in the nuclear industry environment. Using radiation-resistant materials would significantly increase costs and make it difficult to extend the lifespan. Furthermore, the extensive use of electrical components within the hot chamber could lead to higher failure rates, and the strong radiation environment would make maintenance difficult.

[0006] Another type of purely mechanical traditional master-slave robotic arm can be used for a long time in the nuclear industry environment, but it generally uses wire rope and / or chain drive. That is, each degree of freedom requires a separate transmission path to realize the rotation and swing of each joint, so as to perform operation at the active end. This multi-degree-of-freedom integrated structure of wire rope and / or chain drive is complex, has low transmission accuracy, is difficult to meet the requirements of high-precision automated control, and has a high failure rate. Summary of the Invention

[0007] The purpose of this invention is to provide a radiation-resistant robotic arm based on multi-arm rotary transmission with pure mechanical transmission and high transmission accuracy in order to solve the above-mentioned problems.

[0008] The present invention achieves the above objectives through the following technical solutions:

[0009] A radiation-resistant robotic arm based on multi-arm rotary transmission includes a large arm, a small arm, and a gripper connected sequentially. It also includes a drive assembly, which comprises a drive housing and drive motors, drive master gears, and drive slave gears mounted on the drive housing. The shafts of multiple drive motors are connected to multiple drive master gears, and the drive master gears mesh with multiple drive slave gears. The primary drive shafts form an inner and outer fitting structure through their central through-holes, with their center lines coinciding. The ends of adjacent primary drive shafts are connected by corresponding bearings. The upper end of the central primary drive shaft is connected to the shaft of the central drive motor, and the upper ends of the other primary drive shafts are connected to the drive slave gears. At least one primary drive shaft is connected to the drive housing through a corresponding bearing. The lower end of the outermost primary drive shaft is connected to one end of the transversely lateral large arm. The lower ends of the other primary drive shafts pass through through-holes at one end of the large arm and are connected to the gears mounted on the large arm. Multiple primary synchronous pulleys are connected within the inner cavity. Multiple secondary upper synchronous pulleys are respectively connected to the upper ends of multiple vertical secondary drive shafts. The multiple secondary drive shafts form an inner and outer fitting structure through their own central through holes, and their center lines coincide. The two ends of two adjacent secondary drive shafts are connected by corresponding bearings. The upper end of at least one secondary drive shaft is connected to the other end of the upper arm through a corresponding bearing. The lower end of the outermost secondary drive shaft is connected to one end of the lateral forearm. The lower ends of the other multiple secondary drive shafts, excluding the outermost one, pass through through holes at the other end of the upper arm and the forearm, respectively, and are connected to multiple secondary lower synchronous pulleys placed in the inner cavity of the forearm. Multiple tertiary synchronous pulleys are installed at the other end of the inner cavity of the forearm and connected to the clamps, respectively, and are used to realize the corresponding functions of the clamps. The multiple primary synchronous pulleys and the multiple secondary upper synchronous pulleys are respectively connected by multiple primary synchronous belts. The multiple secondary lower synchronous pulleys and the multiple tertiary synchronous pulleys are respectively connected by multiple secondary synchronous belts.

[0010] Preferably, to achieve reliable secondary rotating arm drive function and clamp rotation, lifting, and clamping drive function, there are five drive motors and five primary transmission shafts; four drive main gears, four drive driven gears, four primary synchronous pulleys, four secondary upper synchronous pulleys, four primary synchronous belts, and four secondary transmission shafts; and three secondary lower synchronous pulleys, three tertiary synchronous pulleys, and three tertiary synchronous belts. The three tertiary synchronous pulleys are designated as first tertiary synchronous pulley, second tertiary synchronous pulley, and third tertiary synchronous pulley. The upper end of the primary transmission shaft at the center and the lower part of the outermost primary transmission shaft are also specified. The secondary drive shaft is connected to the drive housing via corresponding bearings. The upper end of the central secondary drive shaft and the lower part of the outermost secondary drive shaft are connected to the corresponding ends of the upper arm via corresponding bearings. The upper part of the clamp is a clamp base, and a gripper is installed below the clamp base. The upper end of the clamp base is provided with a gripper drive shaft for driving the gripper to clamp and open. The radiation-resistant robotic arm based on multi-arm rotary transmission also includes a rotary shaft, a gear pair, a gripper drive rod, a screw, a screw sleeve, and a limiting drive sleeve. The lower part of the vertical rotary shaft is located inside the cavity of the forearm and is connected to the forearm via a corresponding bearing. The threaded sleeve is located inside the inner cavity of the forearm, and its lower end is connected to the forearm via a corresponding bearing. The lower end of the vertical limiting drive sleeve is connected to the upper end of the threaded sleeve via a corresponding bearing, and the upper end of the limiting drive sleeve is connected to the forearm via a corresponding bearing. The vertical screw passes through the central through hole of the limiting drive sleeve and the central threaded hole of the threaded sleeve. The vertical gripper drive rod passes through the central through hole of the screw. The outer wall of the gripper drive rod is connected to the wall of the central through hole of the screw via a corresponding bearing. The external thread of the screw is connected to the internal thread of the threaded sleeve. The outer wall of the screw is provided with one or more strip-shaped limiting grooves. The length direction is vertical. Multiple protruding balls are installed on the inner wall of the limiting drive sleeve. The multiple balls are respectively placed in the corresponding strip-shaped limiting groove. The upper end of the gripper drive rod is connected to the upper end of the rotating shaft through the gear pair. The lower end of the gripper drive rod is provided with a screw hole. The upper end of the gripper drive shaft is provided with an external thread and is placed in the screw hole at the lower end of the gripper drive rod and threadedly connected. The lower end of the screw is connected to the upper end of the clamp base. The first and third stage synchronous pulleys are connected to the lower part of the rotating shaft. The second and third stage synchronous pulleys are connected to the screw sleeve. The third and third stage synchronous pulleys are connected to the limiting drive sleeve.

[0011] Preferably, in order to achieve a more reliable rotary drive function and facilitate assembly, the shafts of the multiple drive motors are respectively connected to the input ends of multiple reducers, the output end of the reducer at the center is connected to the upper end of the primary drive shaft at the center, the output ends of the other multiple reducers are respectively connected to one end of multiple couplings, and the other ends of the multiple couplings are respectively connected to the corresponding multiple drive main gears.

[0012] The beneficial effects of this invention are as follows:

[0013] This invention achieves the goal of placing electronic components and electrical elements such as motors, sensors, and encoders in high-radiation outdoor environments by centrally installing the drive components and forming a multi-arm rotary transmission structure with a purely mechanical upper and lower arm. This avoids the problems of high failure rates and difficult maintenance caused by radiation exposure of electronic components and electrical elements. The pure mechanical transmission achieves radiation resistance, long lifespan, and high stability, meeting the needs of working in strong radiation environments. Furthermore, by adopting a reliable transmission structure with multiple drive shafts in inner and outer sets, as well as synchronous pulleys and synchronous belts, the invention realizes the displacement control, rotation, and clamping control functions of the clamp in three dimensions, improving transmission accuracy and control accuracy, and reducing the failure rate. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the front view of the radiation-resistant robotic arm based on multi-arm rotary transmission described in this invention.

[0015] Figure 2 This is a top view of the radiation-resistant robotic arm based on multi-arm rotary transmission described in this invention.

[0016] Figure 3 This is the AA cross-sectional view in the top view structural schematic diagram of the radiation-resistant robotic arm based on multi-arm rotary transmission described in this invention;

[0017] Figure 4 yes Figure 3 Enlarged image of the letter "C" in the middle;

[0018] Figure 5 yes Figure 3 A magnified view of the letter "B" in the image;

[0019] Figure 6 This is a schematic diagram of the main structure of the screw of the radiation-resistant robotic arm based on multi-arm rotary transmission described in this invention;

[0020] Figure 7 This is a DD cross-sectional view of the main view of the screw structure of the radiation-resistant robotic arm based on multi-arm rotary transmission described in this invention;

[0021] Figure 8This is a top view of the limiting drive sleeve of the radiation-resistant robotic arm based on multi-arm rotary transmission as described in this invention.

[0022] Figure 9 This is a top view of the limiting drive sleeve of the radiation-resistant robotic arm based on multi-arm rotary transmission described in this invention, specifically the EE cross-sectional view. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings:

[0024] like Figures 1-9As shown, the radiation-resistant robotic arm based on multi-arm rotary transmission of the present invention includes a large arm 8, a small arm 7, a clamp 6, and a drive assembly connected in sequence. The drive assembly includes a drive housing 9 and drive motors 11, drive main gears 10, and drive driven gears 16 mounted on the drive housing 9. The rotating shafts of the multiple drive motors 11 are respectively connected to the multiple drive main gears 10, and the multiple drive main gears 10 are respectively meshed with the multiple drive driven gears 16. The multiple primary transmission shafts 17 form an inner and outer fitting structure through their own central through holes, and their center lines coincide with each other. The two ends of two adjacent primary transmission shafts 17 are connected together. The components are connected by corresponding bearings (not marked due to the large number of bearings involved in this application, the same below). The upper end of the primary drive shaft 17 at the center is connected to the shaft of the drive motor 11 at the center. The upper ends of the other primary drive shafts 17 are respectively connected to the multiple driven gears 16. At least one primary drive shaft 17 is connected to the drive housing 9 through a corresponding bearing. The lower end of the outermost primary drive shaft 17 is connected to one end of the transverse main arm 8. The lower ends of the other primary drive shafts 17, excluding the outermost one, pass through the through hole at one end of the main arm 8 and are connected to the multiple primary drive shafts 16 placed in the inner cavity of the main arm 8. Synchronous pulleys 18 are connected, and multiple secondary synchronous pulleys 28 are respectively connected to the upper ends of multiple vertical secondary drive shafts 27. The multiple secondary drive shafts 27 form an inner and outer fitting structure through their own central through holes, and their center lines coincide with each other. The two ends of two adjacent secondary drive shafts 27 are connected by corresponding bearings. The upper end of at least one secondary drive shaft 27 is connected to the other end of the upper arm 8 through a corresponding bearing. The lower end of the outermost secondary drive shaft 27 is connected to one end of the lateral forearm 7. The lower ends of the other secondary drive shafts 27, except for the outermost one, pass through the through holes at the other end of the upper arm 8 and the forearm 7, respectively. One end of the arm 7 has a through hole that connects to multiple secondary lower synchronous pulleys 29 located inside the cavity of the forearm 7. Multiple tertiary synchronous pulleys (refer to the first and third stage synchronous pulleys 25, second and third stage synchronous pulleys 23, and third stage synchronous pulleys 21 described below) are installed at the other end of the cavity of the forearm 7 and connected to the clamp 6, respectively fulfilling the corresponding functions of the clamp 6. Multiple primary synchronous pulleys 18 are connected to multiple secondary upper synchronous pulleys 28 via multiple primary synchronous belts 15, and multiple secondary lower synchronous pulleys 29 are connected to multiple tertiary synchronous pulleys via multiple secondary synchronous belts 26. The aforementioned drive housing 9, upper arm 8, and forearm 7 are all multi-component assembly structures; the specific components and connection methods depend on actual needs and are not specifically described here. The aforementioned primary drive shaft 17 and secondary drive shaft 27 can be an integrated structure or assembled from multiple components, depending on actual needs. The aforementioned clamp 6 is a conventional component in the prior art.

[0025] Preferably, to achieve reliable secondary rotating arm drive function and the rotation, lifting, and clamping drive function of clamp 6, there are five drive motors 11 and five primary drive shafts 17; four drive main gears 10, four drive driven gears 16, four primary synchronous pulleys 18, four secondary upper synchronous pulleys 28, four primary synchronous belts 15, and four primary drive shafts 27; and three secondary lower synchronous pulleys 29, three tertiary synchronous pulleys, and three secondary synchronous belts 26. The three tertiary synchronous pulleys are respectively the first tertiary synchronous pulley 25, the second tertiary synchronous pulley 23, and the third tertiary synchronous pulley 21. The upper end of the primary drive shaft 17 at the center position and the lower part of the outermost primary drive shaft 17 are also included. The secondary drive shaft 27 at the center and the lower part of the outermost secondary drive shaft 27 are respectively connected to the corresponding ends of the upper arm 8 via corresponding bearings. The upper part of the clamp 6 is the clamp base 5, and the clamping claws (not separately marked in the figure, but in the same position as the clamp 6) are installed on the lower part of the clamp base 5. The upper end of the clamp base 5 is provided with a clamping claw drive shaft 4 for driving the clamping claws to clamp and open. The radiation-resistant robotic arm based on multi-arm rotary transmission also includes a rotary shaft 24, a gear pair 19, a clamping claw drive rod 3, a screw 2, a screw sleeve 22, and a limiting drive sleeve 20. The lower part of the vertical rotary shaft 24 is located inside the cavity of the forearm 7. The vertical screw sleeve 22 is located inside the cavity of the forearm 7 and its lower end is connected to the forearm 7 via a corresponding bearing. The lower end of the vertical limiting drive sleeve 20 is connected to the upper end of the screw sleeve 22 via a corresponding bearing, and the upper end of the limiting drive sleeve 20 is connected to the forearm 7 via a corresponding bearing. The vertical screw 2 passes through the central through hole of the limiting drive sleeve 20 and the central threaded hole of the screw sleeve 22. The vertical gripper drive rod 3 passes through the central through hole of the screw 2. The upper and lower outer walls of the gripper drive rod 3 are connected to the upper and lower hole walls of the central through hole of the screw 2 via corresponding bearings. The external thread of the screw 2 is connected to the internal thread of the screw sleeve 22. The outer wall of the screw 2 has one or more... Multiple strip-shaped limiting grooves 30 are arranged vertically along their length. Multiple protruding balls 31 are installed on the inner wall of the limiting drive sleeve 20. The balls 31 are placed in the corresponding strip-shaped limiting grooves 30. The upper end of the gripper drive rod 3 is connected to the upper end of the rotating shaft 24 through a gear pair 19. The lower end of the gripper drive rod 3 is provided with a screw hole. The upper end of the gripper drive shaft 4 is provided with an external thread and is placed in the screw hole at the lower end of the gripper drive rod 3 and is threadedly connected. The lower end of the screw 2 is connected to the upper end of the clamp base 5. The first three-stage synchronous pulley 25 is connected to the lower part of the rotating shaft 24. The second three-stage synchronous pulley 23 is connected to the screw sleeve 22. The third three-stage synchronous pulley 21 is connected to the limiting drive sleeve 20.

[0026] Preferably, in order to achieve a more reliable rotary drive function and facilitate assembly, the shafts of multiple drive motors 11 are connected to the input ends of multiple reducers 12 respectively, the output end of the reducer 12 at the center is connected to the upper end of the primary drive shaft 17 at the center, the output ends of the other multiple reducers 12 are connected to one end of multiple couplings 13 respectively, and the other end of the multiple couplings 13 is connected to the corresponding multiple drive main gears 10 respectively.

[0027] Figures 1-3 and Figure 5 The image also shows a housing 1 mounted on the forearm 7 and used to cover the gear pair 19 and related components, which is an adaptive matching structure.

[0028] like Figures 1-9 As shown, during use, the upper arm 8, lower arm 7, and clamp 6 are placed in the radiant environment heat chamber, while multiple drive motors 11, multiple reducers 12, and other related electronic components (generally housed within the drive housing 9, such as circuit boards, sensors, etc., depending on actual needs, not shown in the figure) are placed outside the heat chamber, thus preventing the electrical equipment and electronic components from being affected by radiation. The entire robotic arm has the following five independent movement functions: rotation of the upper arm 8, rotation of the lower arm 7, rotation of the clamp 6, lifting and lowering of the clamp 6, and clamping and opening of the clamp 6. Among these, the rotation of the upper arm 8 and the rotation of the lower arm 7 enable the clamp 6 to move in any lateral position within a large range, i.e., to move along the X and Y axes. The rotation of the clamp 6 enables the clamping direction to be determined according to the object to be clamped. The lifting and lowering of the clamp 6 enables the clamp 6 to move vertically, i.e., to move along the Z axis. The clamping and opening of the clamp 6 enables the clamping and releasing of objects.

[0029] The specific implementation process of the above five independent activity functions is as follows:

[0030] The rotation of the boom 8: The drive motor 11 corresponding to the outermost primary drive shaft 17 drives the corresponding reducer 12, coupling 13, drive the main gear 10, and drive the driven gear 16 to rotate, ultimately driving the outermost primary drive shaft 17 and the boom 8 to rotate.

[0031] Forearm 7 rotation: The drive motor 11 corresponding to the outermost secondary drive shaft 27 drives the corresponding reducer 12, coupling 13, drive main gear 10, drive driven gear 16, primary drive shaft 17, primary synchronous pulley 18, primary synchronous belt 15, and secondary upper synchronous pulley 28 to rotate, ultimately driving the outermost secondary drive shaft 27 and forearm 7 to rotate.

[0032] Clamp 6 rotation and lifting: These two functions can be implemented independently, but require corresponding related components to cooperate with each other, as detailed below:

[0033] In the first scenario: the drive motor 11 corresponding to the second and third stage synchronous belt pulleys 23 drives the corresponding reducer 12, coupling 13, drive main gear 10, drive driven gear 16, first stage transmission shaft 17, first stage synchronous belt pulley 18, first stage synchronous belt 15, second stage upper synchronous belt pulley 28, second stage transmission shaft 27, second stage lower synchronous belt pulley 29, second stage synchronous belt 26, and second and third stage synchronous belt pulleys 23 to rotate, ultimately driving the screw sleeve 22 to rotate, thereby driving the screw 2 and clamp 6 to rise and fall without rotating under the action of threaded engagement;

[0034] In the second scenario: the drive motor 11 corresponding to the second and third stage synchronous pulleys 23 and 21 drives the corresponding reducer 12, coupling 13, drive main gear 10, drive driven gear 16, first stage transmission shaft 17, first stage synchronous pulley 18, first stage synchronous belt 15, second stage upper synchronous pulley 28, second stage transmission shaft 27, second stage lower synchronous pulley 29, and second stage synchronous belt 26 to rotate, which in turn drives the second and third stage synchronous pulleys 23 and 21 to rotate, and finally drives the screw sleeve 22 and the limit drive sleeve 20 to rotate; when the rotational angular velocity of the screw sleeve 22 and the rotational angular velocity of the limit drive sleeve 20 are the same, the screw 2 and the clamp 6 only rotate and do not move up or down;

[0035] The third scenario: Based on the second scenario above, when the rotational angular velocity of the screw sleeve 22 is different from the rotational angular velocity of the limit drive sleeve 20, the screw 2 and the clamp 6 rotate while lifting and lowering.

[0036] Clamping and opening of clamp 6: The drive motor 11 corresponding to the first and third stage synchronous belt pulleys 25 drives the corresponding reducer 12, coupling 13, drive main gear 10, drive driven gear 16, first stage transmission shaft 17, first stage synchronous belt pulley 18, first stage synchronous belt 15, second stage upper synchronous belt pulley 28, second stage transmission shaft 27, second stage lower synchronous belt pulley 29, second stage synchronous belt 26, and first and third stage synchronous belt pulleys 25 to rotate, ultimately driving the rotating shaft 24 to rotate. Then, through the gear pair 19, the clamping drive rod 3 is driven to rotate. Through the threaded engagement between the lower end of the clamping drive rod 3 and the upper end of the clamping drive shaft 4, the clamping drive shaft 4 is driven to rise and fall, causing the clamping jaws of clamp 6 to close or open, thereby realizing the clamping and opening function of clamp 6.

[0037] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the technical solutions of the present invention. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of the patent of the present invention.

Claims

1. A multi-arm rotary transmission-based radiation-resistant robot arm comprising a large arm, a small arm and a gripper connected to each other in sequence, characterized in that: It also includes a drive assembly, which includes a drive housing and a drive motor, a drive master gear, and a drive slave gear mounted on the drive housing. The shafts of multiple drive motors are respectively connected to multiple drive master gears, and the multiple drive master gears are respectively meshed with multiple drive slave gears. Multiple primary drive shafts form an inner and outer fitting structure through their own central through holes, with their center lines coinciding. The ends of two adjacent primary drive shafts are connected by corresponding bearings. The upper end of the central primary drive shaft is connected to the shaft of the central drive motor, and the upper ends of the other primary drive shafts are respectively connected to multiple drive slave gears. At least one primary drive shaft is connected to the drive housing through a corresponding bearing. The lower end of the outermost primary drive shaft is connected to one end of the transverse upper arm. The lower ends of the other primary drive shafts (excluding the outermost one) pass through through holes at one end of the upper arm and are connected to multiple primary synchronous pulleys placed inside the upper arm cavity. The upper synchronous pulleys are connected to the upper ends of multiple vertical secondary drive shafts. The multiple secondary drive shafts form an inner and outer fitting structure through their own central through holes, and their center lines coincide. The two ends of two adjacent secondary drive shafts are connected by corresponding bearings. The upper end of at least one secondary drive shaft is connected to the other end of the upper arm through a corresponding bearing. The lower end of the outermost secondary drive shaft is connected to one end of the lateral forearm. The lower ends of the other multiple secondary drive shafts pass through the through holes at the other end of the upper arm and the through holes at one end of the forearm, and are connected to multiple lower secondary synchronous pulleys placed in the inner cavity of the forearm. Multiple tertiary synchronous pulleys are installed in the other end of the inner cavity of the forearm and connected to the clamps, and are used to realize the corresponding functions of the clamps. The multiple primary synchronous pulleys are connected to the multiple upper secondary synchronous pulleys through multiple primary synchronous belts. The multiple lower secondary synchronous pulleys are connected to the multiple tertiary synchronous pulleys through multiple secondary synchronous belts. The drive motor and the primary transmission shaft each consist of five components. The drive main gear, drive driven gear, primary synchronous pulley, secondary upper synchronous pulley, primary synchronous belt, and secondary transmission shaft each consist of four components. The secondary lower synchronous pulley, tertiary synchronous pulley, and secondary synchronous belt each consist of three components. The three tertiary synchronous pulleys are designated as first-stage, second-stage, and third-stage synchronous pulleys, respectively. The upper end of the primary transmission shaft at the center and the lower part of the outermost primary transmission shaft are connected to the drive housing via corresponding bearings. The secondary transmission shaft at the center... The upper end of the drive shaft and the lower part of the outermost secondary transmission shaft are respectively connected to the corresponding ends of the upper arm through corresponding bearings. The upper part of the clamp is a clamp base, and a gripper is installed on the lower part of the clamp base. The upper end of the clamp base is provided with a gripper drive shaft for driving the gripper to clamp and open. The radiation-resistant robotic arm based on multi-arm rotary transmission also includes a rotary shaft, a gear pair, a gripper drive rod, a screw, a screw sleeve, and a limit drive sleeve. The lower part of the vertical rotary shaft is located in the inner cavity of the forearm and is connected to the forearm through a corresponding bearing. The vertical screw sleeve is located in the inner cavity of the forearm and its lower end is connected to the upper arm through a corresponding bearing. A corresponding bearing is connected to the forearm. The lower end of the vertical limiting drive sleeve is connected to the upper end of the threaded sleeve via a corresponding bearing. The upper end of the limiting drive sleeve is connected to the forearm via a corresponding bearing. The vertical screw passes through the central through hole of the limiting drive sleeve and the central threaded hole of the threaded sleeve. The vertical gripper drive rod passes through the central through hole of the screw. The outer wall of the gripper drive rod is connected to the wall of the central through hole of the screw via a corresponding bearing. The external thread of the screw is connected to the internal thread of the threaded sleeve. The outer wall of the screw is provided with one or more strip-shaped limiting grooves, and their length direction is vertical. Multiple protruding balls are installed on the inner wall of the limiting drive sleeve, and the multiple balls are respectively placed in the corresponding strip-shaped limiting grooves. The upper end of the gripper drive rod is connected to the upper end of the rotating shaft through the gear pair. The lower end of the gripper drive rod is provided with a threaded hole. The upper end of the gripper drive shaft is provided with an external thread and is placed in the threaded hole at the lower end of the gripper drive rod and threadedly connected. The lower end of the screw is connected to the upper end of the clamp base. The first and third stage synchronous pulleys are connected to the lower part of the rotating shaft. The second and third stage synchronous pulleys are connected to the threaded sleeve. The third and third stage synchronous pulleys are connected to the limiting drive sleeve.

2. The multi-arm rotary transmission based radiation tolerant robotic arm of claim 1, wherein: The shafts of the multiple drive motors are respectively connected to the input ends of multiple reducers. The output end of the reducer at the center is connected to the upper end of the primary drive shaft at the center. The output ends of the other multiple reducers are respectively connected to one end of multiple couplings. The other ends of the multiple couplings are respectively connected to the corresponding multiple drive main gears.

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