Mechanical arm assembled based on iridium radioactive source

Abstract

The invention relates to a mechanical arm based on iridium radioactive source assembly, and belongs to the technical field of workshop transportation equipment. The mechanical arm assembled based on the iridium radioactive source comprises a motor arranged on the outer side of a hot chamber, a grabbing assembly arranged on the inner side of the hot chamber, a plurality of arms and a plurality of joints. The multiple arms and the multiple joints are arranged between the motor and the grabbing assembly, and the multiple arms and the multiple joints are arranged in a staggered mode and sequentially connected. The arm connected with the motor is a first arm, the length direction of the first arm is a first direction, the vertical direction of the first arm is a second direction, a surface including the first direction and the second direction is a reference surface, the joint connected with the first arm is a first joint, and the first joint comprises a first component and a first rotating part which rotate relatively; the contact face between the first forming piece and the first rotating piece is a first rotating face, the included angle between the first rotating face and the datum plane is a1, and a1 is larger than 0 and smaller than 90 degrees. The mechanical arm assembled based on the iridium radioactive source is simple in structure and not prone to damage.

Description

Technical Field

[0001] The present application relates to the technical field of workshop transportation equipment, and in particular to a robotic arm assembled based on an iridium radioactive source. Background Art

[0002] Iridium radioactive sources are mainly used in medical and industrial fields. Iridium radioactive sources are mainly composed of iridium sheets and cladding. During the production process of iridium radioactive sources, the produced iridium sheets are placed in bars for transportation, and then packaged, measured for activity, and welded to form iridium radioactive sources.

[0003] During the iridium sheet assembly process, a robotic arm is required to grab the iridium sheets one by one and then load them into the product package. Since the iridium sheets have strong radioactivity, some motors of conventional robotic arms are close to the radiation source iridium sheets and are easily damaged by the radiation of the iridium sheets. In order to reduce the possibility of motor failure and damage due to radiation, the motors of the robotic arm need to be placed at the rear, that is, all the motors of the robotic arm need to be installed at the tail of the outer side of the hot chamber where the iridium radiation source processing is performed.

[0004] The motor and the grasping part of the robot arm are connected through multiple arms and multiple joints. The motor drives the multiple joints to rotate to drive the grasping part to move. In order to allow the machine to move in the horizontal direction and the vertical direction, it is necessary to set a set of joints that rotate in the horizontal direction and the vertical direction respectively. On the one hand, the transmission parts (such as steel cables, chains, etc.) used to pull the joints to rotate are subjected to forces with variable directions at the joints inside the robot arm, which makes it easy for the transmission parts to twist inside the robot arm and cause damage, increasing the probability of damage to the transmission parts. On the other hand, a large number of joints and arms are required, and the motors that drive the rotation of each joint are all set outside the hot chamber, resulting in a higher risk of errors when the motor drives the joints that are farther away from the outside of the hot chamber to rotate. The more joints there are, the more arms and joints the transmission components that pull the joints farther away from the outside of the hot chamber to rotate need to pass through, resulting in a large number of transmission components inside the robotic arm used to pull different joints to rotate, and the internal structure of the robotic arm is complex, which are easily affected by each other and damaged. Summary of the invention

[0005] The purpose of the present application is to provide a robotic arm based on an iridium radiation source assembly to address the above-mentioned problems, which has a simple structure and is not easily damaged, thereby improving the above-mentioned problems.

[0006] This application is achieved through the following technical solutions: The present application provides a mechanical arm assembled based on an iridium radiation source. The mechanical arm assembled based on the iridium radiation source includes a motor arranged on the outside of a hot chamber, a grabbing assembly arranged on the inside of the hot chamber, a plurality of arms and a plurality of joints; the plurality of arms and the plurality of joints are arranged between the motor and the grabbing assembly, and the plurality of arms and the plurality of joints are staggered and connected in sequence; wherein, the arm connected to the motor is the first arm, the length direction of the first arm is the first direction, the vertical direction is the second direction, the first direction is perpendicular to the second direction, the surface including the first direction and the second direction is the reference surface, the joint connected to the first arm among the plurality of joints is the first joint, the first joint includes a first component and a first rotating component that rotate relative to each other, the contact surface between the first component and the first rotating component is the first rotating surface, the angle between the first rotating surface and the reference surface is a1, and 0<a1<90° is satisfied; the motor drives the plurality of joints to rotate to drive the grabbing assembly to move, the motor drives the grabbing assembly to switch between an open state and a closed state to grab or release the iridium sheet, and the first rotating component rotates along the first rotating surface under the drive of the motor.

[0007] In the technical solution of the embodiment of the present application, multiple arms and multiple joints are arranged between the motor and the grasping component, and the multiple arms and multiple joints are staggered and connected in sequence; the joint connected to the first arm among the multiple joints is the first joint, and the first joint includes a first component and a first rotating component that rotate relative to each other, and the contact surface between the first component and the first rotating component is the first rotating surface, and the angle between the first rotating surface and the reference plane is a1, which satisfies 0<a1<90°; the first rotating component maintains contact with the first component during the rotation process, that is, the rotation axis of the first rotating component is perpendicular to the first rotating surface, so that when the first rotating component rotates under the drive of the motor, the first rotating component can make the grasping component move in the first direction, the second direction and the third direction (that is, the horizontal direction and the vertical direction) at the same time. In order for the traditional robotic arm to be able to move in the horizontal direction and the vertical direction respectively, it is necessary to set joints that rotate in the horizontal direction and the vertical direction respectively. Each set, the mechanical arm provided by the present application integrates multiple effects that require the cooperation of multiple joints in the traditional mechanical arm into the same joint (i.e., the first joint). On the one hand, the number of joints required for the mechanical arm is reduced, the structure of the mechanical arm is simplified, and the number of transmission components that need to be set inside the mechanical arm for pulling different joints to rotate separately is reduced, thereby reducing the risk of damage caused by mutual influence of transmission components on the inner wall of the mechanical arm; on the other hand, by inclining the first joint, the rotation surfaces of the other multiple joints only need to be vertical or inclined similar to the first rotation surface to achieve the displacement of the grasping assembly of the mechanical arm provided by the present application during the working process, thereby narrowing the range of the force direction of the transmission components inside the mechanical arm for pulling different joints to rotate, reducing the risk of torsional damage of the transmission components on the inner side of the mechanical arm, reducing the probability of damage to the transmission components, and extending the service life of the transmission components inside the mechanical arm; The robot arm includes a motor disposed outside the hot chamber and a gripping assembly disposed inside the hot chamber. On the one hand, the conventional robot arm design usually places the motor at the front of the robot arm, which makes the replacement and maintenance of the motor very difficult. The entire robot arm needs to be disassembled, which increases the time cost and operation difficulty of maintenance. In the robot arm assembled based on the iridium radioactive source provided by the present application, the motor is less blocked by other components, and the maintenance and replacement of the motor is less difficult, which reduces the time cost of maintaining and replacing the motor. On the other hand, the motor of the conventional robot arm is almost close to the radioactive source (i.e., the iridium sheet) at the operating end, and the radiation will interfere with the normal operation of the motor, resulting in its performance degradation. For example, radiation can cause the motor windings to produce violent current fluctuations, thereby affecting the motor's output power and efficiency. Radiation can also cause aging and damage to the motor's internal components, reducing the life of the motor. The iridium-based robotic arm provided in this application isolates the impact of the iridium radiation on the motor through a heat chamber, thereby ensuring the motor's output power and efficiency and extending the life of the motor. On the other hand, because the motor of a traditional robotic arm is deployed at the joint, the robotic arm needs to overcome the influence of the motor's own weight when doing work, which requires greater and higher power, lighter materials, and requires the motor to have a higher power-to-weight ratio to increase the load capacity of the robotic arm. Force, in the robotic arm based on iridium sheet assembly provided by the present application, the motor does not need to bear its own weight, which can reduce the electric energy required for the motor to drive the robotic arm to move, and is energy-saving and environmentally friendly; on the other hand, the motor of the traditional robotic arm occupies a large space inside the joint, so that the overall shape and size of the robotic arm cannot be smooth and compact, and it occupies more space. In the robotic arm based on iridium sheet assembly provided by the present application, since the motor is placed at the rear, the structure of the robotic arm located in the hot chamber is relatively compact, which can save the internal space of the hot chamber 1. When the robotic arm moves, the path is shorter to avoid the activities of other components, which speeds up the efficiency of the robotic arm in transporting the iridium sheet.

[0008] In some embodiments, the arm connected to the first joint is the second arm, the joint connected to the second arm is the second joint, the second joint includes a second component and a second rotating component that rotate with each other, the contact surface between the second component and the second rotating component is the second rotating surface, and the angle between the second rotating surface and the reference plane is a2, satisfying 0<a2<90°.

[0009] In the technical solution of the embodiment of the present application, when the first joint rotates to cause the movement of the grasping assembly, since the first rotating surface on which the first rotating member rotates is an inclined surface, the grasping assembly will cause rotation in its own axial direction, and the size of the iridium sheet to be grasped is small (the single diameter of the conventional iridium sheet does not exceed 3 mm, and the thickness does not exceed 0.2 mm). The inclined grasping assembly will make it difficult to stably grasp the iridium sheet, resulting in missed grasping, or the local area of ​​the grasping assembly excessively squeezes the iridium sheet, causing it to deform. In order to solve this problem, the second joint includes a second component and a second rotating member that rotate with each other, the contact surface between the second component and the second rotating member is a second rotating surface, and the angle between the second rotating surface and the reference plane is a2, satisfying 0<a2<90°. When the first joint rotates to cause the grasping assembly to rotate, the second rotating member can rotate in the opposite direction along the inclined second rotating surface, thereby causing the grasping assembly to rotate in the opposite direction to compensate for the rotation angle caused by the first joint, so that the grasping assembly after the movement is completed can face the iridium sheet or other workpieces, reducing the risk of missed grasping or damage to the iridium sheet by the grasping assembly.

[0010] In some embodiments, the lengths of the multiple arms gradually decrease from the motor to the gripping assembly, satisfying a1=a2.

[0011] In the technical solution of the embodiment of the present application, when the second joint rotates in the opposite direction of the first joint in order to compensate for the rotation angle of the grabbing assembly caused by the first joint, the second joint will cause the grabbing assembly to move in the opposite direction compared to the movement direction caused by the first joint. The lengths of the multiple arms gradually decrease from the motor to the grabbing assembly. When a1=a2 is satisfied, the rotation of the first joint causes the rotation and movement of the second arm, and the rotation of the second joint causes the movement of the third arm connected to itself and away from the second arm. Since the length of the second arm is greater than that of the third arm, when the second joint rotates in the opposite direction of the first joint by the same angle, the distance of the reverse movement of the grabbing assembly can be less than the distance of the forward movement of the grabbing assembly, thereby preventing the rotation of the second joint from blocking the forward movement of the grabbing assembly.

[0012] In some embodiments, the angle between the length direction of the second arm and the reference plane is a4, satisfying a1=a2=a4.

[0013] In the technical solution of the embodiment of the present application, when the first joint rotates to drive the second arm to rotate, the second arm will be subjected to centrifugal force. The angle between the length direction of the second arm and the reference plane is a4. When a1=a2=a4 is satisfied, the direction of the centrifugal force exerted on the second arm is parallel to the axial direction of the second arm, thereby reducing the risk of torsional deformation of the second arm under the action of centrifugal force.

[0014] In some embodiments, a dimension of the first arm in the first direction is L1, satisfying 0 cm < L1 < 50 cm.

[0015] In the technical solution of the embodiment of the present application, the first arm is the arm with the largest dimension in its own length direction among the multiple arms. The dimension of the first arm in the first direction is L1. When 0cm<L1<50cm is satisfied, the lengths of the multiple arms are all smaller, thereby reducing the rotational inertia of the multiple arms, so that when the multiple arms stop rotating at their own power input ends, their own power output ends can also respond quickly and stop moving, thereby improving the accuracy of the moving position of the grasping component.

[0016] In some embodiments, 0<a1<45°, 0<a2<45° is satisfied.

[0017] In the technical solution of the embodiment of the present application, the robotic arm assembled based on the iridium radiation source provided by the present application is applied to a hot chamber with limited internal space. In order to save limited space and reduce the time required for transferring space, the layout of various equipment in the hot chamber is relatively compact. When 0<a1<45° and 0<a2<45° are satisfied, the movement of the grasping assembly caused by the rotation of the first joint and the second joint is mainly in the second direction (i.e., the vertical direction), so that the grasping assembly can lift and put down the workpiece more quickly, adapt to the working environment in the hot chamber and have a faster working efficiency.

[0018] In some embodiments, the grasping component is connected to a joint, and the joint connected to the grasping component among the multiple joints is the third joint.

[0019] In the technical solution of the embodiment of the present application, the joint among multiple joints connected to the grabbing assembly is the third joint, and the grabbing assembly is connected to the third joint, so that the third joint can drive the grabbing assembly to rotate so that the grabbing assembly can face the iridium sheet or other workpiece, thereby reducing the risk of the grabbing assembly missing or damaging the workpiece.

[0020] In some embodiments, the third joint includes a third component and a third rotating member that rotate relative to each other, the contact surface between the third component and the third rotating member is the third rotating surface, and the angle between the third rotating surface and the reference plane is a3, satisfying 0<a3<a1, 0<a3<a2.

[0021] In the technical solution of the embodiment of the present application, the contact surface between the third component and the third rotating component is the third rotating surface, and the angle between the third rotating surface and the reference plane is a3. When 0<a3<a1, 0<a3<a2 are satisfied, the adjustment effect of the third joint on the angle of the grasping component is more precise than that of the second joint. The third joint can further correct the angle of the grasping component on the basis of the second joint compensating for the rotation of the grasping component caused by the first joint, so that the grasping component can face the workpiece such as iridium sheet after the movement is completed.

[0022] In some embodiments, the grabbing assembly and the third joint are connected via a coupling.

[0023] In the technical solution of the embodiment of the present application, the coupling can absorb the impact force and vibration caused by the arm movement, so that the grabbing assembly can approach and grab the iridium sheet in a relatively stable state, reducing the risk of the grabbing assembly's own grasping position of the iridium sheet being offset due to vibration, thereby causing the iridium sheet to fall during transportation.

[0024] In some embodiments, the grabbing assembly includes a pneumatic suction pen and a clamp, the pneumatic suction pen is used to absorb the iridium sheet, and the clamp is used to grab the assembled iridium radiation source.

[0025] In the technical solution of the embodiment of the present application, the grasping component includes a pneumatic suction pen and a clamp. The pneumatic suction pen can start adsorption after contacting the iridium sheet, so that the adsorption force only acts on the iridium sheet in contact with itself, and the adsorption force of the pneumatic suction pen can be adjusted in time according to factors such as the size of the iridium sheet to meet the processing needs in various environments.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of the internal structure of a heat chamber provided in some embodiments of the present application; Figure 2 A side view of a heat chamber provided for some embodiments of the present application; Figure 3 A top view of a robotic arm based on an iridium radiation source assembly provided for some embodiments of the present application; Figure 4 A front view of a robotic arm based on an iridium radiation source assembly provided for some embodiments of the present application; Figure 5 A side view of a robotic arm provided for some embodiments of the present application based on an iridium radiation source assembly; Figure 6 A schematic diagram of the structure of a robotic arm assembled based on an iridium radiation source provided in some embodiments of the present application.

[0029] Icon: 1-hot chamber; 2-motor; 3-grabbing assembly; A-reference plane; 30-pneumatic suction pen; 31-gripper; 40-first arm; 41-second arm; 42-third arm; 50-first joint; 500-first component; 501-first rotating member; 502-first rotating surface; 51-second joint; 510-second component; 511-second rotating member; 512-second rotating surface; 52-third joint; 520-third component; 521-third rotating member; 522-third rotating surface; 6-coupling; X-first direction; Y-second direction; Z-third direction. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0032] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0033] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0035] The term "multiple" as used in the present application refers to more than two (including two). Similarly, the term "multiple groups" refers to more than two groups (including two groups), and the term "multiple sheets" refers to more than two sheets (including two sheets).

[0036] According to some embodiments of the present application, optionally, Figure 1 to Figure 6 As shown, the present application provides a mechanical arm assembled based on an iridium radioactive source, and the mechanical arm assembled based on the iridium radioactive source includes a motor 2 arranged outside a hot chamber 1, a grabbing assembly 3 arranged inside the hot chamber 1, a plurality of arms and a plurality of joints; the plurality of arms and the plurality of joints are arranged between the motor 2 and the grabbing assembly 3, and the plurality of arms and the plurality of joints are staggered and connected in sequence; wherein, the arm connected to the motor 2 is a first arm 40, the length direction of the first arm 40 is a first direction X, the vertical direction is a second direction Y, the first direction X is perpendicular to the second direction Y, the surface including the first direction X and the second direction Y is a reference surface A, and the plurality of joints are connected to the motor 2. The joint connected to the first arm 40 in the section is the first joint 50, and the first joint 50 includes a first component 500 and a first rotating component 501 that rotate relative to each other. The contact surface between the first component 500 and the first rotating component 501 is the first rotating surface 502, and the angle between the first rotating surface 502 and the reference plane A is a1, satisfying 0<a1<90°; the motor 2 drives multiple joints to rotate to drive the grasping component 3 to move, and the motor 2 drives the grasping component 3 to switch between the open and closed states to grasp or release the iridium sheet, and the first rotating component 501 rotates along the first rotating surface 502 under the drive of the motor 2.

[0037] The motor 2 mentioned in the present application can control multiple joints separately through a transmission component; or, the motor 2 mentioned in the present application can be a motor 2 group composed of multiple individual motors 2, and each motor 2 controls the connected joints through a transmission component, so that multiple joints can act synchronously or individually.

[0038] Hot room 1 is a specially designed shielded room for high-radioactivity experiments and operations. It is isolated from the surrounding environment to ensure the safety of staff and environmental protection. The inner wall of hot room 1 is usually covered with stainless steel material for easy washing and decontamination, while the outer wall is made of heavy concrete to protect against gamma rays. The interior of hot room 1 is usually equipped with manipulators and remote operation equipment, and staff can operate and monitor from the outside through the manipulators and lead glass windows.

[0039] The iridium sheet used to make the iridium radiation source contains the radioactive isotope iridium-192. The iridium sheet can emit gamma rays and is widely used in the fields of industrial non-destructive testing, medical radiotherapy, etc. In order to reduce the impact of iridium radiation on the operator's body, the assembly of the iridium radiation source needs to be carried out in the hot chamber 1.

[0040] The grabbing component 3 can pick up the iridium sheet through the clamping claw 31, the adsorption component, the magnetic attraction component, etc. When the grabbing component 3 is the clamping claw 31, the grabbing component 3 can sort several iridium sheets that are stuck together while grabbing the iridium sheet to separate the iridium sheets that are stuck together, ensuring that it only grabs one iridium sheet each time; when the grabbing component 3 is the adsorption component, the grabbing component 3 can first contact the corresponding iridium sheet and then apply adsorption force to it, so that only the iridium sheet that contacts itself among multiple iridium sheets is affected by the adsorption force, reducing the risk that the grabbing component 3 grabs multiple iridium sheets at a time, resulting in more iridium sheets than the rated number put into the packaging shell, and then causing the activity of the final iridium radioactive source to be too strong and fail to meet product requirements; when the grabbing component 3 is the magnetic attraction component, the grabbing component 3 can suck up the iridium sheet by magnetic force when it is at a distance from the iridium sheet, reducing the distance of the path that the grabbing component 3 needs to move, and speeding up the transportation rate of the iridium sheet by the grabbing component 3.

[0041] The X direction shown in the figure is a first direction.

[0042] The Y direction shown in the figure is the second direction.

[0043] The Z direction shown in the figure is the third direction, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0044] The mechanical arm assembled based on the iridium radioactive source includes a motor 2 arranged outside the hot chamber 1 and a grab assembly 3 arranged inside the hot chamber 1. On the one hand, the traditional mechanical arm design usually places the motor 2 at the front of the mechanical arm, and this design makes the replacement and maintenance of the motor 2 very difficult. The entire mechanical arm needs to be disassembled, which increases the time cost and operation difficulty of maintenance. In the mechanical arm assembled based on the iridium radioactive source provided by the present application, the motor 2 is less blocked by other components, and the maintenance and replacement of the motor 2 is less difficult, which reduces the time cost of maintaining and replacing the motor 2. On the other hand, the motor 2 of the traditional mechanical arm is almost close to the radioactive source (i.e., the iridium sheet) at the working end, and the radiation will interfere with the normal operation of the motor 2, resulting in its performance degradation. For example, radiation can cause the winding of motor 2 to produce violent current fluctuations, thereby affecting the output power and efficiency of motor 2. Radiation can also cause aging and damage of internal components of motor 2, reducing the life of motor 2. The iridium sheet-based robotic arm provided in the present application isolates the influence of the radiation of the iridium sheet on motor 2 through the heat chamber 1, thereby ensuring the output power and efficiency of motor 2 and extending the life of motor 2. On the other hand, since the motor 2 of the traditional robotic arm is deployed at the joint, the robotic arm needs to overcome the influence of the weight of the motor 2 itself when doing work, which requires larger and higher power and lighter materials, and requires the motor 2 to have a higher power-to-weight ratio to improve the robotic arm. Load capacity. In the iridium sheet-assembled mechanical arm provided by the present application, the motor 2 does not need to bear its own weight, which can reduce the electric energy required by the motor 2 to drive the mechanical arm to move, and save energy and protect the environment. On the other hand, the motor 2 of the traditional mechanical arm occupies a large space inside the joint, so that the overall shape and size of the mechanical arm cannot be smooth and compact, and it occupies more space. In the iridium sheet-assembled mechanical arm provided by the present application, since the motor 2 is rear-placed, the structure of the mechanical arm located in the hot chamber 1 is relatively compact, which can save the internal space of the hot chamber 1. When the mechanical arm moves, the path to avoid the activities of other components is shorter, which speeds up the efficiency of the mechanical arm in transporting the iridium sheet. A plurality of arms and a plurality of joints are arranged between the motor 2 and the grasping component 3, and the plurality of arms and the plurality of joints are arranged in an interlaced manner and connected in sequence; the joint connected to the first arm 40 among the plurality of joints is the first joint 50, and the first joint 50 includes a first component 500 and a first rotating component 501 that rotate relative to each other, and the contact surface between the first component 500 and the first rotating component 501 is a first rotating surface 502, and the angle between the first rotating surface 502 and the reference plane A is a1, which satisfies 0<a1<90°; the first rotating component 501 keeps in contact with the first component 500 during the rotation process, that is, the rotation axis of the first rotating component 501 is perpendicular to the first rotating surface 502, so that when the first rotating component 501 rotates under the drive of the motor 2, the first rotating component 501 can make the grasping component 3 move in the first direction X, the second direction Y and the third direction Z (that is, the horizontal direction and the vertical direction) at the same time, for the traditional robotic arm to be able to move in the horizontal direction and the vertical direction respectively, it is necessary to respectively set the axes along the first rotating surface 502. The robot arm provided by the present application has one set of joints for rotating in the horizontal direction and one set of joints for rotating in the vertical direction. In the conventional robot arm, multiple effects that require the cooperation of multiple joints are integrated into the same joint (i.e., the first joint 50). On the one hand, the number of joints required for the robot arm is reduced, and the structure of the robot arm is simplified, thereby reducing the number of transmission components that need to be set inside the robot arm for pulling different joints to rotate separately, and reducing the risk of damage caused by mutual influence of transmission components on the inner wall of the robot arm; on the other hand, by inclining the first joint 50, the rotation surfaces of the other multiple joints only need to be vertical or inclined similar to the first rotation surface 502, so as to realize the displacement of the grasping component 3 of the robot arm provided by the present application during operation, thereby narrowing the range of force directions of the transmission components inside the robot arm for pulling different joints to rotate, reducing the risk of torsional damage of the transmission components on the inner side of the robot arm, reducing the probability of damage to the transmission components, and extending the service life of the transmission components inside the robot arm.

[0045] According to some embodiments of the present application, optionally, Figure 1 to Figure 6 As shown, the arm connected to the first joint 50 is the second arm 41, the joint connected to the second arm 41 is the second joint 51, the second joint 51 includes a second component 510 and a second rotating component 511 that rotate with each other, the contact surface between the second component 510 and the second rotating component 511 is the second rotating surface 512, and the angle between the second rotating surface 512 and the reference plane A is a2, satisfying 0<a2<90°.

[0046] The multiple arms may be the same size; or the multiple arms may be different sizes.

[0047] a2 can be greater than a1, so that the second rotating member 511 can rotate a smaller angle to return the grabbing assembly 3 to the center.

[0048] When the first joint 50 rotates to cause the grabbing assembly to move, since the first rotating surface 502 on which the first rotating member 501 rotates is an inclined surface, the grabbing assembly 3 will be caused to rotate in its own axial direction. The size of the iridium sheet to be grasped is small (the single diameter of a conventional iridium sheet does not exceed 3mm and the thickness does not exceed 0.2mm). The inclined grabbing assembly 3 will make it difficult to grasp the iridium sheet stably, resulting in missed grasping, or the local area of ​​the grabbing assembly 3 will over-exert the iridium sheet, causing it to deform. In order to solve this problem, the second joint 51 includes a second component 510 and a second rotating member that rotate relative to each other. 511, the contact surface between the second component 510 and the second rotating member 511 is the second rotating surface 512, and the angle between the second rotating surface 512 and the reference plane A is a2, satisfying 0<a2<90°. When the first joint 50 rotates to cause the grabbing component 3 to rotate, the second rotating member 511 can rotate in the opposite direction along the inclined second rotating surface 512, thereby causing the grabbing component 3 to rotate in the opposite direction to compensate for the rotation angle caused by the first joint 50, so that the grabbing component 3 after the movement is completed can face the iridium sheet or other workpieces, reducing the risk of the grabbing component 3 missing or damaging the iridium sheet.

[0049] According to some embodiments of the present application, optionally, Figure 3 , Figure 5~Figure 6 As shown, the lengths of the multiple arms gradually decrease from the motor 2 to the gripping assembly 3, satisfying a1=a2.

[0050] The size of the first arm 40 among the multiple arms can be much larger than that of the second arm 41. The first arm 40 passes through the hot chamber 1 and connects the first joint 50 and the motor 2. The length of the first arm 40 can determine the working position of the robot arm provided in the present application.

[0051] When the second joint 51 rotates in the opposite direction of the first joint 50 in order to compensate for the rotation angle of the grasping component 3 caused by the first joint 50, the second joint 51 will cause the grasping component 3 to move in the opposite direction compared to the movement direction caused by the first joint 50. The length of multiple arms gradually decreases from the motor 2 to the grasping component 3. When a1=a2 is satisfied, the rotation of the first joint 50 causes the rotation and movement of the second arm 41. The rotation of the second joint 51 causes the movement of the third arm 42 connected to itself and away from the second arm 41. Since the length of the second arm 41 is greater than the third arm 42, when the second joint 51 rotates in the opposite direction of the first joint 50 by the same angle, the distance of the reverse movement of the grasping component 3 can be less than the distance of the forward movement of the grasping component 3, thereby preventing the rotation of the second joint 51 from blocking the forward movement of the grasping component 3.

[0052] When the iridium sheet-assembled robotic arm provided in the present application is active, the second arm 41 is closer to the motor 2 than the third arm 42, so the motor 2 has a stronger control effect on the activity state of the second arm 41, and the third arm 42 is more likely to continue to move at the end due to inertia than the second arm 41, while the third arm 42 is shorter, thereby reducing the risk of the third arm 42 continuing to move due to inertia.

[0053] According to some embodiments of the present application, optionally, Figure 3~Figure 4 As shown, the included angle between the length direction of the second arm 41 and the reference plane A is a4, which satisfies a1=a2=a4.

[0054] The connection surface between the first joint 50 , the second joint 51 and the second arm 41 may be an inclined surface perpendicular to the length direction of the second arm 41 .

[0055] When the first joint 50 rotates and drives the second arm 41 to rotate, the second arm 41 will be subjected to centrifugal force. The angle between the length direction of the second arm 41 and the reference plane A is a4. When a1=a2=a4 is satisfied, the direction of the centrifugal force exerted on the second arm 41 is parallel to the axial direction of the second arm 41, reducing the risk of torsional deformation of the second arm 41 under the action of centrifugal force.

[0056] According to some embodiments of the present application, optionally, Figure 3 , Figure 5~Figure 6 As shown, the dimension of the first arm 40 in the first direction X is L1, which satisfies 0 cm<L1<50 cm.

[0057] The arm length of the robotic arm is proportional to the moment of inertia of the distal end. When the length of the second arm 41 is longer, the inertia of the end of the second arm 41 connected to the second joint 51 is stronger. When the robotic arm stops moving, the inertia of the robotic arm may cause the end of the second arm 41 connected to the second joint 51 to continue to move, thereby causing an offset between the stop position and the predetermined position of the grasping component 3, causing the grasping component 3 to miss or grab more iridium sheets, which has a great impact on the yield rate of the iridium radioactive source assembled from iridium sheets.

[0058] The first arm 40 is the arm with the largest dimension in its own length direction among the multiple arms. The dimension of the first arm 40 in the first direction X is L1. When 0cm<L1<50cm is satisfied, the lengths of the multiple arms are all smaller, thereby reducing the rotational inertia of the multiple arms. When the multiple arms stop rotating at their own power input ends, their own power output ends can also respond quickly and stop moving, thereby improving the accuracy of the moving position of the grasping component 3.

[0059] According to some embodiments of the present application, optionally, Figure 4 As shown, it is characterized by satisfying 0<a1<45°, 0<a2<45°.

[0060] When a1>45°, a2>45°, when the first joint 50 and the second joint 51 rotate, the displacement distance of the grasping component 3 in the horizontal direction is greater than the displacement of the grasping component 3 in the vertical direction. The robotic arm based on the iridium radiation source assembly provided in the present application is mainly used in a hot chamber 1 with a limited range. The large displacement distance in the horizontal direction is not suitable for the limited space of the hot chamber 1.

[0061] The robotic arm assembled based on the iridium radiation source provided in the present application is applied to a hot chamber 1 with limited internal space. In order to save limited space and reduce the time required for transferring space, the arrangement of various devices in the hot chamber 1 is relatively compact. When 0<a1<45° and 0<a2<45° are satisfied, the movement of the grasping component 3 caused by the rotation of the first joint 50 and the second joint 51 is mainly in the second direction Y (i.e., the vertical direction), so that the grasping component 3 can lift and put down the workpiece more quickly, adapt to the working environment in the hot chamber 1 and have a faster working efficiency.

[0062] According to some embodiments of the present application, optionally, Figure 1 to Figure 6 As shown, the grabbing assembly 3 is connected to a joint, and the joint connected to the grabbing assembly 3 among the multiple joints is the third joint 52 .

[0063] The joint connected to the grabbing component 3 among the multiple joints is the third joint 52. The grabbing component 3 is connected to the third joint 52, so that the third joint 52 can drive the grabbing component 3 to rotate so that the grabbing component 3 can face the iridium sheet or other workpieces, thereby reducing the risk of the grabbing component 3 missing or damaging the workpiece.

[0064] According to some embodiments of the present application, optionally, Figure 3~Figure 4 , Figure 6 As shown, the third joint 52 includes a third component 520 and a third rotating component 521 that rotate relative to each other. The contact surface between the third component 520 and the third rotating component 521 is a third rotating surface 522. The angle between the third rotating surface 522 and the reference plane A is a3, satisfying 0<a3<a1, 0<a3<a2.

[0065] When a3≥a1, a3≥a2, the change in the rotation angle of the grasping component 3 caused by the unit angle of rotation of the third joint 52 is greater than the change in the rotation angle of the first joint 50 and the second joint 51. Therefore, the accuracy of the adjustment effect of the third joint 52 on the angle of the grasping component 3 is lower than that of the first joint 50 and the second joint 51. The first joint 50 and the second joint 51 are far away from the grasping component 3, which can easily cause an angle error of the grasping component 3 when rotating. The adjustment effect of the third joint 52 on the angle of the grasping component 3 is insufficient, which can easily cause the grasping component 3 to contact the workpiece in a tilted state, thereby increasing the risk of the grasping component 3 grabbing too much, missing a workpiece, or damaging the workpiece.

[0066] The contact surface between the third component 520 and the third rotating component 521 is the third rotating surface 522. The angle between the third rotating surface 522 and the reference plane A is a3. When 0<a3<a1, 0<a3<a2 are satisfied, the adjustment effect of the third joint 52 on the angle of the grasping component 3 is more precise than that of the second joint 51. The third joint 52 can further correct the angle of the grasping component 3 on the basis of the second joint 51 compensating for the rotation of the grasping component 3 caused by the first joint 50, so that the grasping component 3 can face the workpiece such as the iridium sheet after the movement is completed.

[0067] According to some embodiments of the present application, optionally, Figure 1~Figure 3 , Figure 5 As shown, the grabbing assembly 3 and the third joint 52 are connected via a coupling 6 .

[0068] The coupling 6 is an important component used to connect two shafts in a mechanical transmission system and can transmit torque and motion.

[0069] The coupling 6 can absorb the impact force and vibration caused by the arm movement, so that the grasping component 3 can approach and grasp the iridium sheet in a relatively stable state, reducing the risk of the grasping position of the grasping component 3 for the iridium sheet being offset due to vibration, thereby causing the iridium sheet to fall during transportation.

[0070] According to some embodiments of the present application, optionally, Figure 2 , Figure 4~Figure 6 As shown, the grabbing assembly 3 includes a pneumatic suction pen 30 and a clamping claw 31. The pneumatic suction pen 30 is used to absorb the iridium sheet, and the clamping claw 31 is used to grab the assembled iridium radioactive source.

[0071] There can be multiple pneumatic suction pens 30, so that the grabbing component 3 can grab multiple iridium sheets for transportation at one time, thereby speeding up the transportation efficiency of the iridium sheets by the grabbing component 3.

[0072] The grabbing assembly 3 includes a pneumatic suction pen 30 and a clamp 31. The pneumatic suction pen 30 can start adsorption after contacting the iridium sheet, so that the adsorption force only acts on the iridium sheet in contact with itself, and the adsorption force of the pneumatic suction pen 30 can be adjusted in time according to factors such as the size of the iridium sheet to meet processing requirements in various environments.

[0073] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robotic arm based on an iridium radiation source, characterized in that: include: A motor disposed outside the hot chamber and a grabbing assembly disposed inside the hot chamber; A plurality of arms and a plurality of joints are arranged between the motor and the grasping assembly, and the plurality of arms and the plurality of joints are arranged alternately and connected in sequence; Wherein, the arm connected to the motor is the first arm, the length direction of the first arm is the first direction, the vertical direction is the second direction, the first direction is perpendicular to the second direction, the surface including the first direction and the second direction is the reference surface, the joint connected to the first arm among the plurality of joints is the first joint, the first joint includes a first component and a first rotating component that rotate relative to each other, the contact surface between the first component and the first rotating component is the first rotating surface, the angle between the first rotating surface and the reference surface is a1, and 0<a1<90° is satisfied; The motor drives the plurality of joints to rotate to drive the grabbing assembly to move. The motor drives the grabbing assembly to switch between an open state and a closed state to grab or release the iridium sheet. The first rotating member rotates along the first rotating surface driven by the motor.

2. A robotic arm based on an iridium radiation source assembly according to claim 1, characterized in that: The arm connected to the first joint is the second arm, the joint connected to the second arm is the second joint, the second joint includes a second component and a second rotating component that rotate with each other, the contact surface between the second component and the second rotating component is the second rotating surface, and the angle between the second rotating surface and the reference plane is a2, satisfying 0<a2<90°.

3. A mechanical arm based on iridium radiation source assembly according to claim 2, characterized in that: The lengths of the multiple arms gradually decrease from the motor to the grabbing assembly, satisfying a1=a2.

4. A mechanical arm based on iridium radiation source assembly according to claim 3, characterized in that: The included angle between the length direction of the second arm and the reference plane is a4, which satisfies a1=a2=a4.

5. A mechanical arm based on iridium radiation source assembly according to claim 3, characterized in that: The dimension of the first arm in the first direction is L1, which satisfies 0cm<L1<50cm.

6. A robotic arm based on iridium radiation source assembly according to claim 2, characterized in that: Satisfies, 0<a1<45°, 0<a2<45°.

7. A mechanical arm based on iridium radiation source assembly according to claim 2, characterized in that: The grabbing assembly is connected to the joint, and the joint connected to the grabbing assembly among the multiple joints is the third joint.

8. A mechanical arm based on iridium radiation source assembly according to claim 7, characterized in that: The third joint comprises a third component and a third rotating member that rotate relative to each other. The contact surface between the third component and the third rotating member is a third rotating surface. The angle between the third rotating surface and the reference surface is a3, satisfying 0<a3<a1, 0<a3<a2.

9. A mechanical arm based on iridium radiation source assembly according to claim 7, characterized in that: The grabbing assembly is connected to the third joint via a coupling.

10. The mechanical arm based on iridium radiation source assembly according to claim 7, characterized in that: The grabbing assembly comprises a pneumatic suction pen and a clamping claw, wherein the pneumatic suction pen is used for adsorbing the iridium sheet, and the clamping claw is used for grabbing the assembled iridium radiation source.

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