Grabbing mechanical arm for irradiation environment

Abstract

The invention discloses a grabbing mechanical arm for an irradiation environment, and relates to the technical field of mechanical arms, the grabbing mechanical arm comprises a controller, the middle part of the bottom wall of the controller is provided with a central axis, and the outer surface of the central axis is sleeved with a plurality of gravity supporting mechanisms and grabbing mechanisms, the sizes and the shapes of which are sequentially reduced. The triangular blocks are designed to be in a triangular cone shape, parts can be grabbed from three different angles through the triangular blocks, the grabbing stability and reliability are improved, particularly, when parts with irregular shapes or unsmooth surfaces are treated, more uniform pressure distribution can be provided, and the parts are prevented from sliding off in the grabbing process. When the two tension lines on the same plane are pulled to tighten and loosen the other tension line, the plurality of triangular blocks can be combined into a spiral shape to grab the part, so that the grabbing mechanism can automatically adjust the optimal grabbing position according to the specific shape and size of the part, and the adaptability to parts with various sizes and shapes is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and particularly to a grasping robotic arm for an irradiation environment. Background Art

[0002] For example, in the patent document with the publication number CN114770585B and the invention title of a spiral winding robot, which is used as the end effector of a robot to pick and place items, including: a body and a driving mechanism; the driving mechanism drives the body itself to convert between a stretched state and a tightly wound state in one or more sets of connected equiangular spiral shapes, to unfold and place items or to wind and grasp items, aiming to solve the problems of small load, small grasping range, poor adaptability, and slow movement speed of the existing robot grasping mechanism. Through spiral movement, the robot of the present invention can achieve its own tight curling and winding, which is beneficial to providing a larger grasping load and stability. At the same time, the robot of this solution can achieve adaptive grasping of targets of different sizes.

[0003] In occasions such as nuclear power plants where complex tasks need to be processed in a narrow space, when using the above-mentioned robotic arm to precisely clamp items, due to the limitations of different-shaped and -sized parts in a narrow or complex environment, it is difficult to precisely and stably grasp the parts, and the grasping angle is single and the stability performance is poor. Moreover, in the face of irregular parts, it is impossible to adjust the grasping force to adjust the grasping structure of the robotic arm. Therefore, the present application provides a grasping robotic arm for an irradiation environment to meet the requirements. Summary of the Invention

[0004] The purpose of the present application is to provide a grasping robotic arm for an irradiation environment, which can effectively solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present application provides the following technical solution: A grasping robotic arm for an irradiation environment includes a controller. A camera is provided at the bottom of the controller. A central axis is provided in the middle of the bottom wall of the controller. A plurality of gravity support mechanisms and grasping mechanisms with gradually decreasing size and shape are sleeved on the outer surface of the central axis. A connecting piece for separating the installation positions of the gravity support mechanisms and the grasping mechanisms is sleeved on the outer surface of the central axis. And a plurality of gravity support mechanisms are all located above the grasping mechanisms. A clamping mechanism for grasping small parts is provided at one end of the central axis. A grip support mechanism for stably grasping parts is provided on the outer surfaces of a plurality of the grasping mechanisms.

[0006] The gravity support mechanism includes a triangular prism block. The triangular prism block is in the shape of a triangular pyramid. And wire holes are provided on the triangular edges of the triangular prism block to improve the stable support ability of the triangular prism block. Airbag rings for stably supporting the inclination angle of the triangular prism block are provided at both the upper and lower ends of the triangular prism block.

[0007] Among them, the three corners of the triangular edge block are each provided with a prevention groove, the inside of the three prevention grooves are each provided with a mounting block, one end of the three mounting blocks is provided with a mounting pad, the inside of the mounting pad is provided with an airbag groove, the inside of the airbag groove is provided with an air cushion, the outer surface of the mounting pad is provided with a corrugated sheet, and the mounting pad is attached to the surface of the triangular edge block.

[0008] Among them, the grabbing mechanism includes a triangular block, which is in the shape of a triangular cone, and an axle ball shell is arranged on the upper part of the triangular block. Wire tubes are arranged at the three corners of the triangular block, and tension wires are arranged inside the wire tubes. One ends of the three tension wires pass through the wire pulling holes inside the triangular block and are connected to the winding wheel inside the controller.

[0009] Among them, an axial hole is opened at the bottom of the triangular block, and the axial ball shell is rotatably installed inside the axial hole. One end of the central axis passes through the middle of the triangular block and the triangular edge block and is connected to the winding wheel inside the controller.

[0010] Wherein, the clamping mechanism includes a driving motor, an outer surface of the driving motor is provided with a mounting cover, the central axis is electrically connected to the driving motor, and one end of the tension line is fixedly connected to the mounting cover, an mounting box is provided at the bottom of the mounting cover, and a wire take-up reel is provided at the output end of the driving motor, and the wire take-up reel is located inside the mounting box.

[0011] Among them, a plurality of rubber grabbing strips distributed in a circular array are arranged at the bottom of the installation box, and a resistance block is arranged at the bottom of the rubber grabbing strips. A gathering line is arranged inside the rubber grabbing strips, and one end of the gathering line is wound around the surface of the take-up reel, and a rubber convex strip is arranged on the outer surface of the rubber grabbing strips.

[0012] Among them, two elastic strips are symmetrically arranged on one side of the rubber gripping strip, and the outer surfaces of the two elastic strips are both sleeved on the deformation sleeve. The cross-section of the rubber gripping strip is in the shape of the letter "C" to increase the contact area with the parts.

[0013] Among them, the grip support mechanism includes a circular ring support assembly, and the circular ring support assembly includes a shrinkage shell, the inner wall of the shrinkage shell is provided with an installation groove, the shrinkage shell is mounted on the outer surface of the triangular block through the installation groove, the outer surface of the shrinkage shell is provided with a wire hole corresponding to the position of the wire tube, three springs distributed in a circular array are arranged inside the shrinkage shell, and the outer surface of the shrinkage shell is provided with a strip ring.

[0014] Among them, the grip support mechanism includes a triangular support assembly, the triangular support assembly includes a support block, the support block is triangular in shape, and the three corners of the support block are provided with side blocks, the outer surface of the support block is provided with a wire groove corresponding to the position of the wire tube, the interior of the support block is provided with an inlay groove, and the support block is installed on the outer surface of the triangular block through the inlay groove.

[0015] Among them, three sides of the support block are provided with rubber sleeves, the interior of the rubber sleeve is a hollow structure, and the outer surface of the rubber sleeve is provided with a plurality of frosted strips distributed at equal intervals.

[0016] In summary, the technical effects and advantages of the present invention are as follows:

[0017] 1. The triangular block of the present invention is designed in a triangular cone shape, which allows it to grasp parts from three different angles, increasing the stability and reliability of grasping. In particular, when handling parts with irregular shapes or uneven surfaces, it can provide a more uniform pressure distribution to prevent parts from slipping during grasping. When two tension lines in the same plane are pulled to tighten them and the other tension line is loosened, several triangular blocks can be combined into a spiral shape to grasp parts, so that the grasping mechanism can automatically adjust the optimal grasping position according to the specific shape and size of the parts, enhancing the adaptability to parts of various sizes and shapes. The grip support mechanism sleeved on the surface of the triangular block can adjust its own shape according to the deformation of the triangular block to better grasp the parts. No matter how the triangular block spirals or deflects to form a spiral shape, the grip support mechanism can fit the surface of the part tightly, increase friction, and ensure a firm grasp. By controlling the contraction and relaxation of the three tension lines, the position and posture of the triangular block can be accurately adjusted, so that the robot arm can perform complex and delicate tasks in a small space.

[0018] 2. The present invention drives the take-up reel to rotate by driving the motor, thereby shrinking the take-up line, deforming the rubber grabbing strip and finally grasping the parts, allowing the robot arm to accurately control the grasping action in a small space, improving the accuracy and stability of the operation. The design of the rubber grabbing strip and the rubber convex strip increases the surface area and friction in contact with the parts, which is particularly beneficial for grasping small or smooth parts, because the larger contact area can provide a more stable grip and reduce the risk of slipping; and the elastic strip is designed in a "C" shape. When it shrinks, it can make multiple groups of elastic strips arranged in an array drive the resistance block to form a structure similar to a mechanical claw to grasp the parts, so that the grasping mechanism can adjust the optimal grasping position according to the shape of the part, which is suitable for parts of various sizes and shapes. When the take-up line shrinks, it not only drives the rubber grabbing strip to shrink and deform, but also causes the elastic strip to bend and deform, so that sufficient grasping force is applied through the resistance block. The double deformation mechanism provides additional gripping force and flexibility, ensuring that even difficult-to-reach or complex parts can be effectively grasped.

[0019] 3. When the tension line contracts in the present invention, the triangular prism blocks deflect and fit together to form a spiral shape, enabling the grasping structure to apply uniform pressure to the part from multiple angles, enhancing the stability and reliability during the grasping process. The shape and volume of the triangular prism blocks increase gradually, ensuring that the spiral spring shape formed when they coil together can effectively enclose and firmly grasp parts of different sizes. The airbag ring between the two triangular prism blocks can provide necessary support when the triangular prism blocks deflect, ensuring the stability of the entire grasping structure during the deformation process. Moreover, the mounting pad in a V shape can effectively fill the gap between the two triangular prism blocks, further enhancing the integrity of the grasping structure and improving the accuracy of the grasping operation. The force for grasping the part is adjusted by squeezing the air cushion inside the airbag groove through the tension and relaxation of the tension line, automatically adjusting the grasping force according to actual needs, which not only ensures the safety of grasping but also avoids damage caused by excessive clamping. Additionally, the wave plate is in a wave shape, and when it contacts the part for grasping, it can provide additional friction, effectively preventing the grasped part from slipping or falling off, being applicable to parts with smooth surfaces or irregular shapes, and increasing the success rate of grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a first - perspective three - dimensional structure schematic diagram of the robotic arm;

[0022] Figure 2 It is a second - perspective three - dimensional structure schematic diagram of the robotic arm;

[0023] Figure 3 It is a third - perspective three - dimensional structure schematic diagram of the robotic arm;

[0024] Figure 4 It is a fourth - perspective three - dimensional structure schematic diagram of the robotic arm;

[0025] Figure 5 It is a three - dimensional connection structure schematic diagram of the clamping mechanism;

[0026] Figure 6 It is a cross - sectional view of the three - dimensional connection structure of the clamping mechanism;

[0027] Figure 7 It is a three - dimensional connection structure schematic diagram of the mounting box and the rubber rib;

[0028] Figure 8 Schematic diagram of the three-dimensional connection structure of the deformation sleeve and the rubber convex strip;

[0029] Figure 9 Cross-sectional view of the three-dimensional connection structure of the rubber gripping strip;

[0030] Figure 10 Schematic diagram of the three-dimensional connection structure of the gravity support mechanism and the gripping mechanism;

[0031] Figure 11 Schematic diagram of the three-dimensional connection structure of the gripping mechanism;

[0032] Figure 12 Schematic diagram of the three-dimensional connection structure of the triangular block;

[0033] Figure 13 Schematic diagram of the three-dimensional connection structure of the ring support assembly;

[0034] Figure 14 Cross-sectional view of the three-dimensional connection structure of the ring support assembly;

[0035] Figure 15 Schematic diagram of the three-dimensional connection structure of the triangular support assembly;

[0036] Figure 16 Cross-sectional view of the three-dimensional connection structure of the triangular support assembly;

[0037] Figure 17 Schematic diagram of the three-dimensional connection structure of the gravity support mechanism from the first perspective;

[0038] Figure 18 Schematic diagram of the three-dimensional connection structure of the gravity support mechanism from the second perspective;

[0039] Figure 19 Schematic diagram of the three-dimensional connection structure of the triangular prism block;

[0040] Figure 20 Schematic diagram of the three-dimensional connection structure of the mounting pad from the first perspective;

[0041] Figure 21 Schematic diagram of the three-dimensional connection structure of the mounting pad from the second perspective.

[0042] In the figure: 1. Controller; 2. Camera; 3. Gravity support mechanism; 31. Mounting pad; 32. Wave plate; 33. Airbag ring; 34. Triangular prism block; 35. Air cushion; 36. Anti-slotted; 37. Mounting block; 38. Airbag slot; 4. Connector; 5. Triangular support assembly; 51. Support block; 52. Side block; 53. Wire groove; 54. Frosted strip; 55. Mosaic groove; 56. Rubber sleeve; 6. Clamping mechanism; 61. Driving motor; 62. Mounting cover; 63. Take-up reel; 64. Mounting box; 65. Contact block; 66. Deformation sleeve; 67. Rubber gripping strip; 68. Rubber convex strip; 69. Converging wire; 611. Elastic strip; 7. Ring support assembly; 71. Shrinkable shell; 72. Wire passing hole; 73. Strip ring; 75. Spring; 76. Mounting groove; 8. Gripping mechanism; 81. Triangular block; 82. Tensile wire; 83. Wire tube; 84. Axial hole; 85. Axial ball shell; 9. Central axis. Detailed implementation mode

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0044] Embodiment 1. Refer to Figures 1 to 21 A grasping manipulator for an irradiation environment shown in the figure, including a controller 1, a camera 2 is arranged at the bottom of the controller 1, a central axis 9 is arranged in the middle of the bottom wall of the controller 1, and a plurality of gravity support mechanisms 3 and grasping mechanisms 8 with gradually decreasing size and shape are sleeved on the outer surface of the central axis 9. A connector 4 for separating the installation positions of the gravity support mechanism 3 and the grasping mechanism 8 is sleeved on the outer surface of the central axis 9, and a plurality of gravity support mechanisms 3 are all located above the grasping mechanism 8. A clamping mechanism 6 for grasping small parts is arranged at one end of the central axis 9, and a grip support mechanism for stably grasping parts is arranged on the outer surface of a plurality of grasping mechanisms 8;

[0045] It is worth noting that during the construction and maintenance of nuclear power plants, there are often situations where foreign objects or parts to be removed exist in some narrow or inaccessible spaces. Due to the special location and complex environment, manual operation is difficult. Therefore, a grasping manipulator for an irradiation environment is used to remove foreign objects or parts to reduce the risk of manual operation. When using the manipulator to grasp parts, small parts are grasped by the clamping mechanism 6, and the set grasping mechanism 8 is controlled by three silk threads distributed in a triangle and a central axis. Through the wire take-up control of the triangular distribution, the grasping mechanism 8 can be stably bent to hold the part and grasp it. Since the set grasping mechanism 8 is in the shape of a triangular pyramid, it has strong stability when grasping corresponding parts;

[0046] The gravity support mechanism 3 is connected to the grasping mechanism 8 and is controlled by three silk threads distributed in a triangular shape and a central axis. However, the structural shape of the gravity support mechanism 3 is a combined shape of two symmetrical triangular pyramids. When encountering large parts, the gravity support mechanism 3 can provide greater grasping force and support ability. Considering the particularity of the nuclear power plant environment, especially in high-radiation areas, the manipulator is designed with radiation-resistant materials to ensure long-term operation without failure. The controller 1 and camera 2 are provided to enable the manipulator to identify the position, shape, and size of the target object for grasping operations.

[0047] Among them, the clamping mechanism 6 is specifically used for grasping small parts, while the grasping mechanism 8 adopts a control method of three silk threads distributed in a triangular shape and a central axis, enabling it to bend and hold the parts stably, providing high grasping stability, especially suitable for small parts with irregular shapes.

[0048] For large parts, the gravity support mechanism 3 provides additional grasping force and support ability. Its structural design of two symmetrical triangular pyramid combinations ensures good stability even when dealing with larger or heavier objects.

[0049] In the design of the grasping manipulator in the irradiation environment, considering the narrow and inaccessible space characteristics inside the nuclear power plant, a compact and flexible manipulator design is adopted, enabling it to operate effectively in these restricted spaces.

[0050] Example 2. According to the clamping mechanism 6 proposed in Example 1, the present embodiment provides a further technical solution for the clamping mechanism 6.

[0051] The clamping mechanism 6 includes a driving motor 61. An installation cover 62 is arranged on the outer surface of the driving motor 61. The central axis 9 is electrically connected to the driving motor 61, and one end of the tension wire 82 is fixedly connected to the installation cover 62. An installation box 64 is arranged at the bottom of the installation cover 62. A wire reel 63 is arranged at the output end of the driving motor 61, and the wire reel 63 is located inside the installation box 64.

[0052] It should be noted that when grasping parts in a narrow space, the driving motor 61 drives the wire reel 63 to rotate, and the rotation of the wire reel 63 drives the contraction of the wire bundle 69. The wire bundle 69 is wound around the outer surface of the wire reel 63. When the wire bundle 69 contracts, it drives the rubber grasping strip 67 to contract and deform.

[0053] The bottom of the mounting box 64 is provided with a plurality of rubber grabbing strips 67 distributed in a circular array, the bottom of each rubber grabbing strip 67 is provided with a resistance block 65, the interior of each rubber grabbing strip 67 is provided with a gathering wire 69, and one end of each gathering wire 69 is wound around the surface of the wire take-up reel 63, and the outer surface of each rubber grabbing strip 67 is provided with a rubber convex strip 68.

[0054] Two elastic strips 611 are symmetrically arranged on one side of the rubber gripping strip 67. The outer surfaces of the two elastic strips 611 are sleeved on the deformation sleeve 66. The cross section of the rubber gripping strip 67 is in the shape of the letter "C" to increase the contact area with the parts.

[0055] Among them, when the gathering line 69 pulls the rubber grabbing strip 67 to deform, it will drive the elastic strip 611 to bend and deform, and the set elastic strip 611 will bend and deform, and the rubber grabbing strip 67 drives the resistance block 65 to grab the parts, and the set elastic strip 611 is in the shape of the letter "C". When the elastic strip 611 contracts, the multiple groups of elastic strips 611 arranged in an array drive the resistance block 65 to grab the parts in the shape of a mechanical grip, and the set rubber grabbing strip 67 and the rubber convex strip 68 can cooperate to increase the contact area and friction with the parts, thereby making it more conducive to grabbing small parts.

[0056] The drive motor 61 drives the take-up reel 63 to rotate, thereby shrinking the take-up wire 69, causing the rubber grabbing strip 67 to deform and finally grab the parts, allowing the robot arm to accurately control the grabbing action in a small space, thereby improving the accuracy and stability of the operation.

[0057] The design of the rubber gripping strip 67 and the rubber convex strip 68 increases the surface area and friction force in contact with the parts, which is particularly beneficial for grasping small or smooth parts, because the larger contact area can provide a more stable grip and reduce the risk of slipping;

[0058] In addition, the elastic strip 611 is designed in a "C" shape. When it contracts, multiple groups of elastic strips arranged in an array can drive the resistance blocks 65 to form a structure similar to a mechanical claw to grasp parts, so that the grasping mechanism can adjust the optimal grasping position according to the shape of the part, and is suitable for parts of various sizes and shapes.

[0059] When the tightening line 69 contracts, it not only causes the rubber gripping strip 67 to contract and deform, but also causes the elastic strip 611 to bend and deform, thereby applying sufficient gripping force through the resistance block 65. The double deformation mechanism provides additional gripping force and flexibility, ensuring that even difficult-to-reach or complex parts can be effectively grasped.

[0060] Embodiment 3: Based on the grabbing mechanism 8 proposed in Embodiment 1, this embodiment provides a further technical solution for the grabbing mechanism 8.

[0061] The grasping mechanism 8 includes a triangular block 81. The triangular block 81 is in the shape of a triangular pyramid, and a spherical shaft housing 85 is provided at the upper part of the triangular block 81. Wire tubes 83 are provided at the three corners of the triangular block 81, and tension wires 82 are provided inside the wire tubes 83. One ends of the three tension wires 82 all penetrate through the wire-drawing holes inside the triangular prism block 34 and are connected to the wire reels inside the controller 1.

[0062] A shaft hole 84 is provided at the bottom of the triangular block 81, and the spherical shaft housing 85 is rotatably installed inside the shaft hole 84. One end of the central axis 9 penetrates through the middle parts of the triangular block 81 and the triangular prism block 34 and is connected to the wire reel inside the controller 1.

[0063] It should be noted that when in use, two tension wires 82 in the same plane are pulled simultaneously. When the two tension wires 82 are tightened, the other tension wire 82 is loosened. The provided spherical shaft housing 85 is rotatably installed inside the shaft hole 84. When the triangular block 81 deflects, it will drive rotation. As the tension wires 82 contract, several of them contract into a spiral shape. The combination of several triangular blocks 81 forms a spiral shape to grasp parts. Because the provided triangular block 81 is in the shape of a triangular pyramid, the combination of triangular blocks 81 can grasp parts from three angles, and the combined shape also has good stability.

[0064] When the triangular block 81 spirals into a spiral shape due to the contraction of the tension wires 82, the grip support mechanism sleeved on the surface of the triangular block 81 can grasp parts according to the deformation of the triangular block 81.

[0065] Among them, the design of the triangular block 81 in the shape of a triangular pyramid allows it to grasp parts from three different angles, increasing the stability and reliability of grasping. Especially when dealing with parts with irregular shapes or uneven surfaces, it can provide a more uniform pressure distribution and prevent the parts from slipping during the grasping process.

[0066] When two tension wires 82 in the same plane are pulled to be tightened and the other tension wire 82 is loosened, several triangular blocks 81 can be combined into a spiral shape to grasp parts, enabling the grasping mechanism to automatically adjust the optimal grasping position according to the specific shape and size of the parts, enhancing the adaptability to parts of various sizes and shapes.

[0067] The grip support mechanism sleeved on the surface of the triangular block 81 can adjust its own shape according to the deformation of the triangular block 81 to better grasp parts. No matter how the triangular block 81 spirals or deflects to form a spiral shape, the grip support mechanism can closely fit the surface of the parts, increasing the friction force to ensure a firm grasp. By controlling the contraction and relaxation of the three tension wires 82, the position and posture of the triangular block 81 can be precisely adjusted, enabling the robotic arm to perform complex and delicate tasks in a narrow space.

[0068] Embodiment 4. The gravity support mechanism 3 proposed according to Embodiment 1. This embodiment provides a further technical solution for the gravity support mechanism 3.

[0069] The gravity support mechanism 3 includes a triangular prism block 34. The triangular prism block 34 is in the shape of a triangular pyramid, and wire holes are provided on the triangular edges of the triangular prism block 34 to improve the stable support ability of the triangular prism block 34. Airbag rings 33 for stabilizing the inclination angle of the triangular prism block 34 are provided at both the upper and lower ends of the triangular prism block 34.

[0070] It should be noted that when the tension wire 82 contracts, the triangular prism block 34 will also deflect. The airbag ring 33 provided between the two triangular prism blocks 34 can support the rotation of the triangular prism block 34. And the surface of the triangular prism block 34 is an inclined plane. When multiple triangular prism blocks 34 are combined with their inclined planes fitting together due to the contraction of the tension wire 82, the combined triangular prism blocks 34 are in a spiral shape. And the shape and volume of the provided triangular prism blocks 34 increase gradually. When multiple triangular prism blocks 34 are coiled together due to the contraction of the tension wire 82, the combined shape is in the shape of a volute spring, so as to grasp the parts. And the coiling method of the triangular block 81 is the same as that of the triangular prism block 34.

[0071] Anti-slip grooves 36 are provided at the three corners of the triangular prism block 34. Installation blocks 37 are provided inside the three anti-slip grooves 36. Installation pads 31 are provided at one ends of the three installation blocks 37. An airbag groove 38 is provided inside the installation pad 31. An air cushion 35 is provided inside the airbag groove 38. A corrugated sheet 32 is provided on the outer surface of the installation pad 31. The installation pad 31 fits on the surface of the triangular prism block 34.

[0072] Among them, when the triangular prism blocks 34 deflect and squeeze each other, the provided installation pads 31 are in a V shape and can fill the gap between the two triangular prism blocks 34. And it can adjust the force for grasping the parts by squeezing the air cushion 35 inside the airbag groove 38 according to the tightness of the contraction of the tension wire 82. And the corrugated sheet 32 is in a corrugated shape. When the corrugated sheet 32 contacts the parts for grasping, the provided corrugated sheet 32 can provide frictional force to prevent the grasped parts from falling off.

[0073] Among them, when the tension wire 82 contracts, the triangular prism blocks 34 deflect and fit together to form a spiral shape, so that the grasping structure can apply uniform pressure to the parts from multiple angles, enhancing the stability and reliability during the grasping process. The shape and volume of the triangular prism blocks 34 increase gradually, ensuring that the volute spring shape formed when they are coiled together can effectively surround and firmly grasp parts of different sizes. And the airbag ring 33 between the two triangular prism blocks 34 can provide necessary support when the triangular prism blocks deflect, ensuring the stability of the entire grasping structure during the deformation process.

[0074] Moreover, the mounting pad 31 in a V shape can effectively fill the gap between the two triangular prism blocks 34, further enhancing the integrity of the grasping structure and improving the accuracy of the grasping operation. The air cushion 35 inside the airbag groove 38 is squeezed by the tension of the tension wire 82 to adjust the force for grasping parts, automatically adjusting the grasping force according to actual needs, ensuring the safety of grasping and avoiding damage caused by excessive clamping. In addition, the wave plate 32 is in a wave shape, which can provide additional friction when it contacts the parts for grasping, effectively preventing the grasped parts from slipping or falling off, being applicable to parts with smooth surfaces or irregular shapes, and increasing the success rate of grasping.

[0075] Embodiment Five, refer to Figure 13 and Figure 14 The shown grip support mechanism includes a circular ring support assembly 7. The circular ring support assembly 7 includes a contraction shell 71. An installation groove 76 is formed on the inner wall of the contraction shell 71. The contraction shell 71 is sleeved on the outer surface of the triangular block 81 through the installation groove 76. A wire passing hole 72 corresponding to the position of the wire tube 83 is formed on the outer surface of the contraction shell 71. Three springs 75 distributed in an annular array are arranged inside the contraction shell 71. A strip ring 73 is arranged on the outer surface of the contraction shell 71.

[0076] It should be noted that when the triangular block 81 deforms due to the contraction of the tension wire 82, the set contraction shell 71 is squeezed and changes its structural shape according to the spiral shape of the triangular block 81. When the contraction shell 71 deforms, it will squeeze the spring 75 as shown. And the set strip ring 73 can fit on the surface of the part for adsorption. Moreover, the set strip ring 73 can increase the contact with the part and increase the friction. The set contraction shell 71 is in a cylindrical shape, and several contraction shells 71 combined into a volute spring shape can grasp various irregular shapes.

[0077] Among them, when the triangular block 81 deforms due to the contraction of the tension wire 82, the contraction shell 71 can change its structural shape according to the spiral shape of the triangular block 81, enabling the grasping mechanism to flexibly adapt to parts with various irregular shapes, improving the applicability and flexibility of grasping.

[0078] The contraction shell 71 will squeeze the spring 75 during the deformation process, which not only helps to adjust the grasping force but also provides a certain buffering effect to prevent damage to the parts due to excessive clamping. At the same time, it also increases the stability of the grip. The set strip ring 73 can fit on the surface of the part for adsorption and improve the friction by increasing the contact area with the part to ensure the stability of the part during the grasping process, aiming at those parts with smooth surfaces or complex shapes.

[0079] A number of cylindrical shrinkage shells 71 are combined into a scroll spring shape, which can apply uniform pressure to parts in multiple directions, thus achieving more stable grasping and being suitable for scenarios that require high-precision operations, such as handling parts with complex shapes in narrow spaces.

[0080] Example Six. Refer to Figure 15 and Figure 16 The grip support mechanism shown in and includes a triangular support assembly 5. The triangular support assembly 5 includes a support block 51, which is triangular in shape, and side blocks 52 are provided at the three corners of the support block 51. Corresponding wire grooves 53 to the position of the wire tube 83 are provided on the outer surface of the support block 51, and an inlay groove 55 is provided inside the support block 51. The support block 51 is installed on the outer surface of the triangular block 81 through the inlay groove 55.

[0081] Rubber sleeves 56 are provided on the three sides of the support block 51. The inside of the rubber sleeves 56 is a hollow structure, and a number of equally spaced abrasive strips 54 are provided on the outer surface of the rubber sleeves 56.

[0082] It should be noted that when the triangular block 81 changes its combined shape due to the tightening of the tension wire 82, the support block 51 will move along with the movement of the triangular block 81. The set support block 51 is triangular in shape. When the support block 51 spirals into a vortex shape, the set rubber sleeve 56 will contact the part, and the abrasive strips 54 prevent the part from falling off. Moreover, the inside of the set rubber sleeve 56 is a hollow structure, and when the rubber sleeve 56 is squeezed, it can deform and fit tightly on the surface of the part.

[0083] Among them, when the inside of the rubber sleeve 56 is a hollow structure and can deform and fit tightly on the surface of the part after being squeezed, it not only increases the contact area with the part but also provides additional friction, ensuring the stability during the grasping process. Moreover, the set abrasive strips 54 further increase the friction, effectively preventing the part from falling off during the grasping process;

[0084] The support block 51 is triangular in shape, which can provide stable support points in multiple directions, enhancing the overall rigidity and stability of the grasping mechanism. At the same time, as the support block 51 spirals into a vortex shape, a multi-angle support network can be formed to ensure uniform distribution of the grasping force. The use of rubber material makes the rubber sleeve 56 have good flexibility and wear resistance, enabling firm grasping without damaging the part. Through a simple tension wire 82 tightening mechanism, complex shape changes and effective part grasping can be achieved. In addition, the design of the rubber sleeve 56 and the abrasive strips 54 reduces the need for precise position adjustment.

[0085] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A grabbing robot arm for use in an irradiated environment, comprising a controller (1), a camera (2) being arranged at the bottom of the controller (1), characterized in that: A central axis (9) is provided in the middle of the bottom wall of the controller (1); a plurality of gravity support mechanisms (3) and gripping mechanisms (8) whose sizes and shapes are arranged in descending order are sleeved on the outer surface of the central axis (9); a connecting piece (4) is sleeved on the outer surface of the central axis (9) for separating the installation positions of the gravity support mechanism (3) and the gripping mechanism (8); and a plurality of gravity support mechanisms (3) are all located above the gripping mechanism (8); a clamping mechanism (6) for gripping small parts is provided at one end of the central axis (9); and a plurality of gripping mechanisms (8) are all provided on the outer surfaces with a gripping force support mechanism for stably gripping parts; The gravity support mechanism (3) comprises a triangular edge block (34), the triangular edge block (34) is in the shape of a triangular pyramid, and the triangular edges of the triangular edge block (34) are provided with wire holes for improving the stable support capability of the triangular edge block (34), and the upper and lower ends of the triangular edge block (34) are provided with airbag rings (33) for stabilizing the tilt angle of the triangular edge block (34).

2. A grabbing robot arm for use in an irradiated environment according to claim 1, characterized in that: The three corners of the triangular prism (34) are each provided with a prevention groove (36), the interior of the three prevention grooves (36) is provided with a mounting block (37), one end of the three mounting blocks (37) is provided with a mounting pad (31), the interior of the mounting pad (31) is provided with an airbag groove (38), the interior of the airbag groove (38) is provided with an air cushion (35), the outer surface of the mounting pad (31) is provided with a wavy sheet (32), and the mounting pad (31) is attached to the surface of the triangular prism (34).

3. A grabbing robot arm for use in an irradiated environment according to claim 2, characterized in that: The gripping mechanism (8) comprises a triangular block (81) which is in the shape of a triangular cone and an axle ball shell (85) is arranged on the upper part of the triangular block (81). The three corners of the triangular block (81) are provided with wire tubes (83), and the inside of the wire tubes (83) are provided with tension wires (82). One end of the three tension wires (82) passes through the internal tension wire holes of the triangular block (34) and is connected to the internal winding wheel of the controller (1).

4. The grabbing robot arm for use in an irradiated environment according to claim 3, characterized in that: The bottom of the triangular block (81) is provided with an axial hole (84), and the axial ball shell (85) is rotatably mounted inside the axial hole (84). One end of the central axis (9) passes through the middle of the triangular block (81) and the triangular prism block (34) and is connected to the winding wheel inside the controller (1).

5. The grabbing robot arm for use in an irradiated environment according to claim 1, characterized in that: The clamping mechanism (6) comprises a driving motor (61), the outer surface of the driving motor (61) is provided with a mounting cover (62), the central axis (9) is electrically connected to the driving motor (61), and one end of the tension line (82) is fixedly connected to the mounting cover (62), a mounting box (64) is provided at the bottom of the mounting cover (62), and a wire take-up reel (63) is provided at the output end of the driving motor (61), and the wire take-up reel (63) is located inside the mounting box (64).

6. A grabbing robot arm for use in an irradiated environment according to claim 5, characterized in that: The bottom of the installation box (64) is provided with a plurality of rubber gripping strips (67) distributed in a ring array, the bottom of each of the rubber gripping strips (67) is provided with a resistance block (65), the interior of each of the rubber gripping strips (67) is provided with a gathering wire (69), and one end of the gathering wire (69) is wound around the surface of the wire take-up reel (63), and the outer surface of each of the rubber gripping strips (67) is provided with a rubber convex strip (68).

7. A grabbing robot arm for use in an irradiated environment according to claim 6, characterized in that: Two elastic strips (611) are symmetrically arranged on one side of the rubber gripping strip (67), and the outer surfaces of the two elastic strips (611) are sleeved on the deformation sleeve (66). The cross section of the rubber gripping strip (67) is in the shape of the letter "C" to increase the contact area with the parts.

8. The grabbing robot arm for use in an irradiated environment according to claim 3, characterized in that: The gripping force support mechanism comprises a circular ring support assembly (7), the circular ring support assembly (7) comprises a retractable shell (71), the inner wall of the retractable shell (71) is provided with a mounting groove (76), the retractable shell (71) is sleeved on the outer surface of the triangular block (81) through the mounting groove (76), the outer surface of the retractable shell (71) is provided with a wire hole (72) corresponding to the position of the wire tube (83), the interior of the retractable shell (71) is provided with three springs (75) distributed in a circular array, and the outer surface of the retractable shell (71) is provided with a strip ring (73).

9. The grabbing robot arm for use in an irradiated environment according to claim 3, characterized in that: The grip force support mechanism comprises a triangular support assembly (5), wherein the triangular support assembly (5) comprises a support block (51), the support block (51) is triangular in shape, and three corners of the support block (51) are each provided with a side block (52), the outer surface of the support block (51) is provided with a wire groove (53) corresponding to the position of the wire tube (83), the interior of the support block (51) is provided with an inlay groove (55), and the support block (51) is installed on the outer surface of the triangular block (81) through the inlay groove (55).

10. A grabbing robot arm for use in an irradiated environment according to claim 9, characterized in that: The three sides of the support block (51) are provided with rubber sleeves (56), the interior of the rubber sleeves (56) is a hollow structure, and the outer surface of the rubber sleeves (56) is provided with a plurality of frosted strips (54) distributed at equal intervals.

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