A grabbing robot for irradiation environments

Abstract

The application discloses a grabbing mechanical arm for 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 middle axis, the outer surface of the middle axis is provided with a plurality of gravity support mechanisms and grabbing mechanisms which are arranged in a size shape decreasing sequence.The triangular blocks are designed in a triangular pyramid shape, which allows the blocks to grab parts from three different angles, increases the stability and reliability of grabbing, especially when dealing with irregularly shaped or uneven surface parts, can provide more uniform pressure distribution, and prevent the parts from slipping during the grabbing process.When pulling two tension lines in the same plane to make them tight and loosening the other tension line, the several triangular blocks can be combined into a spiral shape to grab the parts, so that the grabbing mechanism can automatically adjust the optimal gripping position according to the specific shape and size of the parts, and the adaptability to parts of various sizes and shapes is enhanced.

Description

Technical Field

[0001] This invention relates to the technical field of robotic arms, and particularly to a gripping robotic arm for use in irradiated environments. Background Technology

[0002] For example, patent document CN114770585B, entitled "A Spiral Winding Robot," describes an invention used as an end effector for picking up and placing items. It includes a main body and a drive mechanism. The drive mechanism drives the main body to switch between an extended state and a tightly wound state, forming one or more interconnected equiangular spirals, to unfold and place items or wind and grasp them. This invention aims to solve the problems of low load capacity, small grasping range, poor adaptability, and slow movement speed in existing robot grasping mechanisms. Through spiral motion, the robot can achieve tight winding and coiling, providing a larger grasping load and stability. Furthermore, the robot described in this solution can adaptively grasp targets of different sizes.

[0003] In situations such as nuclear power plants where complex tasks need to be handled in confined spaces, if the aforementioned robotic arm is used to precisely grip objects, it is difficult to accurately and stably grasp the parts due to the limitations of the confined or complex environment on parts of different shapes and sizes. Moreover, the single gripping angle results in poor stability, and the gripping force cannot be adjusted to regulate the gripping structure of the robotic arm when dealing with irregular parts. Therefore, this application provides a gripping robotic arm for irradiated environments to meet the requirements. Summary of the Invention

[0004] The purpose of this application is to provide a gripping robotic arm for use in irradiated environments, which can effectively solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this application provides the following technical solution: a gripping robotic arm for use in irradiated environments, comprising a controller, a camera disposed at the bottom of the controller, a central axis disposed at the center of the bottom wall of the controller, a plurality of gravity support mechanisms and gripping mechanisms arranged in descending order of size and shape on the outer surface of the central axis, a connecting piece disposed on the outer surface of the central axis to separate the installation positions of the gravity support mechanisms and the gripping mechanisms, and the plurality of gravity support mechanisms are all located above the gripping mechanisms, a clamping mechanism for gripping small parts is disposed at one end of the central axis, and a gripping force support mechanism for stabilizing the gripping of parts is disposed on the outer surface of the plurality of gripping mechanisms;

[0006] The gravity support mechanism includes a triangular block, which is in the shape of a triangular pyramid. Each of the triangular edges of the triangular block has a pull wire hole to enhance its stable support capacity. Both the upper and lower ends of the triangular block are provided with airbag rings to stabilize and support the tilt angle of the triangular block.

[0007] The triangular block has anti-groove grooves at its three corners, and each of the three anti-groove grooves has an installation block inside. Each of the three installation blocks has an installation pad at one end. Each installation pad has an airbag groove inside, and an airbag is installed inside the airbag groove. The outer surface of the installation pad has a corrugated sheet, and the installation pad is attached to the surface of the triangular block.

[0008] The gripping mechanism includes a triangular block, which is shaped like a triangular pyramid and has a spherical shell on its upper part. Each of the three corners of the triangular block is provided with a conduit, and each conduit contains a tension line. One end of each tension line passes through a pull hole inside the triangular block and is connected to a winding wheel inside the controller.

[0009] The triangular block has a shaft hole at its bottom, and the shaft ball shell is rotatably installed inside the shaft 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] The clamping mechanism includes a drive motor, the outer surface of which is provided with a mounting cover. The central axis is electrically connected to the drive motor, and one end of the tension line is fixedly connected to the mounting cover. The bottom of the mounting cover is provided with a mounting box, and the output end of the drive motor is provided with a take-up reel, which is located inside the mounting box.

[0011] The bottom of the mounting box is provided with several rubber gripping strips arranged in a circular array. Each rubber gripping strip has an abutment block at its bottom. Each rubber gripping strip has a take-up line inside, with one end of the take-up line wrapped around the surface of the take-up reel. Each rubber gripping strip has a rubber protrusion on its outer surface.

[0012] The rubber gripping strip has two elastic strips symmetrically arranged on one side. The outer surfaces of the two elastic strips are fitted with deformation sleeves. The cross-section of the rubber gripping strip is shaped like the letter "C" to increase the contact area with the part.

[0013] The grip support mechanism includes a circular support assembly, which includes a shrinkable shell. The inner wall of the shrinkable shell has an installation groove. The shrinkable shell is fitted onto the outer surface of the triangular block through the installation groove. The outer surface of the shrinkable shell has a through hole corresponding to the position of the conduit. The interior of the shrinkable shell is provided with three springs arranged in a circular array. The outer surface of the shrinkable shell is provided with a strip ring.

[0014] The grip support mechanism includes a triangular support assembly, which includes a support block. The support block is triangular in shape, and each of its three corners is provided with a side block. The outer surface of the support block is provided with a groove corresponding to the position of the conduit. The inside 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] The support block has rubber sleeves on three sides, the rubber sleeves are hollow inside, and the outer surface of the rubber sleeves is provided with several frosted strips that are evenly distributed.

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

[0017] 1. The triangular blocks in this invention are designed in the shape of triangular pyramids, allowing them to grip parts from three different angles. This increases the stability and reliability of the gripping process, especially when handling irregularly shaped or unevenly shaped parts, providing a more uniform pressure distribution and preventing parts from slipping during gripping. By pulling two tension lines on the same plane to tighten them and loosening the third, several triangular blocks can be combined into a spiral shape to grip parts. This allows the gripping mechanism to automatically adjust to the optimal gripping position based on the specific shape and size of the part, enhancing its adaptability to parts of various sizes and shapes. The gripping support mechanism fitted onto the surface of the triangular blocks can adjust its shape according to the deformation of the triangular blocks to better grip parts. Regardless of how the triangular blocks spiral or deflect, the gripping support mechanism can closely adhere to the surface of the part, increasing friction and ensuring a firm grip. By controlling the contraction and relaxation of the three tension lines, the position and posture of the triangular blocks can be precisely adjusted, enabling the robotic arm to perform complex and delicate tasks in confined spaces.

[0018] 2. This invention uses a drive motor to rotate the take-up reel, causing the take-up line to contract. This deforms the rubber gripping strip, ultimately gripping the part. This allows the robotic arm to precisely control the gripping action in confined spaces, improving operational accuracy and stability. The design of the rubber gripping strip and rubber protrusions increases the surface area and friction in contact with the part, which is particularly advantageous for gripping small or smooth parts. The larger contact area provides a more stable gripping force, reducing the risk of slippage. Furthermore, the elastic strip is designed in a "C" shape. When it contracts, multiple arrays of elastic strips can drive the contact blocks to form a claw-like structure to grip the part. This allows the gripping mechanism to adjust to the optimal gripping position according to the shape of the part, making it suitable for parts of various sizes and shapes. When the take-up line contracts, it not only causes the rubber gripping strip to contract and deform but also the elastic strip to bend and deform, thereby applying sufficient gripping force through the contact blocks. This dual deformation mechanism provides additional gripping force and flexibility, ensuring that even hard-to-reach or complex parts can be effectively gripped.

[0019] 3. In this invention, when the tension line contracts, the triangular blocks deflect and adhere to each other to form a spiral shape. This allows the gripping structure to apply uniform pressure to the parts from multiple angles, enhancing the stability and reliability of the gripping process. The increasing shape and volume of the triangular blocks ensure that the spiral spring shape formed when they coil together can effectively surround and firmly grip parts of different sizes. The air bladder ring between two triangular blocks provides necessary support when the triangular blocks deflect, ensuring that the entire gripping structure remains stable during deformation. Furthermore, the V-shaped mounting pad effectively fills the gap between the two triangular blocks, further enhancing the overall integrity of the gripping structure and improving the accuracy of the gripping operation. The gripping force is adjusted by tightening the air cushion inside the airbag groove through the tension of the tension line, automatically adjusting the gripping force according to actual needs. This ensures the safety of the gripping and avoids damage that may be caused by over-clamping. Moreover, the wave-shaped corrugated plate provides additional friction when it contacts the part for gripping, effectively preventing the gripped part from slipping or falling off. It is suitable for parts with smooth surfaces or irregular shapes, increasing the success rate of gripping. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a first-person perspective 3D structural diagram of the robotic arm.

[0022] Figure 2 This is a schematic diagram of the robotic arm's second-view 3D structure.

[0023] Figure 3 This is a schematic diagram of the robotic arm's third-person perspective structure.

[0024] Figure 4 This is a schematic diagram of the fourth-view 3D structure of the robotic arm;

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

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

[0027] Figure 7 A schematic diagram of the three-dimensional connection structure between the mounting box and the rubber protrusion;

[0028] Figure 8 A schematic diagram of the three-dimensional connection structure of the deformation sleeve and the rubber protrusion;

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

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

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

[0032] Figure 12 This is a schematic diagram of the three-dimensional connection structure of the triangular blocks;

[0033] Figure 13 This is a schematic diagram of the three-dimensional connection structure of the circular ring support component;

[0034] Figure 14 This is a three-dimensional sectional view of the connection structure of the circular ring support assembly;

[0035] Figure 15 This is a schematic diagram of the three-dimensional connection structure of the triangular support component;

[0036] Figure 16 This is a cross-sectional view of the three-dimensional connection structure of the triangular support component;

[0037] Figure 17 A first-person perspective three-dimensional connection structure diagram of a gravity support mechanism;

[0038] Figure 18 A second-view three-dimensional connection structure diagram of a gravity support mechanism;

[0039] Figure 19 This is a schematic diagram of the three-dimensional connection structure of the triangular blocks;

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

[0041] Figure 21 This is a second-view, three-dimensional connection structure diagram of the mounting pad.

[0042] In the diagram: 1. Controller; 2. Camera; 3. Gravity support mechanism; 31. Mounting pad; 32. Corrugated sheet; 33. Airbag ring; 34. Triangular prism block; 35. Air cushion; 36. Anti-groove; 37. Mounting block; 38. Airbag groove; 4. Connector; 5. Triangular support assembly; 51. Support block; 52. Side block; 53. Cable groove; 54. Frosted strip; 55. Inlay groove; 56. Rubber sleeve; 6. Clamping mechanism; 61. Drive motor; 62. 63. Mounting cover; 64. Take-up reel; 65. Mounting box; 66. Abutment block; 67. Deformation sleeve; 68. Rubber gripping strip; 69. Rubber convex strip; 611. Take-up cable; 70. Elastic strip; 71. Circular ring support assembly; 72. Shrink shell; 73. Through hole; 74. Strip ring; 75. Spring; 76. Mounting groove; 87. Gripping mechanism; 88. Triangular block; 89. Tension line; 80. Cable conduit; 81. Shaft hole; 82. Shaft ball shell; 9. Center axis. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example 1, Reference Figures 1 to 21 The illustrated gripping robotic arm for use in irradiated environments includes a controller 1, a camera 2 mounted on the bottom of the controller 1, a central axis 9 mounted in the middle of the bottom wall of the controller 1, a plurality of gravity support mechanisms 3 and gripping mechanisms 8 arranged in descending order of size and shape mounted on the outer surface of the central axis 9, a connecting piece 4 separating the installation positions of the gravity support mechanisms 3 and the gripping mechanisms 8 mounted on the outer surface of the central axis 9, and the plurality of gravity support mechanisms 3 being located above the gripping mechanisms 8, a clamping mechanism 6 for gripping small parts mounted at one end of the central axis 9, and a gripping force support mechanism for stabilizing the gripping of parts mounted on the outer surface of the plurality of gripping mechanisms 8.

[0045] It is worth noting that during the construction and maintenance of nuclear power plants, there are often situations where there are foreign objects or parts that need to be removed in some narrow or hard-to-access spaces. Due to the special location and complex environment, manual operation is difficult. Therefore, a gripping robotic arm in an irradiated environment is used to remove foreign objects or parts to reduce the risk of manual operation. When using the robotic arm to grip parts, small parts are gripped by the clamping mechanism 6. The gripping mechanism 8 is controlled by three triangularly distributed wires and a central axis. The triangularly distributed wires control the gripping mechanism 8 to stably bend and hold the parts and perform the gripping. Because the gripping mechanism 8 is triangularly pyramidal, it has strong stability when gripping the corresponding parts.

[0046] The gravity support mechanism 3 is connected to the gripping mechanism 8 and is controlled by three triangularly distributed wires and a central axis. However, the structure of the gravity support mechanism 3 is a combination of two symmetrical triangular pyramids. When encountering large parts, the gravity support mechanism 3 can provide greater gripping force and support capacity. Considering the special environment of nuclear power plants, especially high-radiation areas, the design of this robotic arm uses radiation-resistant materials to ensure long-term operation without failure. The controller 1 and camera 2 enable the robotic arm to identify the position, shape and size of the target object for gripping operations.

[0047] Among them, the clamping mechanism 6 is specifically designed to grip small parts, while the gripping mechanism 8 uses three triangularly distributed wires and a central axis for control, which enables it to bend and hold parts stably, providing high gripping stability, and is especially suitable for small parts with irregular shapes.

[0048] For large parts, the gravity support mechanism 3 provides additional gripping and support capabilities. Its structural design, consisting of two symmetrical triangular pyramids, ensures good stability even when handling large or heavy objects.

[0049] The design of the gripping robotic arm for irradiated environments takes into account the confined and inaccessible space characteristics within nuclear power plants. It adopts a compact and flexible robotic arm design, enabling it to operate effectively in these restricted spaces.

[0050] Example 2: Based on the clamping mechanism 6 proposed in Example 1, this embodiment provides a further technical solution for the clamping mechanism 6.

[0051] The clamping mechanism 6 includes a drive motor 61, a mounting cover 62 is provided on the outer surface of the drive motor 61, the central axis 9 is electrically connected to the drive 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 take-up reel 63 is provided at the output end of the drive motor 61, and the take-up reel 63 is located inside the mounting box 64.

[0052] It is worth noting that when gripping parts in a narrow space, the drive motor 61 drives the take-up reel 63 to rotate, and the rotation of the take-up reel 63 causes the take-up line 69 to retract. The take-up line 69 is wound around the outer surface of the take-up reel 63, and when the take-up line 69 retracts, it causes the rubber gripping strip 67 to contract and deform.

[0053] The bottom of the mounting box 64 is provided with several rubber gripping strips 67 arranged in a circular array. Each rubber gripping strip 67 has an abutment block 65 at its bottom. Each rubber gripping strip 67 has a take-up line 69 inside, and one end of the take-up line 69 is wrapped around the surface of the take-up reel 63. Each rubber gripping strip 67 has a rubber protrusion 68 on its outer surface.

[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 fitted onto 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 part.

[0055] When the retracting line 69 pulls the rubber gripping strip 67 to deform, it will cause the elastic strip 611 to bend and deform. The elastic strip 611 bends and deforms, and the rubber gripping strip 67 drives the contact block 65 to grip the part. The elastic strip 611 is shaped like the letter "C". When the elastic strip 611 contracts, the multiple arrays of elastic strips 611 drive the contact block 65 to grip the part in a mechanical gripping shape. The rubber gripping strip 67 and the rubber protrusion 68 cooperate to increase the contact area and friction with the part, which is more conducive to gripping small parts.

[0056] The drive motor 61 drives the take-up reel 63 to rotate, which in turn causes the take-up line 69 to retract, causing the rubber gripping strip 67 to deform and ultimately grasp the part. This allows the robotic arm to precisely control the gripping action in a confined space, 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 in contact with the part, which is particularly advantageous for gripping small or smooth parts, as the larger contact area can provide a more stable grip and reduce the risk of slipping.

[0058] Furthermore, the elastic bar 611 is designed in a "C" shape. When it contracts, it can cause multiple arrays of elastic bars to drive the contact block 65 to form a structure similar to a mechanical claw to grasp the parts. This allows the gripping mechanism to adjust the optimal gripping position according to the shape of the parts, making it suitable for parts of various sizes and shapes.

[0059] When the retracting 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 abutment block 65. The dual deformation mechanism provides additional gripping force and flexibility, ensuring that even hard-to-reach or complex parts can be effectively gripped.

[0060] Example 3: Based on the gripping mechanism 8 proposed in Example 1, this example provides a further technical solution for the gripping mechanism 8.

[0061] The gripping mechanism 8 includes a triangular block 81, which is in the shape of a triangular pyramid. A spherical shell 85 is provided on the upper part of the triangular block 81. A wire tube 83 is provided at each of the three corners of the triangular block 81, and a tension wire 82 is provided inside each wire tube 83. One end of each of the three tension wires 82 passes through the wire hole inside the triangular block 34 and is connected to the winding wheel inside the controller 1.

[0062] The bottom of the triangular block 81 has a shaft hole 84, and the shaft ball shell 85 is rotatably installed inside the shaft 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.

[0063] It is worth noting that when in use, two tension lines 82 on the same plane are pulled simultaneously. When the two tension lines 82 are taut, the other tension line 82 is loosened. The shaft ball housing 85 is rotatably installed inside the shaft hole 84. When the triangular block 81 deflects, it will drive the rotation. As the tension line 82 contracts, several contractions form a spiral shape. The combination of several triangular blocks 81 forms a spiral shape to grip the part. Because the triangular blocks 81 are triangular pyramidal in shape, the combination of triangular blocks 81 can grip the part from three angles, and the shape of the combination also has good stability.

[0064] When the triangular block 81 coils into a spiral shape due to the contraction of the tension line 82, the gripping support mechanism fitted on the surface of the triangular block 81 can grip the part according to the deformation of the triangular block 81.

[0065] The triangular block 81, with its triangular pyramid shape, allows it to grip parts from three different angles, increasing gripping stability and reliability. In particular, when handling parts with irregular shapes or uneven surfaces, it provides a more uniform pressure distribution, preventing parts from slipping during gripping.

[0066] When two tension lines 82 on the same plane are pulled to tighten them and another tension line 82 is loosened, several triangular blocks 81 can be combined into a spiral shape to grip the parts. This allows the gripping mechanism to automatically adjust the optimal gripping position according to the specific shape and size of the parts, enhancing its adaptability to parts of various sizes and shapes.

[0067] The grip support mechanism fitted on the surface of the triangular block 81 can adjust its shape according to the deformation of the triangular block 81 to better grasp the parts. No matter how the triangular block 81 rotates or deflects to form a spiral shape, the grip support mechanism can closely fit the surface of the parts, increase friction, and ensure a firm grip. By controlling the contraction and relaxation of the three tension lines 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 confined space.

[0068] Example 4: Based on the gravity support mechanism 3 proposed in Example 1, this example provides a further technical solution for the gravity support mechanism 3.

[0069] The gravity support mechanism 3 includes a triangular block 34, which is in the shape of a triangular pyramid. Each of the triangular edges of the triangular block 34 is provided with a pull wire hole to improve the stability support capacity of the triangular block 34. Both the upper and lower ends of the triangular block 34 are provided with airbag rings 33 to stabilize and support the tilt angle of the triangular block 34.

[0070] It is worth noting that when the tension line 82 contracts, the triangular block 34 will also deflect. The airbag ring 33 set between the two triangular blocks 34 can support the rotation of the triangular block 34. The surface of the triangular block 34 is a bevel. When multiple triangular blocks 34 are brought together by the contraction of the tension line 82, the combined triangular block 34 will be spiral in shape. The shape and volume of the triangular blocks 34 increase with the component. When multiple triangular blocks 34 are coiled together by the contraction of the tension line 82, the combined shape will be like a spiral spring, thereby gripping the part. The spiraling method of the triangular block 81 is the same as that of the triangular block 34.

[0071] The three corners of the triangular prism block 34 are provided with anti-slip grooves 36. Each of the three anti-slip grooves 36 is provided with a mounting block 37. Each of the three mounting blocks 37 is provided with a mounting pad 31 at one end. The mounting pad 31 is provided with an airbag groove 38. An airbag 35 is provided inside the airbag groove 38. The outer surface of the mounting pad 31 is provided with a corrugated sheet 32. The mounting pad 31 is attached to the surface of the triangular prism block 34.

[0072] When the triangular blocks 34 deflect and press against each other, the mounting pad 31, which is V-shaped, can fill the gap between the two triangular blocks 34. It can also adjust the gripping force of the air cushion 35 inside the airbag groove 38 by tightening the tension line 82. The wave plate 32 is wave-shaped. When the wave plate 32 contacts the part for gripping, the wave plate 32 can provide friction to prevent the gripped part from falling off.

[0073] When the tension line 82 contracts, the triangular blocks 34 deflect and fit together to form a spiral shape, so that the gripping structure can apply uniform pressure to the parts from multiple angles, enhancing the stability and reliability of the gripping process. The increasing shape and volume of the triangular blocks 34 ensure that the spiral spring shape formed when they are coiled together can effectively surround and firmly grip parts of different sizes. The airbag ring 33 between the two triangular blocks 34 can provide necessary support when the triangular blocks deflect, ensuring that the entire gripping structure remains stable during deformation.

[0074] Furthermore, the V-shaped mounting pad 31 effectively fills the gap between the two triangular blocks 34, further enhancing the overall integrity of the gripping structure and improving the accuracy of the gripping operation. The gripping force is adjusted by tightening the tension line 82 to compress the air cushion 35 inside the airbag groove 38, automatically adjusting the gripping force according to actual needs. This ensures the safety of the gripping and avoids damage that may be caused by over-clamping. Moreover, the wave-shaped corrugated plate 32 provides additional friction when it contacts the part for gripping, effectively preventing the gripped part from slipping or falling off. It is suitable for parts with smooth surfaces or irregular shapes, increasing the success rate of gripping.

[0075] Example 5, Reference Figure 13 and Figure 14 The grip support mechanism shown includes a ring support assembly 7, which includes a shrinkable shell 71. The inner wall of the shrinkable shell 71 has an installation groove 76. The shrinkable shell 71 is fitted onto the outer surface of the triangular block 81 through the installation groove 76. The outer surface of the shrinkable shell 71 has a through hole 72 corresponding to the position of the conduit 83. The inside of the shrinkable shell 71 is provided with three springs 75 arranged in a ring array. The outer surface of the shrinkable shell 71 is provided with a strip ring 73.

[0076] It is worth noting that when the triangular block 81 deforms due to the contraction of the tension line 82, the provided contraction shell 71 is compressed and changes its structural shape according to the spiral shape of the triangular block 81. When the contraction shell 71 deforms, it will compress the spring 75, and the provided strip ring 73 can adhere to the surface of the part for adsorption. Moreover, the provided strip ring 73 can increase the contact with the part and increase the friction. The provided contraction shell 71 is cylindrical, and several contraction shells 71 are combined to form a spiral spring shape, which can grasp various irregular shapes.

[0077] When the triangular block 81 deforms due to the contraction of the tension line 82, the contraction shell 71 can change its structural shape according to the spiral shape of the triangular block 81, so that the gripping mechanism can flexibly adapt to various irregularly shaped parts, improving the applicability and flexibility of gripping.

[0078] The shrink shell 71 compresses the spring 75 during deformation, which not only helps to adjust the gripping force but also provides a certain cushioning effect to prevent damage to the parts due to excessive clamping. It also increases the stability of the grip. The strip ring 73 can adhere to the surface of the parts for adsorption and increase the friction by increasing the contact area with the parts, ensuring the stability of the parts during the gripping process, which is suitable for parts with smooth surfaces or complex shapes.

[0079] Several cylindrical shrink shells 71 are combined to form a spiral spring shape, which can apply uniform pressure to the part in multiple directions, thereby achieving a more stable grip. It is suitable for scenarios that require high-precision operation, such as handling parts with complex shapes in narrow spaces.

[0080] Example 6, Reference Figure 15 and Figure 16 The grip support mechanism shown includes a triangular support assembly 5, which includes a support block 51. The support block 51 is triangular in shape, and each of the three corners of the support block 51 is 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 inside 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.

[0081] The support block 51 is provided with rubber sleeves 56 on three sides. The rubber sleeves 56 have a hollow structure inside. The outer surface of the rubber sleeves 56 is provided with several frosted strips 54 that are evenly distributed.

[0082] It is worth noting that when the triangular block 81 changes its combined shape due to the tightening of the tension line 82, the support block 51 will move along with the movement of the triangular block 81. The support block 51 is triangular in shape. When the support block 51 spirals into a vortex shape, the rubber sleeve 56 will contact the part, while the abrasive strip 54 prevents the part from falling off. Furthermore, the rubber sleeve 56 has a hollow structure inside. When the rubber sleeve 56 is squeezed, it can deform and adhere to the surface of the part.

[0083] Among them, the rubber sleeve 56 has a hollow structure inside, which can deform and fit tightly against the surface of the part when squeezed. This not only increases the contact area with the part, but also provides additional friction, ensuring stability during the gripping process. In addition, the frosted strip 54 further increases the friction, effectively preventing the part from falling off during the gripping 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 gripping mechanism. At the same time, as the support block 51 spirals into a vortex shape, it can form a multi-angle support network, ensuring that the gripping force is evenly distributed. The use of rubber material gives the rubber sleeve 56 good flexibility and wear resistance, enabling firm gripping without damaging the parts. Complex shape changes and effective part gripping can be achieved through a simple tension line 82 tightening mechanism. In addition, the design of the rubber sleeve 56 and the abrasive strip 54 reduces the need for precise position adjustment.

[0085] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended 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 described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripping robotic arm for use in irradiated environments, comprising a controller (1) having a camera (2) disposed at its bottom, characterized in that: The controller (1) has a central axis (9) in the middle of its bottom wall. The outer surface of the central axis (9) is fitted with a number of gravity support mechanisms (3) and gripping mechanisms (8) arranged in descending order of size and shape. The outer surface of the central axis (9) is fitted with a connecting piece (4) that separates the installation positions of the gravity support mechanism (3) and the gripping mechanism (8). The gravity support mechanisms (3) are all located above the gripping mechanism (8). One end of the central axis (9) is fitted with a clamping mechanism (6) for gripping small parts. The outer surfaces of the gripping mechanisms (8) are fitted with a gripping force support mechanism for stabilizing the gripping of parts. The gravity support mechanism (3) includes a triangular block (34), which is in the shape of a triangular pyramid. Each of the triangular edges of the triangular block (34) is provided with a pull wire hole to improve the stability support capacity of the triangular block (34). Both the upper and lower ends of the triangular block (34) are provided with airbag rings (33) to stabilize and support the tilt angle of the triangular block (34). The three corners of the triangular prism block (34) are provided with placement grooves (36), and each of the three placement grooves (36) is provided with a mounting block (37). Each of the three mounting blocks (37) is provided with a mounting pad (31) at one end. Each mounting pad (31) is provided with an airbag groove (38), and an airbag (35) is provided inside the airbag groove (38). The outer surface of the mounting pad (31) is provided with a corrugated sheet (32), and the mounting pad (31) is attached to the surface of the triangular prism block (34). The clamping mechanism (6) includes a drive motor (61), and a mounting cover (62) is provided on the outer surface of the drive motor (61). The central axis (9) is electrically connected to the drive 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). A take-up reel (63) is provided at the output end of the drive motor (61), and the take-up reel (63) is located inside the mounting box (64). The bottom of the mounting box (64) is provided with a number of rubber gripping strips (67) arranged in a circular array. Each of the rubber gripping strips (67) has a contact block (65) at its bottom. Each of the rubber gripping strips (67) has a take-up line (69) inside, and one end of the take-up line (69) is wrapped around the surface of the take-up reel (63). Each of the rubber gripping strips (67) has a rubber protrusion (68) on its outer surface. 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 fitted onto 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 part.

2. The gripping robotic arm for use in irradiated environments according to claim 1, characterized in that: The gripping mechanism (8) includes a triangular block (81), which is in the shape of a triangular pyramid. A spherical shell (85) is provided on the upper part of the triangular block (81). A wire tube (83) is provided on each of the three corners of the triangular block (81), and a tension line (82) is provided inside the wire tube (83). One end of each of the three tension lines (82) passes through the wire hole inside the triangular block (34) and is connected to the winding wheel inside the controller (1).

3. A gripping robotic arm for use in irradiated environments according to claim 2, characterized in that: The bottom of the triangular block (81) is provided with a shaft hole (84), and the shaft ball shell (85) is rotatably installed inside the shaft 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).

4. A gripping robotic arm for use in irradiated environments according to claim 2, characterized in that: The grip support mechanism includes a ring support assembly (7), which includes a shrink shell (71). The inner wall of the shrink shell (71) is provided with an installation groove (76). The shrink shell (71) is fitted onto the outer surface of the triangular block (81) through the installation groove (76). The outer surface of the shrink shell (71) is provided with a through hole (72) corresponding to the position of the wire tube (83). The interior of the shrink shell (71) is provided with three springs (75) arranged in a ring array. The outer surface of the shrink shell (71) is provided with a strip ring (73).

5. A gripping robotic arm for use in irradiated environments according to claim 2, characterized in that: The grip support mechanism includes a triangular support assembly (5), which includes a support block (51). The support block (51) is triangular in shape, and each of the three corners of the support block (51) is 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 inside of the support block (51) is provided with an inlay groove (55). The support block (51) is installed on the outer surface of the triangular block (81) through the inlay groove (55).

6. A gripping robotic arm for use in irradiated environments according to claim 5, characterized in that: The support block (51) is provided with rubber sleeves (56) on three sides. The rubber sleeves (56) are hollow inside. The outer surface of the rubber sleeves (56) is provided with several frosted strips (54) that are evenly distributed.

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