Anti-radiation variable-stiffness mechanical arm

Abstract

The invention relates to the technical field of nuclear industrial robot control, and discloses an anti-radiation variable-stiffness mechanical arm which comprises a plurality of torsion modules, and every two adjacent torsion modules are connected through a rotating module, so that the torsion modules can spin around the longitudinal axes of the torsion modules and rotate around the horizontal axes on the rotating modules. A top cover is installed at the top of the uppermost torsion module, a bottom plate is installed at the bottom of the lowermost torsion module, the top cover and the torsion modules, the torsion modules and the torsion modules and the bottom plate are connected through a plurality of SMA artificial muscles, and wires are led out from the two ends of the SMA artificial muscles and connected into independent drive circuits. According to the anti-radiation variable-rigidity mechanical arm, control over the rigidity and deformation of the mechanical arm can be achieved, the size and weight of the mechanical arm are greatly reduced, and the power density is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear industry robot control, and in particular to a radiation-resistant variable-rigidity robotic arm. Background Art

[0002] In recent years, nuclear accidents have occurred frequently, and governments and all sectors of society have become aware of the uncertainties surrounding nuclear energy safety. To accomplish routine maintenance of nuclear power equipment, detect and repair accident sites, and improve human-machine safety, the development of nuclear protection robots capable of manipulating complex, weight-variable, brittle, and dangerous objects in high-radiation environments has become a pressing task and an inevitable trend within the nuclear industry.

[0003] Although traditional motor-driven robotic arms can complete sampling tasks in high-radiation environments (such as the American Pioneer robot and the Japanese SMERT series robot), they have significant shortcomings: 1. Inadequate drive mode: The use of motor drive results in a bulky and heavy robotic arm, and it is difficult to meet the strict radiation resistance requirements of high-radiation environments; 2. Insufficient performance and adaptability: The robotic arm has problems such as poor controllability of joint stiffness, low adaptability to unstructured environments, and poor operational safety.

[0004] Therefore, there is an urgent need for a lightweight, highly adaptable and radiation-resistant robotic arm solution. Summary of the Invention

[0005] The purpose of the present invention is to address the deficiencies of the above-mentioned technologies and provide a radiation-resistant variable-rigidity robotic arm that can control the stiffness and deformation of the robotic arm, greatly reducing the volume and weight of the robotic arm and improving the power density.

[0006] To achieve the above objectives, the radiation-resistant variable-stiffness robotic arm involved in the present invention includes several torsion modules, and two adjacent torsion modules are connected by a rotation module, so that the torque conversion module can spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module. The top of the topmost torsion module is installed with a top cover, and the bottom of the bottommost torsion module is installed with a bottom plate. The top cover and the torsion module, the torsion modules and the torsion modules, and the torsion module and the bottom plate are connected by several SMA artificial muscles. Wires are led out from both ends of the SMA artificial muscles and connected to independent drive circuits.

[0007] Preferably, the upper end of the torsion module is provided with a spinous process at each end of a horizontal axis thereof, and the lower end of the torsion module is provided with a transverse process group at each end of another horizontal axis thereof, including two transverse processes, and the two transverse processes are respectively located on both sides of the horizontal axis, the spinous process is installed on the torsion module through a spinous process bracket, and the transverse process is installed on the torque conversion module through a transverse process bracket, the spinous process of one torsion module and the transverse process of the adjacent torsion module are in the same horizontal plane, the transverse process of one torsion module and the spinous process of the adjacent torsion module are in the same horizontal plane, the top cover is installed on the spinous process of the uppermost torsion module, and the bottom plate is installed on the transverse process of the lowermost torsion module, and the SMA artificial muscle is connected through connecting holes provided on the spinous process, transverse process, spinous process bracket, transverse process bracket, top cover and bottom plate.

[0008] Preferably, the rotation module includes a cross member and a joint connection member connected to the cross member, the four sides of the cross member are each provided with a bearing hole, and bearings are installed in the bearing holes to form two groups of bearing groups perpendicular to each other in the horizontal plane, the upper part of the joint connection member is provided with an inward first horizontal axis through two upward first horizontal axis brackets, and the two first horizontal axes are installed in cooperation with one group of bearing groups, the torsion module is provided with an inward second horizontal axis through two downward second horizontal axis brackets, and the two second horizontal axes are installed in cooperation with another group of bearing groups, the lower part of the joint connection member is provided with a downward convex shaft, and a torsion hole is provided in the middle position inside the torsion module, a slewing bearing cooperating with the convex shaft is provided in the torsion hole, and a connecting end cover is provided below the torsion hole to limit the convex shaft to prevent it from disengaging from the torsion hole.

[0009] Preferably, a threaded hole is provided in the convex shaft for threaded connection with the connecting end cover.

[0010] Preferably, the SMA artificial muscle includes a rotator brevis muscle, a rotator longus muscle, an intertransverse muscle, an interspinal muscle, and a multifidus muscle; an interspinal muscle connection hole is provided in the middle of the spinous process, a first rotator brevis muscle connection hole is provided at each end of the spinous process, a rotator longus muscle connection hole and a multifidus muscle connection hole are provided on the spinous process bracket from outside to inside, a multifidus muscle and rotator longus muscle common connection hole is provided in the middle of the transverse process, an intertransverse muscle connection hole is provided at each end of the transverse process, a second rotator brevis muscle connection hole is provided on the transverse process bracket, four multifidus muscle and rotator longus muscle common connection holes are provided on the lower surface of the top cover, which correspond one-to-one to the multifidus muscle and rotator longus muscle common connection holes on the transverse process, and two interspinal muscle connection holes are provided on the bottom plate, which correspond one-to-one to the interspinal muscle connection holes on the spinous process; The torsion modules are connected by rotating modules to form several layers. The top layer is composed of two spinous processes and a top cover mounted thereon, the bottom layer is composed of four transverse processes and a bottom plate mounted thereunder, and the middle layer includes the four transverse processes of a torsion module and the two spinous processes of the adjacent torsion module. One end of the rotator cuff muscle is fixed to the second rotator cuff muscle connection hole in any middle layer, and the other end is fixed to the first rotator cuff muscle connection hole closest to the middle layer; One end of the rotator cuff longus muscle is fixed to the common connection hole of the multifidus muscle and the rotator cuff longus muscle in any layer, and the other end is fixed to the closest connection hole of the rotator cuff longus muscle in the next layer; One end of the intertransverse muscle is fixed to the intertransverse muscle connection hole of any layer, and the other end is fixed to the intertransverse muscle connection hole closest to the next layer; One end of the interspinous muscle is fixed to the interspinous muscle connection hole of any layer, and the other end is fixed to the interspinous muscle connection hole closest to the next layer; One end of the multifidus muscle is fixed on the common connection hole of the multifidus muscle and the rotator cuff longus muscle in any layer, and the other end is fixed on the connection holes of the multifidus muscles in the two lower layers that are closest to each other.

[0011] Preferably, the cross nut comprises two parts, an upper part and an lower part, and through holes are provided at the four corners of each part, and the upper and lower parts of the cross nut are connected together by screws.

[0012] Preferably, the SMA artificial muscle is composed of an SMA and a tension spring connected in series, with mounting holes provided at both ends. When the SMA contracts due to heat (at this time, the tension spring basically does not deform), it can drive the load to move. If the load is large (the load end point is fixed), the SMA begins to contract after being heated. Since the load end point cannot move after being fixed, the tension spring stretches to compensate for the contraction of the SMA, thereby ensuring that it can contract normally to prevent strain degradation and damage. When the SMA driving parameters remain unchanged, the maximum driving force and strain of the smart muscle can be adjusted by adjusting the parameters of the tension spring (including tensile stiffness, length, etc.).

[0013] Preferably, the SMA artificial muscle has radiation resistance, can be flexibly operated in a strong radiation environment, and is suitable for more complex radiation working scenarios.

[0014] Preferably, the SMA artificial muscles are driven in any combination, and through the control of different combinations of muscle groups, variable stiffness and complex bending and torsional deformation control of the robotic arm can be achieved.

[0015] Preferably, the connections between the top cover, the torsion module, the bottom plate and the SMA artificial muscle are all coated with insulating paint.

[0016] Compared with the prior art, the present invention has the following advantages: 1. It adopts a spinal structure design and uses shape memory alloy (SMA) intelligent materials for driving. Through the contraction function of muscle groups, it can achieve complex bending, torsion, and variable stiffness functions; 2. While achieving the stiffness and deformation control of the robotic arm, the volume and weight of the robotic arm are reduced and the radiation resistance of the robotic arm is improved; 3. SMA is selected as the driving material. The contraction of the SMA muscles in each section of the robotic arm can be individually controlled by the driving circuit, which can flexibly adjust the joint stiffness and deformation. This makes the spine-mimicking flexible robotic arm extremely flexible and adaptable, and can flexibly operate in complex, narrow, and unstructured environments. 4. The robot arm uses SMA as the driving material, which has high radiation resistance (its total dose is greater than Gy), capable of flexible operation in strong radiation environments, suitable for work scenarios with radiation characteristics such as nuclear power plants and outer space; 5. The smart muscle is constructed by connecting SMA and ordinary tension springs in series to ensure that it can contract normally to prevent strain degradation and damage. When the SMA driving parameters remain unchanged, the maximum driving force and strain of the smart muscle can be adjusted by adjusting the parameters of the tension spring (including tensile stiffness, length, etc.). BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of the radiation-resistant variable-rigidity robotic arm of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the torsion module and the rotation module; Figure 3 for Figure 2 Exploded diagram; Figure 4 Schematic diagram of the connections of various SMA artificial muscles; Figure 5 for Figure 1 Schematic diagram of the structure of SMA artificial muscle.

[0018] The components in the figure are numbered as follows: Torsion module 1, rotation module 2, top cover 3, base plate 4, spinous process 5, transverse process 6, spinous process bracket 7, transverse process bracket 8, cross head 9, joint connector 10, bearing hole 11, bearing 12, first horizontal axis bracket 13, first horizontal axis 14, second horizontal axis bracket 15, second horizontal axis 16, convex shaft 17, torsion hole 18, slewing bearing 19, connecting end cover 20, rotator brevis muscle 21, rotator longus muscle 22, intertransverse muscle 23, interspinal muscle 24, multifidus muscle 25, SMA 26, interspinal muscle connecting hole 27, first rotator brevis muscle connecting hole 28, rotator longus muscle connecting hole 29, multifidus muscle connecting hole 30, common connecting hole 31 for multifidus and rotator longus muscle, intertransverse muscle connecting hole 32, second rotator brevis muscle connecting hole 33, through hole 34, tension spring 35, mounting hole 36. DETAILED DESCRIPTION

[0019] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings and embodiments. It is obvious that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the invention.

[0020] Example 1 like Figure 1 As shown, a radiation-resistant variable-stiffness robotic arm includes several torsion modules 1. Two adjacent torsion modules 1 are connected by a rotation module 2, so that the torque conversion module 1 can spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module 2. A top cover 3 is installed on the top of the top torsion module 1, and a bottom plate 4 is installed on the bottom of the bottom torsion module 1. Several SMA artificial muscles are used to connect the top cover 3 and the torsion module 1, the torsion modules 1 and the torsion modules 1, and the torsion module 1 and the bottom plate 4. Wires are led out from both ends of the SMA artificial muscles and connected to independent drive circuits.

[0021] In this embodiment, the contraction of the SMA artificial muscle is controlled by a driving circuit, thereby achieving flexible adjustment of joint stiffness and deformation, and making the spine-mimicking flexible robotic arm extremely flexible and adaptable.

[0022] Example 2 like Figure 1As shown, a radiation-resistant variable-stiffness robotic arm includes several torsion modules 1. Two adjacent torsion modules 1 are connected by a rotation module 2, so that the torque conversion module 1 can spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module 2. A top cover 3 is installed on the top of the top torsion module 1, and a bottom plate 4 is installed on the bottom of the bottom torsion module 1. Several SMA artificial muscles are used to connect the top cover 3 and the torsion module 1, the torsion modules 1 and the torsion modules 1, and the torsion module 1 and the bottom plate 4. Wires are led out from both ends of the SMA artificial muscles and connected to independent drive circuits.

[0023] Among them, combined Figure 2 and Figure 3 As shown, the upper end of the torsion module 1 is provided with a spinous process 5 at both ends of one horizontal axis thereof, and the lower end of the torsion module 1 is provided with a transverse process group at both ends of the other horizontal axis thereof, including two transverse processes 6, and the two transverse processes 6 are respectively located on both sides of the horizontal axis, the spinous process 5 is mounted on the torsion module 1 through the spinous process bracket 7, and the transverse process 6 is mounted on the torque conversion module 1 through the transverse process bracket 8, the spinous process 5 of a torsion module 1 and the transverse process 6 of an adjacent torsion module 1 are in the same horizontal plane, the transverse process 6 of a torsion module 1 and the spinous process 5 of the adjacent torsion module 1 are in the same horizontal plane, the top cover 3 is mounted on the spinous process 5 of the uppermost torsion module 1, and the bottom plate 4 is mounted on the transverse process 6 of the lowermost torsion module 1, and the SMA artificial muscle is connected through connecting holes provided on the spinous process 5, transverse process 6, spinous process bracket 7, transverse process bracket 8, the top cover 3 and the bottom plate 4.

[0024] The SMA artificial muscle can be controlled more precisely through the connection holes on the spinous process 5 , the transverse process 6 , the spinous process support 7 , the transverse process support 8 , the top cover 3 and the bottom plate 4 .

[0025] Example 3 like Figure 1 As shown, a radiation-resistant variable-stiffness robotic arm includes several torsion modules 1. Two adjacent torsion modules 1 are connected by a rotation module 2, so that the torque conversion module 1 can spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module 2. A top cover 3 is installed on the top of the top torsion module 1, and a bottom plate 4 is installed on the bottom of the bottom torsion module 1. Several SMA artificial muscles are used to connect the top cover 3 and the torsion module 1, the torsion modules 1 and the torsion modules 1, and the torsion module 1 and the bottom plate 4. Wires are led out from both ends of the SMA artificial muscles and connected to independent drive circuits.

[0026] Among them, combined Figure 2 and Figure 3As shown, the upper end of the torsion module 1 is provided with a spinous process 5 at both ends of one horizontal axis thereof, and the lower end of the torsion module 1 is provided with a transverse process group at both ends of the other horizontal axis thereof, including two transverse processes 6, and the two transverse processes 6 are respectively located on both sides of the horizontal axis, the spinous process 5 is mounted on the torsion module 1 through the spinous process bracket 7, and the transverse process 6 is mounted on the torque conversion module 1 through the transverse process bracket 8, the spinous process 5 of a torsion module 1 and the transverse process 6 of an adjacent torsion module 1 are in the same horizontal plane, the transverse process 6 of a torsion module 1 and the spinous process 5 of the adjacent torsion module 1 are in the same horizontal plane, the top cover 3 is mounted on the spinous process 5 of the uppermost torsion module 1, and the bottom plate 4 is mounted on the transverse process 6 of the lowermost torsion module 1, and the SMA artificial muscle is connected through connecting holes provided on the spinous process 5, transverse process 6, spinous process bracket 7, transverse process bracket 8, the top cover 3 and the bottom plate 4.

[0027] Specifically, combined Figure 4 As shown, the SMA artificial muscle includes a rotator brevis muscle 21, a rotator longus muscle 22, an intertransverse muscle 23, an interspinal muscle 24, and a multifidus muscle 25. An interspinal muscle connection hole 27 is provided in the middle of the spinous process 5, and a first rotator brevis muscle connection hole 28 is provided at each end of the spinous process 5. A rotator longus muscle connection hole 29 and a multifidus muscle connection hole 30 are provided from the outside to the inside on the spinous process bracket 7. A multifidus muscle and rotator longus muscle common connection hole 31 is provided in the middle of the transverse process 6, an intertransverse muscle connection hole 32 is provided at each end of the transverse process 6, and a second rotator brevis muscle connection hole 33 is provided on the transverse process bracket 8. The lower surface of the top cover 3 is provided with four multifidus muscle and rotator longus muscle common connection holes 31 corresponding one-to-one to the multifidus muscle and rotator longus muscle common connection holes 31 on the transverse process 6, and two interspinal muscle connection holes 17 corresponding one-to-one to the interspinal muscle connection holes 17 on the spinous process 5 are provided on the bottom plate 4; The torsion modules 1 are connected by the rotation modules 2 to form several layers. The top layer is composed of two spinous processes 5 and a top cover 3 mounted thereon. The bottom layer is composed of four transverse processes 6 and a bottom plate 4 mounted thereunder. The middle layer includes the four transverse processes 6 of one torsion module 1 and the two spinous processes 5 of the adjacent torsion module 1. One end of the rotator cuff 21 is fixed to the second rotator cuff brevis connecting hole 33 of any middle layer, and the other end is fixed to the first rotator cuff brevis connecting hole 28 closest to the middle layer; One end of the rotator cuff longus muscle 22 is fixed to the common connection hole 31 of the multifidus muscle and the rotator cuff longus muscle in any layer, and the other end is fixed to the closest rotator cuff longus muscle connection hole 29 in the next layer; One end of the intertransverse muscle 23 is fixed to the intertransverse muscle connection hole 32 of any layer, and the other end is fixed to the intertransverse muscle connection hole 32 of the next layer closest to it; One end of the interspinous muscle 24 is fixed to the interspinous muscle connection hole 27 of any layer, and the other end is fixed to the interspinous muscle connection hole 27 of the next layer closest to it; One end of the multifidus muscle 25 is fixed to the common connection hole 31 of the multifidus muscles and the rotator cuff longus muscles of any layer, and the other end is fixed to the multifidus muscle connection hole 30 closest to the two lower layers.

[0028] By connecting the rotator cuff 21, rotator cuff longus 22, intertransverse process muscle 23, interspinal muscle 24, multifidus muscle 25 and interspinal muscle connection hole 27, first rotator cuff 28, rotator cuff longus connection hole 29, multifidus connection hole 30, multifidus and rotator cuff longus shared connection hole 31, intertransverse process muscle connection hole 32, and second rotator cuff 33, precise control of the SMA artificial muscle is achieved, thereby achieving flexible adjustment of joint stiffness and deformation, making the spine-mimicking flexible robotic arm extremely flexible and adaptable. In the above embodiment, the rotation module 2 includes a cross 9 and a joint connector 10 connected to the cross 9. Each of the four sides of the cross 9 is provided with a bearing hole 11, and a bearing 12 is installed in the bearing hole 11 to form two groups of bearing groups perpendicular to each other on the horizontal plane. The upper part of the joint connector 10 is provided with an inward first horizontal axis 14 through two upward first horizontal axis brackets 13. The two first horizontal axes 14 are installed in conjunction with a group of bearing groups. The torsion module 1 is provided with an inward second horizontal axis 16 through two downward second horizontal axis brackets 15. The two second horizontal axes 16 are connected to the other A group of bearing groups are installed in cooperation, a downward convex shaft 17 is provided at the lower part of the joint connector 10, a torsion hole 18 is provided in the middle position inside the torsion module 1, a rotary bearing 19 that cooperates with the convex shaft 17 is provided in the torsion hole 18, and a connecting end cover 20 is provided below the torsion hole 18 to limit the convex shaft 17 to prevent it from being separated from the torsion hole 18. In the above embodiment, a threaded hole can be provided in the convex shaft 17 to be threadedly connected to the connecting end cover 20. The cross 9 can include two upper and lower parts, and each part has four corners with through holes 34, and the upper and lower parts of the cross 9 are connected together by screws.

[0029] In the above embodiment, combined with Figure 5 As shown, the SMA artificial muscle consists of an SMA 26 and a tension spring 35 connected in series, with mounting holes 36 at both ends. When the SMA 26 contracts due to heat (at this time, the tension spring 35 basically does not deform), it can drive the load to move. If the load is large (the load end point is fixed), the SMA 26 begins to contract after being heated. Since the load end point cannot move after being fixed, the tension spring 35 stretches to compensate for the contraction of the SMA 26, thereby ensuring that it can contract normally to prevent strain degradation and damage. When the driving parameters of the SMA 26 remain unchanged, the maximum driving force and strain of the smart muscle can be adjusted by adjusting the parameters of the tension spring 35 (including tensile stiffness, length, etc.).

[0030] In addition, SMA artificial muscles are radiation-resistant and can operate flexibly in strong radiation environments. They are suitable for more complex radiation work scenarios. SMA artificial muscles can be driven in any combination. For example, after the multifidus muscles 25 contract simultaneously to adjust the joint rotation stiffness, the intertransverse muscles 23 on one side of the robotic arm contract simultaneously to achieve bending deformation of the robotic arm, and the rotator cuff muscles 24 contract to achieve twisting of the robotic arm. Through the control of different combinations of muscle groups, variable stiffness and complex bending and twisting deformation control of the robotic arm can be achieved.

[0031] Finally, the connections between the top cover 3, the torsion module 1, the bottom plate 4 and the SMA artificial muscle are coated with insulating paint to prevent short circuits when the two ends of the SMA artificial muscle are fixed on the bracket.

[0032] In the above embodiment, aluminum alloy can be selected as the material for the overall structure, which greatly reduces the volume and weight of the robotic arm and improves the power density.

[0033] When the above embodiment is used, taking the rotator brevis muscle 21 as an example, wires are drawn from both ends of the rotator brevis muscle 21 and connected to an independent drive circuit. The drive circuit includes a current heating device. After the rotator brevis muscle 21 is electrically conductive, it contracts, achieving the rotational movement of the two adjacent torsion modules 1. The driving principle of the rotator longus muscle 22, the intertransverse muscles 23, the interspinalis muscle 24, and the multifidus muscle 26 is the same as that of the rotator brevis muscle 21, so it will not be repeated here. When the muscle contraction rates of the rotator brevis muscle 21, the rotator longus muscle 22, the intertransverse muscles 23, the interspinalis muscle 24, and the multifidus muscle 26 are the same, the stiffness of the robot arm can be controlled. When these muscle contraction rates are different, the stiffness and deformation can be controlled simultaneously.

[0034] The radiation-resistant variable stiffness robotic arm of the present invention adopts a spinal-like structural design and is driven by shape memory alloy (SMA) intelligent materials. Through the contraction function of the muscle group, it can achieve complex bending, torsion, and variable stiffness functions; while achieving the control of the stiffness and deformation of the robotic arm, the volume and weight of the robotic arm are reduced and the radiation resistance of the robotic arm is improved; SMA is selected as the driving material, and the contraction of the SMA muscles in each section of the robotic arm can be individually controlled by the driving circuit, which can flexibly adjust the joint stiffness and deformation, so that the spinal-like flexible robotic arm has extremely high flexibility and adaptability, and can be flexibly operated in complex, narrow, and unstructured environments; the robotic arm uses SMA as the driving material, which has high radiation resistance (its total dose is greater than Gy), can operate flexibly in strong radiation environments, and is suitable for work scenarios with radiation characteristics such as nuclear power plants and outer space; the smart muscle is composed of SMA and ordinary tension springs in series to ensure its normal contraction to prevent strain degradation and damage. When the SMA driving parameters remain unchanged, the maximum driving force and strain of the smart muscle can be adjusted by adjusting the parameters of the tension spring (including tensile stiffness, length, etc.).

[0035] It should be noted that the description of the above technical solutions is illustrative only. This specification may be embodied in various forms and should not be construed as limiting the technical solutions set forth herein. Rather, these descriptions are provided to ensure that the disclosure of the present invention is thorough and complete and to fully convey the scope of the disclosure to those skilled in the art. Furthermore, the technical solutions of the present invention are limited only by the scope of the claims.

[0036] The disclosures used to describe various aspects of the present specification and claims are merely examples, and therefore, the present specification and claims are not limited to the details shown. In the above description, when the detailed description of related known functions or configurations is determined to be unnecessary to obscure the key points of the present specification and claims, the detailed description will be omitted.

[0037] Finally, it should be pointed out that the above content is a further detailed description of the invention in conjunction with specific implementation methods. It cannot be considered that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, simple replacements made without departing from the concept of the present invention should be considered to fall within the scope of protection of the present invention. The above embodiments are only more representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments, and there can be many variations. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention should be considered to fall within the scope of protection of the present invention.

Claims

1. A radiation-resistant variable-stiffness robotic arm, characterized by: The invention comprises a plurality of torsion modules (1), wherein two adjacent torsion modules (1) are connected via a rotation module (2), so that the torque torsion module (1) can spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module (2); a top cover (3) is installed on the top of the top torsion module (1), and a bottom plate (4) is installed on the bottom of the bottom torsion module (1); a plurality of SMA artificial muscles are connected between the top cover (3) and the torsion module (1), between the torsion module (1) and the torsion module (1), and between the torsion module (1) and the bottom plate (4); and wires are led out from both ends of the SMA artificial muscles and connected to independent drive circuits.

2. The radiation-resistant variable-rigidity robotic arm according to claim 1, wherein: The upper end of the torsion module (1) is provided with a spinous process (5) at both ends of one horizontal axis, and the lower end of the torsion module (1) is provided with a transverse process group at both ends of the other horizontal axis, including two transverse processes (6), and the two transverse processes (6) are respectively located on both sides of the horizontal axis, the spinous process (5) is mounted on the torsion module (1) through a spinous process bracket (7), and the transverse process (6) is mounted on the torque conversion module (1) through a transverse process bracket (8). The spinous process (5) of one torsion module (1) is connected to the adjacent torsion module (1). The transverse processes (6) of the modules (1) are in a horizontal plane, the transverse process (6) of one torsion module (1) and the spinous process (5) of the adjacent torsion module (1) are in a horizontal plane, the top cover (3) is mounted on the spinous process (5) of the topmost torsion module (1), the bottom plate (4) is mounted on the transverse process (6) of the bottommost torsion module (1), and the SMA artificial muscle is connected via connection holes provided on the spinous process (5), the transverse process (6), the spinous process bracket (7), the transverse process bracket (8), the top cover (3) and the bottom plate (4).

3. The radiation-resistant variable-rigidity robotic arm according to claim 1, wherein: The rotation module (2) includes a cross-member (9) and a joint connecting member (10) connected to the cross-member (9), each of the four sides of the cross-member (9) is provided with a bearing hole (11), and a bearing (12) is installed in the bearing hole (11), forming two groups of bearing groups perpendicular to each other on the horizontal plane. The upper part of the joint connecting member (10) is provided with an inward-facing first horizontal axis (14) through two upward-facing first horizontal axis brackets (13), and the two first horizontal axes (14) are installed in conjunction with a group of bearing groups. The torsion module (1) is provided with two Each downward-facing second horizontal axis bracket (15) is provided with an inward-facing second horizontal axis (16), and the two second horizontal axes (16) are mounted in conjunction with another set of bearing groups. A downward-facing convex axis (17) is provided at the lower portion of the joint connector (10), and a torsion hole (18) is provided at the middle position inside the torsion module (1). A rotary bearing (19) cooperating with the convex axis (17) is provided in the torsion hole (18), and a connecting end cover (20) is provided below the torsion hole (18) to limit the convex axis (17) from being separated from the torsion hole (18).

4. The radiation-resistant variable-rigidity robotic arm according to claim 3, characterized in that: A threaded hole is provided in the convex shaft (17) and is threadedly connected to the connecting end cover (20).

5. The radiation-resistant variable-rigidity robotic arm according to claim 2, characterized in that: The SMA artificial muscle comprises a rotator brevis muscle (21), a rotator longus muscle (22), an intertransverse muscle (23), an interspinal muscle (24), and a multifidus muscle (25). An interspinal muscle connection hole (27) is provided in the middle of the spinous process (5), a first rotator brevis muscle connection hole (28) is provided at each end of the spinous process (5), a rotator longus muscle connection hole (29) and a multifidus muscle connection hole (30) are provided on the spinous process bracket (7) from the outside to the inside, and a multifidus muscle and rotator longus muscle connection hole are provided in the middle of the transverse process (6). The transverse process (6) is provided with an intertransverse muscle connection hole (32) at each end, the transverse process bracket (8) is provided with a second rotator brevis muscle connection hole (33), the lower surface of the top cover (3) is provided with four multifidus and rotator longus muscle common connection holes (31) corresponding one-to-one to the multifidus and rotator longus muscle common connection holes (31) on the transverse process (6), and the bottom plate (4) is provided with two interspinal muscle connection holes (17) corresponding one-to-one to the interspinal muscle connection holes (17) on the spinous process (5); The torsion modules (1) are connected by the rotation modules (2) to form several layers, the top layer comprising two spinous processes (5) and a top cover (3) mounted thereon, the bottom layer comprising four transverse processes (6) and a bottom plate (4) mounted thereunder, and the middle layer comprising the four transverse processes (6) of a torsion module (1) and the two spinous processes (5) of an adjacent torsion module (1); One end of the rotator cuff muscle (21) is fixed to the second rotator cuff muscle connection hole (33) of any middle layer, and the other end is fixed to the first rotator cuff muscle connection hole (28) closest to the middle layer; One end of the rotator cuff longus muscle (22) is fixed to the common connection hole (31) of the multifidus muscle and the rotator cuff longus muscle in any layer, and the other end is fixed to the connection hole (29) of the rotator cuff longus muscle in the next layer that is closest to the multifidus muscle; One end of the intertransverse muscle (23) is fixed to the intertransverse muscle connection hole (32) of any layer, and the other end is fixed to the intertransverse muscle connection hole (32) of the next layer that is closest to it; One end of the interspinal muscle (24) is fixed to the interspinal muscle connection hole (27) of any layer, and the other end is fixed to the interspinal muscle connection hole (27) of the next layer closest to it; One end of the multifidus muscle (25) is fixed to the common connection hole (31) of the multifidus muscle and the rotator cuff longus muscle of any layer, and the other end is fixed to the connection hole (30) of the multifidus muscle closest to the two lower layers.

6. The radiation-resistant variable-rigidity robotic arm according to claim 3, characterized in that: The cross byte (9) comprises two parts, an upper part and an lower part. Four corners of each part are provided with through holes (34). The upper and lower parts of the cross byte (9) are connected together by screws.

7. The radiation-resistant variable-rigidity robotic arm according to claim 1, characterized in that: The SMA artificial muscle is composed of an SMA (26) and a tension spring (35) connected in series, and has mounting holes (36) at both ends.

8. The radiation-resistant variable-rigidity robotic arm according to claim 1, wherein: The SMA artificial muscle has radiation resistance.

9. The radiation-resistant variable-rigidity robotic arm according to claim 1, characterized in that: The SMA artificial muscles can be driven in any combination.

10. The radiation-resistant variable-rigidity robotic arm according to claim 1, characterized in that: The connections between the top cover (3), the torsion module (1), the bottom plate (4) and the SMA artificial muscle are all coated with insulating paint.

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