Radiation resistant variable stiffness robotic arm

Abstract

The present application relates to the technical field of nuclear industry robot control, and discloses a radiation-resistant variable stiffness mechanical arm, comprising a plurality of torsion modules, two adjacent torsion modules are connected through a rotating module, so that the torsion module can spin around its longitudinal axis and rotate around the horizontal axis of the rotating module, the top of the uppermost torsion module is provided with a top cover, the bottom of the lowermost torsion module is provided with a bottom plate, a plurality of SMA artificial muscles are connected between the top cover and the torsion module, between the torsion modules and between the torsion module and the bottom plate, the two ends of the SMA artificial muscle are led out of wires and connected to independent driving circuits. The radiation-resistant variable stiffness mechanical arm can control the stiffness and deformation of the mechanical arm, greatly reduce the volume and weight of the mechanical arm and improve the power density.

Description

Technical Field

[0001] This invention relates to the field of nuclear industry robot control technology, specifically to a radiation-resistant variable stiffness robotic arm. Background Technology

[0002] In recent years, nuclear safety accidents have occurred frequently, and governments and societies around the world have become keenly aware of the uncertainties surrounding nuclear energy safety. To accomplish routine maintenance of nuclear power equipment and on-site detection and repair of accident sites, while also improving human-machine safety, the development of nuclear protection robots capable of operating in high-radiation environments on objects with complex shapes, variable weights, high brittleness, and hazardous characteristics has become an urgent task and an inevitable trend in the nuclear industry.

[0003] While traditional motor-driven robotic arms can perform sampling tasks in high-radiation environments (such as the American Pioneer robot and the Japanese SMERT series robots), they have significant shortcomings: 1. Insufficient drive method: Using motor drive results in a large size and excessive weight of the robotic arm, and it is difficult to meet the strict requirements for radiation resistance in high radiation environments; 2. Insufficient performance and adaptability: The robotic arm suffers from 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 this invention is to address the shortcomings of the above-mentioned technologies by providing a radiation-resistant variable stiffness robotic arm that can control the stiffness and deformation of the robotic arm, thereby greatly reducing the size and weight of the robotic arm and increasing its power density.

[0006] To achieve the above objectives, the radiation-resistant variable stiffness robotic arm of the present invention includes several torsion modules. Adjacent torsion modules are connected by a rotation module, allowing the torsion module to spin around its own longitudinal axis and rotate around a horizontal axis on the rotation module. A top cover is installed on the top of the uppermost torsion module, and a base plate is installed on the bottom of the lowermost torsion module. The top cover and the torsion module, the torsion modules, and the torsion module and the base 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 has a spindle at each end of one horizontal axis, and the lower end of the torsion module has a transverse protrusion group at each end of the other horizontal axis, including two transverse protrusions, which are respectively located on both sides of the horizontal axis. The spindle is mounted on the torsion module through a spindle bracket, and the transverse protrusion is mounted on the torque converter through a transverse protrusion bracket. The spindle of one torsion module and the transverse protrusion of the adjacent torsion module are on the same horizontal plane, and the transverse protrusion of one torsion module and the spindle of the adjacent torsion module are on the same horizontal plane. The top cover is mounted on the spindle of the uppermost torsion module, and the bottom plate is mounted on the transverse protrusion of the lowermost torsion module. The SMA artificial muscle is connected through connecting holes provided on the spindle, transverse protrusion, spindle bracket, transverse protrusion bracket, top cover, and bottom plate.

[0008] Preferably, the rotation module includes a ten-element connector and a joint connector connected to the ten-element connector. Each of the four sides of the ten-element connector has a bearing hole, and a bearing is installed in the bearing hole to form two sets of bearings perpendicular to each other on the horizontal plane. The upper part of the joint connector is provided with an inward first horizontal shaft through two upward first horizontal shaft brackets. The two first horizontal shafts are installed in conjunction with a set of bearings. The torsion module is provided with an inward second horizontal shaft through two downward second horizontal shaft brackets. The two second horizontal shafts are installed in conjunction with another set of bearings. The lower part of the joint connector is provided with a downward convex shaft. The torsion module is provided with a torsion hole in the middle position inside. A rotary bearing that cooperates with the convex shaft is provided in the torsion hole. A connecting end cap is provided below the torsion hole to limit the convex shaft and prevent it from disengaging from the torsion hole.

[0009] Preferably, the convex shaft has a threaded hole for threaded connection with the connecting end cap.

[0010] Preferably, the SMA artificial muscle includes rotatores brevis, rotatores long, intertransverse muscles, interspinous muscles, and multifidus. The spinous process has an interspinous muscle connecting hole in its middle, and a first rotatores brevis connecting hole at each end of the spinous process. The spinous process support has one rotatores long connecting hole and one multifidus connecting hole from the outside to the inside. The transverse process has a shared connecting hole for both multifidus and rotatores long in its middle, and an intertransverse muscle connecting hole at each end of the transverse process. The transverse process support has a second rotatores brevis connecting hole. The lower surface of the top cover has four shared connecting holes for multifidus and rotatores long corresponding to the shared connecting holes for multifidus and rotatores long on the transverse process. The bottom plate has two interspinous muscle connecting holes corresponding to the interspinous muscle connecting holes on the spinous process. The torsion modules are connected by a rotating module to form several layers. The top layer consists of two thorns and a top cover mounted on them. The bottom layer consists of four transverse protrusions and a bottom plate mounted on them. The middle layers each include four transverse protrusions of a torsion module and two thorns of an adjacent torsion module. One end of the rotator brevis muscle is fixed to the second rotator brevis muscle connecting hole in any intermediate layer, and the other end is fixed to the first rotator brevis muscle connecting hole in the intermediate layer that is closest to it. One end of the rotator longus muscle is fixed to the common connecting hole of the multifidus muscle and the rotator longus muscle in any layer, and the other end is fixed to the connecting hole of the rotator longus muscle in the next layer that is closest to it. One end of the intertransverse muscle is fixed to the intertransverse muscle connecting hole in any layer, and the other end is fixed to the nearest intertransverse muscle connecting hole in the next layer. One end of the interspinous muscle is fixed to the interspinous muscle connecting hole in any layer, and the other end is fixed to the nearest interspinous muscle connecting hole in the next layer. One end of the multifidus muscle is fixed to the common connecting hole of the multifidus muscle and the rotator cuneus muscle in any layer, and the other end is fixed to the connecting hole of the multifidus muscle that is closest to the next two layers.

[0011] Preferably, the decant includes two parts, upper and lower, with through holes at the four corners of each part, and the upper and lower parts of the decant 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 at both ends. When the SMA is heated and contracts (at which time the tension spring does not deform much), it can drive the load to move. If the load is large (the load end is fixed), the SMA begins to contract after being heated. Since the load end cannot move after being fixed, the tension spring extends to compensate for the contraction of the SMA, thereby ensuring that it can contract normally to prevent strain degradation and damage. Under the condition that the SMA driving parameters remain unchanged, the maximum driving force and strain of the intelligent 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, enabling it to operate flexibly in strong radiation environments and making it suitable for more complex radiation work scenarios.

[0014] Preferably, the SMA artificial muscles can be arbitrarily combined and driven. By controlling different combinations of muscle groups, the mechanical arm can achieve variable stiffness and complex bending and torsional deformation control.

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

[0016] Compared with the prior art, the present invention has the following advantages: 1. It adopts a spinal structure design and is driven by shape memory alloy (SMA) smart material. Through the contraction function of muscle groups, it can realize complex bending, torsion and variable stiffness functions. 2. While achieving stiffness and deformation control of the robotic arm, the size and weight of the robotic arm were reduced and the radiation resistance of the robotic arm was improved; 3. Using SMA as the driving material, the contraction of the SMA muscles in each segment of the robotic arm can be individually controlled by the driving circuit, which can flexibly adjust the joint stiffness and deformation, giving the spinal-inspired flexible robotic arm extremely high flexibility and adaptability, enabling it to operate flexibly in complex, narrow, and unstructured environments. 4. The robotic arm uses SMA as the drive material, which has high radiation resistance (its total dose is greater than...). Gy) can operate flexibly in strong radiation environments and is suitable for working scenarios with radiation characteristics, such as nuclear power plants and outer space. 5. The intelligent muscle is constructed by connecting an SMA (Super-Abrasive Muscle) and a regular tension spring in series to ensure normal contraction and prevent strain degradation and damage. With the SMA driving parameters unchanged, the maximum driving force and strain of the intelligent muscle can be adjusted by adjusting the parameters of the tension spring (including tensile stiffness, length, etc.). Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the radiation-resistant variable stiffness robotic arm of the present invention; Figure 2 for Figure 1 Structural diagrams of the torsion module and the rotation module; Figure 3 for Figure 2 Exploded view; Figure 4 A schematic diagram showing the connection of various SMA artificial muscles; Figure 5 for Figure 1 A schematic diagram of the structure of SMA artificial muscle.

[0018] The components in the diagram are labeled as follows: Torsion module 1, Rotation module 2, Top cover 3, Base plate 4, Spinous process 5, Transverse process 6, Spinous process support 7, Transverse process support 8, Cross joint 9, Joint connector 10, Bearing hole 11, Bearing 12, First horizontal axis support 13, First horizontal axis 14, Second horizontal axis support 15, Second horizontal axis 16, Convex shaft 17, Torsion hole 18, Rotation bearing 19, Connecting end cap 20, Rotator brevis muscle 21, Rotator long muscle 22, Intertransverse muscle 23, Interspinous muscle 24, Multifidus muscle 25, SMA 26, Interspinous muscle connecting hole 27, First Rotator brevis muscle connecting hole 28, Rotator long muscle connecting hole 29, Multifidus muscle connecting hole 30, Multifidus and Rotator long muscle shared connecting hole 31, Intertransverse muscle connecting hole 32, Second Rotator brevis muscle connecting hole 33, Through hole 34, Tension spring 35, Mounting hole 36. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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 invention.

[0020] Example 1 like Figure 1 As shown, a radiation-resistant variable stiffness robotic arm includes several torsion modules 1. Adjacent torsion modules 1 are connected by a rotation module 2, allowing the torsion module 1 to spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module 2. The top of the uppermost torsion module 1 is equipped with a top cover 3, and the bottom of the lowermost torsion module 1 is equipped with a base plate 4. The top cover 3 is connected to the torsion module 1, the torsion modules 1 are connected to each other, and the torsion module 1 is connected to the base plate 4 by several SMA artificial muscles. 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 the drive circuit, thereby achieving flexible adjustment of joint stiffness and deformation, giving the spinal-inspired flexible robotic arm extremely high flexibility and adaptability.

[0022] Example 2 like Figure 1As shown, a radiation-resistant variable stiffness robotic arm includes several torsion modules 1. Adjacent torsion modules 1 are connected by a rotation module 2, allowing the torsion module 1 to spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module 2. The top of the uppermost torsion module 1 is equipped with a top cover 3, and the bottom of the lowermost torsion module 1 is equipped with a base plate 4. The top cover 3 is connected to the torsion module 1, the torsion modules 1 are connected to each other, and the torsion module 1 is connected to the base plate 4 by several SMA artificial muscles. 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 has a spindle 5 at each end of one horizontal axis, and the lower end of the torsion module 1 has a transverse protrusion group at each end of the other horizontal axis, including two transverse protrusions 6, which are located on both sides of the horizontal axis. The spindle 5 is mounted on the torsion module 1 through the spindle bracket 7, and the transverse protrusion 6 is mounted on the torque torsion module 1 through the transverse bracket 8. The spindle 5 of one torsion module 1 and the transverse protrusion 6 of the adjacent torsion module 1 are on the same horizontal plane, and the transverse protrusion 6 of one torsion module 1 and the spindle 5 of the adjacent torsion module 1 are on the same horizontal plane. The top cover 3 is mounted on the spindle 5 of the uppermost torsion module 1, and the bottom plate 4 is mounted on the transverse protrusion 6 of the lowermost torsion module 1. The SMA artificial muscle is connected through the connecting holes provided on the spindle 5, transverse protrusion 6, spindle bracket 7, transverse bracket 8, top cover 3 and bottom plate 4.

[0024] The connection holes on the spinous process 5, transverse process 6, spinous process support 7, transverse process support 8, top cover 3, and bottom plate 4 enable more precise control of the SMA artificial muscle.

[0025] Example 3 like Figure 1 As shown, a radiation-resistant variable stiffness robotic arm includes several torsion modules 1. Adjacent torsion modules 1 are connected by a rotation module 2, allowing the torsion module 1 to spin around its own longitudinal axis and rotate around the horizontal axis on the rotation module 2. The top of the uppermost torsion module 1 is equipped with a top cover 3, and the bottom of the lowermost torsion module 1 is equipped with a base plate 4. The top cover 3 is connected to the torsion module 1, the torsion modules 1 are connected to each other, and the torsion module 1 is connected to the base plate 4 by several SMA artificial muscles. 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 has a spindle 5 at each end of one horizontal axis, and the lower end of the torsion module 1 has a transverse protrusion group at each end of the other horizontal axis, including two transverse protrusions 6, which are located on both sides of the horizontal axis. The spindle 5 is mounted on the torsion module 1 through the spindle bracket 7, and the transverse protrusion 6 is mounted on the torque torsion module 1 through the transverse bracket 8. The spindle 5 of one torsion module 1 and the transverse protrusion 6 of the adjacent torsion module 1 are on the same horizontal plane, and the transverse protrusion 6 of one torsion module 1 and the spindle 5 of the adjacent torsion module 1 are on the same horizontal plane. The top cover 3 is mounted on the spindle 5 of the uppermost torsion module 1, and the bottom plate 4 is mounted on the transverse protrusion 6 of the lowermost torsion module 1. The SMA artificial muscle is connected through the connecting holes provided on the spindle 5, transverse protrusion 6, spindle bracket 7, transverse bracket 8, top cover 3 and bottom plate 4.

[0027] Specifically, in combination Figure 4 As shown, the SMA artificial muscle includes rotatores brevis 21, rotatores long 22, intertransverse muscle 23, interspinous muscle 24, and multifidus 25. The spinous process 5 has an interspinous muscle connecting hole 27 in the middle, and a first rotatores brevis connecting hole 28 at each end of the spinous process 5. The spinous process support 7 has a rotatores long muscle connecting hole 29 and a multifidus muscle connecting hole 30 from the outside to the inside. The transverse process 6 has a multifidus and rotatores long muscle shared connecting hole 31 in the middle, and an intertransverse muscle connecting hole 32 at each end of the transverse process 6. The transverse process support 8 has a second rotatores brevis connecting hole 33. The lower surface of the top cover 3 has four multifidus and rotatores long muscle shared connecting holes 31 corresponding one-to-one with the multifidus and rotatores long muscle shared connecting holes 31 on the transverse process 6. The bottom plate 4 has two interspinous muscle connecting holes 17 corresponding one-to-one with the interspinous muscle connecting holes 17 on the spinous process 5. After the torsion modules 1 are connected by the rotation modules 2, they form several layers. The top layer consists of two thorns 5 and a top cover 3 installed on them. The bottom layer consists of four transverse protrusions 6 and a bottom plate 4 installed below them. The middle layers each include four transverse protrusions 6 of a torsion module 1 and two thorns 5 of an adjacent torsion module 1. One end of the rotator brevis muscle 21 is fixed to any intermediate layer second rotator brevis muscle connecting hole 33, and the other end is fixed to the intermediate layer nearest first rotator brevis muscle connecting hole 28. One end of the rotator longus muscle 22 is fixed to the common connecting hole 31 of the multifidus muscle and the rotator longus muscle in any layer, and the other end is fixed to the nearest connecting hole 29 of the rotator longus muscle in the next layer. One end of the intertransverse muscle 23 is fixed to the intertransverse muscle connecting hole 32 in any layer, and the other end is fixed to the nearest intertransverse muscle connecting hole 32 in the next layer; One end of the interspinous muscle 24 is fixed to the interspinous muscle connecting hole 27 in any layer, and the other end is fixed to the nearest interspinous muscle connecting hole 27 in the next layer; One end of the multifidus muscle 25 is fixed to the common connecting hole 31 of the multifidus muscle and the rotatores longus muscle in any layer, and the other end is fixed to the multifidus muscle connecting hole 30 of the two layers below that is closest to each other.

[0028] Through the connection of the rotatores short muscle 21, rotatores long muscle 22, intertransverse muscle 23, interspinous muscle 24, multifidus muscle 25 with the interspinous muscle connecting hole 27, the first rotatores short muscle connecting hole 28, the rotatores long muscle connecting hole 29, the multifidus muscle connecting hole 30, the multifidus and rotatores long muscle shared connecting hole 31, the intertransverse muscle connecting hole 32, and the second rotatores short muscle connecting hole 33, precise control of the SMA artificial muscles is achieved. This allows for flexible adjustment of joint stiffness and deformation, giving the spinal-inspired flexible robotic arm extremely high flexibility and adaptability. In the above embodiment, the rotation module 2 includes a truncated block 9 and a joint connector 10 connected to the truncated block 9. Each of the four sides of the truncated block 9 has a bearing hole 11, and a bearing 12 is installed in each bearing hole 11, forming two sets of bearing groups perpendicular to each other on the horizontal plane. The upper part of the joint connector 10 is provided with an inward-facing first horizontal shaft 14 via two upward-facing first horizontal shaft brackets 13. The two first horizontal shafts 14 are fitted with a set of bearing groups. The torsion module 1 is provided with an inward-facing second horizontal shaft 16 via two downward-facing second horizontal shaft brackets 15. The two second horizontal shafts 16 are connected with another... A set of bearings is installed together. The lower part of the joint connector 10 is provided with a downward-facing convex shaft 17. The torsion module 1 is provided with a torsion hole 18 in the middle position. A rotary bearing 19 that cooperates with the convex shaft 17 is provided in the torsion hole 18. Below the torsion hole 18, there is a connecting end cap 20 that limits the convex shaft 17 to prevent it from disengaging 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 cap 20. The cross-shaped element 9 can include two parts, upper and lower. Each part has through holes 34 at its four corners. The upper and lower parts of the cross-shaped element 9 are connected together by screws.

[0029] In the above embodiments, combined with Figure 5 As shown, the SMA artificial muscle is composed of an SMA26 connected in series with a tension spring 35. Mounting holes 36 are provided at both ends. When the SMA26 contracts due to heat (at which point the tension spring 35 does not deform significantly), it can drive the load. If the load is large (with the load end fixed), the SMA26 begins to contract after heating. Since the load end cannot move after being fixed, the tension spring 35 extends to compensate for the contraction of the SMA26, thus ensuring normal contraction and preventing strain degradation and damage. With the SMA26 driving parameters unchanged, the maximum driving force and strain of the intelligent muscle can be adjusted by adjusting the parameters of the tension spring 35 (including tensile stiffness and length).

[0030] In addition, SMA artificial muscles have radiation resistance and can operate flexibly in strong radiation environments, making them suitable for more complex radiation work scenarios. SMA artificial muscles can be arbitrarily combined and driven. For example, after the multifidus muscle 25 contracts simultaneously to adjust the joint rotation stiffness, the intertransverse muscle 23 on one side of the robotic arm contracts simultaneously to achieve the bending deformation of the robotic arm. Then, the rotator brevis muscle 24 contracts to achieve the torsion of the robotic arm. Through different combinations of muscle groups, the robotic arm can be controlled to change stiffness and perform complex bending and torsional deformation.

[0031] Finally, insulating varnish is applied to the connection points of the top cover 3, the torsion module 1, the base plate 4, and the SMA artificial muscle to prevent short circuits from occurring when the two ends of the SMA artificial muscle are fixed to the bracket.

[0032] In the above embodiments, the overall structure can be made of aluminum alloy, which greatly reduces the size and weight of the robotic arm and increases the power density.

[0033] In the above embodiments, taking the rotator brevis muscle 21 as an example, wires are led out from both ends of the rotator brevis muscle 21 and connected to an independent drive circuit. This drive circuit includes a current heating device. After the rotator brevis muscle 21 conducts electricity, it contracts, realizing the rotational movement of the two adjacent torsional modules 1. The driving principle of the rotator brevis muscle long 22, intertransverse muscle 23, interspinous muscle 24, and multifidus muscle 26 is the same as that of the rotator brevis muscle 21, so it will not be described again. When the muscle contraction rates of the rotator brevis muscle short 21, rotator brevis long 22, intertransverse muscle 23, interspinous muscle 24, and multifidus muscle 26 are the same, the stiffness control of the robotic arm can be achieved. When the contraction rates of these muscles are different, the simultaneous control of stiffness and deformation can be achieved.

[0034] This invention relates to a radiation-resistant variable stiffness robotic arm. It employs a spinal-inspired structural design and utilizes shape memory alloy (SMA) smart materials for drive. Through the contraction of muscle groups, it can achieve complex bending, torsion, and variable stiffness functions. While achieving stiffness and deformation control of the robotic arm, it reduces its size and weight while improving its radiation resistance. Using SMA as the drive material, the contraction of the SMA muscles in each segment of the robotic arm can be individually controlled via a drive circuit, allowing for flexible adjustment of joint stiffness and deformation. This gives the spinal-inspired flexible robotic arm extremely high flexibility and adaptability, enabling it to operate flexibly in complex, narrow, and unstructured environments. The robotic arm, using SMA as the drive material, possesses high radiation resistance (its total dose is greater than...). The Gy) can operate flexibly in strong radiation environments and is suitable for working scenarios with radiation characteristics, such as nuclear power plants and outer space. The intelligent muscle is composed of SMA and ordinary tension spring connected in series to ensure that it can contract normally and prevent strain degradation and damage. With the SMA driving parameters unchanged, the maximum driving force and strain of the intelligent muscle can be adjusted by adjusting the parameters of the tension spring (including tensile stiffness, length, etc.).

[0035] It should be noted that the above description of the technical solutions is exemplary, and this specification may be embodied in different forms and should not be construed as limiting it to the technical solutions set forth herein. Rather, providing these descriptions will ensure that the disclosure of this invention is thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Furthermore, the technical solutions of this invention are defined only by the scope of the claims.

[0036] The aspects disclosed in this specification and claims are merely examples, and therefore, this specification and claims are not limited to the details shown. In the foregoing description, detailed descriptions of relevant known functions or configurations have been omitted where it would unnecessarily obscure the focus of this specification and claims.

[0037] Finally, it should be noted that the above description is a further detailed explanation of the invention in conjunction with specific embodiments. It should not be considered that the specific implementation of the invention is limited to these descriptions. For those skilled in the art, any simple substitutions made without departing from the concept of the invention should be considered within the scope of protection of this invention. The above embodiments are merely representative examples of the invention. Obviously, the invention is not limited to the above embodiments and many variations are possible. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the invention should be considered within the scope of protection of this invention.

Claims

1. A radiation-resistant variable stiffness robotic arm, characterized in that: It includes several twisting modules (1), and two adjacent twisting modules (1) are connected by a rotating module (2), so that the twisting module (1) can rotate around its own longitudinal axis and rotate around the horizontal axis on the rotating module (2). The top of the uppermost twisting module (1) is equipped with a top cover (3), and the bottom of the lowermost twisting module (1) is equipped with a base plate (4). The top cover (3) is connected to the twisting module (1), the twisting module (1) is connected to the twisting module (1), and the twisting module (1) is connected to the base plate (4) by several SMA artificial muscles. The two ends of the SMA artificial muscles are led out with wires and connected to independent drive circuits. The upper end of the torsion module (1) has a spindle (5) at each end of one horizontal axis, and the lower end of the torsion module (1) has a transverse protrusion group at each end of the other horizontal axis, including two transverse protrusions (6), and the two transverse protrusions (6) are located on both sides of the horizontal axis. The spindle (5) is mounted on the torsion module (1) by a spindle bracket (7), and the transverse protrusion (6) is mounted on the torsion module (1) by a transverse protrusion bracket (8). The spindle (5) of one torsion module (1) is connected to the adjacent torsion module (1) The transverse protrusion (6) of module (1) is on a horizontal plane, the transverse protrusion (6) of one of the torsion modules (1) and the spinous process (5) of the adjacent torsion module (1) are on the same horizontal plane, the top cover (3) is installed on the spinous process (5) of the uppermost torsion module (1), the bottom plate (4) is installed on the transverse protrusion (6) of the lowermost torsion module (1), and the SMA artificial muscle is connected through the connecting holes provided on the spinous process (5), transverse protrusion (6), spinous process support (7), transverse process support (8), top cover (3) and bottom plate (4); The SMA artificial muscle includes rotatores short (21), rotatores long (22), intertransverse muscle (23), interspinous muscle (24), and multifidus (25). The spinous process (5) has an interspinous muscle connecting hole (27) in its middle. Each end of the spinous process (5) has a first rotatores short muscle connecting hole (28). The spinous process support (7) has a rotatores long muscle connecting hole (29) and a multifidus muscle connecting hole (30) from the outside to the inside. The transverse process (6) has a multifidus and rotatores long muscle connecting hole in its middle. With connecting holes (31), each end of the transverse process (6) is provided with an intertransverse muscle connecting hole (32), the transverse process support (8) is provided with a second rotator short muscle connecting hole (33), the lower surface of the top cover (3) is provided with four multifidus and rotator long muscle shared connecting holes (31) corresponding one-to-one with the multifidus and rotator long muscles on the transverse process (6), and the bottom plate (4) is provided with two interspinous muscle connecting holes (27) corresponding one-to-one with the interspinous muscle connecting holes (27) on the spinous process (5). The torsion modules (1) are connected to each other by the rotation module (2) to form several layers. The uppermost layer consists of two thorns (5) and a top cover (3) installed on it. The lowermost layer consists of four transverse protrusions (6) and a bottom plate (4) installed below it. The middle layers each include four transverse protrusions (6) of a torsion module (1) and two thorns (5) of an adjacent torsion module (1). One end of the rotator short muscle (21) is fixed to the second rotator short muscle connecting hole (33) in any intermediate layer, and the other end is fixed to the first rotator short muscle connecting hole (28) in the intermediate layer that is closest to it; One end of the rotator longus (22) is fixed to the common connecting hole (31) of the multifidus and rotator longus in any layer, and the other end is fixed to the nearest connecting hole (29) of the rotator longus in the next layer; One end of the intertransverse muscle (23) is fixed to the intertransverse muscle connecting hole (32) of any layer, and the other end is fixed to the nearest intertransverse muscle connecting hole (32) of the next layer; One end of the interspinous muscle (24) is fixed to the interspinous muscle connecting hole (27) of any layer, and the other end is fixed to the nearest interspinous muscle connecting hole (27) of the next layer; One end of the multifidus muscle (25) is fixed to the common connecting hole (31) of the multifidus muscle and the rotator longus muscle in any layer, and the other end is fixed to the multifidus muscle connecting hole (30) of the two layers below that is closest to each other.

2. The radiation-resistant variable stiffness robotic arm as described in claim 1, characterized in that: The rotating module (2) includes a decantine (9) and a joint connector (10) connected to the decantine (9). Each of the four sides of the decantine (9) is provided with a bearing hole (11). A bearing (12) is installed in the bearing hole (11), forming two sets of bearing groups that are perpendicular to each other on the horizontal plane. The upper part of the joint connector (10) is provided with an inward first horizontal shaft (14) through two upward first horizontal shaft brackets (13). The two first horizontal shafts (14) are installed in conjunction with a set of bearing groups. The torsion module (1) is connected to the joint connector (2) through two... Each of the downward-facing second horizontal shaft brackets (15) is provided with an inward-facing second horizontal shaft (16). The two second horizontal shafts (16) are installed in conjunction with another set of bearings. The lower part of the joint connector (10) is provided with a downward-facing convex shaft (17). The torsion module (1) is provided with a torsion hole (18) in the middle position inside. The torsion hole (18) is provided with a rotary bearing (19) that cooperates with the convex shaft (17). Below the torsion hole (18) is a connecting end cap (20) that limits the convex shaft (17) to prevent it from disengaging from the torsion hole (18).

3. The radiation-resistant variable stiffness robotic arm as described in claim 2, characterized in that: The convex shaft (17) has a threaded hole and is threadedly connected to the connecting end cap (20).

4. The radiation-resistant variable stiffness robotic arm as described in claim 2, characterized in that: The decant (9) consists of two parts, upper and lower, each with through holes (34) at its four corners. The upper and lower parts of the decant (9) are connected together by screws.

5. The radiation-resistant variable stiffness robotic arm as described in claim 1, characterized in that: The SMA artificial muscle is composed of an SMA (26) and a tension spring (35) connected in series, with mounting holes (36) at both ends.

6. The radiation-resistant variable stiffness robotic arm as described in claim 1, characterized in that: The SMA artificial muscle has radiation resistance.

7. The radiation-resistant variable stiffness robotic arm as described in claim 1, characterized in that: The connection points of the top cover (3), the torsion module (1), the bottom plate (4) and the SMA artificial muscle are all coated with insulating varnish.

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