Redundant joint robot for irradiation environment

Abstract

The invention discloses a redundant joint robot for an irradiation environment, and relates to the technical field of industrial manufacturing, the redundant joint robot comprises a base, a quick repair mechanism, a load reducing mechanism and a repair mechanism, the quick repair mechanism is arranged at the top of the base, the load reducing mechanism is arranged on the outer side of the quick repair mechanism, the repair mechanism is arranged at the bottom of the quick repair mechanism, and the load reducing mechanism is arranged on the outer side of the repair mechanism. The quick repair mechanism comprises a device block, a bidirectional electric telescopic rod, power arms, arm rods and arm supports, the arm supports are arranged on the outer side of the device block, the power arms are arranged at the two ends of the bidirectional electric telescopic rod, the arm rods are arranged on the inner sides of the power arms, when the quick repair mechanism is damaged, a gear power set drives related parts to act, and the device block is driven to move. The bottom of the arm column is separated, the damaged motor is pushed out to be replaced and then reset, and therefore when a damaged power set is replaced, the robot does not need to be assembled after being subjected to multi-structure disassembly, the complex maintenance process is avoided, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial manufacturing, in particular to a redundant joint robot for irradiation environment. BACKGROUND

[0002] The robot is an intelligent machine device capable of automatically performing a series of complex actions or tasks through programming or preset program, which usually combines mechanical structure, sensor, control system and other components, and can replace or assist humans to complete operations in industrial production, service industry, scientific research and exploration and other fields. Some advanced robots also have environment perception, autonomous decision and learning ability.

[0003] In the current application of robots, in some special environments, especially in the environment of nuclear radiation, once the robot fails, the failure point is mainly the joint motor. Due to the complex maintenance procedure after irradiation pollution, personnel maintenance is very difficult, and in most cases the robot can only be retired as a whole, resulting in large cost loss. Therefore, a redundant joint robot for irradiation environment is needed.

[0004] However, the existing redundant joint robot for irradiation environment has the following disadvantages: The redundant joint robot for irradiation environment on the market adds a vice power group as a backup option to the same joint. When the main power group is damaged accidentally, the vice power group starts to take over the work seamlessly, solving the problem that the traditional single power source needs to be stopped for maintenance when it is damaged, and avoiding the interruption of the manufacturing process. However, when replacing the damaged power group, the robot's multiple structures need to be disassembled, and after replacing the new power group, they need to be reassembled. The process is cumbersome and slow, affecting work efficiency.

[0005] Therefore, we propose a redundant joint robot for irradiation environment to solve the problems mentioned above. SUMMARY

[0006] The purpose of the present application is to provide a redundant joint robot for irradiation environment. When the device is working, the damaged joint power source can start the standby power source to continue working, and the gap can be quickly repaired. When the sixth anti-radiation servo motor is damaged, the sensor group starts the anti-radiation motor to drive the lead screw to move the device block backward, tighten the second transmission belt, and start the fifth anti-radiation servo motor to ensure the work. The gap can be replaced by operating the bidirectional electric telescopic rod. The standby power source is external and easy to replace. The damaged arm end manipulator assembly can be repaired separately. The clamping structure ensures the angle of the power arm. In the joint of the arm column and the arm beam, the third and fourth anti-radiation servo motors are primary and secondary. When the cylinder power group or the second anti-radiation servo motor is damaged, it can be replaced by corresponding operation.

[0007] In order to achieve the above object, the present application provides the following technical scheme: a redundant joint robot for irradiation environment, comprising a base, a quick repair mechanism, a load reduction mechanism and a repair mechanism, the quick repair mechanism is arranged on the top of the base, the load reduction mechanism is arranged on the outer side of the quick repair mechanism, and the repair mechanism is arranged on the bottom of the quick repair mechanism. The quick repair mechanism comprises a device block, a bidirectional electric telescopic rod, a power arm, an arm rod and an arm support, the arm support is arranged on the outer side of the device block, the power arm is arranged at both ends of the bidirectional electric telescopic rod, the arm rod is arranged on the inner side of the power arm, the device block is used to drive the arm support to move, the bidirectional electric telescopic rod is used to drive the power arm to move, and the arm support is used to be clamped with the power arm.

[0008] Preferably, the quick repair mechanism further comprises a first anti-radiation servo motor, the first anti-radiation servo motor is arranged on the inner side of the base, a device turntable is arranged on the outer side of the output end of the first anti-radiation servo motor, the device turntable is arranged on the top of the base, two device supports are arranged on the top of the device turntable, second anti-radiation servo motors are arranged on the inner sides of the two device supports, six-sided slot interfaces are arranged on the output ends of the second anti-radiation servo motors, first six-sided transmission rods are slidably connected to the inner sides of the six-sided slot interfaces, and an arm column is arranged on the inner side of the second anti-radiation servo motor.

[0009] Preferably, a first six-sided clamping hole is formed in the inner side of the arm column, the first six-sided clamping hole is slidably connected to the other end of the first six-sided transmission rod, a bidirectional threaded rod is arranged on the inner side of the arm column, the bidirectional threaded rod is threadedly connected with the first six-sided transmission rod, a gear ring is arranged on the outer side of the bidirectional threaded rod, a rotating cylinder is arranged on the outer side of the gear ring, a sensor group is arranged on the inner side of the arm column, and an axle track is formed in the inner side of the top of the other arm column.

[0010] Preferably, the rotating cylinder is rotationally connected with the bidirectional threaded rod, a gear power group is arranged on the bottom of the bidirectional threaded rod, the gear power group is engaged with the gear ring, a first air cylinder is slidably connected to the bottom of the rotating cylinder, a fixing plate is arranged on the inner side of the arm column, a connecting rotating sleeve is arranged on the bottom of the fixing plate, an air cylinder power group is rotationally connected to the inner side of the connecting rotating sleeve, the air cylinder power group is arranged on the top of the device turntable, and a third anti-radiation servo motor is arranged on the outer side of the top of the arm column.

[0011] Preferably, the output end of the third anti-radiation servo motor is provided with a first pulley, the outer side of the first pulley is provided with a first transmission belt, the other end of the first transmission belt is provided with a second pulley, the inner side of the first pulley is provided with a rotating shaft rod, the outer side of the rotating shaft rod is rotatably connected to the inner side of the top of the arm column, the inner side of the rotating shaft rod is provided with a fixed transmission disc, the inner side of the arm column is provided with an arm beam, the fixed transmission disc is fixedly connected with the arm beam, the inner side of the arm beam is provided with a fourth anti-radiation servo motor, the top of the arm beam is provided with a fixed frame, the inner side of the fixed frame is provided with an anti-radiation motor, the output end of the anti-radiation motor is provided with a lead screw, the top of the arm beam is slidably connected with a device block, the two ends of the device block are provided with an arm support, the inner side of the device block is provided with a threaded hole, and the lead screw is threadedly connected with the threaded hole.

[0012] Preferably, the inner side of the arm support is provided with a four-side clamping groove, the top of the device block is provided with a mounting frame, the two ends of the mounting frame are provided with a fifth anti-radiation servo motor, the output end of the fifth anti-radiation servo motor is provided with a third pulley, the outer side of the third pulley is provided with a second transmission belt, the other end of the second transmission belt is provided with a fourth pulley, and the inner side of the arm beam is provided with a sixth anti-radiation servo motor.

[0013] Preferably, the output end of the sixth anti-radiation servo motor is provided with a connecting disc, the two sides of the sixth anti-radiation servo motor are provided with an arm rod, the connecting disc is located on the inner side of one side of the arm rod, the outer side of the arm rod is provided with a power arm, the top inner side of the arm rod is provided with a plurality of limiting holes, the inner side of the power arm is provided with a plurality of limiting rods, the other end of the plurality of limiting rods is slidably connected to the inner side of the limiting hole and the connecting disc, and the outer side of the power arm is provided with a clamping four-side block.

[0014] Preferably, the shape of the inside of the four-side clamping groove corresponds to the clamping four-side block, and the size of the inside of the four-side clamping groove is larger than that of the clamping four-side block, the inner side of the arm rod is provided with a bidirectional electric telescopic rod, the output end of the bidirectional electric telescopic rod penetrates the arm rod and is clamped with the power arm, the inner side of the bottom of the power arm is provided with a limiting rod, the outer side of the limiting rod is provided with an arm end manipulator assembly, and the arm end manipulator assembly is located on the inner side of the arm rod.

[0015] Preferably, the load reduction mechanism comprises a second hexagonal transmission rod, the second hexagonal transmission rod is arranged at the output end of the fourth anti-radiation servo motor, the inner side of the second hexagonal transmission rod is provided with a tension spring, the outer side of the second hexagonal transmission rod is slidably connected with a hexagonal connecting sleeve, the outer side of the arm column is provided with an electromagnetic frame, the inner side of the electromagnetic frame is provided with an electromagnet, and the inner side of the arm column is provided with a second hexagonal clamping hole.

[0016] Preferably, the repairing mechanism comprises a sliding groove, the sliding groove is arranged at the top of the device turntable, the inner side of the device turntable is provided with a sliding channel, the inner side of the sliding groove is slidably connected with a sliding strip, the inner side of the sliding strip is provided with a connecting rod, the connecting rod is slidably connected with the inner side of the sliding channel, the top of the sliding strip is provided with a mechanism seat, the inner side of the device turntable is provided with a cylinder chamber, the inner side of the cylinder chamber is provided with a second cylinder, the second cylinder is fixedly connected with the connecting rod, a gear power group is arranged at the inner side of the mechanism seat, the top of the inner side of the mechanism seat is provided with a cylinder groove, and a first cylinder is arranged at the inner side of the cylinder groove.

[0017] Compared with the prior art, the present application has the following advantages: 1. When the sixth anti-radiation servo motor is damaged, the sensor group starts the anti-radiation motor to drive the lead screw to rotate, the device block moves backward to increase the distance between the third and fourth pulleys, the second transmission belt is tensioned, the friction force is increased, the fifth anti-radiation servo motor is started, the arm lever is driven to rotate through transmission, the working gap is ensured, the bidirectional electric telescopic rod is started to move the output rod by half, the power arm is driven to move, the limiting rod is separated from the motor connecting disc, the four-edge block is clamped to the clamping groove, and the anti-radiation motor is started to make the device block slide reversely, the arm lever and the power arm are separated from the arm beam, and the motor can be replaced.

[0018] When the fourth anti-radiation servo motor is not powered, in order to reduce the internal resistance of the third anti-radiation servo motor, the electromagnet is turned on to pull the hexagonal connecting sleeve against the tension spring, so that the hexagonal connecting sleeve slides to the electromagnet in the second hexagonal clamping hole, the fourth motor output end is separated from the arm column, the load of the third motor is reduced, and the redundancy joint applicability is improved.

[0019] The device of the present application starts the second cylinder, drives the two sliding strips and the mechanism seat to move through the connecting rod, makes the gear power group in the inner side of the mechanism seat disengage with the gear ring, and the first cylinder top slides out of the range of the rotating drum, so that the meshing resistance of the gear power group is reduced when the second anti-radiation servo motor works, and the power loss is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a perspective view of a main view structure in a redundant joint robot for an irradiation environment according to the present application; Figure 2 is a perspective view of a main view structure in a redundant joint robot for an irradiation environment according to the present application; Figure 3 is a perspective view of a structure split in a redundant joint robot for an irradiation environment according to the present application; Figure 4 is a perspective view of a quick repair mechanism split in a redundant joint robot for an irradiation environment according to the present application; Figure 5 is a perspective view of a part of a quick repair mechanism split in a redundant joint robot for an irradiation environment according to the present application; Figure 6 is a perspective view of a part of a structure split in a redundant joint robot for an irradiation environment according to the present application; Figure 7 is a perspective view of another part of a quick repair mechanism split in a redundant joint robot for an irradiation environment according to the present application; Figure 8 is a perspective view of a load reduction mechanism split in a redundant joint robot for an irradiation environment according to the present application; Figure 9 is a perspective view of a repair mechanism split in a redundant joint robot for an irradiation environment according to the present application.

[0021] In the figure: 1, base; 2, quick repair mechanism; 201, first anti-radiation servo motor; 202, device turntable; 203, device frame; 204, second anti-radiation servo motor; 205, six-side slot interface; 206, arm column; 207, first six-side transmission rod; 208, first six-side clamping hole; 209, two-way threaded rod; 210, gear ring; 211, rotating drum; 212, first air cylinder; 213, gear power set; 214, sensor set; 215, fixed plate; 216, connecting rotating sleeve; 217, air cylinder power set; 218, third anti-radiation servo motor; 219, first belt pulley; 220, first transmission belt; 221, second belt pulley; 222, rotating shaft rod; 223, shaft track; 224, fixed transmission disc; 225, arm beam; 226, fourth anti-radiation servo motor; 227, arm rod; 228, arm end manipulator assembly; 229, two-way electric telescopic rod; 230, power arm; 231, limiting rod; 232, limiting rod; 233, limiting hole; 234, clamping four-side block; 235, fixed frame; 236, anti-radiation motor; 237, screw rod; 238, device block; 239, threaded hole; 240, arm frame; 241, four-side clamping slot; 242, mounting frame; 243, fifth anti-radiation servo motor; 244, third belt pulley; 245, second transmission belt; 246, fourth belt pulley; 248, sixth anti-radiation servo motor; 249, connecting disc; 3, load reduction mechanism; 301, second six-side transmission rod; 302, six-side connecting sleeve; 303, tension spring; 304, second six-side clamping hole; 305, electromagnet; 306, electromagnet frame; 4, repair mechanism; 401, sliding groove; 402, sliding bar; 403, air cylinder bin; 404, second air cylinder; 405, connecting rod; 406, slide; 407, mechanism seat; 408, air cylinder groove. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0023] Embodiment 1, according to Figure 1 - Figure 7To achieve the above object, the application provides the following technical scheme: a redundant joint robot for irradiation environment, comprising a base 1, a quick repair mechanism 2, a load reduction mechanism 3 and a repair mechanism 4, the quick repair mechanism 2 is arranged on the top of the base 1, the load reduction mechanism 3 is arranged on the outer side of the quick repair mechanism 2, and the repair mechanism 4 is arranged on the bottom of the quick repair mechanism 2, the quick repair mechanism 2 comprises a device block 238, a bidirectional electric telescopic rod 229, a power arm 230, an arm rod 227 and an arm support 240, the arm support 240 is arranged on the outer side of the device block 238, the power arm 230 is arranged at both ends of the bidirectional electric telescopic rod 229, the arm rod 227 is arranged on the inner side of the power arm 230, the device block 238 is used to drive the arm support 240 to move, the bidirectional electric telescopic rod 229 is used to drive the power arm 230 to move, and the arm support 240 is used to be clamped with the power arm 230, the quick repair mechanism 2 further comprises a first anti-radiation servo motor 201, the first anti-radiation servo motor 201 is arranged on the inner side of the base 1, a device turntable 202 is arranged on the outer side of the output end of the first anti-radiation servo motor 201, the device turntable 202 is arranged on the top of the base 1, two device supports 203 are arranged on the top of the device turntable 202, a second anti-radiation servo motor 204 is arranged on the inner side of each of the two device supports 203, a hexagonal groove interface 205 is arranged on the output end of the second anti-radiation servo motor 204, a first hexagonal transmission rod 207 is slidably connected to the inner side of the hexagonal groove interface 205, and an arm column 206 is arranged on the inner side of the second anti-radiation servo motor 204.

[0024] The effect achieved by the whole embodiment 1 is that when the sixth anti-radiation servo motor 248 is damaged, the sensor group 214 starts the anti-radiation motor 236 after receiving the electric signal, drives the lead screw 237 to rotate, and makes the device block 238 connected with the lead screw 237 screw threadedly move backward, the third belt pulley 244 is located on the device block 238, the fourth belt pulley 246 is located on the arm beam 225, the device block 238 moves backward to increase the distance between the two, the second transmission belt 245 is tightened, the friction between the belt and the two belt pulleys is increased, at this time, the fifth anti-radiation servo motor 243 is started, the second transmission belt 245 and the two belt pulleys are combined to drive, the arm rod 227 is rotated with the arm beam 225 as the fulcrum, and power is provided to continue to work.

[0025] Embodiment 2, according to Figure 3 - Figure 7The inner side of the arm column 206 is provided with a first six-sided card hole 208, and the other end of the first six-sided transmission rod 207 is slidably connected to the outer side of the first six-sided card hole 208. The inner side of the arm column 206 is provided with a two-way threaded rod 209, which is threadedly connected to the first six-sided transmission rod 207. The outer side of the two-way threaded rod 209 is provided with a gear ring 210, and the outer side of the gear ring 210 is provided with a rotating drum 211. The inner side of the arm column 206 is provided with a sensor group 214, and the inner side of the top of the other arm column 206 is provided with a shaft track 223. The rotating drum 211 is rotatably connected to the two-way threaded rod 209. The bottom of the two-way threaded rod 209 is provided with a gear power group 213, which is engaged with the gear ring 210. The bottom of the rotating drum 211 is slidably connected to a first air cylinder 212. The inner side of the arm column 206 is provided with a fixed plate 215, and the bottom of the fixed plate 215 is provided with a connecting sleeve 216. The inner side of the connecting sleeve 216 is rotatably connected to a cylinder power group 217. The bottom of the cylinder power group 217 is mounted on the top of the device turntable 202. The top outer side of the arm column 206 is provided with a third anti-radiation servo motor 218, and the output end of the third anti-radiation servo motor 218 is provided with a first pulley 219. The outer side of the first pulley 219 is provided with a first transmission belt 220, and the other end of the first transmission belt 220 is provided with a second pulley 221. The inner side of the first pulley 219 is provided with a rotating shaft rod 222, which is rotatably connected to the inner side of the top of the arm column 206. The inner side of the rotating shaft rod 222 is provided with a fixed transmission disc 224. The inner side of the arm column 206 is provided with an arm beam 225, and the fixed transmission disc 224 is fixedly connected to the arm beam 225. The inner side of the arm beam 225 is provided with a fourth anti-radiation servo motor 226. The top of the arm beam 225 is provided with a fixed frame 235, and the inner side of the fixed frame 235 is provided with an anti-radiation motor 236. The top of the arm beam 225 is slidably connected to a device block 238, and the two ends of the device block 238 are provided with an arm support 240. The inner side of the device block 238 is provided with a threaded hole 239. The output end of the anti-radiation motor 236 is provided with a lead screw 237, which is threadedly connected to the threaded hole 239.

[0026] The effect achieved by the whole embodiment 2 is: when the work is finished, the bidirectional electric telescopic rod 229 is started to move the output rod halfway, driving the power arm 230 to move to both sides respectively, until the limiting rod 232 on the power arm 230 slides out of the contact range of the connecting disc 249 of the sixth anti-radiation servo motor 248, at the same time, the clamping four-edge block 234 on the other side of the power arm 230 moves to the four-edge clamping slot 241 of the arm frame 240, at this time, the limiting rod 232 on the power arm 230 is still in the connected state with the arm rod 227, the anti-radiation motor 236 is started again, the device block 238 is driven to slide in the opposite direction through the lead screw 237, until the arm rod 227 and the power arm 230 are out of the range of the arm beam 225, the sixth anti-radiation servo motor 248 loses the limit on both sides and is in an open state, after the electric connection plug is removed, it is pushed to one side to make it separate from the equipment, after the new component is put into the arm beam 225, the electric plug is connected again, after the detection is completed, the anti-radiation motor 236 is started in the reverse direction to return the arm rod 227 and the power arm 230 to the original position, the bidirectional electric telescopic rod 229 is moved in the reverse direction, driving the power arm 230 to return to the inside, the limiting rod 232 is re-slid to be clamped with the connecting disc 249 of the sixth anti-radiation servo motor 248, and the replacement is completed.

[0027] Embodiment 3, according to Figure 5 Figure 7 ​The inner side of the shown arm support 240 is provided with a four-side clamping groove 241, the top of the device block 238 is provided with a mounting rack 242, the two ends of the mounting rack 242 are both provided with a fifth anti-radiation servo motor 243, the output end of the fifth anti-radiation servo motor 243 is provided with a third belt pulley 244, the outer side of the third belt pulley 244 is sleeved with a second transmission belt 245, the other end of the second transmission belt 245 is provided with a fourth belt pulley 246 on the inner side, the inner side of the arm beam 225 is provided with a sixth anti-radiation servo motor 248, the output end of the sixth anti-radiation servo motor 248 is provided with a connecting disc 249, the two sides of the sixth anti-radiation servo motor 248 are both provided with an arm rod 227, the connecting disc 249 is located on the inner side of one side of the arm rod 227, the outer side of the arm rod 227 is provided with a power arm 230, the inner side of the top of the arm rod 227 is provided with a plurality of limiting holes 233, the inner side of the power arm 230 is provided with a plurality of limiting rods 232, the other end of the plurality of limiting rods 232 is slidably connected to the inner side of the limiting hole 233 and the connecting disc 249, the inner side of the power arm 230 is provided with a clamping four-side block 234, the shape of the inside of the four-side clamping groove 241 corresponds to the clamping four-side block 234, and the size of the inside of the four-side clamping groove 241 is larger than that of the clamping four-side block 234, the inner side of the arm rod 227 is provided with a bidirectional electric telescopic rod 229, the output end of the bidirectional electric telescopic rod 229 penetrates through the arm rod 227 and is clamped with the power arm 230, the inner side of the bottom of the power arm 230 is provided with a limiting rod 231, the outer side of the limiting rod 231 is provided with an arm end manipulator assembly 228, and the arm end manipulator assembly 228 is located on the inner side of the arm rod 227.

[0028] The effect achieved by the whole embodiment 3 is that when the standby power source is damaged, it can be directly replaced because it is externally placed, when the arm end manipulator assembly 228 is damaged, the bidirectional electric telescopic rod 229 is started to move the output rod to the full stroke, the two sides of the four-side clamping groove 241 allow the clamping four-side block 234 to move to the full stroke, the arm end is separated from the device, and can be repaired and replaced alone, in the whole process, the clamping four-side block 234 and the four-side clamping groove 241 are slidably clamped, the arm support 240 maintains the angle of the power arm 230 while supporting it, and joint overextension is avoided.

[0029] In the joint of the arm column 206 and the arm beam 225, the third anti-radiation servo motor 218 is the main power source, because it is externally placed and does not interfere with other structures, it can be directly replaced when damaged without the need to intervene other components, and the fourth anti-radiation servo motor 226 is the auxiliary power source, which is located inside the arm beam 225, can better intervene power, and can recover work faster.

[0030] When the cylinder power unit 217 is damaged, it can be removed at any time, and the second anti-radiation servo motor 204 can directly intervene and work at any time. When the second anti-radiation servo motor 204 is damaged, the gear power unit 213 is started, which drives the bidirectional threaded rod 209 to rotate by meshing with the gear ring 210. The bidirectional threaded rod 209 drives the first hexagonal transmission rods 207 at both ends to move inward, so that they move in the first hexagonal locking hole 208 until they disengage from the hexagonal slot interface 205. The rotating drum 211 is started to drive the bidirectional threaded rod 209 to move upward, so that the bottom of the arm column 206 is disengaged from the lateral sliding range of the second anti-radiation servo motor 204 in the device frame 203. Finally, the damaged second anti-radiation servo motor 204 is pushed out and replaced, and then the above steps are repeated to return it to its original position.

[0031] Example 4, according to Figure 8 As shown, the load reduction mechanism 3 includes a second hexagonal transmission rod 301, which is installed at the output end of the fourth anti-radiation servo motor 226. A tension spring 303 is provided on the inner side of the second hexagonal transmission rod 301, and a hexagonal connecting sleeve 302 is slidably connected to the outer side of the second hexagonal transmission rod 301. An electromagnetic frame 306 is installed on the outer side of the arm column 206, and an electromagnet 305 is provided on the inner side of the electromagnetic frame 306. A second hexagonal locking hole 304 is opened on the inner side of the arm column 206.

[0032] The overall effect of embodiment 4 is as follows: When the fourth anti-radiation servo motor 226 is not involved in power input, in order to reduce the internal resistance brought to the third anti-radiation servo motor 218 by the corresponding auxiliary power source, the electromagnet 305 is turned on, and the hexagonal connecting sleeve 302 is pulled outward to resist the tension of the tension spring 303. At this time, the hexagonal connecting sleeve 302 slides inside the second hexagonal locking hole 304 and slides towards the electromagnet 305, disengaging from the state of being sleeved on the outside of the second hexagonal transmission rod 301, so that the output end of the fourth anti-radiation servo motor 226 is disconnected from the arm column 206, thus reducing the load on the third anti-radiation servo motor 218.

[0033] Example 5, according to Figure 9 As shown, the repair mechanism 4 includes a slide groove 401, which is located on the top of the device turntable 202. A slide rail 406 is provided on the inner side of the device turntable 202. A slide bar 402 is slidably connected to the inner side of the slide groove 401. A connecting rod 405 is installed on the inner side of the slide bar 402 and is slidably connected to the inner side of the slide rail 406. A mechanism seat 407 is installed on the top of the slide bar 402. A cylinder chamber 403 is provided on the inner side of the device turntable 202. A second cylinder 404 is provided on the inner side of the cylinder chamber 403 and is fixedly connected to the connecting rod 405. A gear power unit 213 is installed on the inner side of the mechanism seat 407. A cylinder groove 408 is provided on the inner side of the top of the mechanism seat 407. A first cylinder 212 is installed on the inner side of the cylinder groove 408.

[0034] The overall effect of embodiment 5 is as follows: the second cylinder 404 is started, and the sliding strips 402 on both sides and the mechanism seat 407 are moved through the connecting rod 405. The gear power group 213 inside the mechanism seat 407 disengages from the gear ring 210, and the top of the first cylinder 212 slides out of the connection range of the rotating drum 211. When the second anti-radiation servo motor 204 is working, the meshing resistance of the gear power group 213 is reduced, and the power loss is reduced.

[0035] The working principle of the whole device is: when the device is working, in order to ensure that the corresponding standby power source can be started in the case of damage of the power source of each joint, so that the device can continue to work, and in the gap time of work, complete the rapid repair of the device, when the sixth anti-radiation servo motor 248 is damaged, the sensor group 214 is started after receiving the electric signal, the anti-radiation motor 236 is started to drive the screw rod 237 to rotate, so that the device block 238 moves backward due to the threaded connection relationship with the screw rod 237, because the third belt pulley 244 is located on the device block 238 and the fourth belt pulley 246 is located at the arm beam 225, when the device block 238 moves backward, the distance between the third belt pulley 244 and the fourth belt pulley 246 increases, so that the second transmission belt 245 on the third belt pulley 244 and the fourth belt pulley 246 is tightened, at this time, the friction between the second transmission belt 245 and the third belt pulley 244 and the fourth belt pulley 246 increases, at this time, the fifth anti-radiation servo motor 243 is started, through the combined transmission of the second transmission belt 245 and the third belt pulley 244 and the fourth belt pulley 246, the arm lever 227 rotates around the arm beam 225 as the fulcrum, thereby providing power source to continue to work, when the work is completed, the bidirectional electric telescopic rod 229 is started to move the output rod half a journey, and the power arm 230 moves to both sides respectively, until the limiting rod 232 on the power arm 230 slides out of the range of the connecting disc 249 on the sixth anti-radiation servo motor 248, at the same time, because the power arm 230 moves to both sides, the clamping four blocks 234 on the other side of the power arm 230 move to the four edge clamping grooves 241 of the arm support 240, at this time, the limiting rod 232 on the power arm 230 and the arm lever 227 are still in the connected state, at this time, the anti-radiation motor 236 is started again, the device block 238 is driven to slide in the opposite direction through the screw rod 237, until the arm lever 227 and the power arm 230 are away from the arm beam 225, at this time, the sixth anti-radiation servo motor 248 loses the limitation of the arm lever 227 and the power arm 230 on both sides, and is in an open state, after the electric connection plug on the sixth anti-radiation servo motor 248 is pulled out, it is pushed to one side, so that the sixth anti-radiation servo motor 248 is separated from the device, when the new sixth anti-radiation servo motor 248 component is put into the arm beam 225 again, the electric connection plug is connected again, after detection is completed, the anti-radiation motor 236 is started again to rotate in the opposite direction to return the arm lever 227 and the power arm 230 to the original position, the bidirectional electric telescopic rod 229 is started to move in the opposite direction, and the power arm 230 moves to the original position inwards respectively, the limiting rod 232 on the power arm 230 restores the sliding clamping state with the connecting disc 249 on the sixth anti-radiation servo motor 248, thereby completing the replacement of the sixth anti-radiation servo motor 248, when the standby power source is damaged, because it is external, it can be replaced directly, when the arm end manipulator assembly 228 is damaged, because the limiting rod 231 on the power arm 230 is relatively long, the bidirectional electric telescopic rod 229 is started to move the output rod full journey,At this time, the position of the four-sided clamping groove 241 allows the clamping four-sided block 234 to move a full stroke in the four-sided clamping groove 241, at which time the arm end is detached from the device for separate maintenance and replacement. During the entire process, because the clamping four-sided block 234 and the four-sided clamping groove 241 are in sliding engagement, the arm support 240 can maintain the angle of the power arm 230 while providing support to the power arm 230, avoiding joint overextension of the power arm 230. In the joint between the arm column 206 and the arm beam 225, the third anti-radiation servo motor 218 is set as the main power source. Because of its external relationship, it can be directly replaced when it is damaged, without the need to interfere with other components. The fourth anti-radiation servo motor 226 is a secondary power source. Because it is located inside the arm beam 225, it can better intervene in power and recover work faster. When the cylinder power group 217 is damaged, it can be removed at any time. The second anti-radiation servo motor 204 directly intervenes in power and can work at any time. When the second anti-radiation servo motor 204 is damaged, the gear power group 213 is started, which drives the bidirectional threaded rod 209 to rotate through engagement with the gear ring 210. The bidirectional threaded rod 209 drives the two ends of the first six-sided transmission rod 207 to move inward, causing the first six-sided transmission rod 207 to move in the first six-sided clamping hole 208 until it is disengaged from the six-sided slot interface 205. At this time, the rotating drum 211 drives the bidirectional threaded rod 209 to move upward, causing the bottom of the arm column 206 to disengage from the second anti-radiation servo motor 204 within the horizontal sliding range of the device frame 203. Finally, the damaged second anti-radiation servo motor 204 on one side is pushed out for replacement, and then it is homed according to the above.

[0036] When the fourth anti-radiation servo motor 226 does not participate in power input, in order to reduce the corresponding secondary power source, the third anti-radiation servo motor 218 is subjected to resistance inside the fourth anti-radiation servo motor 226. The electromagnet 305 is turned on to pull the six-sided connecting sleeve 302 outward to resist the tension of the tension spring 303. At this time, the six-sided connecting sleeve 302 slides inside the second six-sided clamping hole 304 to the electromagnet 305, disengaging from the state of being wrapped outside the second six-sided transmission rod 301. At this time, the output end of the fourth anti-radiation servo motor 226 is disconnected from the connection with the arm column 206, thereby reducing the load on the third anti-radiation servo motor 218.

[0037] The second cylinder 404 is started to simultaneously drive the two sides of the sliding bar 402 to move through the connecting rod 405, and the mechanism seat 407 moves. The gear power group 213 inside the mechanism seat 407 disengages from the gear ring 210, and the top of the first cylinder 212 slides out of the connection range of the rotating drum 211. Thus, when the second anti-radiation servo motor 204 is working, the resistance of the engaged gear power group 213 is reduced, and the power loss of the second anti-radiation servo motor 204 is reduced.

[0038] Although the present application has been described in detail with reference to the foregoing embodiments, the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be replaced by equivalent features, by those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A redundant joint robot for irradiation environment, comprising a base (1), a quick repair mechanism (2), a load reduction mechanism (3) and a repair mechanism (4), characterized in that: The quick repair mechanism (2) is arranged on the top of the base (1), the burden reduction mechanism (3) is arranged on the outer side of the quick repair mechanism (2), and the repair mechanism (4) is arranged on the bottom of the quick repair mechanism (2). The quick repair mechanism (2) comprises a device block (238), a two-way electric telescopic rod (229), a power arm (230), an arm rod (227) and an arm support (240), the arm support (240) is arranged on the outer side of the device block (238), the power arm (230) is arranged on the two ends of the two-way electric telescopic rod (229), the arm rod (227) is arranged on the inner side of the power arm (230), the device block (238) is used for driving the arm support (240) to move, the two-way electric telescopic rod (229) is used for driving the power arm (230) to move, and the arm support (240) is used for clamping the power arm (230).

2. The redundant-joint robot for irradiation environments of claim 1, wherein: The quick repair mechanism (2) further comprises a first anti-radiation servo motor (201), the first anti-radiation servo motor (201) is arranged on the inner side of the base (1), a device turntable (202) is arranged on the outer side of the output end of the first anti-radiation servo motor (201), the device turntable (202) is arranged on the top of the base (1), two device supports (203) are arranged on the top of the device turntable (202), a second anti-radiation servo motor (204) is arranged on the inner side of each of the two device supports (203), a six-side slot interface (205) is arranged on the output end of the second anti-radiation servo motor (204), a first six-side transmission rod (207) is slidably connected to the inner side of the six-side slot interface (205), and an arm column (206) is arranged on the inner side of the second anti-radiation servo motor (204).

3. The redundant-joint robot for irradiation environments of claim 2, wherein: A first six-side clamping hole (208) is formed in the inner side of the arm column (206), the first six-side clamping hole (208) is slidably connected to the other end of the first six-side transmission rod (207), a two-way threaded rod (209) is arranged on the inner side of the arm column (206), the two-way threaded rod (209) is in threaded connection with the first six-side transmission rod (207), a gear ring (210) is arranged on the outer side of the two-way threaded rod (209), a rotating drum (211) is arranged on the outer side of the gear ring (210), a sensor group (214) is arranged on the inner side of the arm column (206), and an axle way (223) is formed in the inner side of the top of the other arm column (206).

4. The redundant-joint robot for irradiation environments of claim 3, wherein: The rotating drum (211) is rotatably connected with the bidirectional threaded rod (209), the bottom of the bidirectional threaded rod (209) is provided with a gear power group (213), the gear power group (213) is engaged with the gear ring (210), the bottom of the rotating drum (211) is slidably connected with a first air cylinder (212), the inner side of the arm column (206) is provided with a fixed plate (215), the bottom of the fixed plate (215) is provided with a connecting rotating sleeve (216), the inner side of the connecting rotating sleeve (216) is rotatably connected with an air cylinder power group (217), the bottom of the air cylinder power group (217) is arranged on the top of the device turntable (202), and the top outer side of the arm column (206) is provided with a third anti-radiation servo motor (218).

5. The redundant-joint robot for irradiation environments of claim 4, wherein: The output end of the third anti-radiation servo motor (218) is provided with a first pulley (219), the outer side of the first pulley (219) is sleeved with a first transmission belt (220), the other end of the first transmission belt (220) is sleeved with a second pulley (221), the inner side of the first pulley (219) is provided with a rotating shaft rod (222), the outer side of the rotating shaft rod (222) is rotatably connected to the top inner side of the arm column (206), the inner side of the rotating shaft rod (222) is provided with a fixed transmission disc (224), the inner side of the arm column (206) is provided with an arm beam (225), the fixed transmission disc (224) is fixedly connected with the arm beam (225), the inner side of the arm beam (225) is provided with a fourth anti-radiation servo motor (226), the top of the arm beam (225) is provided with a fixed frame (235), the inner side of the fixed frame (235) is provided with an anti-radiation motor (236), the output end of the anti-radiation motor (236) is provided with a lead screw (237), the top of the arm beam (225) is slidably connected with a device block (238), both ends of the device block (238) are provided with an arm support (240), the inner side of the device block (238) is provided with a threaded hole (239), and the lead screw (237) is threadedly connected with the threaded hole (239).

6. The redundant-joint robot for irradiation environments of claim 5, wherein: The inner side of the arm support (240) is provided with a four-side clamping groove (241), the top of the device block (238) is provided with a mounting frame (242), both ends of the mounting frame (242) are provided with a fifth anti-radiation servo motor (243), the output end of the fifth anti-radiation servo motor (243) is provided with a third pulley (244), the outer side of the third pulley (244) is sleeved with a second transmission belt (245), the other end of the second transmission belt (245) is provided with a fourth pulley (246), and the inner side of the arm beam (225) is provided with a sixth anti-radiation servo motor (248).

7. The redundant-joint robot for irradiation environments of claim 6, wherein: The output end of the sixth anti-radiation servo motor (248) is provided with a connecting disc (249), both sides of the sixth anti-radiation servo motor (248) are provided with an arm rod (227), the connecting disc (249) is located on the inner side of the arm rod (227) on one side, the outer side of the arm rod (227) is provided with a power arm (230), a plurality of limiting holes (233) are formed in the inner side of the top of the arm rod (227), a plurality of limiting rods (232) are installed on the inner side of the power arm (230), the other ends of the limiting rods (232) are slidably connected to the inner side of the limiting hole (233) and the connecting disc (249), and the outer side of the power arm (230) is provided with a clamping four-edge block (234).

8. The redundant-joint robot for irradiation environments of claim 7, wherein: The shape of the four-edge clamping groove (241) corresponds to the clamping four-edge block (234), and the size of the four-edge clamping groove (241) is larger than that of the clamping four-edge block (234), the inner side of the arm rod (227) is provided with a bidirectional electric telescopic rod (229), the output end of the bidirectional electric telescopic rod (229) penetrates the arm rod (227) and is clamped with the power arm (230), the inner side of the bottom of the power arm (230) is provided with a limiting rod (231), the outer side of the limiting rod (231) is provided with an arm end mechanical hand assembly (228), and the arm end mechanical hand assembly (228) is located on the inner side of the arm rod (227).

9. The redundant-joint robot for irradiation environments of claim 1, wherein: The load reduction mechanism (3) comprises a second six-edge transmission rod (301), the output end of the fourth anti-radiation servo motor (226) is provided with the second six-edge transmission rod (301), the inner side of the second six-edge transmission rod (301) is provided with a tension spring (303), the outer side of the second six-edge transmission rod (301) is slidably connected with a six-edge connecting sleeve (302), the outer side of the arm column (206) is provided with an electromagnetic frame (306), the inner side of the electromagnetic frame (306) is provided with an electromagnet (305), and the inner side of the arm column (206) is provided with a second six-edge clamping hole (304).

10. The redundant-joint robot for irradiation environments of claim 1, wherein: The repair mechanism (4) includes a chute (401) which is opened at the top of the device turntable (202), the inner side of the device turntable (202) is provided with a slide (406), the inner side of the chute (401) is slidably connected with a slide bar (402), the inner side of the slide bar (402) is provided with a connecting rod (405), the connecting rod (405) is slidably connected to the inner side of the slide (406), the top of the slide bar (402) is provided with a mechanism seat (407), the inner side of the device turntable (202) is provided with a cylinder bin (403), the inner side of the cylinder bin (403) is provided with a second cylinder (404), the second cylinder (404) is fixedly connected with the connecting rod (405), a gear power group (213) is installed on the inner side of the mechanism seat (407), the top inner side of the mechanism seat (407) is provided with a cylinder groove (408), and a first cylinder (212) is installed on the inner side of the cylinder groove (408).

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