CN104627266B - Operate in the control method of multistage creeping motion type snake-shaped robot in nuclear fusion cabin - Google Patents

Operate in the control method of multistage creeping motion type snake-shaped robot in nuclear fusion cabin Download PDF

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Publication number
CN104627266B
CN104627266B CN201510100656.5A CN201510100656A CN104627266B CN 104627266 B CN104627266 B CN 104627266B CN 201510100656 A CN201510100656 A CN 201510100656A CN 104627266 B CN104627266 B CN 104627266B
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body segment
module
bearing
support
submodule
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CN104627266A (en
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张强
刘宜
吴宝元
汪增福
刘卫
曹会彬
高理富
刘明
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses the control method of a kind of multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin, it is characterized in that: be symmetrical arranged at the two ends of middle body segment axial movement module by front body segment lateral register module and rear body segment lateral register module and constitute walking mechanism, using walking mechanism as wriggling unit, by at least two wriggling unit multistage in series creeping motion type snake-shaped robot, it is connected by telescopic elastic double Hooke's joint between adjacent wriggling unit.Utilize control method of the present invention can realize the motion gait of similar more piece anthelmintic walking, its good operation stability and control are simple, movement locus can realize the omni-directional visual information gathering of inner space, nuclear fusion cabin by carrying visual observation The Cloud Terrace throughout the large dicyclic shape conduit in whole nuclear fusion bilge portion.

Description

Operate in the control method of multistage creeping motion type snake-shaped robot in nuclear fusion cabin
Technical field
The invention belongs to distant people and the technical field of automation of operating machine of nuclear environment, operate in core more particularly to one and gather The control method of the multistage creeping motion type snake-shaped robot in change cabin.
Background technology
Tokamak is a kind of to utilize magnetic confinement to realize the toroidal container of controlled nuclear fusion, and its central authorities are that an outside is wrapped line The toroidal vacuum chamber of circle；Energising when, the inside of tokamak can produce huge screw type magnetic field, by plasma therein Body is heated to the highest temperature, to reach the purpose of nuclear fusion.The interior compartment of full tokamak device is commonly referred to as nuclear fusion Reaction cabin, produces and the core carrier of preparation as nuclear power source in the present age, and its internal medium belongs to a kind of typical case's extreme environment, a side Mask has the physical characteristics such as intense radiation, high temperature, high-intensity magnetic field and fine vacuum, and on the other hand, reaction cabin internal unit is numerous, pipe Road is intricate, and passage is narrow, and work space is little, and adding some parts in cabin can be by radioactivity and the dirt of noxious substance Dye, even if reaction cabin inside associated components can not or should not directly be operated by attendant during the maintaining of equipment, It is thus desirable to by means of the most distant manipulation means, substituted in the mankind enter cabin by a kind of intelligent electromechanical equipment and complete to make accordingly Industry task.In order to tackle the adverse circumstances within reaction cabin, it is ensured that the normal order of work of fusion reactor, need a class special Kind of robot, to tackle the two of reaction cabin inner part big class regular job tasks, a class is to observe, scout and patrol and examine etc. various The collection of status information, process, represent and the task such as identification, for monitoring the specific works situation of fusion reactor, in order to Corresponding decision-making is taked to provide foundation when occurring for abnormal conditions；Another kind of is to dismantle, assemble, reclaim, transport and the behaviour such as reparation The property made task, for maintaining the performance maintenance of fusion reactor and normalization, to maintain the normal work of fusion reactor Ability, final automatization, motility and the stability realized the operation of nuclear fusion reaction cabin inner part.
It is few in number that the most domestic and international operate machine people distant for nuclear fusion cabin discloses report.Holland likes to think only your (Elsevier) Science Publishers publish " fusion engineering and design " (Fusion Engineering and Design, 83 (2008), Pp:1833 1836.) in disclose a kind of Articulated Inspection Arm (AIA) robot, belong to a kind of for The hanging type robot of nuclear fusion cabin environment, uses the modularized design in five joints, and each joint has a pitching certainly respectively By degree and a deflection degree of freedom, yaw motion is provided by the driving motor being arranged in module, and elevating movement is by parallelogram Motor at screw jack in bar provides, and the cable wire that moves through of each motor output shaft is transferred to large-angle slewing joint cable pulley Place, produces relative gyration between each mold segment of band mobile robot, and this robot can be within the intermission of nuclear fusion cabin Physical Experiment Move in entering cabin, vacuum chamber the first wall is closely observed, monitors full tokamak device in run duration vacuum chamber Working condition；But owing to this robot belongs to cantilever structure, on the one hand its Power Drive Unit is integrated in each mechanical arm respectively Intra articular, adds the weight of joint of robot arm, increases the carrying burden of robot end's support means so that machine People's overall dimension is unsuitable long, thus limits robot detected event spatial dimension in nuclear fusion cabin；On the other hand due to The gyration of this robot each joint walking mechanism needs each automatic drive device the synchronized Coordinative Control, the more difficult accurate rule of gait track Draw, and the interference conducted oneself with dignity by mechanical arm, robot front end detection device easily occurs jitter phenomenon in running, have impact on The positioning precision of system and kinetic stability.
A kind of small-sized emergency management and rescue under nuclear radiation environment disclosed in Chinese patent application CN102233575A and detection machine People, its walking mechanism uses caterpillar chassis structure, drives motor to be placed in the middle part of chassis, is run by chain drive crawler belt, Chassis front end is provided with four-degree-of-freedom mechanical hand, gamma camera and imaging system and is positioned at robot rear portion, can be to the spoke under nuclear environment Penetrate intensity and orientation detects, and carry out emergency processing by robot arm；Although the walking mechanism of this robot possesses Certain handling capacity, can be used for some unstructured moving grids that nuclear fusion encloses out of my cabin, but still cannot be severe in geometric construction condition The inner space, nuclear fusion cabin carved is run, and limits its range.
Summary of the invention
The present invention is for avoiding the weak point existing for above-mentioned prior art, it is provided that a kind of multistage operated in nuclear fusion cabin is compacted The control method of dynamic formula snake-shaped robot, to overcome what cantilevered scheme in prior art caused to visit inner space, nuclear fusion cabin Survey scope and positioning precision is limited and the defect such as fluctuation of service so that it is movement locus can big throughout whole nuclear fusion bilge portion Crossed Circle conduit, it is simple that motion gait is similar to the walking of more piece anthelmintic, good operation stability and control, can be by carrying visual observation The Cloud Terrace realizes the omni-directional visual information gathering to inner space, nuclear fusion cabin three degree of freedom, it is possible to by carrying mast, machinery Hands or other operation instruments realize safeguarding the composite behaviour of workpiece in nuclear fusion cabin, to reducing robot body to carrying The requirement of ability, improves the distant people's platform motion fitness to nuclear fusion cabin internal structured specific environment of operating machine of nuclear environment.
The present invention solves that technical problem adopts the following technical scheme that
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin is: lateral by front body segment Locating module and rear body segment lateral register module are symmetrical arranged composition walking mechanism at the two ends of middle body segment axial movement module, with institute Stating walking mechanism as wriggling unit, by least two wriggling unit multistage in series creeping motion type snake-shaped robot, adjacent is compacted It is connected by telescopic elastic double Hooke's joint between moving cell；Described control method is:
Described multistage creeping motion type snake-shaped robot complete as follows a forward step away from walking process:
Step 1: front body segment lateral register module and rear body segment lateral register module in each wriggling unit are in lockup state, in Body segment axial movement module is in minimum shortening state；Telescopic elastic double Hooke's joint between adjacent wriggling unit is in maximum and stretches Long status；Multistage creeping motion type snake-shaped robot is positioned at the A of position；
Step 2: the front body segment lateral register module in each wriggling unit is set to released state, each rear body segment lateral register module is protected Holding at lockup state, each middle body segment axial movement module synchronizes elongation until reaching maximum elongation state；Between adjacent wriggling unit Telescopic elastic double Hooke's joint synchronize to shorten until minimizing shortening state；Multistage creeping motion type snake-shaped robot is by position A In the traveling of position B；
Step 3: the front body segment lateral register module in each wriggling unit is set to lockup state, each rear body segment lateral register module sets Being set to released state, each middle body segment axial movement module synchronizes to shorten until minimizing shortening state；Between adjacent wriggling unit Telescopic elastic double Hooke's joint synchronize elongation until reaching maximum elongation state, multistage creeping motion type snake-shaped robot advances to position B Place；
Step 4: the front body segment lateral register module in each wriggling unit is maintained at lockup state, rear body segment lateral register module enters Lockup state, middle body segment axial movement module is maintained at minimum shortening state；Telescopic elasticity between adjacent wriggling unit double ten thousand Being maintained at maximum elongation state to joint, multistage creeping motion type snake-shaped robot is positioned at the B of position；
Described multistage creeping motion type snake-shaped robot complete as follows a backstep away from walking process:
Step 1: front body segment lateral register module and each rear body segment lateral register module in each wriggling unit are in lockup state, Middle body segment axial movement module is in minimum shortening state；Telescopic elastic double Hooke's joint between adjacent wriggling unit is in maximum Elongation state, multistage creeping motion type snake-shaped robot is positioned at the A of position；
Step 2: the front body segment lateral register module in each wriggling unit remains lockup state, rear body segment lateral register module is arranged For released state, middle body segment axial movement module synchronizes elongation until reaching maximum elongation state；Stretching between adjacent wriggling unit Contracting formula elasticity double Hooke's joint synchronizes to shorten until minimizing shortening state, and multistage creeping motion type snake-shaped robot is in by position A to position Put in the traveling of C；
Step 3: the front body segment lateral register module in each wriggling unit is set to released state, rear body segment lateral register module is arranged For lockup state, middle body segment axial movement module synchronizes to shorten until minimizing shortening state；Stretching between adjacent wriggling unit Contracting formula elasticity double Hooke's joint synchronizes to extend until reaching maximum elongation state, and multistage creeping motion type snake-shaped robot advances at the C of position；
Step 4: the front body segment lateral register module in each wriggling unit is set at lockup state, rear body segment lateral register module is protected Holding at lockup state, middle body segment axial movement module is maintained at minimum shortening state；Adjacent wriggling unit (between telescopic bullet Property double Hooke's joint is maintained at maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at the C of position.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in:
The structure of described front body segment lateral register module is set to: electric drive submodule is installed in the inside of carrying submodule, and has Inner side split support submodule and the outside split support submodule with identical version is symmetricly set in described electric drive The left and right sides of module；One end of described inner side split support submodule and outside split support submodule is fixed on electric drive respectively The left and right sides setting position of submodule, the other end respectively along the left and right of described electric drive submodule the most scalable move and with Described carrying submodule is guide rail；At the top of described front body segment lateral register module, centrally located front body segment thermal controls apparatus is set, Being positioned at sidepiece and arrange front body segment Weighting system, described front body segment Weighting system is in front body segment lateral register module split of outside The top of chapelet module；
Described rear body segment lateral register module and described front body segment lateral register module have identical version；Body in the rear The top of joint lateral register module, centrally located arranges rear body segment thermal controls apparatus, is positioned at sidepiece and arranges rear body segment Weighting system, institute State at rear body segment Weighting system the top of the split support submodule in outside in body segment lateral register module in the rear；
The structure of described middle body segment axial movement module is set to: Anterior Segment submodule is installed in the inside of housing submodule；Described Anterior Segment submodule and deutomerite cross-talk module are connected in the inside of housing submodule and can be movable relatively along the longitudinal direction each other, Forming telescopic middle body segment axial movement module, described deutomerite cross-talk module protrudes from the tail of described middle body segment axial movement module End surface；At the top of described middle body segment axial movement module, centrally located middle body segment thermal controls apparatus is set；
Before between described front body segment lateral register module and middle body segment axial movement module, double Hooke's joint is connected, in the rear After between body segment lateral register module and middle body segment axial movement module, double Hooke's joint is connected.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in:
The composition component of described telescopic elastic double Hooke's joint includes: Anterior Segment, rear sections, front pitching banking stop, rear pitching limit Bit slice, middle sections cylinder, the middle sections body of rod and compression spring；Described Anterior Segment and rear sections have identical version, described Front pitching banking stop and rear pitching banking stop have identical version；
Described middle sections cylinder is to be made up of the middle universal interface end of sections cylinder and middle sections cylinder linear interface end, described middle sections The body of rod is to be made up of the middle universal interface end of the sections body of rod and middle sections body of rod linear interface end；Described middle sections cylinder linear interface end With middle sections body of rod linear interface end with spline fitted, and can be in axially opposing movement, at described middle sections cylinder linear interface Hold arrange between middle sections body of rod linear interface end that compression spring formed axially can elastic extension structure；
One end of described Anterior Segment constitutes upper and lower pitching and deflection two dimension by front stauros and the middle universal interface end of sections cylinder Being rotationally connected, the front side board in rear body segment lateral register module in the wriggling unit that the other end is adjacent with front connects firmly；Rear sections One end constitute upper and lower pitching by rear stauros and the middle universal interface end of the sections body of rod and deflection two-dimensional rotary is connected, another The front side board holding the front body segment lateral register module in the wriggling unit adjacent with rear connects firmly；Two described front pitching banking stops in The end face being installed in Anterior Segment symmetrical above and below and bottom surface, two described rear pitching banking stops are the top being installed in rear sections symmetrical above and below Face and bottom surface.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in: described flexible Between middle sections cylinder linear interface end and middle sections body of rod linear interface end in formula elasticity double Hooke's joint axially can relative movement Distance not less than between the Anterior Segment submodule in body segment axial movement module in each wriggling unit inside and deutomerite cross-talk module along front Rear to can be movable relatively distance.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in:
The structure carrying submodule in described front body segment lateral register module is set to:
With the first rectangular base plate as bottom surface, with the first rectangular-shaped top plate as end face, in described first rectangular base plate and the first rectangular-shaped top plate Between with front side board as front end face, with back side panel as rear end face, with inner swash plate as left side, swash plate is before right side is formed in addition Body segment rectangular frame；
In the outside of described front body segment rectangular frame, be positioned on described inner swash plate and be provided with spin supporting arrangement, be positioned at described outside Outer spin supporting arrangement it is provided with, using described interior spin supporting arrangement and outer spin supporting arrangement as described front body segment square on swash plate Shape framework support member on left side and right side；In the outside of described front body segment rectangular frame, it is positioned at described first rectangular base Universal caster wheel it is provided with, using described universal caster wheel as the described front body segment rectangular frame support member in bottom surface on plate；Described interior rolling Ball support device be in nuclear fusion cabin the internal ring wall of large dicyclic shape conduit as supporting surface；Described outer spin supporting arrangement is with described In nuclear fusion cabin, the external annulus of large dicyclic shape conduit is supporting surface；
In described front body segment lateral register module, the structure of electric drive submodule is set to:
In the inside of described front body segment rectangular frame, it is positioned in described first rectangular base plate and is on the position of coaxial line and set successively Put split support submodule hold-down support, the first motor support base, clutch shaft bearing bearing and the second bearing spider；At described first electricity Fixedly mounting the first servo vacuum reducing motor on machine bearing, the output shaft of described first servo vacuum reducing motor passes through first Axial organ and the first center ball screw are connected；Described first center ball screw is multidiameter, and the two ends of described multidiameter are respectively By the first double-row angular contact bal bearing and the first deep groove ball bearing be supported on described clutch shaft bearing bearing and the second bearing spider it Between, the first swivel nut is contained on the threaded shaft section of described first center ball screw with rolling screw engagement sleeves；First moves flat board admittedly It is loaded on described first swivel nut；Arrange first and move flat board guide frame, be parallel in the both sides of described first center ball screw Arranging the first guide post, one end of described first guide post is installed on clutch shaft bearing bearing, and the other end is fixedly mounted with by the first sleeve On the second bearing spider, described first moves flat board utilizes the first linear bearing to be bearing on described first guide post, makes described First moves flat board can move axially under the drive of described first swivel nut on the first guide post；In described first rectangular base plate The underface going up, being positioned at described first center ball screw is provided with the first photoswitch, and described first photoswitch is positioned at first Setting position between bearing spider and the second bearing spider；
In described front body segment lateral register module, outside split support submodule support split with inner side submodule has the most identical Version:
At described split support submodule hold-down support and the first side moving flat board, massive plate is set, in described massive plate Side and the relative position fixed installation gusset piece of split support submodule hold-down support, move with first in the inner side of described massive plate The relative position fixed installation slide rail of dynamic flat board, described slide rail is parallel with the axis of the first center ball screw, at described slide rail On be sliding combined with slide block；On first be arranged in parallel connecting rod and the first lower link at one end through the first upper hinge support, first time Hinged-support and the first bearing pin are hinged with split support submodule hold-down support；At the other end by double hinged-supports and the 4th bearing pin It is hinged with described slide block；On second be arranged in parallel connecting rod and the second lower link at one end through the 3rd upper hinge support, the 3rd time Hinged-support and the 3rd bearing pin are hinged with installing gusset piece, the other end by the second upper hinge support, the second lower hinge support and Second bearing pin and first moves flat board and is hinged；In the split support in described inner side submodule, fix in the outside of its massive plate and set Put interior wedge shape support, the outer face of described interior wedge shape support is provided with interior universal support claw；In the split support in described outside submodule In block, it is fixedly installed outer wedge shape support in the outside of its massive plate, the outer face of described outer wedge shape support arranges outer universal support Pawl；Formed on the internal ring wall of the large dicyclic shape conduit in nuclear fusion cabin and external annulus with described interior universal support claw and outer universal support claw It is supported for lockup state, departs from the internal ring of the large dicyclic shape conduit in nuclear fusion cabin with described interior universal support claw and outer universal support claw It is supported for released state on wall and external annulus；
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in: described outer rolling Ball support device has the most identical version with interior spin supporting arrangement: guide cylinder is fixed on inner swash plate by installing plate, For being slidably matched in spring lock block is flush-mounted in guide cylinder and with guide cylinder, between installing plate and spring lock block, it is set with wavy spring, Ball pivot seat and spring lock block thread connection, and have spin to coordinate with described ball pivot seat ball pivot.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in: described outer ten thousand To support claw, there is with interior universal support claw the most identical version: support claw head is connected with hinged-support by a universal knot, described Universal knot is made up of identical half bearing pin of long pin shaft, two structures and hydraulic steering gear adopting cross piece, and described hydraulic steering gear adopting cross piece is articulated with hinge by long pin shaft On bearing, and it is articulated with support claw head, two and half bearing pins and long pin shaft by two and half bearing pins along the central cross-section symmetry of hydraulic steering gear adopting cross piece Central axis be intersected in the center of hydraulic steering gear adopting cross piece；Described hinged-support and the interior wedge shape support in the split support in described inner side submodule Connect firmly；The circular arc outer face of described support claw head is pasted fluororubber layer and pressure sensor is distributed in array.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in: described middle body The structure of the housing submodule in joint axial movement module is set to:
With the second rectangular base plate as bottom surface, with the second rectangular-shaped top plate as end face, and in described second rectangular base plate and the second rectangular top It is respectively two sides with rectangle left plate and rectangle right plate between plate, is respectively two ends with rectangular-shaped front side plate and I shape back side panel Face forms body segment rectangular frame in；
Described Anterior Segment submodule has the most identical version with deutomerite cross-talk module:
In the inside of described middle segment rectangular frame, it is positioned in the second rectangular base plate and is on the position of coaxial line B and be respectively provided with Three bearing spiders and the 4th bearing spider, be positioned in the second rectangular-shaped top plate and be fixedly installed the second motor support base in suspension, described The second servo vacuum reducing motor is fixedly mounted on two motor support bases；First gear is arranged on described second servo vacuum reducing motor Output shaft on and engage with the second gear, described second gear is arranged on the end of the second center ball screw and by roundlet spiral shell Mother axially fastens；Described second center ball screw is multidiameter, and the two ends of described multidiameter are respectively by the second biserial angle Contact ball bearing and the second deep groove ball bearing are supported between described 3rd bearing spider and the 4th bearing spider, and the second swivel nut is with rolling Dynamic threaded engagement is sleeved on the threaded shaft section of described second center ball screw；Second moves flat board is installed in described second swivel nut On；
Move described second and in the left and right sides symmetric position of flat board, be fixed with the second linear bearing respectively；At described second center Being respectively provided with the second guide post in the left and right sides symmetric position of ball screw, one end of described second guide post is installed in the 3rd axle Holding on bearing, the other end is installed on the 4th bearing spider by the second sleeve；Described second guide post and the second linear bearing are It is slidably matched；
Moving described second and be respectively arranged with push rod in the left and right sides symmetric position of flat board, one end of described push rod is installed in Two move flat board, and the other end is each passed through the symmetrical gap space of described I shape back side panel and is in middle segment rectangular frame Outside push pedal connects firmly；
In described second rectangular base plate, be positioned at the underface of described second center ball screw be respectively provided with the second photoswitch and 3rd photoswitch, described second photoswitch and the 3rd photoswitch office are between the 3rd bearing spider and the 4th bearing spider Axially different position on.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in: described precursor Joint Weighting system is set to following identical version with rear body segment Weighting system: counterweight box is installed in described front body segment laterally fixed Outside the first rectangular-shaped top plate upper surface in the module of position, each counterweight in weights group is placed in counterweight box by the form of array；
Described front body segment thermal controls apparatus is set to the most identical version with rear body segment thermal controls apparatus: arrange the first annular seal space shell Body, the first composite heat-insulated material layer and the first phase-change material layers ecto-entad successively are packaged in described first annular seal space housing；? The inner space of described first phase-change material layers is drawn the first nitrogen cooling pipe, the first temperature control module power line and signal respectively Line, visual observation installation's power source line and holding wire, the first electric machine controller power line and holding wire and the first sensing element power supply Line and holding wire；
The structure of described middle body segment thermal controls apparatus is set to: arrange the second annular seal space housing, the second composite heat-insulated material layer and second Phase-change material layers ecto-entad successively is packaged in the second annular seal space housing, in described second phase-change material layers inner space respectively Draw the second nitrogen cooling pipe, the second temperature control module power line and holding wire, the second electric machine controller power line and holding wire with And second sensing element power line and holding wire.
The feature of the control method that the present invention operates in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin lies also in: double before described The structure of universal joint is set to: have the first identical Anterior Segment of structure, Anterior Segment in first, in first after after sections and first Pitching banking stop after pitching banking stop and two first before sections, and identical two first of structure；Anterior Segment in described first With first in after sections be fixedly connected with back-to-back form；One end of first Anterior Segment is by before in stauros and first before first Sections constitutes upper and lower pitching and deflection two-dimensional rotary connects, the other end and the back side panel in described front body segment lateral register module Connect firmly；After first, one end of sections constitutes upper and lower pitching by sections after in stauros and first after first and deflection two dimension turns Being dynamically connected, the other end connects firmly with the rectangular-shaped front side plate in described middle body segment axial movement module；Before described two first, pitching is spacing The sheet top being installed in the first Anterior Segment the most symmetrical above and below and bottom, after described two first, pitching banking stop is the most symmetrical above and below It is installed in top and the bottom of sections after first；
The structure of described rear double Hooke's joint is set to: have the second identical Anterior Segment of structure, Anterior Segment in second, in second after Pitching banking stop after pitching banking stop and two second before sections after sections and second, and identical two second of structure；Described In second, in Anterior Segment and second, rear sections is fixedly connected with back-to-back form；One end of second Anterior Segment is by cross before second Tie and be connected with the Anterior Segment upper and lower pitching of composition and deflection two-dimensional rotary in second, the other end and described middle body segment axially-movable mould Push pedal in block connects firmly；After after second, one end of sections passes through second, in stauros and second, rear sections constitutes upper and lower pitching and left and right Deflection two-dimensional rotary connects, and the other end connects firmly with the back side panel in described rear body segment lateral register module；Bow before described two second Facing upward the banking stop top being installed in the second Anterior Segment the most symmetrical above and below and bottom, after described two second, pitching banking stop is gone up respectively Lower symmetry is installed in top and the bottom of sections after second.
Compared with the prior art, the present invention has the beneficial effect that:
1, in the present invention, multistage creeping motion type snake-shaped robot range of movement is wide, and its run trace can big throughout nuclear fusion bilge portion Crossed Circle conduit complete cycle, meets the nuclear environment distant people of operating machine and manipulating objects distant in cabin involves in the general technical requirement of the degree of depth.
2, the present invention is directed to nuclear fusion cabin internal medium feature, multistage creeping motion type snake-shaped robot take into account high temperature resistant radiation material And the particular requirement of vacuum lubrication, use thermal controls apparatus to be packaged in-house electromechanical component outlet and electronic device etc., Can at utmost meet the extreme physical condition such as the high temperature of mechanism's use occasion, vacuum, radioprotective, each is compacted in robot simultaneously The medial and lateral split support sub modular structure form that moving cell forward and backward body segment lateral register module uses also complies with the nuclear fusion bilge The spatial configuration characteristic of portion's large dicyclic shape conduit, strong adaptability.
3, for multistage creeping motion type snake-shaped robot of the present invention, see by being loaded with parallel vision in its front body segment lateral register module Survey The Cloud Terrace, it is possible to achieve the observation of three rotary freedoms in space, coordinate the periodicity crawling motion of imitative anthelmintic robot, permissible Complete 360 ° of omni-directional visual information collection functions in D word cross sectional annular space internal to nuclear fusion cabin；Again due to parallel vision Observation The Cloud Terrace uses the spherical structure form that three identical side chains circumference is uniform, and the addition of center redundancy branched chain makes device have to be The multinomial advantageous characteristic such as system rigidity is big, motion flexibility ratio is high, bearing capacity is strong, motion positions precision pose high, unusual is controlled.
4, multistage creeping motion type snake-shaped robot of the present invention is passed through telescopic elastic double Hooke's joint series connection structure by least two wriggling unit Become, form a kind of multi-function chain type matrix platform, it can carry combined type movement track, it is possible to carry all kinds of operation instrument, Practical.
5, in the present invention snake-shaped robot cycle movement gait with in nature more piece anthelmintic walking step state be similar to, control method letter Single convenient, the front body segment lateral register module of each wriggling unit of robot and the carrying submodule in rear body segment lateral register module It is equipped with the inside and outside spin resilient supporting unit matched respectively with the large dicyclic inside and outside ring wall of shape conduit in nuclear fusion bilge portion, There is structure adaptive so that the good operation stability of whole mechanism.
6, multistage creeping motion type snake-shaped robot of the present invention belongs to multi-section series structure, belongs to again three inside each wriggling unit simultaneously Segmentation cascaded structure, owing to each wriggling cellular construction is identical, the front body segment lateral register module within each wriggling unit with Rear body segment lateral register module is symmetrical arranged at middle body segment axial movement module two ends, therefore between forward and backward body segment lateral register module Can mutually replace, versatility is good.
7, the present invention can be used for nuclear fusion device, for fusion reactor routine work state perform specialized reconnaissance, monitoring and The information gathering such as patrol and examine, and specialty dismantle, assembles, reclaims, transported and the attended operation task such as reparation, and then promotion future The sustainable development of nuclear fusion stack automated maintenance technology.
8, the present invention can be used for nuclear fusion device remote operating maintaining robot system engineering, for the routine work of fusion reactor State performs specialized reconnaissance, the task such as monitors and patrol and examine, and then promotes the sustainable development of following nuclear fusion stack automated maintenance technology Exhibition.
Accompanying drawing explanation
Fig. 1 is walking mechanism structural representation in the present invention；
Fig. 2 is nuclear fusion cabin internal structure schematic diagram；
Fig. 3 is walking mechanism overall operation schematic diagram in nuclear fusion cabin in the present invention；
Fig. 4 is front body segment lateral register module and rear body segment lateral register modular structure schematic diagram in the present invention；
Fig. 5 is the carrying sub modular structure schematic diagram in the present invention in front body segment lateral register module and rear body segment lateral register module；
Fig. 6 is electric drive sub modular structure schematic diagram in front body segment lateral register module and rear body segment lateral register module in the present invention；
Fig. 7 is electric drive submodule central cross-sectional view in front body segment lateral register module and rear body segment lateral register module in the present invention；
Fig. 8 (a), Fig. 8 (b) and Fig. 8 (c) are interior in front body segment lateral register module and rear body segment lateral register module in the present invention Side split support submodule and outside split support sub modular structure schematic diagram；
Fig. 9 be in the present invention before body segment lateral register module at the contact condition schematic diagram within nuclear fusion cabin；
Figure 10 (a), Figure 10 (b) and Figure 10 (c) are in the present invention in front body segment lateral register module and rear body segment lateral register module The interior spin resilient supporting unit structural representation of carrying submodule and with the contacting of nuclear fusion bilge portion's large dicyclic shape conduit inwall View；
Figure 11 (a), Figure 11 (b), Figure 11 (c) and Figure 11 (d) are that in the present invention, front body segment lateral register module and rear body segment are laterally fixed The interior universal support claw structural representation of the carrying submodule in the module of position；
Figure 12 is middle body segment axial movement module structural representation in the present invention；
Figure 13 is the housing sub modular structure schematic diagram in the present invention in middle body segment axial movement module；
Figure 14 is the Anterior Segment submodule in middle body segment axial movement module and deutomerite cross-talk modular structure schematic diagram in the present invention；
Figure 15 is parallel visual observation cradle head structure schematic diagram in the present invention；
Figure 16 is front body segment Weighting system and rear body segment Weighting system structural representation in the present invention；
Figure 17 is front double Hooke's joint structural representation in the present invention；
Figure 18 is rear double Hooke's joint structural representation in the present invention；
Figure 19 is front body segment thermal controls apparatus and rear body segment thermal controls apparatus structural representation in the present invention；
Figure 20 is middle body segment thermal controls apparatus structural representation in the present invention；
Figure 21 is multistage creeping motion type snake-shaped robot structural representation of the present invention；
Figure 22 is that the present invention is connected structural representation with telescopic elastic double Hooke's joint between adjacent wriggling unit；
Figure 23 (a) is telescopic double Hooke's joint schematic diagram in the present invention；
Figure 23 (b) is E-E sectional schematic diagram in Figure 23 (a)；
Detailed description of the invention
The version operating in the multistage creeping motion type snake-shaped robot in nuclear fusion cabin in the present embodiment is: Figure 21, Figure 22, figure 1, shown in Fig. 2 and Fig. 3, by front body segment lateral register module 1 with rear body segment lateral register module 3 at middle body segment axially-movable mould The two ends of block 2 are symmetrical arranged composition walking mechanism, using walking mechanism as wriggling unit U1, by least two wriggling unit U1 Multistage creeping motion type snake-shaped robot in series, is connected by telescopic elastic double Hooke's joint 13 between adjacent wriggling unit U1.
Shown in Fig. 4, the structure of front body segment lateral register module 1 is set to: electric drive submodule 1B is installed in carrying submodule The inside of 1A, and have the split support in inner side submodule 1C and outside split support submodule 1D pair with identical version Claim the left and right sides being arranged at electric drive submodule 1B；Inner side split support submodule 1C's and the split support in outside submodule 1D One end is fixed on the left and right sides setting position of electric drive submodule 1B respectively, and the other end is respectively along electric drive submodule 1B's The lateral scalable motion in left and right and with carrying submodule 1A as guide rail；Shown in Fig. 1, at the top of front body segment lateral register module 1, Centrally located front body segment thermal controls apparatus 9 is set, is positioned at sidepiece and front body segment Weighting system 7 is set, before front body segment Weighting system 7 is in In body segment lateral register module 1, the top of the split support submodule in outside, is positioned at front portion and arranges visual observation The Cloud Terrace 6, is used for Imitative anthelmintic robot running gear when nuclear fusion cabin 12 internal operation to cabin in all kinds of component working situations to carry out 360 ° of space complete Orientation is maked an inspection tour and monitoring task in real time；Rear body segment lateral register module 3 has identical structure with front body segment lateral register module 1 Form；At the top of rear body segment lateral register module 3, centrally located rear body segment thermal controls apparatus 11 is set, is positioned at after sidepiece arranges Body segment Weighting system 8, rear body segment Weighting system 8 is in rear body segment lateral register module 3 the upper of the split support submodule in outside Side.Shown in Figure 12, the structure of middle body segment axial movement module 2 is set to: Anterior Segment submodule 2B is installed in housing submodule The inside of 2A；Anterior Segment submodule 2B and deutomerite cross-talk module 2C are connected in the inside of housing submodule 2A and mutual edge Fore-and-aft direction can be movable relatively, and forms telescopic middle body segment axial movement module 2, and deutomerite cross-talk module 2C protrudes from middle body segment The tail end face of axial movement module 2；At the top of middle body segment axial movement module 2, centrally located arrange middle body segment thermal control dress Put 10.Before between front body segment lateral register module 1 and middle body segment axial movement module 2, double Hooke's joint 4 is connected, rear After between body segment lateral register module 3 and middle body segment axial movement module 2, double Hooke's joint 5 is connected.
As shown in Figure 23 a and Figure 23 b, in the present embodiment, the composition component of telescopic elastic double Hooke's joint 13 includes: Anterior Segment 1301, rear sections 1307, front pitching banking stop 1302, rear pitching banking stop 1306, middle sections cylinder 1303, middle sections bar Body 1305 and compression spring 1304；Anterior Segment 1301 and rear sections 1307 have identical version, front pitching banking stop 1302 With rear pitching banking stop 1306, there is identical version；Wherein, middle sections cylinder 1303 is by the middle universal interface of sections cylinder End 1303A and middle sections cylinder linear interface end 1303B is constituted, and the middle sections body of rod 1305 is by the middle universal interface end of the sections body of rod 1305A and middle sections body of rod linear interface end 1305B is constituted；Middle sections cylinder linear interface end 1303B and middle sections body of rod line Property interface end 1305B with spline fitted, and can in axially opposing movement, middle sections cylinder linear interface end 1303B and in Arranging between sections body of rod linear interface end 1305B that compression spring 1304 formed axially can elastic extension structure；Anterior Segment 1301 One end constitute upper and lower pitching and deflection two-dimensional rotary by front stauros 1309 with middle universal interface end 1303A of sections cylinder Connecting, the front side board in rear body segment lateral register module 3 in the wriggling unit that the other end is adjacent with front connects firmly；Rear sections 1307 One end constitute upper and lower pitching and deflection two-dimensional rotary by rear stauros 1308 with middle universal interface end 1305A of the sections body of rod Connecting, the front side board of the front body segment lateral register module 1 in the wriggling unit that the other end is adjacent with rear connects firmly；Two front pitching Banking stop 1302 is in the end face being installed in Anterior Segment 1301 symmetrical above and below and bottom surface, and after two, pitching banking stop 1306 is in the most right Claim end face and the bottom surface being installed in rear sections 1307；Middle sections cylinder in being embodied as, in telescopic elastic double Hooke's joint 13 Between linear interface end 1303B and middle sections body of rod linear interface end 1305B axially can relative movement distance not less than each wriggling In unit U1 inside between the Anterior Segment submodule 2B in body segment axial movement module 2 and deutomerite cross-talk module 2C along the longitudinal direction Can be movable relatively distance.
In the present embodiment, the structure carrying submodule 1A in the front body segment lateral register module 1 shown in Fig. 5 is set to: with first Rectangular base plate 101 is bottom surface, with the first rectangular-shaped top plate 107 as end face, in the first rectangular base plate 101 and the first rectangular-shaped top plate 107 Between with front side board 106 as front end face, with back side panel 102 as rear end face, with inner swash plate 104M as left side, swash plate in addition 104N is that right side forms front body segment rectangular frame；In the outside of front body segment rectangular frame, it is positioned on inner swash plate 104M and is provided with Interior spin supporting arrangement 105M, is positioned on outer swash plate 104N and is provided with outer spin supporting arrangement 105N, within spin supporting arrangement 105M and outer spin supporting arrangement 105N is as front body segment rectangular frame support member on left side and right side；At front body segment The outside of rectangular frame, is positioned in the first rectangular base plate 101 and is provided with universal caster wheel 103, using universal caster wheel 103 as precursor The joint rectangular frame support member in bottom surface；This version is conducive to front body segment lateral register module and rear body segment lateral register mould The system loss of weight of block, improves versatility and the interchangeability of parts.
Shown in Fig. 9, interior spin supporting arrangement 105M is that the internal ring wall 12M of large dicyclic shape conduit in nuclear fusion cabin 12 is for supporting Face；Outer spin supporting arrangement 105N is that the external annulus 12N of large dicyclic shape conduit in nuclear fusion cabin 12 is as supporting surface.This knot Structure be before body segment lateral register module 1 and rear body segment lateral register module 3 in nuclear fusion cabin 12 as bearing contact end；Many The individual interior spin supporting arrangement 105M and outer spin supporting arrangement 105N distribution on carrying submodule 1A can beneficially increase contact Area, it is ensured that uniform force.
Shown in Fig. 6 and Fig. 7, in front body segment lateral register module 1, the structure of electric drive submodule 1B is set to: at front body segment square The inside of shape framework, is positioned in the first rectangular base plate 101 and is on the position of coaxial line that to set gradually split support submodule solid Determine bearing the 108, first motor support base 109, clutch shaft bearing bearing 110 and the second bearing spider 113；At the first motor support base 109 Upper fixed installation the first servo vacuum reducing motor 122, the output shaft of the first servo vacuum reducing motor 122 passes through the first shaft coupling Device 121 is connected with the first center ball screw 114；First center ball screw 114 is multidiameter, and the two ends of multidiameter are divided The first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115 Tong Guo not be supported on clutch shaft bearing bearing 110 and the second axle Holding between bearing 113, the first swivel nut 111 is contained on the threaded shaft section of the first center ball screw 114 with rolling screw engagement sleeves, The outer ring of the first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115 is respectively by clutch shaft bearing end cap the 120, second axle Socket end lid 116 fastens, and the inner ring of the first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115 is respectively by the first circle spiral shell Female 123, first circlip for shaft 125 fastens；First moves flat board 112 is installed on the first swivel nut 111；Arrange first Mobile flat board 112 guide frame, is first guide post 118 that be arranged in parallel in the both sides of the first center ball screw 114, first One end of guide post 118 is installed on clutch shaft bearing bearing 110, and the other end is installed in the second bearing by the first sleeve 117 and props up On seat 113, first moves flat board 112 utilizes the first linear bearing 119 to be bearing on the first guide post 118, makes first to move Flat board 112 can move axially under the drive of the first swivel nut 111 on the first guide post 118；In the first rectangular base plate 101 The underface going up, being positioned at the first center ball screw 114 is provided with the first photoswitch 126, and the first photoswitch 126 is positioned at Setting position between clutch shaft bearing bearing 110 and the second bearing spider 113.In front body segment lateral register module 1, outside is split Support submodule 1D support split with inner side submodule 1C and there is the most identical version:
Shown in Fig. 8 (a), massive plate is set at split support submodule hold-down support 108 and the first side moving flat board 112 140, at the relative position fixed installation gusset piece 132 of the inner side of massive plate 140 with split support submodule hold-down support 108, At the inner side of massive plate 140 and the first relative position fixed installation slide rail 141 moving flat board 112, slide rail 141 and first The axis of center ball screw 114 is parallel, is sliding combined with slide block 142 on slide rail 141；Connecting rod on first be arranged in parallel 144 and first lower link 146 at one end through first upper hinge support the 129, first lower hinge support 127 and the first bearing pin 128 with Split support submodule hold-down support 108 is hinged；At the other end by double hinged-supports 143 and the 4th bearing pin 145 and slide block 142 It is hinged；On second be arranged in parallel, connecting rod 139 and the second lower link 150 are at one end through the 3rd upper hinge support the 135, the 3rd Lower hinge support 130 and the 3rd bearing pin 131 are hinged with installing gusset piece 132, the other end by the second upper hinge support 147, Second lower hinge support 149 and the second bearing pin 148 move flat board 112 with first and are hinged；Shown in Fig. 8 (b), right in inner side In spending chapelet module 1C, it is fixedly installed interior wedge shape support 133M in the outside of its massive plate 140, at interior wedge shape support 133M Outer face on be provided with interior universal support claw 134M；Shown in Fig. 8 (c), in the split support in outside submodule 1D, big at it The outside of flat board 140 is fixedly installed outer wedge shape support 133N, arranges outer universal support claw outside on the outer face of wedge shape support 133N 134N；Shown in Fig. 9, within universal support claw 134M and outer universal support claw 134N large dicyclic shape conduit in nuclear fusion cabin 12 On internal ring wall 12M and external annulus 12N, formation is supported for lockup state, within universal support claw 134M and outer universal support claw 134N take off It is supported for released state on the internal ring wall 12M and external annulus 12N of the large dicyclic shape conduit in nuclear fusion cabin 12.In inner side Between split support submodule 1C and carrying submodule 1A, and split support submodule 1D and the carrying submodule 1A in outside Between be respectively arranged with and be directed laterally to structure；Shown in Fig. 8 (a), being directed laterally to structure is to fixedly mount one on massive plate 140 To " L " shape small rack 137, a pair " L " shape small rack 137 supports small clevis pin with head 138, and has trundle 136 to be arranged on On small clevis pin with head 138, coordinate for rolling with trundle 136 with the end face of the first rectangular base plate 101.
When the first servo vacuum reducing motor 122 rotates, the first center ball screw 114 is driven to rotate, due to the first center Ball screw 114 and the first swivel nut 111 constitute screw pair, coordinate the first guide post 118 and the first linear bearing 119 Between slide-and-guide effect, then the first swivel nut 111 drive first move flat board 112 along central axial direction move linearly； First photoswitch 126 moves the change in location of flat board 112 and to the control of imitative anthelmintic robot running gear for sensing first System sends spacing command signal, with in the accurately front body segment lateral register module 1 of control and rear body segment lateral register module 3 first The periodicity of mobile flat board 112 moves axially distance；
First move flat board 112, split support submodule hold-down support 108, slide rail 141 and slide block 142, gusset piece 132 with And connecting rod 139 and the second lower link on connecting rod the 144, first lower link 146, second on first be hinged between above-mentioned parts 150 together constitute a set of pantograph, when the first servo vacuum reducing motor 122 drives first to move flat board 112 edge Central axial direction and carry out reciprocating linear when moving, drive the first center ball screw by the pantograph of both sides respectively The massive plate 140 of 114 arranged on left and right sides does synchronous side to linear reciprocating motion, the most respectively by inner swash plate 104M and outer swash plate In 104N drives, universal support claw 134M and outer universal support claw 134N does the lateral stretching motion of synchronization, and then it is laterally fixed to control front body segment Position module 1 and the internal ring wall 12M of rear body segment lateral register module 3 large dicyclic shape conduit bottom nuclear fusion cabin 12 and external annulus Locking between 12N and released state.
When the first servo vacuum reducing motor 122 is respectively by the pantograph of first center ball screw 114 left and right sides The massive plate 140 driving arranged on left and right sides does synchronous side when linear reciprocating motion, is directed laterally to structure and can play and stretch scissors The guiding of mechanism and local support effect, improve the dynamic stress performance of mechanism, improve front body segment lateral register module 1 and rear body Interior universal support claw 134M and the outer universal support claw 134N large dicyclic shape conduit bottom nuclear fusion cabin 12 of joint lateral register module 3 The stability of Tong Bu lateral stretching motion is done between internal ring wall 12M with external annulus 12N.
In the present embodiment, outer spin supporting arrangement 105N has the most identical version with interior spin supporting arrangement 105M: figure 10 (a), Figure 10 (b) and Figure 10 (c) are shown, and guide cylinder 105MB is fixed on inner swash plate 104M by installing plate 105MA, For being slidably matched in spring lock block 105MF is flush-mounted in guide cylinder 105MB and with guide cylinder 105MB, in installing plate 105MA and spring pressure It is set with wavy spring 105MC, ball pivot seat 105MD and spring lock block 105MF thread connection between block 105MF, and has spin 105ME Coordinate with ball pivot seat 105MD ball pivot.It is the most double in nuclear fusion bilge portion that this version can strengthen imitative anthelmintic robot running gear The environment contact adaptive ability that in annular channel, motion supporting guides, fits seam areas because of tile when the inside and outside annular wall of conduit During the phenomenons such as the working surface out-of-flatness that damage causes, imitative anthelmintic robot running gear can overcome this kind of local environment defect, protects The trouble-free operation of barrier mechanism；And the spin of interior spin resilient supporting unit 105M and outer spin resilient supporting unit 105N front end is secondary Design, can at utmost reduce imitative anthelmintic robot running gear in motor process with the frictional resistance of environment wall, optimize system System driveability, reaches to save the purpose of energy consumption.
The present embodiment China and foreign countries universal support claw 134N and interior universal support claw 134M has the most identical version:
Figure 11 (a), Figure 11 (b), Figure 11 (c) and Figure 11 (d) are shown, and support claw head 134ME passes through a universal knot with hinged Seat 134MA is connected, and universal knot is made up of the identical half bearing pin 134MC of long pin shaft 134MF, two structures and hydraulic steering gear adopting cross piece 134MB, Hydraulic steering gear adopting cross piece 134MB is articulated with on hinged-support 134MA by long pin shaft 134MF, and by two and half bearing pin 134MC along hydraulic steering gear adopting cross piece 134MB Central cross-section symmetry be articulated with support claw head 134ME, two and half bearing pin 134MC and be intersected in the central axis of long pin shaft 134MF The center of hydraulic steering gear adopting cross piece 134MB；Interior wedge shape support 133M in hinged-support 134MA support split with inner side submodule 1C connects firmly；In support Paste fluororubber layer on the circular arc outer face of pawl head 134ME and pressure sensor 134MD is distributed in array.
When imitative anthelmintic robot running gear wriggles walking bottom nuclear fusion cabin 12 in large dicyclic shape conduit, interior universal support claw 134M and outer universal support claw 134N does the lateral stretching motion of synchronization, it is achieved front body segment lateral register module 1 and rear body segment lateral register Replacing swelling and getting loose between module 3 and environment wall；Owing to interior universal support claw 134M and outer universal support claw 134N has local The degree of freedom of two orthogonal directions, enhances imitative anthelmintic robot running gear compacted in large dicyclic shape conduit bottom nuclear fusion cabin 12 The environment contact adaptive ability of row motion, does not advises because of tile damage or the working surface caused that comes off when the inside and outside annular wall of conduit Then etc. during phenomenon, front body segment lateral register module 1 and rear body segment lateral register module 3 spontaneous can seek most preferably being subject to of irregular surface Power orientation and stress point, thus provide interval kick when wriggling walking for middle body segment axial movement module 2, ensure row of wriggling That walks is smoothed out；The fluororubber layer both tolerable environment high temperature pasted on support claw head 134ME circular arc outer face, can increase again interior ten thousand To the elastic deformation between support claw 134M and outer universal support claw 134N and environment wall and contact normal pressure, thus it is that middle body segment is axial Motion module 2 provides interval kick sufficiently large when wriggling walking；The number that on support claw head 134ME circular arc outer face, array is uniform Sheet pressure sensor 134MD, connecing between universal support claw 134M and outer universal support claw 134N and environment wall in detection in real time Touch normal pressure, for accurately controlling front body segment lateral register module 1 and rear body segment lateral register module 3 bottom nuclear fusion cabin 12 big pair Locking between the internal ring wall 12M and external annulus 12N of annular channel provides theory of mechanics foundation with released state.
In the present embodiment, the structure of the housing submodule 2A in middle body segment axial movement module 2 is set to: shown in Figure 12 and Figure 13, With the second rectangular base plate 201 as bottom surface, with the second rectangular-shaped top plate 204 as end face, and in the second rectangular base plate 201 and the second rectangular top It is respectively two sides, on rear side of rectangular-shaped front side plate 203 and I shape with rectangle left plate 202 and rectangle right plate 205 between plate 204 Plate 206 is respectively both ends of the surface and forms body segment rectangular frame in.Anterior Segment submodule 2B has the most identical with deutomerite cross-talk module 2C Version: the second rectangular base plate 201 and the second rectangular-shaped top plate 204 are installed and load-bearing for the parts of Anterior Segment submodule 2B, Rectangular-shaped front side plate 203 is body segment axial movement module 2 and the mechanical interface of other modules in installing, and I shape back side panel 206 has Symmetrical gap, as running through empty when doing axially opposing feed motion between Anterior Segment submodule 2B and deutomerite cross-talk module 2C Between；Rectangle left plate 202 and rectangle right plate 205 play the critical piece in Anterior Segment submodule 2B and deutomerite cross-talk module 2C It is packaged and assists supporting role.
Shown in Figure 12 and Figure 14, in the inside of middle segment rectangular frame, it is positioned in the second rectangular base plate 201 and is in coaxial line B's It is respectively provided with the 3rd bearing spider 210 and the 4th bearing spider 225 on position, is positioned in the second rectangular-shaped top plate 204 set fixing in suspension Put the second motor support base 217, the second motor support base 217 fixedly mounts the second servo vacuum reducing motor 218；First gear 216 Being arranged on the output shaft of the second servo vacuum reducing motor 218 and engage with the second gear 212, the second gear 212 is arranged on The end of two center ball screws 208 and being axially fastened by little round nut 213；Second center ball screw 208 is multidiameter, The two ends of multidiameter are supported on the 3rd bearing spider by the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 respectively 210 and the 4th between bearing spider 225, and the second swivel nut 207 is contained in the spiral shell of the second center ball screw 208 with rolling screw engagement sleeves On stricture of vagina shaft part；The outer ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 respectively by the 3rd bearing (ball) cover 211, 4th bearing (ball) cover 221 fastens, and the inner ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is respectively by the second circle Nut the 214, second circlip for shaft 223 fastens；Second moves flat board 219 is installed on the second swivel nut 207；Move second The second linear bearing 229 it is fixed with respectively in the left and right sides symmetric position of flat board 219；Left and right at the second center ball screw 208 Being respectively provided with the second guide post 228 on lateral symmetry position, one end of the second guide post 228 is installed on the 3rd bearing spider 210, The other end is installed on the 4th bearing spider 225 by the second sleeve 226；Second guide post 228 and the second linear bearing 229 are for sliding Dynamic cooperation；Moving second and be respectively arranged with push rod 220 in the left and right sides symmetric position of flat board 219, one end of push rod 220 is fixedly mounted with Moving flat board 219 in second, the other end is each passed through the symmetrical gap space of I shape back side panel 206 and is in middle segment square Push pedal 222 outside shape framework connects firmly；In the second rectangular base plate 201, it is positioned at the underface of the second center ball screw 208 respectively Arranging the second photoswitch 209 and the 3rd photoswitch 227, the second photoswitch 209 and the 3rd photoswitch 227 office are the 3rd On axially different position between bearing spider 210 and the 4th bearing spider 225.
Shown in Figure 12, Figure 14, the Anterior Segment submodule 2B in middle body segment axial movement module 2 and deutomerite cross-talk module 2C Structure arrange, the 3rd bearing spider 210 the most parallel with the 4th bearing spider 225 just to arrange and lower end respectively The top of the second rectangular base plate 201 being fixedly installed in housing submodule 2A；The second rectangular top in housing submodule 2A The bottom of plate 204 fixedly mounts the second servo vacuum reducing motor 218 by the second motor support base 217；First gear 216 is solid It is coupled on the output shaft of the second servo vacuum reducing motor 218 and engages each other with the second gear 212 of lower section, the second gear 212 It is fixed on the end of the second center ball screw 208 and is axially fastened by little round nut 213；Second center ball screw 208 It is a multidiameter, is supported by the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 installed at two ends respectively Between the 3rd bearing spider 210 and the 4th bearing spider 225, the second swivel nut 207 is contained in second with rolling screw engagement sleeves On the threaded shaft section of heart ball screw 208；The outer ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is divided Do not fastened by the 3rd bearing (ball) cover the 211, the 4th bearing (ball) cover 221, the second double-row angular contact bal bearing 215 and the second deep-groove ball The inner ring of bearing 224 is fastened by second round nut the 214, second circlip for shaft 223 respectively；Second moves flat board 219 admittedly It is loaded on the second swivel nut 207 and the most parallel with the 3rd bearing spider 210 and the 4th bearing spider 225 just to setting, The second linear bearing 229 all it is fixed with in the second left and right sides symmetric position moving flat board 219；At the second center ball screw The left and right sides of 208 is symmetrically arranged with the second guide post 228, and one end of the second guide post 228 is installed in the 3rd bearing spider 210 On, the other end is installed on the 4th bearing spider 225 by the second sleeve 226；Second guide post 228 and the second linear bearing 229 for being slidably matched；Being symmetrically arranged with push rod 220 in second left and right sides moving flat board 219, one end of push rod 220 is fixedly mounted with Moving on flat board 219 in second, the symmetrical gap space that the other end is each passed through I shape back side panel 206 is solid with push pedal 222 Connection；The second photoswitch 209 and the 3rd photoswitch 227 it is respectively arranged with in the underface of the second center ball screw 208, Second photoswitch 209 and the 3rd photoswitch 227 are all installed in the top of the second rectangular base plate 201 and lay respectively at the first axle Hold between bearing 110 and the second bearing spider 113 at the alternative one.
When the second servo vacuum reducing motor 218 rotates, passed by the gear between the first gear 216 and the second gear 212 Dynamic pair, drives the second center ball screw 208 to rotate, owing to the second center ball screw 208 constitutes with the second swivel nut 207 Screw pair, coordinates the slide-and-guide effect between the second guide post 228 and the second linear bearing 229, then the second swivel nut 207 Drive second to move flat board 219 to move linearly along central axial direction, it is achieved that Anterior Segment submodule 2B and deutomerite cross-talk module Axially opposing feed motion between 2C；Second photoswitch 209 and the 3rd photoswitch 227 be used to sense second move flat The change in location of plate 219 respectively control system to imitative anthelmintic robot running gear send the limit of former and later two extreme positions Order of the bit signal, with the periodicity axial feed distance of body segment axial movement module 2 in accurately controlling；First gear 216 and On the one hand gear driving pair between two gears 212 is used for the mechanical transfer of motor driving moment, body segment on the other hand can shortening The axial overall length of axial movement module 2, strengthens imitative anthelmintic robot running gear at nuclear fusion bilge portion large dicyclic shape conduit The handling capacity of middle curve crawling.
In the present embodiment, shown in Figure 16, front body segment Weighting system 7 is set to following identical structure shape with rear body segment Weighting system 8 Formula: outside the first rectangular-shaped top plate 107 upper surface counterweight box 701 being installed in front body segment lateral register module 1, counterweight weight Each counterweight in code character 702 is placed in counterweight box 701 by the form of array, owing to imitative anthelmintic robot running gear runs on core In internal D word cross sectional annular space, fusion cabin, and the inside and outside ring wall inclination angle of nuclear fusion bilge portion large dicyclic shape conduit, The most symmetrically relation in D word cross section so that the front body segment lateral register module 1 of imitative anthelmintic robot running gear and rear body segment side The comprehensive moment born in D word cross section to locating module 3 not necessarily meets equilibrium condition, front body segment Weighting system 7 and rear body The addition of joint Weighting system 8 promotes the balance of system synthesis carrying moment, and the counterweight gross weight of weights group 702 is adjustable, can Corresponding quantitative adjusting is made with the working conditions change of imitative anthelmintic robot running gear bearing capacity.
In the present embodiment, front body segment thermal controls apparatus 9 is set to the most identical version: Figure 19 with rear body segment thermal controls apparatus 11 Shown in, the first annular seal space housing 901, the first composite heat-insulated material layer 902 and the first phase-change material layers 906 ecto-entad successively are set It is packaged in the first annular seal space housing 901；The first nitrogen cooling tube is drawn respectively in the inner space of the first phase-change material layers 906 Road the 908, first temperature control module power line and holding wire 907, visual observation installation's power source line and holding wire the 905, first motor control Device power line and holding wire 903 and the first sensing element power line and holding wire 904.First annular seal space housing 901, first is combined Insulation material layer the 902, first phase-change material layers 906 belongs to heat insulation module, and the first annular seal space housing 901 uses stereotype manufacture, and One layer of organosilicon coating it is covered with, for by the first composite heat-insulated material layer the 902, first phase-change material layers 906 and inside on surface Other thermal control assemblies etc. carry out sealed storage, simultaneously isolation environment radiation；First composite heat-insulated material layer 902 uses polyimides The additional one layer of radiation shield of thin film is constituted, for isolation environment high temperature；First phase-change material layers 906 can use the solid-liquid phases such as lithium fluoride Become material, absorb inner heat body self heat by phase transition process；It is provided with heat transfer mould in the first phase-change material layers 906 inner space Block, is made up of the first nitrogen cooling pipe 908 and temperature control module；First nitrogen cooling pipe 908 uses corrugated stainless steel tubing, by First temperature control module power line of the first phase-change material layers 906 inner space extraction and holding wire 907, visual observation installation's power source line Equal with holding wire the 905, first electric machine controller power line and holding wire 903 and the first sensing element power line and holding wire 904 etc. Use high temperature resistant rdaiation resistant cable.
The structure of the middle body segment thermal controls apparatus 10 in the present embodiment is set to: shown in Figure 20, arranges the second annular seal space housing 1001, Second composite heat-insulated material layer 1007 and the second phase-change material layers 1004 ecto-entad successively are packaged in the second annular seal space housing 1001 In, the second phase-change material layers 1004 inner space is drawn second nitrogen cooling pipe the 1006, second temperature control module power supply respectively Line and holding wire the 1005, second electric machine controller power line and holding wire 1002 and the second sensing element power line and holding wire 1003.Second annular seal space housing the 1001, second composite heat-insulated material layer the 1007, second phase-change material layers 1004 belongs to heat insulating mould Block, the second annular seal space housing 1001 uses stereotype manufacture, and is covered with one layer of organosilicon coating on surface, for by second compound every Other thermal control assemblies etc. of hot material layer the 1007, second phase-change material layers 1004 and inside carry out sealed storage, shading ring simultaneously Border radiates；Second composite heat-insulated material layer 1007 uses the additional one layer of radiation shield of Kapton to constitute, high for isolation environment Temperature；Second phase-change material layers 1004 can use the solid-liquid phase change materials such as lithium fluoride, absorbs inner heat body self by phase transition process Heat；It is provided with heat transfer module, by the second nitrogen cooling pipe 1006 and temperature control module in the second phase-change material layers 1004 inner space Constitute；Second nitrogen cooling pipe 1006 uses corrugated stainless steel tubing, the second phase-change material layers 1004 inner space the drawn Two temperature control module power lines and holding wire the 1005, second electric machine controller power line and holding wire 1002 and the second sensing element electricity Source line and holding wire 1003 etc. all use high temperature resistant rdaiation resistant cable.
The structure of the front double Hooke's joint 4 in the present embodiment is set to: shown in Figure 17, have the first identical Anterior Segment 401 of structure, Anterior Segment 407A in first, in first after pitching limit before sections 405 after sections 407B and first, and identical two first of structure Pitching banking stop 404 after bit slice 402 and two first；In first in Anterior Segment 407A and first after sections 407B with back-to-back shape Formula is fixedly connected；One end of first Anterior Segment 401 is by the upper and lower pitching of Anterior Segment 407A composition in stauros 403 and first before first And deflection two-dimensional rotary connects, the other end connects firmly with the back side panel 102 in front body segment lateral register module 1；Sections after first One end of 405 constitutes upper and lower pitching and deflection two-dimensional rotary company by sections 407B after in stauros 406 and first after first Connecing, the other end connects firmly with the rectangular-shaped front side plate 203 in middle body segment axial movement module 2；Before two first, pitching banking stop 402 is respectively The top being installed in the first Anterior Segment 401 symmetrical above and below and bottom, after two first, pitching banking stop 404 is the most symmetrical above and below is fixedly mounted with The top of sections 405 and bottom after first.The structure of rear double Hooke's joint 5 is set to: shown in Figure 18, have that structure is identical Anterior Segment 507A in two Anterior Segment 501, second, in second after sections 505 after sections 507B and second, and structure identical two Only pitching banking stop 504 after pitching banking stop 502 and two second before second；Rear sections in Anterior Segment 507A and second in second 507B is fixedly connected with back-to-back form；One end of second Anterior Segment 501 is by Anterior Segment in stauros 503 and second before second 507A constitutes upper and lower pitching and deflection two-dimensional rotary connects, and the other end is solid with the push pedal 222 in middle body segment axial movement module 2 Connection；After after second, one end of sections 505 passes through second, in stauros 506 and second, rear sections 507B constitutes upper and lower pitching and left and right is inclined Turning two-dimensional rotary to connect, the other end connects firmly with the back side panel 102 in rear body segment lateral register module 3；Before two second, pitching is spacing Sheet 502 top being installed in the second Anterior Segment 501 the most symmetrical above and below and bottom, after two second, pitching banking stop 504 is the most up and down Symmetry is installed in top and the bottom of sections 505 after second.Front double Hooke's joint 4 and rear double Hooke's joint 5 belong to dual cardan type U-joint, For common single universal joint, before dual cardan type U-joint effectively can adapt in imitative anthelmintic robot running gear work process Bottom body segment lateral register module 1 and rear body segment lateral register module 3 and nuclear fusion cabin 12 the internal ring wall 12M of large dicyclic shape conduit with Elastic anchorage force change between external annulus 12N and position of centre of gravity variation, body segment axial movement module 2 and precursor in Automatic adjusument Relative position relation between joint lateral register module 1 and rear body segment lateral register module 3, prevents mechanism blockage；And it is front double universal Before in joint 4 two first, after pitching banking stop 402 and two first, pitching banking stop 404 can centered body joint axial movement module 2 Play restriction effect with the front body segment lateral register module 1 relative position relation in vertical plane, simultaneously after in double Hooke's joint 5 two Only after the second front pitching banking stop 502 and two second, pitching banking stop 504 can centered body joint axial movement module 2 and rear body segment The lateral register module 3 relative position relation in vertical plane plays restriction effect, prevents excessive relative to positional offset amount up and down and makes In, the axially driving performance of imitative anthelmintic robot running gear is impacted by body segment axial movement module 2.
In the present embodiment, visual observation The Cloud Terrace 6 is set to parallel visual observation The Cloud Terrace, and its version is:
Shown in Figure 15, at the end face advanced position of the first rectangular-shaped top plate 107, it is fixedly installed the total bearing of " L " shape 601, vision collecting Probe 606 is arranged in probe bearing 607, and probe bearing 607 is connected in " L " shape by three freedom redundancy sphere parallel mechanism Total bearing 601；The structure of three freedom redundancy sphere parallel mechanism is set to: be fixedly mounted with setting in the front end of the total bearing of " L " shape 601 Fixed platform 615, is evenly distributed three motor support bases 613 of installation, on the front end face of fixed platform 615 on each motor support base 613 It is fixed with servo vacuum reducing motor 612 respectively；The output shaft of three servo vacuum reducing motors 612 respectively with on correspondence position First near-end boss 614A of the first curved rod 614 connects firmly, and the first far-end boss 614B of three the first curved rods 614 is respectively Rotated by the axle system of the first miniature bearing 616 supporting with the second near-end boss 602A of the second curved rod 602 on correspondence position Connecting, the second far-end boss 602B of three the second curved rods 602 is micro-by second with the little bearing 604 on correspondence position respectively Profile shaft holds the axle system of 603 supportings and is rotationally connected；Three little bearings 604 are evenly distributed and are installed in moving platform 605, bearing 607 of popping one's head in It is installed on moving platform 605；Moving platform 605 is coaxial with fixed platform 615 the most right；In arranging between moving platform 605 and fixed platform 615 Heart redundancy branched chain, center redundancy branched chain is made up of first straight connecting rod the 611, second straight connecting rod 610 and the 3rd straight connecting rod 608, and first One end of straight connecting rod 611 is fixed on the center of fixed platform 615, the other end and the second straight connecting rod 610 and constitutes sliding pair connection, and the 3rd is straight One end of connecting rod 608 is fixed on the center of moving platform 605, and the other end is connected with the second straight connecting rod 610 by center Spherical hinge 609； The center of three the first curved rods 614, the centre of sphere weight of Jun Yu center, center Spherical hinge 609 of three the second curved rods 602 Close.In this version, three freedom redundancy sphere parallel mechanism is loaded into imitative anthelmintic machine by the total bearing of " L " shape 601 The position, front end of device people's walking mechanism, owing to imitative anthelmintic robot running gear is wriggled in nuclear fusion bilge portion large dicyclic shape conduit Walking, then the work space of three freedom redundancy sphere parallel mechanism can cover the annular space within whole nuclear fusion cabin.Load The three freedom redundancy sphere parallel mechanism having vision collecting probe 606 defines parallel visual observation The Cloud Terrace, by three vacuum Servo deceleration motor 612 combine driving, can realize the observation of three the orthogonal direction rotary freedoms in space, coordinate imitative anthelmintic machine The periodicity crawling motion of people's walking mechanism, can complete that 360 ° of D word cross sectional annular space internal to nuclear fusion cabin are comprehensive to be regarded Visual information acquisition function, and have that system stiffness is big, motion flexibility ratio high, bearing capacity is strong, motion positions precision is high, strange The multinomial superior functions such as dystopy appearance is controlled
In being embodied as, in order to adapt to the extreme operating environments conditions such as nuclear fusion reaction cabin internal high temperature, vacuum, radioprotective, front Body segment lateral register module 1, middle body segment axial movement module 2, rear body segment lateral register module 3, front double Hooke's joint 4, rear double ten thousand Stainless steel is all used to joint 5, parallel visual observation device 6, front body segment Weighting system 7 and rear body segment Weighting system 8 main body Material manufactures；The first double-row angular contact bal bearing 124 in front body segment lateral register module 1 and rear body segment lateral register module 3 and The second double-row angular contact bal bearing 215 and the second deep groove ball bearing in one deep groove ball bearing 115, middle body segment axial movement module 2 224, the first miniature bearing 616 in parallel visual observation device 6 and the second miniature bearing 603 all use full-ceramic bearing；Depending on Feel that acquisition probe 606 uses high-temperature resistant optical fiber imaging system；In front body segment thermal controls apparatus 9 and rear body segment thermal controls apparatus 11 first is close The second annular seal space housing 1001 in envelope cavity shell 901, middle body segment thermal controls apparatus 10 all uses stereotype manufacture；Front body segment lateral register Module 1, middle body segment axial movement module 2, rear body segment lateral register module 3, front double Hooke's joint 4, rear double Hooke's joint 5 and parallel connection Formula visual observation The Cloud Terrace 6 all uses graphited oil or molybdenum bisuphide Hmp grease to carry out mechanical lubrication.
In the present embodiment multistage creeping motion type snake-shaped robot following steps complete a forward step away from walking process:
Step 1: front body segment lateral register module 1 and rear body segment lateral register module 3 in each wriggling unit are in lockup state, Middle body segment axial movement module 2 is in minimum shortening state；Telescopic elastic double Hooke's joint 13 between adjacent wriggling unit is in Big elongation state；Multistage creeping motion type snake-shaped robot is positioned at the A of position；It is arranged on the visual observation in first wriggling unit U1 The Cloud Terrace 6 is retained in position at A and carries out visual information collection.
Step 2: the front body segment lateral register module 1 in each wriggling unit is set to released state, rear body segment lateral register module 3 Being maintained at lockup state, each middle body segment axial movement module 2 synchronizes elongation until reaching maximum elongation state；Adjacent wriggling unit it Between telescopic elastic double Hooke's joint 13 synchronize to shorten until minimizing shortening state；Multistage creeping motion type snake-shaped robot is by position Put A in the traveling of position B；Visual observation The Cloud Terrace 6 carries out visual information collection in from position A toward the traveling of position B.
Step 3: the front body segment lateral register module 1 in each wriggling unit is set to lockup state, rear body segment lateral register module 3 Being set to released state, each middle body segment axial movement module 2 synchronizes to shorten until minimizing shortening state；Adjacent wriggling unit it Between telescopic elastic double Hooke's joint 13 synchronize elongation until reaching maximum elongation state, multistage creeping motion type snake-shaped robot advances to At the B of position；Visual observation The Cloud Terrace 6 is retained in position at B and carries out visual information collection.
Step 4: the front body segment lateral register module 1 in each wriggling unit is maintained at lockup state, rear body segment lateral register module 3 Entering lockup state, middle body segment axial movement module 2 is maintained at minimum shortening state；Telescopic elasticity between adjacent wriggling unit Double Hooke's joint 13 is maintained at maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at the B of position；Visual observation The Cloud Terrace 6 is protected Hold and carry out storage process at A to the visual information collected at B at the B of position；Complete a forward step of position A to position B Away from visual information collection and storage process.
In the present embodiment multistage creeping motion type snake-shaped robot following steps complete a backstep away from walking process:
Step 1: front body segment lateral register module 1 and each rear body segment lateral register module 3 in each wriggling unit are in locking shape State, middle body segment axial movement module 2 is in minimum shortening state；Telescopic elastic double Hooke's joint 13 between adjacent wriggling unit Being in maximum elongation state, multistage creeping motion type snake-shaped robot is positioned at the A of position；It is arranged on regarding in first wriggling unit U1 Feel observation The Cloud Terrace 6 be retained in position at A and the visual information collected in a upper walking step pitch is carried out storage process.
Step 2: the front body segment lateral register module 1 in each wriggling unit U1 is maintained at lockup state, rear body segment lateral register module 3 Being set to released state, each middle body segment axial movement module 2 synchronizes elongation until reaching maximum elongation state；Adjacent wriggling unit it Between telescopic elastic double Hooke's joint 13 synchronize to shorten until minimizing shortening state, multistage creeping motion type snake-shaped robot be in by Position A is in the traveling of position C；Visual observation The Cloud Terrace 6 is retained in position at A and carries out visual information collection.
Step 3: the front body segment lateral register module 1 in each wriggling unit U1 is set to released state, rear body segment lateral register module 3 Being set to lockup state, each middle body segment axial movement module 2 synchronizes to shorten until minimizing shortening state；Adjacent wriggling unit U1 Between telescopic elastic double Hooke's joint 13 synchronize elongation until reaching maximum elongation state, multistage creeping motion type snake-shaped robot is advanced At the C of position；Visual observation The Cloud Terrace 6 carries out visual information collection in from position A toward the traveling of position C.
Step 4: the front body segment lateral register module 1 in each wriggling unit U1 is set to lockup state, rear body segment lateral register module 3 Being maintained at lockup state, middle body segment axial movement module 2 is maintained at minimum shortening state；Telescopic between adjacent wriggling unit U1 Elastic double Hooke's joint 13 is maintained at maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at the C of position；Visual observation The Cloud Terrace 6 are retained in position at C and carry out visual information collection；Complete the backstep of position A to position C away from visual information collection.
In the present embodiment, set three servo vacuum reducing motors 612 and be respectively motor M, motor N and motor P, for vehicle with walking machine Structure is in nuclear fusion bilge portion large dicyclic shape conduit in the action cycle T of one step pitch of walking of wriggling by the counter clockwise direction overlooked, Servo vacuum reducing motor 612 is controlled according to the following procedure:
Step c1: the initial state in 0 moment is: the second straight connecting rod 610 and central axes of the 3rd straight connecting rod 608, respectively The central axis of the first near-end boss 614A of the first curved rod 614 and the second far-end of the second curved rod 602 of relative set The central axes of boss 602B.
Step c2: in the time period of 0～T/12: motor M stops the rotation, motor N turns clockwise with rotational speed omega, motor P Make to rotate counterclockwise with rotational speed omega.
Step c3: in the time period of T/12～2T/12: motor M makees to rotate counterclockwise with rotational speed omega, and motor N stops the rotation, electricity Machine P turns clockwise with rotational speed omega.
Step c4: in the time period of 2T/12～3T/12: motor M turns clockwise with rotational speed omega, motor N makees inverse with rotational speed omega Hour hands rotate, and motor P stops the rotation.
Step c5: in the time period of 3T/12～4T/12: motor M stops the rotation, motor N makees to rotate counterclockwise with rotational speed omega, electricity Machine P turns clockwise with rotational speed omega.
Step c6: in the time period of 4T/12～5T/12: motor M turns clockwise with rotational speed omega, motor N stops the rotation, electricity Machine P makees to rotate counterclockwise with rotational speed omega.
Step c7: in the time period of 5T/12～6T/12: motor M makees to rotate counterclockwise with rotational speed omega, and motor N makees suitable with rotational speed omega Hour hands rotate, and motor P stops the rotation.
Step c8: in the time period of 6T/12～T: motor M, motor N and motor P all stop the rotation, complete to wriggle counterclockwise row Walk the action cycle process of a step pitch.
Wriggling walking process is identical with wriggling walking process principle counterclockwise clockwise.

Claims (10)

1. operate in a control method for multistage creeping motion type snake-shaped robot in nuclear fusion cabin, it is characterized in that: by front body segment side It is symmetrical arranged structure at the two ends of middle body segment axial movement module (2) to locating module (1) and rear body segment lateral register module (3) Become walking mechanism, using described walking mechanism as wriggling unit (U1), at least two wriggle unit (U1) multistage in series Creeping motion type snake-shaped robot, is connected by telescopic elastic double Hooke's joint (13) between adjacent wriggling unit (U1)；Described Control method is:
Described multistage creeping motion type snake-shaped robot complete as follows a forward step away from walking process:
Step 1: front body segment lateral register module (1) and rear body segment lateral register module (3) in each wriggling unit are in lock Only state, middle body segment axial movement module (2) is in minimum shortening state；Telescopic elasticity between adjacent wriggling unit double ten thousand It is in maximum elongation state to joint (13)；Multistage creeping motion type snake-shaped robot is positioned at the A of position；
Step 2: front body segment lateral register module (1) in each wriggling unit is set to released state, rear body segment lateral register mould Block (3) is maintained at lockup state, and each middle body segment axial movement module (2) synchronizes elongation until reaching maximum elongation state；Phase Telescopic elastic double Hooke's joint (13) between adjacent wriggling unit synchronizes to shorten until minimizing shortening state；Multistage creeping motion type Snake-shaped robot by position A in the traveling of position B；
Step 3: front body segment lateral register module (1) in each wriggling unit is set to lockup state, rear body segment lateral register mould Block (3) is set to released state, and each middle body segment axial movement module (2) synchronizes to shorten until minimizing shortening state；Phase Telescopic elastic double Hooke's joint (13) between adjacent wriggling unit synchronizes to extend until reaching maximum elongation state, multistage creeping motion type Snake-shaped robot advances at the B of position；
Step 4: front body segment lateral register module (1) in each wriggling unit is maintained at lockup state, rear body segment lateral register mould Block (3) enters lockup state, and middle body segment axial movement module (2) is maintained at minimum shortening state；Between adjacent wriggling unit Telescopic elastic double Hooke's joint (13) be maintained at maximum elongation state, multistage creeping motion type snake-shaped robot is positioned at the B of position；
Described multistage creeping motion type snake-shaped robot complete as follows a backstep away from walking process:
Step 1: front body segment lateral register module (1) and each rear body segment lateral register module (3) in each wriggling unit are in Lockup state, middle body segment axial movement module (2) is in minimum shortening state；Telescopic elasticity between adjacent wriggling unit is double Universal joint (13) is in maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at the A of position；
Step 2: front body segment lateral register module (1) respectively wriggled in unit (U1) is maintained at lockup state, and rear body segment is lateral Locating module (3) is set to released state, and each middle body segment axial movement module (2) synchronizes elongation until reaching maximum elongation shape State；Telescopic elastic double Hooke's joint (13) between adjacent wriggling unit synchronizes to shorten until minimizing shortening state, multistage Creeping motion type snake-shaped robot is in by position A in the traveling of position C；
Step 3: front body segment lateral register module (1) respectively wriggled in unit (U1) is set to released state, and rear body segment is lateral Locating module (3) is set to lockup state, and each middle body segment axial movement module (2) synchronizes to shorten until minimizing shortening shape State；Telescopic elastic double Hooke's joint (13) between adjacent wriggling unit (U1) synchronizes to extend until reaching maximum elongation state, Multistage creeping motion type snake-shaped robot advances at the C of position；
Step 4: front body segment lateral register module (1) respectively wriggled in unit (U1) is set to lockup state, and rear body segment is lateral Locating module (3) is maintained at lockup state, and middle body segment axial movement module (2) is maintained at minimum shortening state；Adjacent wriggling Telescopic elastic double Hooke's joint (13) between unit (U1) is maintained at maximum elongation state, multistage creeping motion type snake-shaped robot It is positioned at the C of position.
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 1, it is special Levy and be:
The structure of described front body segment lateral register module (1) is set to: electric drive submodule (1B) is installed in carrying submodule (1A) Inside, and have the split support in inner side submodule (1C) and outside split support submodule (1D) with identical version It is symmetricly set in the left and right sides of described electric drive submodule (1B)；The split support in described inner side submodule (1C) and outside are right One end of spending chapelet module (1D) is fixed on the left and right sides setting position of electric drive submodule (1B), the other end respectively Respectively along the lateral scalable motion in left and right of described electric drive submodule (1B) and with described carrying submodule (1A) as guide rail； At the top of described front body segment lateral register module (1), centrally located front body segment thermal controls apparatus (9) is set, is positioned at sidepiece and arranges Front body segment Weighting system (7), it is split that described front body segment Weighting system (7) is in outside in front body segment lateral register module (1) Support the top of submodule；
Described rear body segment lateral register module (3) and described front body segment lateral register module (1) have identical version； The top of body segment lateral register module (3) in the rear, centrally located arranges rear body segment thermal controls apparatus (11), is positioned at sidepiece and sets Postponing body segment Weighting system (8), described rear body segment Weighting system (8) place body segment lateral register module (3) in the rear is at home and abroad The top of the split support in side submodule；
The structure of described middle body segment axial movement module (2) is set to: Anterior Segment submodule (2B) is installed in housing submodule (2A) Inside；Described Anterior Segment submodule (2B) and deutomerite cross-talk module (2C) be connected in the inside of housing submodule (2A) and Can be movable relatively along the longitudinal direction each other, form telescopic middle body segment axial movement module (2), described deutomerite cross-talk module (2C) tail end face of described middle body segment axial movement module (2) is protruded from；Described middle body segment axial movement module (2) Top, centrally located arranges middle body segment thermal controls apparatus (10)；
Double Hooke's joint (4) phase before between described front body segment lateral register module (1) and middle body segment axial movement module (2) Couple, in the rear later double Hooke's joint (5) between body segment lateral register module (3) and middle body segment axial movement module (2) It is connected.
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 1, it is special Levy and be:
The composition component of described telescopic elastic double Hooke's joint (13) including: Anterior Segment (1301), rear sections (1307), Front pitching banking stop (1302), rear pitching banking stop (1306), middle sections cylinder (1303), the middle sections body of rod (1305) With compression spring (1304)；Described Anterior Segment (1301) and rear sections (1307) have identical version, described before bow Face upward banking stop (1302) and rear pitching banking stop (1306) has identical version；
Described middle sections cylinder (1303) is by the universal interface end of middle sections cylinder (1303A) and middle sections cylinder linear interface end (1303B) constituting, the described middle sections body of rod (1305) is by the universal interface end of the middle sections body of rod (1305A) and middle sections bar Body linear interface end (1305B) is constituted；Described middle sections cylinder linear interface end (1303B) and middle sections body of rod linear interface End (1305B), and can be in axially opposing movement with spline fitted, described middle sections cylinder linear interface end (1303B) And arrange between middle sections body of rod linear interface end (1305B) that compression spring (1304) formed axially can elastic extension structure；
One end of described Anterior Segment (1301) is by front stauros (1309) and middle sections cylinder universal interface end (1303A) structure Upper and lower pitching and deflection two-dimensional rotary is become to connect, the rear body segment lateral register mould in the wriggling unit that the other end is adjacent with front Front side board in block (3) connects firmly；One end of rear sections (1307) is by rear stauros (1308) and middle sections body of rod Universal connector Mouthful end (1305A) constitutes upper and lower pitching and deflection two-dimensional rotary connects, in the wriggling unit that the other end is adjacent with rear before The front side board of body segment lateral register module (1) connects firmly；Before two described front pitching banking stops (1302) are in symmetrical above and below being installed in The end face of sections (1301) and bottom surface, two described rear pitching banking stops (1306) are installed in rear sections (1307) in symmetrical above and below End face and bottom surface.
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 1, it is special Levy and be: middle sections cylinder linear interface end (1303B) in described telescopic elastic double Hooke's joint (13) and middle sections body of rod line Property interface end (1305B) between axially can relative movement distance not less than body segment axially-movable in each wriggling unit (U1) inside Between Anterior Segment submodule (2B) and deutomerite cross-talk module (2C) in module (2) along the longitudinal direction can be movable relatively distance.
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 1, it is special Levy and be:
In described front body segment lateral register module (1), the structure of carrying submodule (1A) is set to:
With the first rectangular base plate (101) as bottom surface, with the first rectangular-shaped top plate (107) as end face, in described first rectangular base plate (101) between and the first rectangular-shaped top plate (107) with front side board (106) as front end face, with back side panel (102) as rear end face, With inner swash plate (104M) as left side, swash plate (104N) is that right side forms front body segment rectangular frame in addition；
In the outside of described front body segment rectangular frame, it is positioned on described inner swash plate (104M) and is provided with spin supporting arrangement (105M), It is positioned on described outer swash plate (104N) and is provided with outer spin supporting arrangement (105N), with described interior spin supporting arrangement (105M) With outer spin supporting arrangement (105N) as described front body segment rectangular frame support member on left side and right side；Described The outside of front body segment rectangular frame, is positioned on described first rectangular base plate (101) and is provided with universal caster wheel (103), with described ten thousand To castor (103) as the described front body segment rectangular frame support member in bottom surface；Described interior spin supporting arrangement (105M) be with In nuclear fusion cabin (12), the internal ring wall (12M) of large dicyclic shape conduit is supporting surface；Described outer spin supporting arrangement (105N) is With the external annulus (12N) of large dicyclic shape conduit in described nuclear fusion cabin (12) as supporting surface；
In described front body segment lateral register module (1), the structure of electric drive submodule (1B) is set to:
In the inside of described front body segment rectangular frame, it is positioned at described first rectangular base plate (101) and above and is on the position of coaxial line Set gradually split support submodule hold-down support (108), the first motor support base (109), clutch shaft bearing bearing (110) and Two bearing spiders (113)；At described first motor support base (109) upper fixed installation the first servo vacuum reducing motor (122), The output shaft of described first servo vacuum reducing motor (122) is by the first shaft coupling (121) and the first center ball screw (114) It is connected；Described first center ball screw (114) is multidiameter, and the two ends of described multidiameter are respectively by the first biserial corner connection Touch ball bearing (124) and the first deep groove ball bearing (115) is supported on described clutch shaft bearing bearing (110) and the second bearing spider (113), between, the first swivel nut (111) is contained in the screw thread of described first center ball screw (114) with rolling screw engagement sleeves On shaft part；First moves flat board (112) is installed on described first swivel nut (111)；Arrange first to move flat board (112) and lead To structure, it is the first guide post (118) that be arranged in parallel in the both sides of described first center ball screw (114), described first One end of guide post (118) is installed on clutch shaft bearing bearing (110), and the other end is installed in the by the first sleeve (117) On two bearing spiders (113), described first moves flat board (112) utilizes the first linear bearing (119) to be bearing in described first On guide post (118), make described first move flat board (112) can be first under the drive of described first swivel nut (111) Guide post moves axially on (118)；On described first rectangular base plate (101), it is positioned at described first center ball screw (114) Underface be provided with the first photoswitch (126), described first photoswitch (126) is positioned at clutch shaft bearing bearing (110) And second setting position between bearing spider (113)；
The split support submodule (1D) in outside and the split support in inner side submodule (1C) in described front body segment lateral register module (1) There is the most identical version:
Described split support submodule hold-down support (108) and the first side moving flat board (112), massive plate (140) is set, Fixedly mount with the relative position of split support submodule hold-down support (108) in the inner side of described massive plate (140) and couple Plate (132), at the inner side of described massive plate (140) and the first relative position fixed installation slide rail moving flat board (112) (141), described slide rail (141) is parallel with the axis of the first center ball screw (114), on described slide rail (141) It is sliding combined with slide block (142)；On first be arranged in parallel, connecting rod (144) and the first lower link (146) are at one end through One upper hinge support (129), the first lower hinge support (127) and the first bearing pin (128) and split support submodule hold-down support (108) it is hinged；Cut with scissors mutually with described slide block (142) with the 4th bearing pin (145) by double hinged-supports (143) at the other end Connect；On second be arranged in parallel connecting rod (139) and the second lower link (150) at one end through the 3rd upper hinge support (135), 3rd lower hinge support (130) and the 3rd bearing pin (131) are hinged with installing gusset piece (132), at the other end by second Upper hinge support (147), the second lower hinge support (149) and the second bearing pin (148) move flat board (112) with first and cut with scissors mutually Connect；In the split support in described inner side submodule (1C), it is fixedly installed interior wedge shape support (133M) in the outside of its massive plate, The outer face of described interior wedge shape support (133M) is provided with interior universal support claw (134M)；In the split support in described outside submodule In block (1D), it is fixedly installed outer wedge shape support (133N) in the outside of its massive plate, described outer wedge shape support (133N) Outer universal support claw (134N) is set on outer face；Gather at core with described interior universal support claw (134M) and outer universal support claw (134N) The internal ring wall (12M) and the upper formation of external annulus (12N) that become the large dicyclic shape conduit in cabin (12) are supported for lockup state, with Described interior universal support claw (134M) and outer universal support claw (134N) depart from the large dicyclic shape conduit in nuclear fusion cabin (12) It is supported for released state on internal ring wall (12M) and external annulus (12N).
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 5, it is special Levy and be: described outer spin supporting arrangement (105N) has the most identical version with interior spin supporting arrangement (105M): Guide cylinder (105MB) is fixed on inner swash plate (104M) by installing plate (105MA), and spring lock block (105MF) is flush-mounted in For being slidably matched in guide cylinder (105MB) and with guide cylinder (105MB), at installing plate (105MA) and spring lock block (105MF) Between be set with wavy spring (105MC), ball pivot seat (105MD) and spring lock block (105MF) thread connection, and have spin (105ME) coordinate with described ball pivot seat (105MD) ball pivot.
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 5, it is special Levy and be: described outer universal support claw (134N) has the most identical version with interior universal support claw (134M): support claw head (134ME) being connected with hinged-support (134MA) by a universal knot, described universal knot is by long pin shaft (134MF), two structures Identical half bearing pin (134MC) and hydraulic steering gear adopting cross piece (134MB) composition, described hydraulic steering gear adopting cross piece (134MB) passes through long pin shaft (134MF) It is articulated with on hinged-support (134MA), and symmetrical along the central cross-section of hydraulic steering gear adopting cross piece (134MB) by two and half bearing pins (134MC) Being articulated with support claw head (134ME), two and half bearing pins (134MC) are intersected in ten with the central axis of long pin shaft (134MF) The center of block (134MB)；Described hinged-support (134MA) and the interior wedge shape in the split support in described inner side submodule (1C) Support (133M) connects firmly；The circular arc outer face of described support claw head (134ME) is pasted fluororubber layer and divides in array It is furnished with pressure sensor (134MD).
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 2, it is special Levy and be: the structure of the housing submodule (2A) in described middle body segment axial movement module (2) is set to:
With the second rectangular base plate (201) as bottom surface, with the second rectangular-shaped top plate (204) as end face, and in described second rectangular base It is respectively two with rectangle left plate (202) and rectangle right plate (205) between plate (201) and the second rectangular-shaped top plate (204) Side, is respectively both ends of the surface with rectangular-shaped front side plate (203) and I shape back side panel (206) and forms body segment rectangular frame in；
Described Anterior Segment submodule (2B) has the most identical version with deutomerite cross-talk module (2C):
In the inside of described middle body segment rectangular frame, it is positioned in the second rectangular base plate (201) and is on the position of coaxial line B and divide 3rd bearing spider (210) and the 4th bearing spider (225) are not set, are positioned in the second rectangular-shaped top plate (204) in suspension solid Second motor support base (217) is set surely, at described second motor support base (217) upper fixed installation the second servo vacuum reducing motor (218)；First gear (216) is arranged on the output shaft of described second servo vacuum reducing motor (218) and with second Gear (212) engages, and described second gear (212) is arranged on the end of the second center ball screw (208) and by roundlet spiral shell Female (213) axially fasten；Described second center ball screw (208) is multidiameter, and the two ends of described multidiameter lead to respectively Cross the second double-row angular contact bal bearing (215) and the second deep groove ball bearing (224) is supported on described 3rd bearing spider (210) and Between four bearing spiders (225), the second swivel nut (207) is contained in described second center ball screw (208) with rolling screw engagement sleeves Threaded shaft section on；Second moves flat board (219) is installed on described second swivel nut (207)；
Described second left and right sides symmetric position moving flat board (219) is fixed with the second linear bearing (229) respectively； The left and right sides symmetric position of described second center ball screw (208) is respectively provided with the second guide post (228), described One end of second guide post (228) is installed on the 3rd bearing spider (210), and the other end is fixedly mounted with by the second sleeve (226) On the 4th bearing spider (225)；Described second guide post (228) and the second linear bearing (229) are for being slidably matched；
Described second left and right sides symmetric position moving flat board (219) is respectively arranged with push rod (220), described push rod (220) One end be installed in second and move flat board (219), the other end is each passed through the symmetrical of described I shape back side panel (206) and slits Mouth space connects firmly with the push pedal (222) being in outside middle segment rectangular frame；
On described second rectangular base plate (201), the underface being positioned at described second center ball screw (208) is respectively provided with Second photoswitch (209) and the 3rd photoswitch (227), described second photoswitch (209) and the 3rd photoswitch (227) On axially different position between the 3rd bearing spider (210) and the 4th bearing spider (225), the office.
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 2, it is special Levy and be: described front body segment Weighting system (7) is set to following identical version with rear body segment Weighting system (8): by counterweight Box (701) is installed in outside the first rectangular-shaped top plate (107) upper surface in described front body segment lateral register module (1), counterweight Each counterweight in counterweight group (702) is placed in counterweight box (701) by the form of array；
Described front body segment thermal controls apparatus (9) is set to the most identical version with rear body segment thermal controls apparatus (11): arrange One annular seal space housing (901), the first composite heat-insulated material layer (902) and the first phase-change material layers (906) ecto-entad successively It is packaged in described first annular seal space housing (901)；The inner space of described first phase-change material layers (906) is drawn respectively Go out the first nitrogen cooling pipe (908), the first temperature control module power line and holding wire (907), visual observation installation's power source line With holding wire (905), the first electric machine controller power line and holding wire (903) and the first sensing element power line and signal Line (904)；
The structure of described middle body segment thermal controls apparatus (10) is set to: arrange the second annular seal space housing (1001), second compound every Hot material layer (1007) and the second phase-change material layers (1004) ecto-entad successively are packaged in the second annular seal space housing (1001) In, draw respectively in described second phase-change material layers (1004) inner space the second nitrogen cooling pipe (1006), second Temperature control module power line and holding wire (1005), the second electric machine controller power line and holding wire (1002) and second sense Component power line and holding wire (1003).
The control method of the multistage creeping motion type snake-shaped robot operated in nuclear fusion cabin the most according to claim 2, it is special Levy and be: the structure of described front double Hooke's joint (4) is set to: there is identical the first Anterior Segment (401) of structure, in first before Sections (407A), in first after bow before sections (405) after sections (407B) and first, and identical two first of structure Face upward pitching banking stop (404) after banking stop (402) and two first；In described first in Anterior Segment (407A) and first after Sections (407B) is fixedly connected with back-to-back form；One end of first Anterior Segment (401) is by stauros (403) before first Constituting upper and lower pitching with Anterior Segment in first (407A) and deflection two-dimensional rotary is connected, the other end is lateral with described front body segment Back side panel (102) in locating module (1) connects firmly；Stauros (406) after one end of sections (405) passes through first after first Sections (407B) rear with first constitutes upper and lower pitching and deflection two-dimensional rotary is connected, and the other end is axial with described middle body segment Rectangular-shaped front side plate (203) in motion module (2) connects firmly；Before described two first, pitching banking stop (402) is the most right Claiming top and the bottom being installed in the first Anterior Segment (401), after described two first, pitching banking stop (404) is the most right Claim top and the bottom being installed in sections after first (405)；
The structure of described rear double Hooke's joint (5) is set to: have identical the second Anterior Segment (501) of structure, prosthomere in second Section (507A), in second after pitching before sections (505) after sections (507B) and second, and identical two second of structure Pitching banking stop (504) after banking stop (502) and two second；Deutomerite in Anterior Segment (507A) and second in described second Section (507B) is fixedly connected with back-to-back form；One end of second Anterior Segment (501) is by stauros (503) before second Constituting upper and lower pitching with Anterior Segment in second (507A) and deflection two-dimensional rotary is connected, the other end is axial with described middle body segment Push pedal (222) in motion module (2) connects firmly；After second one end of sections (505) by stauros (506) after second with After in second, sections (507B) constitutes upper and lower pitching and deflection two-dimensional rotary connects, and the other end and described rear body segment are laterally fixed Back side panel (102) in position module (3) connects firmly；Before described two second, pitching banking stop (502) is the most symmetrical above and below is fixedly mounted with In top and the bottom of the second Anterior Segment (501), after described two second, pitching banking stop (504) is the most symmetrical above and below is fixedly mounted with The top of sections (505) and bottom after second.
CN201510100656.5A 2015-03-06 2015-03-06 Operate in the control method of multistage creeping motion type snake-shaped robot in nuclear fusion cabin Expired - Fee Related CN104627266B (en)

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CN110014430B (en) * 2019-05-22 2022-05-03 中科瑞启机器人科技(山东)有限公司 Control device of robot
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