CN104627266A

CN104627266A - Control method of multi-section peristaltic snake-like robot running in nuclear fusion cabin

Info

Publication number: CN104627266A
Application number: CN201510100656.5A
Authority: CN
Inventors: 张强; 刘宜; 吴宝元; 汪增福; 刘卫; 曹会彬; 高理富; 刘明
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2015-03-06
Filing date: 2015-03-06
Publication date: 2015-05-20
Anticipated expiration: 2035-03-06
Also published as: CN104627266B

Abstract

The invention discloses a control method of a multi-section peristaltic snake-like robot running in a nuclear fusion cabin. The control method is characterized in that a front section side positioning module and a rear section side positioning module are symmetrically arranged at two ends of a middle section axial moving module to form a walking mechanism, the walking mechanism is used as at least two creeping units, the at least two creeping units are serially connected to form the multi-section peristaltic snake-like robot, and adjacent creeping units are connected by using two telescopic elastic universal joints. By using the control method disclosed by the invention, a locomotion gait similar to multi-section worm walking can be realized, the running stability is good, the control is simple; a movement locus can be across a large dual-ring groove at the bottom of the whole nuclear fusion cabin, and the all-dimensional vision information acquisition of a space inside the nuclear fusion cabin is realized by carrying a vision observing cloud deck.

Description

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

Technical field

The invention belongs to distant people and the technical field of automation of operating machine of nuclear environment, more particularly relate to a kind of control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin.

Background technology

Tokamak a kind ofly utilizes magnetic confinement to realize the toroidal container of controlled nuclear fusion, and its central authorities are toroidal vacuum chambers that an outside is wrapped coil; When energising, the inside of tokamak can produce huge screw type magnetic field, by plasma heating wherein to very high temperature, to reach the object of atomic fusion.The interior compartment of full tokamak device is commonly referred to as nuclear fusion reaction cabin, as the core carrier that contemporary nuclear power source produces and prepares, its internal environment belongs to a kind of typical extreme environment, on the one hand there is intense radiation, high temperature, the physical characteristics such as high-intensity magnetic field and high vacuum, on the other hand, reaction cabin internal unit is numerous, pipeline is intricate, passage is narrow, working space is little, some parts of adding in cabin can be subject to the pollution of radioactivation and toxic substance, even if service personnel can not or should not directly operate reaction cabin inside associated components during the maintaining of equipment, therefore need by means of distant manipulation means out of my cabin, substitute the mankind by the intelligent electromechanical appliance of one to enter in cabin and complete corresponding job task.In order to tackle the harsh environment of reaction cabin inside, ensure the normal order of work of fusion reactor, need a class specialized robot, with tackle reaction cabin inner component two large class regular job tasks, the tasks such as one class is observation, the collection to various status information such as scout and patrol and examine, process, expression and identification, for monitoring the specific works situation of fusion reactor, so that for taking corresponding decision-making to provide foundation when abnormal condition occur; Another kind of is the operability tasks such as dismounting, assembling, recovery, transport and reparation, for to the performance maintenance of fusion reactor and normalization maintenance, to maintain the normal working ability of fusion reactor, the automation that final realization operates nuclear fusion reaction cabin inner component, alerting ability and stability.

The domestic and international open report for the distant people that operates machine in atomic fusion cabin is few in number at present." fusion engineering and design " (the Fusion Engineering and Design thinking only your (Elsevier) Science Publishers publication likes in Holland, 83 (2008), pp:1833 – 1836.) in disclose a kind of Articulated Inspection Arm (AIA) robot, belong to a kind of hanging type robot for atomic fusion cabin environment, adopt the modular design in five joints, each joint has a pitch freedom and a deflection degree of freedom respectively, yaw motion is provided by the drive motor be arranged in module, luffing is provided by the motor of the lifting screw in parallelogram levers, the cable wire that moves through of each motor output shaft is passed to cable pulley place, large-angle slewing joint, relative gyroscopic movement is produced between band mobile robot each mould section, this robot can enter in cabin and move within the intermittent phase of atomic fusion cabin Physical Experiment, vacuum chamber first wall is closely observed, monitor the service condition of full tokamak device in run duration vacuum chamber, but because this robot belongs to cantilever structure, its Power Drive Unit is integrated in each joint of mechanical arm inside respectively on the one hand, add the weight of joint of robot arm, increase the carrying burden of robot end's bracing or strutting arrangement, make robot overall dimension unsuitable long, thus limit the detected event spatial dimension of robot in atomic fusion cabin, on the other hand because the gyroscopic movement of this robot each joint traveling gear needs each automatic drive device the synchronized Coordinative Control, the more difficult accurate planning of gait track, and by the interference that mechanical arm is conducted oneself with dignity, easily there is jitter phenomenon in robot front end detector, have impact on positioning precision and the stability of motion of system in operational process.

A kind of for the small-sized emergency management and rescue under nuclear radiation environment and sniffing robot disclosed in Chinese patent application CN102233575A, its traveling gear adopts caterpillar chassis structure, drive motor is placed in the middle part of chassis, run by chain drive crawler belt, chassis front end is provided with four-degree-of-freedom manipulator, gamma camera and imaging system are positioned at robot rear portion, can detect, and carry out emergency handling by robot arm to the radiation intensity under nuclear environment and orientation; Although the traveling gear of this robot possesses certain carrying capacity, can be used for some unstructured moving grids that atomic fusion encloses out of my cabin, but still cannot run in the inner space, atomic fusion cabin of geometric construction condition harshness, limit its range of use.

Summary of the invention

The present invention is the weak point for avoiding existing for above-mentioned prior art, a kind of control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin is provided, with overcome that cantilevered scheme in prior art causes to atomic fusion cabin inner space investigative range and the limited and defects such as fluctuation of service of positioning precision, make its path of motion can throughout the large dicyclic shape conduit in whole atomic fusion bilge portion, the similar more piece worm walking of motion gait, good operation stability and control simple, by carrying the omni-directional visual information acquisition of visual observation The Cloud Terrace realization to inner space, atomic fusion cabin three degree of freedom, also by carrying mast, manipulator or other operation tools realize safeguarding the composite behaviour of working part in atomic fusion cabin, to reducing robot body to the requirement of load-carrying capacity, improve the distant motion fitness of people's platform to atomic fusion cabin internal structured specific environment of operating machine of nuclear environment.

The present invention is that technical solution problem adopts following technical scheme:

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is: to 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 to form traveling gear, using described traveling gear as wriggling unit, form multistage creeping motion type snake-shaped robot by least two wriggling units in series, be connected by telescopic elasticity double jaw joint between adjacent wriggling unit; Described control method is:

Described multistage creeping motion type snake-shaped robot completes the walking process of a forward step distance as follows:

Step 1: the front body segment lateral register module in each wriggling unit and rear body segment lateral register module are all in lockup state, and middle body segment axial movement module is in minimum shortening state; Telescopic elasticity double jaw joint between adjacent wriggling unit is in maximum elongation state; Multistage creeping motion type snake-shaped robot is positioned at A place, position;

Step 2: the front body segment lateral register module installation in each wriggling unit is released state, each rear body segment lateral register module remains on lockup state, and each middle body segment axial movement module is synchronously extended until reach maximum elongation state; Telescopic elasticity double jaw joint between adjacent wriggling unit synchronously shortens until reach minimum shortening state; Multistage creeping motion type snake-shaped robot by position A in the advancing of position B;

Step 3: the front body segment lateral register module installation in each wriggling unit is lockup state, each rear body segment lateral register module installation is released state, and each middle body segment axial movement module synchronously shortens until reach minimum shortening state; Telescopic elasticity double jaw joint between adjacent wriggling unit synchronously extends until reach maximum elongation state, and multistage creeping motion type snake-shaped robot advances to B place, position;

Step 4: the front body segment lateral register module in each wriggling unit remains on lockup state, and rear body segment lateral register module enters lockup state, and middle body segment axial movement module remains on minimum shortening state; Telescopic elasticity double jaw joint between adjacent wriggling unit remains on maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at B place, position;

Described multistage creeping motion type snake-shaped robot completes the walking process of a backstep distance as follows:

Step 1: the front body segment lateral register module in each wriggling unit and each rear body segment lateral register module are all in lockup state, and middle body segment axial movement module is in minimum shortening state; Telescopic elasticity double jaw joint between adjacent wriggling unit is in maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at A place, position;

Step 2: the front body segment lateral register module in each wriggling unit remains lockup state, and rear body segment lateral register module installation is released state, and middle body segment axial movement module is synchronously extended until reach maximum elongation state; Telescopic elasticity double jaw joint between adjacent wriggling unit synchronously shortens until reach minimum shortening state, and multistage creeping motion type snake-shaped robot is in by position A in the advancing of position C;

Step 3: the front body segment lateral register module installation in each wriggling unit is released state, and rear body segment lateral register module installation is lockup state, middle body segment axial movement module synchronously shortens until reach minimum shortening state; Telescopic elasticity double jaw joint between adjacent wriggling unit synchronously extends until reach maximum elongation state, and multistage creeping motion type snake-shaped robot advances to C place, position;

Step 4: the front body segment lateral register module installation in each wriggling unit is at lockup state, and rear body segment lateral register module remains on lockup state, and middle body segment axial movement module remains on minimum shortening state; Adjacent wriggling unit (between telescopic elasticity double jaw joint remain on maximum elongation state, multistage creeping motion type snake-shaped robot is positioned at C place, position.

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is also:

The vibrational power flow of described front body segment lateral register module is: electric drive submodule is installed in the inside of carrier module, and has the inner side with identical version to split to support submodule and outside to split to support the left and right sides that submodule is symmetricly set in described electric drive submodule; Described inner side is split and is supported submodule and outside and split the left and right sides setting position that the one end supporting submodule is fixed on electric drive submodule respectively, and the other end to move and with described carrier module for guide rail along the left and right sides of described electric drive submodule to scalable respectively; At the top of described front body segment lateral register module, be positioned at central authorities and arrange front body segment thermal controls apparatus, be positioned at sidepiece and arrange front body segment Weighting system, described front body segment Weighting system is in outside in front body segment lateral register module and splits the top supporting submodule;

Described rear body segment lateral register module has identical version with described front body segment lateral register module; The top of body segment lateral register module in the rear, is positioned at central authorities and arranges rear body segment thermal controls apparatus, is positioned at sidepiece and arranges rear body segment Weighting system, described rear body segment Weighting system place in the rear in body segment lateral register module outside split the top supporting submodule;

The vibrational power flow of described middle body segment axial movement module is: 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, form telescopic middle body segment axial movement module, described deutomerite cross-talk module protrudes from the tail end face of described middle body segment axial movement module; At the top of described middle body segment axial movement module, be arranged in central authorities and body segment thermal controls apparatus is set;

Before between described front body segment lateral register module and middle body segment axial movement module, double jaw joint is connected, and after in the rear between body segment lateral register module and middle body segment axial movement module, double jaw joint is connected.

The composition component of described telescopic elasticity double jaw joint comprises: Anterior Segment, rear sections, front pitching banking stop, rear pitching banking stop, middle sections cylindrical shell, the middle sections body of rod and Compress Spring; Described Anterior Segment and rear sections have same structure form, and described front pitching banking stop and rear pitching banking stop have same structure form;

Described middle sections cylindrical shell is made up of the universal interface end of middle sections cylindrical shell and the linear interface end of middle sections cylindrical shell, and the described middle sections body of rod is made up of the universal interface end of the middle sections body of rod and the linear interface end of the middle sections body of rod; The linear interface end of described middle sections cylindrical shell and the linear interface end of the middle sections body of rod are with spline fitted, and can in axial relative movement, between the linear interface end of described middle sections cylindrical shell and the linear interface end of the middle sections body of rod, arrange that Compress Spring formed axially can elastic extension structure;

One end of described Anterior Segment forms upper and lower pitching by front stauros with the universal interface end of middle sections cylindrical shell and deflection two-dimensional rotary is connected, and the front side plate in the rear body segment lateral register module in the wriggling unit that the other end is adjacent with front connects firmly; One end of rear sections forms upper and lower pitching by rear stauros with the universal interface end of the middle sections body of rod and deflection two-dimensional rotary is connected, and the front side plate of the front body segment lateral register module in the wriggling unit that the other end is adjacent with rear connects firmly; Two described front pitching banking stops are end face and the bottom surface that upper and lower symmetry is installed in Anterior Segment, and two described rear pitching banking stops are end face and the bottom surface that upper and lower symmetry is installed in rear sections.

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is also: the linear interface end of middle sections cylindrical shell in described telescopic elasticity double jaw joint and the axis between the linear interface end of the middle sections body of rod can relative movement distance to be not less than between Anterior Segment submodule in each wriggling unit inside in body segment axial movement module and deutomerite cross-talk module along the longitudinal direction can be movable relatively distance.

In described front body segment lateral register module, the vibrational power flow of carrier module is:

With the first rectangular base plate for bottom surface, with the first rectangular-shaped top plate for end face, be front end face with front side plate between described first rectangular base plate and the first rectangular-shaped top plate, be aft end face with rear quarter panel, take inner swash plate as left side, swash plate is that right side forms front body segment rectangular frame in addition;

In the outside of described front body segment rectangular frame, be positioned on described inner swash plate and be provided with spin bearing set, be positioned on described outer swash plate and be provided with outer spin bearing set, using described interior spin bearing set and outer spin bearing set as the strut member of described front body segment rectangular frame on left side and right side; In the outside of described front body segment rectangular frame, be positioned in described first rectangular base plate and be provided with universal caster wheel, using described universal caster wheel as the strut member of described front body segment rectangular frame in bottom surface; Described interior spin bearing set is for bearing surface with the internal ring wall of large dicyclic shape conduit in atomic fusion cabin; Described outer spin bearing set is for bearing surface with the external annulus of large dicyclic shape conduit in described atomic fusion cabin;

In described front body segment lateral register module, the vibrational power flow of electric drive submodule is:

In the inside of described front body segment rectangular frame, to be positioned in described first rectangular base plate and the position being in coaxial line sets gradually to split and support submodule fixed bearing, the first motor support base, clutch shaft bearing bearing and the second bearing brackett; Described first motor support base fixedly mounts the first servo vacuum reducing motor, and the output shaft of described first servo vacuum reducing motor is connected by the first coupler and the first center ball screw; Described first center ball screw is stepped shaft, the two ends of described stepped shaft are supported between described clutch shaft bearing bearing and the second bearing brackett respectively by the first double-row angular contact bal bearing and the first deep groove ball bearing, and 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 is installed on described first swivel nut; Arrange first and move dull and stereotyped guide frame, it is first pilot bar that be arranged in parallel in the both sides of described first center ball screw, one end of described first pilot bar is installed on clutch shaft bearing bearing, the other end is installed on the second bearing brackett by the first sleeve, described first moves flat board utilizes the first linear bearing to be bearing on described first pilot bar, makes described first to move flat board and can move axially on the first pilot bar under the drive of described first swivel nut; In described first rectangular base plate, be positioned at immediately below described first center ball screw and be provided with the first photoelectric switch, described first photoelectric switch setting position between clutch shaft bearing bearing and the second bearing brackett;

In described front body segment lateral register module, outside is split and is supported submodule and inner side and split and support submodule and have version identical as follows:

Support submodule fixed bearing and first and move dull and stereotyped side described splitting massive plate is set, the inner side of described massive plate with split the relative position supporting submodule fixed bearing and fixedly mount gusset piece, move dull and stereotyped relative position in the inner side of described massive plate and first and fixedly mount slide rail, the axis being parallel of described slide rail and the first center ball screw, described slide rail is sliding combined with slide block; On be arranged in parallel first, connecting rod and the first lower link are at one end supported submodule fixed bearing by the first upper hinge support, the first lower hinge support and the first bearing pin and are hinged with splitting; Be hinged by two hinged-support and the 4th bearing pin and described slide block at the other end; On be arranged in parallel second, connecting rod and the second lower link are at one end hinged by the 3rd upper hinge support, the 3rd lower hinge support and the 3rd bearing pin and installation gusset piece, move flat board be hinged at the other end by the second upper hinge support, the second lower hinge support and the second bearing pin and first; Split in described inner side and support in submodule, be fixedly installed interior wedge shape support in the outside of its massive plate, the outer face of described interior wedge shape support is provided with interior universal support claw; Split in described outside and support in submodule, be 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 claw; With described interior universal support claw and outer universal support claw, the internal ring wall of the large dicyclic shape conduit in atomic fusion cabin and external annulus are formed and be supported for lockup state, depart from described interior universal support claw and outer universal support claw and the internal ring wall of the large dicyclic shape conduit in atomic fusion cabin and external annulus be supported for released state;

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is also: described outer spin bearing set has version identical as follows with interior spin bearing set: guide cylinder is fixed on inner swash plate by adapter plate, spring lock block to be flush-mounted in guide cylinder and to be bearing fit with guide cylinder, wavy spring is set with between adapter plate and spring lock block, ball pivot seat and spring lock block thread connection, and have spin to coordinate with described ball pivot seat ball pivot.

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is also: described outer universal support claw has version identical as follows with interior universal support claw: support claw head is connected by a universal knot and hinged-support, described universal knot is made up of identical half bearing pin of long pin shaft, two structures and hydraulic steering gear adopting cross piece, described hydraulic steering gear adopting cross piece is articulated with on hinged-support by long pin shaft, and being articulated with support claw head by two and half bearing pins along the central cross-section symmetry of hydraulic steering gear adopting cross piece, the central axis of two and half bearing pins and long pin shaft is intersected in the center of hydraulic steering gear adopting cross piece; Described hinged-support and described inner side are split the interior wedge shape support supported in submodule and are connected firmly; The circular arc outer face of described support claw head pastes fluororubber layer and is distributed with pressure sensor in array.

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is also: the vibrational power flow of the housing submodule in described middle body segment axial movement module is:

With the second rectangular base plate for bottom surface, with the second rectangular-shaped top plate for end face, and two sides are respectively with rectangle left plate and rectangle right side board between described second rectangular base plate and the second rectangular-shaped top plate, be respectively both ends of the surface with rectangular-shaped front side plate and I shape rear quarter panel and form body segment rectangular frame in;

Described Anterior Segment submodule has version identical as follows with deutomerite cross-talk module:

In the inside of described middle segment rectangular frame, to be positioned in the second rectangular base plate and the position being in coaxial line B arranges the 3rd bearing brackett and the 4th bearing brackett respectively, be positioned in the second rectangular-shaped top plate and be fixedly installed the second motor support base in suspension, described second motor support base fixedly mounts the second servo vacuum reducing motor; On the output shaft that first gear is arranged on described second servo vacuum reducing motor and with the second gears meshing, described second gear is arranged on the end of the second center ball screw and is axially fastened by little circular nut; Described second center ball screw is stepped shaft, the two ends of described stepped shaft are supported between described 3rd bearing brackett and the 4th bearing brackett respectively by the second double-row angular contact bal bearing and the second deep groove ball bearing, and the second swivel nut is contained on the threaded shaft section of described second center ball screw with rolling screw engagement sleeves; Second moves flat board is installed on described second swivel nut;

Move in dull and stereotyped left and right sides symmetric position described second and be fixed with the second linear bearing respectively; The left and right sides symmetric position of described second center ball screw arranges the second pilot bar respectively, and one end of described second pilot bar is installed on the 3rd bearing brackett, and the other end is installed on the 4th bearing brackett by the second sleeve; Described second pilot bar and the second linear bearing are bearing fit;

Move in dull and stereotyped left and right sides symmetric position described second and be respectively arranged with push rod, one end of described push rod is installed in second and moves flat board, and the symmetrical gap space that the other end is each passed through described I shape rear quarter panel connects firmly with the push pedal being in middle segment rectangular frame outside;

In described second rectangular base plate, be positioned at immediately below described second center ball screw and arrange the second photoelectric switch and the 3rd photoelectric switch respectively, described second photoelectric switch and the 3rd photoelectric switch divide on the axially different position that is between the 3rd bearing brackett and the 4th bearing brackett.

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is also: described front body segment Weighting system and rear body segment Weighting system are set to following same structure form: be installed in by counterweight box outside the first rectangular-shaped top plate upper surface in described front body segment lateral register module, 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 version identical as follows with rear body segment thermal controls apparatus: arrange the first annular seal space housing, and the first composite heat-insulated material layer and first-phase change material layer successively ecto-entad are packaged in described first annular seal space housing; The first nitrogen cooling duct, the first temperature control module power lead and signal wire (SW), visual observation installation's power source line and signal wire (SW), the first electric machine controller power lead and signal wire (SW) and the first sensing element power lead and signal wire (SW) is drawn respectively in the inner space of described first-phase change material layer;

The vibrational power flow of described middle body segment thermal controls apparatus is: arrange the second annular seal space housing, second composite heat-insulated material layer and second-phase change material layer successively ecto-entad are packaged in the second annular seal space housing, draw the second nitrogen cooling duct, the second temperature control module power lead and signal wire (SW), the second electric machine controller power lead and signal wire (SW) and the second sensing element power lead and signal wire (SW) in described second-phase change material layer inner space respectively.

The feature that the present invention operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin is also: the vibrational power flow of described front double jaw joint is: to have in identical the first Anterior Segment, first of structure after in Anterior Segment, first sections after sections and first, and pitching banking stops after pitching banking stop and two first before identical two first of structure; In described first, in Anterior Segment and first, rear sections is fixedly connected with back-to-back form; One end of first Anterior Segment forms upper and lower pitching by stauros before first with Anterior Segment in first and deflection two-dimensional rotary is connected, and the rear quarter panel in the other end and described front body segment lateral register module connects firmly; After first sections one end by stauros after first with in first afterwards sections form upper and lower pitching and deflection two-dimensional rotary is connected, the rectangular-shaped front side plate in the other end and described middle body segment axial movement module connects firmly; Before described two first pitching banking stop respectively up and down symmetry be installed in top and the bottom of the first Anterior Segment, after described two first pitching banking stops respectively up and down symmetry be installed in top and the bottom of sections after first;

The vibrational power flow of described rear double jaw joint is: to have in identical the second Anterior Segment, second of structure after in Anterior Segment, second sections after sections and second, and pitching banking stops after pitching banking stop and two second before identical two second of structure; In described second, in Anterior Segment and second, rear sections is fixedly connected with back-to-back form; One end of second Anterior Segment forms upper and lower pitching by stauros before second with Anterior Segment in second and deflection two-dimensional rotary is connected, and the push pedal in the other end and described middle body segment axial movement module connects firmly; After second sections one end by stauros after second with in second afterwards sections form upper and lower pitching and deflection two-dimensional rotary is connected, the rear quarter panel in the other end and described rear body segment lateral register module connects firmly; Before described two second pitching banking stop respectively up and down symmetry be installed in top and the bottom of the second Anterior Segment, after described two second pitching banking stops respectively up and down symmetry be installed in top and the bottom of sections after second.

Compared with the prior art, beneficial effect of the present invention is embodied in:

1, in the present invention, multistage creeping motion type snake-shaped robot range of movement is wide, and its run trace throughout the large dicyclic shape conduit complete cycle in atomic fusion bilge portion, can meet the distant people of operating machine of nuclear environment involves in degree of depth general technical requirement to manipulating objects distant in cabin.

2, the present invention is directed to atomic fusion cabin internal environment feature, multistage creeping motion type snake-shaped robot take into account the particular requirement of high temperature resistant radiation material and vacuum lubrication, thermal controls apparatus is adopted to encapsulate to in-house electromechanical component outlet and electronics package etc., at utmost can meet the high temperature of mechanism's use occasion, vacuum, the extreme physical condition such as nuclear radiation, simultaneously before each wriggling unit of robot, in rear body segment lateral register module adopts, the spatial configuration characteristic supporting sub modular structure form and also meet atomic fusion bilge portion large dicyclic shape conduit is split in outside, strong adaptability.

3, for multistage creeping motion type snake-shaped robot of the present invention, by being loaded with parallel visual observation The Cloud Terrace in its front body segment lateral register module, can the observation of three rotary freedoms in implementation space, coordinate the periodicity crawling motion of imitative worm robot, 360 ° of omni-directional visual information collection functions to inner D word cross sectional annular space, atomic fusion cabin can be completed; Again due to the spherical structure form that parallel visual observation The Cloud Terrace adopts three identical side chain circumferences uniform, adding of center redundancy branched chain makes device have the multinomial advantageous characteristic such as system stiffness is large, motion flexibility ratio is high, load-carrying capacity is strong, high, the unusual pose of motion positions precision is controlled.

4, multistage creeping motion type snake-shaped robot of the present invention is in series by telescopic elasticity double jaw joint by least two wriggling unit, form a kind of multi-function chain type matrix platform, it can carry combined type movement track, also can carry all kinds of operation tool, practical.

5, in the present invention, snake-shaped robot cyclical movement gait is similar with occurring in nature more piece worm walking step state, control method is simple and convenient, front body segment lateral register module and the carrier module in rear body segment lateral register module of each wriggling unit of robot are equipped with respectively with the inside and outside spin resilient supporting unit that the inside and outside ring wall of large dicyclic shape conduit in atomic fusion bilge portion matches, there is structure adaptive, make 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, each wriggling unit inside belongs to again syllogic cascaded structure simultaneously, because each wriggling block construction is identical, front body segment lateral register module and the rear body segment lateral register module of each wriggling unit inside are symmetrical arranged at middle body segment axial movement module two ends, therefore can mutually replace between forward and backward body segment lateral register module, commonality is good.

7, the present invention can be used for nuclear fusion device, routine state for fusion reactor performs specialized reconnaissance, the information acquisition such as monitors and patrol and examine, and specialty dismounting, assembling, reclaim, transport and the attended operation task such as reparation, and then promote the sustainable development of following nuclear fusion stack automated maintenance technology.

8, the present invention can be used for the system engineering of nuclear fusion device remote operating maintaining robot, and the routine state for fusion reactor 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.

Accompanying drawing explanation

Fig. 1 is traveling gear structural representation in the present invention;

Fig. 2 is atomic fusion cabin inner structure schematic diagram;

Fig. 3 is the overall operation schematic diagram of traveling gear in atomic fusion cabin in the present invention;

Fig. 4 is front body segment lateral register module and rear body segment lateral register modular construction schematic diagram in the present invention;

Fig. 5 is the carrier modular construction 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) split support submodule for the inner side in body segment lateral register module front in the present invention and rear body segment lateral register module and support sub modular structure schematic diagram is split in outside;

Fig. 9 is the front contact condition schematic diagram of body segment lateral register module in inside, atomic fusion cabin in the present invention;

Figure 10 (a), Figure 10 (b) and Figure 10 (c) are spin resilient supporting unit structural representation and the contact condition schematic diagram with atomic fusion bilge portion large dicyclic shape conduit inwall thereof in the carrier module in body segment lateral register module front in the present invention and rear body segment lateral register module;

Figure 11 (a), Figure 11 (b), Figure 11 (c) and Figure 11 (d) are universal support claw structural representation in the carrier module in body segment lateral register module front in the present invention and rear body segment lateral register module;

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 be in the present invention in Anterior Segment submodule in body segment axial movement module and deutomerite cross-talk modular construction schematic diagram;

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 jaw joint structural representation in the present invention;

Figure 18 is rear double jaw 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 of the present invention structural representation;

Figure 22 is that the present invention to be connected structural representation with telescopic elasticity double jaw joint between adjacent wriggling unit;

Figure 23 (a) is double jaw joint schematic diagram telescopic 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 atomic fusion cabin in the present embodiment is: shown in Figure 21, Figure 22, Fig. 1, Fig. 2 and Fig. 3, to be symmetrical arranged at the two ends of middle body segment axial movement module 2 by front body segment lateral register module 1 and rear body segment lateral register module 3 and to form traveling gear, using traveling gear as wriggling unit U1, by at least two wriggling unit U1 multistage creeping motion type in series snake-shaped robots, be connected by telescopic elasticity double jaw joint 13 between adjacent wriggling unit U1.

Shown in Fig. 4, the vibrational power flow of front body segment lateral register module 1 is: electric drive submodule 1B is installed in the inside of carrier module 1A, and has the inner side with identical version to split to support submodule 1C and outside to split to support the left and right sides that submodule 1D is symmetricly set in electric drive submodule 1B; Inner side is split and is supported submodule 1C and outside and split the left and right sides setting position that the one end supporting submodule 1D is fixed on electric drive submodule 1B respectively, and the other end to move and with carrier module 1A for guide rail along the left and right sides of electric drive submodule 1B to scalable respectively; Shown in Fig. 1, at the top of front body segment lateral register module 1, be positioned at central authorities and front body segment thermal controls apparatus 9 is set, be positioned at sidepiece and front body segment Weighting system 7 is set, front body segment Weighting system 7 is in outside in front body segment lateral register module 1 and splits the top supporting submodule, be positioned at front portion and visual observation The Cloud Terrace 6 be set, for imitative worm robot running gear at atomic fusion cabin 12 internal operation time the comprehensive real-time tour in 360 °, space and monitoring task are carried out to component working situation all kinds of in cabin; Rear body segment lateral register module 3 has identical version with front body segment lateral register module 1; At the top of rear body segment lateral register module 3, be positioned at central authorities and arrange rear body segment thermal controls apparatus 11, be positioned at sidepiece and arrange rear body segment Weighting system 8, rear body segment Weighting system 8 is in outside in rear body segment lateral register module 3 and splits the top supporting submodule.Shown in Figure 12, the vibrational power flow of middle body segment axial movement module 2 is: Anterior Segment submodule 2B is installed in the inside of housing submodule 2A; Anterior Segment submodule 2B and deutomerite cross-talk module 2C is 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, deutomerite cross-talk module 2C protrudes from the tail end face of middle body segment axial movement module 2; At the top of middle body segment axial movement module 2, be arranged in central authorities and body segment thermal controls apparatus 10 is set.Before between front body segment lateral register module 1 and middle body segment axial movement module 2, double jaw joint 4 is connected, and after between rear body segment lateral register module 3 and middle body segment axial movement module 2, double jaw joint 5 is connected.

As shown in Figure 23 a and Figure 23 b, in the present embodiment, the composition component of telescopic elasticity double jaw joint 13 comprises: Anterior Segment 1301, rear sections 1307, front pitching banking stop 1302, rear pitching banking stop 1306, middle sections cylindrical shell 1303, the middle sections body of rod 1305 and Compress Spring 1304; Anterior Segment 1301 and rear sections 1307 have same structure form, and front pitching banking stop 1302 and rear pitching banking stop 1306 have same structure form; Wherein, middle sections cylindrical shell 1303 is made up of the universal interface end 1303A of middle sections cylindrical shell and the linear interface end 1303B of middle sections cylindrical shell, and the middle sections body of rod 1305 is made up of the universal interface end 1305A of the middle sections body of rod and the linear interface end 1305B of the middle sections body of rod; The linear interface end 1303B of middle sections cylindrical shell and the linear interface end 1305B of the middle sections body of rod is with spline fitted, and can in axial relative movement, between the linear interface end 1303B of middle sections cylindrical shell and the linear interface end 1305B of the middle sections body of rod, arrange that Compress Spring 1304 formed axially can elastic extension structure; One end of Anterior Segment 1301 forms upper and lower pitching by front stauros 1309 with the universal interface end 1303A of middle sections cylindrical shell and deflection two-dimensional rotary is connected, and the front side plate in the rear body segment lateral register module 3 in the wriggling unit that the other end is adjacent with front connects firmly; One end of rear sections 1307 forms upper and lower pitching by rear stauros 1308 with the universal interface end 1305A of the middle sections body of rod and deflection two-dimensional rotary is connected, and the front side plate 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 stops 1302 are installed in end face and the bottom surface of Anterior Segment 1301 in upper and lower symmetry, after two, pitching banking stop 1306 is installed in end face and the bottom surface of rear sections 1307 in upper and lower symmetry; In concrete enforcement, the linear interface end 1303B of middle sections cylindrical shell in telescopic elasticity double jaw joint 13 and the axis between the linear interface end 1305B of the middle sections body of rod can relative movement distance to be not less than between Anterior Segment submodule 2B in each wriggling unit U1 inside 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, in front body segment lateral register module 1 shown in Fig. 5, the vibrational power flow of carrier module 1A is: with the first rectangular base plate 101 for bottom surface, with the first rectangular-shaped top plate 107 for end face, between the first rectangular base plate 101 and the first rectangular-shaped top plate 107 with front side plate 106 be front end face, with rear quarter panel 102 for aft end face, with inner swash plate 104M for left side, swash plate 104N is that right side forms front body segment rectangular frame in addition; In the outside of front body segment rectangular frame, be positioned on inner swash plate 104M and be provided with spin bearing set 105M, be positioned on outer swash plate 104N and be provided with outer spin bearing set 105N, within spin bearing set 105M and outer spin bearing set 105N as the strut member of front body segment rectangular frame on left side and right side; In the outside of front body segment rectangular frame, be positioned in the first rectangular base plate 101 and be provided with universal caster wheel 103, using universal caster wheel 103 as the strut member of front body segment rectangular frame in bottom surface; This version is conducive to the system loss of weight of front body segment lateral register module and rear body segment lateral register module, improves commonality and the interchangeability of parts.

Shown in Fig. 9, interior spin bearing set 105M is for bearing surface with the internal ring wall 12M of large dicyclic shape conduit in atomic fusion cabin 12; Outer spin bearing set 105N is for bearing surface with the external annulus 12N of large dicyclic shape conduit in atomic fusion cabin 12.This structure be before body segment lateral register module 1 and rear body segment lateral register module 3 in atomic fusion cabin 12 as bearing contact end; Multiple interior spin bearing set 105M and the distribution of outer spin bearing set 105N on carrier module 1A can be conducive to enlarge active surface, ensure uniform force.

Shown in Fig. 6 and Fig. 7, in front body segment lateral register module 1, the vibrational power flow of electric drive submodule 1B is: in the inside of front body segment rectangular frame, to be positioned in the first rectangular base plate 101 and the position being in coaxial line sets gradually to split to support submodule fixed bearing 108, first motor support base 109, clutch shaft bearing bearing 110 and the second bearing brackett 113, the output shaft that first motor support base 109 fixedly mounts the first servo vacuum reducing motor 122, first servo vacuum reducing motor 122 is connected by the first coupler 121 and the first center ball screw 114, first center ball screw 114 is stepped shaft, the two ends of stepped shaft are supported between clutch shaft bearing bearing 110 and the second bearing brackett 113 respectively by the first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115, 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 120, second roller bearing end cap 116 is fastening, 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 circular nut 123, first circlip for shaft 125 is fastening, first moves dull and stereotyped 112 is installed on the first swivel nut 111, arrange first and move dull and stereotyped 112 guide frames, it is first pilot bar 118 that be arranged in parallel in the both sides of the first center ball screw 114, one end of first pilot bar 118 is installed on clutch shaft bearing bearing 110, the other end is installed on the second bearing brackett 113 by the first sleeve 117, first moves dull and stereotyped 112 utilizes the first linear bearing 119 to be bearing on the first pilot bar 118, makes first to move dull and stereotyped 112 and can move axially on the first pilot bar 118 under the drive of the first swivel nut 111, in the first rectangular base plate 101, be positioned at immediately below the first center ball screw 114 and be provided with the first photoelectric switch 126, first photoelectric switch 126 setting position between clutch shaft bearing bearing 110 and the second bearing brackett 113.In front body segment lateral register module 1, outside is split and is supported submodule 1D and inner side and split and support submodule 1C and have version identical as follows:

Shown in Fig. 8 (a), support the side that submodule fixed bearing 108 and first moves dull and stereotyped 112 massive plate 140 is set splitting, the inner side of massive plate 140 with split the relative position supporting submodule fixed bearing 108 and fixedly mount gusset piece 132, the relative position moving dull and stereotyped 112 in the inner side of massive plate 140 and first fixedly mounts slide rail 141, the axis being parallel of slide rail 141 and the first center ball screw 114, slide rail 141 is sliding combined with slide block 142; On be arranged in parallel first, connecting rod 144 and the first lower link 146 are at one end supported submodule fixed bearing 108 by the first upper hinge support 129, first lower hinge support 127 and the first bearing pin 128 and are hinged with splitting; Be hinged with slide block 142 by two hinged-support 143 and the 4th bearing pin 145 at the other end; On be arranged in parallel second, connecting rod 139 and the second lower link 150 are at one end hinged with installation gusset piece 132 by the 3rd upper hinge support 135, the 3rd lower hinge support 130 and the 3rd bearing pin 131, move dull and stereotyped 112 be hinged at the other end by the second upper hinge support 147, second lower hinge support 149 and the second bearing pin 148 and first; Shown in Fig. 8 (b), split in inner side and support in submodule 1C, be fixedly installed interior wedge shape support 133M in the outside of its massive plate 140, the outer face of interior wedge shape support 133M is provided with interior universal support claw 134M; Shown in Fig. 8 (c), split in outside and support in submodule 1D, be fixedly installed outer wedge shape support 133N in the outside of its massive plate 140, the outer face of wedge shape support 133N outside arranges outer universal support claw 134N; Shown in Fig. 9, within the internal ring wall 12M of universal support claw 134M and the large dicyclic shape conduit of outer universal support claw 134N in atomic fusion cabin 12 and external annulus 12N formed be supported for lockup state, within universal support claw 134M and outer universal support claw 134N depart from the internal ring wall 12M of the large dicyclic shape conduit in atomic fusion cabin 12 and external annulus 12N be supported for released state.Split in inner side and support between submodule 1C and carrier module 1A, and split in outside to support to be respectively arranged with between submodule 1D and carrier module 1A and be directed laterally to structure; Shown in Fig. 8 (a), being directed laterally to structure is fixedly mount a pair " L " shape small rack 137 on massive plate 140, a pair " L " shape small rack 137 supports small clevis pin with head 138, and have trundle 136 to be arranged on small clevis pin with head 138, coordinate for rolling with the end face of the first rectangular base plate 101 with trundle 136.

When the first servo vacuum reducing motor 122 rotates, the first center ball screw 114 is driven to rotate, because the first center ball screw 114 and the first swivel nut 111 constitute screw pair, coordinate the slide-and-guide effect between the first pilot bar 118 and the first linear bearing 119, then the first swivel nut 111 drives first to move dull and stereotyped 112 to move linearly along central axial direction; First photoelectric switch 126 moves the dull and stereotyped change in location of 112 and the control system to imitative worm robot running gear sends spacing command signal for responding to first, moves axially distance accurately to control in front body segment lateral register module 1 and rear body segment lateral register module 3 first periodicity moving dull and stereotyped 112;

First moves dull and stereotyped 112, split and support submodule fixed bearing 108, slide rail 141 and slide block 142, connecting rod 144 on be hinged between gusset piece 132 and above-mentioned parts first, first lower link 146, on second, connecting rod 139 and the second lower link 150 together constitute a set of pantograph, when the first servo vacuum reducing motor 122 drive first move dull and stereotyped 112 along central axial direction carry out reciprocating linear move time, pantograph respectively by both sides drives the first center ball screw 114 left, the massive plate 140 of right both sides does synchronous side to linear reciprocating motion, then in driving respectively by inner swash plate 104M and outer swash plate 104N, universal support claw 134M and outer universal support claw 134N does synchronous side to fore and aft motion, and then the locking controlled between the internal ring wall 12M of front body segment lateral register module 1 and rear body segment lateral register module 3 large dicyclic shape conduit bottom atomic fusion cabin 12 and external annulus 12N and released state.

When the first servo vacuum reducing motor 122 is left respectively by the pantograph driving of first center ball screw 114 left and right sides, when the massive plate 140 of right both sides does synchronous side to linear reciprocating motion, be directed laterally to structure and can play guiding to pantograph and local support effect, improve the dynamic stress performance of mechanism, improve between the interior universal support claw 134M of front body segment lateral register module 1 and rear body segment lateral register module 3 and the internal ring wall 12M of outer universal support claw 134N large dicyclic shape conduit bottom atomic fusion cabin 12 and external annulus 12N and do the stability of synchronous side to fore and aft motion.

In the present embodiment, outer spin bearing set 105N has version identical as follows with interior spin bearing set 105M: shown in Figure 10 (a), Figure 10 (b) He Figure 10 (c), guide cylinder 105MB is fixed on inner swash plate 104M by adapter plate 105MA, spring lock block 105MF to be flush-mounted in guide cylinder 105MB and to be bearing fit with guide cylinder 105MB, wavy spring 105MC is set with between adapter plate 105MA and spring lock block 105MF, ball pivot seat 105MD and spring lock block 105MF thread connection, and have spin 105ME to coordinate with ball pivot seat 105MD ball pivot.This version can strengthen imitative worm robot running gear move in the atomic fusion bilge portion large dicyclic shape conduit supporting guiding environmental exposure adaptive ability, when the inside and outside annular wall of conduit damages the phenomenons such as the running surface unfairness caused because of tile laminating seam areas, imitative worm robot running gear can overcome this kind of local environment defect, the trouble-free operation of support organization; And the spin pair design of interior spin resilient supporting unit 105M and outer spin resilient supporting unit 105N front end, can at utmost reduce imitative worm robot running gear in motion process with the friction drag of environment wall, optimization system driveability, reaches the object of saving energy consumption.

The universal support claw 134N in the present embodiment China and foreign countries has version identical as follows with interior universal support claw 134M:

Shown in Figure 11 (a), Figure 11 (b), Figure 11 (c) He Figure 11 (d), support claw head 134ME is connected by a universal knot and hinged-support 134MA, 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 being articulated with support claw head 134ME by two and half bearing pin 134MC along the central cross-section symmetry of hydraulic steering gear adopting cross piece 134MB, the central axis of two and half bearing pin 134MC and long pin shaft 134MF is intersected in the center of hydraulic steering gear adopting cross piece 134MB; Hinged-support 134MA and inner side are split the interior wedge shape support 133M supported in submodule 1C and are connected firmly; The circular arc outer face of support claw head 134ME pastes fluororubber layer and is distributed with pressure sensor 134MD in array.

When imitative worm robot running gear wriggles walking bottom atomic fusion cabin 12 in large dicyclic shape conduit, interior universal support claw 134M and outer universal support claw 134N does synchronous side to fore and aft motion, realizes front body segment lateral register module 1 and the alternately swelling between rear body segment lateral register module 3 and environment wall and gets loose, because interior universal support claw 134M and outer universal support claw 134N has the degree of freedom of two orthogonal directionss in local, enhance imitative worm robot running gear environmental exposure adaptive ability of crawling motion in large dicyclic shape conduit bottom atomic fusion cabin 12, when in conduit, when annular wall is because of tile damage or the phenomenon such as the running surface that causes of coming off is irregular, front body segment lateral register module 1 and rear body segment lateral register module 3 spontaneously can seek best stress position and the stress point of irregular surface, thus be interval Backlash when middle body segment axial movement module 2 provides wriggling to walk, ensure carrying out smoothly of walking of wriggling, the fluororubber layer both tolerable environment high temperature that support claw head 134ME circular arc outer face is pasted, interior universal support claw 134M and outer universal support claw 134N can be increased again with the elastic deformation between environment wall and contact positive pressure, thus be the interval Backlash that middle body segment axial movement module 2 provides enough large when wriggling walking, several pieces pressure sensors 134MD that on support claw head 134ME circular arc outer face, array is uniform, for detecting interior universal support claw 134M and the contact positive pressure between outer universal support claw 134N and environment wall in real time, for accurately controlling locking between the internal ring wall 12M of front body segment lateral register module 1 and rear body segment lateral register module 3 large dicyclic shape conduit bottom atomic fusion cabin 12 and external annulus 12N and released state provides theory of mechanics foundation.

In the present embodiment, the vibrational power flow of the housing submodule 2A in middle body segment axial movement module 2 for: shown in Figure 12 and Figure 13, with the second rectangular base plate 201 for bottom surface, with the second rectangular-shaped top plate 204 for end face, and two sides are respectively with rectangle left plate 202 and rectangle right side board 205 between the second rectangular base plate 201 and the second rectangular-shaped top plate 204, be respectively both ends of the surface with rectangular-shaped front side plate 203 and I shape rear quarter panel 206 and form body segment rectangular frame in.Anterior Segment submodule 2B has version identical as follows with deutomerite cross-talk module 2C: 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 for the mechanical interface of body segment axial movement module in installing 2 with other modules, I shape rear quarter panel 206 has symmetrical gap, as perforative space when doing axial relative feed movement between Anterior Segment submodule 2B and deutomerite cross-talk module 2C; Rectangle left plate 202 and rectangle right side board 205 play and encapsulate and supplemental support effect the major part in Anterior Segment submodule 2B and deutomerite cross-talk module 2C.

Shown in Figure 12 and Figure 14, in the inside of middle segment rectangular frame, to be positioned in the second rectangular base plate 201 and the position being in coaxial line B arranges the 3rd bearing brackett 210 and the 4th bearing brackett 225 respectively, be positioned in the second rectangular-shaped top plate 204 and be fixedly installed the second motor support base 217 in suspension, the second motor support base 217 fixedly mounts the second servo vacuum reducing motor 218; The output shaft that first gear 216 is arranged on the second servo vacuum reducing motor 218 engages with the second gear 212, and the second gear 212 is arranged on the end of the second center ball screw 208 and is axially fastened by little circular nut 213; Second center ball screw 208 is stepped shaft, the two ends of stepped shaft are supported between the 3rd bearing brackett 210 and the 4th bearing brackett 225 respectively by the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224, and the second swivel nut 207 is contained on the threaded shaft section of the second center ball screw 208 with rolling screw engagement sleeves; The outer ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastening by the 3rd roller bearing end cap 211, the 4th roller bearing end cap 221 respectively, and the inner ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastening by the second circular nut 214, second circlip for shaft 223 respectively; Second moves dull and stereotyped 219 is installed on the second swivel nut 207; Second left and right sides symmetric position moving dull and stereotyped 219 is fixed with the second linear bearing 229 respectively; One end that the left and right sides symmetric position of the second center ball screw 208 arranges the second pilot bar 228, second pilot bar 228 is respectively installed on the 3rd bearing brackett 210, and the other end is installed on the 4th bearing brackett 225 by the second sleeve 226; Second pilot bar 228 and the second linear bearing 229 are bearing fit; Second left and right sides symmetric position moving dull and stereotyped 219 is respectively arranged with push rod 220, one end of push rod 220 is installed in second and moves dull and stereotyped 219, and the symmetrical gap space that the other end is each passed through I shape rear quarter panel 206 connects firmly with the push pedal 222 being in middle segment rectangular frame outside; In the second rectangular base plate 201, be positioned at and immediately below the second center ball screw 208, second photoelectric switch 209 and the 3rd photoelectric switch 227, second photoelectric switch 209 and the 3rd photoelectric switch 227 points are set respectively are on the axially different position between the 3rd bearing brackett 210 and the 4th bearing brackett 225.

Shown in Figure 12, Figure 14, in the vibrational power flow of the Anterior Segment submodule 2B in middle body segment axial movement module 2 and deutomerite cross-talk module 2C, the 3rd bearing brackett 210 and the 4th bearing brackett 225 are parallel just to arrange and lower end is fixedly installed in the top of the second rectangular base plate 201 in housing submodule 2A respectively along the longitudinal direction; The bottom of the second rectangular-shaped top plate 204 in housing submodule 2A fixedly mounts the second servo vacuum reducing motor 218 by the second motor support base 217; The output shaft that first gear 216 is fixed on the second servo vacuum reducing motor 218 engages each other with the second gear 212 of below, and the second gear 212 is fixed on the end of the second center ball screw 208 and is axially fastened by little circular nut 213; Second center ball screw 208 is a stepped shaft, by respectively two ends install the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 be supported between the 3rd bearing brackett 210 and the 4th bearing brackett 225, the second swivel nut 207 is contained on the threaded shaft section of the second center ball screw 208 with rolling screw engagement sleeves; The outer ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastening by the 3rd roller bearing end cap 211, the 4th roller bearing end cap 221 respectively, and the inner ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastening by the second circular nut 214, second circlip for shaft 223 respectively; Second moves dull and stereotyped 219 to be installed on the second swivel nut 207 and parallel just to setting along the longitudinal direction with the 4th bearing brackett 225 with the 3rd bearing brackett 210, is all fixed with the second linear bearing 229 in the second left and right sides symmetric position moving dull and stereotyped 219; The one end being symmetrically arranged with the second pilot bar 228, second pilot bar 228 in the left and right sides of the second center ball screw 208 is installed on the 3rd bearing brackett 210, and the other end is installed on the 4th bearing brackett 225 by the second sleeve 226; Second pilot bar 228 and the second linear bearing 229 are bearing fit; Be symmetrically arranged with push rod 220 in second left and right sides of moving dull and stereotyped 219, one end of push rod 220 is installed in second and moves on dull and stereotyped 219, and the other end is each passed through the symmetrical gap space of I shape rear quarter panel 206 and push pedal 222 connects firmly; Be respectively arranged with immediately below the second center ball screw 208 second photoelectric switch 209 and the 3rd photoelectric switch 227, second photoelectric switch 209 and the 3rd photoelectric switch 227 be all installed in the second rectangular base plate 201 top and lay respectively between clutch shaft bearing bearing 110 and the second bearing brackett 113 near the two one of place.

When the second servo vacuum reducing motor 218 rotates, by the gear driving pair between the first gear 216 and the second gear 212, the second center ball screw 208 is driven to rotate, because the second center ball screw 208 and the second swivel nut 207 constitute screw pair, coordinate the slide-and-guide effect between the second pilot bar 228 and the second linear bearing 229, then the second swivel nut 207 drives second to move dull and stereotyped 219 along central axial direction rectilinear movement, achieves the axial relative feed movement between Anterior Segment submodule 2B and deutomerite cross-talk module 2C; Second photoelectric switch 209 and the 3rd photoelectric switch 227 all move the change in location of dull and stereotyped 219 for responding to second and send the spacing command signal of former and later two extreme positions respectively to the control system of imitative worm robot running gear, with the periodicity axial feed distance of body segment axial movement module 2 in accurately controlling; Gear driving pair between first gear 216 and the second gear 212 is used for the mechanical transfer of motor drive torque on the one hand, the axial overall length of body segment axial movement module 2 in can shortening on the other hand, strengthens the carrying capacity of imitative worm robot running gear curve crawling in atomic fusion bilge portion large dicyclic shape conduit.

In the present embodiment, shown in Figure 16, front body segment Weighting system 7 and rear body segment Weighting system 8 are set to following same structure form: be installed in by counterweight box 701 outside the first rectangular-shaped top plate 107 upper surface in front body segment lateral register module 1, each counterweight in weights group 702 is placed in counterweight box 701 by the form of array, because imitative worm robot running gear runs in inner D word cross sectional annular space, atomic fusion cabin, and in atomic fusion bilge portion large dicyclic shape conduit, external annulus inclination angle is not etc., not symmetrically relation in D word cross section, the comprehensive moment that the front body segment lateral register module 1 of imitative worm robot running gear and rear body segment lateral register module 3 are born in D word cross section not necessarily meets equilibrium conditions, front body segment Weighting system 7 and adding of rear body segment Weighting system 8 facilitate the balance that system synthesis carries moment, the counterweight gross weight of weights group 702 is adjustable, corresponding quantitative adjusting can be made with the working conditions change of imitative worm robot running gear load-carrying capacity.

In the present embodiment, front body segment thermal controls apparatus 9 is set to version identical as follows with rear body segment thermal controls apparatus 11: shown in Figure 19, arrange the first annular seal space housing 901, first composite heat-insulated material layer 902 and first-phase change material layer 906 successively ecto-entad be packaged in the first annular seal space housing 901; The first nitrogen cooling duct 908, first temperature control module power lead and signal wire (SW) 907, visual observation installation's power source line and signal wire (SW) 905, first electric machine controller power lead and signal wire (SW) 903 and the first sensing element power lead and signal wire (SW) 904 is drawn respectively in the inner space of first-phase change material layer 906.First annular seal space housing 901, first composite heat-insulated material layer 902, first-phase change material layer 906 all belong to heat insulation module, first annular seal space housing 901 adopts stereotype manufacture, and be covered with one deck organosilicon coating on surface, for other thermal control assemblies etc. of the first composite heat-insulated material layer 902, first-phase change material layer 906 and inside are carried out sealed storage, isolation environment radiation simultaneously; First composite heat-insulated material layer 902 adopts the additional one deck radiation shield of Kapton to form, for isolation environment high temperature; First-phase change material layer 906 can adopt the solid-liquid phase change materials such as lithium fluoride, absorbs inner heat body self heat by phase transition process; Be provided with heat transfer module in first-phase change material layer 906 inner space, be made up of the first nitrogen cooling duct 908 and temperature control module; First nitrogen cooling duct 908 adopts corrugated stainless steel tubing, the first temperature control module power lead of being drawn by first-phase change material layer 906 inner space and signal wire (SW) 907, visual observation installation's power source line and signal wire (SW) 905, first electric machine controller power lead and signal wire (SW) 903 and the first sensing element power lead and signal wire (SW) 904 etc. all adopt high temperature resistant rdaiation resistant cable.

The vibrational power flow of the middle body segment thermal controls apparatus 10 in the present embodiment for: shown in Figure 20, second annular seal space housing 1001 is set, second composite heat-insulated material layer 1007 and second-phase change material layer 1004 successively ecto-entad are packaged in the second annular seal space housing 1001, draw the second nitrogen cooling duct 1006, second temperature control module power lead and signal wire (SW) 1005, second electric machine controller power lead and signal wire (SW) 1002 and the second sensing element power lead and signal wire (SW) 1003 in second-phase change material layer 1004 inner space respectively.Second annular seal space housing 1001, second composite heat-insulated material layer 1007, second-phase change material layer 1004 all belong to heat insulation module, second annular seal space housing 1001 adopts stereotype manufacture, and be covered with one deck organosilicon coating on surface, for other thermal control assemblies etc. of the second composite heat-insulated material layer 1007, second-phase change material layer 1004 and inside are carried out sealed storage, isolation environment radiation simultaneously; Second composite heat-insulated material layer 1007 adopts the additional one deck radiation shield of Kapton to form, for isolation environment high temperature; Second-phase change material layer 1004 can adopt the solid-liquid phase change materials such as lithium fluoride, absorbs inner heat body self heat by phase transition process; Be provided with heat transfer module in second-phase change material layer 1004 inner space, be made up of the second nitrogen cooling duct 1006 and temperature control module; Second nitrogen cooling duct 1006 adopts corrugated stainless steel tubing, and the second temperature control module power lead of being drawn by second-phase change material layer 1004 inner space and signal wire (SW) 1005, second electric machine controller power lead and signal wire (SW) 1002 and the second sensing element power lead and signal wire (SW) 1003 etc. all adopt high temperature resistant rdaiation resistant cable.

The vibrational power flow of the front double jaw joint 4 in the present embodiment for: shown in Figure 17, to there is in the first identical Anterior Segment 401, first of structure after in Anterior Segment 407A, first sections 405 after sections 407B and first, and pitching banking stops 404 after pitching banking stop 402 and two first before identical two first of structure; In first, in Anterior Segment 407A and first, rear sections 407B is fixedly connected with back-to-back form; One end of first Anterior Segment 401 forms upper and lower pitching by stauros 403 before first with Anterior Segment 407A in first and deflection two-dimensional rotary is connected, and the rear quarter panel 102 in the other end and front body segment lateral register module 1 connects firmly; After first sections 405 one end by stauros 406 after first with in first afterwards sections 407B form upper and lower pitching and deflection two-dimensional rotary is connected, the rectangular-shaped front side plate 203 in the other end and middle body segment axial movement module 2 connects firmly; Before two first pitching banking stop 402 respectively up and down symmetry be installed in top and the bottom of the first Anterior Segment 401, after two first pitching banking stop 404 respectively up and down symmetry be installed in top and the bottom of sections 405 after first.The vibrational power flow of rear double jaw joint 5 for: shown in Figure 18, to there is in the second identical Anterior Segment 501, second of structure after in Anterior Segment 507A, second sections 505 after sections 507B and second, and pitching banking stops 504 after pitching banking stop 502 and two second before identical two second of structure; In second, in Anterior Segment 507A and second, rear sections 507B is fixedly connected with back-to-back form; One end of second Anterior Segment 501 forms upper and lower pitching by stauros 503 before second with Anterior Segment 507A in second and deflection two-dimensional rotary is connected, and the push pedal 222 in the other end and middle body segment axial movement module 2 connects firmly; After second sections 505 one end by stauros 506 after second with in second afterwards sections 507B form upper and lower pitching and deflection two-dimensional rotary is connected, the rear quarter panel 102 in the other end and rear body segment lateral register module 3 connects firmly; Before two second pitching banking stop 502 respectively up and down symmetry be installed in top and the bottom of the second Anterior Segment 501, after two second pitching banking stop 504 respectively up and down symmetry be installed in top and the bottom of sections 505 after second.Front double jaw joint 4 and rear double jaw joint 5 all belong to dual cardan type U-joint, compared to common single universal-joint, elastic anchorage force before dual cardan type U-joint effectively can adapt in imitative worm robot running gear working process bottom body segment lateral register module 1 and rear body segment lateral register module 3 and atomic fusion cabin 12 between the internal ring wall 12M of large dicyclic shape conduit and external annulus 12N changes and center-of-gravity position changes, relative position relation in Automatic adjusument between body segment axial movement module 2 and front body segment lateral register module 1 and rear body segment lateral register module 3, prevent mechanism blockage, and before in front double jaw joint 4 two first after pitching banking stop 402 and two first pitching banking stops 404 centered body joint axial movement module 2 can play restriction effect with the relative position relation of front body segment lateral register module 1 in vertical plane, two the second front pitching banking stops 502 simultaneously in double jaw joint 5 and two second rear pitching banking stops 504 centered body joint axial movement module 2 can play restriction effect with the relative position relation of rear body segment lateral register module 3 in vertical plane, prevent upper and lower relative position bias excessive and the axial driveability of middle body segment axial movement module 2 to imitative worm robot running gear is impacted.

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, the total bearing 601 of " L " shape is fixedly installed at the end face advanced position place of the first rectangular-shaped top plate 107, vision collecting probe 606 is arranged in probe bearing 607, and probe bearing 607 is connected in the total bearing 601 of " L " shape by three freedom redundancy sphere parallel mechanism; The vibrational power flow of three freedom redundancy sphere parallel mechanism is: be fixedly mounted with in the front end of the total bearing 601 of " L " shape and arrange fixed platform 615, circumferentially uniform installation three motor support bases 613 on the front end face of fixed platform 615, each motor support base 613 is fixed with servo vacuum reducing motor 612 respectively; The output shaft of three servo vacuum reducing motors 612 connects firmly with the first near-end boss 614A of the first curved rod 614 on correspondence position respectively, the axle system that first far-end boss 614B of three the first curved rods 614 is supported by the first miniature bearing 616 with the second near-end boss 602A of the second curved rod 602 on correspondence position is respectively rotationally connected, and the axle system that the second far-end boss 602B of three the second curved rods 602 is supported by the second miniature bearing 603 with the little bearing 604 on correspondence position is respectively rotationally connected; Three little bearings 604 are circumferentially uniform is installed in moving platform 605, and probe bearing 607 is installed on moving platform 605; Moving platform 605 is coaxial just right with fixed platform 615; Center redundancy branched chain is set between moving platform 605 and fixed platform 615, center redundancy branched chain is made up of the first straight connection rod 611, second straight connection rod 610 and the 3rd straight connection rod 608, one end of first straight connection rod 611 is fixed on the center of fixed platform 615, the other end forms sliding pair with the second straight connection rod 610 and is connected, one end of 3rd straight connection rod 608 is fixed on the center of moving platform 605, and the other end is connected by center Spherical hinge 609 and the second straight connection rod 610; The centre of sphere of the center of three the first curved rods 614, Jun Yu center, the center Spherical hinge 609 of three the second curved rods 602 overlaps.In this version, three freedom redundancy sphere parallel mechanism is loaded into the position, front end of imitative worm robot running gear by the total bearing of " L " shape 601, because imitative worm robot running gear is wriggled walking in atomic fusion bilge portion large dicyclic shape conduit, then the working space of three freedom redundancy sphere parallel mechanism can cover the annular space of inside, whole atomic fusion cabin.The three freedom redundancy sphere parallel mechanism being mounted with vision collecting probe 606 defines parallel visual observation The Cloud Terrace, driving is combined by three servo vacuum reducing motors 612, can the observation of three the orthogonal directions rotary freedoms in implementation space, coordinate the periodicity crawling motion of imitative worm robot running gear, 360 ° of omni-directional visual information collection functions to inner D word cross sectional annular space, atomic fusion cabin can be completed, and it is large to have system stiffness, motion flexibility ratio is high, load-carrying capacity is strong, motion positions precision is high, the multinomial high performances such as unusual pose is controlled

In concrete enforcement, in order to adapt to the extreme operating environments conditions such as nuclear fusion reaction cabin internal high temperature, vacuum, nuclear radiation, front body segment lateral register module 1, middle body segment axial movement module 2, rear body segment lateral register module 3, front double jaw joint 4, rear double jaw joint 5, parallel visual observation device 6, front body segment Weighting system 7 and rear body segment Weighting system 8 main body all adopt stainless steel material manufacture; The first miniature bearing 616 in the second double-row angular contact bal bearing 215 in 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 first deep groove ball bearing 115, middle body segment axial movement module 2 and the second deep groove ball bearing 224, parallel visual observation device 6 and the second miniature bearing 603 all adopt full-ceramic bearing; Vision collecting probe 606 adopts high-temperature resistant optical fiber imaging system; The first annular seal space housing 901 in front body segment thermal controls apparatus 9 and rear body segment thermal controls apparatus 11, the second annular seal space housing 1001 in middle body segment thermal controls apparatus 10 all adopt 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 jaw joint 4, rear double jaw joint 5 and parallel visual observation The Cloud Terrace 6 all adopt graphited oil or molybdenum disulphide Hmp grease to carry out power lubrication.

In the present embodiment, multistage creeping motion type snake-shaped robot following steps complete the walking process of a forward step distance:

Step 1: the front body segment lateral register module 1 in each wriggling unit and rear body segment lateral register module 3 are all in lockup state, and middle body segment axial movement module 2 is in minimum shortening state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit is in maximum elongation state; Multistage creeping motion type snake-shaped robot is positioned at A place, position; The visual observation The Cloud Terrace 6 be arranged in first wriggling unit U1 remains on A place, position 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, and rear body segment lateral register module 3 remains on lockup state, each middle body segment axial movement module 2 is synchronously extended until reach maximum elongation state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit synchronously shortens until reach minimum shortening state; Multistage creeping motion type snake-shaped robot by position A in the advancing of position B; Visual observation The Cloud Terrace 6 carries out visual information collection in advancing from position A toward position B.

Step 3: the front body segment lateral register module 1 in each wriggling unit is set to lockup state, and rear body segment lateral register module 3 is set to released state, each middle body segment axial movement module 2 synchronously shortens until reach minimum shortening state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit synchronously extends until reach maximum elongation state, and multistage creeping motion type snake-shaped robot advances to B place, position; Visual observation The Cloud Terrace 6 remains on B place, position and carries out visual information collection.

Step 4: the front body segment lateral register module 1 in each wriggling unit remains on lockup state, and rear body segment lateral register module 3 enters lockup state, and middle body segment axial movement module 2 remains on minimum shortening state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit remains on maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at B place, position; Visual observation The Cloud Terrace 6 remains on B place, position and carries out stores processor to the visual information that the place from A to B collects; Complete visual information collection and the stores processor of a forward step distance of position A to position B.

In the present embodiment, multistage creeping motion type snake-shaped robot following steps complete the walking process of a backstep distance:

Step 1: the front body segment lateral register module 1 in each wriggling unit and each rear body segment lateral register module 3 are all in lockup state, and middle body segment axial movement module 2 is in minimum shortening state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit is in maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at A place, position; The visual observation The Cloud Terrace 6 be arranged in first wriggling unit U1 remains on A place, position and carries out stores processor to the visual information collected in a upper walking step pitch.

Step 2: the front body segment lateral register module 1 in each wriggling unit U1 remains on lockup state, and rear body segment lateral register module 3 is set to released state, each middle body segment axial movement module 2 is synchronously extended until reach maximum elongation state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit synchronously shortens until reach minimum shortening state, and multistage creeping motion type snake-shaped robot is in by position A in the advancing of position C; Visual observation The Cloud Terrace 6 remains on A place, position 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, and rear body segment lateral register module 3 is set to lockup state, each middle body segment axial movement module 2 synchronously shortens until reach minimum shortening state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit U1 synchronously extends until reach maximum elongation state, and multistage creeping motion type snake-shaped robot advances to C place, position; Visual observation The Cloud Terrace 6 carries out visual information collection in advancing from position A toward position C.

Step 4: the front body segment lateral register module 1 in each wriggling unit U1 is set to lockup state, and rear body segment lateral register module 3 remains on lockup state, and middle body segment axial movement module 2 remains on minimum shortening state; Telescopic elasticity double jaw joint 13 between adjacent wriggling unit U1 remains on maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at C place, position; Visual observation The Cloud Terrace 6 remains on C place, position and carries out visual information collection; Complete the visual information collection of a backstep distance of position A to position C.

In the present embodiment, set three servo vacuum reducing motors 612 and be respectively motor M, motor N and motor P, be in by the action cycle T of an anticlockwise direction wriggling walking step pitch of overlooking in atomic fusion bilge portion large dicyclic shape conduit for traveling gear, servo vacuum reducing motor 612 controls according to the following procedure:

Step c1: be in the incipient state in 0 moment: the central axes of the second straight connection rod 610 and the 3rd straight connection rod 608, the central axes of the central axis of the first near-end boss 614A of each first curved rod 614 and the second far-end boss 602B of the second curved rod 602 of relative set.

Step c2: in the time period of 0 ~ T/12: motor M is stopped the rotation, motor N makes clickwise with rotational speed omega, and motor P makes left-hand revolution with rotational speed omega.

Step c3: in the time period of T/12 ~ 2T/12: motor M makes left-hand revolution with rotational speed omega, motor N stops the rotation, and motor P makes clickwise with rotational speed omega.

Step c4: in the time period of 2T/12 ~ 3T/12: motor M makes clickwise with rotational speed omega, motor N makes left-hand revolution with rotational speed omega, and motor P stops the rotation.

Step c5: in the time period of 3T/12 ~ 4T/12: motor M is stopped the rotation, motor N makes left-hand revolution with rotational speed omega, and motor P makes clickwise with rotational speed omega.

Step c6: in the time period of 4T/12 ~ 5T/12: motor M makes clickwise with rotational speed omega, motor N stops the rotation, and motor P makes left-hand revolution with rotational speed omega.

Step c7: in the time period of 5T/12 ~ 6T/12: motor M makes left-hand revolution with rotational speed omega, motor N makes clickwise with rotational speed omega, 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, completes the action cycle process of a conter clockwise wriggling walking step pitch.

Cw wriggling walking process is identical with conter clockwise wriggling walking process principle.

Claims

1. one kind operates in the control method of the multistage creeping motion type snake-shaped robot in atomic fusion cabin, it is characterized in that: to be symmetrical arranged at the two ends of middle body segment axial movement module (2) by front body segment lateral register module (1) and rear body segment lateral register module (3) and to form traveling gear, using described traveling gear as wriggling unit (U1), by at least two wriggling unit (U1) multistage creeping motion type in series snake-shaped robots, be connected by telescopic elasticity double jaw joint (13) between adjacent wriggling unit (U1); Described control method is:

Step 1: the front body segment lateral register module (1) in each wriggling unit and rear body segment lateral register module (3) are all in lockup state, and middle body segment axial movement module (2) is in minimum shortening state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit is in maximum elongation state; Multistage creeping motion type snake-shaped robot is positioned at A place, position;

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) remains on lockup state, and each middle body segment axial movement module (2) is synchronously extended until reach maximum elongation state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit is synchronously shortened until reach minimum shortening state; Multistage creeping motion type snake-shaped robot by position A in the advancing 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) is set to released state, and each middle body segment axial movement module (2) is synchronously shortened until reach minimum shortening state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit is synchronously extended until reach maximum elongation state, and multistage creeping motion type snake-shaped robot advances to B place, position;

Step 4: the front body segment lateral register module (1) in each wriggling unit remains on lockup state, and rear body segment lateral register module (3) enters lockup state, and middle body segment axial movement module (2) remains on minimum shortening state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit remains on maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at B place, position;

Step 1: the front body segment lateral register module (1) in each wriggling unit and each rear body segment lateral register module (3) are all in lockup state, and middle body segment axial movement module (2) is in minimum shortening state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit is in maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at A place, position;

Step 2: the front body segment lateral register module (1) respectively wriggled in unit (U1) remains on lockup state, rear body segment lateral register module (3) is set to released state, and each middle body segment axial movement module (2) is synchronously extended until reach maximum elongation state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit is synchronously shortened until reach minimum shortening state, and multistage creeping motion type snake-shaped robot is in by position A in the advancing of position C;

Step 3: the front body segment lateral register module (1) respectively wriggled in unit (U1) is set to released state, rear body segment lateral register module (3) is set to lockup state, and each middle body segment axial movement module (2) is synchronously shortened until reach minimum shortening state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit (U1) is synchronously extended until reach maximum elongation state, and multistage creeping motion type snake-shaped robot advances to C place, position;

Step 4: the front body segment lateral register module (1) respectively wriggled in unit (U1) is set to lockup state, rear body segment lateral register module (3) remains on lockup state, and middle body segment axial movement module (2) remains on minimum shortening state; Telescopic elasticity double jaw joint (13) between adjacent wriggling unit (U1) remains on maximum elongation state, and multistage creeping motion type snake-shaped robot is positioned at C place, position.

2. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 1, is characterized in that:

The vibrational power flow of described front body segment lateral register module (1) is: electric drive submodule (1B) is installed in the inside of carrier module (1A), and has the inner side with identical version to split to support submodule (1C) and outside to split support submodule (1D) to be symmetricly set in the left and right sides of described electric drive submodule (1B); Described inner side is split and is supported the one end of submodule (1C) and outside splitting support submodule (1D) and be fixed on the left and right sides setting position of electric drive submodule (1B) respectively, the other end respectively along the left and right sides of described electric drive submodule (1B) to scalable motion and with described carrier module (1A) for guide rail; At the top of described front body segment lateral register module (1), be positioned at central authorities and front body segment thermal controls apparatus (9) is set, be positioned at sidepiece and arrange front body segment Weighting system (7), described front body segment Weighting system (7) is in outside in front body segment lateral register module (1) and splits the top supporting submodule;

Described rear body segment lateral register module (3) has identical version with described front body segment lateral register module (1); The top of body segment lateral register module (3) in the rear, be positioned at central authorities and rear body segment thermal controls apparatus (11) is set, be positioned at sidepiece and arrange rear body segment Weighting system (8), the top supporting submodule is split in the middle outside of body segment lateral register module (3) in the rear by described rear body segment Weighting system (8) place;

The vibrational power flow of described middle body segment axial movement module (2) is: Anterior Segment submodule (2B) is installed in the inside of housing submodule (2A); Described Anterior Segment submodule (2B) and deutomerite cross-talk module (2C) are 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) protrudes from the tail end face of described middle body segment axial movement module (2); At the top of described middle body segment axial movement module (2), be arranged in central authorities and body segment thermal controls apparatus (10) is set;

Before between described front body segment lateral register module (1) and middle body segment axial movement module (2), double jaw joint (4) is connected, and after in the rear between body segment lateral register module (3) and middle body segment axial movement module (2), double jaw joint (5) is connected.

3. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 1, is characterized in that:

The composition component of described telescopic elasticity double jaw joint (13) comprising: Anterior Segment (1301), rear sections (1307), front pitching banking stop (1302), rear pitching banking stop (1306), middle sections cylindrical shell (1303), the middle sections body of rod (1305) and Compress Spring (1304); Described Anterior Segment (1301) and rear sections (1307) have same structure form, and described front pitching banking stop (1302) and rear pitching banking stop (1306) have same structure form;

Described middle sections cylindrical shell (1303) is made up of the universal interface end of middle sections cylindrical shell (1303A) and the linear interface end of middle sections cylindrical shell (1303B), and the described middle sections body of rod (1305) is made up of the universal interface end of the middle sections body of rod (1305A) and the linear interface end of the middle sections body of rod (1305B); The linear interface end of described middle sections cylindrical shell (1303B) and the linear interface end of the middle sections body of rod (1305B) are with spline fitted, and can in axial relative movement, between the linear interface end of described middle sections cylindrical shell (1303B) and the linear interface end of the middle sections body of rod (1305B), arrange that Compress Spring (1304) formed axially can elastic extension structure;

One end of described Anterior Segment (1301) forms upper and lower pitching by front stauros (1309) with the universal interface end of middle sections cylindrical shell (1303A) and deflection two-dimensional rotary is connected, and the front side plate in the rear body segment lateral register module (3) in the wriggling unit that the other end is adjacent with front connects firmly; One end of rear sections (1307) forms upper and lower pitching by rear stauros (1308) with the universal interface end of the middle sections body of rod (1305A) and deflection two-dimensional rotary is connected, and the front side plate of the front body segment lateral register module (1) in the wriggling unit that the other end is adjacent with rear connects firmly; Two described front pitching banking stops (1302) are installed in end face and the bottom surface of Anterior Segment (1301) in upper and lower symmetry, two described rear pitching banking stops (1306) are installed in end face and the bottom surface of rear sections (1307) in upper and lower symmetry.

4. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 1, is characterized in that: the linear interface end of the middle sections cylindrical shell (1303B) in described telescopic elasticity double jaw joint (13) and the axis between the linear interface end of the middle sections body of rod (1305B) can relative movement distance to be not less than between Anterior Segment submodule (2B) in each wriggling unit (U1) inside in body segment axial movement module (2) and deutomerite cross-talk module (2C) along the longitudinal direction can be movable relatively distance.

5. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 1, is characterized in that:

In described front body segment lateral register module (1), the vibrational power flow of carrier module (1A) is:

With the first rectangular base plate (101) for bottom surface, with the first rectangular-shaped top plate (107) for end face, between described first rectangular base plate (101) and the first rectangular-shaped top plate (107) with front side plate (106) be front end face, with rear quarter panel (102) for aft end face, with inner swash plate (104M) for left side, in addition swash plate (104N) for right side is formed front body segment rectangular frame;

In the outside of described front body segment rectangular frame, be positioned on described inner swash plate (104M) and be provided with spin bearing set (105M), be positioned on described outer swash plate (104N) and be provided with outer spin bearing set (105N), using described interior spin bearing set (105M) and outer spin bearing set (105N) as the strut member of described front body segment rectangular frame on left side and right side; In the outside of described front body segment rectangular frame, be positioned on described first rectangular base plate (101) and be provided with universal caster wheel (103), using described universal caster wheel (103) as the strut member of described front body segment rectangular frame in bottom surface; Described interior spin bearing set (105M) is for bearing surface with the internal ring wall (12M) of large dicyclic shape conduit in atomic fusion cabin (12); Described outer spin bearing set (105N) is for bearing surface with the external annulus (12N) of large dicyclic shape conduit in described atomic fusion cabin (12);

In described front body segment lateral register module (1), the vibrational power flow of electric drive submodule (1B) is:

In the inside of described front body segment rectangular frame, be positioned at described first rectangular base plate (101) and go up and be in the position of coaxial line to set gradually split and support submodule fixed bearing (108), the first motor support base (109), clutch shaft bearing bearing (110) and the second bearing brackett (113), at upper fixed installation first servo vacuum reducing motor (122) of described first motor support base (109), the output shaft of described first servo vacuum reducing motor (122) is connected by the first coupler (121) and the first center ball screw (114), described first center ball screw (114) is stepped shaft, the two ends of described stepped shaft are supported between described clutch shaft bearing bearing (110) and the second bearing brackett (113) respectively by the first double-row angular contact bal bearing (124) and the first deep groove ball bearing (115), and the first swivel nut (111) is contained on the threaded shaft section of described first center ball screw (114) with rolling screw engagement sleeves, first moves flat board (112) is installed on described first swivel nut (111), arrange first and move flat board (112) guide frame, it is the first pilot bar (118) that be arranged in parallel in the both sides of described first center ball screw (114), one end of described first pilot bar (118) is installed on clutch shaft bearing bearing (110), the other end is installed on the second bearing brackett (113) by the first sleeve (117), described first moves flat board (112) utilizes the first linear bearing (119) to be bearing on described first pilot bar (118), make described first to move flat board (112) to move axially on the first pilot bar (118) under the drive of described first swivel nut (111), upper described first rectangular base plate (101), be positioned at immediately below described first center ball screw (114) and be provided with the first photoelectric switch (126), described first photoelectric switch (126) is positioned at setting position between clutch shaft bearing bearing (110) and the second bearing brackett (113),

Outside is split and is supported submodule (1D) and inner side and split support submodule (1C) and have version identical as follows in described front body segment lateral register module (1):

Described split support submodule fixed bearing (108) and the first side moving flat board (112) massive plate (140) is set, the inner side of described massive plate (140) with split the relative position supporting submodule fixed bearing (108) and fixedly mount gusset piece (132), the relative position moving flat board (112) in the inner side of described massive plate (140) and first fixedly mounts slide rail (141), the axis being parallel of described slide rail (141) and the first center ball screw (114), described slide rail (141) is sliding combined with slide block (142), on be arranged in parallel first, connecting rod (144) and the first lower link (146) are at one end supported submodule fixed bearing (108) by the first upper hinge support (129), the first lower hinge support (127) and the first bearing pin (128) and are hinged with splitting, be hinged with described slide block (142) by two hinged-support (143) and the 4th bearing pin (145) at the other end, on be arranged in parallel second, connecting rod (139) and the second lower link (150) are at one end hinged by the 3rd upper hinge support (135), the 3rd lower hinge support (130) and the 3rd bearing pin (131) and installation gusset piece (132), move flat board (112) be hinged at the other end by the second upper hinge support (147), the second lower hinge support (149) and the second bearing pin (148) and first, splitting in described inner side supports in submodule (1C), be 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), splitting in described outside supports in submodule (1D), be fixedly installed outer wedge shape support (133N) in the outside of its massive plate, the outer face of described outer wedge shape support (133N) arranges outer universal support claw (134N), with described interior universal support claw (134M) and outer universal support claw (134N), the internal ring wall (12M) of the large dicyclic shape conduit in atomic fusion cabin (12) and the upper formation of external annulus (12N) are supported for lockup state, are supported for released state with described interior universal support claw (134M) and outer universal support claw (134N) disengaging on the internal ring wall (12M) of the large dicyclic shape conduit in atomic fusion cabin (12) and external annulus (12N).

6. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 5, it is characterized in that: described outer spin bearing set (105N) has version identical as follows with interior spin bearing set (105M): guide cylinder (105MB) is fixed on inner swash plate (104M) by adapter plate (105MA), spring lock block (105MF) to be flush-mounted in guide cylinder (105MB) and to be bearing fit with guide cylinder (105MB), wavy spring (105MC) is set with between adapter plate (105MA) and spring lock block (105MF), ball pivot seat (105MD) and spring lock block (105MF) thread connection, and have spin (105ME) to coordinate with described ball pivot seat (105MD) ball pivot.

7. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 5, it is characterized in that: described outer universal support claw (134N) has version identical as follows with interior universal support claw (134M): support claw head (134ME) is connected by a universal knot and hinged-support (134MA), described universal knot is by long pin shaft (134MF), half bearing pin (134MC) that two structures are identical and hydraulic steering gear adopting cross piece (134MB) composition, described hydraulic steering gear adopting cross piece (134MB) is articulated with on hinged-support (134MA) by long pin shaft (134MF), and be articulated with support claw head (134ME) by two and half bearing pins (134MC) along the central cross-section symmetry of hydraulic steering gear adopting cross piece (134MB), two and half bearing pins (134MC) are intersected in the center of hydraulic steering gear adopting cross piece (134MB) with the central axis of long pin shaft (134MF), described hinged-support (134MA) and described inner side are split the interior wedge shape support (133M) supported in submodule (1C) and are connected firmly, the circular arc outer face of described support claw head (134ME) pastes fluororubber layer and is distributed with pressure sensor (134MD) in array.

8. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 1, is characterized in that: the vibrational power flow of the housing submodule (2A) in described middle body segment axial movement module (2) is:

With the second rectangular base plate (201) for bottom surface, with the second rectangular-shaped top plate (204) for end face, and two sides are respectively with rectangle left plate (202) and rectangle right side board (205) between described second rectangular base plate (201) and the second rectangular-shaped top plate (204), be respectively both ends of the surface with rectangular-shaped front side plate (203) and I shape rear quarter panel (206) and form body segment rectangular frame in;

Described Anterior Segment submodule (2B) has version identical as follows with deutomerite cross-talk module (2C):

In the inside of described middle segment rectangular frame, be positioned at the second rectangular base plate (201) to go up and be in and the position of coaxial line B arranges respectively the 3rd bearing brackett (210) and the 4th bearing brackett (225), being positioned at the second rectangular-shaped top plate (204) upper is that suspension is fixedly installed the second motor support base (217), at upper fixed installation second servo vacuum reducing motor (218) of described second motor support base (217); The output shaft that first gear (216) is arranged on described second servo vacuum reducing motor (218) engages with the second gear (212), and described second gear (212) is arranged on the end of the second center ball screw (208) and is axially fastened by little circular nut (213); Described second center ball screw (208) is stepped shaft, the two ends of described stepped shaft are supported between described 3rd bearing brackett (210) and the 4th bearing brackett (225) respectively by the second double-row angular contact bal bearing (215) and the second deep groove ball bearing (224), and the second swivel nut (207) is contained on the threaded shaft section of described second center ball screw (208) with rolling screw engagement sleeves; 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) arranges the second pilot bar (228) respectively, one end of described second pilot bar (228) is installed on the 3rd bearing brackett (210), and the other end is installed on the 4th bearing brackett (225) by the second sleeve (226); Described second pilot bar (228) and the second linear bearing (229) are bearing fit;

Described second left and right sides symmetric position moving flat board (219) is respectively arranged with push rod (220), one end of described push rod (220) is installed in second and moves flat board (219), and the symmetrical gap space that the other end is each passed through described I shape rear quarter panel (206) connects firmly with the push pedal (222) being in middle segment rectangular frame outside;

On described second rectangular base plate (201), be positioned at immediately below described second center ball screw (208) and arrange the second photoelectric switch (209) and the 3rd photoelectric switch (227) respectively, described second photoelectric switch (209) and the 3rd photoelectric switch (227) point are on the axially different position between the 3rd bearing brackett (210) and the 4th bearing brackett (225).

9. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 1, it is characterized in that: described front body segment Weighting system (7) and rear body segment Weighting system (8) are set to following same structure form: be installed in by counterweight box (701) outside the first rectangular-shaped top plate (107) upper surface in described front body segment lateral register module (1), each counterweight in weights group (702) is placed in counterweight box (701) by the form of array;

Described front body segment thermal controls apparatus (9) is set to version identical as follows with rear body segment thermal controls apparatus (11): arrange the first annular seal space housing (901), and the first composite heat-insulated material layer (902) and first-phase change material layer (906) successively ecto-entad are packaged in described first annular seal space housing (901); The first nitrogen cooling duct (908), the first temperature control module power lead and signal wire (SW) (907), visual observation installation's power source line and signal wire (SW) (905), the first electric machine controller power lead and signal wire (SW) (903) and the first sensing element power lead and signal wire (SW) (904) is drawn respectively in the inner space of described first-phase change material layer (906);

The vibrational power flow of described middle body segment thermal controls apparatus (10) is: arrange the second annular seal space housing (1001), second composite heat-insulated material layer (1007) and second-phase change material layer (1004) successively ecto-entad are packaged in the second annular seal space housing (1001), the second nitrogen cooling duct (1006) is drawn respectively in described second-phase change material layer (1004) inner space, second temperature control module power lead and signal wire (SW) (1005), second electric machine controller power lead and signal wire (SW) (1002) and the second sensing element power lead and signal wire (SW) (1003).

10. the control method of the multistage creeping motion type snake-shaped robot operated in atomic fusion cabin according to claim 1, it is characterized in that: the vibrational power flow of described front double jaw joint (4) is: to there is in identical the first Anterior Segment (401), first of structure after in Anterior Segment (407A), first sections (405) after sections (407B) and first, and pitching banking stop (402) and two first pitching banking stops (404) afterwards before identical two first of structure; In described first, in Anterior Segment (407A) and first, rear sections (407B) is fixedly connected with back-to-back form; One end of first Anterior Segment (401) forms upper and lower pitching by stauros (403) before first with Anterior Segment in first (407A) and deflection two-dimensional rotary is connected, and the rear quarter panel (102) in the other end and described front body segment lateral register module (1) connects firmly; After first sections (405) one end by stauros (406) after first with in first after sections (407B) form upper and lower pitching and deflection two-dimensional rotary is connected, the rectangular-shaped front side plate (203) in the other end and described middle body segment axial movement module (2) connects firmly; Before described two first pitching banking stop (402) respectively up and down symmetry be installed in top and the bottom of the first Anterior Segment (401), after described two first pitching banking stops (404) respectively up and down symmetry be installed in top and the bottom of sections (405) after first;

The vibrational power flow of described rear double jaw joint (5) is: to have in identical the second Anterior Segment (501), second of structure after in Anterior Segment (507A), second sections (505) after sections (507B) and second, and pitching banking stop (502) and two second pitching banking stops (504) afterwards before identical two second of structure; In described second, in Anterior Segment (507A) and second, rear sections (507B) is fixedly connected with back-to-back form; One end of second Anterior Segment (501) forms upper and lower pitching by stauros (503) before second with Anterior Segment in second (507A) and deflection two-dimensional rotary is connected, and the push pedal (222) in the other end and described middle body segment axial movement module (2) connects firmly; After second sections (505) one end by stauros (506) after second with in second after sections (507B) form upper and lower pitching and deflection two-dimensional rotary is connected, the rear quarter panel (102) in the other end and described rear body segment lateral register module (3) connects firmly; Before described two second pitching banking stop (502) respectively up and down symmetry be installed in top and the bottom of the second Anterior Segment (501), after described two second pitching banking stops (504) respectively up and down symmetry be installed in top and the bottom of sections (505) after second.