CN105798915B

CN105798915B - The control method of worm robot running gear is imitated in a kind of nuclear fusion cabin

Info

Publication number: CN105798915B
Application number: CN201610153914.0A
Authority: CN
Inventors: 张强; 刘宜; 汪增福; 高理富; 孔德义
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: 2018-05-18
Anticipated expiration: 2035-03-06
Also published as: CN104690734B; CN105798915A; CN104690734A

Abstract

The invention discloses the control methods that worm robot running gear is imitated in a kind of nuclear fusion cabin, and walking mechanism is formed it is characterized in that being symmetrical arranged by preceding body segment lateral register module and rear body segment lateral register module at the both ends of middle body segment axial movement module；Walking mechanism set the step of complete a forward step away from or a backstep away from walking process.Movement locus of the present invention can be throughout the large dicyclic shape conduit in entire nuclear fusion bilge portion, gait is moved to walk similar to worm, good operation stability and control is simple can realize omni-directional visual information gathering to nuclear fusion cabin inner space three degree of freedom by carrying visual observation holder.

Description

The control method of worm robot running gear is imitated in a kind of nuclear fusion cabin

The application is Application No.：2015101006809th, the applying date is：It is on March 6th, 2015, entitled：Operation The divisional application of imitative worm robot running gear and control method in nuclear fusion cabin.

Technical field

The invention belongs to nuclear environment distant operate machine people and technical field of automation, more particularly to a kind of operation Imitative worm robot running gear and control method in nuclear fusion cabin.

Background technology

Tokamak is a kind of toroidal container that controlled nuclear fusion is realized using magnetic confinement, and center is that an outside twines Around the toroidal vacuum chamber of coil；The inside of tokamak can generate huge screw type magnetic field when being powered, will wherein Plasma heating to very high temperature, to achieve the purpose that nuclear fusion.The interior compartment generally quilt of full tokamak device Referred to as nuclear fusion reaction cabin, the core carrier for generating and preparing as contemporary nuclear power source, internal environment belong to a kind of typical pole End ring border on the one hand with physical characteristics such as intense radiation, high temperature, high-intensity magnetic field and high vacuum, on the other hand, is set inside reaction cabin Standby numerous, pipeline is intricate, and passage is narrow, and working space is small, along with some components in cabin can be subject to radioactivity and have The pollution of noxious material, even if maintenance personnel can not or should not be directly related to reaction cabin inside during the maintaining of equipment Component is operated, it is therefore desirable to by means of distant manipulation means out of my cabin, be substituted the mankind by a kind of intelligent electromechanical equipment and be entered Corresponding job task is completed in cabin.In order to tackle the adverse circumstances inside reaction cabin, ensure the normal work of fusion reactor Make order, it is necessary to develop a kind of walking mechanism towards nuclear fusion reaction cabin environment, for performing the daily of reaction cabin inner part Observation, scouting and inspection etc. monitor fusion reactor to tasks such as the acquisition of various status informations, processing, expression and identifications Specific works situation, to occur for abnormal conditions when takes corresponding decision-making to provide foundation.

It is few in number for the open report of the distant people's walking mechanism of operating machine in nuclear fusion cabin both at home and abroad at present.Holland's love is thought Only your (Elsevier) Science Publishers are published《Fusion engineering and design》(Fusion Engineering and Design, 83 (2008), pp:1833-1836.) a kind of Articulated Inspection Arm (AIA) machine is disclosed in People belongs to a kind of hanging type robot running gear for nuclear fusion cabin environment, using the modularized design in 5 joints, often A joint is respectively there are one pitch freedom and a deflection degree of freedom, and yaw motion is by the driving motor that is mounted in module It provides, elevating movement is provided by the motor of the screw jack in parallelogram levers, and the movement of each motor output shaft passes through Cable wire is transferred at the cable pulley of large-angle slewing joint, and opposite rotary motion, the robot are generated between band each mold segment of mobile robot It can enter within the intermittent phase of nuclear fusion cabin Physical Experiment in cabin and move, the first wall of vacuum chamber is closely observed, monitor The full tokamak device indoor working condition of vacuum during operation；But since the robot belongs to cantilever structure, a side Its power drive unit of face is integrated in respectively inside each joint of mechanical arm, is added the weight of joint of robot arm, is increased machine The carrying burden of device people's end support device so that robot overall dimension is unsuitable long, gathers so as to limit robot in core Become the detected event spatial dimension in cabin；On the other hand since the rotary motion of each joint walking mechanism of the robot needs each Driving device the synchronized Coordinative Control, the more difficult accurate planning in gait track, and disturbed by mechanical arm dead weight, robot front end detection Device is susceptible to jitter phenomenon in the process of running, affects the positioning accuracy and kinetic stability of system.

A kind of small-sized emergency management and rescue and spy under nuclear radiation environment disclosed in Chinese patent application CN102233575A Robot is surveyed, walking mechanism uses caterpillar chassis structure, and driving motor is placed in the middle part of chassis, passes through chain drive crawler belt Operation, chassis front end are equipped with four-degree-of-freedom manipulator, and gamma camera and imaging system are located at robot rear portion, can be to nuclear environment Under radiation intensity and orientation detected, and pass through robot arm and carry out emergency processing；The walking mechanism of the robot Although possessing certain handling capacity, available for some unstructured moving grids that nuclear fusion encloses out of my cabin, but still can not be in geometry The nuclear fusion cabin inner space operation of structural environment harshness, limits its use scope.

The content of the invention

The present invention is to avoid the shortcoming present in the above-mentioned prior art, provides and worm machine is imitated in a kind of nuclear fusion cabin The control method of device people's walking mechanism, to overcome being visited to nuclear fusion cabin inner space caused by cantilevered scheme in the prior art It surveys scope and positioning accuracy is limited and the defects of fluctuation of service, makes its movement locus can be throughout entire nuclear fusion bilge portion Large dicyclic shape conduit, movement gait are walked similar to worm, good operation stability and control is simple, by carrying visual observation holder The omni-directional visual information gathering to nuclear fusion cabin inner space three degree of freedom is realized, to reduce robot running gear sheet Requirement of the body to bearing capacity improves distant fortune of people's platform to nuclear fusion cabin internal structured specific environment of operating machine of nuclear environment Dynamic adaptability.

The present invention adopts the following technical scheme that solve technical problem：

The imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is structurally characterized in that：It is lateral by preceding body segment Locating module is symmetrical arranged composition with rear body segment lateral register module at the both ends of middle body segment axial movement module；

The structure setting of the preceding body segment lateral register module is：Electric drive submodule is installed in the interior of carrying submodule Portion, and there is the split support submodule of the split support submodule in the inside with identical structure type and outside to be symmetrically disposed on institute State the left and right sides of electric drive submodule；The split one end difference for supporting the split support submodule of submodule and outside in the inside The left and right sides setting position of electric drive submodule is fixed on, the other end is lateral along the left and right of the electric drive submodule respectively It is scalable to move and using the carrying submodule as guide rail；It is centrally located to set at the top of the preceding body segment lateral register module Body segment thermal controls apparatus before putting, the body segment Weighting system before the setting of side, body segment is lateral before the preceding body segment Weighting system is in The top of the split support submodule in outside in locating module；

Body segment lateral register module has identical structure type with the preceding body segment lateral register module after described；Institute The top of rear body segment lateral register module is stated, body segment thermal controls apparatus after centrally located setting, the body segment counterweight after the setting of side System, it is described after at body segment Weighting system in the rear in body segment lateral register module the split support submodule in outside top；

The structure setting of middle body section axial movement module is：Anterior Segment submodule is installed in the interior of housing submodule Portion；The Anterior Segment submodule and deutomerite cross-talk module are connected in the inside of housing submodule and along the longitudinal direction may be used each other Relative motion, forms telescopic middle body segment axial movement module, the deutomerite cross-talk module protrude from middle body nodal axisn to The tail end face of motion module；The body segment thermal controls apparatus in the top of middle body section axial movement module, centrally located setting；

Double Hooke's joint is connected before between the preceding body segment lateral register module and middle body segment axial movement module, Double Hooke's joint is connected later between body segment lateral register module and middle body segment axial movement module after described.

The design feature for the imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is lain also in：

The structure setting of carrying submodule is in the preceding body segment lateral register module：

Using the first rectangular base plate as bottom surface, using the first rectangular-shaped top plate as top surface, in first rectangular base plate and the first square Using front side board as front end face, using back side panel as rear end face between shape top plate, using inner swash plate as left side, inclined plate is right side in addition Body segment rectangular frame before formation；

In the outside of the preceding body segment rectangular frame, interior spin supporting arrangement is provided on the inner swash plate, is located at Outer spin supporting arrangement is provided on the outer inclined plate, using the interior spin supporting arrangement and outer spin supporting arrangement described in Supporting item of the preceding body segment rectangular frame on left side and right side；In the outside of the preceding body segment rectangular frame, positioned at described Universal caster wheel is provided in first rectangular base plate, the support using the universal caster wheel as the preceding body segment rectangular frame in bottom surface Part；The interior spin supporting arrangement is the internal ring wall using large dicyclic shape conduit in nuclear fusion cabin as supporting surface；The outer spin branch Bearing apparatus is the external annulus using large dicyclic shape conduit in the nuclear fusion cabin as supporting surface；

The structure setting of electric drive submodule is in the preceding body segment lateral register module：

In the inside of the preceding body segment rectangular frame, in first rectangular base plate and it is on the position of coaxial line Set gradually split support submodule hold-down support, the first motor support base, clutch shaft bearing bearing and second bearing bearing；Described The first servo vacuum decelerating motor is fixedly mounted on first motor support base, the output shaft of the first servo vacuum decelerating motor leads to First shaft coupling is crossed to be connected with the first center ball screw；First center ball screw be multi-diameter shaft, the multi-diameter shaft Both ends the clutch shaft bearing bearing and are supported on by the first double-row angular contact bal bearing and the first deep groove ball bearing respectively Between two bearing spiders, the first swivel nut is with rolling screw engagement sleeves on the threaded shaft section of first center ball screw； First movement tablet is installed on first swivel nut；First movement tablet guide frame is set, is rolled at first center The both sides of ballscrew are arranged in parallel the first guide rod, and one end of first guide rod is installed on clutch shaft bearing bearing, another End is installed in by the first sleeve on second bearing bearing, and the first movement tablet is supported on described using first straight line bearing On first guide rod, make the first movement tablet that can axially be moved on the first guide rod under the drive of first swivel nut It is dynamic；In first rectangular base plate, the first optoelectronic switch, institute are provided with immediately below the ball screw of first center State the first optoelectronic switch setting position between clutch shaft bearing bearing and second bearing bearing；

The split support submodule of the split support submodule in outside and inside has such as in the preceding body segment lateral register module Under identical structure type：

Massive plate is set in the side of the split support submodule hold-down support and the first movement tablet, described big flat Gusset piece is fixedly mounted in the inside of plate and the relative position of split support submodule hold-down support, in the inside of the massive plate Slide is fixedly mounted with the relative position of the first movement tablet, the slide is parallel with the axis of the first center ball screw, Sliding block is sliding combined on the slide；The first upper connecting rod for being arranged in parallel and the first lower link are cut with scissors at one end through on first Bearing, the first lower hinge support and the first axis pin are hinged with split support submodule hold-down support；Pass through double hinges in the other end Bearing and the 4th axis pin are hinged with the sliding block；The second upper connecting rod being arranged in parallel and the second lower link are at one end through the 3rd Upper hinge support, the 3rd lower hinge support and the 3rd axis pin with installation gusset piece be hinged, the other end by the second upper hinge support, Second lower hinge support and the second axis pin are hinged with the first movement tablet；In the split support submodule in the inside, at it Wedge-shaped stent in the outside fixed setting of massive plate is provided with interior universal support claw on the outer end face of the interior wedge-shaped stent； In the split support submodule in outside, outer wedge-shaped stent is fixedly installed in the outside of its massive plate, in the outer wedge-shaped stent Outer end face on outer universal support claw is set；With the large dicyclic shape slot of the interior universal support claw and outer universal support claw in nuclear fusion cabin Support is formed on the internal ring wall and external annulus in road as lockup state, is gathered with the interior universal support claw and outer universal support claw disengaging in core Become the support on the internal ring wall and external annulus of the large dicyclic shape conduit in cabin as released state；

The design feature for the imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is lain also in：The outer rolling Ball support device and interior spin supporting arrangement have following identical structure type：Guide cylinder is fixed on inner swash plate by installing plate On, spring lock block, to be slidably matched, is set with ripple in guide cylinder and with guide cylinder between installing plate and spring lock block Shape spring, ball hinge and spring lock block thread connection, and there is spin to coordinate with the ball hinge flexural pivot.

The design feature for the imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is lain also in：Described outer ten thousand There is following identical structure type to support claw and interior universal support claw：

Support claw head is connected by a universal knot with hinged-support, the universal knot by long pin shaft, two structures it is identical partly Axis pin and hydraulic steering gear adopting cross piece composition, the hydraulic steering gear adopting cross piece is articulated with by long pin shaft on hinged-support, and passes through two and half axis pins along cross The central cross-section of block is symmetrically articulated with support claw head, and the central axis of two and half axis pins and long pin shaft is intersected in hydraulic steering gear adopting cross piece The heart；The hinged-support is connected firmly with the split support submodule in the inside interior wedge-shaped stent in the block；Circular arc on the support claw head Fluororubber layer is pasted on outer end face and pressure sensor is distributed in array.

The structure setting of housing submodule in middle body section axial movement module is：

Using the second rectangular base plate as bottom surface, using the second rectangular-shaped top plate as top surface, and in second rectangular base plate and second With rectangle left plate and rectangle right plate it is respectively two sides between rectangular-shaped top plate, with rectangular-shaped front side plate and I-shaped back side panel point Not Wei both ends of the surface formed one in body segment rectangular frame；

The Anterior Segment submodule and deutomerite cross-talk module have following identical structure type：

In the inside of the middle segment rectangular frame, in the second rectangular base plate and it is on the position of coaxial line B point Not She Zhi 3rd bearing bearing and fourth bearing bearing, in suspension the second motor branch of fixed setting in the second rectangular-shaped top plate Seat, is fixedly mounted the second servo vacuum decelerating motor on second motor support base；It is true that first gear is arranged on described second It is engaged on the output shaft of empty servo deceleration motor and with second gear, the second gear is arranged on the second center ball screw End and axially fastened by small round nut；Second center ball screw be multi-diameter shaft, the both ends of the multi-diameter shaft The 3rd bearing bearing and fourth bearing are supported on by the second double-row angular contact bal bearing and the second deep groove ball bearing respectively Between bearing, the second swivel nut is with rolling screw engagement sleeves on the threaded shaft section of second center ball screw；Second moves Dynamic tablet is installed on second swivel nut；

Second straight line bearing is fixed with respectively in the left and right sides symmetric position of the described second movement tablet；Described Second guide rod is set respectively in the left and right sides symmetric position of two center ball screws, and one end of second guide rod is fixedly mounted with In on 3rd bearing bearing, the other end is installed in by second sleeve on fourth bearing bearing；Second guide rod and second Linear bearing is to be slidably matched；

Push rod is respectively arranged in the left and right sides symmetric position of the described second movement tablet, one end of the push rod is consolidated Loaded on the second movement tablet, the other end is each passed through the symmetrical gap space of the I-shaped back side panel and is in middle segment Push plate outside rectangular frame connects firmly；

In second rectangular base plate, the second photoelectricity is set respectively positioned at the underface of second center ball screw Switch and the 3rd optoelectronic switch, second optoelectronic switch and the 3rd optoelectronic switch office are in 3rd bearing bearing and fourth bearing On axially different position between bearing.

The design feature for the imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is lain also in：The precursor Section Weighting system and rear body segment Weighting system are arranged to following identical structure type：It is lateral that counterweight box is installed in the preceding body segment On the outside of positioning mould the first rectangular-shaped top plate upper surface in the block, each counterweight in weights group is placed in counterweight box by the form of array In.

The design feature for the imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is lain also in：The precursor Section thermal controls apparatus and rear body segment thermal controls apparatus are arranged to following identical structure type：

First annular seal space housing is set, and ecto-entad encapsulates successively for the first composite heat-insulated material layer and the first phase-change material layers In the first annular seal space housing；Draw the first nitrogen cooling tube respectively in the inner space of first phase-change material layers Road, the first temperature control module power cord and signal wire, visual observation installation's power source line and signal wire, the first electric machine controller power cord With signal wire and the first sensing element power cord and signal wire.

The design feature for the imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is lain also in：The middle body Section thermal controls apparatus structure setting be：

Second sealing cavity shell is set, and ecto-entad encapsulates successively for the second composite heat-insulated material layer and the second phase-change material layers In the second sealing cavity shell, the second nitrogen cooling pipe, the are drawn respectively in the second phase-change material layers inner space Two temperature control module power cords and signal wire, the second electric machine controller power cord and signal wire and the second sensing element power cord and Signal wire.

The structure setting of the preceding double Hooke's joint is：With Anterior Segment, first in the first identical Anterior Segment of structure, first In after pitching /V after pitching banking stop and two first before segment and identical two first of structure behind segment and first Piece；Anterior Segment is fixedly connected with rear segment in first in the form of back-to-back in described first；One end of first Anterior Segment passes through Stauros forms pitching and deflection two-dimensional rotary up and down with Anterior Segment in first and is connected before first, the other end and the precursor Section lateral register mould back side panel in the block connects firmly；One end of segment passes through segment structure after in stauros and first after first after first It is connected into upper and lower pitching and deflection two-dimensional rotary, the other end and the rectangular-shaped front side plate in middle body section axial movement module It connects firmly；The pitching banking stop top and lower part symmetrical above and below for being installed in the first Anterior Segment respectively before described two first, described two The only pitching banking stop top and lower part symmetrical above and below for being installed in segment after first respectively after first；

The structure setting of double Hooke's joint is after described：With Anterior Segment, second in the second identical Anterior Segment of structure, second In after pitching /V after pitching banking stop and two second before segment and identical two second of structure behind segment and second Piece；Anterior Segment is fixedly connected with rear segment in second in the form of back-to-back in described second；One end of second Anterior Segment passes through Stauros forms pitching and deflection two-dimensional rotary up and down with Anterior Segment in second and is connected before second, the other end and the middle body Push plate in section axial movement module connects firmly；One end of segment is made up of segment after in stauros and second after second after second Upper and lower pitching and the connection of deflection two-dimensional rotary, the other end are connected firmly with the rear body segment lateral register mould back side panel in the block； The pitching banking stop top and lower part symmetrical above and below for being installed in the second Anterior Segment respectively before described two second, described two second The pitching banking stop top and lower part symmetrical above and below for being installed in segment after second respectively afterwards.

The characteristics of control method for the imitative worm robot running gear that the present invention is operated in nuclear fusion cabin is：

The walking mechanism complete as follows a forward step away from walking process：

Step 1：Preceding body segment lateral register module and rear body segment lateral register module are in lockup state, and middle body segment is axial Motion module is in minimum shortening state；Walking mechanism is located at the A of position；

Step 2：Preceding body segment lateral register module is arranged to released state, and rear body segment lateral register module is maintained at locking shape State, until reaching maximum elongation state, walking mechanism is in the row from position A to position B for middle body segment axial movement module elongation In；

Step 3：Preceding body segment lateral register module is arranged to lockup state, and rear body segment lateral register module is arranged to unlock shape State, middle body segment axial movement module shorten until reaching minimum shortening state, and walking mechanism is advanced at the B of position；

Step 4：Preceding body segment lateral register module is maintained at lockup state, and rear body segment lateral register module enters locking shape State, middle body segment axial movement module are maintained at minimum shortening state, and walking mechanism is located at the B of position；

The walking mechanism complete as follows a backstep away from walking process：

Step 2：Preceding body segment lateral register module remains lockup state, and rear body segment lateral register module is arranged to unlock shape State, until reaching maximum elongation state, walking mechanism is in the row from position A to position C for middle body segment axial movement module elongation In；

Step 3：Preceding body segment lateral register module is arranged to released state, and rear body segment lateral register module is arranged to locking shape State, middle body segment axial movement module shorten until reaching minimum shortening state, and walking mechanism is advanced at the C of position；

Step 4：Preceding body segment lateral register module is arranged in lockup state, and rear body segment lateral register module is maintained at locking State, middle body segment axial movement module are maintained at minimum shortening state, and walking mechanism is located at the C of position.

Compared with the prior art, the present invention has the beneficial effect that：

1st, the imitative worm robot running gear motion range of the present invention is wide, and run trace can be throughout nuclear fusion bilge portion Large dicyclic shape conduit complete cycle, meet the nuclear environment distant people that operates machine distant manipulating objects in cabin are involved in depth general technical will It asks.

2nd, the present invention takes into account for nuclear fusion cabin internal environment feature, designed imitative worm robot running gear High temperature resistant radiates the particular requirement of material and vacuum lubrication, to uses such as in-house electromechanical component outlet and electronic devices Thermal controls apparatus is packaged, and can utmostly meet the extreme physics item such as high temperature, vacuum, nuclear radiation of mechanism use occasion Part, while the split support sub-modular structure form in medial and lateral of the forward and backward body segment lateral register module use of mechanism also complies with core and gathers Become the space structural property of bilge portion large dicyclic shape conduit, it is highly practical.

3rd, it is parallel by being loaded in its preceding body segment lateral register module for the imitative worm robot running gear of the present invention Visual observation holder can realize the observation of three rotary freedoms in space, coordinate the cycle of imitative worm robot running gear Property crawling motion, the 360 ° omni-directional visual information acquisition function to D word cross sectional annulars space inside nuclear fusion cabin can be completed； Again since parallel visual observation holder uses the circumferentially uniformly distributed spherical structure form of three identical branches, center redundancy branched chain Add in so that device has, system stiffness is big, movement flexibility ratio is high, bearing capacity is strong, motion positions precision is high, unusual pose can The multinomial advantageous characteristics such as control.

3rd, the cycle movement gait of the imitative worm robot running gear of the present invention is with the worm walking step state class of nature Seemingly, control method is simple and convenient, and preceding body segment lateral register module and rear body segment lateral register mould carrying submodule in the block are equal Equipped with respectively with the matched inside and outside spin resilient supporting unit of the inside and outside ring wall of large dicyclic shape conduit in nuclear fusion bilge portion, tool There is structure adaptive so that the good operation stability of entire mechanism.

4th, the imitative worm robot running gear of the present invention belongs to three-stage cascaded structure, due to preceding body segment lateral register module It is symmetrical arranged with rear body segment lateral register module at middle body segment axial movement module both ends, therefore forward and backward body segment lateral register module Between can mutually replace, versatility is good.

6th, the present invention can be used for nuclear fusion device remote operating maintaining robot system engineering, for the day of fusion reactor Normal working condition performs the tasks such as specialized reconnaissance, monitoring and inspection, and then promotes following nuclear fusion stack automated maintenance technology Sustainable development.

Description of the drawings

Fig. 1 is the imitative worm robot running gear general structure schematic diagram of the present invention；

Fig. 2 is nuclear fusion cabin internal structure schematic diagram；

Fig. 3 is imitative overall operation schematic diagram of the worm robot running gear in nuclear fusion cabin of the present invention；

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

Fig. 5 is preceding body segment lateral register module and rear body segment lateral register mould carrying sub-modular structure in the block in the present invention Schematic diagram；

Fig. 6 is electric drive sub-modular structure in preceding body segment lateral register module in the present invention and rear body segment lateral register module Schematic diagram；

Fig. 7 is electric drive submodule center in preceding body segment lateral register module in the present invention and rear body segment lateral register module Sectional view；

Fig. 8 (a), Fig. 8 (b) and Fig. 8 (c) are preceding body segment lateral register module and rear body segment lateral register module in the present invention In inside it is split support submodule and outside it is split support sub-modular structure schematic diagram；

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

Figure 10 (a), Figure 10 (b) and Figure 10 (c) are preceding body segment lateral register module and rear body segment lateral register in the present invention Mould it is in the block carrying submodule interior spin resilient supporting unit structure diagram and its with nuclear fusion bilge portion large dicyclic shape slot The contact condition schematic diagram of road inner wall；

Figure 11 (a), Figure 11 (b), Figure 11 (c) and Figure 11 (d) are preceding body segment lateral register module and rear body segment in the present invention The interior universal support claw structure diagram of lateral register mould carrying submodule in the block；

Figure 12 is middle body segment axial movement module structure diagram in the present invention；

Figure 13 is the housing sub-modular structure schematic diagram in middle body segment axial movement module in the present invention；

Figure 14 shows for the Anterior Segment submodule in middle body segment axial movement module in the present invention and deutomerite cross-talk modular structure It is intended to；

Figure 15 is parallel visual observation cradle head structure schematic diagram in the present invention；

Figure 16 is preceding body segment Weighting system and rear body segment Weighting system structure diagram in the present invention；

Figure 17 is preceding double Hooke's joint structure diagram in the present invention；

Figure 18 is rear double Hooke's joint structure diagram in the present invention；

Figure 19 is preceding body segment thermal controls apparatus and rear body segment thermal controls apparatus structure diagram in the present invention；

Figure 20 is middle body segment thermal controls apparatus structure diagram in the present invention.

Specific embodiment

Referring to Fig. 1, Fig. 2 and Fig. 3, operate in imitative worm robot running gear U1's in nuclear fusion cabin in the present embodiment Structure type is：By preceding body segment lateral register module 1 and rear body segment lateral register module 3 in middle body segment axial movement module 2 Both ends are symmetrical arranged the imitative worm robot running gear of composition；Shown in Fig. 4, the structure setting of preceding body segment lateral register module 1 is： Electric drive submodule 1B is installed in the inside of carrying submodule 1A, and has the split branch chapelet in the inside with identical structure type The module 1C and split support submodule 1D in outside is symmetrically disposed on the left and right sides of electric drive submodule 1B；The split branch chapelet in inside One end of module 1C and the split support submodule 1D in outside are fixed on the left and right sides setting position of electric drive submodule 1B respectively Place, the other end move and along the left and right of electric drive submodule 1B is laterally scalable to carry submodule 1A as guide rail respectively；Fig. 1 institutes Show, at the top of preceding body segment lateral register module 1, body segment thermal controls apparatus 9 before centrally located setting, the body segment before the setting of side Weighting system 7, preceding body segment Weighting system 7 are in the top of the split support submodule in outside in preceding body segment lateral register module 1, position In forepart, visual observation holder 6 is set, for when imitative worm robot running gear is in 12 internal operation of nuclear fusion cabin to cabin Interior all kinds of component working situations carry out space 360 ° omni-directional and make an inspection tour and monitor in real time task；Afterwards body segment lateral register module 3 with Preceding body segment lateral register module 1 has identical structure type；It is centrally located to set at the top of rear body segment lateral register module 3 Body segment thermal controls apparatus 11 is postponed, the body segment Weighting system 8 after the setting of side, it is lateral that rear body segment Weighting system 8 is in rear body segment The top of the split support submodule in outside in locating module 3.Shown in Figure 12, the structure setting 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 in housing The inside of module 2A is connected and can be movable relatively along the longitudinal direction each other, forms 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；On the top of middle body segment axial movement module 2 Portion, body segment thermal controls apparatus 10 in centrally located setting.Preceding body segment lateral register module 1 and middle body segment axial movement module 2 it Between before double Hooke's joint 4 be connected, between rear body segment lateral register module 3 and middle body segment axial movement module 2 after double ten thousand It is connected to section 5.

In the present embodiment, shown in Fig. 5, the structure setting that submodule 1A is carried in preceding body segment lateral register module 1 is：With One rectangular base plate 101 is bottom surface, is top surface with the first rectangular-shaped top plate 107, in the first rectangular base plate 101 and the first rectangular-shaped top plate With front side board 106 for front end face, with back side panel 102 it is rear end face between 107, using inner swash plate 104M as left side, inclined plate in addition Body segment rectangular frame before 104N is formed for right side；In the outside of preceding body segment rectangular frame, it is provided on inner swash plate 104M Interior spin supporting arrangement 105M is provided with outer spin supporting arrangement 105N on outer inclined plate 104N, within spin supporting arrangement The supporting item of 105M and outer spin supporting arrangement 105N as preceding body segment rectangular frame on left side and right side；In preceding body segment The outside of rectangular frame is provided with universal caster wheel 103 in the first rectangular base plate 101, using universal caster wheel 103 as preceding body segment Rectangular frame is in the supporting item of bottom surface；This structure type is conducive to preceding body segment lateral register module and rear body segment lateral register mould The system loss of weight of block improves the versatility and interchangeability of component.

Shown in Fig. 9, interior spin supporting arrangement 105M is using the internal ring wall 12M of large dicyclic shape conduit in nuclear fusion cabin 12 as branch Support face；Outer spin supporting arrangement 105N is the external annulus 12N using large dicyclic shape conduit in nuclear fusion cabin 12 as supporting surface.This knot Structure is that body segment lateral register module 1 and rear body segment lateral register module 3 were used as bearing contact end in nuclear fusion cabin 12 in the past；It is more Distributions of a interior spin supporting arrangement 105M and outer spin supporting arrangement 105N on carrying submodule 1A can be conducive to increase and connect Contacting surface is accumulated, and ensures uniform force.

Shown in Fig. 6 and Fig. 7, the structure setting of electric drive submodule 1B is in preceding body segment lateral register module 1：In preceding body segment The inside of rectangular frame in the first rectangular base plate 101 and is on the position of coaxial line and sets gradually split support submodule Block hold-down support 108, the first motor support base 109, clutch shaft bearing bearing 110 and second bearing bearing 113；In the first motor support base The first servo vacuum decelerating motor 122 is fixedly mounted on 109, the output shaft of the first servo vacuum decelerating motor 122 passes through first Shaft coupling 121 is connected with the first center ball screw 114；First center ball screw 114 be multi-diameter shaft, the both ends of multi-diameter shaft Clutch shaft bearing bearing 110 and second is supported on by the first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115 respectively Between bearing spider 113, the first swivel nut 111 is mounted in the threaded shaft section of the first center ball screw 114 with rolling screw engagement sleeves On, 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 Bearing (ball) cover 116 fastens, and the inner ring of the first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115 is respectively by the first circle Nut 123, the first circlip for shaft 125 fasten；First movement tablet 112 is installed on the first swivel nut 111；First is set to move 112 guide frame of dynamic tablet is first guide rod 118 that is arranged in parallel in the both sides of the first center ball screw 114, and first is oriented to One end of bar 118 is installed on clutch shaft bearing bearing 110, and the other end is installed in second bearing bearing 113 by the first sleeve 117 On, the first movement tablet 112 is supported on using first straight line bearing 119 on the first guide rod 118, makes the first movement tablet 112 It can be moved axially under the drive of the first swivel nut 111 on the first guide rod 118；In the first rectangular base plate 101, positioned at The underface of one center ball screw 114 is provided with the first optoelectronic switch 126, and the first optoelectronic switch 126 is located at clutch shaft bearing branch Setting position between seat 110 and second bearing bearing 113.The split support submodule in outside in preceding body segment lateral register module 1 1D and the split support submodule 1C in inside have following identical structure type：

Shown in Fig. 8 (a), set in the side of split 108 and first movement tablet 112 of support submodule hold-down support big flat Gusset piece is fixedly mounted in the inside of massive plate 140 and the relative position of split support submodule hold-down support 108 in plate 140 132, slide 141, slide 141 and the is fixedly mounted in the inside of massive plate 140 and the relative position of the first movement tablet 112 The axis of one center ball screw 114 is parallel, and sliding block 142 is sliding combined on slide 141；The first upper connecting rod being arranged in parallel 144 and first lower link 146 at one end through the first upper hinge support 129, the first lower hinge support 127 and the first axis pin 128 with Split support submodule hold-down support 108 is hinged；Pass through double 143 and the 4th axis pins 145 of hinged-support and sliding block 142 in the other end It is hinged；The second upper connecting rod 139 being arranged in parallel and the second lower link 150 are at one end through under the 3rd upper hinge support the 135, the 3rd 130 and the 3rd axis pin 131 of hinged-support is hinged with installation gusset piece 132, passes through the second upper hinge support 147, the in the other end Two lower hinge supports 149 and the second axis pin 148 are hinged with the first movement tablet 112；Shown in Fig. 8 (b), in the split support in inside In submodule 1C, the outer end face of the wedge-shaped stent 133M in the fixed setting of the outside of its massive plate 140, inside wedge-shaped stent 133M On be provided with interior universal support claw 134M；Shown in Fig. 8 (c), on the outside in split support submodule 1D, in the outer of its massive plate 140 Fixed setting outer wedge-shaped stent 133N in side sets outer universal support claw 134N on the outer end face of wedge-shaped stent 133N outside；Fig. 9 institutes Show, within the large dicyclic shape conduit of universal support claw 134M and outer universal support claw 134N in nuclear fusion cabin 12 internal ring wall 12M and Support is formed on external annulus 12N as lockup state, within universal support claw 134M and outer universal support claw 134N depart from nuclear fusion cabin Support on the internal ring wall 12M and external annulus 12N of large dicyclic shape conduit in 12 is released state.In the split support submodule in inside It is respectively arranged between block 1C and carrying submodule 1A and on the outside between split support submodule 1D and carrying submodule 1A It is directed laterally to structure；Shown in Fig. 8 (a), it is that a pair of " L " shape small rack is fixedly mounted on massive plate 140 to be directed laterally to structure 137, small clevis pin with head 138 is supported on a pair of " L " shape small rack 137, and there is trundle 136 to be mounted on small clevis pin with head 138, with small rolling The top surface of 136 and first rectangular base plate 101 of wheel coordinates to roll.

When the first servo vacuum decelerating motor 122 rotates, the first center ball screw 114 is driven to rotate, due to first Ball screw 114 and first swivel nut 111 in center constitutes screw pair, the first guide rod of cooperation 118 and first straight line bearing Slide-and-guide effect between 119, then the first swivel nut 111 drive first are moved tablet 112 and are moved along central axial direction straight line It is dynamic；First optoelectronic switch 126 is for the change in location that senses the first movement tablet 112 and to imitative worm robot running gear Control system sends /V command signal, accurately to control in preceding body segment lateral register module 1 and rear body segment lateral register module 3 The periodical axial movement distance of first movement tablet 112.

First movement tablet 112, split support submodule hold-down support 108, slide 141 and sliding block 142, gusset piece 132 And be hinged between above-mentioned component the first upper connecting rod 144, the first lower link 146, connect under the second upper connecting rod 139 and second Bar 150 together constitutes a set of pantograph, when the first servo vacuum decelerating motor 122 driving the first movement tablet 112 When being moved along central axial direction progress reciprocating linear, the pantograph for passing through both sides respectively drives the first center ball The massive plate 140 of 114 arranged on left and right sides of screw does synchronous side to linear reciprocating motion, then respectively by inner swash plate 104M and outer Universal support claw 134M does synchronous lateral stretching motion, and then body segment side before control with outer universal support claw 134N in inclined plate 104N drives To locating module 1 and rear body segment lateral register module 3 12 bottom large dicyclic shape conduit of nuclear fusion cabin internal ring wall 12M and outer shroud Locking and released state between wall 12N.

When the first servo vacuum decelerating motor 122 is stretched respectively by the scissors of 114 left and right sides of the first center ball screw When the massive plate 140 of contracting mechanism driving arranged on left and right sides does synchronous side to linear reciprocating motion, being directed laterally to structure can play to cutting The guiding of formula telescoping mechanism is acted on local support, improves the dynamic stress performance of mechanism, body segment lateral register module 1 before raising And the interior universal support claw 134M and outer universal support claw 134N of rear body segment lateral register module 3 are in 12 bottom large dicyclic shape of nuclear fusion cabin The stability of synchronous lateral stretching motion is done between the internal ring wall 12M and external annulus 12N of conduit.

In the present embodiment, outer spin supporting arrangement 105N and interior spin supporting arrangement 105M have following identical structure shape Formula：Figure 10 (a), Figure 10 (b) and Figure 10 (c) are shown, and guide cylinder 105MB is fixed on by installing plate 105MA on inner swash plate 104M, Spring lock block 105MF is to be slidably matched in guide cylinder 105MB and with guide cylinder 105MB, in installing plate 105MA and spring Waveform spring 105MC, ball hinge 105MD and spring lock block 105MF thread connections are set between briquetting 105MF, and has spin 105ME coordinates with ball hinge 105MD flexural pivots.This structure type can enhance imitative worm robot running gear in nuclear fusion cabin The environment contact adaptive ability that movement supporting is oriented in the large dicyclic shape conduit of bottom, when the inside and outside annular wall of conduit because tile pastes When caused by splice grafting seam site tissue damage phenomena such as working surface out-of-flatness, imitative worm robot running gear can overcome this kind of part Environmental gap, the trouble-free operation of support organization；And interior spin resilient supporting unit 105M and outer spin resilient supporting unit The secondary design of the spin of 105N front ends, can utmostly reduce imitative worm robot running gear during the motion with environment wall surface Frictional resistance, optimization system driveability, achieve the purpose that save energy consumption.

The universal support claw 134N and interior universal support claw 134M in the present embodiment China and foreign countries has following identical structure type：

Figure 11 (a), Figure 11 (b), shown in Figure 11 (c) and Figure 11 (d), support claw head 134ME by a universal knot with it is hinged Seat 134MA is connected, and universal knot is made of long pin shaft 134MF, two structures half identical axis pin 134MC and hydraulic steering gear adopting cross piece 134MB, Hydraulic steering gear adopting cross piece 134MB is articulated with by long pin shaft 134MF on hinged-support 134MA, and passes through two and half axis pin 134MC along hydraulic steering gear adopting cross piece The central cross-section of 134MB is symmetrically articulated with support claw head 134ME, and the center line of two and half axis pin 134MC and long pin shaft 134MF hangs down Orthogonal is compiled in the center of hydraulic steering gear adopting cross piece 134MB；The hinged-support 134MA and interior wedge-shaped stent 133M in the split support submodule 1C in inside It connects firmly；Fluororubber layer is pasted on the circular arc outer end face of support claw head 134ME and pressure sensor is distributed in array 134MD。

It is interior universal when imitative worm robot running gear walking of wriggling in 12 bottom large dicyclic shape conduit of nuclear fusion cabin Support claw 134M and outer universal support claw 134N do synchronous lateral stretching motion, the preceding body segment lateral register module 1 of realization and rear body segment Replace swelling with loosening between lateral register module 3 and environment wall surface；Due to interior universal support claw 134M and outer universal support claw 134N has the degree of freedom of local two orthogonal directions, and it is big in 12 bottom of nuclear fusion cabin to enhance imitative worm robot running gear The environment contact adaptive ability of crawling motion in Crossed Circle conduit, when the inside and outside annular wall of conduit is made because tile is damaged or come off Into working surface it is irregular phenomena such as when, preceding body segment lateral register module 1 and rear body segment lateral register module 3 spontaneous can be sought The optimal stress position and stress point of irregular surface, during so as to provide walking of wriggling for middle body segment axial movement module 2 between It has a rest kick, ensures being smoothed out for walking of wriggling；The fluororubber layer pasted on the 134ME circular arc outer end faces of support claw head was both resistant to High ambient temperature, and the flexible deformation between interior universal support claw 134M and outer universal support claw 134N and environment wall surface can be increased and contacted Normal pressure, so as to provide interval kick sufficiently large during walking of wriggling for middle body segment axial movement module 2；Support claw head Uniformly distributed several pieces pressure sensors 134MD of array on 134ME circular arc outer end faces, for detect in real time interior universal support claw 134M and Contact normal pressure between universal support claw 134N and environment wall surface outside, accurately to control preceding body segment lateral register module 1 and rear body Save 3 locking between the internal ring wall 12M and external annulus 12N of 12 bottom large dicyclic shape conduit of nuclear fusion cabin of lateral register module with Released state provides theory of mechanics foundation.

In the present embodiment, the structure setting of the housing submodule 2A in middle body segment axial movement module 2 is：Figure 12 and Figure 13 It is shown, it is bottom surface with the second rectangular base plate 201, is top surface with the second rectangular-shaped top plate 204, and in the second rectangular base plate 201 and With rectangle left plate 202 and rectangle right plate 205 respectively two sides between two rectangular-shaped top plates 204, with 203 He of rectangular-shaped front side plate I-shaped back side panel 206 is respectively that both ends of the surface form body segment rectangular frame in one.Anterior Segment submodule 2B and deutomerite cross-talk module 2C has following identical structure type：Second rectangular base plate 201 and the second rectangular-shaped top plate 204 are for Anterior Segment submodule 2B's Component is installed and load-bearing, and rectangular-shaped front side plate 203 is used for the mechanical interface of body segment axial movement module 2 and other modules in installing, I-shaped back side panel 206 has symmetrical gap, and axial direction is done as between Anterior Segment submodule 2B and deutomerite cross-talk module 2C Perforative space during relative feed movement；Rectangle left plate 202 and rectangle right plate 205 are played to Anterior Segment submodule 2B with after Critical piece in the submodule 2C of segment is packaged to be acted on Auxiliary support.

Shown in Figure 12 and Figure 14, in the inside of middle segment rectangular frame, in the second rectangular base plate 201 and it is in coaxial 3rd bearing bearing 210 and fourth bearing bearing 225 are set respectively on the position of line B, in outstanding in the second rectangular-shaped top plate 204 The second motor support base 217 of fixed setting is put, the second servo vacuum decelerating motor 218 is fixedly mounted on the second motor support base 217； First gear 216 is arranged on the output shaft of the second servo vacuum decelerating motor 218 and is engaged with second gear 212, second Gear 212 is arranged on the end of the second center ball screw 208 and is axially fastened by small round nut 213；It rolls at the second center Ballscrew 208 is multi-diameter shaft, and the both ends of multi-diameter shaft pass through the second double-row angular contact bal bearing 215 and the second deep groove ball bearing respectively 224 are supported between 3rd bearing bearing 210 and fourth bearing bearing 225, and the second swivel nut 207 is mounted in rolling screw engagement sleeves On the threaded shaft section of second center ball screw 208；Second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 Outer ring is fastened respectively by 3rd bearing end cap 211, fourth bearing end cap 221, and the second double-row angular contact bal bearing 215 and second is deep The inner ring of ditch ball bearing 224 is fastened respectively by the second round nut 214, the second circlip for shaft 223；Second movement tablet 219 It is installed on the second swivel nut 207；Second straight line axis is fixed with respectively in the left and right sides symmetric position of the second movement tablet 219 Hold 229；Second guide rod 228 is set respectively in the left and right sides symmetric position of the second center ball screw 208, and second is oriented to One end of bar 228 is installed on 3rd bearing bearing 210, and the other end is installed in fourth bearing bearing 225 by second sleeve 226 On；Second guide rod 228 is to be slidably matched with second straight line bearing 229；In the symmetrical position in the left and right sides of the second movement tablet 219 It puts and is respectively arranged with push rod 220, one end of push rod 220 is installed in the second movement tablet 219, and the other end is each passed through I-shaped The symmetrical gap space of back side panel 206 is connected firmly with the push plate 222 being in outside middle segment rectangular frame；In the second rectangular base On plate 201, second optoelectronic switch 209 and the 3rd optoelectronic switch are set respectively positioned at the underface of the second center ball screw 208 227, the second optoelectronic switch 209 and 227 office of the 3rd optoelectronic switch 3rd bearing bearing 210 and fourth bearing bearing 225 it Between axially different position on.

Shown in Figure 12, Figure 14, Anterior Segment submodule 2B and deutomerite cross-talk module 2C in middle body segment axial movement module 2 Structure setting in, parallel face is set along the longitudinal direction and lower end is distinguished for 3rd bearing bearing 210 and fourth bearing bearing 225 It is fixedly installed in the top of the second rectangular base plate 201 in housing submodule 2A；The second rectangular top in housing submodule 2A The second servo vacuum decelerating motor 218 is fixedly mounted by the second motor support base 217 in the lower part of plate 204；First gear 216 connects firmly It is intermeshed on the output shaft of the second servo vacuum decelerating motor 218 and with the second gear 212 of lower section, second gear 212 It is fixed on the end of the second center ball screw 208 and is axially fastened by small round nut 213；Second center ball screw 208 be a multi-diameter shaft, passes through the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 installed respectively at both ends It is supported between 3rd bearing bearing 210 and fourth bearing bearing 225, the second swivel nut 207 is with rolling screw engagement sleeves mounted in the On the threaded shaft section of two center ball screws 208；Second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 it is outer Circle is fastened respectively by 3rd bearing end cap 211, fourth bearing end cap 221, the second double-row angular contact bal bearing 215 and the second zanjon The inner ring of ball bearing 224 is fastened respectively by the second round nut 214, the second circlip for shaft 223；Second movement tablet 219 is solid Loaded on the second swivel nut 207 and parallel face is set along the longitudinal direction with 3rd bearing bearing 210 and fourth bearing bearing 225, Second straight line bearing 229 is fixed in the left and right sides symmetric position of the second movement tablet 219；In the second center ball screw 208 left and right sides is symmetrically arranged with the second guide rod 228, and one end of the second guide rod 228 is installed in 3rd bearing bearing 210 On, the other end is installed in by second sleeve 226 on fourth bearing bearing 225；Second guide rod 228 and second straight line bearing 229 be to be slidably matched；Push rod 220 is symmetrically arranged in the left and right sides of the second movement tablet 219, one end of push rod 220 is fixedly mounted with In on the second movement tablet 219, the other end is each passed through the symmetrical gap space of I-shaped back side panel 206 and push plate 222 It connects firmly；The second optoelectronic switch 209 and the 3rd optoelectronic switch 227 are respectively arranged in the underface of the second center ball screw 208, Second optoelectronic switch 209 and the 3rd optoelectronic switch 227 are installed in the top of the second rectangular base plate 201 and are located at first axle respectively It holds between bearing 110 and second bearing bearing 113 at alternative one.

When the second servo vacuum decelerating motor 218 rotates, pass through the tooth between first gear 216 and second gear 212 Transmission is taken turns, the second center ball screw 208 is driven to rotate, since the second center ball screw 208 and the second swivel nut 207 are formed Screw pair coordinates the slide-and-guide between second guide rod 228 and second straight line bearing 229 to act on, then the second swivel nut 207 drive the second movement tablet 219 to move linearly along central axial direction, realize Anterior Segment submodule 2B and deutomerite cross-talk Axially opposing feed motion between module 2C；Second optoelectronic switch 209 and the 3rd optoelectronic switch 227 are used to sensing second and move The change in location of dynamic tablet 219 simultaneously sends former and later two extreme positions to the control system of imitative worm robot running gear respectively The /V command signal put, with the periodical axial feed distance of body segment axial movement module 2 in accurately controlling；First gear On the one hand gear driving pair between 216 and second gear 212 is used for the mechanical transfer of motor driving moment, on the other hand can contract It is big in nuclear fusion bilge portion to enhance imitative worm robot running gear for the axial overall length of brachymedial body segment axial movement module 2 The handling capacity of curve crawling in Crossed Circle conduit.

In the present embodiment, shown in Figure 16, preceding body segment Weighting system 7 and rear body segment Weighting system 8 are arranged to following identical knot Configuration formula：On the outside of 107 upper surface of the first rectangular-shaped top plate before counterweight box 701 is installed in body segment lateral register module 1, counterweight Each counterweight in counterweight group 702 is placed in by the form of array in counterweight box 701, since imitative worm robot running gear is run on Inside nuclear fusion cabin in D word cross sectional annulars space, and the inside and outside ring wall inclination angle of nuclear fusion bilge portion large dicyclic shape conduit is differed, It is not in symmetric relation in D words section so that the preceding body segment lateral register module 1 of imitative worm robot running gear and rear body segment The synthesis torque that lateral register module 3 is born in D words section not necessarily meets equilibrium condition, and preceding body segment Weighting system 7 is with after The addition of body segment Weighting system 8 promotes the balance of system Comprehensive Capacity square, and the counterweight gross weight of weights group 702 is adjustable, It can change with the operating mode of imitative worm robot running gear bearing capacity and make corresponding quantitative adjusting.

In the present embodiment, preceding body segment thermal controls apparatus 9 and rear body segment thermal controls apparatus 11 are arranged to following identical structure type： Shown in Figure 19, first annular seal space housing 901 is set, the first composite heat-insulated material layer 902 and the first phase-change material layers 906 successively by It is packaged in outside to inside in first annular seal space housing 901；The first nitrogen is drawn respectively in the inner space of the first phase-change material layers 906 Air cooling pipeline 908, the first temperature control module power cord and signal wire 907, visual observation installation's power source line and signal wire 905, One electric machine controller power cord and 903 and first sensing element power cord of signal wire and signal wire 904.First annular seal space housing 901st, the first composite heat-insulated material layer 902, the first phase-change material layers 906 belong to heat insulation module, and first annular seal space housing 901 is adopted It is manufactured with stereotype, and one layer of organosilicon coating is covered on surface, for by the first composite heat-insulated material layer 902, the first phase transformation material The bed of material 906 and other thermal control components of inside etc. are sealed storage, while isolation environment radiates；First composite heat-insulated material Layer 902 is formed using the additional one layer of radiation shield of Kapton, for isolation environment high temperature；First phase-change material layers 906 can Using solid-liquid phase change materials such as lithium fluoride, inner heat body self heat is absorbed by phase transition process；In the first phase-change material layers 906 inner spaces are equipped with heat transfer module, are made of the first nitrogen cooling pipe 908 and temperature control module；First nitrogen cooling pipe 908 use corrugated stainless steel tubing, the first temperature control module power cord and signal drawn by 906 inner space of the first phase-change material layers Line 907, visual observation installation's power source line and signal wire 905, the first electric machine controller power cord and signal wire 903 and first pass Feel component power line and 904 grade of signal wire and use high temperature resistant rdaiation resistant cable.

In the present embodiment, the structure setting of middle body segment thermal controls apparatus 10 is：Shown in Figure 20, the second sealing cavity shell is set 1001, ecto-entad is packaged in the second annular seal space shell successively for the second composite heat-insulated material layer 1007 and the second phase-change material layers 1004 In body 1001, the second nitrogen cooling pipe 1006, the second temperature control are drawn respectively in 1004 inner space of the second phase-change material layers 1002 and second sensing element power cord of modular power source line and signal wire 1005, the second electric machine controller power cord and signal wire With signal wire 1003.Second sealing cavity shell 1001, the second composite heat-insulated material layer 1007, the second phase-change material layers 1004 belong to In heat insulation module, the second sealing cavity shell 1001 is manufactured using stereotype, and one layer of organosilicon coating is covered on surface, for by the Other thermal control components of two composite heat-insulated material layers 1007, the second phase-change material layers 1004 and inside etc. are sealed storage, Isolation environment radiation simultaneously；Second composite heat-insulated material layer 1007 is formed using the additional one layer of radiation shield of Kapton, is used In isolation environment high temperature；The solid-liquid phase change materials such as lithium fluoride can be used in second phase-change material layers 1004, are absorbed by phase transition process Inner heat body self heat；Heat transfer module is equipped in 1004 inner space of the second phase-change material layers, by the second nitrogen cooling tube Road 1006 and temperature control module are formed；Second nitrogen cooling pipe 1006 uses corrugated stainless steel tubing, by the second phase-change material layers The second temperature control module power cord and signal wire 1005, the second electric machine controller power cord and signal wire of 1004 inner spaces extraction 1002 and second sensing element power cord and 1003 grade of signal wire use high temperature resistant rdaiation resistant cable.

In the present embodiment, the structure setting of preceding double Hooke's joint 4 is：Shown in Figure 17, with the first identical Anterior Segment of structure 401st, after in first in Anterior Segment 407A, first after segment 407B and first before segment 405 and identical two first of structure Pitching banking stop 404 after pitching banking stop 402 and two first；In first Anterior Segment 407A in first after segment 407B to carry on the back The form of backrest is fixedly connected；One end of first Anterior Segment 401 passes through Anterior Segment 407A structures in stauros 403 and first before first It is connected into upper and lower pitching and deflection two-dimensional rotary, the other end and the back side panel 102 in preceding body segment lateral register module 1 are solid Connection；One end of segment 405 forms pitching up and down and left and right by segment 407B after in stauros 406 and first after first after first Two-dimensional rotary connection is deflected, the other end is connected firmly with the rectangular-shaped front side plate 203 in middle body segment axial movement module 2；Before two first The top and lower part symmetrical above and below for being installed in the first Anterior Segment 401 respectively of pitching banking stop 402, pitching banking stop after two first 404 tops and lower part symmetrical above and below for being installed in segment 405 after first respectively.The structure setting of double Hooke's joint 5 is afterwards：Figure 18 institutes Show, with segment after rear segment 507B and second in Anterior Segment 507A, second in the second identical Anterior Segment 501, second of structure 505 and identical two second of structure before pitching banking stop 504 after pitching banking stop 502 and two second；Prosthomere in second Section 507A is fixedly connected with rear segment 507B in second in the form of back-to-back；One end of second Anterior Segment 501 is by before second Stauros 503 forms pitching and deflection two-dimensional rotary up and down with Anterior Segment 507A in second and is connected, the other end and middle body segment Push plate 222 in axial movement module 2 connects firmly；One end of segment 505 is by after in stauros 506 and second after second after second Segment 507B forms pitching up and down and the connection of deflection two-dimensional rotary, in the other end and rear body segment lateral register module 3 after Side plate 102 connects firmly；Before two second pitching banking stop 502 respectively the top symmetrical above and below for being installed in the second Anterior Segment 501 and under Portion, the top and lower part symmetrical above and below for being installed in segment 505 after second respectively of pitching banking stop 504 after two second.Preceding double ten thousand Dual cardan type U-joint is belonged to section 4 and rear double Hooke's joint 5, for common single universal joint, dual cardan type U-joint can be Preceding body segment lateral register module 1 and rear body segment lateral register module are effectively adapted in the imitative worm robot running gear course of work Elastic anchorage force variation and center of gravity between 3 and the internal ring wall 12M and external annulus 12N of 12 bottom large dicyclic shape conduit of nuclear fusion cabin Shift in position, body segment axial movement module 2 and preceding body segment lateral register module 1 and rear body segment lateral register mould in automatic adjusument Relative position relation between block 3, prevents mechanism blockage；And before two first in preceding double Hooke's joint 4 pitching banking stop 402 with And after two first pitching banking stop 404 can centered body section axial movement module 2 and preceding body segment lateral register module 1 in vertical plane Interior relative position relation plays restriction effect, while pitching banking stop 502 and two before two second in rear double Hooke's joint 5 Only after second pitching banking stop 504 can centered body section axial movement module 2 with rear body segment lateral register module 3 in vertical plane Relative position relation plays restriction effect, prevents that relative position bias up and down is excessive and causes middle body segment axial movement module 2 The axially driving performance for imitating worm robot running gear is impacted.

Visual observation holder 6 is arranged to parallel visual observation holder in the present embodiment, and structure type is：

Shown in Figure 15, the total bearing 601 of " L " shape, vision are fixedly installed at the top surface advanced position of the first rectangular-shaped top plate 107 Acquisition probe 606 is mounted in probe bearing 607, and probe bearing 607 is connected in by three freedom redundancy sphere parallel mechanism The total bearing 601 of " L " shape；The structure setting of three freedom redundancy sphere parallel mechanism is：Consolidate in the front end of the total bearing 601 of " L " shape Fixed platform 615 is put in installing, three motor support bases 613 of installation is evenly distributed on the front end face of fixed platform 615, in each motor branch Servo vacuum decelerating motor 612 is fixed with respectively on seat 613；The output shaft of three servo vacuum decelerating motors 612 respectively with it is right The first near-end boss 614A of the first curved rod 614 on position is answered to connect firmly, the first distal end of three the first curved rods 614 Second near-end boss 602As of the boss 614B respectively with the second curved rod 602 on correspondence position passes through the first miniature bearing The shaftings rotation connection of 616 supportings, the second distal end boss 602B of three the second curved rods 602 respectively on correspondence position The shafting that small bearing 604 is supported by the second miniature bearing 603 is rotatablely connected；Three small bearing 604, which is evenly distributed, to be installed in Moving platform 605, probe bearing 607 are installed on moving platform 605；Moving platform 605 and 615 coaxial face of fixed platform；In moving platform Center redundancy branched chain is set between 605 and fixed platform 615, and center redundancy branched chain is by the first straight connecting rod 611, the second straight connecting rod 610 And the 3rd straight connecting rod 608 form, one end of the first straight connecting rod 611 is fixed on the center of fixed platform 615, the other end and second straight Connecting rod 610 forms sliding pair connection, and one end of the 3rd straight connecting rod 608 is fixed on the center of moving platform 605, and the other end passes through center Spherical hinge 609 is connected with the second straight connecting rod 610；The center of three the first curved rods 614, three the second curved rods 602 The centre of sphere of the center with center Spherical hinge 609 overlap.In this structure type, three freedom redundancy sphere parallel mechanism The front end position of imitative worm robot running gear is loaded by the total bearing 601 of " L " shape, due to imitating worm robot ambulation machine Structure walking of wriggling in nuclear fusion bilge portion large dicyclic shape conduit, then the working space of three freedom redundancy sphere parallel mechanism can Cover the annular space inside entire nuclear fusion cabin.It is mounted with the spherical surface parallel connected machine of three freedom redundancy of vision collecting probe 606 Parallel visual observation holder has been configured to, has been driven by the joint of three servo vacuum decelerating motors 612, it can be achieved that space three The observation of a orthogonal direction rotary freedom coordinates the periodical crawling motion of imitative worm robot running gear, can complete To the 360 ° omni-directional visual information acquisition function in D word cross sectional annulars space inside nuclear fusion cabin, and with system stiffness it is big, Move the multinomial superior functions such as flexibility ratio is high, bearing capacity is strong, motion positions precision is high, unusual pose is controllable.

In specific implementation, in order to adapt to the extreme operating environments items such as nuclear fusion reaction cabin internal high temperature, vacuum, nuclear radiation Part, preceding body segment lateral register module 1, middle body segment axial movement module 2, rear body segment lateral register module 3, preceding double Hooke's joint 4, after Double Hooke's joint 5, parallel visual observation device 6, preceding body segment Weighting system 7 and rear 8 main body of body segment Weighting system be not using The Steel material that becomes rusty manufactures；The first double-row angular contact bal bearing in preceding body segment lateral register module 1 and rear body segment lateral register module 3 124 and first deep groove ball bearing 115, middle body segment axial movement module 2 in the second double-row angular contact bal bearing 215 and second it is deep The first miniature bearing 616 and the second miniature bearing 603 in ditch ball bearing 224, parallel visual observation device 6 are using full pottery Porcelain bearing；Vision collecting probe 606 uses high-temperature resistant optical fiber imaging system；Preceding body segment thermal controls apparatus 9 and rear body segment thermal controls apparatus The second sealing cavity shell 1001 in first annular seal space housing 901, middle body segment thermal controls apparatus 10 in 11 is manufactured using stereotype； It is preceding body segment lateral register module 1, middle body segment axial movement module 2, rear body segment lateral register module 3, preceding double Hooke's joint 4, rear double Universal joint 5 and parallel visual observation holder 6 carry out mechanical profit using graphited oil or molybdenum disulfide Hmp grease It is sliding.

The control method of the imitative worm robot running gear based on nuclear fusion cabin is in the present embodiment：

Walking mechanism complete as follows a forward step away from walking process：

Step 1：Preceding body segment lateral register module 1 and rear body segment lateral register module 3 are in lockup state, middle body segment axis Minimum shortening state is in motion module 2；Walking mechanism is located at the A of position；Vision collecting is popped one's head in visual observation holder 6 606 are maintained at progress visual information acquisition at the A of position.

Step 2：Preceding body segment lateral register module 1 is arranged to released state, and rear body segment lateral register module 3 is maintained at locking State, until reaching maximum elongation state, walking mechanism is in from position A to position B's for the middle elongation of body segment axial movement module 2 In traveling；Vision collecting probe 606 is adopted carrying out visual information into the traveling of position B from position A in visual observation holder 6 Collection.

Step 3：Preceding body segment lateral register module 1 is arranged to lockup state, and rear body segment lateral register module 3 is arranged to unlock State, middle body segment axial movement module 2 shorten until reaching minimum shortening state, and walking mechanism is advanced at the B of position；Vision is seen It surveys vision collecting probe 606 in holder 6 and is maintained at progress visual information acquisition at the B of position.

Step 4：Preceding body segment lateral register module 1 is maintained at lockup state, and rear body segment lateral register module 3 enters locking shape State, middle body segment axial movement module 2 are maintained at minimum shortening state, and walking mechanism is located at the B of position；Visual observation holder 6 Middle vision collecting probe 606 is maintained at the B of position to carrying out storage processing to the visual information collected at B at A, completes position Put a forward step of A to position B away from visual information acquisition and storage processing.

Walking mechanism complete as follows a backstep away from walking process：

Step 2：Preceding body segment lateral register module 1 remains lockup state, and rear body segment lateral register module 3 is arranged to unlock State, until reaching maximum elongation state, walking mechanism is in from position A to position C's for the middle elongation of body segment axial movement module 2 In traveling；Vision collecting probe 606 is maintained at progress visual information acquisition at the A of position in visual observation holder 6.

Step 3：Preceding body segment lateral register module 1 is arranged to released state, and rear body segment lateral register module 3 is arranged to locking State, middle body segment axial movement module 2 shorten until reaching minimum shortening state, and walking mechanism is advanced at the C of position；Vision is seen It surveys vision collecting probe 606 in holder 6 and visual information acquisition is being carried out into the traveling of position C from position A.

Step 4：Preceding body segment lateral register module 1 is arranged in lockup state, and rear body segment lateral register module 3 is maintained at lock Only state, middle body segment axial movement module 2 are maintained at minimum shortening state, and walking mechanism is located at the C of position；Visual observation cloud Vision collecting probe 606 is maintained at progress visual information acquisition at the C of position in platform 6, completes a retrogressing of position A to position C The visual information acquisition of step pitch.

In the present embodiment, it is respectively motor M 612M, motor N 612N and electricity to set three servo vacuum decelerating motors 612 Machine P612P is in nuclear fusion bilge portion large dicyclic shape conduit for walking mechanism by the counter clockwise direction walking of wriggling of vertical view In the action cycle T of one step pitch, servo vacuum decelerating motor 612 is controlled according to the following procedure：

Step c1：It is in the initial state at 0 moment：The central axis weight of second straight connecting rod 610 and the 3rd straight connecting rod 608 It closes, the central axis of the first near-end boss 614A of each first curved rod 614 and the second curved rod 602 for accordingly setting The central axis of second distal end boss 602B overlaps.

Step c2:In the period of 0~T/12：Motor M stops rotating, and motor N is rotated clockwise with rotational speed omega, electricity Machine P makees rotation counterclockwise with rotational speed omega.

Step c3:In the period of T/12~2T/12：Motor M makees rotation counterclockwise with rotational speed omega, and motor N stops rotation Turn, motor P is rotated clockwise with rotational speed omega.

Step c4:In the period of 2T/12~3T/12：Motor M is rotated clockwise with rotational speed omega, and motor N is with rotating speed ω makees rotation, motor P counterclockwise and stops rotating.

Step c5:In the period of 3T/12~4T/12：Motor M stops rotating, and motor N makees rotation counterclockwise with rotational speed omega Turn, motor P is rotated clockwise with rotational speed omega.

Step c6:In the period of 4T/12~5T/12：Motor M is rotated clockwise with rotational speed omega, and motor N stops rotation Turn, motor P makees rotation counterclockwise with rotational speed omega.

Step c7:In the period of 5T/12~6T/12：Motor M makees rotation counterclockwise with rotational speed omega, and motor N is with rotating speed ω is rotated clockwise, and motor P stops rotating.

Step c8:In the period of 6T/12~T：Motor M, motor N and motor P stop rotating, and complete compacted counterclockwise The action cycle process of one step pitch of dynamic walking.

Walking of wriggling process clockwise is identical with walking of wriggling Principle of Process counterclockwise.

Claims

1. the control method of worm robot running gear is imitated in a kind of nuclear fusion cabin, it is characterized in that：

The imitative worm robot running gear is by preceding body segment lateral register module (1) and rear body segment lateral register module (3) Composition is symmetrical arranged at the both ends of middle body segment axial movement module (2)；

The structure setting of the preceding body segment lateral register module (1) is：Electric drive submodule (1B) is installed in carrying submodule The inside of (1A), and have the split support submodule (1C) in the inside with identical structure type and the split support submodule in outside (1D) is symmetrically disposed on the left and right sides of the electric drive submodule (1B)；The inside is split to support submodule (1C) and outside One end of split support submodule (1D) is fixed on the left and right sides setting position of electric drive submodule (1B), the other end respectively Respectively along the electric drive submodule (1B) the lateral scalable movement in left and right and with the carrying submodule (1A) for guide rail； The top of the preceding body segment lateral register module (1), body segment thermal controls apparatus (9) before centrally located setting, before being set positioned at side Body segment Weighting system (7), the split support in outside in body segment lateral register module (1) before the preceding body segment Weighting system (7) is in The top of submodule；

Body segment lateral register module (3) has identical structure type with the preceding body segment lateral register module (1) after described； The top of body segment lateral register module (3) after described, body segment thermal controls apparatus (11) after centrally located setting, after being set positioned at side Body segment Weighting system (8), it is described after outside is split in body segment lateral register module (3) in the rear at body segment Weighting system (8) Support the top of submodule；

The structure setting of middle body section axial movement module (2) is：Anterior Segment submodule (2B) is installed in housing submodule The inside of (2A)；The Anterior Segment submodule (2B) and deutomerite cross-talk module (2C) are connected simultaneously 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), the deutomerite cross-talk mould Block (2C) protrudes from the tail end face of middle body section axial movement module (2)；In middle body section axial movement module (2) Top, body segment thermal controls apparatus (10) in centrally located setting；

Double Hooke's joint (4) is connected before between the preceding body segment lateral register module (1) and middle body segment axial movement module (2) It connects, double Hooke's joint (5) is connected later between body segment lateral register module (3) and middle body segment axial movement module (2) in the rear It connects；

The control method of the imitative worm robot running gear is arranged to：

Step 1：Preceding body segment lateral register module (1) and rear body segment lateral register module (3) are in lockup state, middle body segment axis Minimum shortening state is in motion module (2)；Walking mechanism is located at the A of position；

Step 2：Preceding body segment lateral register module (1) is arranged to released state, and rear body segment lateral register module (3) is maintained at locking State, until reach maximum elongation state, walking mechanism is in from position A to position B the elongation of middle body segment axial movement module (2) Traveling in；

Step 3：Preceding body segment lateral register module (1) is arranged to lockup state, and rear body segment lateral register module (3) is arranged to unlock State, middle body segment axial movement module (2) are shortened until reaching minimum shortening state, and walking mechanism is advanced at the B of position；

Step 4：Preceding body segment lateral register module (1) is maintained at lockup state, and rear body segment lateral register module (3) enters locking shape State, middle body segment axial movement module (2) are maintained at minimum shortening state, and walking mechanism is located at the B of position；

Step 2：Preceding body segment lateral register module (1) remains lockup state, and rear body segment lateral register module (3) is arranged to unlock State, until reach maximum elongation state, walking mechanism is in from position A to position C the elongation of middle body segment axial movement module (2) Traveling in；

Step 3：Preceding body segment lateral register module (1) is arranged to released state, and rear body segment lateral register module (3) is arranged to locking State, middle body segment axial movement module (2) are shortened until reaching minimum shortening state, and walking mechanism is advanced at the C of position；

Step 4：Preceding body segment lateral register module (1) is arranged in lockup state, and rear body segment lateral register module (3) is maintained at lock Only state, middle body segment axial movement module (2) are maintained at minimum shortening state, and walking mechanism is located at the C of position.

2. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 1, it is characterized in that：

The structure setting of carrying submodule (1A) is in the preceding body segment lateral register module (1)：

With the first rectangular base plate (101) for bottom surface, with the first rectangular-shaped top plate (107) for top surface, in first rectangular base plate (101) be front end face with front side board (106) between the first rectangular-shaped top plate (107), with back side panel (102) for rear end face, within Inclined plate (104M) is left side, body segment rectangular frame before inclined plate (104N) is formed for right side in addition；

In the outside of the preceding body segment rectangular frame, interior spin supporting arrangement is provided on the inner swash plate (104M) (105M) is provided with outer spin supporting arrangement (105N), with the interior spin supporting arrangement on the outer inclined plate (104N) The supporting item of (105M) and outer spin supporting arrangement (105N) as the preceding body segment rectangular frame on left side and right side； In the outside of the preceding body segment rectangular frame, universal caster wheel (103) is provided on first rectangular base plate (101), with The universal caster wheel (103) is as supporting item of the preceding body segment rectangular frame in bottom surface；The interior spin supporting arrangement (105M) is for supporting surface with the internal ring wall (12M) of large dicyclic shape conduit in nuclear fusion cabin (12)；The outer spin supporting arrangement (105N) is for supporting surface with the external annulus (12N) of large dicyclic shape conduit in the nuclear fusion cabin (12)；

The structure setting of electric drive submodule (1B) is in the preceding body segment lateral register module (1)：

In the inside of the preceding body segment rectangular frame, on first rectangular base plate (101) and the position of coaxial line is in On set gradually split support submodule hold-down support (108), the first motor support base (109), clutch shaft bearing bearing (110) and the Two bearing spiders (113)；The first servo vacuum decelerating motor (122), institute are fixedly mounted on first motor support base (109) The output shaft for stating the first servo vacuum decelerating motor (122) passes through first shaft coupling (121) and the first center ball screw (114) It is connected；First center ball screw (114) is multi-diameter shaft, and the both ends of the multi-diameter shaft pass through the first biserial corner connection respectively It touches ball bearing (124) and the first deep groove ball bearing (115) is supported on the clutch shaft bearing bearing (110) and second bearing bearing (113) between, the first swivel nut (111) is mounted in the thread spindle of first center ball screw (114) with rolling screw engagement sleeves Duan Shang；First movement tablet (112) is installed on first swivel nut (111)；The first movement tablet (112) is set to be oriented to knot Structure, is the first guide rod (118) that is arranged in parallel in the both sides of first center ball screw (114), first guide rod (118) one end is installed on clutch shaft bearing bearing (110), and the other end is installed in second bearing branch by the first sleeve (117) On seat (113), the first movement tablet (112) is supported on first guide rod (118) using first straight line bearing (119) On, make the first movement tablet (112) can be on the first guide rod (118) under the drive of first swivel nut (111) Axial movement；It is set on first rectangular base plate (101), positioned at the underface of first center ball screw (114) There is the first optoelectronic switch (126), first optoelectronic switch (126) is located at clutch shaft bearing bearing (110) and second bearing bearing (113) setting position between；

The split support submodule (1C) of the split support submodule (1D) in outside and inside in the preceding body segment lateral register module (1) With following identical structure type：

In the side of the split support submodule hold-down support (108) and the first movement tablet (112), massive plate is set (140), the relative position in the inside of the massive plate (140) and split support submodule hold-down support (108), which is fixed, pacifies Gusset piece (132) is filled, is fixedly mounted in the inside of the massive plate (140) and the relative position of the first movement tablet (112) Slide (141), the slide (141) is parallel with the axis of the first center ball screw (114), sliding on the slide (141) It is dynamic to be combined with sliding block (142)；The first upper connecting rod (144) for being arranged in parallel and the first lower link (146) are at one end through on first Hinged-support (129), the first lower hinge support (127) and the first axis pin (128) and split support submodule hold-down support (108) phase It is hinged；It is hinged in the other end by double hinged-supports (143) and the 4th axis pin (145) with the sliding block (142)；It is arranged in parallel Second upper connecting rod (139) and the second lower link (150) are at one end through the 3rd upper hinge support (135), the 3rd lower hinge support (130) And the 3rd axis pin (131) with installation gusset piece (132) be hinged, pass through in the other end under the second upper hinge support (147), second Hinged-support (149) and the second axis pin (148) are hinged with the first movement tablet (112)；In the split support submodule in the inside In block (1C), the wedge-shaped stent (133M) in the fixed setting of the outside of its massive plate, in the outer of the interior wedge-shaped stent (133M) Interior universal support claw (134M) is provided on end face；In the split support submodule (1D) in the outside, in the outside of its massive plate The outer wedge-shaped stent (133N) of fixed setting sets outer universal support claw on the outer end face of the outer wedge-shaped stent (133N) (134N)；With the large dicyclic shape conduit of the interior universal support claw (134M) and outer universal support claw (134N) in nuclear fusion cabin (12) Internal ring wall (12M) and external annulus (12N) on form support as lockup state, with the interior universal support claw (134M) and outer universal Support claw (134N) departs from the branch on the internal ring wall (12M) and external annulus (12N) of the large dicyclic shape conduit in nuclear fusion cabin (12) It supports as released state.

3. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 2, it is characterized in that：Institute Stating outer spin supporting arrangement (105N) and interior spin supporting arrangement (105M) has following identical structure type：Guide cylinder (105MB) is fixed on by installing plate (105MA) on inner swash plate (104M), and spring lock block (105MF) is flush-mounted in guide cylinder To be slidably matched in (105MB) and with guide cylinder (105MB), it is set between installing plate (105MA) and spring lock block (105MF) There are waveform spring (105MC), ball hinge (105MD) and spring lock block (105MF) thread connection, and have spin (105ME) and institute State the cooperation of ball hinge (105MD) flexural pivot.

4. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 2, it is characterized in that：Institute Stating outer universal support claw (134N) and interior universal support claw (134M) has following identical structure type：

Support claw head (134ME) is connected by a universal knot with hinged-support (134MA), it is described it is universal tie by long pin shaft (134MF), Identical half axis pin (134MC) of two structures and hydraulic steering gear adopting cross piece (134MB) composition, the hydraulic steering gear adopting cross piece (134MB) pass through long pin shaft (134MF) is articulated on hinged-support (134MA), and passes through central cross-section of two and half axis pins (134MC) along hydraulic steering gear adopting cross piece (134MB) Support claw head (134ME) symmetrically is articulated with, two and half axis pins (134MC) and the central axis of long pin shaft (134MF) are intersected in The center of hydraulic steering gear adopting cross piece (134MB)；The hinged-support (134MA) is propped up with the interior wedge shape in the split support submodule (1C) in the inside Frame (133M) connects firmly；Fluororubber layer is pasted on the circular arc outer end face of the support claw head (134ME) and is distributed in array There is pressure sensor (134MD).

5. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 1, it is characterized in that：

The structure setting of housing submodule (2A) in middle body section axial movement module (2) is：

With the second rectangular base plate (201) for bottom surface, with the second rectangular-shaped top plate (204) for top surface, and in second rectangular base plate (201) it is respectively two sides with rectangle left plate (202) and rectangle right plate (205) between the second rectangular-shaped top plate (204), with Rectangular-shaped front side plate (203) and I-shaped back side panel (206) are respectively that both ends of the surface form body segment rectangular frame in one；

The Anterior Segment submodule (2B) and deutomerite cross-talk module (2C) have following identical structure type：

In the inside of middle body section rectangular frame, in the second rectangular base plate (201) and it is on the position of coaxial line B point Not She Zhi 3rd bearing bearing (210) and fourth bearing bearing (225), fixed in the second rectangular-shaped top plate (204) in suspension Second motor support base (217) is set, the second servo vacuum decelerating motor is fixedly mounted on second motor support base (217) (218)；First gear (216) be arranged on the output shaft of the second servo vacuum decelerating motor (218) and with the second tooth (212) engagement is taken turns, the second gear (212) is arranged on the end of the second center ball screw (208) and by small round nut (213) axially fastened；Second center ball screw (208) is multi-diameter shaft, and the both ends of the multi-diameter shaft pass through respectively Second double-row angular contact bal bearing (215) and the second deep groove ball bearing (224) are supported on the 3rd bearing bearing (210) and Between four bearing spiders (225), the second swivel nut (207) is mounted in second center ball screw with rolling screw engagement sleeves (208) on threaded shaft section；Second movement tablet (219) is installed on second swivel nut (207)；

Second straight line bearing (229) is fixed with respectively in the left and right sides symmetric position of the described second movement tablet (219)； Second guide rod (228) is set respectively in the left and right sides symmetric position of second center ball screw (208), described second One end of guide rod (228) is installed on 3rd bearing bearing (210), and the other end is installed in the 4th by second sleeve (226) On bearing spider (225)；Second guide rod (228) is to be slidably matched with second straight line bearing (229)；

Push rod (220), the push rod are respectively arranged in the left and right sides symmetric position of the described second movement tablet (219) (220) one end is installed in the second movement tablet (219), and the other end is each passed through the left and right of the I-shaped back side panel (206) Symmetrical gap space is connected firmly with the push plate (222) being in outside middle body segment rectangular frame；

On second rectangular base plate (201), is set respectively positioned at the underface of second center ball screw (208) Two optoelectronic switches (209) and the 3rd optoelectronic switch (227), second optoelectronic switch (209) and the 3rd optoelectronic switch (227) point It is on the axially different position between 3rd bearing bearing (210) and fourth bearing bearing (225).

6. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 1, it is characterized in that：Institute It states preceding body segment Weighting system (7) and rear body segment Weighting system (8) is arranged to following identical structure type：Counterweight box (701) is solid On the outside of the first rectangular-shaped top plate (107) upper surface in the preceding body segment lateral register module (1), weights group (702) In each counterweight be placed in by the form of array in counterweight box (701).

7. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 1, it is characterized in that：Institute It states preceding body segment thermal controls apparatus (9) and rear body segment thermal controls apparatus (11) is arranged to following identical structure type：

First annular seal space housing (901) is set, and the first composite heat-insulated material layer (902) and the first phase-change material layers (906) are successively Ecto-entad is packaged in the first annular seal space housing (901)；In the inner space of first phase-change material layers (906) The first nitrogen cooling pipe (908), the first temperature control module power cord and signal wire (907), visual observation device electricity are drawn respectively Source line and signal wire (905), the first electric machine controller power cord and signal wire (903) and the first sensing element power cord and letter Number line (904).

8. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 1, it is characterized in that：Institute The structure setting for stating middle body segment thermal controls apparatus (10) is：

Second sealing cavity shell (1001) is set, the second composite heat-insulated material layer (1007) and the second phase-change material layers (1004) according to Secondary ecto-entad is packaged in the second sealing cavity shell (1001), is divided in the second phase-change material layers (1004) inner space The second nitrogen cooling pipe (1006), the second temperature control module power cord and signal wire (1005), the second electric machine controller are not drawn Power cord and signal wire (1002) and the second sensing element power cord and signal wire (1003).

9. the control method of worm robot running gear is imitated in nuclear fusion cabin according to claim 1, it is characterized in that：

The structure setting of the preceding double Hooke's joint (4) is：With Anterior Segment in identical the first Anterior Segment (401) of structure, first Pitching banking stop before segment (405) and identical two first of structure behind segment (407B) and first after in (407A), first (402) pitching banking stop (404) and after two first；In described first in Anterior Segment (407A) and first after segment (407B) with Back-to-back form is fixedly connected；One end of first Anterior Segment (401) passes through Anterior Segment in stauros (403) and first before first (407A) forms pitching up and down and deflection two-dimensional rotary connects, in the other end and the preceding body segment lateral register module (1) Back side panel (102) connect firmly；The one end of segment (405) passes through segment after in stauros (406) and first after first after first (407B) forms pitching up and down and deflection two-dimensional rotary connects, in the other end and middle body section axial movement module (2) Rectangular-shaped front side plate (203) connect firmly；Pitching banking stop (402) is symmetrical above and below respectively before described two first is installed in the first prosthomere The top and lower part of section (401), after described two first pitching banking stop (404) respectively it is symmetrical above and below be installed in first after segment (405) top and lower part；

The structure setting of double Hooke's joint (5) is after described：With Anterior Segment in identical the second Anterior Segment (501) of structure, second Pitching banking stop before segment (505) and identical two second of structure behind segment (507B) and second after in (507A), second (502) pitching banking stop (504) and after two second；In described second in Anterior Segment (507A) and second after segment (507B) with Back-to-back form is fixedly connected；One end of second Anterior Segment (501) passes through Anterior Segment in stauros (503) and second before second (507A) forms pitching up and down and deflection two-dimensional rotary connects, in the other end and middle body section axial movement module (2) Push plate (222) connect firmly；The one end of segment (505) passes through segment after in stauros (506) and second after second after second (507B) forms pitching up and down and deflection two-dimensional rotary connects, in the other end and the rear body segment lateral register module (3) Back side panel (102) connect firmly；Pitching banking stop (502) is symmetrical above and below respectively before described two second is installed in the second Anterior Segment (501) top and lower part, after described two second pitching banking stop (504) respectively it is symmetrical above and below be installed in second after segment (505) top and lower part.