Walking mechanism and control method of worm-like robot running in nuclear fusion cabin

Abstract

The invention discloses a worm-simulation robot walking mechanism running in a nuclear fusion compartment and a control method thereof. The worm-simulation robot walking mechanism is characterized by comprising an anterior somite lateral positioning module and a posterior somite lateral positioning module which are symmetrically arranged at two ends of a middle somite axial moving module, wherein the anterior somite lateral positioning module is connected to the middle somite axial moving module through two front universal joints; the posterior somite lateral positioning module is connected to the middle somite axial moving module through two rear universal joints. The moving track of the worm-simulation robot walking mechanism covers a large double-ring channel at the bottom of the whole nuclear fusion compartment; the moving pace is similar to the walking of worms; the mechanism is excellent in running stability and simple to control; three-freedom-degree all-direction visual information acquisition of the inner space of the nuclear fusion compartment can be implemented by carrying a visual observation platform.

Description

technical field [0001] The invention belongs to the field of nuclear environment remote control robot and automation technology, and more specifically relates to a walking mechanism and a control method of a worm-like robot running in a nuclear fusion cabin. Background technique [0002] Tokamak is a ring-shaped container that uses magnetic confinement to achieve controlled nuclear fusion. Its center is a ring-shaped vacuum chamber with a coil wound outside; when it is powered on, a huge spiral magnetic field will be generated inside the Tokamak, which will The plasma in it is heated to very high temperatures for the purpose of nuclear fusion. The internal cabin of a full tokamak device is generally called a nuclear fusion reaction cabin. As the core carrier of contemporary nuclear energy generation and preparation, its internal environment is a typical extreme environment. On the one hand, it has strong radiation, high temperature, strong magnetic field and high Physical c...

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Problems solved by technology

[0005] In order to avoid the shortcomings of the above-mentioned prior art, the present invention provides a walking mechanism and control method of a worm-like robot running in a nuclear fusion cabin, so as to overcome the nuclear fusion caused by the cantilever scheme in the prior art. Due to the limited detection range and positioning accuracy of the interior space of the cabin and the unstable operation, its motion track can cover the large double ring channel at the bottom of the entire nuclear fusion cabin. The movement gait is similar to that of a worm, with good running stability and simple control. Through Equipped with a visual observation platform to realize all-round visual information collection of three degrees of freedom in the inner space of the nuclear fusion cabin, in order to reduce the requirements on the carrying capacity of the robot walking mechanism body and improve the specificity of the nuclear environment remote control robot platform for the internal structure of the nuclear fusion cabin. Adaptability to the environment

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