A multi-segment crawling snake-like robot running in a nuclear fusion chamber

Abstract

The invention discloses a multi-section peristaltic snakelike robot working in a nuclear fusion bin. The multi-section peristaltic snakelike robot working in the nuclear fusion bin is characterized in that each walking mechanism is composed of a front body section lateral positioning module and a rear body section lateral positioning module symmetrically arranged at the two ends of a middle body section axial movement module, the walking mechanisms serve as wriggling units, at least two wriggling units are connected in series to form the multi-section peristaltic snakelike robot, and the adjacent wriggling units are connected through telescopic elastic double universal joints. The movement track of the multi-section peristaltic snakelike robot can cover a whole large double annular groove way in the bottom of the nuclear fusion bin, the movement gait is like walking of a multi-section worm, movement stability is good, control is simple, and omnibearing visual information collection of the internal space of the nuclear fusion bin can be realized by mounting a visual observation cloud 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 multi-segment peristaltic snake-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 characteristics su...

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Problems solved by technology

[0005] The present invention is to avoid the shortcomings of the above-mentioned prior art, and provides a multi-segment peristaltic snake-like robot running in the nuclear fusion cabin to overcome the interference caused by the cantilever solution in the prior art. Due to the defects of limited space detection range and positioning accuracy and unstable operation, its motion trajectory can cover the large double ring channel at the bottom of the entire nuclear fusion chamber. The omni-directional visual information collection of the three degrees of freedom in the interior space of the nuclear fusion cabin can be realized by carrying the visual observation platform, and the combined performance maintenance of the working parts in the nuclear fusion cabin can also be realized by carrying masts, manipulators or other operating tools, in order to reduce The requirements of the robot body for carrying capacity, improving the motion adaptability of the nuclear environment remote control robot platform to the structured and specific environment inside the nuclear fusion cabin

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