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

Abstract

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

Description

technical field [0001] The invention belongs to the field of nuclear environment remote control robot and automation technology, and more specifically relates to a control method of 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 Physica...

AI Technical Summary

Problems solved by technology

[0005] The present invention is to avoid the disadvantages of the above-mentioned prior art, and provides a control method for a multi-segment peristaltic snake-like robot running in a nuclear fusion cabin, so as to overcome the interference caused by the cantilever solution in the prior art. Due to the limited detection range and positioning accuracy inside the fusion chamber and the unstable operation, its motion trajectory can cover the large double ring channel at the bottom of the entire nuclear fusion chamber. Simple, it can realize all-round visual information collection of three degrees of freedom in the interior space of the nuclear fusion cabin by carrying a visual observation platform, and can also realize the combined performance maintenance of the working parts in the nuclear fusion cabin by carrying a mast, manipulator or other operating tools , in order to reduce the requirements of the robot body on the carrying capacity, and improve 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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