CN105798915A - Control method for worming robot travelling mechanism in nuclear fusion chamber - Google Patents

Abstract

The invention discloses a control method for a worming robot travelling mechanism in a nuclear fusion chamber. The control method is characterized in that a front body segment lateral positioning module and a rear body segment lateral positioning module are arranged at the two ends of a middle body segment axial movement module symmetrically to form the travelling mechanism; and the travelling mechanism finishes a traveling process of a forwards moving step distance or a backwards moving step distance according to the set steps. According to the control method for the worming robot travelling mechanism in the nuclear fusion chamber, the movement track can be left all over a large double-ring channel of the bottom of the whole nuclear fusion chamber, the movement gait is similar to worm crawling, the operational stability is good, control is simple, and omni-directional visual information acquisition of three degrees of freedom of an inner space in the nuclear fusion chamber can be achieved by carrying a visual observation cradle head.

Description

The control method of imitative anthelmintic robot running gear in a kind of nuclear fusion cabin

The application is application number: 2015101006809, the applying date is: within 2015, March 6, denomination of invention are: operate in the divisional application of the imitative anthelmintic robot running gear in nuclear fusion cabin and control method.

Technical field

The invention belongs to distant people and the technical field of automation of operating machine of nuclear environment, more particularly to a kind of imitative anthelmintic robot running gear operated in nuclear fusion cabin and control method.

Background technology

Tokamak is a kind of to utilize magnetic confinement to realize the toroidal container of controlled nuclear fusion, and its central authorities are the toroidal vacuum chambers that an outside is wrapped coil；When energising, the inside of tokamak can produce huge screw type magnetic field, by plasma heating therein to significantly high temperature, to reach the purpose of nuclear fusion.The interior compartment of full tokamak device is commonly referred to as nuclear fusion reaction cabin, as the core carrier that nuclear power source produced and prepared the present age, its internal medium belongs to a kind of typical case's extreme environment, on the one hand there is intense radiation, high temperature, the physical characteristics such as high-intensity magnetic field and fine vacuum, on the other hand, reaction cabin internal unit is numerous, pipeline is intricate, passage is narrow, work space is little, add some parts in cabin and can be subject to the pollution of radioactivity and noxious substance, even if reaction cabin inside associated components can not or should not be directly operated by attendant during the maintaining of equipment, it is thus desirable to by means of distant manipulation hands section out of my cabin, entered by a kind of intelligent electromechanical equipment replacement mankind and in cabin, complete corresponding job task.In order to tackle the adverse circumstances within reaction cabin, ensure the normal operation order of fusion reactor, need to develop a kind of walking mechanism towards nuclear fusion reaction cabin environment, it is used for performing the daily observation of reaction cabin inner part, scouting and patrol and examine etc. tasks such as the collection of various status informations, process, expression and identifications, monitor the specific works situation of fusion reactor, in order to when occurring for abnormal conditions, take corresponding decision-making to provide foundation.

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.nullHolland likes to think " fusion engineering and design " (FusionEngineeringandDesign that only your (Elsevier) Science Publishers is published，83(2008)，Pp:1833 1836.) disclosed in a kind of ArticulatedInspectionArm (AIA) robot，Belong to a kind of hanging type robot running gear for nuclear fusion cabin environment，Adopt the modularized design in 5 joints，Each joint has a pitch freedom and a deflection degree of freedom respectively，Yaw motion is provided by the drive motor being arranged in module，Elevating movement is provided by the motor of the screw jack in parallelogram levers，The cable wire that moves through of each motor output shaft is transferred to cable pulley place, large-angle slewing joint，Relative gyration is produced between each mold segment of band mobile robot，This robot can enter in cabin within the intermission of nuclear fusion cabin Physical Experiment and move，Vacuum chamber the first wall is closely observed，Monitor full tokamak device working condition in run duration vacuum chamber；But owing to this robot belongs to cantilever structure, its Power Drive Unit is integrated in inside each joint of mechanical arm respectively on the one hand, add the weight of joint of robot arm, increase robot end and prop up the carrying burden of support arrangement, make robot overall dimension unsuitable long, thus limiting robot detected event spatial dimension in nuclear fusion cabin；On the other hand owing to the gyration of this robot each joint walking mechanism needs each automatic drive device the synchronized Coordinative Control, the more difficult accurate planning of gait track, and by the interference of mechanical arm deadweight, easily there is jitter phenomenon in running in robot front end detection device, have impact on the positioning precision of system and kinetic stability.

Disclosed in Chinese patent application CN102233575A a kind of for the small-sized emergency management and rescue under nuclear radiation environment and sniffing robot, its walking mechanism adopts caterpillar chassis structure, drive motor is placed in the middle part of chassis, run by chain drive crawler belt, chassis front end is provided with four-degree-of-freedom mechanical hand, gamma camera and imaging system are positioned at robot rear portion, it is possible to the radiant intensity under nuclear environment and orientation are detected, and carry out emergency processing by robot arm；Although the walking mechanism of this robot possesses certain handling capacity, can be used for some unstructured moving grids that nuclear fusion encloses out of my cabin, but still cannot run in the inner space, nuclear fusion cabin that geometric construction condition is harsh, limit its use scope.

Summary of the invention

The present invention is for avoiding the weak point existing for above-mentioned prior art, the control method of imitative anthelmintic robot running gear in a kind of nuclear fusion cabin is provided, with overcome that cantilevered scheme in prior art causes to nuclear fusion cabin inner space investigative range and positioning precision is limited and the defect such as fluctuation of service, make its movement locus can throughout the large dicyclic shape conduit in whole nuclear fusion bilge portion, the similar anthelmintic walking of motion gait, good operation stability and control are simple, the omni-directional visual information gathering to inner space, nuclear fusion cabin three degree of freedom is realized by carrying visual observation The Cloud Terrace, to reducing the requirement to bearing capacity of the robot running gear body, improve the distant people's platform motion fitness to nuclear fusion cabin internal structured specific environment of operating machine of nuclear environment.

The present invention solves that technical problem adopts the following technical scheme that

The present invention operates in being structurally characterized in that of the imitative anthelmintic robot running gear in nuclear fusion cabin: is symmetrical arranged at the two ends of middle body segment axial movement module by front body segment lateral register module and rear body segment lateral register module and constitutes；

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

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

The structure of described middle body segment axial movement module is set to: Anterior Segment submodule is installed in the inside of housing submodule；Described Anterior Segment submodule and deutomerite cross-talk module are connected in the inside of housing submodule and can be movable relatively along the longitudinal direction each other, forming telescopic middle body segment axial movement module, described deutomerite cross-talk module protrudes from the tail end face of described middle body segment axial movement module；At the top of described middle body segment axial movement module, centrally located middle body segment thermal controls apparatus is set；

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

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in:

The structure carrying submodule in described front body segment lateral register module is set to:

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

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

In described front body segment lateral register module, the structure of electric drive submodule is set to:

In the inside of described front body segment rectangular frame, it is positioned in described first rectangular base plate and is on the position of coaxial line and sets gradually splits support submodule hold-down support, the first motor support base, clutch shaft bearing bearing and the second bearing spider；Fixedly mounting the first servo vacuum reducing motor on described first motor support base, the output shaft of described first servo vacuum reducing motor is connected by the first shaft coupling and the first center ball screw；Described first center ball screw is multidiameter, the two ends of described multidiameter are supported between described clutch shaft bearing bearing and the second bearing spider respectively through the first double-row angular contact bal bearing and the first deep groove ball bearing, and the first swivel nut is contained on the threaded shaft section of described first center ball screw with rolling screw engagement sleeves；First moves flat board is installed on described first swivel nut；Arrange first and move flat board guide frame, it it is first guide post that be arranged in parallel in the both sides of described first center ball screw, one end of described first guide post is installed on clutch shaft bearing bearing, the other end is installed on the second bearing spider by the first sleeve, described first moves flat board utilizes the first linear bearing to be bearing on described first guide post, makes described first to move flat board and can move axially on the first guide post under the drive of described first swivel nut；In described first rectangular base plate, the underface that is positioned at described first center ball screw be provided with the first photoswitch, described first photoswitch setting position between clutch shaft bearing bearing and the second bearing spider；

In described front body segment lateral register module outside split support submodule split with inner side support submodule there is version identical as follows:

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

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in: described outer spin supporting arrangement has version identical as follows with interior spin supporting arrangement: guide cylinder is fixed on inner swash plate by installing plate, spring lock block is flush-mounted in guide cylinder and with guide cylinder as being slidably matched, wavy spring it is set with between installing plate and spring lock block, ball pivot seat and spring lock block thread connection, and have spin to coordinate with described ball pivot seat ball pivot.

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in: described outer universal support claw has version identical as follows with interior universal support claw:

Support claw head is connected by a universal knot and hinged-support, described universal knot is made up of identical half bearing pin of long pin shaft, two structures and hydraulic steering gear adopting cross piece, described hydraulic steering gear adopting cross piece is articulated with on hinged-support by long pin shaft, and it being articulated with support claw head by two and half bearing pins along the central cross-section symmetry of hydraulic steering gear adopting cross piece, the central axis of two and half bearing pins and long pin shaft is intersected in the center of hydraulic steering gear adopting cross piece；Described hinged-support and described inner side are split the interior wedge shape support supported in submodule and are connected firmly；The circular arc outer face of described support claw head is pasted fluororubber layer and distribution has pressure sensor in array.

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in:

The structure of the housing submodule in described middle body segment axial movement module is set to:

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

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

Inside at described middle segment rectangular frame, it is positioned in the second rectangular base plate and is on the position of coaxial line B and be respectively provided with the 3rd bearing spider and the 4th bearing spider, it is positioned in the second rectangular-shaped top plate and is fixedly installed the second motor support base in suspension, described second motor support base fixedly mounts the second servo vacuum reducing motor；First gear is arranged on the output shaft of described second servo vacuum reducing motor and engages with the second gear, and described second gear is arranged on the end of the second center ball screw and is axially fastened by little round nut；Described second center ball screw is multidiameter, the two ends of described multidiameter are supported between described 3rd bearing spider and the 4th bearing spider respectively through the second double-row angular contact bal bearing and the second deep groove ball bearing, and the second swivel nut is contained on the threaded shaft section of described second center ball screw with rolling screw engagement sleeves；Second moves flat board is installed on described second swivel nut；

Move described second and the left and right sides symmetric position of flat board is fixed with the second linear bearing respectively；Being respectively provided with the second guide post in the left and right sides symmetric position of described second center ball screw, one end of described second guide post is installed on the 3rd bearing spider, and the other end is installed on the 4th bearing spider by the second sleeve；Described second guide post and the second linear bearing are for being slidably matched；

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

In described second rectangular base plate, the underface being positioned at described second center ball screw is respectively provided with the second photoswitch and the 3rd photoswitch, on described second photoswitch and the 3rd photoswitch office axially different position between the 3rd bearing spider and the 4th bearing spider.

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in: described front body segment Weighting system is set to following identical version with rear body segment Weighting system: being installed in by counterweight box outside the first rectangular-shaped top plate upper surface in described front body segment lateral register module, each counterweight in weights group is placed in counterweight box by the form of array.

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in: described front body segment thermal controls apparatus is set to version identical as follows with rear body segment thermal controls apparatus:

Arranging the first annular seal space housing, the first composite heat-insulated material layer and first-phase change material layer ecto-entad successively are packaged in described first annular seal space housing；The inner space of described first-phase change material layer is drawn the first nitrogen cooling pipe, the first temperature control module power line and holding wire, visual observation installation's power source line and holding wire, the first electric machine controller power line and holding wire and the first sensing element power line and holding wire respectively.

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in: the structure of described middle body segment thermal controls apparatus is set to:

Second annular seal space housing is set, second composite heat-insulated material layer and second-phase change material layer ecto-entad successively are packaged in the second annular seal space housing, draw the second nitrogen cooling pipe, the second temperature control module power line and holding wire, the second electric machine controller power line and holding wire and the second sensing element power line and holding wire in described second-phase change material layer inner space respectively.

The present invention operates in the construction features of the imitative anthelmintic robot running gear in nuclear fusion cabin and lies also in:

The structure of described front double Hooke's joint is set to: there is the first identical Anterior Segment of structure, Anterior Segment in first, in first after sections after sections and first, and pitching banking stop after pitching banking stop and two first before identical two first of structure；In described first, in Anterior Segment and first, rear sections is fixedly connected with back-to-back form；One end of first Anterior Segment constitutes upper and lower pitching by Anterior Segment in stauros and first before first and deflection two-dimensional rotary connects, and the back side panel in the other end and described front body segment lateral register module connects firmly；After first, one end of sections constitutes upper and lower pitching by sections after in stauros and first after first and deflection two-dimensional rotary connects, and the rectangular-shaped front side plate in the other end and described middle body segment axial movement module connects firmly；The pitching banking stop top being installed in the first Anterior Segment symmetrical above and below and bottom respectively before described two first, the pitching banking stop top being installed in sections after first symmetrical above and below and bottom respectively after described two first；

The structure of described rear double Hooke's joint is set to: there is the second identical Anterior Segment of structure, Anterior Segment in second, in second after sections after sections and second, and pitching banking stop after pitching banking stop and two second before identical two second of structure；In described second, in Anterior Segment and second, rear sections is fixedly connected with back-to-back form；One end of second Anterior Segment constitutes upper and lower pitching by Anterior Segment in stauros and second before second and deflection two-dimensional rotary connects, and the push pedal in the other end and described middle body segment axial movement module connects firmly；After second, one end of sections constitutes upper and lower pitching by sections after in stauros and second after second and deflection two-dimensional rotary connects, and the back side panel in the other end and described rear body segment lateral register module connects firmly；The pitching banking stop top being installed in the second Anterior Segment symmetrical above and below and bottom respectively before described two second, the pitching banking stop top being installed in sections after second symmetrical above and below and bottom respectively after described two second.

The feature of the control method that the present invention operates in the imitative anthelmintic robot running gear in nuclear fusion cabin is:

Described walking mechanism complete as follows a forward step from walking process:

Step 1: front body segment lateral register module and rear body segment lateral register module are in lockup state, and middle body segment axial movement module is in minimum shortening state；Walking mechanism is positioned at A place, position；

Step 2: front body segment lateral register module is set to released state, and rear body segment lateral register module is maintained at lockup state, middle body segment axial movement module extends until reaching maximum elongation state, and walking mechanism is in by position A in the traveling of position B；

Step 3: front body segment lateral register module is set to lockup state, and rear body segment lateral register module is set to released state, middle body segment axial movement module shortens until reaching minimum shortening state, and walking mechanism advances to B place, position；

Step 4: front body segment lateral register module is maintained at lockup state, rear body segment lateral register module enters lockup state, and middle body segment axial movement module is maintained at minimum shortening state, and walking mechanism is positioned at B place, position；

Described walking mechanism complete as follows a backstep from walking process:

Step 1: front body segment lateral register module and rear body segment lateral register module are in lockup state, and middle body segment axial movement module is in minimum shortening state；Walking mechanism is positioned at A place, position；

Step 2: front body segment lateral register module remains lockup state, and rear body segment lateral register module is set to released state, middle body segment axial movement module extends until reaching maximum elongation state, and walking mechanism is in by position A in the traveling of position C；

Step 3: front body segment lateral register module is set to released state, and rear body segment lateral register module is set to lockup state, middle body segment axial movement module shortens until reaching minimum shortening state, and walking mechanism advances to C place, position；

Step 4: front body segment lateral register module is set at lockup state, rear body segment lateral register module is maintained at lockup state, and middle body segment axial movement module is maintained at minimum shortening state, and walking mechanism is positioned at C place, position.

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

1, the imitative anthelmintic robot running gear range of movement of the present invention is wide, and its run trace throughout the large dicyclic shape conduit complete cycle in nuclear fusion bilge portion, can meet the nuclear environment distant people of operating machine and manipulating objects distant in cabin involves in the general technical requirement of the degree of depth.

2, the present invention is directed to nuclear fusion cabin internal medium feature, designed imitative anthelmintic robot running gear take into account high temperature resistant radiation material and the particular requirement of vacuum lubrication, thermal controls apparatus is adopted to be packaged in-house electromechanical component outlet and electronic device etc., can at utmost meet the high temperature of mechanism's use occasion, vacuum, the extreme physical condition such as radioprotective, simultaneously before mechanism, in rear body segment lateral register module adopts, outside is split support sub modular structure form and is also complied with the spatial configuration characteristic of nuclear fusion bilge portion large dicyclic shape conduit, practical.

3, for the imitative anthelmintic robot running gear of the present invention, by being loaded with parallel visual observation The Cloud Terrace in its front body segment lateral register module, the observation of three rotary freedoms in space can be realized, coordinate the periodicity crawling motion of imitative anthelmintic robot running gear, it is possible to complete 360 ° of omni-directional visual information collection functions to internal D word cross sectional annular space, nuclear fusion cabin；Again due to the spherical structure form that three identical side chains circumferences of parallel visual observation The Cloud Terrace employing are uniform, the addition of center redundancy branched chain makes device have the multinomial advantageous characteristic such as system stiffness is big, motion flexibility ratio is high, bearing capacity is strong, motion positions precision pose high, unusual is controlled.

3, the cycle movement gait of the imitative anthelmintic robot running gear of the present invention is similar with the anthelmintic walking step state of nature, control method is simple and convenient, and front body segment lateral register module is equipped with, with the carrying submodule in rear body segment lateral register module, the inside and outside spin resilient supporting unit matched respectively with the large dicyclic inside and outside ring wall of shape conduit in nuclear fusion bilge portion, there is structure adaptive so that the good operation stability of whole mechanism.

4, the imitative anthelmintic robot running gear of the present invention belongs to syllogic cascaded structure, owing to front body segment lateral register module and rear body segment lateral register module are symmetrical arranged at middle body segment axial movement module two ends, therefore can mutually replace between forward and backward body segment lateral register module, versatility is good.

6, the present invention can be used for nuclear fusion device remote operating maintaining robot system engineering, and the routine work state for fusion reactor performs specialized reconnaissance, the task such as monitors and patrol and examine, and then promotes the sustainable development of following nuclear fusion stack automated maintenance technology.

Accompanying drawing explanation

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

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

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

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

Fig. 5 is the carrying sub modular structure schematic diagram in the present invention in front body segment lateral register module and rear body segment lateral register module；

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

Fig. 7 is electric drive submodule central cross-sectional view in front body segment lateral register module and rear body segment lateral register module in the present invention；

Fig. 8 (a), Fig. 8 (b) and Fig. 8 (c) split support submodule for the inner side in body segment lateral register module front in the present invention and rear body segment lateral register module and support sub modular structure schematic diagram is split in outside；

Fig. 9 be in the present invention before body segment lateral register module at the contact condition schematic diagram within nuclear fusion cabin；

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

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

Figure 12 is middle body segment axial movement module structural representation in the present invention；

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

Figure 14 is the Anterior Segment submodule in middle body segment axial movement module and deutomerite cross-talk modular structure schematic diagram in the present invention；

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

Figure 16 is front body segment Weighting system and rear body segment Weighting system structural representation in the present invention；

Figure 17 is front double Hooke's joint structural representation in the present invention；

Figure 18 is rear double Hooke's joint structural representation in the present invention；

Figure 19 is front body segment thermal controls apparatus and rear body segment thermal controls apparatus structural representation in the present invention；

Figure 20 is middle body segment thermal controls apparatus structural representation in the present invention.

Detailed description of the invention

Referring to Fig. 1, Fig. 2 and Fig. 3, the version operating in the imitative anthelmintic robot running gear U1 in nuclear fusion cabin in the present embodiment is: is symmetrical arranged at the two ends of middle body segment axial movement module 2 by front body segment lateral register module 1 and rear body segment lateral register module 3 and constitutes imitative anthelmintic robot running gear；Shown in Fig. 4, the structure of front body segment lateral register module 1 is set to: electric drive submodule 1B is installed in the inside of carrying submodule 1A, and has the inner side with identical version to split to support submodule 1C and outside and split and support submodule 1D and be symmetricly set in the left and right sides of electric drive submodule 1B；Support submodule 1C is split in inner side and outside is split the one end supporting submodule 1D and is fixed on the left and right sides setting position of electric drive submodule 1B respectively, and the other end is laterally scalable along the left and right of electric drive submodule 1B respectively to move and to carry submodule 1A for guide rail；Shown in Fig. 1, top in front body segment lateral register module 1, centrally located front body segment thermal controls apparatus 9 is set, it is positioned at sidepiece and front body segment Weighting system 7 is set, front body segment Weighting system 7 splits, outside being in front body segment lateral register module 1, the top supporting submodule, be positioned at front portion and visual observation The Cloud Terrace 6 be set, for imitative anthelmintic robot running gear when nuclear fusion cabin 12 internal operation to cabin in all kinds of component working situations carry out the comprehensive real-time tour in 360 ° of space and monitoring task；Rear body segment lateral register module 3 has identical version with front body segment lateral register module 1；At the top of rear body segment lateral register module 3, centrally located arranging rear body segment thermal controls apparatus 11, be positioned at sidepiece and arrange rear body segment Weighting system 8, rear body segment Weighting system 8 is in rear body segment lateral register module 3 outside and splits the top supporting submodule.Shown in Figure 12, the structure of middle body segment axial movement module 2 is set to: Anterior Segment submodule 2B is installed in the inside of housing submodule 2A；Anterior Segment submodule 2B and deutomerite cross-talk module 2C is connected in the inside of housing submodule 2A and can be movable relatively along the longitudinal direction each other, forming telescopic middle body segment axial movement module 2, deutomerite cross-talk module 2C protrudes from the tail end face of middle body segment axial movement module 2；At the top of middle body segment axial movement module 2, centrally located middle body segment thermal controls apparatus 10 is set.Before between front body segment lateral register module 1 and middle body segment axial movement module 2, double Hooke's joint 4 is connected, and after between rear body segment lateral register module 3 and middle body segment axial movement module 2, double Hooke's joint 5 is connected.

In the present embodiment, shown in Fig. 5, the structure carrying submodule 1A in front body segment lateral register module 1 is set to: with the first rectangular base plate 101 for bottom surface, with the first rectangular-shaped top plate 107 for end face, between the first rectangular base plate 101 and the first rectangular-shaped top plate 107 with front side board 106 be front end face, with back side panel 102 for rear end face, with inner swash plate 104M for left side, swash plate 104N is that right side forms front body segment rectangular frame in addition；Outside at front body segment rectangular frame, it is positioned on inner swash plate 104M and is provided with spin supporting arrangement 105M, be positioned on outer swash plate 104N and be provided with outer spin supporting arrangement 105N, within spin supporting arrangement 105M and outer spin supporting arrangement 105N as front body segment rectangular frame support member on left side and right side；In the outside of front body segment rectangular frame, it is positioned in the first rectangular base plate 101 and is provided with universal caster wheel 103, using universal caster wheel 103 as the front body segment rectangular frame support member in bottom surface；This version is conducive to front body segment lateral register module and the system loss of weight of rear body segment lateral register module, improves versatility and the interchangeability of parts.

Shown in Fig. 9, interior spin supporting arrangement 105M is that the internal ring wall 12M of large dicyclic shape conduit is supporting surface in nuclear fusion cabin 12；Outer spin supporting arrangement 105N is that the external annulus 12N of large dicyclic shape conduit is supporting surface in nuclear fusion cabin 12.This structure be before body segment lateral register module 1 and rear body segment lateral register module 3 in nuclear fusion cabin 12 as bearing contact end；The multiple interior spin supporting arrangement 105M and outer spin supporting arrangement 105N distribution on carrying submodule 1A can be conducive to increasing contact area, it is ensured that uniform force.

Shown in Fig. 6 and Fig. 7, in front body segment lateral register module 1, the structure of electric drive submodule 1B is set to: in the inside of front body segment rectangular frame, is positioned in the first rectangular base plate 101 and is on the position of coaxial line and sets gradually splits support submodule hold-down support the 108, first motor support base 109, clutch shaft bearing bearing 110 and the second bearing spider 113；Fixedly mounting the first servo vacuum reducing motor 122 on the first motor support base 109, the output shaft of the first servo vacuum reducing motor 122 is connected by the first shaft coupling 121 and the first center ball screw 114；First center ball screw 114 is multidiameter, the two ends of multidiameter are supported between clutch shaft bearing bearing 110 and the second bearing spider 113 respectively through the first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115, first swivel nut 111 is contained on the threaded shaft section of the first center ball screw 114 with rolling screw engagement sleeves, the outer ring of the first double-row angular contact bal bearing 124 and the first deep groove ball bearing 115 is respectively by clutch shaft bearing end cap 120, second bearing (ball) cover 116 fastens, 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 round nut 123, first circlip for shaft 125 fastens；First moves flat board 112 is installed on the first swivel nut 111；Arrange first and move flat board 112 guide frame, it it is first guide post 118 that be arranged in parallel in the both sides of the first center ball screw 114, one end of first guide post 118 is installed on clutch shaft bearing bearing 110, the other end is installed on the second bearing spider 113 by the first sleeve 117, first moves flat board 112 utilizes the first linear bearing 119 to be bearing on the first guide post 118, makes first to move flat board 112 and can move axially on the first guide post 118 under the drive of the first swivel nut 111；In the first rectangular base plate 101, the underface that is positioned at the first center ball screw 114 be provided with the first photoswitch 126, the first photoswitch 126 is setting position between clutch shaft bearing bearing 110 and the second bearing spider 113.In front body segment lateral register module 1 outside split support submodule 1D split with inner side support submodule 1C there is version identical as follows:

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

When the first servo vacuum reducing motor 122 rotates, the first center ball screw 114 is driven to rotate, owing to the first center ball screw 114 and the first swivel nut 111 constitute screw pair, coordinate the slide-and-guide effect between the first guide post 118 and the first linear bearing 119, then the first swivel nut 111 drive first move flat board 112 along central axial direction move linearly；First photoswitch 126, for sensing the first change in location moving flat board 112 and the control system to imitative anthelmintic robot running gear sends spacing command signal, moves axially distance accurately controlling the first periodicity moving flat board 112 in front body segment lateral register module 1 and rear body segment lateral register module 3.

nullFirst moves flat board 112、Split support submodule hold-down support 108、Slide rail 141 and slide block 142、Connecting rod 144 on first be hinged between gusset piece 132 and above-mentioned parts、First lower link 146、On second, connecting rod 139 and the second lower link 150 together constitute a set of pantograph，When the first servo vacuum reducing motor 122 drive first move flat board 112 along central axial direction carry out reciprocating linear move time，Pantograph respectively through both sides drives the first center ball screw 114 left、The massive plate 140 of right both sides does synchronous side to linear reciprocating motion，Then in driving respectively through inner swash plate 104M and outer swash plate 104N, universal support claw 134M and outer universal support claw 134N does the lateral stretching motion of synchronization，And then control front body segment lateral register module 1 and rear body segment lateral register module 3 locking between the internal ring wall 12M and external annulus 12N of large dicyclic shape conduit and released state bottom nuclear fusion cabin 12.

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

In the present embodiment, outer spin supporting arrangement 105N has version identical as follows with interior spin supporting arrangement 105M: shown in Figure 10 (a), Figure 10 (b) and Figure 10 (c), guide cylinder 105MB is fixed on inner swash plate 104M by installing plate 105MA, spring lock block 105MF is flush-mounted in guide cylinder 105MB and with guide cylinder 105MB as being slidably matched, wavy spring 105MC it is set with between installing plate 105MA and spring lock block 105MF, ball pivot seat 105MD and spring lock block 105MF thread connection, and have spin 105ME to coordinate with ball pivot seat 105MD ball pivot.This version can strengthen imitative anthelmintic robot running gear move in the nuclear fusion bilge portion large dicyclic shape conduit supporting guiding environmental exposure adaptive ability, when phenomenons such as the working surface out-of-flatnesses that the inside and outside annular wall of conduit causes because of tile laminating seam areas damage, imitative anthelmintic robot running gear can overcome this kind of local environment defect, the trouble-free operation of support organization；And the spin pair design of interior spin resilient supporting unit 105M and outer spin resilient supporting unit 105N front end, can at utmost reduce imitative anthelmintic robot running gear in motor process with the frictional resistance of environment wall, optimize system drive performance, reach to save the purpose of energy consumption.

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

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

When imitative anthelmintic robot running gear wriggles walking bottom nuclear fusion cabin 12 in large dicyclic shape conduit, interior universal support claw 134M and outer universal support claw 134N does the lateral stretching motion of synchronization, it is achieved front body segment lateral register module 1 and replacing swelling and getting loose between rear body segment lateral register module 3 and environment wall；Owing to interior universal support claw 134M and outer universal support claw 134N has the degree of freedom of two orthogonal directions in local, enhance imitative anthelmintic robot running gear environmental exposure adaptive ability of crawling motion in large dicyclic shape conduit bottom nuclear fusion cabin 12, when in conduit, annular wall because of tile damage or come off the phenomenons such as the working surface caused is irregular time, front body segment lateral register module 1 and rear body segment lateral register module 3 spontaneous can seek best stress position and the stress point of irregular surface, thus providing interval kick when wriggling walking for middle body segment axial movement module 2, ensure being smoothed out of walking of wriggling；The fluororubber layer both tolerable environment high temperature pasted on support claw head 134ME circular arc outer face, the elastic deformation between interior universal support claw 134M and outer universal support claw 134N and environment wall can be increased again and contact normal pressure, thus provide interval kick sufficiently large when wriggling walking for middle body segment axial movement module 2；Several pieces pressure sensors 134MD that on support claw head 134ME circular arc outer face, array is uniform, contact normal pressure for detecting in real time between interior universal support claw 134M and outer universal support claw 134N and environment wall, provide theory of mechanics foundation for accurately controlling front body segment lateral register module 1 and rear body segment lateral register module 3 locking between the internal ring wall 12M and external annulus 12N of large dicyclic shape conduit bottom nuclear fusion cabin 12 with released state.

In the present embodiment, the structure of the housing submodule 2A in middle body segment axial movement module 2 is set to: shown in Figure 12 and Figure 13, with the second rectangular base plate 201 for bottom surface, with the second rectangular-shaped top plate 204 for end face, and with rectangle left plate 202 and rectangle right plate 205 respectively two sides between the second rectangular base plate 201 and the second rectangular-shaped top plate 204, form body segment rectangular frame in rectangular-shaped front side plate 203 and I shape back side panel 206 respectively both ends of the surface.Anterior Segment submodule 2B has version identical as follows with deutomerite cross-talk module 2C: the second rectangular base plate 201 and the second rectangular-shaped top plate 204 are used for the parts of Anterior Segment submodule 2B and install and load-bearing, rectangular-shaped front side plate 203 is for the mechanical interface of body segment axial movement module 2 in installing with other modules, I shape back side panel 206 has symmetrical gap, as perforative space when doing axially opposing feed motion between Anterior Segment submodule 2B and deutomerite cross-talk module 2C；Rectangle left plate 202 and rectangle right plate 205 play and the critical piece in Anterior Segment submodule 2B and deutomerite cross-talk module 2C are packaged and assist supporting role.

Shown in Figure 12 and Figure 14, inside at middle segment rectangular frame, it is positioned in the second rectangular base plate 201 and is on the position of coaxial line B and be respectively provided with the 3rd bearing spider 210 and the 4th bearing spider 225, it is positioned in the second rectangular-shaped top plate 204 and is fixedly installed the second motor support base 217 in suspension, the second motor support base 217 fixedly mounts the second servo vacuum reducing motor 218；First gear 216 is arranged on the output shaft of the second servo vacuum reducing motor 218 and engages with the second gear 212, and the second gear 212 is arranged on the end of the second center ball screw 208 and is axially fastened by little round nut 213；Second center ball screw 208 is multidiameter, the two ends of multidiameter are supported between the 3rd bearing spider 210 and the 4th bearing spider 225 respectively through the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224, and the second swivel nut 207 is contained on the threaded shaft section of the second center ball screw 208 with rolling screw engagement sleeves；The outer ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastened by the 3rd bearing (ball) cover the 211, the 4th bearing (ball) cover 221 respectively, and the inner ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastened by second round nut the 214, second circlip for shaft 223 respectively；Second moves flat board 219 is installed on the second swivel nut 207；Move second and the left and right sides symmetric position of flat board 219 is fixed with the second linear bearing 229 respectively；Being respectively provided with the second guide post 228 in the left and right sides symmetric position of the second center ball screw 208, one end of the second guide post 228 is installed on the 3rd bearing spider 210, and the other end is installed on the 4th bearing spider 225 by the second sleeve 226；Second guide post 228 and the second linear bearing 229 are for being slidably matched；Move second and the left and right sides symmetric position of flat board 219 is respectively arranged with push rod 220, one end of push rod 220 is installed in second and moves flat board 219, and the other end is each passed through the symmetrical gap space of I shape back side panel 206 and connects firmly with the push pedal 222 being in outside middle segment rectangular frame；In the second rectangular base plate 201, the underface being positioned at the second center ball screw 208 is respectively provided with the second photoswitch 209 and the 3rd photoswitch 227, on the second photoswitch 209 and the 3rd photoswitch 227 office axially different position between the 3rd bearing spider 210 and the 4th bearing spider 225.

Shown in Figure 12, Figure 14, during Anterior Segment submodule 2B in middle body segment axial movement module 2 and the structure of deutomerite cross-talk module 2C are arranged, the 3rd bearing spider 210 and the 4th bearing spider 225 are parallel just to arranging and the top of the second rectangular base plate 201 that lower end is fixedly installed in housing submodule 2A respectively along the longitudinal direction；The bottom of the second rectangular-shaped top plate 204 in housing submodule 2A fixedly mounts the second servo vacuum reducing motor 218 by the second motor support base 217；First gear 216 is fixed on the output shaft of the second servo vacuum reducing motor 218 and engages each other with the second gear 212 of lower section, and the second gear 212 is fixed on the end of the second center ball screw 208 and is axially fastened by little round nut 213；Second center ball screw 208 is a multidiameter, the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 by installing at two ends respectively are supported between the 3rd bearing spider 210 and the 4th bearing spider 225, and the second swivel nut 207 is contained on the threaded shaft section of the second center ball screw 208 with rolling screw engagement sleeves；The outer ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastened by the 3rd bearing (ball) cover the 211, the 4th bearing (ball) cover 221 respectively, and the inner ring of the second double-row angular contact bal bearing 215 and the second deep groove ball bearing 224 is fastened by second round nut the 214, second circlip for shaft 223 respectively；Second moves flat board 219 is installed on the second swivel nut 207 and parallel just to setting along the longitudinal direction with the 3rd bearing spider 210 and the 4th bearing spider 225, is all fixed with the second linear bearing 229 in the second left and right sides symmetric position moving flat board 219；Being symmetrically arranged with the second guide post 228 in the left and right sides of the second center ball screw 208, one end of the second guide post 228 is installed on the 3rd bearing spider 210, and the other end is installed on the 4th bearing spider 225 by the second sleeve 226；Second guide post 228 and the second linear bearing 229 are for being slidably matched；Being symmetrically arranged with push rod 220 in second left and right sides moving flat board 219, one end of push rod 220 is installed in second and moves on flat board 219, and the other end is each passed through the symmetrical gap space of I shape back side panel 206 and connects firmly with push pedal 222；Be respectively arranged with the second photoswitch 209 and the 3rd photoswitch 227 in the underface of the second center ball screw 208, the second photoswitch 209 and the 3rd photoswitch 227 are all installed in the top of the second rectangular base plate 201 and lay respectively between clutch shaft bearing bearing 110 and the second bearing spider 113 near alternative one place.

When the second servo vacuum reducing motor 218 rotates, by the gear driving pair between the first gear 216 and the second gear 212, the second center ball screw 208 is driven to rotate, owing to the second center ball screw 208 and the second swivel nut 207 constitute screw pair, coordinate the slide-and-guide effect between the second guide post 228 and the second linear bearing 229, then the second swivel nut 207 drive second move flat board 219 along central axial direction move linearly, it is achieved that the axially opposing feed motion between Anterior Segment submodule 2B and deutomerite cross-talk module 2C；Second photoswitch 209 and the 3rd photoswitch 227 are all for sensing the second change in location moving flat board 219 and sending the spacing command signal of former and later two extreme positions respectively to the control system of imitative anthelmintic robot running gear, with the periodicity axial feed distance of body segment axial movement module 2 in accurately controlling；Gear driving pair between first gear 216 and the second gear 212 is on the one hand for the mechanical transfer of motor driving moment, the axial overall length of body segment axial movement module 2 in can shortening on the other hand, strengthens imitative anthelmintic robot running gear handling capacity of curve crawling in nuclear fusion bilge portion large dicyclic shape conduit.

nullIn the present embodiment，Shown in Figure 16，Front body segment Weighting system 7 is set to following identical version with rear body segment Weighting system 8: be installed in by counterweight box 701 outside the first rectangular-shaped top plate 107 upper surface in front body segment lateral register module 1，Each counterweight in weights group 702 is placed in counterweight box 701 by the form of array，Owing to imitative anthelmintic robot running gear runs in internal D word cross sectional annular space, nuclear fusion cabin，And in nuclear fusion bilge portion large dicyclic shape conduit、External annulus inclination angle is not etc.，Not symmetrically relation in D word cross section，The comprehensive moment that the front body segment lateral register module 1 of imitative anthelmintic robot running gear and rear body segment lateral register module 3 are born in D word cross section is made not necessarily to meet equilibrium condition，The addition of front body segment Weighting system 7 and rear body segment Weighting system 8 has promoted the balance of system synthesis carrying moment，The counterweight gross weight of weights group 702 is adjustable，Corresponding quantitative adjusting can be made with the working conditions change of imitative anthelmintic robot running gear bearing capacity.

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

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

In the present embodiment, the structure of front double Hooke's joint 4 is set to: shown in Figure 17, there is Anterior Segment 407A in the first Anterior Segment 401, first that structure is identical, in first after sections 405 after sections 407B and the first, and pitching banking stop 404 after pitching banking stop 402 and two first before identical two first of structure；In first, in Anterior Segment 407A and the first, rear sections 407B is fixedly connected with back-to-back form；Before one end of first Anterior Segment 401 passes through first, stauros 403 is connected with the Anterior Segment 407A upper and lower pitching of composition and deflection two-dimensional rotary in first, and the other end connects firmly with the back side panel 102 in front body segment lateral register module 1；After first one end of sections 405 by stauros 406 after first with in first after sections 407B constitute upper and lower pitching and deflection two-dimensional rotary is connected, the rectangular-shaped front side plate 203 in the other end and middle body segment axial movement module 2 connects firmly；Pitching banking stop 402 top being installed in the first Anterior Segment 401 symmetrical above and below and bottom respectively before two first, pitching banking stop 404 top being installed in sections 405 after first symmetrical above and below and bottom respectively after two first.The structure of rear double Hooke's joint 5 is set to: shown in Figure 18, there is Anterior Segment 507A in the second Anterior Segment 501, second that structure is identical, in second after sections 505 after sections 507B and the second, and pitching banking stop 504 after pitching banking stop 502 and two second before identical two second of structure；In second, in Anterior Segment 507A and the second, rear sections 507B is fixedly connected with back-to-back form；Before one end of second Anterior Segment 501 passes through second, stauros 503 is connected with the Anterior Segment 507A upper and lower pitching of composition and deflection two-dimensional rotary in second, and the other end connects firmly with the push pedal 222 in middle body segment axial movement module 2；After second one end of sections 505 by stauros 506 after second with in second after sections 507B constitute upper and lower pitching and deflection two-dimensional rotary is connected, the back side panel 102 in the other end and rear body segment lateral register module 3 connects firmly；Pitching banking stop 502 top being installed in the second Anterior Segment 501 symmetrical above and below and bottom respectively before two second, pitching banking stop 504 top being installed in sections 505 after second symmetrical above and below and bottom respectively after two second.Front double Hooke's joint 4 and rear double Hooke's joint 5 belong to dual cardan type U-joint, compared to common single universal joint, dual cardan type U-joint effectively can adapt in imitative anthelmintic robot running gear work process before elastic anchorage force change between the internal ring wall 12M and external annulus 12N of large dicyclic shape conduit and position of centre of gravity variation bottom body segment lateral register module 1 and rear body segment lateral register module 3 and nuclear fusion cabin 12, relative position relation between body segment axial movement module 2 and front body segment lateral register module 1 and rear body segment lateral register module 3 in Automatic adjusument, prevent mechanism blockage；And after pitching banking stop 402 and two first, pitching banking stop 404 centered body joint axial movement module 2 can play restriction effect with the front body segment lateral register module 1 relative position relation in vertical plane before two first in front double Hooke's joint 4, after simultaneously two the second front pitching banking stops 502 in double Hooke's joint 5 and after two second pitching banking stop 504 centered body joint axial movement module 2 can play restriction effect with the rear body segment lateral register module 3 relative position relation in vertical plane, it is prevented that relative position bias is excessive and the axially driving performance of imitative anthelmintic robot running gear is impacted by middle body segment axial movement module 2 up and down.

In the present embodiment, visual observation The Cloud Terrace 6 is set to parallel visual observation The Cloud Terrace, and its version is:

Shown in Figure 15, it is fixedly installed the total bearing 601 of " L " shape at the end face advanced position place of the first rectangular-shaped top plate 107, vision collecting probe 606 is arranged in probe bearing 607, and probe bearing 607 is connected in the total bearing 601 of " L " shape by three freedom redundancy sphere parallel mechanism；The structure of three freedom redundancy sphere parallel mechanism is set to: is fixedly mounted with in the front end of the total bearing 601 of " L " shape and arranges fixed platform 615, the front end face of fixed platform 615 is evenly distributed three motor support bases 613 of installation, each motor support base 613 is fixed with servo vacuum reducing motor 612 respectively；The output shaft of three servo vacuum reducing motors 612 connects firmly with the first near-end boss 614A of the first curved rod 614 on correspondence position respectively, first far-end boss 614B of three the first curved rods 614 is rotationally connected with the second near-end boss 602A of the second curved rod 602 on correspondence position axle system supported by the first miniature bearing 616 respectively, and the axle system that the second far-end boss 602B of three the second curved rods 602 is supported by the second miniature bearing 603 with the little bearing 604 on correspondence position respectively is rotationally connected；Three little bearings 604 are evenly distributed and are installed in moving platform 605, and probe bearing 607 is installed on moving platform 605；Moving platform 605 is coaxial with fixed platform 615 just right；Center redundancy branched chain is set between moving platform 605 and fixed platform 615, center redundancy branched chain is made up of first straight connecting rod the 611, second straight connecting rod 610 and the 3rd straight connecting rod 608, one end of first straight connecting rod 611 is fixed on the center of fixed platform 615, the other end and the second straight connecting rod 610 constitute sliding pair and connect, one end of 3rd straight connecting rod 608 is fixed on the center of moving platform 605, and the other end is connected by center Spherical hinge 609 and the second straight connecting rod 610；The center of three the first curved rods 614, three the second curved rods 602 Jun Yu center, center Spherical hinge 609 the centre of sphere overlap.In this version, three freedom redundancy sphere parallel mechanism is loaded into the position, front end of imitative anthelmintic robot running gear by the total bearing of " L " shape 601, owing to imitative anthelmintic robot running gear is wriggled walking in nuclear fusion bilge portion large dicyclic shape conduit, then the work space of three freedom redundancy sphere parallel mechanism can cover the annular space within whole nuclear fusion cabin.The three freedom redundancy sphere parallel mechanism being mounted with vision collecting probe 606 defines parallel visual observation The Cloud Terrace, driving is combined by three servo vacuum reducing motors 612, the observation of three the orthogonal direction rotary freedoms in space can be realized, coordinate the periodicity crawling motion of imitative anthelmintic robot running gear, 360 ° of omni-directional visual information collection functions to internal D word cross sectional annular space, nuclear fusion cabin can be completed, and it is big to have system stiffness, motion flexibility ratio is high, bearing capacity is strong, motion positions precision is high, the multinomial superior functions such as unusual pose is controlled.

In being embodied as, in order to adapt to the extreme operating environments conditions such as nuclear fusion reaction cabin internal high temperature, vacuum, radioprotective, front body segment lateral register module 1, middle body segment axial movement module 2, rear body segment lateral register module 3, front double Hooke's joint 4, rear double Hooke's joint 5, parallel visual observation device 6, front body segment Weighting system 7 and rear body segment Weighting system 8 main body all adopt stainless steel material manufacture；The first double-row angular contact bal bearing 124 in front body segment lateral register module 1 and rear body segment lateral register module 3 and the second double-row angular contact bal bearing 215 in the first deep groove ball bearing 115, middle body segment axial movement module 2 and the first miniature bearing 616 in the second deep groove ball bearing 224, parallel visual observation device 6 and the second miniature bearing 603 all adopt full-ceramic bearing；Vision collecting probe 606 employing high-temperature resistant optical fiber imaging system；The first annular seal space housing 901 in front body segment thermal controls apparatus 9 and rear body segment thermal controls apparatus 11, the second annular seal space housing 1001 in middle body segment thermal controls apparatus 10 all adopt stereotype manufacture；Front body segment lateral register module 1, middle body segment axial movement module 2, rear body segment lateral register module 3, front double Hooke's joint 4, rear double Hooke's joint 5 and parallel visual observation The Cloud Terrace 6 all adopt graphited oil or molybdenum bisuphide Hmp grease to carry out mechanical lubrication.

In the present embodiment, the control method of imitative anthelmintic robot running gear based on nuclear fusion cabin is:

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

Step 1: front body segment lateral register module 1 and rear body segment lateral register module 3 are in lockup state, and middle body segment axial movement module 2 is in minimum shortening state；Walking mechanism is positioned at A place, position；In visual observation The Cloud Terrace 6, vision collecting probe 606 is retained in position in A place and carries out visual information collection.

Step 2: front body segment lateral register module 1 is set to released state, and rear body segment lateral register module 3 is maintained at lockup state, and middle body segment axial movement module 2 extends until reaching maximum elongation state, walking mechanism is in by position A in the traveling of position B；In visual observation The Cloud Terrace 6, vision collecting probe 606 is carrying out visual information collection from position A toward the traveling of position B.

Step 3: front body segment lateral register module 1 is set to lockup state, and rear body segment lateral register module 3 is set to released state, and middle body segment axial movement module 2 shortens until reaching minimum shortening state, and walking mechanism advances to B place, position；In visual observation The Cloud Terrace 6, vision collecting probe 606 is retained in position in B place and carries out visual information collection.

Step 4: front body segment lateral register module 1 is maintained at lockup state, and rear body segment lateral register module 3 enters lockup state, and middle body segment axial movement module 2 is maintained at minimum shortening state, and walking mechanism is positioned at B place, position；In visual observation The Cloud Terrace 6, vision collecting probe 606 is retained in position in the visual information that the place from A to B collects by B place and carries out storage process, complete the forward step of position A to position B from visual information collection and storage process.

Walking mechanism complete as follows a backstep from walking process:

Step 1: front body segment lateral register module 1 and rear body segment lateral register module 3 are in lockup state, and middle body segment axial movement module 2 is in minimum shortening state；Walking mechanism is positioned at A place, position；In visual observation The Cloud Terrace 6, vision collecting probe 606 is retained in position in A place and carries out visual information collection.

Step 2: front body segment lateral register module 1 remains lockup state, and rear body segment lateral register module 3 is set to released state, and middle body segment axial movement module 2 extends until reaching maximum elongation state, walking mechanism is in by position A in the traveling of position C；In visual observation The Cloud Terrace 6, vision collecting probe 606 is retained in position in A place and carries out visual information collection.

Step 3: front body segment lateral register module 1 is set to released state, and rear body segment lateral register module 3 is set to lockup state, and middle body segment axial movement module 2 shortens until reaching minimum shortening state, and walking mechanism advances to C place, position；In visual observation The Cloud Terrace 6, vision collecting probe 606 is carrying out visual information collection from position A toward the traveling of position C.

Step 4: front body segment lateral register module 1 is set at lockup state, rear body segment lateral register module 3 is maintained at lockup state, and middle body segment axial movement module 2 is maintained at minimum shortening state, and walking mechanism is positioned at C place, position；In visual observation The Cloud Terrace 6, vision collecting probe 606 is retained in position in C place and carries out visual information collection, complete the backstep of position A to position C from visual information collection.

In the present embodiment, set three servo vacuum reducing motor 612 respectively motor M612M, motor N612N and motor P612P, being in nuclear fusion bilge portion large dicyclic shape conduit by the action cycle T of counter clockwise direction wriggling one step pitch of walking overlooked for walking mechanism, servo vacuum reducing motor 612 is controlled according to the following procedure:

The central axes of the second far-end boss 602B of step c1: the initial state in 0 moment is: the central axes of the second straight connecting rod 610 and the 3rd straight connecting rod 608, the central axis of the first near-end boss 614A of each first curved rod 614 and the second curved rod 602 of relative set.

Step c2: in the time period of 0～T/12: motor M stops the rotation, motor N turns clockwise with rotational speed omega, and motor P makees to rotate counterclockwise with rotational speed omega.

Step c3: in the time period of T/12～2T/12: motor M makees to rotate counterclockwise with rotational speed omega, and motor N stops the rotation, and motor P turns clockwise with rotational speed omega.

Step c4: in the time period of 2T/12～3T/12: motor M turns clockwise with rotational speed omega, motor N make to rotate counterclockwise with rotational speed omega, and motor P stops the rotation.

Step c5: in the time period of 3T/12～4T/12: motor M stops the rotation, motor N make to rotate counterclockwise with rotational speed omega, and motor P turns clockwise with rotational speed omega.

Step c6: in the time period of 4T/12～5T/12: motor M turns clockwise with rotational speed omega, motor N stops the rotation, and motor P makees to rotate counterclockwise with rotational speed omega.

Step c7: in the time period of 5T/12～6T/12: motor M makees to rotate counterclockwise with rotational speed omega, and motor N turns clockwise with rotational speed omega, and motor P stops the rotation.

Step c8: in the time period of 6T/12～T: motor M, motor N and motor P all stops the rotation, and completing the action cycle process of one step pitch of wriggling walking counterclockwise.

Wriggling walking process clockwise is identical with wriggling walking process principle counterclockwise.

Claims (9)

1. a control method for imitative anthelmintic robot running gear in nuclear fusion cabin, is characterized in that:

Described imitative anthelmintic robot running gear is to be symmetrical arranged at the two ends of middle body segment axial movement module (2) by front body segment lateral register module (1) and rear body segment lateral register module (3) to constitute；

The structure of described front body segment lateral register module (1) is set to: electric drive submodule (1B) is installed in the inside of carrying submodule (1A), and has the inner side with identical version to split to support submodule (1C) and outside is split support submodule (1D) and is symmetricly set in the left and right sides of described electric drive submodule (1B)；Support submodule (1C) is split in described inner side and outside is split the one end supporting submodule (1D) and is fixed on the left and right sides setting position of electric drive submodule (1B) respectively, and the other end is respectively along the lateral scalable motion in left and right of described electric drive submodule (1B) and with described carrying submodule (1A) for guide rail；Top described front body segment lateral register module (1), centrally located front body segment thermal controls apparatus (9) is set, being positioned at sidepiece and arrange front body segment Weighting system (7), described front body segment Weighting system (7) is in the middle outside of front body segment lateral register module (1) and splits the top supporting submodule；

Described rear body segment lateral register module (3) and described front body segment lateral register module (1) have identical version；The top of body segment lateral register module (3) in the rear, centrally located rear body segment thermal controls apparatus (11) is set, being positioned at sidepiece and arrange rear body segment Weighting system (8), in described rear body segment Weighting system (8) place body segment lateral register module (3) in the rear, the top supporting submodule is split in outside；

The structure of described middle body segment axial movement module (2) is set to: Anterior Segment submodule (2B) is installed in the inside of housing submodule (2A)；Described Anterior Segment submodule (2B) and deutomerite cross-talk module (2C) are connected in the inside of housing submodule (2A) and can be movable relatively along the longitudinal direction each other, forming telescopic middle body segment axial movement module (2), described deutomerite cross-talk module (2C) protrudes from the tail end face of described middle body segment axial movement module (2)；At the top of described middle body segment axial movement module (2), centrally located middle body segment thermal controls apparatus (10) is set；

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

The control method of described imitative anthelmintic robot running gear is set to:

Described walking mechanism complete as follows a forward step from walking process:

Step 1: front body segment lateral register module (1) and rear body segment lateral register module (3) are in lockup state, and middle body segment axial movement module (2) is in minimum shortening state；Walking mechanism is positioned at A place, position；

Step 2: front body segment lateral register module (1) is set to released state, rear body segment lateral register module (3) is maintained at lockup state, middle body segment axial movement module (2) extends until reaching maximum elongation state, and walking mechanism is in by position A in the traveling of position B；

Step 3: front body segment lateral register module (1) is set to lockup state, rear body segment lateral register module (3) is set to released state, middle body segment axial movement module (2) is shortened until reaching minimum shortening state, and walking mechanism advances to B place, position；

Step 4: front body segment lateral register module (1) is maintained at lockup state, rear body segment lateral register module (3) enters lockup state, middle body segment axial movement module (2) is maintained at minimum shortening state, and walking mechanism is positioned at B place, position；

Described walking mechanism complete as follows a backstep from walking process:

Step 1: front body segment lateral register module (1) and rear body segment lateral register module (3) are in lockup state, and middle body segment axial movement module (2) is in minimum shortening state；Walking mechanism is positioned at A place, position；

Step 2: front body segment lateral register module (1) remains lockup state, rear body segment lateral register module (3) is set to released state, middle body segment axial movement module (2) extends until reaching maximum elongation state, and walking mechanism is in by position A in the traveling of position C；

Step 3: front body segment lateral register module (1) is set to released state, rear body segment lateral register module (3) is set to lockup state, middle body segment axial movement module (2) is shortened until reaching minimum shortening state, and walking mechanism advances to C place, position；

Step 4: front body segment lateral register module (1) is set at lockup state, rear body segment lateral register module (3) is maintained at lockup state, middle body segment axial movement module (2) is maintained at minimum shortening state, and walking mechanism is positioned at C place, position.

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

In described front body segment lateral register module (1), the structure of carrying submodule (1A) is set to:

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

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

In described front body segment lateral register module (1), the structure of electric drive submodule (1B) is set to:

In the inside of described front body segment rectangular frame, it is positioned at described first rectangular base plate (101) and above and is on the position of coaxial line and sets gradually splits support submodule hold-down support (108), the first motor support base (109), clutch shaft bearing bearing (110) and the second bearing spider (113)；At described first motor support base (109) upper fixed installation the first servo vacuum reducing motor (122), the output shaft of described first servo vacuum reducing motor (122) is connected by the first shaft coupling (121) and the first center ball screw (114)；Described first center ball screw (114) is multidiameter, the two ends of described multidiameter are supported between described clutch shaft bearing bearing (110) and the second bearing spider (113) respectively through the first double-row angular contact bal bearing (124) and the first deep groove ball bearing (115), and the first swivel nut (111) is contained on the threaded shaft section of described first center ball screw (114) with rolling screw engagement sleeves；First moves flat board (112) is installed on described first swivel nut (111)；Arrange first and move flat board (112) guide frame, it it is the first guide post (118) that be arranged in parallel in the both sides of described first center ball screw (114), one end of described first guide post (118) is installed on clutch shaft bearing bearing (110), the other end is installed on the second bearing spider (113) by the first sleeve (117), described first moves flat board (112) utilizes the first linear bearing (119) to be bearing on described first guide post (118), make described first to move flat board (112) to move axially on the first guide post (118) under the drive of described first swivel nut (111)；The underface going up, being positioned at described first center ball screw (114) described first rectangular base plate (101) is provided with the first photoswitch (126), and described first photoswitch (126) is positioned at setting position between clutch shaft bearing bearing (110) and the second bearing spider (113)；

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

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

3. the control method of imitative anthelmintic robot running gear in nuclear fusion cabin according to claim 2, it is characterized in that: described outer spin supporting arrangement (105N) has version identical as follows with interior spin supporting arrangement (105M): guide cylinder (105MB) is fixed on inner swash plate (104M) by installing plate (105MA), spring lock block (105MF) is flush-mounted in guide cylinder (105MB) and with guide cylinder (105MB) as being slidably matched, wavy spring (105MC) it is set with between installing plate (105MA) and spring lock block (105MF), ball pivot seat (105MD) and spring lock block (105MF) thread connection, and have spin (105ME) to coordinate with described ball pivot seat (105MD) ball pivot.

4. the control method of imitative anthelmintic robot running gear in nuclear fusion cabin according to claim 2, is characterized in that: described outer universal support claw (134N) has version identical as follows with interior universal support claw (134M):

Support claw head (134ME) is connected by a universal knot and hinged-support (134MA), described universal knot is by long pin shaft (134MF), half bearing pin (134MC) that two structures are identical and hydraulic steering gear adopting cross piece (134MB) composition, described hydraulic steering gear adopting cross piece (134MB) is articulated with on hinged-support (134MA) by long pin shaft (134MF), and it is articulated with support claw head (134ME) by two and half bearing pins (134MC) along the central cross-section symmetry of hydraulic steering gear adopting cross piece (134MB), the central axis of two and half bearing pins (134MC) and long pin shaft (134MF) is intersected in the center of hydraulic steering gear adopting cross piece (134MB)；Described hinged-support (134MA) and described inner side are split the interior wedge shape support (133M) supported in submodule (1C) and are connected firmly；The circular arc outer face of described support claw head (134ME) is pasted fluororubber layer and distribution has pressure sensor (134MD) in array.

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

The structure of the housing submodule (2A) in described middle body segment axial movement module (2) is set to:

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

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

Inside at described middle segment rectangular frame, it is positioned at the second rectangular base plate (201) above and to be on the position of coaxial line B and be respectively provided with the 3rd bearing spider (210) and the 4th bearing spider (225), being positioned at the second rectangular-shaped top plate (204) upper is that suspension is fixedly installed the second motor support base (217), at described second motor support base (217) upper fixed installation the second servo vacuum reducing motor (218)；First gear (216) is arranged on the output shaft of described second servo vacuum reducing motor (218) and engages with the second gear (212), and described second gear (212) is arranged on the end of the second center ball screw (208) and is axially fastened by little round nut (213)；Described second center ball screw (208) is multidiameter, the two ends of described multidiameter are supported between described 3rd bearing spider (210) and the 4th bearing spider (225) respectively through the second double-row angular contact bal bearing (215) and the second deep groove ball bearing (224), and the second swivel nut (207) is contained on the threaded shaft section of described second center ball screw (208) with rolling screw engagement sleeves；Second moves flat board (219) is installed on described second swivel nut (207)；

Described second left and right sides symmetric position moving flat board (219) is fixed with the second linear bearing (229) respectively；The left and right sides symmetric position of described second center ball screw (208) is respectively provided with the second guide post (228), one end of described second guide post (228) is installed on the 3rd bearing spider (210), and the other end is installed on the 4th bearing spider (225) by the second sleeve (226)；Described second guide post (228) and the second linear bearing (229) are for being slidably matched；

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

On described second rectangular base plate (201), the underface being positioned at described second center ball screw (208) is respectively provided with the second photoswitch (209) and the 3rd photoswitch (227), on described second photoswitch (209) and the 3rd photoswitch (227) the office axially different position between the 3rd bearing spider (210) and the 4th bearing spider (225).

6. the control method of imitative anthelmintic robot running gear in nuclear fusion cabin according to claim 1, it is characterized in that: described front body segment Weighting system (7) is set to following identical version with rear body segment Weighting system (8): being installed in by counterweight box (701) outside the first rectangular-shaped top plate (107) upper surface in described front body segment lateral register module (1), each counterweight in weights group (702) is placed in counterweight box (701) by the form of array.

7. the control method of imitative anthelmintic robot running gear in nuclear fusion cabin according to claim 1, is characterized in that: described front body segment thermal controls apparatus (9) is set to version identical as follows with rear body segment thermal controls apparatus (11):

Arranging the first annular seal space housing (901), the first composite heat-insulated material layer (902) and first-phase change material layer (906) ecto-entad successively are packaged in described first annular seal space housing (901)；The inner space of described first-phase change material layer (906) is drawn the first nitrogen cooling pipe (908), the first temperature control module power line and holding wire (907), visual observation installation's power source line and holding wire (905), the first electric machine controller power line and holding wire (903) and the first sensing element power line and holding wire (904) respectively.

8. the control method of imitative anthelmintic robot running gear in nuclear fusion cabin according to claim 1, is characterized in that: the structure of described middle body segment thermal controls apparatus (10) is set to:

Second annular seal space housing (1001) is set, second composite heat-insulated material layer (1007) and second-phase change material layer (1004) ecto-entad successively are packaged in the second annular seal space housing (1001), draw the second nitrogen cooling pipe (1006), the second temperature control module power line and holding wire (1005), the second electric machine controller power line and holding wire (1002) and the second sensing element power line and holding wire (1003) in described second-phase change material layer (1004) inner space respectively.

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

The structure of described front double Hooke's joint (4) is set to: there is identical the first Anterior Segment (401) of structure, Anterior Segment (407A) in first, in first after sections (405) after sections (407B) and first, and pitching banking stop (404) after pitching banking stop (402) and two first before identical two first of structure；In described first, in Anterior Segment (407A) and first, rear sections (407B) is fixedly connected with back-to-back form；One end of first Anterior Segment (401) constitutes upper and lower pitching by stauros (403) before first with Anterior Segment in first (407A) and deflection two-dimensional rotary is connected, and the back side panel (102) in the other end and described front body segment lateral register module (1) connects firmly；After first one end of sections (405) by stauros (406) after first with in first after sections (407B) constitute upper and lower pitching and deflection two-dimensional rotary is connected, the rectangular-shaped front side plate (203) in the other end and described middle body segment axial movement module (2) connects firmly；Pitching banking stop (402) top being installed in the first Anterior Segment (401) symmetrical above and below and bottom respectively before described two first, pitching banking stop (404) top being installed in sections after first (405) symmetrical above and below and bottom respectively after described two first；

The structure of described rear double Hooke's joint (5) is set to: there is identical the second Anterior Segment (501) of structure, Anterior Segment (507A) in second, in second after sections (505) after sections (507B) and second, and pitching banking stop (504) after pitching banking stop (502) and two second before identical two second of structure；In described second, in Anterior Segment (507A) and second, rear sections (507B) is fixedly connected with back-to-back form；One end of second Anterior Segment (501) constitutes upper and lower pitching by stauros (503) before second with Anterior Segment in second (507A) and deflection two-dimensional rotary is connected, and the push pedal (222) in the other end and described middle body segment axial movement module (2) connects firmly；After second one end of sections (505) by stauros (506) after second with in second after sections (507B) constitute upper and lower pitching and deflection two-dimensional rotary is connected, the back side panel (102) in the other end and described rear body segment lateral register module (3) connects firmly；Pitching banking stop (502) top being installed in the second Anterior Segment (501) symmetrical above and below and bottom respectively before described two second, pitching banking stop (504) top being installed in sections after second (505) symmetrical above and below and bottom respectively after described two second.