Leveling lifting appliance for fusion device and control method of leveling lifting appliance

Abstract

The invention relates to the field of hoisting apparatus devices, in particular to a leveling lifting appliance for a fusion device and a control method.The leveling lifting appliance comprises a balance base, a leveling component, a lifting component and a control module, the balance base is provided with a first tilt angle sensor and a first lifting piece, and the first tilt angle sensor and the first lifting piece are arranged on the balance base; the leveling components are movably arranged on the balance base respectively, each leveling component moves relative to the plane where the balance base is located independently or in a linkage mode, the hoisting components correspond to the leveling components in a one-to-one mode and are connected with the leveling components, second hoisting pieces are arranged on the hoisting components, and the second hoisting pieces are connected with the leveling components in a one-to-one mode. The second hoisting part is suitable for being connected with a vacuum chamber assembly or a magnet, the hoisting part adjusts the balance of the vacuum chamber assembly or the magnet by controlling the movement of the second hoisting part, the control module is in communication connection with the first tilt angle sensor, the leveling part and the hoisting part and controls the leveling part and the hoisting part, and the hoisting complexity can be reduced.

Description

Technical Field

[0001] The present application relates to the field of lifting equipment, and in particular to a leveling sling for a fusion device and a control method thereof. Background Art

[0002] In the related art, vacuum chamber assemblies and magnets are both core components used in nuclear fusion tokamak devices. A nuclear fusion tokamak device is provided with multiple vacuum chamber assemblies and multiple magnets. Since the vacuum chamber assemblies and magnets are irregular objects, the center of gravity of the vacuum chamber assemblies and magnets is inconsistent with the geometric center, and due to processing problems, the actual center of gravity of the vacuum chamber assemblies and magnets is also deviated from the theoretical center of gravity. However, in actual hoisting, the vacuum chamber assemblies and magnets have high requirements for horizontality when lifting and lowering. The existing leveling hoisting equipment is more complicated for hoisting objects whose center of gravity is not at the geometric center and need to be leveled. Therefore, how to reduce the complexity of vacuum chamber assemblies and magnets in the hoisting process and improve work efficiency and quality has become a technical problem to be solved in this application. Summary of the Invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present application is to provide a leveling hoist for a fusion device that can reduce the complexity of the vacuum chamber assembly and magnets during the hoisting process and improve the efficiency and quality of the operation.

[0004] The present application also proposes a control method for the above-mentioned leveling spreader.

[0005] According to an embodiment of the present application, a leveling hoist for a fusion device includes: a balancing base, a first inclination sensor is provided on the balancing base, and a first hoisting member is provided on the balancing base; a leveling component, the leveling component is constructed into a plurality of and is movably provided on the balancing base, each of the leveling components can be moved independently or in a linked manner relative to the plane where the balancing base is located to adjust the balance state of the balancing base; a lifting component, the lifting component is constructed into a plurality of corresponding to the leveling components and is connected to the leveling component, a second hoisting member is provided on the lifting component, the second hoisting member is suitable for connecting a vacuum chamber assembly or a magnet, and the lifting component adjusts the balance of the vacuum chamber assembly or the magnet by controlling the movement of the second hoisting member; a control module, the control module is communicated with the first inclination sensor, the leveling component and the hoisting component respectively and controls the leveling component and the hoisting component.

[0006] According to the leveling hoist for a fusion device according to the embodiment of the present application, the control module controls the movement of the leveling components and the lifting components according to the sensor data, thereby avoiding the process of manually judging the tilt direction and calculating the adjustment amount, reducing the difficulty of operation and human errors, and the independent / linked movement of multiple leveling components and lifting components can adapt to the irregular shape and center of gravity characteristics of the vacuum chamber components and magnets, eliminating the need to customize special hoists for different hoisting objects, thereby improving versatility, and the automated leveling process shortens the leveling time of a single hoisting and reduces the downtime for replacement of lifting points. The monitoring of the first inclination sensor and the control of the control module ensure that the horizontality of the balancing base and the hoisting object meets the preset tolerance range, avoiding quality problems such as deformation of the hoisting object and uneven force on the connecting components due to tilting, thereby ensuring the safety of the hoisting object.

[0007] According to some embodiments of the present application, the leveling hoist for a fusion device includes: a movable rail, wherein the movable rail is constructed as a plurality of rails arranged on the balance base, and the plurality of movable rails are symmetrically arranged around the center of the balance base; and a balance block, wherein the balance block is constructed as a plurality of rails corresponding one to one to the movable rails and moves along the movable rails respectively, and the lifting component is arranged on at least one of the balance blocks.

[0008] According to some embodiments of the leveling hanger for a fusion device of the present application, the extension direction of the movable track is arranged parallel to the plane where the balance base is located, and the extension direction of the movable track passes through the center of the balance base.

[0009] According to some embodiments of the present application, a leveling hanger for a fusion device is provided with a screw rod passing through the center of the balance base, and a screw hole cooperating with the screw rod is provided on the balance block. The leveling component is also provided with a driving motor for driving the screw rod to rotate, and the driving motor drives the screw rod to rotate to adjust the position of the balance block on the screw rod.

[0010] According to some embodiments of the present application, the leveling hanger for a fusion device includes: an outer frame portion, which is constructed in a ring shape; a support arm, which is arranged inside the outer frame portion and has two ends respectively connected to the outer frame portion, the support arm is provided with the screw rod, and a guide groove is formed on the support arm for limiting the moving track of the balance block, and the balance block is provided with a guide portion that cooperates with the guide groove.

[0011] According to some embodiments of the present application, in the leveling sling for a fusion device, the lifting component is connected to the guide portion to move with the balancing block relative to the balancing base, and the lifting component is provided with a retractable sling, which is connected to the second lifting member.

[0012] According to some embodiments of the present application, the leveling hoist for a fusion device further includes: a second inclination sensor, which is arranged on the second hoisting piece or installed on the vacuum chamber assembly or the magnet, and the second inclination sensor is communicatively connected to the control module.

[0013] The following briefly describes the control method according to an embodiment of the present application.

[0014] According to the control method of an embodiment of the present application, the type of hoisted object and hoisting information related to the type of hoisted object are obtained, and the leveling component and / or the lifting component are adjusted according to the hoisting information; the posture of the balancing base in pre-hoisting is determined according to the first inclination sensor, and the leveling component and / or the lifting component are controlled to be adjusted according to the posture of the balancing base.

[0015] According to the control method of the embodiment of the present application, based on the adjustment of the type of hoisted object and the hoisting information, the initial states of the leveling components and the lifting components are matched with the center of gravity characteristics of the hoisted object, thereby reducing the posture deviation of the hoisted object after lifting, laying the foundation for subsequent precise leveling. Further, based on the control of the measurement and control module of the first inclination sensor, it is ensured that the horizontality of the balancing base and the hoisted object is always maintained within the preset range, realizing real-time correction of the posture deviation during the hoisting process and avoiding manual adjustment. The automated operation of the control method eliminates the fluctuations in adjustment accuracy caused by differences in operator experience, improves the stability of the overall operation quality, reduces the complexity of vacuum chamber components and magnet hoisting, and improves operation efficiency and quality.

[0016] According to the control method of the leveling sling in some embodiments of the present application, the adjustment of the leveling component and / or the lifting component according to the posture control of the balancing base includes: the tilt direction and tilt angle of the balancing base obtained according to the first inclination sensor; controlling the first balancing block toward the tilt direction side and / or the second balancing block away from the tilt direction side to move away from the tilt direction, and determining the moving distance of the first balancing block and / or the second balancing block according to the tilt angle.

[0017] According to the control method of the leveling sling in some embodiments of the present application, the leveling sling also includes: a second inclination sensor, which is arranged on the second lifting piece or installed on the vacuum chamber assembly or the magnet. The control method also includes: according to the inclination direction and inclination angle of the vacuum chamber assembly or the magnet obtained by the second inclination sensor; controlling the second lifting piece of the lifting component to move and adjust until the measurement parameters of the second inclination sensor meet the preset range.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the axial structure of a leveling hanger for a fusion device according to an embodiment of the present application; Figure 2 is a front view structural schematic diagram of a leveling hanger for a fusion device according to an embodiment of the present application; Figure 3 is a schematic top view of the structure of a leveling hanger for a fusion device according to an embodiment of the present application; Figure 4 It is a flow chart of a control method for a leveling spreader according to an embodiment of the present application.

[0020] Reference numerals: 100. Leveling spreader; 1. Balance base; 11. First lifting member; 12. Outer frame; 13. Support arm; 131. Guide groove; 2. Leveling components; 21. Moving track; 211. Screw rod; 22. Balance block; 221. Screw hole; 222. Guide part; 23. Drive motor; 3. Lifting components; 31. Second lifting component; 32. Lifting rope. DETAILED DESCRIPTION

[0021] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0022] Reference below Figure 1-Figure 3 A leveling sling 100 for a fusion device according to an embodiment of the present application is described.

[0023] According to the embodiment of the present application, a leveling hoist 100 for a fusion device includes a balancing base 1, a leveling component 2, a lifting component 3 and a control module. A first inclination sensor is provided on the balancing base 1. A first lifting component 11 is provided on the balancing base 1. The leveling component 2 is constructed into a plurality of components and is movably provided on the balancing base 1. Each leveling component 2 can be moved independently or in a linked manner relative to the plane where the balancing base 1 is located to adjust the balance state of the balancing base 1. The lifting component 3 is constructed into a plurality of components corresponding one to one to the leveling components 2 and is connected to the leveling component 2. A second lifting component 31 is provided on the lifting component 3. The second lifting component 31 is suitable for connecting a vacuum chamber assembly or a magnet. The lifting component 3 adjusts the balance of the vacuum chamber assembly or the magnet by controlling the movement of the second lifting component 31. The control module is communicated with the first inclination sensor, the leveling component 2 and the lifting component 3 respectively and controls the leveling component 2 and the lifting component 3.

[0024] In the related art, vacuum chamber assemblies and magnets are both core components used in nuclear fusion tokamak devices. Multiple vacuum chamber assemblies and multiple magnets are arranged in a nuclear fusion tokamak device. Since the vacuum chamber assemblies and magnets are irregular objects, the center of gravity of the vacuum chamber assemblies and magnets is inconsistent with the geometric center, and due to processing problems, the actual center of gravity of the vacuum chamber assemblies and magnets deviates from the theoretical center of gravity. However, in actual lifting, the vacuum chamber assemblies and magnets have high requirements for horizontality when lifting and lowering. The existing leveling hoisting equipment is more complicated for lifting objects whose center of gravity is not at the geometric center and need to be leveled.

[0025] It is understood that the first inclination sensor provided on the balancing base 1 can monitor the horizontal state of the balancing base 1 in real time and transmit the data to the control module. When the vacuum chamber assembly or magnet is connected to the balancing base 1 via the lifting component 3, the balancing base 1 tilts due to the shift in the center of gravity of the hoisted object. After the first inclination sensor captures the inclination signal, the control module activates the leveling component 2. The multiple leveling components 2 can move independently or in conjunction with each other relative to the plane of the balancing base 1. By changing the position of each leveling component 2, the tilt state of the balancing base 1 is corrected, so that the balancing base 1 always remains within a preset horizontal range, providing a stable reference platform for subsequent leveling of the hoisted object.

[0026] Furthermore, the lifting component 3 corresponds to the leveling component 2 one by one, and a second lifting component 31 is provided on the lifting component 3, and the second lifting component 31 is connected to the vacuum chamber assembly or the magnet. Due to the deviation of the center of gravity of the hoisted object, the balance base 1 or the vacuum chamber assembly or the magnet will tilt during the lifting process, and the leveling component 2 has previously preliminarily leveled the balance base 1, and only the lifting component 3 is subsequently adjusted to reduce the adjustment variables and improve the adjustment efficiency. The control module can drive the lifting component 3 to control the movement of the second lifting component 31 according to the feedback of the first inclination sensor, and can fine-tune the position in the horizontal direction or adjust the tension distribution in the vertical direction. By independently adjusting the second lifting component 31 of each lifting component 3, the force state of each lifting point of the hoisted object is changed, so that the vertical line of the center of gravity of the hoisted object coincides with the lifting force line, thereby realizing the horizontal adjustment of the hoisted object itself, without the need for frequent manual replacement of the lifting point.

[0027] It should be noted that the control module receives real-time data from the first inclination sensor, combined with the position feedback signals of the leveling component 2 and the lifting component 3. When the balancing base 1 tilts due to the deviation of the center of gravity of the hoisted object, the control module preferentially drives the leveling component 2 to correct the base level. After the balancing base 1 is initially leveled, the control module controls the lifting component 3 to perform fine-tuning to further adjust the horizontal state of the hoisted object, thereby avoiding mutual interference between the leveling component 2 and the lifting component 3 during the leveling process, and ensuring the accuracy and efficiency of the leveling action.

[0028] In short, the control module controls the movement of the leveling component 2 and the lifting component 3 according to the sensor data, avoiding the process of manually judging the tilt direction and calculating the adjustment amount, reducing the difficulty of operation and human errors. Moreover, the independent / linked movement of multiple leveling components 2 and lifting components 3 can adapt to the irregular shape and center of gravity characteristics of the vacuum chamber components and magnets. There is no need to customize special lifting equipment for different hoisting objects, which improves versatility. The automated leveling process shortens the leveling time of a single hoisting and reduces the downtime for replacing the lifting point. The monitoring of the first inclination sensor and the control of the control module ensure that the horizontality of the balancing base 1 and the hoisting object meets the preset tolerance range, avoids quality problems such as deformation of the hoisting object and uneven force on the connecting components due to tilt, and ensures the safety of the hoisting object.

[0029] According to some embodiments of the present application, a leveling hoist 100 for a fusion device includes a leveling component 2 including a movable rail 21 and a balancing block 22. The movable rail 21 is configured to be multiple and arranged on the balancing base 1. The multiple movable rails 21 are symmetrically arranged around the center of the balancing base 1. The balancing blocks 22 are configured to be multiple and correspond one to one to the movable rails 21 and move along the movable rails 21 respectively. A lifting component 3 is provided on at least one balancing block 22.

[0030] The movable track 21 is symmetrically arranged around the center of the balancing base 1. The movable track 21 can be distributed in a cross pattern around the center of the balancing base 1 or in a circular array pattern around the center of the balancing base 1. The arrangement of multiple movable tracks 21 forms an adjustment coordinate system with multiple degrees of freedom, so that the movement trajectory of the balancing block 22 can cover the radial and / or circumferential area of ​​the balancing base 1, which is convenient for leveling the balancing posture of the balancing base 1. When the balancing base 1 deviates to one side, the balancing block 22 located on the other side of the balancing base 1 can move along the track away from the center, or the balancing block 22 located on one side of the balancing base 1 can move along the track away from the center. By changing the position of the balancing block 22, the torque generated by the offset of the balancing beam can be offset, and the symmetrical layout of the movable track 21 also ensures the force symmetry of the balancing base 1 during the adjustment process, which is convenient for adjusting the posture of the balancing base 1.

[0031] According to some embodiments of the leveling hanger 100 for a fusion device of the present application, the extension direction of the movable rail 21 is arranged parallel to the plane where the balancing base 1 is located, and the extension direction of the movable rail 21 passes through the center of the balancing base 1 .

[0032] The movable track 21 is parallel to the plane of the balancing base 1, so that the balancing weight 22 is located within this plane along the direction of movement of the track. This ensures that the adjustment of the balancing weight 22 occurs only in the horizontal direction, avoiding additional displacement interference in the vertical direction. When the balance base 1 tilts due to the center of gravity shift of the hoisted object, the horizontal movement of the balancing weight 22 can change the projection position of the lifting point on the horizontal plane, balancing the torque generated by the center of gravity shift by adjusting the horizontal distribution of the lifting force. The posture of the balancing base 1 is adjusted only by adjusting the balancing weight 22 in the horizontal direction, avoiding simultaneous adjustment in the vertical and horizontal directions, reducing the adjustment dimension, reducing the computational complexity of the control module, and accelerating the leveling response speed.

[0033] The extension direction of the movable track 21 passes through the center of the balancing base 1, forming a radial adjustment path of the movable track 21 with the center as the symmetrical point, so that the movement of each balancing block 22 is based on the center of the base, ensuring the symmetry and computability of the adjustment process. When the posture of the balancing base 1 needs to be adjusted, the control module can be based on the centrally symmetrical track layout, and the control module can determine the movement amount and direction of each balancing block 22 through geometric calculation.

[0034] According to some embodiments of the present application, a leveling hanger 100 for a fusion device is provided with a screw rod 211 passing through the center of the balancing base 1, and a screw hole 221 is provided on the balancing block 22 for cooperating with the screw rod 211. The leveling component 2 is also provided with a driving motor 23 for driving the screw rod 211 to rotate. The driving motor 23 drives the screw rod 211 to rotate to adjust the position of the balancing block 22 on the screw rod 211.

[0035] The screw rod 211 on the movable track 21 is arranged along the central axis of the balancing base 1. The balancing block 22 forms a spiral transmission with the screw rod 211 through the screw hole 221. The driving motor 23 drives the screw rod 211 to rotate to further adjust the position of the balancing block 22. Moreover, the screw rod 211 and the screw hole 221 of the balancing block 22 form a self-locking spiral transmission. When the driving motor 23 stops running, the balancing block 22 can remain stationary at any position of the corresponding screw rod 211, which can improve the accuracy of the posture adjustment of the balancing base 1. It can be understood that when the balancing base 1 tilts, the control module can control the corresponding motor to rotate to adjust the position of the balancing block 22 on the screw rod 211.

[0036] According to some embodiments of the present application, a leveling hanger 100 for a fusion device, a balancing base 1 includes an outer frame portion 12 and a support arm 13. The outer frame portion 12 is constructed in a ring shape. The support arm 13 is arranged inside the outer frame portion 12 and is connected to the outer frame portion 12 at both ends. A screw rod 211 is provided on the support arm 13. A guide groove 131 is formed on the support arm 13 for limiting the movement of the balancing block 22 on the track 21. The balancing block 22 is provided with a guide portion 222 that cooperates with the guide groove 131.

[0037] As will be appreciated, the annular outer frame 12 is constructed. Due to its structural characteristics, the annular structure evenly distributes radial loads during the lifting process. When the lifting component 3 bears the weight of the hoisted object, the load is transmitted to the outer frame 12 via the support arms 13. The annular structure evenly distributes the load along the circumference, preventing base deformation caused by localized stress concentration. Furthermore, the annular outer frame 12 provides a symmetrical installation reference, ensuring that the angles of the support arms 13 are aligned, laying the structural foundation for the symmetrical adjustment of the balancing weight 22.

[0038] The two ends of the support arm 13 are connected to the outer frame 12, and the support arm 13 and the outer frame 12 form an integrated force-bearing structure, which enhances the overall rigidity of the balancing base 1. The screw rod 211 is installed on the support arm 13, and the axis of the screw rod 211 is consistent with the extension direction of the support arm 13, ensuring that the balancing block 22 moves along the axial direction of the support arm 13. The support arm 13 also serves as the bearing structure of the balancing block 22, bearing the gravity of the balancing block 22 and the lifting component 3 and the torque transmitted by the hoisting object. When the balancing block 22 moves along the screw rod 211, the support arm 13 can resist the bending moment generated by the balancing block 22, avoiding the weight of the hoisting object directly affecting the straightness of the screw rod 211, and ensuring the movement accuracy of the balancing block 22.

[0039] The guide groove 131 is opened along the axial direction of the support arm 13. The cross-section of the guide groove 131 can be T-shaped to facilitate supporting the balancing block 22. The guide portion 222 of the balancing block 22 is embedded in the guide groove 131 to form a sliding fit to limit the freedom of the balancing block 22 perpendicular to the axial direction of the support arm 13, ensuring that the balancing block 22 can move axially along the support arm 13. Specifically, when the driving motor 23 drives the screw rod 211 to rotate, the friction force or contact return force generated on the contact surface between the guide portion 222 and the guide groove 131 can offset the torque transmitted to the balancing block 22 by the rotation of the screw rod 211, preventing the balancing block 22 from rotating synchronously with the screw rod 211, so that the rotational motion of the screw rod 211 is accurately converted into the linear motion of the balancing block 22.

[0040] According to some embodiments of the leveling sling 100 for a fusion device of the present application, the lifting component 3 is connected to the guide portion 222 to move relative to the balancing base 1 along with the balancing block 22 , and the lifting component 3 is provided with a retractable sling 32 , which is connected to the second lifting component 31 .

[0041] The lifting component 3 is connected to the guide part 222, moves along the balancing base 1 with the balancing block 22, and is equipped with a retractable sling 32, and the sling 32 is connected to the second lifting component 31. It can be understood that when the balancing block 22 moves along the guide groove 131 of the support arm 13, the lifting component 3 is synchronously displaced horizontally with the balancing block 22, changing the horizontal position of the second lifting component 31, and the length of the sling 32 is adjusted to adjust the vertical height difference of the lifting point, which is used to fine-tune the inclination angle of the hoisted object. When the vacuum chamber assembly or magnet is tilted, the control module controls the extension of the high-side sling 32 or the shortening of the low-side sling 32 to achieve leveling of the vacuum chamber assembly or the magnet.

[0042] In some embodiments of the present application, the second sling 31 is configured as an electric fall chain or a winch to provide power for the extension or shortening of the sling 32 .

[0043] According to some embodiments of the present application, the leveling hanger 100 for a fusion device further includes: a second inclination sensor, which is arranged on the second hanging component 31 or installed on the vacuum chamber assembly or the magnet, and the second inclination sensor is communicatively connected to the control module.

[0044] When the second inclination sensor is set on the second hanging piece 31, it can indirectly reflect the tilting trend of the hanging object. Since the hanging object is fixedly connected to the second hanging piece 31 through the sling 32, during the hanging process, the inclination of the hanging object will be transmitted to the second hanging piece 31 through the change in the tension distribution of the sling 32, causing the second hanging piece 31 to synchronously produce a corresponding tilting trend. It can be understood that when one side of the hanging object sinks, the corresponding side of the second hanging piece 31 connected thereto will tilt downward due to the increase in force, and the second inclination sensor set on the second hanging piece 31 monitors the above-mentioned tilt; when the second inclination sensor is directly installed on the surface of the hanging object, the degree of inclination of the hanging object can be directly obtained. By setting the second inclination sensor, the posture of the hanging object is monitored and the posture of the hanging object is transmitted to the control module, and then the control module is controlled by the second hanging piece 31 to adjust the length of the sling 32. By controlling the extension of the high-side sling 32 or the shortening of the low-side sling 32, the leveling of the vacuum chamber assembly or the magnet is achieved.

[0045] It can be understood that by monitoring the posture of the balancing base 1 through the first inclination sensor and the posture of the hoisted object through the second inclination sensor, the balancing base 1 and the hoisted object are leveled respectively, which can avoid interference and collision between the hoisted object and the balancing base 1 due to mutual imbalance, reduce the possibility of damage to the hoisted object, and improve the safety during the hoisting process.

[0046] according to Figure 4 The control method according to the embodiment of the present application is briefly described below.

[0047] According to the control method of the embodiment of the present application, the type of hoisted object and the hoisting information related to the type of hoisted object are obtained, and the leveling component 2 and / or the lifting component 3 are adjusted according to the hoisting information; the posture of the balancing base 1 in pre-hoisting is determined according to the first inclination sensor, and the leveling component 2 and / or the lifting component 3 are controlled to be adjusted according to the posture of the balancing base 1.

[0048] It is understandable that the type of hoisted object and related hoisting information can be obtained, which can be the theoretical center of gravity coordinates, geometric dimensions, theoretical distribution of hoisting points, etc. Different types of vacuum chamber components and magnets have different irregularities and center of gravity offset characteristics. The acquisition of hoisting information enables the control module to establish a targeted control model. After receiving the type of hoisting object and hoisting information, the control module will call the pre-stored parameter database of the corresponding hoisting object, compare the actual hoisting information with the theoretical parameters in the database, and calculate the initial position adjustment amount of the leveling component 2 and the lifting component 3 at the theoretical level. The pre-adjustment mechanism avoids the blind leveling process starting from zero after the hoisting object is lifted, and reduces the amplitude and number of subsequent adjustments. Since it avoids the need to determine the force distribution of the lifting point through repeated experiments after the hoisting object is suspended in the air, targeted adjustments can be made directly based on known information, significantly reducing the operational complexity caused by unknown characteristics of the hoisting object.

[0049] Furthermore, the first inclination sensor collects the posture data of the balancing base 1 during the pre-lifting and lifting processes in real time, and converts it into an electrical signal and transmits it to the control module. The control module compares the posture data with a preset horizontal threshold. When it is detected that the posture of the balancing base 1 exceeds the threshold range, the dynamic adjustment process is started, avoiding the traditional method of relying on manual observation and experience adjustment. The tilt direction and adjustment range are judged by the first inclination sensor and the control module, which reduces the dependence on operating skills and reduces the possibility of human error.

[0050] Leveling the balancing base 1 is to fine-tune the center of gravity of the hoisted object to be consistent with the vertical position of the hoisting point on the balancing base 1 .

[0051] In short, based on the adjustment of the type of hoisted object and the hoisting information, the initial states of the leveling component 2 and the lifting component 3 are matched with the center of gravity characteristics of the hoisted object, reducing the posture deviation of the hoisted object after lifting, laying the foundation for subsequent precise leveling. Further, according to the control of the measurement and control module of the first inclination sensor, it is ensured that the horizontality of the balance base 1 and the hoisted object is always maintained within the preset range, realizing real-time correction of the posture deviation during the hoisting process and avoiding manual adjustment. The automated operation of the control method eliminates the fluctuation of adjustment accuracy caused by differences in operator experience, improves the stability of the overall operation quality, reduces the complexity of vacuum chamber components and magnet hoisting, and improves operation efficiency and quality.

[0052] According to the control method of the leveling sling 100 in some embodiments of the present application, the adjustment of the leveling component 2 and / or the lifting component 3 is controlled according to the posture of the balancing base 1, including: the tilt direction and tilt angle of the balancing base 1 obtained according to the first inclination sensor; controlling the first balancing block toward the tilt direction side and / or the second balancing block away from the tilt direction side to move toward the direction away from the tilt direction, and determining the moving distance of the first balancing block and / or the second balancing block according to the tilt angle.

[0053] It is understood that, based on the tilt direction and tilt angle of the balancing base 1 obtained by the first inclination sensor, when the base tilts toward one side, the side in the tilt direction is the positive side, and the side away from the tilt direction is the negative side. At this time, the first balancing block on the positive side and / or the second balancing block on the negative side are controlled to move in the negative direction. By changing the position of the balancing block 22, the direction of the torque exerted by the balancing block 22 on the balancing base 1 is adjusted to offset the tilt torque generated by the offset of the center of gravity of the hoisted object, so that the balancing base 1 returns to a horizontal position. The control module can also choose to move only the first balancing block, only the second balancing block, or both simultaneously, depending on the size of the tilt angle and the load condition of the balancing base 1. When the tilt angle is small, only the first balancing block is moved; when the tilt angle is large, the first and second balancing blocks are moved simultaneously to generate sufficient reverse torque more quickly, optimize adjustment efficiency, and increase leveling speed.

[0054] According to the control method of the leveling sling 100 in some embodiments of the present application, the leveling sling 100 also includes: a second inclination sensor, the second inclination sensor is arranged on the second sling 31 or installed on the vacuum chamber assembly or the magnet, and the control method also includes: according to the inclination direction and inclination angle of the vacuum chamber assembly or the magnet obtained by the second inclination sensor; controlling the second sling 31 of the lifting component 3 to move and adjust until the measurement parameters of the second inclination sensor meet the preset range.

[0055] The second inclination sensor of the leveling sling 100 directly obtains the inclination data of the vacuum chamber assembly or the magnet, and the control module drives the second hoisting part 31 of the lifting component 3 to move based on the obtained data until the measurement parameters of the second inclination sensor enter the preset range. It can be understood that when the hoisted object is tilted along one side, the angle correction can be achieved by controlling the extension of the high-side sling 32 or the shortening of the low-side sling 32 without adjusting the height of one side. By leveling the balancing base 1 and the hoisted object respectively, the leveling problem in three-dimensional space is decomposed into base horizontal adjustment and hoisting object inclination adjustment, which can reduce the complexity of the control algorithm and improve the response speed of leveling.

[0056] In some embodiments of the present application, the first lifting member 11 is constructed as a hook, and the lifting equipment lifts the balancing base 1, the second lifting member 31 connected to the balancing base 1, and the lifting object through the hook, wherein the pre-lifting state is that the lifting equipment first lifts the balancing base 1 and lifts 40%-60% of the load of the lifting object. At this time, the first inclination sensor obtains data of the balancing base 1, and adjusts the posture of the balancing base 1 by adjusting the position of the balancing block 22 until the measurement data of the first inclination sensor reaches a preset range. After the adjustment of the balancing base 1 is completed, the lifting equipment completely lifts the lifting object. At this time, the second inclination sensor obtains data of the lifting object, and adjusts the posture of the lifting object by adjusting the length of the sling 32 on the second lifting member 31 until the measurement data of the second inclination sensor reaches a preset range. At this time, in some embodiments of the present application, the control module records the data of the balancing block 22 and the second lifting member 31 at this time, and updates the lifting information related to the type of lifting object, so as to improve the work efficiency of subsequent leveling operations.

[0057] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0058] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0059] In the description of this application, “plurality” means two or more.

[0060] In the description of the present application, a first feature being “on” or “under” a second feature may include the first and second features being in direct contact with each other, or the first and second features being in contact with each other not directly but via another feature therebetween.

[0061] In the description of this application, “above”, “above” and “on” a first feature of a second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0062] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0063] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A leveling sling for a fusion device, characterized in that: include: A balancing base (1), wherein a first inclination sensor is provided on the balancing base (1), and a first hanging member (11) is provided on the balancing base (1); A leveling component (2), wherein the leveling components (2) are constructed in a plurality and are movably arranged on the balancing base (1), and each of the leveling components (2) can be independently or linked to move relative to the plane where the balancing base (1) is located to adjust the balance state of the balancing base (1); A lifting component (3), wherein the lifting component (3) is constructed to correspond one to one with the leveling component (2) and is connected to the leveling component (2); a second lifting component (31) is provided on the lifting component (3); the second lifting component (31) is suitable for connecting to a vacuum chamber component or a magnet; the lifting component (3) adjusts the balance of the vacuum chamber component or the magnet by controlling the movement of the second lifting component (31); A control module is respectively connected to the first inclination sensor, the leveling component (2) and the lifting component (3) for communication and controls the leveling component (2) and the lifting component (3).

2. The leveling sling for a fusion device according to claim 1, characterized in that: The leveling component (2) comprises: A movable track (21), wherein the movable track (21) is configured to be arranged in plurality on the balancing base (1), and the plurality of movable tracks (21) are symmetrically arranged around the center of the balancing base (1); The balancing blocks (22) are constructed as a plurality of balancing blocks corresponding one to one with the moving rails (21) and respectively move along the moving rails (21); at least one of the balancing blocks (22) is provided with the lifting component (3).

3. The leveling sling for a fusion device according to claim 2, characterized in that: The extending direction of the movable track (21) is arranged parallel to the plane where the balancing base (1) is located, and the extending direction of the movable track (21) passes through the center of the balancing base (1).

4. The leveling sling for a fusion device according to claim 3, characterized in that: A screw rod (211) passing through the center of the balancing base (1) is formed on the movable track (21), a screw hole (221) cooperating with the screw rod (211) is provided on the balancing block (22), and a driving motor (23) for driving the screw rod (211) to rotate is further provided on the leveling component (2), and the driving motor (23) drives the screw rod (211) to rotate to adjust the position of the balancing block (22) on the screw rod (211).

5. The leveling lifting device for a fusion device according to claim 4, characterized in that: The balancing base (1) comprises: An outer frame portion (12), wherein the outer frame portion (12) is constructed in a ring shape; A support arm (13), the support arm (13) being arranged inside the outer frame portion (12) and having two ends connected to the outer frame portion (12), the support arm (13) being provided with the screw rod (211), the support arm (13) being formed with a guide groove (131) for limiting the movement of the balance block (22) on the track (21), and the balance block (22) being provided with a guide portion (222) cooperating with the guide groove (131).

6. The leveling sling for a fusion device according to claim 5, characterized in that: The lifting component (3) is connected to the guide portion (222) to move with the balancing block (22) relative to the balancing base (1). The lifting component (3) is provided with a retractable sling (32), and the sling (32) is connected to the second lifting member (31).

7. The leveling sling for a fusion device according to claim 5, characterized in that: Also includes: A second inclination sensor is provided on the second hanging member (31) or installed on the vacuum chamber component or the magnet, and the second inclination sensor is communicatively connected to the control module.

8. A method for controlling the leveling sling for a fusion device according to any one of claims 1 to 7, characterized in that: Acquiring the type of the hoisted object and hoisting information related to the type of the hoisted object, and adjusting the leveling component (2) and / or the hoisting component (3) according to the hoisting information; The pre-hoisting posture of the balancing base (1) is determined according to the first inclination sensor, and the leveling component (2) and / or the hoisting component (3) are controlled to be adjusted according to the posture of the balancing base (1).

9. The control method for a leveling sling for a fusion device according to claim 8, characterized in that: The adjusting of the leveling component (2) and / or the lifting component (3) according to the posture control of the balancing base (1) comprises: According to the tilt direction and tilt angle of the balancing base (1) obtained by the first tilt sensor, The first balancing weight on one side of the tilting direction and / or the second balancing weight on the side away from the tilting direction are controlled to move away from the tilting direction, and the moving distance of the first balancing weight and / or the second balancing weight is determined according to the tilt angle.

10. The control method of the leveling spreader according to claim 8, characterized in that: The leveling sling (100) further comprises: a second inclination sensor, the second inclination sensor being arranged on the second sling (31) or mounted on the vacuum chamber assembly or the magnet, and the control method further comprises: According to the tilt direction and tilt angle of the vacuum chamber assembly or the magnet obtained by the second tilt sensor, the second hoisting member (31) of the hoisting component (3) is controlled to move and adjust until the measurement parameters of the second tilt sensor meet a preset range.

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