A robotic arm device for controlling the stability of superconducting magnet windings

Abstract

The invention relates to the technical field of magnetic resonance equipment, and in particular to a mechanical arm device for controlling the winding stability of a superconducting magnet, comprising a guide rail arranged parallel to the axis of a coil to be wound, a base slidably mounted on the guide rail, a turntable rotatably mounted on the base, a vertical ear seat fixedly mounted on the turntable, a main rotating shaft mounted on the vertical ear seat, a mechanical arm assembly rotatably mounted on the main rotating shaft, the mechanical arm assembly is dynamically connected to a driving device, the driving device is connected to a control system, the mechanical arm assembly drives a control probe to abut against the outer side of a superconducting wire, so that the turns of the superconducting wire wound on the wire slot are in close contact with each other, a force sensor and a position sensor are arranged on the control probe, the invention has sufficient flexibility and accuracy, can adapt to superconducting magnets of different shapes and sizes, and can accurately control the thrust, thereby ensuring that the superconducting wire will not be excessively squeezed, and the coil will not be insufficiently tight due to too loose a force, thereby improving the consistency of operation.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic resonance equipment, and in particular to a mechanical arm device for controlling the stability of superconducting magnet windings. Background Art

[0002] Superconducting magnet windings refer to the wires used in the coil structure of superconducting magnets. These wires are made of superconducting materials and can exhibit superconducting properties at extremely low temperatures (usually close to absolute zero), that is, the resistance is almost zero. The design, materials and winding process of superconducting magnet windings are crucial to the performance of superconducting magnets.

[0003] Superconducting magnets are very different from conventional magnets in structure and manufacturing. They are mainly composed of main coils and shielding coils. Each coil is designed with multiple wire slots for winding a fixed number of turns of superconducting wires. These superconducting wires need to follow specific process requirements during the winding process to ensure the performance and stability of the magnet.

[0004] In the production process of superconducting magnets, winding is a crucial link. Due to the sensitivity of superconducting materials to the external environment, factors such as temperature and magnetic field may affect the superconducting performance, so the winding process needs to strictly control these conditions. In addition, superconducting wires themselves also have some special physical and chemical properties, such as being fragile and difficult to process, which also increases the difficulty of winding.

[0005] Winding superconducting wire is an important step in the manufacturing process of superconducting magnets. It is necessary to accurately wind the superconducting wire into the wire slot according to the design requirements and ensure the tightness and uniformity of each turn of the coil. When the winding force is too tight, the superconducting wire may be over-stretched or compressed, resulting in damage or deformation of the internal structure. This damage may not only affect the performance of the superconducting wire, but also shorten its service life. If the winding force is too loose, the gap between the superconducting wires will increase and the tightness of the coil will be affected. This may not only reduce the uniformity and strength of the magnetic field, but also affect the overall performance of the superconducting magnet. Unstable winding force control will also reduce work efficiency. Due to the need to constantly adjust the winding force, the operator's work intensity will increase, and the winding speed will also be affected. This may lead to an extension of the production cycle and an increase in costs.

[0006] In the prior art, the winding of superconducting wires is mainly done manually, which is highly dependent on manual operation. The skill level and experience of the operator have a crucial impact on the winding quality. If the operator lacks sufficient skills or experience, it is difficult to ensure the consistency and stability of the winding. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a mechanical arm device for controlling the winding stability of a superconducting magnet, which replaces manual winding, controls the winding force accurately, ensures the performance and stability of the magnet, improves the winding work efficiency, and saves labor costs.

[0008] To solve the above technical problems, the technical solution of the present invention is: a mechanical arm device for controlling the winding stability of a superconducting magnet, comprising a guide rail arranged parallel to the axis of a coil to be wound, a base slidably mounted on the guide rail, a turntable rotatably mounted on the base, two vertical ear seats arranged parallel to each other at intervals fixedly mounted on the turntable, a main rotating shaft fixedly mounted between the two vertical ear seats, a mechanical arm assembly rotatably mounted on the main rotating shaft, the mechanical arm assembly is dynamically connected to a driving device, the driving device is connected to a control system, a control seat is mounted at the end of the mechanical arm assembly, the mechanical arm assembly can drive the control seat to move up and down, forward and backward, left and right, a control probe facing the coil to be wound is mounted on the control seat, the control probe is used to abut against the outer side of the superconducting wire, so that the turns of the superconducting wire wound on the wire slot are in close contact with each other, a force sensor and a position sensor are provided on the control probe, and the force sensor, the position sensor and the driving device are respectively connected to the control system by signal.

[0009] As a preferred technical solution, the mechanical arm assembly includes a first main arm assembly and a second main arm assembly rotatably mounted on the main rotating shaft, including a third main arm rotatably mounted on one of the vertical ear seats, and also includes a first support arm assembly, the first support arm assembly includes an integral front support arm and a rear support arm, a second rotating shaft is provided at the junction of the front support arm and the rear support arm, the first support arm assembly is hinged to the end of the first main arm assembly through the second rotating shaft; the end of the second main arm assembly is hinged to the second support arm, and the end of the second support arm is hinged to the end of the rear support arm; a triangular seat is rotatably mounted on the second rotating shaft and located on the outside of the first support arm assembly, the rear end corner point of the triangular seat is hinged to the end of the third main arm, the front end corner point of the triangular seat is hinged to the third support arm, and the control seat is respectively hinged to the end of the front support arm and the end of the third support arm.

[0010] As a preferred technical solution, the control seat includes two triangular mounting plates arranged relatively parallel to each other, a top rotating shaft is installed between the top corners of the two triangular mounting plates, a front rotating shaft is installed between the front corners of the two triangular mounting plates, and a rear rotating shaft is installed between the rear corners of the two triangular mounting plates, the rear rotating shaft is hinged to the end of the front support arm, and the top rotating shaft is hinged to the end of the third support arm.

[0011] As a preferred technical solution, the driving device includes a bottom driving device and a front driving device, the bottom driving device includes a first motor fixedly mounted on the outside of one of the vertical ear seats, the first motor is used to drive the first main arm assembly to rotate around the main rotating shaft, includes a second motor fixedly mounted on the outside of another vertical ear seat, the second motor is used to drive the second main arm assembly to rotate around the main rotating shaft, and also includes a third motor fixedly mounted on the turntable, the third motor is used to drive the turntable to rotate around the base, and the first motor, the second motor and the third motor are respectively connected to the control system by signals.

[0012] As a preferred technical solution, the bottom driving device also includes a driving rail, which is dynamically connected to a driving block, and the driving block is fixedly installed at the bottom of the base. The driving rail drives the base to slide along the guide rail, and the driving rail signal is connected to the control system.

[0013] As a preferred technical solution, the front-end driving device includes a fourth motor fixedly mounted on the bottom end of the triangular mounting plate, a motor mounting seat is installed at the power output end of the fourth motor, and the fourth motor is used to drive the motor mounting seat to rotate horizontally. A fifth motor is fixedly mounted on the motor mounting seat, and the power output end of the fifth motor is connected to the front-end swing seat, and the fifth motor is used to drive the front-end swing seat to swing up and down. The fourth motor and the fifth motor are respectively connected to the control system by signals.

[0014] As a preferred technical solution, a double lead screw is installed at the front end of the front end swing seat, a probe mounting seat is installed on the double lead screw, the control probe is fixedly installed on the probe mounting seat, and a sixth motor for driving the double lead screw to rotate is fixedly installed on the front end swing seat. The rotation of the double lead screw drives the control probe to move along the extension direction of the double lead screw, and the sixth motor signal is connected to the control system.

[0015] As a preferred technical solution, there are two guide rails, and slide grooves are fixedly installed on both sides of the base, and the two slide grooves are slidably installed in the guide rails.

[0016] Due to the adoption of the above technical scheme, a mechanical arm device for controlling the winding stability of a superconducting magnet comprises a guide rail arranged parallel to the axis of a coil to be wound, a base is slidably mounted on the guide rail, a turntable is rotatably mounted on the base, two vertical ear seats arranged parallel to each other are fixedly mounted on the turntable, a main rotating shaft is fixedly mounted between the two vertical ear seats, a mechanical arm assembly is rotatably mounted on the main rotating shaft, the mechanical arm assembly is dynamically connected to a driving device, the driving device is connected to a control system, a control seat is mounted at the end of the mechanical arm assembly, the mechanical arm assembly can drive the control seat to move up and down, front and back, left and right, a control probe facing the coil to be wound is mounted on the control seat, the control probe is used to abut against the outer side of the superconducting wire so that the turns of the superconducting wire wound on the wire slot are in close contact with each other, a force sensor and a position sensor are arranged on the control probe, and the force sensor, the position sensor and the driving device are respectively connected to the control system by signals; the beneficial effects of the present invention are: the mechanical arm device of the present invention has sufficient flexibility and accuracy, the control system can move the control probe up and down, left and right, front and back through the driving device, and can adapt to the winding work of superconducting magnets of different shapes and sizes. Through the algorithm preset of the control system, the control probe can achieve precise thrust force control on the superconducting wire. In addition, the force sensor on the control probe can monitor the thrust on the superconducting wire in real time, feed back the signal to the control system, and adjust the winding force in real time to ensure that the superconducting wire will not be excessively squeezed during the winding process, nor will the coil tightness be insufficient due to too loose force. The winding operation can be performed continuously and stably, the operation consistency is improved, and there is no need to frequently adjust the force or rest. This precise force control helps to protect the internal structure of the superconducting wire, improve the winding quality, reduce the work intensity of the operator, and also increase the winding speed, which helps to shorten the production cycle and reduce costs. Since the present invention is operated based on the program preset by the control system, the same force and speed can be maintained each time the winding is performed, thereby ensuring the consistency of the winding quality. This consistency is crucial for the manufacture of superconducting magnets and helps to improve the performance and stability of the magnet. The present invention can also reduce the operation dependence. Although the operator is required to monitor and maintain, it has lower skill requirements for the operator than manual winding. After simple training, the operator can master the basic operation of the smart arm, reducing the dependence on professional skills. In addition, the present invention has strong load capacity and stability, ensuring stable performance during long-term operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0018] Figure 1 It is one of the structural schematic diagrams of the mechanical arm device for controlling the stability of superconducting magnet winding according to the present invention;

[0019] Figure 2 This is the second structural schematic diagram of the mechanical arm device for controlling the stability of superconducting magnet windings of the present invention;

[0020] Figure 3 This is the third structural schematic diagram of the mechanical arm device for controlling the winding stability of a superconducting magnet according to the present invention;

[0021] Figure 4 This is one of the schematic diagrams of the use state of the mechanical arm device for controlling the stability of the superconducting magnet winding of the present invention;

[0022] Figure 5 This is the second schematic diagram of the use status of the mechanical arm device for controlling the stability of superconducting magnet windings of the present invention.

[0023] In the figure: 1-coil to be wound; 2-guide rail; 3-base; 31-slide; 4-turntable; 5-vertical ear seat; 6-main shaft; 71-first main arm assembly; 72-second main arm assembly; 73-third main arm; 74-first support arm assembly; 741-front support arm; 742-rear support arm; 75-second shaft; 76-second support arm; 77-triangle seat; 78-third support arm; 81-triangle mounting plate; 82-top shaft; 83-front shaft; 84-rear shaft; 85-motor mounting seat; 86-front swing seat; 87-double screw; 88-probe mounting seat; 891-fourth motor; 892-fifth motor; 893-sixth motor; 91-first motor; 92-second motor; 93-third motor; 94-driving rail; 95-driving block; 10-control probe; 11-control system. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention are described only by way of illustration. Needless to say, those of ordinary skill in the art will recognize that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and are not intended to limit the scope of protection of the claims.

[0025] like Figures 1 to 5As shown together, a mechanical arm device for controlling the winding stability of a superconducting magnet comprises a guide rail 2 arranged parallel to the axis of a coil 1 to be wound, a base 3 is slidably mounted on the guide rail 2, a turntable 4 is rotatably mounted on the base 3, two vertical ear seats 5 arranged in parallel and at intervals are fixedly mounted on the turntable 4, a main rotating shaft 6 is fixedly mounted between the two vertical ear seats 5, a mechanical arm assembly is rotatably mounted on the main rotating shaft 6, the mechanical arm assembly is dynamically connected to a driving device, the driving device is connected to a control system 11, a control seat is installed at the end of the mechanical arm assembly, and the mechanical arm assembly can drive the control seat up and down, front and back, left and right. The control seat is provided with a control probe 10 facing the coil 1 to be wound. The control probe 10 is used to abut against the outer side of the superconducting wire so that the turns of the superconducting wire wound on the wire slot are in close contact with each other. The control probe 10 is provided with a force sensor and a position sensor. The force sensor, the position sensor and the drive device are respectively connected to the control system 11 by signals. The mechanical arm device of the present invention has sufficient flexibility and precision. The control system 11 can move the control probe 10 up and down, left and right, front and back through the drive device, and can adapt to the winding work of superconducting magnets of different shapes and sizes. Through the algorithm preset of the control system 11, the control probe 10 can realize precise thrust force control on the superconducting wire. In addition, the force sensor on the control probe 10 can monitor the thrust on the superconducting wire in real time, feed back the signal to the control system 11, and adjust the winding force in real time to ensure that the superconducting wire will not be excessively squeezed during the winding process, and the coil will not be insufficiently tight due to too loose force. The winding operation can be performed continuously and stably, the operation consistency is improved, and there is no need to frequently adjust the force or rest. This precise force control helps to protect the internal structure of the superconducting wire, improve the winding quality, reduce the work intensity of the operator, and also increase the winding speed, which helps to shorten the production cycle and reduce costs. Since the present invention is operated based on the program preset by the control system 11, the same force and speed can be maintained each time the winding is wound, thereby ensuring the consistency of the winding quality. This consistency is crucial for the manufacture of superconducting magnets and helps to improve the performance and stability of the magnet. The present invention can also reduce operational dependence. Although operators are required to monitor and maintain, it has lower skill requirements for operators than manual winding. After simple training, operators can master the basic operations of the intelligent arm, reducing dependence on professional skills. In addition, the present invention also has strong load capacity and stability, ensuring that stable performance can be maintained during long-term operation.

[0026] like Figures 1 to 3As shown, the mechanical arm assembly includes a first main arm assembly 71 and a second main arm assembly 72 rotatably mounted on the main rotating shaft 6, including a third main arm 73 rotatably mounted on one of the vertical ear seats 5, and also includes a first support arm assembly 74, the first support arm assembly 74 includes a front support arm 741 and a rear support arm 742 which are integrally arranged, a second rotating shaft 75 is provided at the junction of the front support arm 741 and the rear support arm 742, the first support arm assembly 74 is hinged to the end of the first main arm assembly 71 through the second rotating shaft 75; a second support arm 76 is hinged to the end of the second main arm assembly 72, and the end of the second support arm 76 is hinged to the end of the rear support arm 742; a triangular seat 77 is rotatably mounted on the second rotating shaft 75 and located outside the first support arm assembly 74, the rear end corner point of the triangular seat 77 is hinged to the end of the third main arm 73, the front end corner point of the triangular seat 77 is hinged to the third support arm 78, and the control seat is respectively hinged to the end of the front support arm 741 and the end of the third support arm 78. The first main arm assembly 71 and the second main arm assembly 72 are active arms, which are connected to the driving device. The third main arm 73, the first support arm assembly 74 and the second support arm 76 are passive arms, which swing along with the swing of the first main arm assembly 71 and the second main arm assembly 72, and can drive the control seat to move up and down, forward and backward under the drive of the driving device.

[0027] like Figures 1 to 3 As shown, the control seat includes two relatively parallel triangular mounting plates 81, a top rotating shaft 82 is installed between the top corners of the two triangular mounting plates 81, a front rotating shaft 83 is installed between the front corners of the two triangular mounting plates 81, and a rear rotating shaft 84 is installed between the rear corners of the two triangular mounting plates 81. The rear rotating shaft 84 is hinged to the end of the front support arm 741, and the top rotating shaft 82 is hinged to the end of the third support arm 78. The top rotating shaft 82 of the triangular mounting plate 81 is hinged to the third support arm 78, and the rear rotating shaft 84 is hinged to the first support arm assembly 74. When the driving device drives the first main arm assembly 71 and the second main arm assembly 72 to swing, it further drives the displacement of the first support arm assembly, the second support arm 76 and the third support arm 78, and the third support arm 78 drives the front and rear displacement of the triangular seat 77, which can make the control seat move forward and backward and can be turned upward around the rear rotating shaft 84, and finally realize the front and rear and up and down displacement of the control seat.

[0028] like Figures 1 to 3As shown together, the driving device includes a bottom driving device and a front driving device, the bottom driving device includes a first motor 91 fixedly mounted on the outside of one of the vertical ear seats 5, the first motor 91 is used to drive the first main arm assembly 71 to rotate around the main rotating shaft 6, includes a second motor 92 fixedly mounted on the outside of another vertical ear seat 5, the second motor 92 is used to drive the second main arm assembly 72 to rotate around the main rotating shaft 6, and also includes a third motor 93 fixedly mounted on the turntable 4, the third motor 93 is used to drive the turntable 4 to rotate around the base 3, and the first motor 91, the second motor 92 and the third motor 93 are respectively connected to the control system 11 by signal. When it is necessary to control the displacement of the seat, the control system 11 will issue instructions to control the first motor 91, the second motor 92 and the third motor 93 to act, and complete the corresponding displacement action to match the shape and size of the coil 1 to be wound.

[0029] like Figures 1 to 3 As shown, the bottom driving device also includes a driving rail 94, and the driving rail 94 is connected to a driving block 95, and the driving block 95 is fixedly installed at the bottom of the base 3. The driving rail 94 drives the base 3 to slide along the guide rail 2, and the signal of the driving rail 94 is connected to the control system 11. When the driving rail 94 is working, it can drive the base 3 to move along the guide rail 2 parallel to the axis of the coil 1 to be wound. Since multiple layers of superconducting wires are to be wound in the same wire slot of the coil 1 to be wound, and each layer of superconducting wire is formed by winding multiple turns of superconducting wires in a tightly fitting manner, when the first layer of superconducting wire is wound, the control probe 10 is located on the right side of the superconducting wire. Then, after winding one circle, the control system 11 will adjust the mechanical arm assembly to move to the left side of the superconducting wire to resist the superconducting wire. After winding the second layer, the control system 11 will adjust the mechanical arm assembly to move to the right side of the superconducting wire again to resist the superconducting wire, and so on and so forth until the entire wire slot is wound. The mechanical arm assembly drives the control probe 10 to move leftward or rightward by a distance of the width of the superconducting wire each time it winds a turn of the superconducting wire. The control accuracy is high and the force is uniform, thus ensuring the stability of the winding.

[0030] like Figures 1 to 3 As shown together, the front-end driving device includes a fourth motor 891 fixedly mounted on the bottom end of the triangular mounting plate 81, a motor mounting seat 85 is mounted on the power output end of the fourth motor 891, and the fourth motor 891 is used to drive the motor mounting seat 85 to rotate horizontally, and a fifth motor 892 is fixedly mounted on the motor mounting seat 85, and the power output end of the fifth motor 892 is connected to the front-end swing seat 86, and the fifth motor 892 is used to drive the front-end swing seat 86 to swing up and down, and the fourth motor 891 and the fifth motor 892 are respectively connected to the control system 11 by signal. The fourth motor 891 controls the front-end swing seat 86 to swing horizontally, and the fifth motor 892 controls the front-end swing seat 86 to swing up and down, and the two cooperate to adjust the lifting height and angle of the control probe 10.

[0031] like Figures 1 to 3As shown together, a double lead screw 87 is installed at the front end of the front swing seat 86, a probe mounting seat 88 is installed on the double lead screw 87, and a control probe 10 is fixedly installed on the probe mounting seat 88. A sixth motor 893 for driving the double lead screw 87 to rotate is fixedly installed on the front swing seat 86. The rotation of the double lead screw 87 drives the control probe 10 to move along the extension direction of the double lead screw 87, and the signal of the sixth motor 893 is connected to the control system 11. The probe mounting seat 88 is installed between the double lead screws 87, and can move up and down with the rotation of the lead screws, thereby adjusting the up and down height of the control probe 10.

[0032] like Figures 1 to 3 As shown in the figure, there are two guide rails 2, and slide grooves 31 are fixedly installed on both sides of the base 3, and the two slide grooves 31 are slidably installed in the guide rails 2. Since the guide rails 2 are parallel to the axis of the coil 1 to be wound, when the base 3 follows the slide grooves 31 to slide in the guide rails 2, it can drive the robot arm assembly to move horizontally left and right.

[0033] Working principle of the present invention: The present invention controls the movement of its mechanical arm assembly through a control system 11. The control system 11 can receive instructions from an external device and convert these instructions into specific movement control of the mechanical arm assembly, so that the mechanical arm assembly can perform various complex movements, such as rotation, extension, etc.

[0034] The working principle and workflow of the robot arm assembly are similar to those of a general robot arm. Its working principle mainly relies on precise mechanical structure, sensors and control system 11 to achieve various actions and operations.

[0035] Before starting the winding operation, the operation program of the winding robot arm assembly will be pre-set, including the starting point, end point, winding speed, winding direction, wire tension and other parameters of the winding. These parameters will be stored in the control system 11 to provide guidance for subsequent winding operations.

[0036] According to the preset program and parameters, the robot arm assembly starts to perform the winding operation. It will control the superconducting wire to start from the starting point and wind it to the designated coil 1 to be wound at a certain speed and direction according to the predetermined path. In this process, the control system 11 of the robot arm assembly will adjust the thrust on the superconducting wire in real time to ensure the stability and quality of the winding process.

[0037] During the winding process, the control probe 10 of the robot arm assembly will monitor the winding status in real time, including the thrust, position and other parameters of the superconducting wire. If an abnormality is found, such as wire breakage or winding position deviation, the robot arm assembly will immediately stop the operation and notify the operator to check and adjust.

[0038] When the winding operation is completed, the robot arm assembly will fix the end of the wire at the specified position. Then, the robot arm assembly will return to the initial position or standby state, waiting for the next operation instruction.

[0039] The present invention has the following advantages:

[0040] (1) Accurate force control can be achieved. The control probe 10 can monitor and adjust the winding force in real time to ensure that the superconducting wire is neither overstretched or compressed during the winding process, nor that the coil is not tight enough due to too loose force. This precise force control helps to protect the internal structure of the superconducting wire and improve the winding quality;

[0041] (2) High-efficiency working capability. Compared with manual winding, the robot arm assembly can perform winding operations continuously and stably without frequent adjustments in strength or rest. This not only reduces the workload of operators, but also increases the winding speed, helping to shorten production cycles and reduce costs;

[0042] (3) High operational consistency. Since the robotic arm assembly operates based on a preset program, the same force and speed can be maintained for each winding, thus ensuring the consistency of winding quality. This consistency is crucial for the manufacture of superconducting magnets and helps improve the performance and stability of the magnets;

[0043] (4) Reduced operational dependence. Although the robotic arm assembly requires operator monitoring and maintenance, it requires a lower skill level than manual winding. After simple training, operators can master the basic operation of the smart arm, reducing dependence on professional skills.

[0044] The technical features of the software and circuit programs involved in this application belong to the prior art in terms of the implementation of their functions. The essence of the technical solution of this application is the improvement of the composition and connection relationship of the hardware part, and does not involve improvements to the software program or circuit structure itself.

[0045] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0046] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A mechanical arm device for controlling the stability of superconducting magnet winding, characterized in that: The invention comprises a guide rail (2) arranged parallel to the axis of a coil (1) to be wound, a base (3) being slidably mounted on the guide rail (2), a turntable (4) being rotatably mounted on the base (3), two vertical ear seats (5) being fixedly mounted on the turntable (4) and arranged parallel to each other at intervals, a main rotating shaft (6) being fixedly mounted between the two vertical ear seats (5), a mechanical arm assembly being rotatably mounted on the main rotating shaft (6), the mechanical arm assembly being dynamically connected to a driving device, the driving device being connected to a control system (11), a control seat being mounted at the end of the mechanical arm assembly, the mechanical arm assembly being capable of driving the control seat to move up and down, forward and backward, left and right, a control probe (10) being mounted on the control seat and facing the coil (1) to be wound, the control probe (10) being used to abut against the outer side of a superconducting wire so that the turns of the superconducting wire wound on the wire slot are in close contact with each other, a force sensor and a position sensor being arranged on the control probe (10), the force sensor, the position sensor and the driving device being respectively connected to the control system (11) by signals; The mechanical arm assembly comprises a first main arm assembly (71) and a second main arm assembly (72) rotatably mounted on the main rotating shaft (6), a third main arm (73) rotatably mounted on one of the vertical ear seats (5), and a first support arm assembly (74), wherein the first support arm assembly (74) comprises a front support arm (741) and a rear support arm (742) which are integrally arranged, a second rotating shaft (75) being provided at the connection between the front support arm (741) and the rear support arm (742), and the first support arm assembly (74) is connected to the first main arm assembly (71) via the second rotating shaft (75). ); the end of the second main arm assembly (72) is hinged with a second support arm (76), and the end of the second support arm (76) is hinged with the end of the rear support arm (742); a triangular seat (77) is rotatably mounted on the second rotating shaft (75) on the outer side of the first support arm assembly (74), the rear end corner point of the triangular seat (77) is hinged with the end of the third main arm (73), the front end corner point of the triangular seat (77) is hinged with the third support arm (78), and the control seat is respectively hinged with the end of the front support arm (741) and the end of the third support arm (78); The control seat comprises two triangular mounting plates (81) arranged in parallel with each other, a top rotating shaft (82) is installed between the top corners of the two triangular mounting plates (81), a front rotating shaft (83) is installed between the front corners of the two triangular mounting plates (81), and a rear rotating shaft (84) is installed between the rear corners of the two triangular mounting plates (81), the rear rotating shaft (84) is hinged to the end of the front support arm (741), and the top rotating shaft (82) is hinged to the end of the third support arm (78); The driving device comprises a bottom driving device and a front driving device, wherein the bottom driving device comprises a first motor (91) fixedly mounted on the outside of one of the vertical ear seats (5), the first motor (91) being used to drive the first main arm assembly (71) to rotate around the main rotating shaft (6), comprises a second motor (92) fixedly mounted on the outside of another of the vertical ear seats (5), the second motor (92) being used to drive the second main arm assembly (72) to rotate around the main rotating shaft (6), and further comprises a third motor (93) fixedly mounted on the turntable (4), the third motor (93) being used to drive the turntable (4) to rotate around the base (3), and the first motor (91), the second motor (92) and the third motor (93) are respectively connected to the control system (11) by signals.

2. The mechanical arm device for controlling the stability of superconducting magnet winding according to claim 1, characterized in that: The bottom driving device further comprises a driving rail (94), the driving rail (94) being dynamically connected to a driving block (95), the driving block (95) being fixedly mounted on the bottom of the base (3), the driving rail (94) driving the base (3) to slide along the guide rail (2), and the driving rail (94) being signal-connected to the control system (11).

3. The mechanical arm device for controlling the stability of superconducting magnet winding according to claim 1, characterized in that: The front-end driving device comprises a fourth motor (891) fixedly mounted on the bottom end of the triangular mounting plate (81); a motor mounting seat (85) is mounted on the power output end of the fourth motor (891); the fourth motor (891) is used to drive the motor mounting seat (85) to rotate in a horizontal direction; a fifth motor (892) is fixedly mounted on the motor mounting seat (85); a power output end of the fifth motor (892) is connected to the front-end swing seat (86); the fifth motor (892) is used to drive the front-end swing seat (86) to swing up and down; the fourth motor (891) and the fifth motor (892) are respectively connected to the control system (11) by signals.

4. The mechanical arm device for controlling the stability of superconducting magnet winding according to claim 3, characterized in that: A double lead screw (87) is installed at the front end of the front end swing seat (86), a probe mounting seat (88) is installed on the double lead screw (87), the control probe (10) is fixedly installed on the probe mounting seat (88), and a sixth motor (893) for driving the double lead screw (87) to rotate is fixedly installed on the front end swing seat (86), the double lead screw (87) rotates to drive the control probe (10) to move along the extension direction of the double lead screw (87), and the signal of the sixth motor (893) is connected to the control system (11).

5. The mechanical arm device for controlling the stability of superconducting magnet winding according to any one of claims 1 to 4, characterized in that: The guide rails (2) are provided with two rails, and slide grooves (31) are fixedly mounted on both sides of the base (3), respectively, and the two slide grooves (31) are slidably mounted in the guide rails (2).

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