A system and method for feeding and dropping molds of inter-turn insulation wrapping of toroidal field armored superconducting coils for nuclear fusion reactors

Abstract

The present invention discloses a feeding and die-casting system and method for inter-turn insulation wrapping of toroidal field armored superconducting coils for nuclear fusion reactors. The feeding and die-casting system includes: a coil temporary placement platform, a track conveying platform, and a die-casting platform; the feeding and die-casting method includes: correspondingly clamping the superconducting coils into a die-casting station; performing layered die-casting, guiding the single-layer coils after turn placement to cooperate with turn placement and inter-turn wrapping; and compacting and fixing the wound superconducting coils. In the present invention, a turn-feeding robot ensures that the superconducting coils are subjected to subsequent inter-turn insulation wrapping according to a preset arc profile; the top conductor support assembly and the turn-feeding roller assembly provide freedom of conductor movement while effectively controlling the strain of the coil during the turn-feeding process, ensuring the overlap standard of the inter-turn insulation wrapping process, preventing vibration during coil winding, and thereby improving the winding quality; the compacting tooling assembly ensures the contour of the superconducting coil while effectively improving the consistency of the overall length of the secondary wound coil after turn placement and winding.

Description

Technical Field

[0001] The present invention relates to the field of nuclear fusion technology, and in particular to a system and method for feeding and dropping molds of inter-turn insulation winding of toroidal field armored superconducting coils of a nuclear fusion reactor. Background Art

[0002] The poloidal field (PF) magnet system in a tokamak device is a core component for controlling plasma morphology and stability. The PF coils in this magnet system generate a poloidal magnetic field perpendicular to the toroidal field, which, in conjunction with the toroidal field (TF), forms spiral magnetic lines of force, enabling precise control of the plasma's cross-sectional shape, position, and equilibrium. Armored superconducting conductors, with their unique structure, are widely used in nuclear fusion. Their outer armor is made of stainless steel, while their inner layer contains superconducting cables, typically made of NbTi and Nb3Sn. Compared to NbTi, armored superconducting conductors made of Nb3Sn are widely used in nuclear fusion due to their greater current-carrying capacity and higher magnetic field strength. The inter-turn insulation winding of the superconducting coil is a key process to ensure the safe operation of the magnet. Its core is to precisely coat the surface of the superconducting conductor with multiple layers of insulation material to withstand high voltage and strong electromagnetic force. This process requires precise tension control during the insulation winding process to ensure the stacking rate and pitch stability while maintaining the overall contour of the entire superconducting coil.

[0003] When laying out each layer of superconducting coil for inter-turn insulation wrapping, it is necessary to maintain the assembly dimensions while following the preset steps for laying out the turns (the length feed dimension during coil manufacturing represents the effective superconducting length, and the actual dimensions of each arc segment during laying out, wrapping, and rewinding must correspond to the model simulation length). This is necessary to ensure the consistency of the secondary winding and, consequently, the accurate overlap of the superconducting coil joints. Existing automatic inter-turn insulation wrapping systems for superconducting coils use multiple sets of molds, chemical bolts, and marking wires for marking and fixing. Accumulated installation errors can lead to poor contact between the conductor and the mold, causing misalignment between turns, which in turn affects the contour of the superconducting coil. Furthermore, the sensor resolution is insufficient when calibrating each turn. Single-turn calibration cannot correct for local trajectory deviations, resulting in cumulative errors in the splitting, wrapping, and wire placement steps, causing the coil's helix angle or radius to exceed the allowable range. Summary of the Invention

[0004] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a system and method for feeding and dropping the insulation wrapping between turns of a toroidal field armored superconducting coil for a nuclear fusion reactor.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a system for feeding and dropping a die for inter-turn insulation winding of a toroidal field armored superconducting coil for a nuclear fusion reactor, comprising:

[0007] A coil temporary storage platform, comprising a second-floor platform on which coil temporary storage components are symmetrically arranged for storing superconducting coils after heat treatment;

[0008] A track conveying platform, the track conveying platform includes a conveying track, which is used to move the turn placing trolley to correspondingly clamp the superconducting coil and enter the die dropping station;

[0009] The turn placing trolley includes an equipment frame, and turn placing robots are symmetrically installed on the inner side of the bottom of the equipment frame. A floating limit tooling assembly is installed between adjacent turn placing robots for performing layered mold dropping.

[0010] A coil die dropping platform, comprising a die dropping base, on which a limiting die is symmetrically arranged, and a pressing tooling assembly is installed on the limiting die for pressing and fixing the wound superconducting coil;

[0011] Among them, a mold support frame is provided in the middle of the mold base, a top conductor support assembly is provided on the top ring of the mold support frame, and a turn roller assembly is provided between adjacent top conductor support assemblies. Clamping tooling assemblies are equidistantly provided on the coil mold platform, which are used to guide the single-layer coil after placing the turns to gradually place the turns and perform inter-turn winding according to the preset curvature profile.

[0012] In some embodiments, the coil temporary placement assembly includes a temporary placement base, a first slider guide rail mechanism is symmetrically provided on the upper end surface of the temporary placement base, a support base is installed on the first slider guide rail mechanism, a pad is installed on the top end surface of the support base, and a scale is symmetrically provided on the end of the support base.

[0013] In some embodiments, end stops are symmetrically provided at the ends of the conveying track, a turn-releasing trolley is installed on the conveying track, drive motor assemblies are symmetrically provided on both sides of the bottom of the turn-releasing trolley, the drive motor assembly includes a conveying motor, and driving wheels are symmetrically installed on both sides of the motor shaft of the conveying motor through bearings, a safety fence is provided on the top of the equipment frame, driven wheels are symmetrically installed at both ends of the bottom of the equipment frame, a buffer is installed on the outside of the driven wheel, and a first guide wheel is installed at the bottom of the buffer.

[0014] In some embodiments, the turn-feeding robot includes a connecting seat, a clamping plate is provided at the bottom of the connecting seat, a support plate is provided at the top of the connecting seat, a support plate is installed at the bottom of the connecting seat through the clamping plate, a horizontal movement component is installed on the side of the support plate, the horizontal movement component includes a servo motor installed on one side of the clamping plate, the output end of the servo motor is rotatably connected to the gear rack mechanism, second guide wheels are symmetrically provided on both sides of the servo motor, a vertical movement component is installed on the top of the support plate, the vertical movement component includes a worm gear motor installed on the top of the support plate, the output end of the worm gear motor is rotatably connected to the worm, first pins are provided on both sides of the worm gear motor, and the bottom of both sides of the support plate are slidably connected to the second slider guide mechanism;

[0015] The floating limit tooling assembly includes a fixed seat installed under the equipment frame, an adjustment block is installed in the middle of the fixed seat, the bottom of the adjustment block is connected to a lifting ring through a steel chain, a limit side plate and a limit cover plate are installed under the lifting ring, and a limit pad is provided on the inner side of the limit side plate.

[0016] In some embodiments, the clamping tooling assembly includes a clamping plate installed on the top of the limiting mold, the clamping plate connects a group of limiting molds on the inner and outer sides of the superconducting coil, clamping bolts are equidistantly installed on the top of the clamping plate, and a clamping pad is arranged between the clamping plate and the superconducting coil.

[0017] In some embodiments, the top conductor support assembly includes a force support plate installed on the top of the mold support frame, a fixed plate is installed on the top of the force support plate, the force support plate and the fixed plate together surround and fix a third slider guide rail mechanism, a support rod is installed on the third slider guide rail mechanism, a guide sleeve is installed on the top of the support rod, a rolling shaft is installed on the top of the guide sleeve through a spring, and the outer side of the rolling shaft is rotatably connected to the guide roller.

[0018] In some embodiments, the split-turn roller assembly includes a fixed arm installed on one side of the mold drop support frame, a fourth slider guide rail mechanism is installed on the top of the fixed arm, a positioning block is provided on one side of the fourth slider guide rail mechanism, a latch mounting seat is installed on the outer side of the positioning block, a second latch is installed on the latch mounting seat, a travel plate is installed on the top of the fourth slider guide rail mechanism, a fifth slider guide rail mechanism is installed on the top of the travel plate, a guide rail clamp is installed on one side of the fifth slider guide rail mechanism, a roller is installed on one side of the guide rail clamp, a side roller is installed on the outer side of the roller, and a third latch is installed on the outer side of the side roller.

[0019] In some embodiments, the clamping tooling assembly includes a clamping base installed on the mold drop base, a clamping base plate installed on the top of the clamping base, a sixth slider guide rail mechanism installed on the top of the clamping base plate, a sliding clamper provided on one side of the sixth slider guide rail mechanism, a clamping column installed on the top of the sixth slider guide rail mechanism, a seventh slider guide rail mechanism installed on the clamping column, a lifting clamper provided on one side of the seventh slider guide rail mechanism, multiple groups of eighth slider guide rail mechanisms provided on one side of the seventh slider guide rail mechanism, a sliding clamper provided on one side of the eighth slider guide rail mechanism, a rotating shaft installed on the end of the eighth slider guide rail mechanism, a clamping seat installed on the rotating shaft through a rotating bearing, and a clamping pad installed on the inner side of the clamping seat.

[0020] In a second aspect, the present invention further provides a method for feeding and casting a die for inter-turn insulation wrapping of a toroidal field armored superconducting coil for a nuclear fusion reactor, which is performed by the feeding and casting die system for inter-turn insulation wrapping of a toroidal field armored superconducting coil for a nuclear fusion reactor as described in the first aspect. The feeding and casting die method comprises:

[0021] S100: The turn-laying trolley is transported by the conveyor track in conjunction with the motor drive assembly. The superconducting coil on the coil temporary placement platform is clamped and brought into the die-dropping station above the coil die-dropping platform. The shape-preserving fixtures on the superconducting coil are removed in sequence according to the position of the spiral line, and the floating limit fixture components are installed accordingly.

[0022] In S200, the turn-laying robot under the turn-laying trolley cooperates with the floating limit tooling assembly to perform layered die placement. The top conductor support assembly above the coil die-laying platform cooperates with the turn-laying roller assembly to guide the single-layer coil after the turns are placed according to the preset arc profile and gradually place the turns and perform inter-turn winding.

[0023] S300: The wound superconducting coil is pressed and fixed by the pressing tooling assembly above the coil die dropping platform.

[0024] In some embodiments, the S200 includes:

[0025] S210, sequentially controlling the inner and outer turns-laying manipulators of the same group to move synchronously along the radial direction of the superconducting coil according to the position sequence of the spiral line, releasing the lower conductor of the superconducting coil and synchronously lifting the upper conductor;

[0026] S220, supporting the single-layer coil after the sub-guide turns by using a top conductor support assembly, separating the conductor into a non-insulated wound section and an insulated wound section by using a sub-turn roller assembly, and clamping the sub-turn conductor by using a clamping fixture;

[0027] S230, repeating S210 and S220, gradually placing turns and performing insulation wrapping and stacking processes according to the preset arc profile.

[0028] The present invention has the following beneficial effects:

[0029] 1. The present invention places the heat-treated superconducting coil on a temporary coil placement platform, adjusts the profile of the superconducting coil using a scale, and uses a conveyor track and a motor drive assembly to transport the turn placement trolley to clamp and move the superconducting coil into the die placement station, effectively improving the efficiency of the inter-turn insulation winding process.

[0030] 2. The present invention ensures the contour of the superconducting coil after heat treatment through a floating limit fixture to avoid over-elastic damage; the position sequence of the superconducting coil spiral line controls the synchronous movement of the inner and outer turns-feeding robots of the same group along the radial direction of the superconducting coil, releasing the lower conductor of the superconducting coil while simultaneously lifting the upper conductor, so that the superconducting coil can gradually cooperate with the winding sequence to release the turns, ensuring that the superconducting coil performs the subsequent inter-turn insulation winding process according to the preset curvature profile.

[0031] 3. In the present invention, the turn roller assembly can separate the conductor into a non-insulated winding section and an insulated winding section. The top conductor support assembly section and the non-insulated winding section of the turn roller assembly can provide radial freedom of conductor movement while effectively controlling the strain of the coil turn process. The insulated winding section and the clamping tooling assembly section of the turn roller assembly can provide axial freedom while ensuring the overlapping standard of the inter-turn insulation winding process, preventing jitter during coil winding and thereby improving the winding quality.

[0032] 4. The present invention not only compacts the tooling assembly to ensure the contour of the superconducting coil, but also effectively improves the consistency of the overall length of the coil wound twice after unwinding, thereby ensuring accurate overlap of the superconducting coil joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the structure of the coil temporary placement platform in the feeding and die dropping system proposed by the present invention Figure 1 ;

[0034] Figure 2 Schematic diagram of the structure of the coil temporary placement platform in the feeding and die dropping system proposed by the present invention Figure 2 ;

[0035] Figure 3 This is a structural diagram of the track conveying platform in the feeding and die dropping system proposed by the present invention;

[0036] Figure 4 This is a front view of the track conveying platform in the feeding and die dropping system proposed by the present invention;

[0037] Figure 5 This is a structural diagram of the turn placing trolley in the feeding and die dropping system proposed by the present invention;

[0038] Figure 6 This is a front view of the turn placing trolley in the feeding and die dropping system proposed by the present invention;

[0039] Figure 7 This is a schematic structural diagram of the driving motor assembly in the feeding and die dropping system proposed by the present invention;

[0040] Figure 8 This is a structural diagram of the turn-feeding robot in the feeding and die-dropping system proposed by the present invention;

[0041] Figure 9 This is a bottom view of the turn-feeding robot in the feeding and die-dropping system proposed by the present invention;

[0042] Figure 10 for Figure 9 A magnified schematic diagram of the AA position in the middle;

[0043] Figure 11 This is a structural diagram of the floating limit fixture assembly in the feeding and die dropping system proposed by the present invention;

[0044] Figure 12 Schematic diagram of the structure of the die dropping platform in the feeding die dropping system proposed by the present invention Figure 1 ;

[0045] Figure 13 for Figure 12 Enlarged schematic diagram of the middle BB;

[0046] Figure 14 Schematic diagram of the structure of the die dropping platform in the feeding die dropping system proposed by the present invention Figure 2 ;

[0047] Figure 15 This is a schematic structural diagram of the top conductor support assembly in the feeding and die dropping system proposed by the present invention;

[0048] Figure 16 This is a structural schematic diagram of the split-turn roller assembly in the feeding and die dropping system proposed by the present invention;

[0049] Figure 17 This is a structural diagram of the clamping tooling assembly in the feeding and die dropping system proposed by the present invention;

[0050] Figure 18 Schematic diagram of the process of feeding and dropping the die proposed by the present invention Figure 1 ;

[0051] Figure 19 Schematic diagram of the process of feeding and dropping the die proposed by the present invention Figure 2 .

[0052] Legend:

[0053] 1. Coil temporary placement platform; 101. Second floor platform; 102. Coil temporary placement assembly; 1021. Temporary placement base; 1022. First slider guide mechanism; 1023. Support seat; 1024. Pad; 1025. Scale; 2. Track conveying platform; 201. Conveyor track; 202. End stop; 3. Turn placement trolley; 301. Equipment frame; 302. Drive motor assembly; 3021. Conveyor motor; 3022. Driving wheel; 3023. Buffer; 3024. First guide wheel; 4. Turn placement robot; 401. Connecting seat; 40 2. Clamping plate; 403. Support plate; 404. Support plate; 405. Horizontal moving assembly; 4051. Servo motor; 4052. Gear rack mechanism; 4053. Second guide wheel; 406. Vertical moving assembly; 4061. Worm gear motor; 4062. Worm; 4063. First latch; 4064. Second slider guide mechanism; 5. Floating limit fixture assembly; 501. Fixed seat; 502. Adjustment block; 503. Steel chain; 504. Lifting ring; 505. Limit side plate; 506. Limit cover plate; 507. Limit pad; 6. Coil drop die Table; 601, drop mold base; 602, limit mold; 603, drop mold support frame; 7, clamping tooling assembly; 701, clamping plate; 702, clamping bolt; 703, clamping pad; 8, top conductor support assembly; 801, force support plate; 802, fixed plate; 803, third slider guide mechanism; 804, support rod; 805, guide sleeve; 806, rolling shaft; 807, guide roller; 9, split turn roller assembly; 901, fixed arm; 902, fourth slider guide mechanism; 903, positioning block; 904, latch mounting seat; 905, second latch; 9 06. Stroke plate; 907. Fifth slider guide mechanism; 908. Guide rail clamp; 909. Roller; 910. Side roller; 911. Third latch; 10. Clamping fixture assembly; 1001. Clamping base; 1002. Clamping base plate; 1003. Sixth slider guide mechanism; 1004. Sliding clamp; 1005. Clamping column; 1006. Seventh slider guide mechanism; 1007. Lifting clamp; 1008. Eighth slider guide mechanism; 1009. Rotating axis; 1010. Clamping seat; 1011. Clamping pad; 11. Superconducting coil. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0055] The present invention provides a system and method for feeding and dropping the inter-turn insulation wrapping of toroidal field armored superconducting coils for heterogeneous nuclear fusion reactors. This system solves the problem that the prior art uses multiple sets of dies, chemical bolts, and marking lines for marking and fixing. Accumulated installation errors can lead to poor contact between the conductor and the die, causing inter-turn misalignment, which in turn affects the profile of the superconducting coil. Furthermore, when using sensors for each turn calibration, the sensor resolution is insufficient, and single-turn calibration cannot correct local trajectory offsets, resulting in the accumulation of errors in the turn-by-turn, wrapping, and wire-dropping stages, causing the coil helix angle or radius to exceed the allowable range. The present invention uses a turn-by-turn delivery robot to ensure that the superconducting coil is subjected to the preset arc profile during the subsequent inter-turn insulation wrapping process. The top conductor support assembly and turn-by-turn roller assembly provide freedom of conductor movement while effectively controlling the strain of the coil during the turn-by-turn insulation wrapping process, ensuring the overlap standard of the inter-turn insulation wrapping process, preventing jitter during coil winding, and thus improving winding quality. The clamping tooling assembly ensures the profile of the superconducting coil while effectively improving the overall length consistency of the secondary coil after the turn-by-turn winding.

[0056] Please refer to the following examples for details:

[0057] Reference Figures 1-17 The present invention provides an embodiment of a system for feeding and molding inter-turn insulation wrapping of toroidal field armored superconducting coils for a nuclear fusion reactor. The system comprises a coil temporary storage platform 1, a track-based conveying platform 2, and a coil molding platform 6. The coil temporary storage platform 1 is used to store heat-treated superconducting coils 11, while the track-based conveying platform 2 is used to move the turn-laying trolley 3 to grip the superconducting coils 11 and place them in the molding station. The coil molding platform 6 is used to place the wound superconducting coils 11.

[0058] The coil storage platform 1 comprises a second-floor platform 101 with a double-layer steel frame. A coil storage assembly 102 is symmetrically arranged on the second-floor platform 101. The coil storage assembly 102 includes a temporary base 1021 secured with bolts at the bottom to ensure overall rigidity. The symmetrical structural design achieves uniform load distribution and prevents platform deformation caused by localized stress concentration.

[0059] Furthermore, a first slider guide rail mechanism 1022 is symmetrically provided on the upper end surface of the temporary base 1021, and a sliding pair is formed between the slider and the guide rail at the bottom of the support base 1023 to adjust the contour of the superconducting coil 11; correspondingly, a support base 1023 is installed on the first slider guide rail mechanism 1022, a pad 1024 is installed on the top end surface of the support base 1023, and a scale 1025 is symmetrically provided on the end of the support base 1023 to ensure that the coil still maintains the designed contour before the inter-turn insulation winding is performed.

[0060] It is understood that after heat treatment, the superconducting coil 11 with the conformal fixture is placed on the coil temporary storage platform 1, and the profile of the superconducting coil 11 is adjusted using the scale 1025. At least four sets of support blocks 1023 with scales 1025 are arranged symmetrically about the central plane. For example, the support blocks 1023 are moved by the first slider guide mechanism 1022, thereby ensuring that the absolute values ​​of the readings on the two sets of scales 1025 symmetrically about the center remain consistent, thereby adjusting the profile of corresponding portions of the superconducting coil 11 using the readings of the scales 1025.

[0061] Please continue reading Figure 3-Figure 11 In this embodiment, the track conveying platform 2 includes a conveying track 201, and end stops 202 are symmetrically installed at both ends of the conveying track to limit the travel range of the moving parts. A movable turn-releasing trolley 3 is installed on the conveying track 201.

[0062] Specifically, the turn-laying trolley 3 includes an equipment frame 301, a switchable safety fence is provided on the top of the equipment frame 301, and drive motor assemblies 302 are symmetrically provided on both sides of the bottom of the equipment frame 301; illustratively, a dual-motor redundant design is adopted, and each set of drive motor assemblies 302 includes a conveying motor 3021, a transmission shaft and a bearing seat, wherein the motor shaft is connected to the driving wheels 3022 on both sides through high-precision bearings to form a stable power output structure. When the conveying motor 3021 is powered on and started, the motor shaft drives the driving wheels 3022 to rotate synchronously, and the trolley is moved forward and backward by means of the friction between the driving wheels 3022 and the track;

[0063] Correspondingly, the driven wheel groups installed at both ends of the bottom of the equipment frame 301 and the buffers 3023 installed on the outside work together to compensate for the track installation error and ensure the mobile positioning accuracy by fitting the first guide wheel 3024 with the edge of the track; it can be understood that the buffer 3023 adopts a hydraulic damping structure inside, which can slow down in stages when approaching the end dead stop 202. Combined with the rubber energy-absorbing layer of the end dead stop 202, it can completely eliminate the inertial impact of the turn-releasing trolley 3, ensuring that the moving stroke is always controlled within a safe range.

[0064] It can be understood that after the conveying motor 3021 is energized, the motor shaft is driven to rotate, which drives the driving wheel 3022 to rotate, and then drives the turn-releasing trolley 3 to move on the conveying track 201, and the driven wheel cooperates with the guide wheel to ensure the movement accuracy of the turn-releasing trolley 3. The buffer 3023 and the end dead stop 202 can ensure that the movement stroke of the turn-releasing trolley 3 is within the specified range, and there is no risk of collision; the turn-releasing trolley 3 is transported by the conveying track 201 in conjunction with the motor drive assembly to clamp and move the superconducting coil 11 into the mold drop station, which effectively improves the efficiency of the inter-turn insulation winding processing.

[0065] Please continue reading Figure 3-Figure 11In this embodiment, turn-feeding robots 4 are symmetrically installed on the inner side of the bottom of the equipment frame 301, and floating limit tooling components 5 are installed between adjacent turn-feeding robots 4 for layered mold dropping.

[0066] Furthermore, the turn-dispensing robot 4 includes a connection base 401, with a clamping plate 402 disposed at the bottom of the connection base 401 and a support plate 403 disposed at the top of the connection base 401. Specifically, a support plate 404 is mounted on the bottom of the connection base 401 via the clamping plate 402. The contact end of the support plate 404 with the superconducting coil 11 is provided with multiple sets of parallel rollers, which effectively distribute the load when in contact with the superconducting coil 11 and avoid scratching the superconducting coil 11.

[0067] It should be explained in detail that a horizontal moving assembly 405 is installed on the side of the support plate 404, and the horizontal moving assembly 405 includes a servo motor 4051 installed on one side of the clamping plate 402, and the output end of the servo motor 4051 is rotatably connected to the gear rack mechanism 4052 to realize the horizontal reciprocating movement of the support plate 404; at the same time, second guide wheels 4053 are symmetrically arranged on both sides of the servo motor 4051, which can not only maintain accurate guiding accuracy but also compensate for slight deviations caused by track wear.

[0068] Correspondingly, a vertical movement assembly 406 is installed on the top of the support plate 404. The vertical movement assembly 406 includes a worm gear motor 4061 installed on the top of the support plate 403, and the output end of the worm gear motor 4061 is rotatably connected to the worm 4062. When the worm gear motor 4061 is working, the precision ball screw converts the rotational motion into linear motion to achieve the vertical lifting and lowering movement of the support plate 404.

[0069] In addition, first latches 4063 are provided on both sides of the worm gear motor 4061 for locking the horizontal position of the support plate 404; and the bottoms on both sides of the support plate 403 are slidably connected to the second slider guide mechanism 4064 for supporting the horizontal reciprocating movement of the vertical moving component 406.

[0070] It can be understood that two groups of horizontal moving components 405 (X-axis) and one group of vertical moving components 406 (Z-axis) arranged at equal angles along the central ring correspond to the horizontal and vertical movement paths of the manipulator. When delivering the turns, the first-level X-axis moving component is used to horizontally move the support plate 404, and after reaching the predetermined position, it is locked in position by the first pin 4063; then the second-level X-axis moving component moves the support plate 404 horizontally, and the servo motor 4051 and the gear rack mechanism 4052 are used to realize the radial movement of the other group of support plates 404, and the second-level Z-axis moving component is used to vertically lift and lower the support plate 404 to realize the delivery of the turns of the lower and upper conductors.

[0071] During the turn-releasing operation, the inner and outer turn-releasing robots 4 of the same group are controlled to move synchronously along the radial direction of the superconducting coil 11 in sequence according to the position order of the spiral line of the superconducting coil 11, releasing the lower conductor of the superconducting coil 11 while simultaneously lifting the upper conductor, so that the superconducting coil 11 can gradually cooperate with the turn-releasing according to the winding sequence, ensuring that the conductor release angle and lifting height of different parts accurately match the design requirements, and finally realizing the gradual turn-releasing according to the preset precise arc profile, effectively ensuring the smooth progress of the subsequent inter-turn insulation winding process, and significantly improving production efficiency and product consistency.

[0072] Furthermore, the floating limit tooling assembly 5 includes a fixed seat 501 installed below the equipment frame 301, and an adjustment block 502 for adjusting the height is symmetrically installed in the middle of the fixed seat 501, and the bottom of the adjustment block 502 is connected to a hanging ring 504 through a steel chain 503, and a limiting side plate 505 and a limiting cover plate 506 for fixing the superconducting coil 11 are installed below the hanging ring 504. A limiting pad 507 is provided on the inner side of the limiting side plate 505, which directly contacts the inner and outer diameters of the superconducting coil 11, which can fix the coil position without causing damage or pollution to the surface of the superconducting coil 11.

[0073] When in use, first remove one by one a set of shape-maintaining fixtures originally used to maintain the shape of the superconducting coil 11, and then quickly install the floating limit fixture assembly 5 at the corresponding position. The floating limit fixture can effectively ensure the contour accuracy of the superconducting coil 11 after heat treatment, and avoid over-elasticity caused by thermal stress release.

[0074] Please continue reading Figure 12-17 In this embodiment, the coil die platform 6 includes a die base 601, with standard mounting holes and anchor bolt adjustment structures reserved around the base, allowing fine-tuning and compensation for varying die radius requirements. A die support frame 603 is positioned in the center of the die base 601. A top conductor support assembly 8 is positioned around the die support frame 603, and turn-by-turn roller assemblies 9 are positioned between adjacent top conductor support assemblies 8 to ensure the continuity of the guide path. Clamping fixtures 10 are evenly spaced on the coil die platform 6 to guide the single-layer coil after placement, gradually aligning the coil with the preset arc profile for turn placement and inter-turn winding, while strictly controlling radial deformation within a 0.1% strain range.

[0075] Furthermore, the top conductor support assembly 8 includes a force support plate 801 mounted on top of the die support frame 603, with a fixed plate 802 mounted on top of the force support plate 801. The force support plate 801 and the fixed plate 802 together enclose and secure a third slider guide mechanism 803. A support rod 804 is mounted on the third slider guide mechanism 803, with a guide sleeve 805 mounted on top of the support rod 804. A rolling shaft 806 is mounted on top of the guide sleeve 805 via a spring, and the outer side of the rolling shaft 806 is rotatably connected to a guide roller 807.

[0076] It can be understood that the single-turn conductor of the superconducting coil 11 after winding is held up by the guide roller 807, and is flexibly supported by the roller 909 shaft and the spring at the bottom. The third slider guide mechanism 803 provides radial freedom to ensure that the coil winding process does not exceed the strain requirement of 0.1%.

[0077] Furthermore, the turn-splitting roller assembly 9 includes a fixed arm 901 mounted on one side of the die drop support frame 603. A fourth slider guide mechanism 902 is mounted on the top of the fixed arm 901. A positioning block 903 is provided on one side of the fourth slider guide mechanism 902. A latch mounting seat 904 is mounted on the outer side of the positioning block 903. A second latch 905 is mounted on the latch mounting seat 904. It can be understood that the fourth slider guide mechanism 902 is mounted on the fixed arm 901 as a radial stroke amplification mechanism. The corresponding stroke amplification and positioning are achieved by the combination of the positioning block 903, the latch mounting seat 904, and the first latch 4063, thereby being compatible with the turn-splitting operation of single-turn conductors of superconducting coils 11 with larger inner and outer diameters.

[0078] It needs to be explained in detail that a travel plate 906 is installed on the top of the fourth slider guide mechanism 902, and a fifth slider guide mechanism 907 is installed on the top of the travel plate 906. A guide rail clamp 908 is installed on one side of the fifth slider guide mechanism 907, and the guide rail clamp 908 can control the movement state of the fifth slider guide mechanism 907; correspondingly, a roller 909 is installed on one side of the guide rail clamp 908, and a side roller 910 is installed on the outside of the roller 909, and a third pin 911 is installed on the outside of the side roller 910.

[0079] It can be understood that the multi-component turn roller assembly 9 distributed along the spiral line outside the mold support frame 603 can separate the conductor into a non-insulated winding section and an insulating winding section. The single-turn conductor of the superconducting coil 11 after the turn is lifted by the roller 909: in the non-insulated winding section, the side roller 910 is erected to protect the single-turn conductor. At this time, the guide rail clamp 908 is loosened and combined with the fifth slider guide rail mechanism 907 to provide radial freedom to ensure the strain requirements of the coil turn process; in the insulating winding section, the third pin 911 is pulled out, and the side roller 910 is rotated 90° to a horizontal state. The guide rail clamp 908 is tightened, and the conductor is clamped by the clamping tooling assembly 10, so that the coil has axial freedom but not radial freedom, thereby ensuring the overlapping standard of the insulating winding process.

[0080] Furthermore, the clamping fixture assembly 10 includes a clamping base 1001 mounted on the die drop base 601, a clamping base plate 1002 mounted on the top of the clamping base 1001, a sixth slider guide mechanism 1003 mounted on the clamping base plate 1002, a sliding clamp 1004 is provided on one side of the sixth slider guide mechanism 1003, which can control its sliding state; a clamping column 1005 is mounted on the top of the sixth slider guide mechanism 1003, a seventh slider guide mechanism 1006 is mounted on the clamping column 1005, and a seventh slider guide mechanism 1007 is mounted on the seventh slider guide mechanism 1008. A lifting clamp 1007 is provided on one side of the seven-slider guide mechanism 1006 for controlling its lifting movement; a plurality of groups of eighth slider guide mechanisms 1008 are also provided on one side of the seventh slider guide mechanism 1006, and a sliding clamp 1004 is provided on one side of each group of eighth slider guide mechanisms 1008. A rotating shaft 1009 is installed at the end of the eighth slider guide mechanism 1008, and a clamping seat 1010 is installed on the rotating shaft 1009 through the rotating shaft 1009 support, and a clamping pad 1011 is installed on the inner side of the clamping seat 1010.

[0081] It is understood that during the insulation wrapping stage, the bottom sliding clamp 1004 is first released, and the clamping column 1005 is moved to a predetermined clamping position via the sixth slider guide mechanism 1003, and then re-tightened. Next, the lifting clamp 1007 is released, and the multiple sets of eighth slider guide mechanisms 1008 are moved to appropriate clamping positions via the seventh slider guide mechanism 1006, and then re-tightened. Finally, the top sliding clamp 1004 is released, and the clamping seat 1010 is moved, thereby clamping and securing the single-turn conductor of the spiral multi-turn superconducting coil 11. This ensures that the single-turn conductor of the superconducting coil 11 has axial freedom but no radial freedom, strictly guarantees the stacking standard of the insulation wrapping process, and ensures the quality and performance of the coil.

[0082] Please continue reading Figure 12-17 In this embodiment, the mold base 601 is symmetrically provided with multiple layers of limiting molds 602, which include an inner ring mold and an outer ring mold. When the single-turn conductor of the superconducting coil 11 wound above falls, a layer of limiting mold 602 is added for each stacked layer. Specifically, a clamping tooling assembly 7 is installed on the limiting mold 602 to clamp and fix the wound superconducting coil 11. Specifically, the clamping tooling assembly 7 includes a clamping plate 701 installed on the top of the limiting mold 602. The clamping plate 701 connects a group of limiting molds 602 on the inside and outside of the superconducting coil 11 to form a stable clamping structure. This connection method not only realizes all-round constraint of the superconducting coil 11, but also evenly distributes the clamping force to various parts of the superconducting coil 11.

[0083] It should be explained in detail that clamping bolts 702 are installed at equal intervals on the top of the clamping plate 701. By tightening the bolts, the clamping force on the superconducting coil 11 can be adjusted according to actual needs. At the same time, a clamping pad 703 is provided between the clamping plate 701 and the superconducting coil 11, which can effectively avoid the wear caused by direct contact between the clamping plate 701 and the superconducting coil 11, and further evenly distribute the clamping force to prevent the superconducting coil 11 from being damaged due to uneven force.

[0084] It can be understood that the pressing tool assembly 7 ensures the contour of the superconducting coil 11 while effectively improving the consistency of the overall length of the coil wound twice after the unwinding, ensuring the accurate overlap of the joints of the superconducting coil 11.

[0085] Reference Figure 18-19 The present invention further provides an embodiment of a method for feeding and casting a die for insulating and wrapping the inter-turn insulation wrapping of a toroidal field armored superconducting coil 11 for a nuclear fusion reactor. The method is performed by using a feeding and casting system for insulating and wrapping the inter-turn insulation wrapping of a toroidal field armored superconducting coil 11 for a nuclear fusion reactor as described in the above embodiment. The feeding and casting method includes:

[0086] S100: The turn-laying trolley 3 is transported via the conveyor track 201 in conjunction with the motor drive assembly. The superconducting coil 11 on the coil temporary placement platform 1 is clamped and brought to the die drop station above the coil die drop platform 6. The shape-preserving fixtures on the superconducting coil 11 are removed in sequence according to the position of the spiral line, and the floating limit fixture assembly 5 is installed accordingly.

[0087] In step S200, the turn-laying robot 4 below the turn-laying trolley 3 cooperates with the floating limit tooling assembly 5 to perform layered die placement. The top conductor support assembly 8 above the coil die placement platform 6 cooperates with the turn-laying roller assembly 9 to guide the single-layer coil after the turns are placed, gradually placing the turns and performing inter-turn winding according to the preset arc profile.

[0088] S300 , the wound superconducting coil 11 is pressed and fixed by the pressing fixture assembly 7 above the coil drop die platform 6 .

[0089] It can be understood that after the motor drive assembly drives the turn-laying trolley 3 to move along the conveying track 201, the turn-laying manipulator 4 accurately grabs the superconducting coil 11 that has completed the heat treatment on the coil temporary placement platform 1 and smoothly transports it to the designated workstation above the coil die-dropping platform 6; at the die-dropping workstation, the shape-preserving tooling on the outside of the superconducting coil 11 is removed in sequence according to the preset spiral trajectory, and the floating limit tooling assembly 5 is installed simultaneously to ensure the contour of the coil; then the turn-laying trolley 3 and the floating limit tooling assembly 5 work together to realize The turns of the superconducting coil 11 are precisely layered and dropped into the mold. During this process, the top conductor support assembly 8 above the coil mold dropping platform 6 cooperates with the high-precision turn roller assembly 9 to dynamically guide the single-layer superconducting conductor after the turns are placed to fall smoothly along the designed arc profile. At the same time, the winding machine completes the multi-layer winding of the inter-turn insulation material to ensure that the overlap rate and tension of the insulation layer meet the process requirements; finally, the wound superconducting coil 11 is synchronously clamped and fixed at multiple points by the clamping tooling assembly 7, so that the final profile of the superconducting coil 11 is strictly controlled within the preset tolerance range.

[0090] Please continue reading Figure 19 In this embodiment, S200 includes:

[0091] S210, controlling the inner and outer turns-laying manipulators 4 of the same group to move synchronously along the radial direction of the superconducting coil 11 in sequence according to the position of the spiral line, releasing the lower conductor of the superconducting coil 11 and synchronously lifting the upper conductor;

[0092] S220, supporting the single-layer coil after the sub-guided turns by the top conductor support assembly 8, separating the conductor into a non-insulated wound section and an insulated wound section by the sub-turn roller assembly 9, and clamping the sub-turn conductor by the clamping fixture;

[0093] S230, repeating S210 and S220, gradually placing turns and performing insulation wrapping and stacking processes according to the preset arc profile.

[0094] It can be understood that, according to the preset spiral trajectory, the inner and outer manipulators of the same group are first positioned by the first-level X-axis movement. After the pin is locked, the second-level X-axis and Z-axis are linked to complete the conductor turns. The single-layer coil after the turns is lifted by the guide roller 807 of the top support assembly. At the same time, the side rollers 910 of the roller 909 assembly corresponding to the non-wrap section are erected to protect the conductor, and the side rollers 910 of the roller 909 assembly corresponding to the wrapped section are rotated 90° to horizontally position, and the axial degree of freedom is precisely controlled by the clamping tooling. The above process is then repeated. During this period, the conductor contour can be monitored in real time by a laser profiler, and dynamic adjustments can be made to ensure that each layer of conductor strictly guarantees the contour of each section of the conductor.

[0095] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A nuclear fusion reactor toroidal field armored superconducting coil inter-turn insulation winding feeding and die dropping system, characterized in that: include: A coil temporary storage platform, comprising a second-floor platform on which coil temporary storage components are symmetrically arranged for storing superconducting coils after heat treatment; A track conveying platform, the track conveying platform includes a conveying track, which is used to move the turn placing trolley to clamp the superconducting coil and enter the die dropping station; The turn placing trolley includes an equipment frame, and turn placing robots are symmetrically installed on the inner side of the bottom of the equipment frame. A floating limit tooling assembly is installed between adjacent turn placing robots for performing layered mold dropping. A coil die dropping platform, comprising a die dropping base, on which a limiting die is symmetrically arranged, and a pressing tooling assembly is installed on the limiting die for pressing and fixing the wound superconducting coil; A die support frame is provided in the middle of the die drop base, a top conductor support assembly is provided on the top ring of the die drop support frame, turn roller assemblies are provided between adjacent top conductor support assemblies, and clamping tooling assemblies are equidistantly provided on the coil die drop platform for guiding the single-layer coil after the turns are placed to gradually place the turns and perform inter-turn winding according to a preset arc profile; The turn-feeding robot includes a connecting seat, a clamping plate is provided at the bottom of the connecting seat, a support plate is provided at the top of the connecting seat, a support plate is installed at the bottom of the connecting seat through the clamping plate, a horizontal movement component is installed on the side of the support plate, the horizontal movement component includes a servo motor installed on one side of the clamping plate, the output end of the servo motor is rotatably connected to the gear rack mechanism, second guide wheels are symmetrically provided on both sides of the servo motor, a vertical movement component is installed on the top of the support plate, the vertical movement component includes a worm gear motor installed on the top of the support plate, the output end of the worm gear motor is rotatably connected to the worm, first latches are provided on both sides of the worm gear motor, and the bottoms of both sides of the support plate are slidably connected to the second slider guide mechanism; The floating limit tooling assembly includes a fixed seat installed under the equipment frame, an adjustment block is installed in the middle of the fixed seat, the bottom of the adjustment block is connected to a lifting ring through a steel chain, a limit side plate and a limit cover plate are installed under the lifting ring, and a limit pad is provided on the inner side of the limit side plate.

2. The inter-turn insulation wrapping feeding and die dropping system for the toroidal field armored superconducting coil of a nuclear fusion reactor according to claim 1 is characterized in that: The coil temporary placement assembly includes a temporary placement base, a first slider guide mechanism is symmetrically arranged on the upper end surface of the temporary placement base, a support base is installed on the first slider guide mechanism, a pad is installed on the top end surface of the support base, and a scale is symmetrically arranged on the end of the support base.

3. The inter-turn insulation winding feeding and die dropping system for the toroidal field armored superconducting coil of a nuclear fusion reactor according to claim 1 is characterized in that: The ends of the conveying track are symmetrically provided with end dead stops, a turn-releasing trolley is installed on the conveying track, drive motor assemblies are symmetrically provided on both sides of the bottom of the turn-releasing trolley, the drive motor assembly includes a conveying motor, and driving wheels are symmetrically installed on both sides of the motor shaft of the conveying motor through bearings. A safety fence is provided on the top of the equipment frame, and driven wheels are symmetrically installed at both ends of the bottom of the equipment frame. A buffer is installed on the outside of the driven wheel, and a first guide wheel is installed at the bottom of the buffer.

4. The inter-turn insulation winding feeding and die dropping system for the toroidal field armored superconducting coil of a nuclear fusion reactor according to claim 1 is characterized in that: The clamping tooling assembly includes a clamping plate installed on the top of the limiting mold, the clamping plate connects a group of limiting molds on the inner and outer sides of the superconducting coil, clamping bolts are equidistantly installed on the top of the clamping plate, and a clamping pad is provided between the clamping plate and the superconducting coil.

5. The inter-turn insulation winding feeding and die dropping system for the toroidal field armored superconducting coil of a nuclear fusion reactor according to claim 1 is characterized in that: The top conductor support assembly includes a force support plate installed on the top of the mold support frame, a fixed plate is installed on the top of the force support plate, and the force support plate and the fixed plate together enclose and fix a third slider guide rail mechanism, a support rod is installed on the third slider guide rail mechanism, a guide sleeve is installed on the top of the support rod, and a rolling shaft is installed on the top of the guide sleeve through a spring, and the outer side of the rolling shaft is rotatably connected to the guide roller.

6. The inter-turn insulation winding feeding and die dropping system for the toroidal field armored superconducting coil of a nuclear fusion reactor according to claim 1 is characterized in that: The split-turn roller assembly includes a fixed arm installed on one side of the mold drop support frame, a fourth slider guide rail mechanism is installed on the top of the fixed arm, a positioning block is provided on one side of the fourth slider guide rail mechanism, a latch mounting seat is installed on the outer side of the positioning block, a second latch is installed on the latch mounting seat, a travel plate is installed on the top of the fourth slider guide rail mechanism, a fifth slider guide rail mechanism is installed on the top of the travel plate, a guide rail clamp is installed on one side of the fifth slider guide rail mechanism, a roller is installed on one side of the guide rail clamp, a side roller is installed on the outer side of the roller, and a third latch is installed on the outer side of the side roller.

7. The inter-turn insulation winding feeding and die dropping system for the toroidal field armored superconducting coil of a nuclear fusion reactor according to claim 1 is characterized in that: The clamping tooling assembly includes a clamping base installed on the mold drop base, a clamping base plate installed on the top of the clamping base, a sixth slider guide rail mechanism installed on the top of the clamping base plate, a sliding clamper is provided on one side of the sixth slider guide rail mechanism, a clamping column is installed on the top of the sixth slider guide rail mechanism, a seventh slider guide rail mechanism is installed on the clamping column, a lifting clamper is provided on one side of the seventh slider guide rail mechanism, multiple groups of eighth slider guide rail mechanisms are provided on one side of the seventh slider guide rail mechanism, a sliding clamper is provided on one side of the eighth slider guide rail mechanism, a rotating shaft is installed on the end of the eighth slider guide rail mechanism, the rotating shaft is installed with a clamping seat through a rotating bearing, and a clamping pad is installed on the inner side of the clamping seat.

8. A method for feeding and dropping the insulation wrapping between turns of a toroidal field armored superconducting coil for a nuclear fusion reactor, characterized in that: The feeding and dropping die method is performed via the feeding and dropping die system according to any one of claims 1 to 7, and the feeding and dropping die method comprises: S100: The turn-laying trolley is transported by the conveyor track in conjunction with the motor drive assembly. The superconducting coil on the coil temporary placement platform is clamped and brought into the die-dropping station above the coil die-dropping platform. The shape-preserving fixtures on the superconducting coil are removed in sequence according to the position of the spiral line, and the floating limit fixture components are installed accordingly. In S200, the turn-laying robot under the turn-laying trolley cooperates with the floating limit tooling assembly to perform layered die placement. The top conductor support assembly above the coil die-laying platform cooperates with the turn-laying roller assembly to guide the single-layer coil after the turns are placed according to the preset arc profile and gradually place the turns and perform inter-turn winding. S300: The wound superconducting coil is pressed and fixed by the pressing tooling assembly above the coil die dropping platform.

9. The method for feeding and dropping the inter-turn insulation winding of the toroidal field armored superconducting coil of a nuclear fusion reactor according to claim 8, characterized in that: The S200 includes: S210, sequentially controlling the inner and outer turns-laying manipulators of the same group to move synchronously along the radial direction of the superconducting coil according to the position sequence of the spiral line, releasing the lower conductor of the superconducting coil and synchronously lifting the upper conductor; S220, supporting the single-layer coil after the sub-guide turns by using a top conductor support assembly, separating the conductor into a non-insulated wound section and an insulated wound section by using a sub-turn roller assembly, and clamping the sub-turn conductor by using a clamping fixture; S230, repeating S210 and S220, gradually placing turns and performing insulation wrapping and stacking processes according to the preset arc profile.

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