A nuclear fusion stellarator magnet coil curvature deformation precision scanning measurement device and method

Abstract

The application discloses a kind of nuclear fusion star simulator magnet coil curvature deformation precision scanning measurement device and method, belong to nuclear fusion device precision measurement technical field.Device includes pedestal, support column, outer ring frame, rotary motor sliding seat, radial adjusting rod, main measurement scanning ring probe, center shaft and auxiliary measurement arm;The star simulator magnet coil to be measured is installed in the inside of outer ring frame, rotary motor sliding seat is slid along the circumference of outer ring frame 360 °, radial adjusting rod drives measurement probe to realize radial precision feed, and the supplementary measurement of complex area of coil is completed.Method is realized by establishing unified measurement coordinate system, and three-dimensional point cloud data are collected by full circumferential continuous scanning, and curvature deformation deviation report is generated by curve reconstruction, curvature calculation and comparison with theoretical model.The application solves the problems of low efficiency, insufficient accuracy and inability to continuously scan in full circumferential direction of traditional measurement methods, and the measurement accuracy reaches sub-micron level, providing data support for coil manufacturing, assembly and operation and maintenance.

Description

Technical Field

[0001] This invention relates to the field of precision winding structure inspection of superconducting coils, specifically to a precision scanning measurement device and method for curvature deformation of stellarator magnet coils, applicable to development scenarios such as precision scanning measurement of curvature deformation of stellarator magnet coils during winding and molding. Background Technology

[0002] As a crucial device for achieving steady-state magnetic confinement nuclear fusion, the performance of stellarators is highly dependent on the precise helical magnetic field configuration generated by complex three-dimensional non-planar modular superconducting magnet coils. These coils possess geometric characteristics such as high curvature, strong twisting, and asymmetry, and their actual spatial shape (especially local curvature and twist) directly determines the accuracy of the confinement magnetic field. Studies have shown that even sub-micron-level curvature deviations can induce significant magnetic field errors, severely affecting plasma stability. Therefore, high-precision, full-circumferential curvature deformation measurement of the finished coils is a key step in ensuring the reliability of stellarator engineering.

[0003] For example, a Chinese patent, CN113834438B, discloses a laser scanning measurement device for stellarator coils. This device uses a circular track to mount a laser ranging unit, which performs a circumferential scan around the coil to acquire surface point cloud data and calculates curvature based on spline fitting. While this approach improves measurement efficiency and coverage to some extent, several key technical bottlenecks remain unresolved.

[0004] 1. Significant measurement blind spots exist: This patent only uses a single outer ring track scanning structure. When facing a highly twisted or concave coil segment, the laser beam cannot effectively illuminate the inner surface of the coil due to line of sight obstruction, resulting in missing data in key areas and failing to achieve true full-circumference measurement without blind spots.

[0005] 2. Lack of a dedicated supplementary mechanism for the inner region: Its structure does not include any auxiliary measurement unit that can actively extend into the coil for detection. For the inner arc surface of the typical "C-type" or "D-type" cross-section coil of the stellarator, the measurement capability is severely insufficient.

[0006] 3. The data processing flow is not adapted to the requirements of high curvature differential analysis: The ordinary spline fitting method used is prone to oscillation when processing high noise or high curvature regions, and it is difficult to stably output differential geometric quantities (such as curvature and torsion) that meet the requirements of submicron curvature accuracy.

[0007] Therefore, existing technologies have not yet solved how to achieve precise measurement of the curvature and torsion of stellarator magnet coils—especially their inner shielded areas—in the full circumference, without blind spots, at the submicron level while ensuring high efficiency. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention provides a precision scanning measurement device and method for the curvature deformation of a stellarator magnet coil in a nuclear fusion reactor. The device includes a base, supporting columns, an outer ring frame, a rotary motor sliding seat, a radial adjustment rod, a main measurement scanning ring probe, a central rotating shaft, and an auxiliary measurement arm. The stellarator magnet coil to be measured is installed inside the outer ring frame. The rotary motor sliding seat slides 360° circumferentially along the outer ring frame, and the radial adjustment rod drives the measurement probe to achieve precise radial feed, completing supplementary measurements of complex areas of the coil. The method establishes a unified measurement coordinate system to achieve continuous scanning and acquisition of three-dimensional point cloud data in the entire circumference. After curve reconstruction, curvature calculation, and comparison with the theoretical model, a curvature deformation deviation report is generated. This invention solves the problems of low efficiency, insufficient accuracy, and inability to perform continuous scanning in the entire circumference of traditional measurement methods. The measurement accuracy reaches the sub-micron level, providing data support for coil manufacturing, assembly, operation, and maintenance.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A precision scanning and measurement device for the curvature deformation of a stellarator magnet coil in a nuclear fusion reactor includes a base, supporting columns, an outer ring frame, a rotary motor sliding seat, a radial adjustment rod, a main measurement scanning ring probe, a central rotating shaft, and an auxiliary measurement arm. The base is a rigid platform, and the supporting columns are symmetrically fixed to the upper surface of the base and extend upwards. The outer ring frame has a closed-loop annular structure, with its two ends rigidly connected to the tops of the two supporting columns, and an annular precision guide rail is provided on the inner side of the outer ring frame. The rotary motor sliding seat is mounted on the annular precision guide rail and can slide 360° around its circumference. The auxiliary measurement arm is mounted on the rotary motor sliding seat and rotates around the rotary motor sliding seat as an axis. One end of the radial adjustment rod is rigidly connected to the rotary motor sliding seat, and the other end is connected to the central rotating shaft. The central rotating shaft is located at the geometric center of the device. The main measurement scanning ring probe is connected to the central rotating shaft to achieve scanning angle adjustment. The radial adjustment rod realizes the position scanning extension and retraction of the main measurement scanning ring probe. The radial adjustment rod is installed in the radial adjustment rod rotating guide rail groove, which is built into the inner side of the auxiliary measurement arm.

[0011] This invention also provides a method for precise scanning and measuring the curvature deformation of a nuclear fusion stellarator magnet coil, using the aforementioned device for precise scanning and measuring the curvature deformation of a nuclear fusion stellarator magnet coil, comprising the following steps:

[0012] Step 1: Calibrate the precision scanning device for measuring the curvature deformation of the magnet coil of the nuclear fusion stellarator and establish a unified measurement coordinate system with the geometric center of the device as the origin, the axial direction of the outer ring frame as the Z-axis, the radial direction as the X-axis, and the circumferential direction as the Y-axis.

[0013] Step 2: Install the magnet coil of the stellarator to be tested in the coil mounting cavity inside the outer ring frame. Adjust its position by collecting three reference points at the end of the coil, and lock it so that its theoretical center coincides with the origin of the measurement coordinate system.

[0014] Step 3: Based on the theoretical Fourier parametric equation of the stellarator magnet coil, set the circumferential sliding speed of the rotary motor slide block, the sampling frequency of the main measurement scanning ring probe, and the real-time feed trajectory of the radial adjustment rod. Start the measurement program, so that the rotary motor slide block slides continuously 360° along the annular precision guide rail of the outer ring frame. At the same time, the radial adjustment rod drives the main measurement scanning ring probe to feed radially in real time to maintain the optimal measurement distance and continuously collect three-dimensional point cloud data of the outer surface of the coil. Synchronously drive the central rotating shaft to rotate the auxiliary measuring arm and control the radial extension and retraction of the auxiliary measuring arm to collect supplementary point cloud data of the inner surface of the coil and complex twisted areas.

[0015] Step 4: Gaussian filtering is applied to the raw point cloud data collected by the main measuring scanning ring probe and the auxiliary measuring arm to remove noise. Then, the iterative nearest point algorithm is used to register and fuse the two sets of point cloud data into a unified measuring coordinate system to form a complete three-dimensional point cloud model of the coil. The model is then resampled according to the set step size.

[0016] Step 5: Based on the resampled point cloud data, reconstruct the actual three-dimensional curve of the stellarator magnet coil, and perform differential operations on the reconstructed curve to calculate the curvature and torsion values ​​of each sampling point.

[0017] Step 6: Compare the reconstructed actual 3D curve with the designed theoretical Fourier parametric curve point by point, calculate the curvature deviation value and torsion deviation value of each sampling point, generate curvature deformation deviation cloud map, torsion deformation deviation cloud map and statistical report containing the maximum, minimum and average deviation values, and mark the corresponding coordinate position when the deviation exceeds the preset threshold.

[0018] This invention addresses the bottlenecks of traditional measurement methods (such as discrete sampling using coordinate measuring machines, limited field of view of laser trackers, and lack of dedicated curvature analysis) for stellarator magnet coils due to their complex structure (non-planar, large curvature, and multiple twists), which suffer from low efficiency, insufficient accuracy, and incomplete coverage. It proposes a dedicated measurement device and fully automated method integrating circumferential closed-loop scanning, radial precision feeding, and center-assisted internal measurement. Its core advantages are reflected in:

[0019] 1. This invention uses a rotating motor sliding seat on the outer ring frame to drive the main probe to move continuously along a 360° circular guide rail. Combined with the auxiliary measuring arm driven by the central rotating shaft, it performs supplementary scanning of the inner side and tortuous areas, completely overcoming the measurement blind spots caused by viewing angle obstruction or manual intervention in traditional methods.

[0020] 2. This invention uses a radial adjustment rod driven by piezoelectric ceramic (feed accuracy ≤0.05μm) in conjunction with a high sampling rate laser displacement sensor (accuracy ±0.3μm), and performs high-fidelity curve reconstruction on a million-level point cloud based on the NURBS algorithm (fitting residual ≤0.15μm), thereby accurately calculating the actual curvature and comparing it with the theoretical model, meeting the stringent geometric requirements of the magnetic field configuration of nuclear fusion devices.

[0021] 3. The present invention automatically executes the entire process from device calibration, coil positioning, parameter adaptive scanning to point cloud fusion, curvature calculation and deviation report generation, which greatly improves the measurement efficiency compared with traditional coordinate measuring machines and effectively reduces human operation errors.

[0022] 4. By adjusting the radial stroke and auxiliary arm parameters, this invention can adapt to stellarator coils of different sizes and Fourier modes, and is applicable to various scenarios such as manufacturing, molding, assembly, operation and maintenance, providing reliable data support for the high-quality development and safe operation of stellarator devices. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a precision scanning and measurement device for the curvature deformation of a nuclear fusion stellarator magnet coil according to the present invention;

[0024] Figure 2 This is a flowchart of a method for precise scanning and measurement of curvature deformation of magnet coils in a nuclear fusion stellarator according to the present invention.

[0025] The attached figures are labeled as follows: 1. Base, 2. Support column, 3. Outer ring frame, 4. Auxiliary measuring arm, 5. Rotary motor sliding seat, 6. Radial adjusting rod rotating guide groove, 7. Radial adjusting rod, 8. Central rotating shaft, 9. Main measuring scanning ring probe, 10. Stellar magnet coil. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0027] like Figure 1 As shown, the precision scanning and measurement device for curvature deformation of a stellarator magnet coil in nuclear fusion according to the present invention includes a base 1, a support column 2, an outer ring frame 3, an auxiliary measuring arm 4, a rotary motor sliding seat 5, a radial adjustment rod rotary guide rail groove 6, a radial adjustment rod 7, a central rotating shaft 8, a main measuring scanning ring probe 9, and a stellarator magnet coil 10.

[0028] The main measuring scanning ring probe 9 is connected to the central rotating shaft 8 to achieve scanning angle adjustment. The radial adjustment rod 7 is connected to the central rotating shaft 8 to achieve position scanning extension and retraction of the main measuring scanning ring probe 9. The radial adjustment rod 7 is installed in the radial adjustment rod rotating guide groove 6 and connected through an electric gear pair. The radial adjustment rod rotating guide groove 6 is built into the inner side of the auxiliary measuring arm 4. The auxiliary measuring arm 4 is installed on the rotary motor sliding seat 5. The rotary motor sliding seat 5 is installed inside the outer ring frame 3 to achieve 360° rotation of the auxiliary measuring arm 4. The outer ring frame 3 is welded and fixed to the support column 2 and fixed to the base 1 by the expansion bolts of the support column 2.

[0029] Preferably, the base 1 is an integral rectangular platform made of granite, which has the characteristics of high rigidity and low coefficient of thermal expansion. As the basic support of the entire device, it provides an absolutely stable mechanical reference. Its upper surface is machined with high-precision positioning grooves for supporting the fixing and calibration of the column 2.

[0030] Preferably, the support column 2 consists of two cylindrical columns, symmetrically fixed in the positioning grooves on both sides of the base 1. The support column 2 is made of aviation aluminum alloy with hard chrome plating on the surface. Its top end is rigidly connected to the outer ring frame 3 through a high-precision flange, and its bottom end is locked to the base 1 by prestressed bolts to ensure the coaxiality of the installation of the outer ring frame 3.

[0031] Preferably, the outer ring frame 3 has a closed-loop annular structure and is a high-precision aluminum alloy forging. An annular precision guide rail is machined on its inner side. The roundness error of the annular precision guide rail is ≤0.5μm, which serves as the motion track of the rotary motor sliding seat 5.

[0032] Preferably, the stellarator magnet coil 10 is aligned with the geometric center of the system device, and the stellarator magnet coil 10 is fixed by a positioning fixture to avoid displacement during the measurement process.

[0033] Preferably, the rotary motor sliding seat 5 is adapted to be installed on the annular precision guide rail of the outer ring frame 3, and has a built-in servo motor and high-precision ball screw drive mechanism. Combined with the grating ruler displacement feedback module, it achieves 360° continuous circumferential sliding. Meanwhile, since the auxiliary measuring arm 4 is annular, it can rotate 360° around the rotary motor sliding seat 5 as its axis, with a sliding positioning accuracy ≤0.1μm and a sliding speed that can be steplessly adjusted within the range of 0.1~5mm / s.

[0034] Preferably, the radial adjustment rod 7 adopts a micro-displacement adjustment mechanism driven by piezoelectric ceramic. One end is rigidly connected to the sliding seat 5 of the rotary motor, and the other end is fixed to the central rotating shaft 8. Its radial feed stroke is 0~100mm, and the feed accuracy is ≤0.05μm. It can adjust the radial position of the main measurement scanning ring probe 9 in real time according to the theoretical profile of the stellarator coil.

[0035] Preferably, the main measuring scanning ring probe 9 is a laser triangulation displacement sensor with a measurement range of 0~50mm, a measurement accuracy of ±0.3μm, and a sampling frequency of up to 5kHz. Its measuring axis always points to the geometric center of the device and is used to collect three-dimensional coordinate data of the outer surface of the stellarator magnet coil 10.

[0036] Preferably, the main measuring scanning ring probe 9 is mounted on the central rotating shaft 8 and driven by a torque motor. In conjunction with the circular grating angle measuring module, the rotational accuracy is ≤1 arcsecond. The torque motor of the circular grating angle measuring module directly drives the central rotating shaft 8 to rotate. The circular grating code disk of the circular grating angle measuring module rotates synchronously with the central rotating shaft 8. The photoelectric reading head of the circular grating angle measuring module reads the moiré fringe signal generated by the movement of the grating lines non-contactly. After subdivision processing, the real-time absolute angle value of the rotating shaft is obtained. This real-time absolute angle value is fed back to the motion controller in real time and compared with a preset angle. The controller achieves full closed-loop control of the rotational angle by adjusting the drive current of the torque motor, thereby ensuring that the rotational positioning accuracy of the auxiliary measuring arm is ≤1 arcsecond.

[0037] Preferably, the auxiliary measuring arm 4 is connected to the radial adjusting rod 7 and is made of lightweight carbon fiber. One end of the radial adjusting rod 7 is fixed to the central rotating shaft 8. The auxiliary laser displacement sensor of the same specification as the main measuring scanning ring probe 9 mounted on the central rotating shaft 8 can rotate from 0 to 360° with the central rotating shaft 8, and has a radial extension stroke of 50 mm, which is used to collect supplementary measurement data of the inner surface of the stellarator magnet coil 10 and complex twisted areas.

[0038] like Figure 2 As shown, based on the above-mentioned device, the present invention also provides a method for precise scanning and measurement of the curvature deformation of a nuclear fusion stellarator magnet coil, comprising the following steps:

[0039] Step 1: Device calibration and coordinate system establishment:

[0040] The roundness of the annular precision guide rail of the outer ring frame 3 is calibrated using a standard ring gauge, and the coaxiality of the central rotating shaft 8 is calibrated using a standard mandrel to ensure the accuracy of the mechanical reference of the device. With the geometric center of the device as the origin, the axial direction of the outer ring frame 3 is the Z-axis, the radial direction is the X-axis, and the circumferential direction is the Y-axis, a right-hand Cartesian measurement coordinate system is established. The coordinate data of the standard sphere are collected by the main measurement scanning ring probe 9 to complete the calibration of the sensor and eliminate measurement errors.

[0041] Step 2: Installation and positioning of the coil to be measured:

[0042] After fixing the stellarator magnet coil 10 with the positioning fixture, the main measurement scanning ring probe 9 is used to collect three reference points at the end of the stellarator magnet coil 10. The position of the stellarator magnet coil 10 is adjusted so that the theoretical center of the stellarator magnet coil 10 coincides with the origin of the measurement coordinate system. After positioning is completed, the positioning fixture is locked.

[0043] Step 3: Continuous circumferential scanning and data acquisition:

[0044] Based on the theoretical Fourier parametric equation of the stellarator magnet coil 10, the circumferential sliding speed of the rotary motor slide seat 5, the sampling frequency of the main measurement scanning ring probe 9, and the real-time feed trajectory of the radial adjustment rod 7 are preset. The measurement program is started, and the rotary motor slide seat 5 slides continuously 360° along the annular precision guide rail of the outer ring frame 3. The radial adjustment rod 7 adjusts the radial position of the main measurement scanning ring probe 9 in real time according to the preset trajectory, so that the main measurement scanning ring probe 9 always maintains the optimal measurement distance with the outer surface of the stellarator magnet coil 10. The main measurement scanning ring probe 9 continuously collects three-dimensional point cloud data of the outer surface of the stellarator magnet coil 10. The central rotating shaft 8 and the auxiliary measuring arm 4 are started simultaneously. The auxiliary measuring arm 4 rotates with the central rotating shaft 8 and adjusts the radial extension stroke at the same time to collect supplementary point cloud data of the inner surface and complex twisted areas of the stellarator magnet coil 10. All collected data are stored in real time to the industrial control computer through the high-speed data transmission module. The data includes coordinate values ​​(X, Y, Z), acquisition time, and probe attitude information.

[0045] Step 4: Point cloud data preprocessing:

[0046] The raw point cloud data is denoised by using a Gaussian filtering algorithm to remove outliers and noise points. The main measurement scanning ring probe 9 continuously acquires three-dimensional point cloud data of the outer surface of the stellarator magnet coil 10. The supplementary point cloud data is fused into a unified measurement coordinate system by using the nearest point iteration to form a complete three-dimensional point cloud model of the coil. The fused point cloud data is resampled by uniform sampling at a step size of 0.01 mm to reduce data redundancy and improve the efficiency of subsequent processing.

[0047] Step 5: Coil Curve Reconstruction and Curvature Calculation:

[0048] Based on the preprocessed point cloud data, the actual three-dimensional curve of the stellarator magnet coil 10 was fitted and reconstructed, with a fitting accuracy of ≤0.2μm;

[0049] Perform differentiation operations on the reconstructed actual 3D curve to calculate the curvature and twist values ​​at each sampling point on the 3D curve:

[0050] The formula for calculating curvature k is: ,

[0051] in, The three-dimensional parameterized curves of stellarator magnet coil 10, is the circumferential angle parameter; the superscripts ' and '' represent the first and second derivatives, respectively.

[0052] Torque The calculation formula is: ;

[0053] Generate the actual curvature distribution cloud map and torsion distribution cloud map of stellarator magnet coil 10.

[0054] Preferably, the present invention uses the cubic non-uniform rational B-spline (NURBS) algorithm to reconstruct the three-dimensional curve of the stellarator magnet coil. The NURBS algorithm is a mature and mainstream algorithm in the field of industrial precision measurement and three-dimensional curve reconstruction. It has been verified by long-term engineering and its core principle (constructing a continuous smooth curve by controlling vertices, node vectors, and weights) is scientific and reliable. In particular, the cubic NURBS curve can guarantee the continuity of the first and second derivatives and is fully compatible with the three-dimensional Fourier parameterized structure of the stellarator coil, which is "non-planar, with large curvature and multiple twists".

[0055] Step 6: Curvature Deformation Deviation Analysis and Report Generation:

[0056] The reconstructed actual 3D curve is compared point-by-point with the designed theoretical Fourier parametric curve, and the curvature deviation value at each sampling point is calculated. and torque deviation value :

[0057] , ;

[0058] Generates curvature deformation deviation cloud map, torsion deformation deviation cloud map, and deviation statistical report. The report includes the maximum deviation value, minimum deviation value, average deviation value, and deviation distribution range. If the deviation value exceeds the preset threshold, the system automatically marks the deformation area and outputs the corresponding coordinate position, providing data basis for coil correction, assembly adjustment, or operation and maintenance.

[0059] Example:

[0060] This embodiment uses a certain type of quasi-toroidal symmetrical stellarator magnet coil as the measurement object, and the theoretical large radius of the coil... m, first-order radial modulation coefficient 2nd order radial modulation coefficient 1st order axial torsion coefficient 2nd order axial torsion coefficient The device and method of the present invention are used to measure curvature deformation.

[0061] Device calibration: A φ50mm standard ring gauge was used to calibrate the annular precision guide rail of the outer ring frame 3, and the roundness error of the guide rail was measured to be 0.3μm; a φ20mm standard mandrel was used to calibrate the central rotating shaft 8, and the coaxiality error was measured to be 0.2μm; a φ10mm standard ceramic ball was used to complete the calibration of the main and auxiliary measuring probes, and the calibration error was ≤0.1μm.

[0062] Coil installation: Install the magnet coil of a certain type of quasi-ring symmetrical stellarator to be measured inside the auxiliary measuring arm 4. Position it through 3 end reference points. After adjustment, the coaxiality error between the coil center and the origin of the measuring coordinate system is 0.4μm. Lock the positioning fixture.

[0063] Scanning parameter settings: The circumferential sliding speed of the rotary motor slide block 5 is set to 1 mm / s, the sampling frequency of the main measuring scanning ring probe 9 is 2 kHz, and the feed step of the radial adjustment rod 7 is 0.005 mm; the rotation speed of the auxiliary measuring arm 4 is 1° / s, and the radial extension step is 0.005 mm.

[0064] Data acquisition and processing: The rotary motor sliding seat 5 completes a 360° circumferential scan, which takes about 628 seconds. The main measurement scanning ring probe 9 collects about 1.25 million valid point cloud data. The auxiliary measurement arm 4 completes one rotation scan and collects about 300,000 supplementary point cloud data. After Gaussian filtering and noise reduction, a complete coil point cloud model is obtained. After resampling, about 800,000 valid points are retained.

[0065] Curve reconstruction and curvature calculation: The actual three-dimensional curve of the coil was fitted using the data, with a fitting residual ≤ 0.15 μm; the maximum curvature of the coil was calculated to be 12.5 m. -1 The minimum curvature is 2.3m. -1 .

[0066] Deviation analysis: By comparing the actual curvature value with the theoretical curvature value, the maximum curvature deviation was measured to be +0.8μm. -1 The minimum curvature deviation is -0.6μm. -1 The average deviation is 0.12 μm. -1 All deviation values ​​are within the preset threshold (±1.0μm). -1 Within the specified range, the coil curvature deformation is deemed acceptable; the system generates a curvature deviation cloud map and statistical report, marking three local minor deformation areas to provide a reference for subsequent assembly.

[0067] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A precision scanning and measuring device for the curvature deformation of a stellarator magnet coil, characterized in that, The device includes a base, supporting columns, an outer ring frame, a rotary motor sliding seat, a radial adjustment rod, a main measuring scanning ring probe, a central rotating shaft, and an auxiliary measuring arm. The base is a rigid platform, with the supporting columns symmetrically fixed to the upper surface of the base and extending upwards. The outer ring frame has a closed-loop annular structure, with its two ends rigidly connected to the tops of the two supporting columns, and an annular precision guide rail is provided on the inner side of the outer ring frame. The rotary motor sliding seat is mounted on the annular precision guide rail and can slide 360° around its circumference. The auxiliary measuring arm is mounted on the rotary motor sliding seat and rotates around the rotary motor sliding seat as an axis. One end of the radial adjustment rod is rigidly connected to the rotary motor sliding seat, and the other end is connected to the central rotating shaft. The central rotating shaft is located at the geometric center of the device. The main measuring scanning ring probe is connected to the central rotating shaft to achieve scanning angle adjustment. The radial adjustment rod enables the position scanning extension and retraction of the main measuring scanning ring probe. The radial adjustment rod is installed in the radial adjustment rod rotating guide rail groove, which is built into the inner side of the auxiliary measuring arm.

2. The precision scanning and measuring device for curvature deformation of a nuclear fusion stellarator magnet coil according to claim 1, characterized in that, The outer ring frame is a high-precision aluminum alloy forging, and the roundness error of the annular precision guide rail machined on its inner side does not exceed 0.5μm.

3. The precision scanning and measuring device for curvature deformation of a nuclear fusion stellarator magnet coil according to claim 1, characterized in that, The radial adjustment rod adopts a micro-displacement adjustment mechanism driven by piezoelectric ceramic, with a radial feed stroke of 0-100mm and a feed accuracy of no more than 0.05μm.

4. The precision scanning and measuring device for curvature deformation of a nuclear fusion stellarator magnet coil according to claim 1, characterized in that, The main measuring scanning ring probe is a laser triangulation displacement sensor with a measurement range of 0–50 mm, a measurement accuracy of ±0.3 μm, and a sampling frequency of not less than 2 kHz.

5. The precision scanning and measuring device for curvature deformation of a nuclear fusion stellarator magnet coil according to claim 1, characterized in that, The auxiliary measuring arm is made of carbon fiber.

6. A method for precise scanning and measuring the curvature deformation of a nuclear fusion stellarator magnet coil, comprising the precise scanning and measuring device for the curvature deformation of a nuclear fusion stellarator magnet coil as described in any one of claims 1-5, characterized in that... Includes the following steps: Step 1: Calibrate the precision scanning measurement device for curvature deformation of the magnet coil of the nuclear fusion stellarator and establish a unified measurement coordinate system with the geometric center of the device as the origin, the axial direction of the outer ring frame as the Z-axis, the radial direction as the X-axis, and the circumferential direction as the Y-axis. Step 2: Install the stellarator magnet coil to be tested inside the outer ring frame, and adjust its position by collecting three reference points at the end of the coil until its theoretical center coincides with the origin of the measurement coordinate system and then lock it. Step 3: Based on the theoretical Fourier parametric equation of the stellarator magnet coil, set the circumferential sliding speed of the rotary motor slide block, the sampling frequency of the main measurement scanning ring probe, and the real-time feed trajectory of the radial adjustment rod. Start the measurement program, so that the rotary motor slide block slides continuously 360° along the annular precision guide rail of the outer ring frame. At the same time, the radial adjustment rod drives the main measurement scanning ring probe to feed radially in real time to maintain the optimal measurement distance and continuously collect three-dimensional point cloud data of the outer surface of the coil. Synchronously drive the central rotating shaft to rotate the auxiliary measuring arm and control the radial extension and retraction of the auxiliary measuring arm to collect supplementary point cloud data of the inner surface of the coil and complex twisted areas. Step 4: Gaussian filtering is applied to the raw point cloud data collected by the main measuring scanning ring probe and the auxiliary measuring arm to remove noise. Then, the iterative nearest point algorithm is used to register and fuse the two sets of point cloud data into a unified measuring coordinate system to form a complete three-dimensional point cloud model of the coil. The model is then resampled according to the set step size. Step 5: Based on the resampled point cloud data, reconstruct the actual three-dimensional curve of the stellarator magnet coil, and perform differential operations on the reconstructed curve to calculate the curvature and torsion values ​​of each sampling point. Step 6: Compare the reconstructed actual 3D curve with the designed theoretical Fourier parametric curve point by point, calculate the curvature deviation value and torsion deviation value of each sampling point, generate curvature deformation deviation cloud map, torsion deformation deviation cloud map and statistical report containing the maximum, minimum and average deviation values, and mark the corresponding coordinate position when the deviation exceeds the preset threshold.

7. The method for precise scanning and measurement of curvature deformation of a nuclear fusion stellarator magnet coil according to claim 6, characterized in that, In Step 1, a standard ring gauge is used to calibrate the roundness of the annular precision guide rail of the outer ring frame, a standard mandrel is used to calibrate the coaxiality of the central rotating shaft, and a standard ceramic ball is used to calibrate the sensors of the main measuring scanning ring probe and the auxiliary measuring arm.

8. The method for precise scanning and measurement of curvature deformation of a nuclear fusion stellarator magnet coil according to claim 6, characterized in that, In Step 3, the circumferential sliding speed of the rotary motor slide block is set within the range of 0.1 to 5 mm / s, the sampling frequency of the main measurement scanning ring probe is not less than 2 kHz, and the feed step of the radial adjustment rod is not greater than 0.005 mm.

9. The method for precise scanning and measurement of curvature deformation of a nuclear fusion stellarator magnet coil according to claim 6, characterized in that, In Step 4, the step size for point cloud resampling is 0.01 mm.

10. A method for precise scanning and measuring the curvature deformation of a nuclear fusion stellarator magnet coil according to claim 6, characterized in that, In Step 5, the actual three-dimensional curve of the stellarator magnet coil is reconstructed using the cubic non-uniform rational B-spline NURBS algorithm. The residual of the NURBS curve fitting is no greater than 0.15 μm.

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