7-degree-of-freedom and tension-controllable high-temperature superconducting special-shaped coil winding device and control method

Abstract

This application provides a 7-DOF (degrees of freedom) high-temperature superconducting irregularly shaped coil winding device and control method with controllable tension, which can be applied to the field of high-temperature superconducting coil winding technology. The device includes: a 7-DOF winding mechanism, comprising a gantry and a multi-rotation axis winding head, the multi-rotation axis winding head being fixed on the gantry, the gantry having three mutually perpendicular linear axes, and the multi-rotation axis winding head having four rotation axes in different directions; the 7-DOF winding mechanism adjusting the spatial orientation and conveying direction of the high-temperature superconducting tape through the three mutually perpendicular linear axes and the four rotation axes in different directions; a wire feeding mechanism for adjusting the conveying direction and winding tension of the high-temperature superconducting tape; and a control system electrically connected to the 7-DOF winding mechanism and the wire feeding mechanism, used to control the 7-DOF winding mechanism and the wire feeding mechanism to complete the winding of the high-temperature superconducting irregularly shaped coil.

Description

Technical Field

[0001] This application relates to the field of high-temperature superconducting coil winding technology, and more specifically to a 7-degree-of-freedom high-temperature superconducting irregularly shaped coil winding device and control method with controllable tension. Background Technology

[0002] High-temperature superconducting coils, as components of superconducting power devices, have significant application value in power systems, nuclear fusion devices such as stellarators, and high-field magnets. With the continuous development of application demands, the structural forms of high-temperature superconducting coils are becoming increasingly complex, and the demand for winding irregularly shaped coils is growing.

[0003] However, its winding process faces many technical challenges. For example, high-temperature superconducting tapes have a layered composite structure, which is prone to torsional degradation during winding, leading to a significant decrease in critical current and affecting coil performance. During three-dimensional trajectory winding in space, the spatial orientation and direction of the high-temperature superconducting tape continuously change. Traditional fixed-path wire feeding or simple closed-loop tension control methods are difficult to achieve precise and stable constant tension control, and the structure is complex and the control is difficult. Existing winding equipment has limited degrees of freedom, making it difficult to simultaneously meet the multiple requirements of precise tracking of complex spatial trajectories, real-time adjustment of tape orientation, and precise and stable tension during the winding process, resulting in low winding efficiency, accuracy, and consistency of irregularly shaped coils. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a high-temperature superconducting irregular coil winding device and control method with 7 degrees of freedom and controllable tension.

[0005] According to a first aspect of this application, a 7-DOF (degrees of freedom) high-temperature superconducting irregularly shaped coil winding device with controllable tension is provided, comprising: a 7-DOF winding mechanism, including a gantry and a multi-rotation axis winding head, the multi-rotation axis winding head being fixed on the gantry, the gantry having three mutually perpendicular linear axes, and the multi-rotation axis winding head having four rotation axes in different directions; the 7-DOF winding mechanism adjusting the spatial orientation and conveying direction of the high-temperature superconducting tape through the three mutually perpendicular linear axes and the four rotation axes in different directions; a wire feeding mechanism for adjusting the conveying direction and winding tension of the high-temperature superconducting tape; and a control system electrically connected to the 7-DOF winding mechanism and the wire feeding mechanism respectively, for controlling the 7-DOF winding mechanism and the wire feeding mechanism to complete the winding of the high-temperature superconducting irregularly shaped coil.

[0006] According to an embodiment of this application, the three mutually perpendicular linear axes are a first axis and a second axis for positioning the gantry in the working plane, and a third axis for the vertical movement of the multi-rotation axis winding head; the four rotating axes in different directions are a fourth axis for the multi-rotation axis winding head to rotate around its main axis, a fifth axis for the multi-rotation axis winding head to tilt to adjust the rotation angle of the high-temperature superconducting tape relative to the tooling to be wound, a sixth axis for the rotation of the universal guide wheel and / or the winding wheel, and a seventh axis for the rotation of the worktable for mounting the tooling to be wound.

[0007] According to an embodiment of this application, the wire feeding mechanism includes a damping member for providing adjustable winding tension to the high-temperature superconducting tape and suppressing sudden changes in winding tension.

[0008] According to an embodiment of this application, the wire feeding mechanism further includes a tension sensor, which is used to monitor the winding tension and feed back the monitored tension value to the control system.

[0009] According to an embodiment of this application, the wire feeding mechanism further includes a wire exit disc, a universal guide wheel, and a wire guiding wheel; the wire exit disc is used to install the high-temperature superconducting tape; the universal guide wheel is used to guide the path of the high-temperature superconducting tape to adapt to multi-directional wire feeding requirements; the wire guiding wheel is used to guide and organize the high-temperature superconducting tape approaching the tooling for winding the coil.

[0010] According to an embodiment of this application, the control system includes a parameter input module, a tension deviation calculation module, and an execution control module. The parameter input module is used to receive the winding trajectory program of the high-temperature superconducting tape, the winding process parameters, and the target tension value. The tension deviation calculation module is used to calculate the difference between the tension monitoring value detected by the tension sensor and the target tension value. The execution control module is used to adjust the spatial orientation and conveying direction of the high-temperature superconducting tape according to the winding trajectory program, and to adjust the winding tension to the target tension value according to the difference.

[0011] According to a second aspect of this application, a method for controlling the winding of a 7-DOF (degrees of freedom) high-temperature superconducting irregularly shaped coil with controllable tension is provided, comprising: inputting a winding trajectory program, winding process parameters, and a target tension value of a high-temperature superconducting tape into a control system; adjusting the linear axis and / or rotation axis of the 7-DOF winding mechanism according to the winding trajectory program, so that the high-temperature superconducting tape moves according to the set winding trajectory program; monitoring the winding tension of the high-temperature superconducting tape through a tension sensor and feeding back the monitored tension value to the control system; calculating the difference between the monitored tension value and the target tension value, and generating a control command based on the difference through a control algorithm; adjusting the winding tension according to the control command, so that the monitored tension value reaches the target tension value, until the winding of the high-temperature superconducting irregularly shaped coil is completed.

[0012] According to an embodiment of this application, the winding tension is adjusted by a damping member.

[0013] According to an embodiment of this application, a high-temperature superconducting tape is installed on the lead-out disc, and passes sequentially through a universal guide wheel, a damping component, a tension sensor, and a winding wheel to the fixture for winding the coil.

[0014] According to an embodiment of this application, the control algorithm is a proportional-integral-derivative (PID) control algorithm.

[0015] The above one or more embodiments have the following beneficial effects:

[0016] Through multi-axis collaborative control of a 7-DOF winding mechanism, complex spatial trajectories can be accurately reproduced, and the spatial orientation and position of high-temperature superconducting tape can be flexibly adjusted. This minimizes torsion of the high-temperature superconducting tape during winding, thus protecting its superconducting properties and achieving high-precision winding. Combined with a wire feeding mechanism that can stably adjust the feeding direction and winding tension of the high-temperature superconducting tape, and a control system, high-precision tracking of the spatial trajectory of the high-temperature superconducting tape, flexible adjustment of the winding posture, and precise constant tension control are achieved throughout the entire process from wire feeding to winding. This avoids coil loosening, deformation, or tape damage, ultimately improving the accuracy, efficiency, and consistency of irregularly shaped coil winding, and providing technical support for the engineering fabrication of high-temperature superconducting irregularly shaped coils. Attached Figure Description

[0017] The above-mentioned contents, other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0018] Figure 1 A schematic diagram of a 7-DOF winding mechanism according to an embodiment of this application is shown.

[0019] Figure 2 A schematic diagram of a wire feeding mechanism according to an embodiment of this application is shown;

[0020] Figure 3 A schematic block diagram of a control system according to an embodiment of this application is shown.

[0021] Among them, 1-multi-rotation axis winding head, 2-gantry frame, 3-wound tooling, 4-worktable, 5-first axis, 6-second axis, 7-third axis, 8-fourth axis, 9-fifth axis, 10-sixth axis, 11-seventh axis, 12-leading disc, 13-universal guide wheel, 14-damping component, 15-tension sensor, 16-winding wheel. Detailed Implementation

[0022] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0023] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0024] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0025] In the embodiments of this application, irregularly shaped coils may refer to coils that do not conform to traditional circular or rectangular designs. No specific shape is limited here; they can be customized according to specific application requirements. They can have different curvatures and shapes to adapt to space constraints and performance requirements. For example, saddle-shaped multipole coils can generate static magnetic fields of different types and can be applied in accelerators and superconducting magnets.

[0026] In an embodiment of this application, a 7-DOF (degrees of freedom) high-temperature superconducting irregularly shaped coil winding device with controllable tension includes: a 7-DOF winding mechanism, comprising a gantry frame and a multi-rotation axis winding head, the multi-rotation axis winding head being fixed on the gantry frame, the gantry frame having three mutually perpendicular linear axes, and the multi-rotation axis winding head having four rotating axes in different directions; the 7-DOF winding mechanism adjusting the spatial orientation and conveying direction of the high-temperature superconducting tape through the three mutually perpendicular linear axes and the four rotating axes in different directions; a wire feeding mechanism for adjusting the conveying direction and winding tension of the high-temperature superconducting tape; and a control system electrically connected to the 7-DOF winding mechanism and the wire feeding mechanism respectively, for controlling the 7-DOF winding mechanism and the wire feeding mechanism to complete the winding of the high-temperature superconducting irregularly shaped coil.

[0027] In the embodiments of this application, the device mainly includes three parts: a 7-DOF winding mechanism, a wire feeding mechanism, and a control system.

[0028] The 7-DOF winding mechanism includes a gantry and a multi-axis winding head. The gantry, as the main support structure, provides a stable mechanical foundation for the entire winding system. The multi-axis winding head is fixed to the gantry, and a mechanical connection ensures a rigid bond between the winding head and the gantry. The gantry has three mutually perpendicular linear axes. The multi-axis winding head has four rotating axes in different directions. The 7-DOF winding mechanism precisely adjusts the spatial orientation and transport direction of the high-temperature superconducting tape through the three mutually perpendicular linear axes and the four rotating axes in different directions. Seven-axis linkage control enables the winding device to achieve complex spatial movements, ensuring that the high-temperature superconducting tape maintains its optimal spatial orientation during winding, preventing twisting or excessive bending of the tape, and thus guaranteeing winding quality.

[0029] The wire feeding mechanism is integrated at the front end of the 7-DOF winding mechanism, which can adjust the conveying direction and winding tension of the high-temperature superconducting tape.

[0030] The control system is electrically connected to the 7-DOF winding mechanism and the wire feeding mechanism respectively, and is used to control the 7-DOF winding mechanism and the wire feeding mechanism to complete the winding of high-temperature superconducting irregular coils.

[0031] According to embodiments of this application, through multi-axis collaborative control of a 7-DOF winding mechanism, complex spatial trajectories can be accurately reproduced, and the spatial pose and orientation of high-temperature superconducting tape can be flexibly adjusted. This minimizes torsion of the high-temperature superconducting tape during winding, thus protecting its superconducting properties and achieving high-precision winding. Combined with a wire feeding mechanism that can stably adjust the feeding direction and winding tension of the high-temperature superconducting tape, and a control system, high-precision tracking of the spatial trajectory of the high-temperature superconducting tape is achieved throughout the entire process from wire feeding to winding. Flexible adjustment of the winding posture and precise control of constant tension are also realized, avoiding coil loosening, deformation, or tape damage. Ultimately, this improves the accuracy, efficiency, and consistency of irregularly shaped coil winding, providing technical support for the engineering fabrication of high-temperature superconducting irregularly shaped coils.

[0032] In the embodiments of this application, the three mutually perpendicular linear axes are respectively the first axis and the second axis for positioning the gantry in the working plane, and the third axis for the vertical movement of the multi-rotation axis winding head; the four rotating axes in different directions are respectively the fourth axis for the multi-rotation axis winding head to rotate around its main axis, the fifth axis for the multi-rotation axis winding head to make a tilting motion to adjust the rotation angle of the high-temperature superconducting tape relative to the tooling to be wound, the sixth axis for the rotation of the universal guide wheel and / or the winding wheel, and the seventh axis for the rotation of the worktable for mounting the tooling to be wound.

[0033] Figure 1 A schematic diagram of a 7-DOF winding mechanism according to an embodiment of this application is shown.

[0034] like Figure 1As shown, the 7-DOF winding mechanism includes a single gantry 2 and a multi-rotation axis winding head 1.

[0035] The gantry 2 is equipped with three mutually perpendicular linear axes: a first axis 5 and a second axis 6 for positioning the gantry 2 in the working plane, and a third axis 7 for the vertical movement of the multi-rotation axis winding head. The first axis 5 and the second axis 6 achieve precise positioning of the gantry 2 in the horizontal plane through guide rails and slider mechanisms, while the third axis 7 controls the height adjustment of the multi-rotation axis winding head through a vertical lifting mechanism.

[0036] The multi-axis winding head 1 has four rotating axes in different directions: a fourth axis 8 for rotating the multi-axis winding head around its main axis, which realizes the overall rotation of the multi-axis winding head 1 through the main axis rotation mechanism; a fifth axis 9 for tilting the multi-axis winding head to adjust the rotation angle of the high-temperature superconducting tape relative to the tooling 3 to be wound, which realizes the angle adjustment function of the multi-axis winding head 1 through the tilting mechanism; a sixth axis 10 for rotating the universal guide wheel and / or the winding wheel; and a seventh axis 11 for rotating the worktable 4 for mounting the tooling 3 to be wound, which realizes the angle adjustment of the tooling 3 to be wound through the rotation mechanism of the worktable 4.

[0037] According to the embodiments of this application, by dividing the specific functions of the three linear axes and the four rotary axes, it is beneficial to avoid the control deviation caused by the ambiguity of the axis functions, and further improve the trajectory tracking accuracy of complex irregular coil winding. Adjusting the spatial pose and orientation of the high-temperature superconducting tape is beneficial to reducing tape torsion during the winding process and improving the quality and efficiency of complex irregular coil winding.

[0038] In embodiments of this application, the wire feeding mechanism includes a damping member for providing adjustable winding tension to the high-temperature superconducting tape and suppressing sudden changes in winding tension.

[0039] In the embodiments of this application, the damping component, also known as a damper or damping device, is a device that provides resistance to motion and dissipates motion energy.

[0040] The damping component is an integral part of the wire feeding mechanism, used to provide adjustable winding tension for high-temperature superconducting tape and suppress sudden changes in winding tension. The damping component applies stable resistance to the tape through passive damping. When the tape's conveying speed changes, the damping component effectively buffers tension fluctuations, preventing damage to the tape from rapid tension changes.

[0041] According to the embodiments of this application, the damping component solves the problems of fixed and unadjustable tension in traditional wire feeding mechanisms and inability to cope with sudden changes in tension during multi-degree-of-freedom winding, thereby avoiding torsional degradation of high-temperature superconducting tape and decrease in critical current, and thus improving its superconducting performance and coil winding quality.

[0042] In embodiments of this application, the wire feeding mechanism further includes a tension sensor, which monitors the winding tension and feeds back the monitored tension value to the control system.

[0043] In the embodiments of this application, the tension sensor is an industrial instrument that measures tension by detecting the deformation or displacement of a material. It mainly falls into two technical categories: strain gauge type and micro-displacement type. Its structural forms include cantilever type, shaft type, and through-shaft type, etc. It is manufactured using metal materials and outputs analog signals, making it compatible with the tension control systems of equipment such as textile rapier looms and electrolytic copper foil forming machines.

[0044] During the winding of high-temperature superconducting tapes, changes in the wire feeding path, winding speed, and tape posture can all cause tension fluctuations, such as sudden tension changes at winding inflection points. Tension sensors continuously capture these changes, accurately acquiring the actual tension at every instant, i.e., the tension monitoring value. The tension sensor transmits the collected tension monitoring value in the form of an electrical signal to the control system in real time, providing accurate feedback signals for closed-loop tension control.

[0045] According to the embodiments of this application, the winding tension is visualized and monitored in real time by a tension sensor, which enables the control system to accurately grasp the stress state of the high-temperature superconducting tape, making the subsequent adjustment of the winding tension more targeted and timely, further improving the stability of the winding tension, reducing tape damage, and improving the accuracy and consistency of irregular coil winding.

[0046] In the embodiments of this application, the wire feeding mechanism further includes a wire output disc, a universal guide wheel, and a wire guiding wheel; the wire output disc is used to install the high-temperature superconducting tape; the universal guide wheel is used to guide the path of the high-temperature superconducting tape to adapt to multi-directional wire feeding requirements; the wire guiding wheel is used to guide and organize the high-temperature superconducting tape approaching the tooling for winding the coil.

[0047] Figure 2 A schematic diagram of a wire feeding mechanism according to an embodiment of this application is shown.

[0048] like Figure 2As shown, the wire feeding mechanism is integrated at the front end of the 7-DOF winding mechanism, responsible for conveying and stabilizing the tension of the high-temperature superconducting tape between the raw material roll and the winding point. It mainly includes a lead-out disc 12, a universal guide wheel 13, a damping component 14, a tension sensor 15, and a guide wheel 16. The winding point is the connection point between the winding mechanism and the tooling to be wound. The damping component 14 and the tension sensor 15 are mounted on the fifth axis. The lead-out disc 12 is used to mount the high-temperature superconducting tape, and continuous tape supply is achieved through the rotation of the disc. The universal guide wheel 13 guides the path of the high-temperature superconducting tape to adapt to multi-directional wire feeding requirements; its multi-DOF design allows it to flexibly adjust the tape feeding direction according to changes in the winding trajectory. The damping component 14 provides adjustable winding tension for the high-temperature superconducting tape and suppresses sudden changes in winding tension. The tension sensor 15 monitors the winding tension and feeds back the monitored tension value to the control system. The guide wheel 16 is mounted on the sixth axis and is used to guide and arrange the high-temperature superconducting tape approaching the tooling to be wound the coil, ensuring that the high-temperature superconducting tape enters the winding area in the correct position.

[0049] According to the embodiments of this application, the integrated wire feeding function of the wire feeding mechanism is realized, and the conveying direction and winding tension of the high-temperature superconducting tape can be precisely adjusted, enabling constant tension control throughout the winding process and improving the consistency and accuracy of irregular coil winding.

[0050] In the embodiments of this application, the control system includes a parameter input module, a tension deviation calculation module, and an execution control module; the parameter input module is used to receive the winding trajectory program of the high-temperature superconducting tape, the winding process parameters, and the target tension value; the tension deviation calculation module is used to calculate the difference between the tension monitoring value detected by the tension sensor and the target tension value; the execution control module is used to adjust the spatial orientation and conveying direction of the high-temperature superconducting tape according to the winding trajectory program, and to adjust the winding tension to the target tension value according to the difference.

[0051] Figure 3 A schematic block diagram of a control system according to an embodiment of this application is shown.

[0052] like Figure 3 As shown, the control system 300 includes three modules: parameter input module 310, tension deviation calculation module 320, and execution control module 330.

[0053] The parameter input module 310 receives the winding trajectory program, winding process parameters, and target tension value of the high-temperature superconducting tape, providing basic control parameters for the entire winding process. The winding trajectory program can be a motion control program pre-derived based on a three-dimensional model of the irregularly shaped coil to be wound, including information such as the winding spatial coordinates, motion path, and speed planning. The winding process parameters can include the number of coil layers, number of turns, winding speed, and interlayer spacing, affecting the coil's forming quality and superconducting performance. Specific parameters are not limited here and can be set according to the tape specifications and coil application. The target tension value can refer to a preset standard value for the high-temperature superconducting tape winding tension. Specific parameters are not limited here and can be determined in conjunction with the mechanical strength and superconducting performance threshold of the high-temperature superconducting tape to avoid tape damage and coil defects caused by excessive or insufficient tension.

[0054] The tension deviation calculation module 320 is used to receive the real-time tension monitoring value fed back by the tension sensor, and to accurately calculate the tension deviation value with the target tension value preset by the parameter input module. For example, if the actual tension is 5N greater than the target value, the deviation is +5N; if it is 3N less, the deviation is -3N, etc.

[0055] The execution control module 330 is used to adjust the spatial orientation and conveying direction of the high-temperature superconducting tape according to the winding trajectory program, and to determine the direction and amplitude of winding tension adjustment based on the tension difference, so as to adjust it to the target tension value. This provides a quantifiable decision-making basis for subsequent precise adjustment.

[0056] According to the embodiments of this application, the control system can achieve coordinated adjustment of the spatial orientation and orientation of the high-temperature superconducting tape, the conveying direction and the winding tension, effectively avoiding control disorder or response delay, which not only protects the superconducting performance of the high-temperature superconducting tape, but also improves the accuracy, stability and automation level of the winding of irregular coils.

[0057] In an embodiment of this application, a method for controlling the winding of a 7-DOF (degrees of freedom) high-temperature superconducting irregularly shaped coil with controllable tension includes: inputting the winding trajectory program, winding process parameters, and target tension value of the high-temperature superconducting tape into a control system; adjusting the linear axis and / or rotation axis of the 7-DOF winding mechanism according to the winding trajectory program, so that the high-temperature superconducting tape moves according to the set winding trajectory program; monitoring the winding tension of the high-temperature superconducting tape through a tension sensor, and feeding back the monitored tension value to the control system; calculating the difference between the monitored tension value and the target tension value, and generating control commands based on the difference through a control algorithm; adjusting the winding tension according to the control commands, so that the monitored tension value reaches the target tension value, until the winding of the high-temperature superconducting irregularly shaped coil is completed.

[0058] For example, the winding trajectory program, winding process parameters, and target tension value of the high-temperature superconducting tape are first input into the control system. The control system receives these basic control parameters through the parameter input module, providing data support for subsequent precise winding. Based on the winding trajectory program, the control system adjusts multiple axes of the 7-DOF winding mechanism (linear and rotary axes) and pre-adjusts the damping components to ensure the high-temperature superconducting tape moves according to the set winding trajectory program. During the winding process, a tension sensor continuously monitors the winding tension of the high-temperature superconducting tape, detecting real-time tension changes during transport and winding. The tension sensor feeds back the monitored tension values ​​to the control system via electrical signals, providing accurate real-time data. The tension sensor needs to possess high precision and fast response characteristics. After receiving the tension monitoring values, the tension deviation calculation module calculates the difference between the monitored tension value and the target tension value. Through comparative analysis, the degree and direction of deviation between the current tension state and the desired tension state can be accurately determined. Based on the calculated difference, the control system generates corresponding control commands through a control algorithm. The algorithm derives the optimal control command based on the magnitude, rate of change, and cumulative amount of the deviation. The winding tension is adjusted according to these commands to bring the monitored tension value close to or equal to the target tension value, until the high-temperature superconducting irregularly shaped coil is wound. Through the coordinated operation of the 7-DOF winding mechanism and the wire feeding mechanism, the high-temperature superconducting tape can be precisely wound onto the irregularly shaped coil fixture with optimal spatial orientation and stable tension, achieving high-quality, high-efficiency automated winding.

[0059] According to the embodiments of this application, through the above control method, the 7-DOF winding mechanism and the wire feeding mechanism can work together, and the high-temperature superconducting tape can be precisely wound on the winding fixture with constant tension and optimized spatial posture, effectively avoiding problems such as twisting, wrinkling or uneven tension of the high-temperature superconducting tape during the winding process, and improving the accuracy, efficiency and consistency of irregular coil winding.

[0060] In the embodiments of this application, the winding tension is adjusted by a damping member.

[0061] For example, the winding tension adjustment can be achieved through a damping component, which adjusts the magnitude of the damping force on the high-temperature superconducting tape according to control commands. For instance, when the tension is detected to be too low, the damping force is increased to increase the tension; when the tension is detected to be too high, the damping force is decreased to reduce the tension, and so on.

[0062] According to embodiments of this application, this adjustment method can smoothly change the winding tension, avoiding damage to the high-temperature superconducting tape caused by sudden changes in winding tension.

[0063] In the embodiments of this application, a high-temperature superconducting tape is installed on the lead-out disc, and passes sequentially through a universal guide wheel, a damping component, a tension sensor, and a winding wheel to the tooling for winding the coil.

[0064] For example, before inputting the winding trajectory program, winding process parameters and target tension value of the high-temperature superconducting tape into the control system, the high-temperature superconducting tape can be installed on the lead-out disc, and then pass through the universal guide wheel, damping component, tension sensor and winding wheel in sequence to the tooling for the coil to be wound.

[0065] According to the embodiments of this application, tape winding, jamming or excessive bending caused by misaligned paths can be avoided, protecting the superconducting properties of the tape and further improving the quality and efficiency of coil winding.

[0066] In the embodiments of this application, the control algorithm is a proportional-integral-derivative (PID) control algorithm.

[0067] For example, the control algorithm is a proportional-integral-derivative (PID) control algorithm. It constructs a control deviation based on the given value and the actual output value, and then uses a linear combination of the deviation in proportion, integral, and derivative to form the control quantity, thereby controlling the controlled object.

[0068] According to the embodiments of this application, the problems of slow response, large overshoot, and difficulty in eliminating static deviation in traditional control algorithms can be solved, thereby improving the accuracy and stability of control and further enhancing the quality, efficiency, and consistency of complex irregular coil winding.

[0069] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

Claims

1. A high-temperature superconducting irregularly shaped coil winding device with 7 degrees of freedom and controllable tension, characterized in that, include: A 7-DOF winding mechanism includes a gantry frame and a multi-rotation axis winding head. The multi-rotation axis winding head is fixed on the gantry frame. The gantry frame has three mutually perpendicular linear axes, and the multi-rotation axis winding head has four rotating axes in different directions. The 7-DOF winding mechanism adjusts the spatial orientation and conveying direction of the high-temperature superconducting tape through the three mutually perpendicular linear axes and the four rotating axes in different directions. A wire feeding mechanism is used to adjust the conveying direction and winding tension of the high-temperature superconducting tape; The control system is electrically connected to the 7-DOF winding mechanism and the wire feeding mechanism respectively, and is used to control the 7-DOF winding mechanism and the wire feeding mechanism to complete the winding of high-temperature superconducting irregular coils.

2. The apparatus according to claim 1, characterized in that, The three mutually perpendicular linear axes are respectively the first axis and the second axis used for positioning the gantry frame in the working plane, and the third axis used for the vertical movement of the multi-rotation axis around the wire head. The four rotating axes in different directions are: a fourth axis for the multi-rotating-axis winding head to rotate around its main axis; a fifth axis for the multi-rotating-axis winding head to tilt and adjust the rotation angle of the high-temperature superconducting tape relative to the tooling to be wound; a sixth axis for the rotation of the universal guide wheel and / or the winding wheel; and a seventh axis for the rotation of the worktable for mounting the tooling to be wound.

3. The apparatus according to claim 2, characterized in that, The wire feeding mechanism includes a damping component, which provides adjustable winding tension to the high-temperature superconducting tape and suppresses sudden changes in the winding tension.

4. The apparatus according to claim 3, characterized in that, The wire feeding mechanism also includes a tension sensor, which is used to monitor the winding tension and feed back the monitored tension value to the control system.

5. The apparatus according to claim 3, characterized in that, The wire feeding mechanism also includes a wire output disc, the universal guide wheel, and the wire guiding wheel; The lead-out disc is used to mount the high-temperature superconducting tape. The omnidirectional guide wheel is used to guide the path of the high-temperature superconducting tape to adapt to multi-directional wire feeding requirements; The guide wheel is used to guide and arrange the high-temperature superconducting tape that is close to the tooling for winding the coil.

6. The apparatus according to claim 5, characterized in that, The control system includes a parameter input module, a tension deviation calculation module, and an execution control module; The parameter input module is used to receive the winding trajectory program, winding process parameters and target tension value of the high-temperature superconducting tape; The tension deviation calculation module is used to calculate the difference between the tension monitoring value detected by the tension sensor and the target tension value; The execution control module is used to adjust the spatial orientation and conveying direction of the high-temperature superconducting tape according to the winding trajectory program, and to adjust the winding tension to the target tension value according to the difference.

7. A method for controlling the winding of a high-temperature superconducting irregularly shaped coil with 7 degrees of freedom and controllable tension, characterized in that, The winding apparatus according to any one of claims 1-6 includes: Input the high-temperature superconducting tape winding trajectory program, winding process parameters, and target tension value into the control system; According to the winding trajectory program, adjust the linear axis and / or rotation axis of the 7-DOF winding mechanism so that the high-temperature superconducting tape moves according to the setting of the winding trajectory program; The winding tension of the high-temperature superconducting tape is monitored by a tension sensor, and the monitored tension value is fed back to the control system. The control system calculates the difference between the monitored tension value and the target tension value, and generates control commands based on the difference using a control algorithm. Adjust the winding tension according to the control command, so that the tension monitoring value is up to the target tension value, until the high-temperature superconducting irregular coil winding is completed.

8. The method according to claim 7, characterized in that, The winding tension is adjusted by a damping component.

9. The method according to claim 7, characterized in that, Also includes: The high-temperature superconducting tape is installed on the lead-out disc, and then passes through the universal guide wheel, damping component, tension sensor and winding wheel in sequence to the tooling for winding the coil.

10. The method according to claim 7, characterized in that, The control algorithm is a proportional-integral-derivative (PID) control algorithm.

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