A seven-degree-of-freedom superconducting magnet intelligent winding system and method suitable for complex special-shaped coil skeletons

Abstract

This invention discloses a seven-degree-of-freedom intelligent winding system and method for superconducting magnets suitable for complex irregularly shaped coil frames. The system includes a main frame, a six-axis collaborative robotic arm, a seventh-axis servo cylinder, an integrated multi-functional end effector, a superconducting wire feeding and pre-processing unit, a coil frame positioning and installation unit, and a central integrated control system. The working radius of the six-axis collaborative robotic arm covers the entire space of the small-sized magnet winding station. The seventh-axis servo cylinder works in conjunction with the six-axis collaborative robotic arm to achieve follow-up motion, completing the coil winding work for large-sized magnets. The central integrated control system is based on an industrial PC and a real-time Ethernet bus, integrating a robot control system, motion control card, and tension controller. This invention, through its pioneering seven-axis linkage integrated automatic winding process, reduces the manufacturing cost of irregularly shaped magnets, meets the high-efficiency manufacturing requirements of ultra-large-scale coils, and features a high degree of automation, significantly improving the winding quality and yield of superconducting coils.

Description

Technical Field

[0001] This invention relates to the field of superconducting magnet manufacturing technology, and more specifically to a seven-degree-of-freedom superconducting magnet intelligent winding system and method suitable for complex irregular coil frames. Background Technology

[0002] Superconducting magnets are core components of nuclear magnetic resonance (NMR), particle accelerators, nuclear fusion devices, and high-end medical equipment, and their performance directly depends on the winding quality of the coils. Traditional winding machines mostly adopt gantry or dedicated machine structures, which have the following inherent defects: 1) Poor flexibility: For non-cylindrical irregular coils such as D-type and racetrack-type coils, traditional linear motion modules are difficult to adapt to continuous changes in coil curvature, which easily leads to uneven winding gaps and conductor stress concentration, thereby causing degradation of the superconducting critical current. 2) Lagging tension control: Existing solutions mostly maintain tension by controlling the speed difference between the pay-off and take-up reels, but during start-up, stop, or speed change phases, system inertia will cause tension fluctuations, making it difficult to achieve true "constant tension" and "non-destructive" winding. 3) Single function: Most equipment can only complete a single winding action, while superconducting conductors often require pre-treatment processes such as cleaning, straightening, and insulation wrapping before winding. These processes are usually completed in independent workstations, increasing the risk of conductor damage and positioning errors. 4) Low efficiency of multi-wire parallel winding: Existing parallel winding equipment has a complex structure, each wire has an independent path, high requirements for coordinated control accuracy, and is difficult to debug.

[0003] As superconducting magnets evolve towards higher fields, larger sizes, and more irregular shapes, there is an urgent need for a new type of winding equipment with high integration, good flexibility, and high control precision. Industrial robotic arms, with their high degrees of freedom, high repeatability, and ability to flexibly mount end effectors, offer a new approach to solving these problems. However, directly applying robotic arms to the winding of fragile and expensive superconducting wires still requires solving a series of key technical challenges, such as precise dynamic tension control, online conformal bonding, and multi-process integration. Summary of the Invention

[0004] The purpose of this invention is to provide a seven-degree-of-freedom intelligent winding system and method for superconducting magnets suitable for complex irregular coil frames, thereby solving the problems of poor flexibility, lagging tension control, single function, and low efficiency of multi-wire winding in traditional superconducting magnet winding equipment when winding complex irregular coil frames.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] According to a first aspect of the present invention, a seven-degree-of-freedom intelligent winding system for superconducting magnets suitable for complex irregularly shaped coil frames is provided, comprising: a main frame, a six-axis collaborative robotic arm, a seventh-axis servo cylinder, an integrated multi-functional end effector, a superconducting wire feeding and pre-processing unit, a coil frame positioning and mounting unit, and a central integrated control system; the main frame is divided into a base and a frame, the base being an integral load-bearing structure, and the coil frame positioning and mounting unit being fixed on the base; the frame is mounted above the base, and the superconducting wire feeding and pre-processing unit, the six-axis collaborative robotic arm, and the seventh-axis servo cylinder are all mounted on the frame, the position adjustment of the frame can synchronously drive the above-mentioned motion mechanisms to adjust the working position; the integrated multi-functional end effector is connected to the end of the six-axis collaborative robotic arm, the working radius of the six-axis collaborative robotic arm covers the entire space of the small-sized magnet winding station, the seventh-axis servo cylinder cooperates with the six-axis collaborative robotic arm to achieve follow-up motion, and completes the coil winding work of large-sized magnets; the central integrated control system is based on an industrial PC and a real-time Ethernet bus, integrating a robot control system, a motion control card, and a tension controller.

[0007] Preferably, a bracket is mounted on the seventh-axis servo cylinder, and the six-axis collaborative robot arm is fixed on the bracket. The bracket and the six-axis collaborative robot arm move synchronously with the seventh-axis servo cylinder to form a seven-degree-of-freedom linkage structure.

[0008] Preferably, the integrated multi-functional end effector is a modular design, enabling rapid switching via a robotic arm wrist flange, and includes a wire trough type actuator and a skeleton surface wire attachment type actuator; the wire trough type actuator includes a wire block and a non-metallic pressure head, and the skeleton surface wire attachment type actuator includes a wire block and an ultrasonic welding machine to achieve welding of the superconducting wire or cable to the surface of the coil skeleton; the end of the integrated multi-functional end effector is provided with a three-dimensional conformal wire pressing module, and a laser displacement sensor is installed on the three-dimensional conformal wire pressing module.

[0009] Preferably, the superconducting wire feeding and pretreatment unit includes multiple superconducting tape feeding reels, a wire segment buffer mechanism, and an independent straightening and pre-cleaning station. The superconducting tape feeding reels support the requirements of multi-wire winding. After straightening and cleaning pretreatment, the superconducting wire is transported to the gripping preparation area of ​​the six-axis collaborative robot arm through the wire segment buffer mechanism.

[0010] Preferably, the main frame is an integral structure built of aluminum alloy profiles, and the truss is set above the base and connected to the base through a sliding adjustment mechanism. The truss can be adjusted in front and behind and up and down on the base, serving as the foundation for system integration and ensuring overall stability.

[0011] Preferably, the coil frame positioning and mounting unit includes: a high-precision T-slot substrate, the surface of which is provided with T-slot structures to accommodate magnet frames of different sizes and irregular shapes.

[0012] Preferably, a wire-attaching mechanism moving slide rail can be added to the frame to further add a wire-attaching mechanism, or an upper frame unit can be added to the sliding adjustment mechanism. The main frame can be freely spliced ​​to increase the winding area, thereby realizing the system expansion of multi-robotic arm collaboration or multi-head parallel winding.

[0013] According to a second aspect of the present invention, a seven-degree-of-freedom superconducting magnet intelligent winding method suitable for complex irregular coil frames is provided, which is implemented based on the seven-degree-of-freedom superconducting magnet intelligent winding system described above, and includes the following steps:

[0014] S1: Preparation and Path Planning: The coil frame is clamped in the coil frame positioning and installation unit. The CAD 3D model of the coil frame is imported into the central integrated control system to automatically generate the optimal winding path. The winding path includes the TCP trajectory of the end of the six-axis collaborative robot arm and the C-axis rotation angle of the frame.

[0015] S2: Wire loading: The end effector of the six-axis collaborative robotic arm switches the wire guide module, which clamps the superconducting wire head from the buffer area and guides the superconducting wire through the wire guide module;

[0016] S3: Dynamic conformal winding: A six-axis collaborative robotic arm moves along a planned trajectory to pull the wire, and works with a seventh-axis servo cylinder to complete the winding action. At the same time, a three-dimensional conformal pressing module realizes real-time pressing.

[0017] S4: Jointing and Finishing: After completing the set number of turns, the tension wheel maintains a small tension, and the six-axis collaborative robotic arm pulls the wire to the fixed point to complete locking and cutting. The central integrated control system automatically records the number of turns, the position of each layer, and the historical tension data.

[0018] In step S3, the six-axis collaborative robotic arm uses its own articulated arm to pull the wire in the circumferential direction of the coil, and the seventh-axis servo cylinder cooperates to pull the wire in the long axis of the coil, thus completing the seven-axis linkage winding motion coordination.

[0019] In step S3, the three-dimensional conformal wire pressing module obtains the real-time curvature of the skeleton through a laser displacement sensor or a CAD three-dimensional model of the coil skeleton, and dynamically adjusts the position and normal pressure of the pressing wheel according to the real-time curvature; a large pressure is applied to the straight section of the coil to ensure tight wire laying, and in the arc transition section of the D-shaped coil, the pressing wheel automatically lifts up and moves along the arc to avoid damage to the superconducting wire strip.

[0020] Compared to traditional gantry-type or dedicated winding equipment, this invention has significant advantages, as described below:

[0021] The pioneering seven-axis linkage integrated automatic winding process combines a standard six-axis collaborative robotic arm with a seventh-axis servo electric cylinder to form a seven-degree-of-freedom linkage structure, perfectly adapting to the continuous curvature changes of complex irregular coil skeletons. This solves the problems of poor winding flexibility, uneven gaps, and stress concentration in traditional linear motion modules, effectively avoiding superconducting critical current degradation. After winding, the coil is tightly and evenly laid out, and the risk of stress concentration under strong magnetic fields is greatly reduced.

[0022] Achieving automated wire bonding and reducing the manufacturing cost of irregularly shaped magnets: Through the modular design of the integrated multi-functional end effector, the process of switching between wire slot wiring and wire bonding on the skeleton surface can be realized. There is no need to process high-precision irregularly shaped coil skeletons. Superconducting coils with complex shapes and diverse magnetic field forms can be directly manufactured through automated wire bonding, which greatly reduces the processing difficulty and manufacturing cost of irregularly shaped skeletons. Moreover, the winding specifications are uniform, which can meet the superconducting magnet requirements of multiple fields such as nuclear magnetic resonance, particle accelerators, and nuclear fusion devices.

[0023] The system boasts excellent scalability and winding efficiency: The main frame adopts an aluminum alloy profile splicing structure. By adding a wire-attaching mechanism and / or an upper frame unit, the main frame can be freely spliced ​​to increase the winding area, easily expanding into a multi-robotic arm collaborative or multi-head parallel winding system. Combined with the long axial motion capability of the seventh-axis servo electric cylinder, it can meet the high-efficiency manufacturing requirements of ultra-large-scale coils such as large nuclear fusion magnets. The system has a high degree of automation, significantly reducing reliance on manual operation and effectively avoiding the process consistency risks of manual winding.

[0024] Three-dimensional conformal wire pressing technology achieves non-destructive constant tension winding: Through the three-dimensional conformal wire pressing module integrated in the end effector and the laser displacement sensor, the position and pressure of the pressing wheel are dynamically adjusted. Combined with the real-time tension control of the central integrated control system, the problem of lagging tension control in traditional winding equipment is solved, achieving true constant tension and non-destructive winding, and significantly improving the winding quality and yield of superconducting coils.

[0025] In summary, the intelligent winding system and method for a seven-degree-of-freedom superconducting magnet suitable for complex irregular coil frames provided by the present invention, through the pioneering seven-axis linkage integrated automatic winding process, is particularly suitable for winding complex irregular coil frames. Furthermore, through the modular design of the integrated multi-functional end effector, the manufacturing cost of irregular magnets is reduced, meeting the high-efficiency manufacturing requirements of ultra-large-scale coils. The system has a high degree of automation, achieving true constant tension and non-destructive winding, and significantly improving the winding quality and yield of superconducting coils. Attached Figure Description

[0026] Figure 1This is a front view of a seven-degree-of-freedom superconducting magnet intelligent winding system provided according to a preferred embodiment of the present invention;

[0027] Figure 2 Is it like this? Figure 1 A three-dimensional view of the seven-degree-of-freedom superconducting magnet intelligent winding system shown.

[0028] The meanings of the reference numerals in the attached figures are as follows:

[0029] 1. Main frame; 2. Six-axis collaborative robotic arm; 3. Seventh-axis servo electric cylinder; 4. Integrated multi-functional end effector; 5. Superconducting wire feeding and pre-processing unit; 6. Coil frame positioning and installation unit; 7. Central integrated control system; 11. Base; 12. Frame; 13. Sliding adjustment mechanism; 14. Moving slide rail; 21. Robotic arm lifting mechanism; 31. Support; 61. T-slot base plate. Detailed Implementation

[0030] The present invention will be further described below with reference to specific embodiments. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Unless otherwise specified, the techniques used in the embodiments are conventional practices in the art, or experimental methods recommended by the instrument manufacturer. Unless otherwise specified, the reagents and materials used in the embodiments are commercially available.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0032] Example 1: A Seven-Degree-of-Freedom Superconducting Magnet Intelligent Winding System

[0033] like Figure 1 , Figure 2As shown in the figure, it is a seven - degree - of - freedom superconducting magnet intelligent winding system according to a preferred embodiment of the present invention, which is particularly suitable for winding complex - shaped coil skeletons. The system includes: a main frame 1, a six - axis collaborative robotic arm 2, a seventh - axis servo cylinder 3, an integrated multi - functional end effector 4, a superconducting wire feeding and pretreatment unit 5, a coil skeleton positioning and installation unit 6, and a central integrated control system 7. Each component cooperates with each other to achieve high - precision and automated winding of complex - shaped coil skeletons. The overall system is built based on aluminum alloy profiles, with both stability and expandability, and can adapt to the coil winding requirements of small - sized to large - scale fusion magnets.

[0034] The main frame 1 is the integration foundation of the system. It is made of high - strength aluminum alloy profiles and spliced together by bolts into an integral structure, which combines light weight and structural stability, and can effectively reduce the system debugging difficulty. The main frame is divided into a base 11 and a gantry 12. The base 11 is the overall load - bearing structure, fixedly connected to the ground, and the coil skeleton positioning and installation unit 6 is fixed on the base; the gantry 12 is erected above the base 11 and connected to the base 11 through a sliding adjustment mechanism 13, which can realize the front - back and up - down position adjustment of the gantry to adapt to the winding requirements of different - sized coil skeletons. The six - axis collaborative robotic arm 2, the seventh - axis servo cylinder 3, and the superconducting wire feeding and pretreatment unit 5 are all installed on the gantry 12. The position adjustment of the gantry 12 can synchronously drive the above - mentioned motion mechanisms to adjust the operation position.

[0035] In this embodiment, the six - axis collaborative robotic arm 2 selects a commercially available standard high - precision and lightweight six - axis collaborative robotic arm product. The present invention does not make any improvements to its body structure. As the core motion mechanism of the system, its working radius is designed to completely cover the entire space of the small - sized magnet winding station, and it can achieve multi - dimensional and high - precision articulated arm movement, providing the core motion power for the circumferential winding of the coil. The flange of its end wrist can be quickly connected to the integrated multi - functional end effector 4 to ensure the precise linkage of motion and execution actions.

[0036] The seventh - axis servo cylinder 3 is a follow - up motion mechanism supporting the six - axis collaborative robotic arm 2, used to make up for the deficiency of the six - axis collaborative robotic arm in the long - axis movement and realize the coil winding of large - sized magnets. The seventh - axis servo cylinder 3 is fixedly connected to the gantry 12 of the main frame 1. Its mobile end is fixedly connected with an integrated bracket 31. The six - axis collaborative robotic arm 2 is integrally installed on this bracket 31 through a robotic arm lifting mechanism 21. The bracket 31 can make linear reciprocating motion along with the piston rod of the seventh - axis servo cylinder 3, and then带动 the six - axis collaborative robotic arm 2 to synchronously realize the linear movement in the long - axis direction. Combined with the six - degree - of - freedom movement of the six - axis collaborative robotic arm 2, it forms a seven - degree - of - freedom linkage motion structure to realize the all - around winding traction of the coil in the circumferential and long - axis directions. It should be understood that based on skeletons of different height dimensions, the height of the robotic arm can be adjusted as a whole through the robotic arm lifting mechanism 21 to adapt to products in a larger size range.

[0037] The integrated multi-functional end effector 4 adopts a modular design, enabling quick disassembly and switching via the wrist flange of the six-axis collaborative robotic arm 2, adapting to different winding process requirements. This embodiment provides two types: a wire groove-type actuator and a skeleton surface-mounted actuator. The basic structure of the two is the same, with only the functional execution components differing.

[0038] Wire groove type actuator: The structure is simple. The core consists of a wire block and a non-metallic pressure head. The wire block has wire through holes for guiding and limiting the wire. The non-metallic pressure head is used for basic wire pressing during the winding process to ensure that the wire fits the skeleton wire.

[0039] Surface-mounted actuator for coil frames: Based on the slotted wire-mounted actuator, the non-metallic pressure head is replaced with a small ultrasonic welding machine, which can directly weld and fix superconducting wires or cables to the surface of the coil frame, realizing integrated wire-mounted winding of the wire and the frame. It is suitable for the winding needs of slotless irregular coil frames.

[0040] Meanwhile, both actuators integrate a three-dimensional conformal pressing module and a laser displacement sensor at their ends, providing hardware support for real-time conformal pressing during the winding process.

[0041] In this embodiment, the superconducting wire feeding and pretreatment unit 5 adopts an existing mature technology architecture. This unit includes multiple superconducting tape feeding reels, a wire segment buffer mechanism, and an independent straightening and pre-cleaning station. The multiple superconducting tape feeding reels are arranged in parallel to meet the process requirements of multi-wire winding. The wire segment buffer mechanism is used to buffer the pretreated superconducting wire to avoid sudden changes in wire tension during winding. The straightening and pre-cleaning station is an independent station that can perform straightening and surface cleaning pretreatment operations on the superconducting wire to eliminate the influence of wire bending and surface impurities on winding quality. The pretreated superconducting wire is conveyed by the conveying structure to the gripping preparation area of ​​the six-axis collaborative robot arm 2 to complete the connection between feeding and pretreatment.

[0042] The coil bobbin positioning and mounting unit 6 is fixed to the base 11 of the main frame 1, providing high-precision clamping and positioning for the coil bobbin. Its core is a high-precision T-slot substrate 61, with a regularly arrayed T-slot structure machined on its surface. This allows for flexible fastener combinations to achieve detachable clamping of magnet bobbins of different specifications and irregular shapes, depending on the size, shape, and installation point requirements of the coil bobbin. Simultaneously, this unit integrates a C-axis rotation mechanism located at the connection point between the T-slot substrate 61 and the base 11. This mechanism enables precise C-axis rotation of the clamped coil bobbin, with the rotation angle synchronized with the winding path planned by the central integrated control system. It also includes a connecting base, bobbin clamping components, and positioning pins. The connecting base rigidly fixes the T-slot substrate to the main frame base, while the bobbin clamping components and positioning pins engage with the T-slots to perform secondary positioning and locking of the clamped coil bobbin, preventing displacement during winding.

[0043] The central integrated control system 7 serves as the core of the system. Built on an industrial PC and a real-time Ethernet bus, it integrates three core control modules: a robot control system, a motion control card, and a tension controller. The robot control system controls the seven-degree-of-freedom linkage motion of the six-axis collaborative robotic arm 2 and the seventh-axis servo electric cylinder 3, planning and executing the motion trajectory. The motion control card controls the C-axis rotation of the coil frame positioning and mounting unit 6, the action switching of the integrated multi-functional end effector 4, and the pressing action of the three-dimensional conformal pressing module. The tension controller is used to adjust the wire tension in real time during the winding process to achieve constant tension winding. All modules achieve data interaction and action synchronization through the real-time Ethernet bus, ensuring the overall control accuracy and response speed of the system.

[0044] According to another preferred embodiment, a set of movable slide rails 14 can be added to the frame 12, and then another set of frame and corresponding robotic arm components can be added to the movable slide rails, including another set: support, robotic arm lifting mechanism, six-axis collaborative robotic arm, superconducting wire feeding and pre-processing unit, and superconducting wire feeding and pre-processing unit. The main frame can be freely spliced ​​to increase the winding area, thereby realizing the system expansion of multi-robotic arm collaboration or multi-head parallel winding.

[0045] Example 2: A Smart Winding Method for a Seven-Degree-of-Freedom Superconducting Magnet

[0046] Based on the seven-degree-of-freedom superconducting magnet intelligent winding system provided in Embodiment 1, this embodiment provides a seven-degree-of-freedom superconducting magnet intelligent winding method, which uses a slotted wire-laying actuator to achieve winding of complex irregularly shaped coil frames, specifically including the following steps:

[0047] S1: Preparation and Route Planning

[0048] The complex, irregularly shaped coil skeleton to be wound is clamped onto the T-slot base plate 61 of the coil skeleton positioning and mounting unit 6 using fasteners. Secondary positioning and locking are completed using skeleton clamping parts and positioning pins to ensure the stability of the skeleton clamping. The CAD 3D model of the coil skeleton is imported into the central integrated control system 7. The system automatically generates the optimal winding path based on the geometric features, curvature changes and winding turn requirements of the model. This winding path includes the TCP motion trajectory of the end effector of the six-axis collaborative robot arm 2 and the real-time rotation angle of the C-axis of the coil skeleton. At the same time, the system pre-stores the pressure adjustment parameters of the pressure rollers to provide data support for subsequent dynamic conformal winding.

[0049] S2: Wire loading

[0050] The installation of the wire tray actuator is completed by the wrist flange of the six-axis collaborative robotic arm 2. The central integrated control system 7 controls the end of the robotic arm to switch the wire guide module. The robotic arm moves to the gripping preparation area of ​​the superconducting wire loading and pre-processing unit 5. The superconducting wire head is clamped by the clamping structure of the wire guide module and the superconducting wire is guided through the wire through hole of the wire guide module to complete the loading and guiding positioning of the superconducting wire. At this time, the tension controller is activated to pre-adjust the initial tension of the wire.

[0051] S3: Dynamic conformal winding

[0052] This step is the core winding process, achieving synchronous motion coordination and real-time wire pressing to ensure the winding quality of irregularly shaped coils:

[0053] Motion coordination: The central integrated control system 7 controls the six-axis collaborative robot arm 2 and the seventh-axis servo cylinder 3 to achieve seven degrees of freedom linkage according to the planned winding path. The traction of the wire in the circumferential direction of the coil is achieved by the multi-dimensional movement of the joint arm of the six-axis collaborative robot arm 2 itself, and the traction of the wire in the long axis of the coil is achieved by the seventh-axis servo cylinder 3 driving the robot arm to perform linear follow-up. At the same time, the C-axis rotation mechanism of the coil skeleton positioning and installation unit 6 drives the skeleton to rotate precisely according to the path planning, ensuring that the superconducting wire is always wound along the preset trajectory of the skeleton.

[0054] Real-time wire pressing: The three-dimensional conformal wire pressing module installed in the integrated multi-functional end effector 4 works in real time. It collects real-time curvature data of the coil skeleton through a laser displacement sensor, or directly retrieves the skeleton curvature parameters in the CAD three-dimensional model. It dynamically adjusts the spatial position of the pressing wheel and the normal pressure on the superconducting wire according to the curvature change: In the straight section of the coil skeleton, the pressing wheel applies a large normal pressure to ensure that the superconducting wire is tightly wound without gaps; in the arc transition section of irregular skeletons such as D-type coils, the pressing wheel automatically lifts up and follows the arc of the skeleton to reduce the normal pressure and avoid damage to the superconducting wire due to forced bending, thus achieving non-destructive winding.

[0055] S4: Connector and Finishing

[0056] After the winding process completes the set number of turns, the central integrated control system 7 controls the six-axis collaborative robotic arm 2 and the seventh-axis servo cylinder 3 to stop moving. The tension controller controls the tension wheel to maintain a small tension to prevent the superconducting wire from loosening. Subsequently, the six-axis collaborative robotic arm 2 drives the end effector 4 to pull the superconducting wire to the preset fixing point of the coil frame. The wire is locked and fixed by the matching locking structure, and then the superconducting wire is cut by the cutting mechanism. At the same time, the central integrated control system 7 automatically records the number of turns, the position of each layer of winding, and the historical tension data throughout the entire winding process, and stores them in the industrial PC to achieve traceability of winding quality.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention. Various variations can be made to the above embodiments of the present invention. All simple and equivalent changes and modifications made in accordance with the claims and description of this application fall within the protection scope of the claims of this patent. All aspects not described in detail in this invention are conventional technical content.

Claims

1. A seven-degree-of-freedom superconducting magnet intelligent winding system suitable for complex irregular coil frames, characterized in that, include: The system comprises a main frame, a six-axis collaborative robotic arm, a seventh-axis servo cylinder, an integrated multi-functional end effector, a superconducting wire feeding and pre-processing unit, a coil frame positioning and mounting unit, and a central integrated control system. The main frame consists of a base and a frame. The base is an integral load-bearing structure, and the coil frame positioning and mounting unit is fixed to the base. The frame is mounted above the base, and the superconducting wire feeding and pre-processing unit, the six-axis collaborative robotic arm, and the seventh-axis servo cylinder are all mounted on the frame. Adjusting the position of the frame synchronously drives the aforementioned motion mechanisms to adjust their working positions. The integrated multi-functional end effector is connected to the end of the six-axis collaborative robotic arm. The working radius of the six-axis collaborative robotic arm covers the entire space of the small-sized magnet winding station. The seventh-axis servo cylinder works in conjunction with the six-axis collaborative robotic arm to achieve follow-up motion, completing the coil winding work for large-sized magnets. The central integrated control system is based on an industrial PC and a real-time Ethernet bus, integrating a robot control system, a motion control card, and a tension controller.

2. The seven-degree-of-freedom superconducting magnet intelligent winding system according to claim 1, characterized in that, A bracket is mounted on the seventh-axis servo electric cylinder, and the six-axis collaborative robot arm is fixed on the bracket. The bracket and the six-axis collaborative robot arm move synchronously with the seventh-axis servo electric cylinder, forming a seven-degree-of-freedom linkage structure.

3. The seven-degree-of-freedom superconducting magnet intelligent winding system according to claim 1, characterized in that, The integrated multi-functional end effector features a modular design and allows for rapid switching via a flange on the robotic arm wrist. It includes a wire trough-type actuator and a skeleton surface-mounted actuator. The wire trough-type actuator comprises a wire block and a non-metallic pressure head, while the skeleton surface-mounted actuator includes a wire block and an ultrasonic welding machine to weld the superconducting wire or cable to the surface of the coil skeleton. The end of the integrated multi-functional end effector is equipped with a three-dimensional conformal pressure module, on which a laser displacement sensor is mounted.

4. The seven-degree-of-freedom superconducting magnet intelligent winding system according to claim 1, characterized in that, The superconducting wire feeding and pretreatment unit includes multiple superconducting tape feeding reels, a wire segment buffer mechanism, and an independent straightening and pre-cleaning station. The superconducting tape feeding reels support the requirements of multi-wire winding. After straightening and cleaning pretreatment, the superconducting wire is transported to the gripping preparation area of ​​the six-axis collaborative robot arm through the wire segment buffer mechanism.

5. The seven-degree-of-freedom superconducting magnet intelligent winding system according to claim 1, characterized in that, The main frame is an integral structure built of aluminum alloy profiles. The truss and the base are connected by a sliding adjustment mechanism. The truss can be adjusted in front and behind and up and down on the base, serving as the foundation for system integration and ensuring overall stability.

6. The seven-degree-of-freedom superconducting magnet intelligent winding system according to claim 1, characterized in that, The coil frame positioning and mounting unit includes a high-precision T-slot substrate, the surface of which is provided with T-slot structures to accommodate magnet frames of different sizes and irregular shapes.

7. The seven-degree-of-freedom superconducting magnet intelligent winding system according to claim 5, characterized in that, Add a set of movable slide rails to the gantry, and then add another set of gantry and corresponding robotic arm components on the movable slide rails, including additional: support frame, robotic arm lifting mechanism, six-axis collaborative robotic arm, superconducting wire feeding and pre-processing unit, and superconducting wire feeding and pre-processing unit, thereby realizing the system expansion of multi-robotic arm collaboration or multi-head parallel winding.

8. A method for intelligent winding of a seven-degree-of-freedom superconducting magnet suitable for complex irregular coil frames, implemented based on the intelligent winding system of a seven-degree-of-freedom superconducting magnet as described in any one of claims 1-7, characterized in that, Includes the following steps: S1: Preparation and Path Planning: The coil frame is clamped in the coil frame positioning and installation unit. The CAD 3D model of the coil frame is imported into the central integrated control system to automatically generate the optimal winding path. The winding path includes the TCP trajectory of the end of the six-axis collaborative robot arm and the C-axis rotation angle of the frame. S2: Wire loading: The end effector of the six-axis collaborative robotic arm switches the wire guide module, which clamps the superconducting wire head from the buffer area and guides the superconducting wire through the wire guide module; S3: Dynamic conformal winding: A six-axis collaborative robotic arm moves along a planned trajectory to pull the wire, and works with a seventh-axis servo cylinder to complete the winding action. At the same time, a three-dimensional conformal pressing module realizes real-time pressing. S4: Jointing and Finishing: After completing the set number of turns, the tension wheel maintains a small tension, and the six-axis collaborative robotic arm pulls the wire to the fixed point to complete locking and cutting. The central integrated control system automatically records the number of turns, the position of each layer, and the historical tension data.

9. The intelligent winding method for a seven-degree-of-freedom superconducting magnet according to claim 8, characterized in that, In step S3, the six-axis collaborative robotic arm uses its own articulated arm to pull the wire in the circumferential direction of the coil, and the seventh-axis servo cylinder cooperates to pull the wire in the long axis of the coil, thus completing the seven-axis linkage winding motion coordination.

10. The intelligent winding method for a seven-degree-of-freedom superconducting magnet according to claim 8, characterized in that, In step S3, the three-dimensional conformal wire pressing module obtains the real-time curvature of the skeleton through a laser displacement sensor or a CAD three-dimensional model of the coil skeleton, and dynamically adjusts the position and normal pressure of the pressing wheel according to the real-time curvature; a large pressure is applied to the straight section of the coil to ensure tight wire laying, and in the arc transition section of the D-shaped coil, the pressing wheel automatically lifts up and moves along the arc to avoid damage to the superconducting wire strip.

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