Automatic handling device and method applied to radio frequency superconducting accelerating cavity

Abstract

The application relates to the technical field of superconducting equipment, in particular to an automatic carrying device and method applied to a radio frequency superconducting accelerating cavity. In the automatic carrying device, a buffer mechanism is arranged on a supporting mechanism. The buffer mechanism comprises a bottom plate, a top plate and a pair of buffer self-locking units. A support mechanism is arranged on one side of the supporting mechanism, and a tool clamp is arranged on the other side of the supporting mechanism. One end of the tool clamp is assembled on the support mechanism, and the other end of the tool clamp is assembled on the buffer mechanism; the tool clamp comprises a first clamping part, a second clamping part and a connecting plate. A holding mechanism is connected between the support mechanism and the tool clamp. One end of a pair of holding extension arms of the holding mechanism is connected to a holding driving mechanism, and the other end is arranged on the two sides of the tool clamp in parallel. The automatic carrying device and method can realize smooth and safe automatic carrying in a high-cleanliness environment, and reduce the influence of tiny particles generated during mechanism movement on products and workshop environment.

Description

Technical Field

[0001] This invention relates to the field of superconducting equipment technology, and in particular to an automatic handling device and method for use in radio frequency superconducting accelerating cavities. Background Technology

[0002] With the breakthrough development of superconducting technology, superconducting cavities, due to their low-loss and high-field-strength electromagnetic properties, have become the core component of superconducting accelerator modules. The assembly quality and inner surface cleanliness of the superconducting cavity directly affect its high-frequency electromagnetic field stability and acceleration performance. Studies have shown that the assembly precision of the superconducting cavity needs to reach the micrometer level, and the cleanliness must meet the ISO 4 standard. During the production and assembly of radio frequency superconducting accelerator cavities, due to the extremely high requirements for air cleanliness, the tiny particles generated by traditional handling devices during movement can contaminate the product and the workshop environment. Moreover, the handling process of radio frequency superconducting accelerator cavities requires extremely high stability and safety to avoid damage to precision equipment.

[0003] Therefore, there is an urgent need for a device that can automate material handling in a high-cleanliness environment. Summary of the Invention

[0004] This invention provides an automated handling device and method for use in radio frequency superconducting accelerator cavities, which solves the problem that traditional handling devices generate tiny particles during movement, causing pollution to products and the workshop environment. It enables stable and safe automated handling in a high-cleanliness environment, reducing the impact of tiny particles generated during the movement of the mechanism on products and the workshop environment.

[0005] This invention provides an automated transport device for use in a radio frequency superconducting accelerating cavity, comprising: Supporting institutions; A buffer mechanism is provided on the support mechanism; the buffer mechanism includes a base plate, a top plate and a pair of buffer self-locking units, the base plate is provided on the support mechanism, the top plate is provided above the base plate, the base plate and the top plate are connected by a number of support rods, and the pair of buffer self-locking units are connected to the top plate; A support mechanism is provided on one side of the support mechanism; A tooling fixture is disposed on the other side of the support mechanism; one end of the tooling fixture is mounted on the bracket mechanism, and the other end of the tooling fixture is mounted on the buffer mechanism; the tooling fixture includes a first clamping part, a second clamping part, and a connecting plate, wherein the first clamping part and the second clamping part are respectively clamped at both ends of the axial direction of the radio frequency superconducting acceleration cavity, and the first clamping part and the second clamping part are connected through the connecting plate; A clamping mechanism is connected between the support mechanism and the tooling fixture, and the clamping mechanism includes a pair of clamping extension arms; A clamping drive mechanism is provided, with one end of a pair of clamping extension arms connected to the clamping drive mechanism, and the other ends of the pair of clamping extension arms arranged in parallel on both sides of the tooling fixture.

[0006] An automatic transport device for use in a radio frequency superconducting accelerator cavity, according to the present invention, includes a clamping mechanism comprising: A pair of clamping guides are arranged side by side on the top of the support mechanism. One end of each pair of clamping guides is connected to a pair of clamping extension arms, and the other end of each pair of clamping guides is connected to the clamping drive mechanism. The clamping drive mechanism can drive a pair of clamping guides to move in opposite directions along the radial direction of the radio frequency superconducting acceleration cavity, so as to enable a pair of clamping extension arms to clamp onto both sides of the tooling fixture.

[0007] An automatic transport device for use in a radio frequency superconducting accelerator cavity, provided by the present invention, includes a clamping drive mechanism comprising: The housing is connected to the support mechanism, and a guide rail is provided on the housing; A pair of sliders are respectively connected to a pair of clamping guides, and the pair of sliders are arranged side by side in the guide rail; A bidirectional lead screw, with a pair of sliders connected to each end, wherein the bidirectional lead screw can drive the pair of sliders to move in opposite directions by rotation; A drive motor is connected to the bidirectional lead screw.

[0008] An automatic transport device for use in a radio frequency superconducting accelerator cavity, provided by the present invention, further includes a clamping drive mechanism comprising: A pulley is fitted to one end of the bidirectional lead screw; A timing belt is used to connect the pulley and the output shaft of the drive motor. The bearing housing is assembled at the other end of the bidirectional lead screw.

[0009] According to the present invention, an automatic handling device for use in a radio frequency superconducting accelerator cavity is provided, wherein the side of the clamping extension arm facing the tooling fixture is provided with a first positioning block, the first positioning block being used to match and position with the tooling fixture.

[0010] According to the present invention, an automatic transport device for use in a radio frequency superconducting accelerating cavity, wherein the buffer mechanism further includes: The second positioning block is disposed above the top plate and is used to match and position with the tooling fixture. A pressure sensor is connected between the second positioning block and the top plate; A dual-axis motor is disposed in the space between the base plate and the top plate; a pair of buffer self-locking units are respectively connected to a pair of output shafts of the dual-axis motor.

[0011] An automatic handling device for a radio frequency superconducting accelerating cavity, provided by the present invention, wherein the buffer self-locking unit comprises: An eccentric cam is mounted on the extended end of the output shaft of the dual-axis motor; A self-locking plate is located below the eccentric cam; A buffer rod is connected between the self-locking plate and the top plate; The long axis of the eccentric cam can rotate to a position connected to the self-locking plate, so that the buffer rod can be extended and supported under the top plate.

[0012] According to the present invention, an automatic transport device for a radio frequency superconducting accelerator cavity is provided, wherein the connecting plate and the support mechanism are respectively disposed on the radial sides of the radio frequency superconducting accelerator cavity; the first clamping part is provided with a first positioning groove matching the clamping mechanism; and the second clamping part is provided with a second positioning part matching the buffer mechanism.

[0013] An automated transport device for use in a radio frequency superconducting accelerator cavity, according to the present invention, includes a support mechanism comprising: The guided vehicle is equipped with several omnidirectional wheels; A support frame is mounted on the guide vehicle. The support mechanism and the buffer mechanism are respectively mounted on the support frame. A mounting position for mounting the radio frequency superconducting acceleration cavity is provided between the support mechanism and the buffer mechanism.

[0014] The present invention also provides an automated handling method for a radio frequency superconducting accelerating cavity, applied to the device described above, comprising the following steps: The tooling fixture is pre-assembled on the radio frequency superconducting accelerating cavity to be transported, forming a superconducting cavity assembly in a clamped state; The tooling fixture of the superconducting cavity assembly in the clamping state is positioned on the buffer mechanism, and the tooling fixture is connected to the clamping mechanism so that the radio frequency superconducting acceleration cavity of the superconducting cavity assembly in the clamping state can stand upright along its axis between the support mechanism and the buffer mechanism. When the buffer mechanism detects that the pressure from the tooling fixture reaches a preset range, the clamping mechanism is driven by the clamping drive mechanism to apply a clamping force to the tooling fixture, so that the tooling fixture can clamp and fix it to the radial outside of the radio frequency superconducting acceleration cavity, thereby fixing the radio frequency superconducting acceleration cavity to the support mechanism. Simply move the support mechanism to the target location.

[0015] The present invention provides an automated handling device for a radio frequency superconducting accelerator cavity (hereinafter referred to as the "automatic handling device" or "device"), comprising a support mechanism, a bracket mechanism, a tooling fixture, a clamping mechanism, a clamping drive mechanism, and a buffer mechanism. The buffer mechanism is mounted on the support mechanism. The buffer mechanism can automatically adjust the supporting force according to the weight of the superconducting cavity. The bottom plate and top plate of the buffer mechanism are connected by several support rods, and a pair of the buffer self-locking units are connected to the top plate, thereby enabling the buffer mechanism to reliably support and buffer the tooling fixture and the superconducting cavity as a whole, thus ensuring the stable placement of the superconducting cavity in the device. The bracket mechanism is located on one side of the support mechanism, and the tooling fixture is located on the other side of the support mechanism. One end of the tooling fixture is mounted on the support mechanism, and the other end is mounted on the buffer mechanism. The first and second clamping parts of the tooling fixture are respectively clamped at both axial ends of the radio frequency superconducting accelerating cavity, and the first and second clamping parts are connected by a connecting plate. This allows the tooling fixture to be reliably clamped on the outer wall of the radio frequency superconducting accelerating cavity (hereinafter referred to as the "superconducting cavity") while minimizing the contact area between the tooling fixture and the outer wall of the superconducting cavity, thus reducing damage to the outer wall of the superconducting cavity. The synergistic effect of the support mechanism and the support mechanism provides reliable structural support for the installation and handling of the superconducting cavity. A clamping mechanism is connected between the support mechanism and the tooling fixture, and the clamping mechanism includes a pair of clamping extension arms. One end of the pair of clamping extension arms is connected to the clamping drive mechanism, and the other ends of the pair of clamping extension arms are arranged in parallel on both sides of the tooling fixture. The superconducting cavity can be reliably fixed by the synergistic action of the tooling fixture and the clamping mechanism; the superconducting cavity can be more stable during transportation by working in conjunction with the clamping mechanism and the support mechanism; and the clamping drive mechanism can drive the clamping mechanism to achieve more precise linear motion and clamping operation, so as to further improve the smoothness of installation and transportation.

[0016] Therefore, this automated handling device can achieve stable and safe automated handling of superconducting cavities in a high-cleanliness environment. It can automatically adjust the support force according to the structure and weight of the superconducting cavity itself, and firmly clamp the superconducting cavity according to its cavity shape and weight distribution, avoiding damage to the superconducting cavity during clamping and transportation. It can also achieve precise linear motion and clamping operation, thereby improving the stability and safety of the superconducting cavity transportation process and reducing the impact of microparticles generated during the movement of the mechanism on the product and the workshop environment.

[0017] The present invention also provides an automatic handling method for a radio frequency superconducting accelerating cavity (hereinafter referred to as the "automatic handling method" or "method"), which is applied to the automatic handling device described above. Therefore, the automatic handling method has all the advantages of the automatic handling device described above, which will not be elaborated here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the automatic transport device for use in a radio frequency superconducting accelerating cavity provided by the present invention.

[0020] Figure 2 This is a structural schematic diagram of the clamping mechanism and the support mechanism provided by the present invention.

[0021] Figure 3 This is a schematic diagram of the clamping drive mechanism provided by the present invention.

[0022] Figure 4 This is a schematic diagram of the structure of the superconducting cavity assembly in a clamping state provided by the present invention.

[0023] Figure 5 This is a schematic diagram of the buffer mechanism provided by the present invention.

[0024] Figure 6 This is a structural schematic diagram of the guide vehicle and support frame provided by the present invention.

[0025] Figure 7 This is a schematic diagram of the specific process of the automatic transport method for radio frequency superconducting accelerating cavities provided by the present invention.

[0026] Figure label: 1. Guide car; 2. Support frame; 3. Superconducting cavity; 4. Tooling fixture; 41. First clamping part; 42. Second clamping part; 43. Connecting plate; 44. First positioning groove; 45. Second positioning part; 5. Support mechanism; 51. Support body; 52. Auxiliary frame; 6. Clamping mechanism; 61. Clamping extension arm; 62. Clamping guide part; 63. First positioning block; 7. Clamping drive mechanism; 8. Buffer mechanism; 9. Slider part; 10. Bearing seat; 11. Photoelectric sensor; 12. Emergency stop switch; 13. Button; 14. Drive motor; 15. Bidirectional lead screw; 16. Pulley; 17. Synchronous belt; 18. Pressure sensor; 19. Eccentric cam; 20. Self-locking plate; 21. Base plate; 22. Second positioning block; 23. Buffer rod; 24. Support rod; 25. Coupling; 26. Dual-axis motor; 27. Top plate. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0028] The following is combined with Figures 1-6 The automatic handling device of the present invention is described. In this embodiment, the object to be handled is a superconducting cavity 3, which is a high-precision device. Therefore, the handling process of the superconducting cavity 3 must maintain extremely high stability and safety.

[0029] like Figure 1 As shown, the automated handling device described in this embodiment of the invention includes a support mechanism, a bracket mechanism 5, a tooling fixture 4, a clamping mechanism 6, a clamping drive mechanism 7, and a buffer mechanism 8. This automated handling device, through optimized mechanism design and motion control, reduces the amount of fine particles generated during movement, ensuring that the device will not contaminate products or the environment even when used in an ISO Class 4 laminar flow cleanroom.

[0030] In this embodiment, the support mechanism is the bottom support structure of the device. (See reference...) Figure 1As shown, the support mechanism includes a bracket mechanism 5 and a buffer mechanism 8. The bracket mechanism 5 is located on one side of the support mechanism, serving as the main side support structure for the superconducting cavity 3, preventing displacement, tilting, and tipping of the superconducting cavity 3 during transportation. The synergistic effect of the support mechanism and the bracket mechanism 5 provides reliable structural support for the installation and handling of the superconducting cavity 3. The buffer mechanism 8 connects the tooling fixture 4 to the support mechanism. The buffer mechanism 8 can automatically adjust the supporting force according to the weight of the superconducting cavity 3. Preferably, the buffer mechanism 8 includes a base plate 21, a top plate 27, and a pair of buffer self-locking units. The base plate 21 and the top plate 27 of the buffer mechanism 8 are connected by several support rods 24, and the pair of buffer self-locking units are connected to the top plate 27, thus enabling the buffer mechanism 8 to reliably support and buffer the tooling fixture 4 and the superconducting cavity 3 as a whole, ensuring the stable placement of the superconducting cavity 3 in the device. The tooling fixture 4 is located on the other side of the support mechanism and connected to the bracket mechanism 5. One end of the tooling fixture 4 is mounted on the support mechanism 5, and the other end is mounted on the buffer mechanism 8. Through the fixed connection between the tooling fixture 4 and the support mechanism 5, the superconducting cavity 3 is reliably fixed in the mounting position of the support mechanism. Preferably, the tooling fixture includes a first clamping part 41, a second clamping part 42, and a connecting plate 43. The first clamping part 41 and the second clamping part 42 are respectively clamped at both axial ends of the superconducting cavity 3, and are connected by the connecting plate 43. This allows the tooling fixture 4 to be reliably clamped on the outer wall of the superconducting cavity 3 while minimizing the contact area between the tooling fixture 4 and the outer wall of the superconducting cavity 3, thus reducing damage to the outer wall of the superconducting cavity 3. A clamping mechanism 6 is connected between the support mechanism 5 and the tooling fixture 4. The clamping mechanism 6 is mounted on the support mechanism 5, and a clamping drive mechanism 7 is connected to the clamping mechanism 6. The clamping drive mechanism 7 drives the clamping mechanism 6 to apply a clamping force, so that the tooling fixture 4 can be clamped and fixed to the radial outer side of the superconducting cavity 3. That is, the clamping mechanism 6 is preferably connected to the tooling fixture 4. The clamping drive mechanism 7 drives the clamping mechanism 6 to apply a clamping force to the tooling fixture 4, so that the tooling fixture 4 and the clamping mechanism 6 jointly clamp and fix it to the outside of the superconducting cavity 3, thereby reliably fixing the superconducting cavity 3 by utilizing the synergistic effect of the tooling fixture 4 and the clamping mechanism 6. Preferably, the clamping mechanism 6 includes a pair of clamping extension arms 61, one end of the pair of clamping extension arms 61 is connected to the clamping drive mechanism 7, and the other ends of the pair of clamping extension arms 61 are arranged in parallel on both sides of the tooling fixture 4. When the tooling fixture 4 is in the first state, the clamping drive mechanism 7 drives the pair of clamping extension arms 61 to move towards each other, so that the pair of clamping extension arms 61 apply a clamping force to the tooling fixture 4, thereby clamping and fixing the tooling fixture 4 to the radial outer side of the superconducting cavity 3.Since the clamping mechanism 6 is connected to the support mechanism 5, it forms a closed clamping structure for the superconducting cavity 3 between the clamping mechanism 6 and the tooling fixture 4. At the same time, the support mechanism 5 provides reliable support force along the axial direction of the superconducting cavity 3 for the tooling fixture 4 and the clamping mechanism 6. By utilizing the cooperative work of the clamping mechanism 6 and the support mechanism 5, the stability of the superconducting cavity 3 during transportation can be ensured. Furthermore, the clamping drive mechanism 7 can drive the clamping mechanism 6 to achieve more precise linear movement and clamping operation, thereby further improving the stability of installation and transportation. Preferably, the superconducting cavity assembly in the clamping state described in the embodiments of the present invention (which may be simply referred to as the "superconducting cavity assembly" in various embodiments of the present invention) includes the tooling fixture 4 and the superconducting cavity 3 assembled in the tooling fixture 4. That is, since the tooling fixture 4 of the superconducting cavity assembly holds the superconducting cavity 3, when the tooling fixture 4 is in the first state, the clamping drive mechanism 7 can promptly receive the signal from the buffer mechanism 8 and drive a pair of clamping extension arms 61 to move towards each other in the axial direction of the superconducting cavity 3. This allows the pair of clamping extension arms 61 to drive the tooling fixture 4 to apply a clamping force to the outer wall of the superconducting cavity 3, thereby forming a reliable fixation of the superconducting cavity 3. Moreover, the cooperation between the clamping drive mechanism 7, the clamping mechanism 6, and the buffer mechanism 8 ensures that the superconducting cavity 3 is firmly fixed to the support mechanism during transportation, preventing accidental detachment or displacement, ensuring a smoother transportation process, and avoiding mechanical damage to the superconducting cavity 3 caused by the device.

[0031] Therefore, this automatic handling device can achieve stable and safe automated handling of the superconducting cavity 3 in a high-cleanliness environment. It can automatically adjust the support force according to the structure and weight of the superconducting cavity 3, and firmly clamp the superconducting cavity 3 according to its cavity shape and weight distribution, avoiding damage to the superconducting cavity 3 during clamping and transportation. It can also achieve precise linear motion and clamping operation, thereby improving the stability and safety of the superconducting cavity 3 transportation process and reducing the impact of microparticles generated during the movement of the mechanism on the product and the workshop environment.

[0032] It should be noted that, in this invention, "front" and "rear" refer to the front and rear directions along the movement direction of the device, for example... Figure 1 The left side is "front" and the right side is "rear"; similarly, "left" and "right" in this invention refer to the left and right sides of the tooling fixture 4, with the position of the support mechanism 5 as the reference. "Horizontal" in this invention refers to the left-right direction of the device, "vertical" refers to the front-back direction of the device, and "vertical" refers to the height direction of the device.

[0033] In some embodiments, such as Figure 1 and Figure 2As shown, the preferred support mechanism 5 is vertically fixed to the support mechanism and located on one side of the mounting position of the support mechanism. For example, the support mechanism 5 is vertically fixed to the rear side of the mounting position to prevent the superconducting cavity 3 from tilting backward due to inertia during device movement. Preferably, the support mechanism 5 includes several square tubes of different heights, each of which is vertically fixed to the support mechanism, and all square tubes are connected according to the principle of higher at the center and lower at the outer edges to improve the overall strength of the support mechanism 5. Furthermore, the support mechanism 5 preferably also includes several reinforcing plates, which are reinforced on the sides of the square tubes so that the cross-section of the support mechanism 5 gradually increases from top to bottom, ensuring a larger connection area between the support mechanism 5 and the support mechanism, and providing a more reliable support foundation for the fixation of the superconducting cavity 3. It is understood that, as Figure 2 As shown, the support mechanism 5 of this embodiment includes a support body 51 and auxiliary frames 52. Preferably, both the support body 51 and the auxiliary frames 52 are constructed from the aforementioned square tubes. All auxiliary frames 52 are disposed around the circumference of the support body 51. Furthermore, to enhance the connection strength between the support mechanism 5 and the tooling fixture 4, it is preferable that a pair of auxiliary frames 52 are disposed on both sides of the support body 51 in the width direction, thereby facilitating the connection of the tooling fixture 4. The specific connection structure between the tooling fixture 4 and the auxiliary frames 52 is described below and will not be repeated here.

[0034] Understandably, it is preferable that the square tube of the aforementioned support mechanism 5 is made of high-strength material, which can withstand various forces during the operation of the device.

[0035] In some embodiments, such as Figure 1 and Figure 2 As shown, to improve structural reliability and increase the stability and safety of the clamping structure for the superconducting cavity 3, the clamping mechanism 6 is preferably horizontally connected to the top of the support mechanism 5. The connection position between the clamping mechanism 6 and the support mechanism 5 divides the clamping mechanism 6 into two sections. The section facing the tooling fixture 4 forms a cantilever structure relative to the support mechanism 5, while the section facing away from the tooling fixture 4 is connected to the clamping drive mechanism 7. This arrangement allows the clamping mechanism 6 to form a cantilever structure that extends outward relative to the support mechanism 5 for connection with the tooling fixture 4, providing reliable radial fixation for the superconducting cavity 3. It also positions the support mechanism 5 to avoid the superconducting cavity 3 and provides axial support for it. Furthermore, the clamping drive mechanism 7 in this arrangement not only precisely drives the clamping mechanism 6 but also acts as a counterweight at the end of the cantilever structure, further improving the structural stability of the clamping mechanism 6.

[0036] In some embodiments, such as Figure 1 and Figure 2As shown, the clamping mechanism 6 includes a pair of clamping extension arms 61 and a pair of clamping guide parts 62. The pair of clamping extension arms 61 are arranged in parallel on both sides of the tooling fixture 4. The pair of clamping guide parts 62 are arranged side by side on the top of the support mechanism 5. One end of the pair of clamping guide parts 62 is connected to the pair of clamping extension arms 61, and the other end of the pair of clamping guide parts 62 is connected to the clamping drive mechanism 7, thereby forming the cantilever structure described above. The clamping drive mechanism 7 can drive the pair of clamping guide parts 62 to move in opposite directions along the radial direction of the superconducting cavity 3, that is, to move in opposite directions along the transverse direction of the device, thereby enabling the pair of clamping extension arms 61 to clamp onto both sides of the tooling fixture 4. Of course, the pair of clamping guide parts 62 can be separated from each other in the transverse direction, thereby canceling the clamping operation of the tooling fixture 4, thus facilitating the placement, fixing and removal of the superconducting cavity 3 from the device. Moreover, the combination of the clamping mechanism 6 and the tooling fixture 4 forms a double fixation of the superconducting cavity 3 from the top and bottom as well as a double locking from the inside and outside, which more effectively prevents the superconducting cavity 3 from shifting or falling off during transportation.

[0037] In some embodiments, such as Figure 3 As shown, the clamping drive mechanism 7 includes a housing, a pair of sliders 9, a bidirectional lead screw 15, and a drive motor 14. The housing is connected to the support mechanism 5, which protects the internal components of the clamping drive mechanism 7. A guide rail is provided on the housing. The pair of sliders 9 are respectively connected to a pair of clamping guides 62. The pair of sliders 9 are arranged side-by-side within the guide rail. The guide rail limits and guides the movement of the sliders 9, thereby achieving precise linear control of the movement of the clamping mechanism 6 and ensuring the smoothness of the handling process. The two ends of the bidirectional lead screw 15 are respectively connected to the pair of sliders 9, and the bidirectional lead screw 15 can drive the pair of sliders 9 to move in opposite directions by rotation. The drive motor 14 is connected to the bidirectional lead screw 15. The drive motor 14 is used to drive the bidirectional lead screw 15 to rotate. That is, the pair of sliders 9 are respectively mounted on the two lead screw shafts of the bidirectional lead screw 15, and the two lead screw shafts are coaxially connected and respectively provided with helical ribs in opposite directions. Therefore, the pair of sliders 9 and the bidirectional lead screw 15 form a bidirectional ball screw structure. This structure features high precision and low friction, effectively reducing the generation of tiny particles during movement.

[0038] In some specific embodiments, such as Figure 3 As shown, the clamping drive mechanism 7 also includes a belt drive unit. The drive motor 14 is connected to the bidirectional lead screw 15 through the belt drive unit, so that in terms of structural layout, the drive motor 14 can be positioned above or below the bidirectional lead screw 15, for example... Figure 3As shown, this saves space for components within the housing. Furthermore, the belt drive unit offers advantages such as buffering and low noise. Its elasticity and flexibility absorb fluctuations and impacts from dynamic loads, reducing vibration, and its operating noise is lower than gear and chain drives. Moreover, the belt drive unit requires no lubricating oil, maintaining a clean environment, avoiding oil leaks, and simplifying maintenance, making it particularly suitable for clean environments that are sensitive to oil and contamination. Preferably, the belt drive unit in this embodiment includes a pulley 16, a synchronous belt 17, and a bearing housing 10. The pulley 16 is mounted on one end of the bidirectional lead screw 15, and the bearing housing 10 is mounted on the other end. The synchronous belt 17 connects the pulley 16 and the output shaft of the drive motor 14. When the drive motor 14 starts, it drives the rotation of the bidirectional lead screw 15 via the synchronous belt 17 and the pulley 16. The rotational motion of the bidirectional lead screw 15 is transmitted to the slider 9 via the bearing housing 10, causing a pair of sliders 9 to move towards or away from each other along the guide rail, thus enabling the clamping mechanism 6 to close and clamp or move away.

[0039] In some specific embodiments, such as Figure 3 As shown, the clamping drive mechanism 7 also includes a photoelectric sensor 11, an emergency stop switch 12, and a button 13. The photoelectric sensor 11, emergency stop switch 12, and button 13 are connected to the drive motor 14 via signals. The photoelectric sensor 11 is used to monitor the position of the slider 9 in real time to ensure accurate and safe movement. The emergency stop switch 12 is used to control the emergency braking of the drive motor 14 to improve safety. The button 13 serves as the master switch for the clamping drive mechanism 7, controlling its opening and closing. Therefore, the movement of the pair of sliders 9 in the clamping drive mechanism 7 can be precisely controlled, ensuring that the clamping mechanism 6 can accurately and firmly clamp the sidewall of the superconducting cavity 3.

[0040] In some embodiments, such as Figure 1 and Figure 5As shown, the buffer mechanism 8 includes a base plate 21, a top plate 27, a second positioning block 22, a pressure sensor 18, a dual-axis motor 26, and a pair of buffer self-locking units. The base plate 21 is mounted on the support mechanism. The top plate 27 is positioned above the base plate 21. The base plate 21 and the top plate 27 are connected by several support rods 24, which are rigidly connected to the top plate 27 and the base plate 21, thus forming an installation space between the base plate 21 and the top plate 27. The second positioning block 22 is positioned above the top plate 27 and is used to match and position the tooling fixture 4 so that the tooling fixture 4 holding the superconducting cavity 3 can be reliably positioned and mounted on the buffer mechanism 8, preventing the tooling fixture 4 from shifting or falling off. The specific configuration of the second positioning block 22 is described in detail in the tooling fixture 4 section below and will not be described in detail here. The pressure sensor 18 is connected between the second positioning block 22 and the top plate 27. Pressure sensor 18 is used to detect the bearing pressure of the second positioning block 22, that is, to sense the weight of the tooling fixture 4, so that the buffer device can determine whether the sensed pressure is within the preset pressure range, and thus determine whether the superconducting cavity 3 is assembled and fixed in the tooling fixture 4. Dual-axis motor 26 is disposed in the space between the base plate 21 and the top plate 27. A pair of buffer self-locking units are respectively connected to a pair of output shafts of the dual-axis motor 26. The buffer self-locking units are connected to the top plate 27. When pressure sensor 18 senses a pressure value within the preset pressure range, the dual-axis motor 26 drives the pair of buffer self-locking units to synchronously self-lock, thereby enabling the positioning block on the top plate 27 to stably assemble and fix the tooling fixture 4, thus eliminating vibration during transportation and ensuring the safe fixing and transport of the superconducting cavity 3.

[0041] In some specific embodiments, such as Figure 5As shown, preferably, a pair of buffer self-locking units are respectively arranged at both ends of the top plate 27 along the width direction of the device. The activation of the buffer self-locking unit can switch from an elastic buffering state to a rigid support state below the top plate 27, thereby providing more reliable support force for the top plate 27 under pressure. Preferably, the buffer self-locking unit includes an eccentric cam 19, a self-locking plate 20, and a buffer rod 23. The eccentric cam 19 is mounted on the extended end of the output shaft of the dual-axis motor 26. Preferably, the output shaft of the dual-axis motor 26 is connected to a drive shaft via a coupling 25, and the eccentric cam 19 is mounted on the drive shaft. The self-locking plate 20 is located below the eccentric cam 19. Preferably, the self-locking plate 20 is positioned higher than the bottom plate 21 to provide redundant space for the state switching of the buffer self-locking unit. The buffer rod 23 connects the self-locking plate 20 and the top plate 27. Preferably, a pair of buffer rods 23 are provided in the same buffer self-locking unit to ensure the supporting balance of the top plate 27. Preferably, the buffer rod 23 is a hydraulic rod, but it can also be configured as a rod structure with an elastic element. The long axis of the eccentric cam 19 can rotate to a position connected to the self-locking plate 20, so that the buffer rod 23 can be extended and supported under the top plate 27. When the pressure sensor 18 detects that the tooling fixture 4 is equipped with the superconducting cavity 3 and applies a specific pressure (within a preset pressure range) to the second positioning block 22, the dual-axis motor 26 drives the eccentric cam 19 to rotate until the long axis of the eccentric cam 19 is locked against the self-locking plate 20. Through the coupling 25 and the support rod 24, the second positioning block 22 can stably clamp the tooling fixture 4 above, thereby providing reliable upward support and buffering force for the tooling fixture 4, so that the superconducting cavity 3 can eliminate vibration during transportation and ensure the safe fixation of the superconducting cavity 3.

[0042] In some embodiments, such as Figure 1 , Figure 2 and Figure 4 As shown, the tooling fixture 4 includes a first clamping part 41, a second clamping part 42, and a connecting plate 43. The first clamping part 41 and the second clamping part 42 are respectively clamped at both ends of the axial direction of the superconducting cavity 3. The axial direction of the superconducting cavity 3 is the height direction in which the superconducting cavity 3 is fixed in the mounting position. That is, the first clamping part 41 and the second clamping part 42 are respectively clamped at the upper and lower ends of the superconducting cavity 3. Furthermore, the first clamping part 41 and the second clamping part 42 are each provided with a pair of clamping arms, and each pair of clamping arms are respectively arranged on the left and right sides of the same radial plane of the superconducting cavity 3, thereby forming a left and right clamping fixing structure at the upper and lower ends of the superconducting cavity 3. Furthermore, the first clamping part 41 and the second clamping part 42 are connected by the connecting plate 43. The connecting plate 43 and the support mechanism 5 are respectively arranged on the radial sides of the superconducting cavity 3. Preferably, the connecting plate 43 and the support mechanism 5 are respectively arranged on the front and rear sides of the superconducting cavity 3, forming a reliable fixation of the superconducting cavity 3 by the front and rear enclosure. The structure of the tooling fixture 4 takes into full account the shape and weight distribution of the superconducting cavity 3, ensuring that it is firmly clamped and will not cause damage to the cavity.

[0043] In some specific embodiments, such as Figure 1 As shown, preferably, a pair of clamping arms of the first clamping part 41 are connected to the clamping mechanism 6. The clamping mechanism 6 applies opposing clamping forces to the pair of clamping arms of the first clamping part 41 on the left and right sides of the same radial plane, thereby reliably fixing the superconducting cavity 3 in the radial direction at the upper end of the superconducting cavity 3. Preferably, a pair of clamping arms of the second clamping part 42 are fixedly connected to the support mechanism 5, thereby reliably limiting and supporting the superconducting cavity 3 in the radial direction at the lower end of the superconducting cavity 3. In order to improve the strength of circumferential fixing and limiting of the superconducting cavity, preferably, the connecting plate 43 and the support body 51 of the support mechanism 5 are respectively provided on the radial sides of the superconducting cavity 3, thereby forming a column-type support structure with sufficient vertical strength on the radial sides of the superconducting cavity 3. During the automated handling process, after the tooling fixture 4 is assembled with the superconducting cavity 3, the pair of clamping arms of the second clamping part 42 can be mounted on a pair of auxiliary frames 52 located circumferentially on the support body 51, thereby providing reliable support for the protruding end of the second clamping part 42. To further improve the clamping and fixing strength of the device for the superconducting cavity 3, it is preferable that the pair of clamping arms of the second clamping part 42 can be fixed to the auxiliary frames 52 by detachable connectors such as bolts. In addition, since the protruding ends of the pair of clamping arms of the first clamping part 41 at the top of the connecting plate 43 are clamped and fixed by the clamping mechanism 6, which plays a limiting and fixing role, it is not necessary to set an additional clamping mechanism that clamps radially upward along the superconducting cavity 3 at the protruding end of the second clamping part 42. Thus, it can be seen that the device of the embodiment of the present invention can substantially achieve dual fixing of the superconducting cavity 3. On one hand, a pair of clamping extension arms 61 of the clamping mechanism 6 are connected to a pair of clamping arms of the first clamping part 41. On the same radial plane, the clamping mechanism 6 and the tooling fixture 4 form a double-fixed structure from the outside to the inside. On the other hand, the first clamping part 41 and the second clamping part 42 of the tooling fixture 4 form a double-fixed structure at the upper and lower ends of the superconducting cavity 3. Thus, the device can firmly clamp the superconducting cavity 3 according to its cavity shape and weight distribution, avoiding damage to the superconducting cavity 3 during clamping, fixing, and transportation.

[0044] In some specific embodiments, to ensure reliable positioning and installation of the superconducting cavity 3 and improve stability and safety during transportation, the first clamping part 41 is preferably provided with a first positioning groove 44 that matches the clamping mechanism 6. (Refer to...) Figure 1 and Figure 4As shown, the first clamping part 41 has a pair of clamping arms with a first positioning groove 44 on the side facing the clamping mechanism 6; correspondingly, the clamping extension arm 61 of the clamping mechanism 6 has a first positioning block 63 on the side facing the tooling fixture 4, and the first positioning block 63 is used to match and position with the tooling fixture 4. Preferably, the clamping extension arm 61 is connected to the outside of the clamping arm of the first clamping part 41 and the first positioning block 63 is embedded in the first positioning groove 44, so as to realize a reliable positioning connection between the clamping extension arm 61 and the first clamping part 41. More preferably, the first positioning groove 44 and the first positioning block 63 are both set as matching V-shaped structures. In order to facilitate positioning, the first positioning groove 44 is preferably a concave V-shaped structure and the first positioning block 63 is preferably a protruding V-shaped structure, and the protrusion height of the first positioning block 63 is less than or equal to the concave depth of the first positioning groove 44, so as to ensure that the first positioning block 63 and the first positioning groove 44 will not fall off during assembly and transportation.

[0045] For example Figure 4 As shown, preferably, the clamping arm of the first clamping part 41 is at least partially provided with a first positioning groove 44 arranged in the front-back direction and a first positioning groove 44 arranged in the up-down direction. Both first positioning grooves 44 are configured with a V-shaped structure, and the two first positioning grooves 44 partially intersect; correspondingly, as Figure 2 As shown, the portion of the extended end of the clamping arm 61 connected to the first clamping part 41 is provided with a first positioning groove 44 arranged in the front-to-back direction and a first positioning groove 44 arranged in the up-down direction. The first positioning grooves 44 and the first positioning block 63, which are arranged in the same direction, are matched and connected to each other, thereby further improving the positioning accuracy and connection reliability between the tooling fixture 4 and the clamping mechanism 6.

[0046] Understandably, the positions of the first positioning groove 44 and the first positioning block 63 can be interchanged between the clamping mechanism 6 and the tooling fixture 4. That is, in addition to the arrangement described in this embodiment, the first positioning groove 44 can also be provided on the clamping mechanism 6 and the first positioning block 63 can be provided on the tooling fixture 4, as long as a reliable positioning connection between the clamping mechanism 6 and the tooling fixture 4 can be achieved.

[0047] In some specific embodiments, to ensure reliable positioning and installation of the superconducting cavity 3 and improve stability and safety during transportation, the second clamping part 42 is preferably provided with a second positioning part 45 that matches the buffer mechanism 8. (Refer to...) Figure 4 and Figure 5As shown, the second clamping part 42 is provided with a second positioning part 45 facing the buffer mechanism 8; correspondingly, the top plate 27 of the buffer mechanism 8 is provided with a second positioning block 22 facing the tooling fixture 4. Preferably, the top plate 27 of the buffer mechanism 8 is provided with a pair of second positioning blocks 22, and a pair of clamping arms of the second clamping part 42 are provided with a pair of second positioning parts 45 at positions corresponding to the buffer mechanism 8. The pair of second positioning blocks 22 on the buffer mechanism 8 are provided in accordance with the positions of the pair of clamping arms of the second clamping part 42, so as to ensure that when the tooling fixture 4 is assembled on the buffer mechanism 8, the pair of second positioning parts 45 and the pair of second positioning blocks 22 can be reliably positioned and embedded in each other, realizing a reliable positioning connection between the buffer mechanism 8 and the tooling fixture 4. More preferably, the second positioning part 45 and the second positioning block 22 are both provided with a matching V-shaped structure. Furthermore, for ease of positioning, the second positioning block 22 is preferably a concave V-shaped structure, and the second positioning part 45 is a protruding V-shaped structure. The protruding height of the second positioning part 45 is less than or equal to the concave depth of the second positioning block 22. This ensures that the second positioning block 22 and the second positioning part 45 will not fall off during assembly and transportation, thereby preventing the tooling fixture 4 and even the superconducting cavity 3 from shifting or detaching.

[0048] Understandably, in order to accurately detect the pressure data of the buffer mechanism 8, it is preferable that a pair of second positioning blocks 22 are installed on the same connecting plate 43, which is located on the top plate 27 of the buffer mechanism 8, and the pressure sensor 18 is installed between the connecting plate 43 and the top plate 27.

[0049] In some embodiments, such as Figure 1 and Figure 6As shown, the support mechanism also includes a guide vehicle 1 and a support frame 2. The guide vehicle 1 is equipped with several casters, providing a basic structure for the movement and transport of the device. Preferably, the guide vehicle 1 is an automated guided vehicle (AGV), which has high-precision navigation and positioning functions to ensure accurate movement of the device in the cleanroom environment. The support frame 2 is mounted on the guide vehicle 1. The support mechanism 5 and the buffer mechanism 8 are respectively mounted on the support frame 2. The support mechanism also includes a traction mechanism and a rack. The traction mechanism is located within the frame of the guide vehicle 1 and connected to the rack below. The traction mechanism provides power for the movement of the guide vehicle 1 and the traction force for transporting the superconducting cavity 3. Preferably, the traction mechanism has a connecting hook on its side, which can be connected and fixed to the frame of the guide vehicle 1. Preferably, the traction mechanism has a power battery pack inside to provide power for the movement of the guide vehicle 1. Preferably, the support frame 2 is mounted and fixed with bolts or other connectors. The rack is used for storing and transporting the superconducting cavity components. The rack structure is robust and capable of supporting the weight of the superconducting cavity 3 and all other mechanisms on the support mechanism. On the support frame 2, between the support mechanism 5 and the buffer mechanism 8, there is a mounting position for installing the superconducting cavity 3, which is correspondingly located on the rack. That is, the support frame 2 is the bottom support platform for the superconducting cavity assembly, providing overall support for the superconducting cavity assembly at the bottom of the superconducting cavity 3. Thus, the traction mechanism drives the guide carriage 1 to move, thereby moving the support frame 2, and ultimately moving the entire device to achieve reliable transport of the entire superconducting cavity assembly. It is understood that the superconducting cavity assembly in the clamped state described in this embodiment includes a tooling fixture 4 and the superconducting cavity 3 assembled in the tooling fixture 4. That is, the superconducting cavity 3 is assembled and fixed in the tooling fixture 4 to constitute the aforementioned superconducting cavity assembly. After the superconducting cavity assembly is positioned on the buffer mechanism 8 and held and fixed to the support mechanism 5, the traction mechanism drives the guide car 1 to move, which in turn drives the support platform 2 to move as a whole, thereby driving the shelf to move, and then driving the superconducting cavity assembly located on the shelf and all related mechanisms set on the support platform 2 to move, thereby realizing the automated transportation of the superconducting cavity 3, ensuring the reliability of the transportation process, and effectively avoiding the generation of impurity particles that affect the cleanliness of the external environment.Of course, the guide vehicle 1 can also be omitted. Instead, the support frame 2 can be lifted and moved directly by means of a robotic arm grabbing the support frame 2 or by a gantry crane, thereby moving the support frame 2 and the superconducting cavity 3 in the clamped state to the target position, thus realizing reliable automated handling of the device and the superconducting cavity 3. Since directly grabbing the superconducting cavity 3 by the robotic arm can easily cause wear to the outer wall of the superconducting cavity 3, resulting in the shedding of debris particles from the outer wall of the superconducting cavity 3, thus affecting the cleanliness of the assembly environment of the superconducting cavity 3, it is necessary to set up the tooling fixture 4 and the clamping mechanism 6. This is because the combination of the tooling fixture 4 and the clamping mechanism 6 can not only greatly improve the fixing strength and reliability of the superconducting cavity 3 during transportation, but also protect the outer wall structure of the superconducting cavity 3. By forming the minimum connection area on the outer wall of the superconducting cavity 3, the superconducting cavity 3 can be fixed and protected with the greatest possible strength. Similarly, both the guide vehicle 1 and the robotic arm or gantry crane can be configured. By utilizing the synergistic effect of the guide vehicle 1 and the robotic arm, the support platform 2 can be moved simultaneously or sequentially. This allows the support platform 2 and the superconducting cavity 3, which is held and fixed between the tooling fixture 4 and the clamping mechanism 6, to be moved together. This enables reliable automated handling of the superconducting cavity 3, improves production efficiency, reduces manual intervention, and further reduces the generation of microparticles.

[0050] In some embodiments, the device further includes a control module (not shown in the figure), which is connected to the clamping drive mechanism 7 and the buffer mechanism 8. The control module is responsible for coordinating the actions of each mechanism to ensure the overall automated operation of the device. For example, referring to the automatic handling method described below, the control module can detect whether the pressure borne by the buffer mechanism 8 has reached a preset value according to the instructions, and generate corresponding control instructions to drive the self-locking operation of the buffer mechanism 8 and the driving operation of the clamping drive mechanism 7, thereby automatically performing clamping and releasing operations on the assembled superconducting cavity 3, improving the degree of automation control of the device.

[0051] The following is combined with Figure 7 The automatic handling method provided by the present invention will be described below, and the automatic handling method described below can be referred to in correspondence with the automatic handling device described above.

[0052] The automatic handling method described in this embodiment of the invention is applied to the above-mentioned automatic handling device. Therefore, the automatic handling method has all the advantages of the above-mentioned automatic handling device, which will not be elaborated here.

[0053] The method includes the following steps.

[0054] Step 1: Pre-assemble the tooling fixture 4 onto the superconducting cavity 3 to be transported, forming a superconducting cavity assembly in a clamped state. Preferably, the tooling fixture 4 is pre-assembled with the superconducting cavity 3 to be transported manually before transportation to form the superconducting cavity assembly described above. (Refer to...) Figure 4As shown. Two sets of sleeve interfaces are formed between a pair of first clamping parts 41 and a pair of second clamping parts 42 of the tooling fixture 4, so that the superconducting cavity 3 can be fitted into the sleeve interface. Preferably, the first clamping parts 41 and the second clamping parts 42 are provided with hanging ears facing the sleeve interface for hanging the superconducting cavity 3, thereby realizing the hanging connection between the superconducting cavity 3 and the tooling fixture 4.

[0055] Step 2: Position the tooling fixture 4 of the superconducting cavity assembly in the clamping state on the buffer mechanism 8, and connect the tooling fixture 4 to the clamping mechanism 6 so that the superconducting cavity 3 of the superconducting cavity assembly in the clamping state can stand upright along its axis between the support mechanism 5 and the buffer mechanism 8. Preferably, the superconducting cavity assembly is placed on the support platform 2 as a whole by means of a robotic arm. The horizontal position and vertical height of the superconducting cavity assembly are adjusted by means of the robotic arm so that the tooling fixture 4 is positioned on the buffer mechanism 8, and the bottom of the superconducting cavity 3 is located in the mounting position above the shelf of the support platform 2. The second clamping part 42 of the tooling fixture 4 is correspondingly mounted on a pair of auxiliary frames 52 of the support mechanism 5. At this time, the first clamping part 41 of the tooling fixture 4 can be located between a pair of clamping extension arms 61 of the clamping mechanism 6.

[0056] Step 3: When the buffer mechanism 8 detects that the pressure from the tooling fixture 4 has reached the preset range, the clamping mechanism 6 is driven by the clamping drive mechanism 7 to apply a clamping force to the tooling fixture 4 so that the tooling fixture 4 can clamp and fix it to the radial outside of the superconducting cavity 3, thereby fixing the superconducting cavity 3 to the support mechanism.

[0057] Step 4: Move the support structure to the target location.

[0058] In some embodiments, reference Figure 7 As shown, the above method further includes the following steps.

[0059] Step 0: The tooling fixture 4 is assembled onto the superconducting cavity 3 by manual operation in advance to form the superconducting cavity assembly described above.

[0060] Step 1: The guide car 1 is driven by the traction mechanism to move the shelf to the designated position. The designated position is the location of the superconducting cavity assembly after assembly.

[0061] Step 2: The entire superconducting cavity assembly is gripped by the gripping points on the tooling fixture 4 of the robotic arm. The gripping points on the tooling fixture 4 are preferably located on the connecting plate 43 of the tooling fixture 4. (Refer to...) Figure 4 As shown, the four positioning posts are distributed on the connecting plate 43 according to the positions of the vertices of the rectangle, so as to facilitate the robotic arm's grasping.

[0062] Step 3: The superconducting cavity assembly is removed from the designated position by the robotic arm and moved to the support frame 2 on the guide vehicle 1 so that the superconducting cavity 3 of the superconducting cavity assembly can be placed vertically and slowly on the mounting position next to the bracket mechanism 5 on the support frame 2, until the bottom of the tooling fixture 4 of the superconducting cavity assembly is positioned on the second positioning block 22 of the buffer mechanism 8.

[0063] Step 4: The pressure sensor 18 of the buffer mechanism 8 detects the pressure value of the bottom of the tooling fixture 4 of the superconducting cavity assembly against the second positioning block 22 in real time until the pressure sensor 18 detects that the pressure value when the superconducting cavity assembly is placed reaches the preset range.

[0064] Step 5: When the pressure value of the superconducting cavity assembly is within the preset range, the clamping drive mechanism 7 is started and drives the clamping mechanism 6 to move. The clamping mechanism 6 clamps the tooling fixture 4 to fix the superconducting cavity 3, so that the superconducting cavity assembly is fixedly connected to the support mechanism 5 and positioned on the buffer mechanism 8, thereby ensuring that the superconducting cavity 3 will not move or fall off during transportation.

[0065] Step 6: Drive the guide car 1 using the power of the traction mechanism to move the support platform 2, which carries the superconducting cavity assembly, to the target position. The target position refers to the target placement location of the superconducting cavity 3.

[0066] It should be noted that the order between steps 0 and 1 can be adjusted according to actual needs. That is, step 0 can be executed before step 1; step 0 can be executed between step 1 and step 2; or step 0 and step 1 can be executed simultaneously.

[0067] It should be noted that, in order to avoid the bottom of the superconducting cavity 3 of the superconducting cavity assembly in the clamping state colliding with the support platform 2, for the superconducting cavity assembly in the clamping state, it is preferable that the distance between the first clamping part 41 and the second clamping part 42 of the tooling fixture 4 is less than the axial length of the superconducting cavity 3; it is also preferable that the distance between the second clamping part 42 of the tooling fixture 4 and the bottom of the superconducting cavity 3 is less than the vertical height of the auxiliary frame 52 of the support mechanism 5.

[0068] It should be noted that, in order to ensure a reliable positioning and clamping connection between the clamping mechanism 6 and the tooling fixture 4 of the superconducting cavity assembly in the clamping state, preferably when the superconducting cavity assembly in the clamping state is assembled on the support frame 2, the difference between the vertical distance of the first clamping part 41 of the tooling fixture 4 relative to the support frame 2 and the vertical distance between the clamping mechanism 6 and the support frame 2 is within the allowable range of material deformation of the first clamping part 41, thereby ensuring that the clamping mechanism 6 and the first clamping part 41 can be accurately clamped and connected.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated transport device for use in a radio frequency superconducting accelerating cavity, characterized in that, include: Supporting institutions; A buffer mechanism is provided on the support mechanism; The buffer mechanism includes a base plate, a top plate, and a pair of buffer self-locking units. The base plate is disposed on the support mechanism, and the top plate is disposed above the base plate. The base plate and the top plate are connected by several support rods, and the pair of buffer self-locking units are connected to the top plate. A support mechanism is provided on one side of the support mechanism; A tooling fixture is disposed on the other side of the support mechanism; one end of the tooling fixture is mounted on the bracket mechanism, and the other end of the tooling fixture is mounted on the buffer mechanism; the tooling fixture includes a first clamping part, a second clamping part, and a connecting plate, wherein the first clamping part and the second clamping part are respectively clamped at both ends of the axial direction of the radio frequency superconducting acceleration cavity, and the first clamping part and the second clamping part are connected through the connecting plate; A clamping mechanism is connected between the support mechanism and the tooling fixture, and the clamping mechanism includes a pair of clamping extension arms; A clamping drive mechanism is provided, with one end of a pair of clamping extension arms connected to the clamping drive mechanism, and the other ends of the pair of clamping extension arms arranged in parallel on both sides of the tooling fixture.

2. The automatic transport device for a radio frequency superconducting accelerating cavity according to claim 1, characterized in that, The clamping mechanism includes: A pair of clamping guides are arranged side by side on the top of the support mechanism. One end of each pair of clamping guides is connected to a pair of clamping extension arms, and the other end of each pair of clamping guides is connected to the clamping drive mechanism. The clamping drive mechanism can drive a pair of clamping guides to move in opposite directions along the radial direction of the radio frequency superconducting acceleration cavity, so as to enable a pair of clamping extension arms to clamp onto both sides of the tooling fixture.

3. The automatic transport device for a radio frequency superconducting accelerating cavity according to claim 2, characterized in that, The clamping drive mechanism includes: The housing is connected to the support mechanism, and a guide rail is provided on the housing; A pair of sliders are respectively connected to a pair of clamping guides, and the pair of sliders are arranged side by side in the guide rail; A bidirectional lead screw, with a pair of sliders connected to each end, wherein the bidirectional lead screw can drive the pair of sliders to move in opposite directions by rotation; A drive motor is connected to the bidirectional lead screw.

4. The automatic transport device for a radio frequency superconducting accelerating cavity according to claim 3, characterized in that, The clamping drive mechanism also includes: A pulley is fitted to one end of the bidirectional lead screw; A timing belt is used to connect the pulley and the output shaft of the drive motor. The bearing housing is assembled at the other end of the bidirectional lead screw.

5. The automatic transport device for a radio frequency superconducting accelerating cavity according to claim 2, characterized in that, The clamping extension arm is provided with a first positioning block on the side facing the tooling fixture, and the first positioning block is used to match and position with the tooling fixture.

6. The automatic transport device for a radio frequency superconducting accelerating cavity according to any one of claims 1-5, characterized in that, The buffer mechanism further includes: The second positioning block is disposed above the top plate and is used to match and position with the tooling fixture. A pressure sensor is connected between the second positioning block and the top plate; A dual-axis motor is disposed in the space between the base plate and the top plate; a pair of buffer self-locking units are respectively connected to a pair of output shafts of the dual-axis motor.

7. The automatic transport device for a radio frequency superconducting accelerating cavity according to claim 6, characterized in that, The buffer self-locking unit includes: An eccentric cam is mounted on the extended end of the output shaft of the dual-axis motor; A self-locking plate is located below the eccentric cam; A buffer rod is connected between the self-locking plate and the top plate; The long axis of the eccentric cam can rotate to a position connected to the self-locking plate, so that the buffer rod can be extended and supported under the top plate.

8. The automatic transport device for a radio frequency superconducting accelerating cavity according to any one of claims 1-5, characterized in that, The connecting plate and the support mechanism are respectively located on the radial sides of the radio frequency superconducting acceleration cavity; the first clamping part is provided with a first positioning groove that matches the clamping mechanism; the second clamping part is provided with a second positioning part that matches the buffer mechanism.

9. The automatic transport device for a radio frequency superconducting accelerating cavity according to any one of claims 1-5, characterized in that, The supporting structure includes: The guided vehicle is equipped with several omnidirectional wheels; A support frame is mounted on the guide vehicle. The support mechanism and the buffer mechanism are respectively mounted on the support frame. A mounting position for mounting the radio frequency superconducting acceleration cavity is provided between the support mechanism and the buffer mechanism.

10. An automated handling method for use in a radio frequency superconducting accelerating cavity, characterized in that, Applied to the apparatus as described in any one of claims 1-9, comprising the following steps: The tooling fixture is pre-assembled on the radio frequency superconducting accelerating cavity to be transported, forming a superconducting cavity assembly in a clamped state; The tooling fixture of the superconducting cavity assembly in the clamping state is positioned on the buffer mechanism, and the tooling fixture is connected to the clamping mechanism so that the radio frequency superconducting acceleration cavity of the superconducting cavity assembly in the clamping state can stand upright along its axis between the support mechanism and the buffer mechanism. When the buffer mechanism detects that the pressure from the tooling fixture reaches a preset range, the clamping mechanism is driven by the clamping drive mechanism to apply a clamping force to the tooling fixture, so that the tooling fixture can clamp and fix it to the radial outside of the radio frequency superconducting acceleration cavity, thereby fixing the radio frequency superconducting acceleration cavity to the support mechanism. Simply move the support mechanism to the target location.

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