Dual-post telescoping stabilizing work device and method of installing heavy load components of a nuclear fusion vacuum chamber

Abstract

The application discloses a double-column telescopic stabilizing operation device for heavy-load components of a nuclear fusion vacuum cavity, which comprises an arc-shaped guide rail arranged in the nuclear fusion vacuum cavity, a moving platform, a rotary support, a rotating platform, two column guide mechanisms, two lifting parts, a lifting driving mechanism and a manipulator; through the coordinated movement of the moving platform, the rotating platform, the double-column guide mechanisms, the lifting platform and the manipulator in multiple degrees of freedom, large-range transfer and precise alignment and installation of the heavy-load components in the narrow space of the nuclear fusion vacuum cavity are realized. The setting of the manipulator structure in the double-column guide mechanism eliminates the bending moment concentration problem of the single-column cantilever structure, and improves the carrying rigidity and the anti-unbalance load capacity. Meanwhile, the linkage design of the front telescopic mechanism and the tail counterweight self-balancing mechanism enables the dynamic adjustment of the gravity center of the whole machine when the heavy-load component is extended, and effectively reduces the overturning risk.

Description

Technical Field

[0001] This invention relates to the field of nuclear fusion device installation and maintenance technology, and in particular to a dual-column telescopic stabilization device and a method for installing heavy-duty components of a nuclear fusion vacuum chamber. Background Technology

[0002] A tokamak nuclear fusion device typically includes a ring-shaped vacuum chamber, inside which internal components such as the blanket module, shielding structure, divertor, and internal coils are housed. The blanket module is usually arranged circumferentially along the inner wall of the vacuum chamber; each module is relatively large, with some weighing several tons, making them heavy-duty components. Their installation locations are distributed in different areas around the circumference of the vacuum chamber.

[0003] Because a vacuum chamber is a spatially confined annular cavity, the size of its window connecting it to the external space is limited. Once the main structure of the vacuum chamber is formed, equipment used for installation and maintenance typically needs to enter the interior through this limited window. Therefore, the equipment used for installing heavy-duty components inside the chamber not only needs to have a large load-bearing capacity and operating range, but also needs to consider the dimensions of the equipment itself, its transport dimensions, and its obstacle avoidance capabilities within the confined space of the vacuum chamber.

[0004] For installation scenarios that require access to the vacuum chamber through a size-constrained window, and further lifting, extension, rotation, and precise attitude adjustment of heavy-duty components weighing several tons within the vacuum chamber, there is still a need for further improvement.

[0005] If a single-column cantilever installation mechanism is used, when the front end bears a large mass of cladding module and extends with a large stroke, the cantilever bending moment is large, and the structure is prone to bending deformation, which is not conducive to improving the installation stability and positioning accuracy under heavy load.

[0006] Simply increasing the cross-sectional dimensions of components such as columns, guide rails, and load-bearing beams to improve rigidity would increase the lateral dimensions of the equipment, making it difficult for the equipment to pass through the vacuum chamber window and also hindering rotation and position adjustment within the narrow annular space inside the vacuum chamber.

[0007] In addition, when the drive and guide components of a traditional telescopic mechanism are arranged separately, the retracted structure of the telescopic mechanism is relatively large, making it difficult to simultaneously accommodate a small storage size and a large working stroke. Furthermore, as the heavy-duty components move forward with the telescopic mechanism, the center of gravity of the robot arm will shift significantly, causing the robot arm's slewing bearing and slewing drive mechanism to bear a large overturning moment.

[0008] Therefore, there is a need for a heavy-duty installation system that can achieve circumferential movement, overall rotation, heavy-load synchronous lifting and lowering, and attitude adjustment of heavy-load components within the confined space of a nuclear fusion vacuum chamber, while also ensuring structural compactness, load-bearing stiffness, and installation stability. Summary of the Invention

[0009] The purpose of this invention is to provide a double-column telescopic stabilizing device for heavy-duty components of a nuclear fusion vacuum chamber and a method for installing heavy-duty components of a nuclear fusion vacuum chamber, so as to solve at least one of the following problems: difficulty in matching equipment size with window size, large deformation under single-column cantilever bearing, difficulty in balancing heavy-duty bearing and compact structure, mutual constraint between telescopic stroke and storage size, and large overturning moment after heavy-duty extension of the front end.

[0010] The first aspect of this invention discloses a dual-column telescopic stabilizing working device for heavy-duty components in a nuclear fusion vacuum chamber, comprising an arc-shaped guide rail, a moving platform, a slewing bearing, a rotating platform, two column guide mechanisms, two lifting parts, a lifting drive mechanism, and a robotic arm disposed within the nuclear fusion vacuum chamber; the moving platform is configured to be movably mounted on the arc-shaped guide rail; the rotating platform is mounted on the moving platform via the slewing bearing and is rotatable relative to the moving platform about the vertical direction;

[0011] The two column guide mechanisms are spaced apart on the rotating platform. Each column guide mechanism is equipped with a lifting guide component extending in the vertical direction. The two lifting parts are respectively moved and cooperated with the two lifting guide components. The lifting drive mechanism drives the two lifting parts to move relative to the lifting guide components to lift and lower.

[0012] The robotic arm is located between the two column guide mechanisms. The robotic arm includes a robotic arm body, a front telescopic mechanism, and a counterweight self-balancing mechanism. The two sides of the robotic arm body are rotatably supported by the two lifting parts, allowing the robotic arm to rise and fall with the two lifting parts and rotate relative to them. The front telescopic mechanism includes a telescopic member movable relative to the robotic arm body and a telescopic drive mechanism for driving the telescopic member to extend and retract relative to the robotic arm body in a first direction. The front end of the telescopic member has a heavy-duty member connecting part for connecting a heavy-duty member to be installed. The counterweight self-balancing mechanism is located on the side of the robotic arm body opposite to the front telescopic mechanism and includes a counterweight that can move relative to the robotic arm body in the first direction. The position of the counterweight can be adjusted according to the extension state of the front telescopic mechanism and / or the load state of the heavy-duty member to be installed, thereby changing the center of gravity position of the robotic arm.

[0013] In some embodiments, the two column guide mechanisms are connected by at least one detachable connection structure that can be removed from the two column guide mechanisms.

[0014] In some embodiments, the detachable connection structure is provided with a lifting connection part for connecting a lifting device.

[0015] In some embodiments, the column guide mechanism includes a bottom slider movable relative to the rotating platform and a column position adjustment drive mechanism for driving the bottom slider. The column position adjustment drive mechanism adjusts the position of the two column guide mechanisms relative to the rotating platform by driving the bottom slider to move relative to the rotating platform.

[0016] In some embodiments, the lifting drive mechanism includes two servo drive devices that are respectively driven and connected to the two lifting parts in a one-to-one manner, and the two servo drive devices keep the height difference between the two lifting parts within a preset range.

[0017] In some embodiments, the lifting drive mechanism includes a ball screw drive mechanism, a worm gear drive mechanism, a rack and pinion drive mechanism, or a chain drive mechanism.

[0018] In some embodiments, the front telescopic mechanism is connected to the main body of the robot arm via a first telescopic drive mechanism, and the counterweight is connected to the telescopic member via a second telescopic drive mechanism.

[0019] In some embodiments, an end-rotation mechanism is provided between the heavy-duty component connecting portion and the front telescopic mechanism. The end-rotation mechanism includes an end-rotation support and an end-rotation drive device to enable the heavy-duty component connecting portion to rotate relative to the front telescopic mechanism.

[0020] In some embodiments, the robotic arm is provided with a detection component, which includes at least two of an imaging device, a laser rangefinder, and a laser target detection device. The detection component is used to acquire position or attitude information of the robotic arm and / or the heavy-duty component to be installed relative to the target installation position.

[0021] In some embodiments, at least one detachable heavy-duty component lifting and adjustment mechanism is also included, which is used to adjust the position and / or attitude of the heavy-duty component to be installed as it passes through the window of the nuclear fusion vacuum cavity, and to transfer the adjusted heavy-duty component to be installed to the robotic arm.

[0022] In some embodiments, the heavy-duty component lifting and adjustment mechanism includes a lower lifting module detachably mounted on the rotating platform, a lifting module disposed above the lower lifting module, a horizontal rotation module disposed above the lifting module, and an angle flipping module disposed on the horizontal rotation module and rotated about the vertical direction by the horizontal rotation module. During operation, the angle flipping module supports and flips the heavy-duty component to adjust the angle of the heavy-duty component relative to the horizontal plane.

[0023] In some embodiments, the lower lifting module includes a plurality of telescopic cylinders that extend and retract in a vertical direction; the lifting module includes a scissor mechanism disposed at the top of the plurality of telescopic cylinders; the horizontal rotation module includes a rotary module that rotates about a vertical direction; and the angle flipping module includes a support base fixedly connected to the rotary module, a flipping member hinged to the support base in a horizontal direction, and a telescopic drive member with both ends hinged to the support base and the flipping member in a horizontal direction, respectively.

[0024] In some embodiments, the angle flipping module further includes a support member connected to the flipping member, the support member being used to support the heavy-duty member and the upper surface of the support member matching the shape of the surface in contact with the heavy-duty member.

[0025] In some embodiments, the mobile platform includes a platform body, a traveling part that moves in conjunction with the arc-shaped guide rail, and a moving drive device connected between the platform body and the arc-shaped guide rail for driving the platform body to move relative to the arc-shaped guide rail. The moving drive device includes a rail clamp for locking the position of the platform body relative to the arc-shaped guide rail and a moving telescopic mechanism with both ends respectively hinged to the rail clamp.

[0026] In some embodiments, the mobile platform includes at least two mobile drive devices, and the mobile telescopic mechanism includes an electric telescopic cylinder.

[0027] The second aspect of this invention discloses a method for installing heavy-duty components of a nuclear fusion vacuum chamber using any one of the dual-column telescopic stabilizing working devices described in any one of the claims, comprising: disassembling at least a portion of the structure of the dual-column telescopic stabilizing working device into modules capable of passing through windows of the nuclear fusion vacuum chamber, and sequentially transporting the disassembled modules into the nuclear fusion vacuum chamber for assembly; controlling a moving platform to move along an arc-shaped guide rail within the nuclear fusion vacuum chamber, so that a robotic arm reaches a circumferential position corresponding to the target installation area; controlling a rotating platform to rotate, and controlling two lifting parts respectively disposed on two column guide mechanisms to rise and fall synchronously, so that the robotic arm located between the two column guide mechanisms reaches a height corresponding to the target installation position. The robot arm is positioned and oriented according to its orientation; the heavy-duty component connecting part is connected to the heavy-duty component to be installed, and the front telescopic mechanism of the robot arm is driven to extend; during the extension of the front telescopic mechanism, the counterweight on the other side of the robot arm is moved to adjust the center of gravity of the robot arm according to the extension state of the front telescopic mechanism and / or the load state of the heavy-duty component to be installed; the position and orientation of the heavy-duty component to be installed are adjusted by coordinating at least two of the movements of the moving platform, the rotating platform, the two lifting parts, the front telescopic mechanism, and the rotational movement of the robot arm, so that the heavy-duty component to be installed is aligned with the target installation position; the heavy-duty component to be installed is installed at the target installation position.

[0028] In some embodiments, when controlling the lifting of the two lifting units, position data of the two lifting units are acquired, and servo drive devices corresponding to the two lifting units are controlled according to the position data of the two lifting units respectively, so that the two lifting units move synchronously.

[0029] In some embodiments, during the process of the front telescopic mechanism extending while carrying the heavy-duty component to be installed, the counterweight is controlled to move in the opposite direction to the extension direction of the front telescopic mechanism, based on the mass of the heavy-duty component to be installed and / or the extension amount of the front telescopic mechanism.

[0030] In some embodiments, when aligning the heavy-duty component to be installed: image information of the heavy-duty component to be installed and / or the target installation position is acquired by an imaging device; distance information between the heavy-duty component to be installed and the surrounding structure and / or the target installation position is acquired by a laser rangefinder; the position or attitude deviation of the heavy-duty component to be installed relative to the target installation position is determined based on the image information and the distance information; and the double-column telescopic stabilizing device is controlled to perform compensating movement based on the position or attitude deviation.

[0031] In some embodiments, when the heavy-duty component to be installed passes through the window of the nuclear fusion vacuum chamber, the position and / or attitude of the heavy-duty component to be installed is adjusted by the heavy-duty component lifting and adjustment mechanism within the nuclear fusion vacuum chamber, and the adjusted heavy-duty component to be installed is then transferred to the robotic arm.

[0032] Based on the present invention, a dual-column telescopic stabilizing working device for heavy-duty components in a nuclear fusion vacuum chamber achieves large-scale transfer and precise alignment of heavy-duty components within the confined space of the nuclear fusion vacuum chamber through the coordinated movement of multiple degrees of freedom of the moving platform, rotating platform, dual-column guiding mechanism, lifting platform, and robotic arm. The centrally located robotic arm structure in the dual-column guiding mechanism eliminates the moment concentration problem of a single-column cantilever structure, improving load-bearing rigidity and resistance to eccentric loads. Simultaneously, the linkage design of the front telescopic mechanism and the rear counterweight self-balancing mechanism allows for dynamic adjustment of the overall center of gravity when the heavy-duty component extends, effectively reducing the risk of tipping over. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of a double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum cavity according to an embodiment of the present invention.

[0035] Figure 2 This is a schematic diagram of a double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, according to another embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of a double-column telescopic stabilization device for a heavy-duty component of a nuclear fusion vacuum cavity, according to another embodiment of the present invention.

[0037] Figure 4 for Figure 1 A schematic diagram of a portion of the structure of the double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, as shown in the embodiment.

[0038] Figure 5 for Figure 1 A schematic diagram of a portion of the structure of the double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, as shown in the embodiment.

[0039] Figure 6 for Figure 1 A schematic diagram of a portion of the structure of the double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, as shown in the embodiment.

[0040] Figure 7 for Figure 1 A schematic diagram of a portion of the structure of the double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, as shown in the embodiment.

[0041] Figure 8 for Figure 1 A schematic diagram of a portion of the structure of the double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, as shown in the embodiment.

[0042] Figure 9 for Figure 1 A schematic diagram of a portion of the structure of the double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, as shown in the embodiment.

[0043] Figure 10 for Figure 1 A schematic diagram of a portion of the structure of the double-column telescopic stabilization device for heavy-duty components of a nuclear fusion vacuum chamber, as shown in the embodiment;

[0044] Figure 11 for Figure 1 The diagram shows a partial structural design of a dual-column telescopic stabilization device for heavy-duty components in a nuclear fusion vacuum chamber, as illustrated in the embodiment. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0047] In the description of this invention, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0048] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0050] like Figures 1 to 10As shown, the dual-column telescopic stabilizing working device 140 for the heavy-duty component 130 of the nuclear fusion vacuum chamber 110 in this embodiment includes an arc-shaped guide rail 11, a moving platform 12, a slewing bearing 13, a rotating platform 21, two column guide mechanisms 3, two lifting parts 32, a lifting drive mechanism, and a robotic arm 4, all located within the nuclear fusion vacuum chamber 110.

[0051] The embodiment shown illustrates a portion of the structure of a tokamak fusion device 100, with a ring-shaped fusion vacuum chamber 110 located within this structure. In the embodiment shown, the heavy-duty component 130 includes a blanket module.

[0052] In the embodiment shown in the figure, the arc-shaped guide rail 11 is arranged circumferentially along the nuclear fusion vacuum cavity 110 and is fixedly installed on the bottom of the vacuum cavity or the bottom support structure. The curvature of the arc-shaped guide rail 11 matches the circumferential curvature of the nuclear fusion vacuum cavity 110, providing a precise guiding path for the circumferential moving platform 12.

[0053] The mobile platform 12 is configured to be movably mounted on the arc-shaped guide rail 11; the mobile platform 12 serves as the supporting foundation for the entire device. In the embodiment shown, the mobile platform 12 can move circumferentially along the arc-shaped guide rail 11 inside the vacuum chamber, thereby transporting the working device to any target position circumferentially within the vacuum chamber. In the embodiment shown, the circumferential arrangement of the arc-shaped guide rail allows the mobile platform 12 to cover the entire circumferential area of ​​the vacuum chamber, enabling the working device to reach any installation position of the cladding module.

[0054] like Figure 4 and Figure 5 As shown, the rotating platform 21 is mounted on the moving platform 12 via a slewing bearing 13 and is rotatable relative to the moving platform in a vertical direction. One of the inner or outer rings of the slewing bearing 13 is fixedly connected to the moving platform 12, and the other is fixedly connected to the rotating platform 21. The slewing bearing 13 is driven to rotate by a slewing drive device 14, thereby achieving the rotational movement of the rotating platform 21 relative to the circumferential moving platform 12 around a vertical axis. In the embodiment shown, the outer ring of the slewing bearing 13 is fixedly connected to the rotating platform 21, and a toothed ring is provided on the outer circumferential side of the outer ring. The slewing drive device 14 includes a motor mounted on the moving platform and a toothed belt meshing with the toothed ring of the outer ring. The motor drives the gear to rotate, and the gear drives the toothed belt to rotate, thereby causing the outer ring of the slewing bearing 13 to rotate, thus achieving the rotation of the rotating platform 21.

[0055] Two column guide mechanisms 3 are spaced apart on the rotating platform 21. Each column guide mechanism 3 has a vertically extending lifting guide component 31. Two lifting parts 32 are respectively movably engaged with the two lifting guide components 31. The lifting drive mechanism drives the two lifting parts 32 to move relative to the lifting guide components 31 to lift and lower. Specifically, the lifting guide component 31 can be a guide rail or slide rail fixedly mounted vertically on the column guide mechanism 3, and the lifting part 32 is equipped with a slider that engages with the guide rail or slide rail. The lifting drive mechanism can be any one of a ball screw drive mechanism, a worm gear drive mechanism, a rack and pinion drive mechanism, or a chain drive mechanism. By having the two column guide mechanisms 3 respectively support the lifting parts 32, the lifting movement of the lifting parts 32 has higher load-bearing rigidity and operational stability.

[0056] The robotic arm 4 is located between two column guide mechanisms 3. The robotic arm 4 includes a robotic arm body 41, a front telescopic mechanism 42, and a counterweight self-balancing mechanism 43. The two sides of the robotic arm body 41 are rotatably supported by two lifting sections 32, allowing the robotic arm 4 to rise and fall with the two lifting sections 32 and rotate relative to them. Specifically, the left and right sides of the robotic arm body 41 are connected to the two lifting sections 32 via slewing bearings. In the embodiment shown, this is specifically achieved through a second slewing bearing 324 with a toothed ring connected to the lifting section 32. A slewing drive device (e.g., a slewing motor) can be installed on the lifting section 32 to drive the slewing bearing to rotate, thereby causing the robotic arm body 41 to rotate around a horizontal or inclined axis. This allows the robotic arm 4 to adjust its pitch angle or orientation while rising and falling.

[0057] The front telescopic mechanism 42 includes a telescopic member 421 movable relative to the robot body 41 and a telescopic drive mechanism for driving the telescopic member 421 to extend and retract relative to the robot body 41 in a first direction. The front end of the telescopic member 421 is provided with a heavy-duty member connecting part 423 for connecting the heavy-duty member 130 to be installed. The counterweight self-balancing mechanism 43 is disposed on the side of the robot body 41 opposite to the front telescopic mechanism 42. The counterweight self-balancing mechanism 43 includes a counterweight part 431 that can move relative to the robot body 41 in a first direction. The position of the counterweight part 431 can be adjusted according to the extension state of the front telescopic mechanism 42 and / or the load state of the heavy-duty member 130 to be installed, so as to change the center of gravity position of the robot 4. In the embodiment shown in the figure, the counterweight self-balancing mechanism 43 can adopt a counterweight block mounting structure that moves synchronously and in the opposite direction to the telescopic member 421, for example, by driving the counterweight part 431 to move in the opposite direction of the first direction through a lead screw or electric cylinder. When the front telescopic mechanism 42 extends forward to support the heavy-duty component 130, the counterweight 431 extends backward simultaneously, so that the center of gravity of the robot 4 is kept as close as possible to the center of the slewing bearing, thereby reducing the overturning moment borne by the slewing drive mechanism and the slewing bearing of the robot 4 and improving the stability and safety of operation.

[0058] The dual-column telescopic stabilizing device 140 for the heavy-duty component 130 of the nuclear fusion vacuum chamber 110 in this embodiment achieves large-scale transportation and precise alignment of the heavy-duty component 130 within the confined space of the nuclear fusion vacuum chamber 110 through the coordinated movement of multiple degrees of freedom of the moving platform 12, rotating platform 21, dual-column guide mechanism 3, lifting platform, and manipulator 4. The centrally located manipulator 4 in the dual-column guide mechanism 3 eliminates the moment concentration problem of the single-column cantilever structure, improving load-bearing rigidity and resistance to eccentric loads. Simultaneously, the linkage design between the front telescopic mechanism 42 and the rear counterweight self-balancing mechanism 43 allows for dynamic adjustment of the overall center of gravity when the heavy-duty component 130 extends, effectively reducing the risk of tipping over and ensuring operational stability and safety under heavy load conditions.

[0059] In some embodiments, such as Figure 2 and Figure 6 As shown, the two column guide mechanisms 3 are connected by at least one detachable connection structure 34, which can be removed from the two column guide mechanisms 3. The detachable connection structure 34 can be a bolted beam structure, with both ends of the beam fixedly connected to the upper end or middle of the two column guide mechanisms 3 by bolts. There can be one or more detachable connection structures 34. The main function of the detachable connection structure 34 is to connect the two column guide mechanisms 3 into a single frame under normal operating conditions, improving the overall rigidity and torsional resistance of the double columns and preventing relative displacement or deformation of the two columns when subjected to eccentric loads.

[0060] When installing cladding modules or other internal components on the inner ring of the vacuum chamber (i.e., the side closest to the center of the vacuum chamber), the space between the two column guide mechanisms 3 may interfere with the internal structure of the vacuum chamber due to the narrower space at the inner ring installation location. In this case, the detachable connection structure 34 can be removed from between the two column guide mechanisms 3, allowing them to move or avoid collisions with the inner wall of the vacuum chamber or installed components when needed. The detachable design of the detachable connection structure 34 ensures structural rigidity during normal operation while providing flexibility for operation in confined spaces.

[0061] This embodiment, through the setting of the detachable connection structure 34, allows the dual-column structure to flexibly switch between a rigidly connected overall frame mode and an independent separation mode, taking into account both operational rigidity and spatial adaptability, and effectively solving the interference problem between the dual-column structure and the inner wall of the vacuum chamber and the installed components in a confined space.

[0062] In some embodiments, the detachable connection structure 34 is provided with a lifting connection portion 341 for connecting a lifting device. The lifting connection portion 341 may be a lifting ring, lifting lug, or lifting hole provided on the detachable connection structure 34. The lifting connection portion 341 is preferably located in the center of the detachable connection structure 34 or arranged symmetrically to ensure balanced force during lifting. When the various modules of the dual-column telescopic stable working device 140 are transported into the nuclear fusion vacuum chamber through the window 120 for assembly, the detachable connection structure 34 can be lifted into place by a lifting device (such as a chain hoist or crane) through the lifting connection portion 341, facilitating on-site assembly. At the same time, when it is necessary to remove the working device from the vacuum chamber, the lifting connection portion 341 also facilitates the lifting device to lift and transport the structural components.

[0063] The hoisting connection 341 in this embodiment greatly facilitates the modular assembly and disassembly of the working device inside the vacuum chamber, reduces the assembly difficulty and the radiation exposure risk to operators, and improves on-site construction efficiency.

[0064] In some embodiments, such as Figure 3 and Figure 7As shown, the column guide mechanism 3 includes a bottom slider 35 movable relative to the rotating platform 21 and a column position adjustment drive mechanism 36 for driving the bottom slider 35. The column position adjustment drive mechanism 36 adjusts the position of the two column guide mechanisms 3 relative to the rotating platform 21 by driving the bottom slider 35 to move relative to the rotating platform 21. In the embodiment shown, the rotating platform 21 is provided with a guide rail extending in the horizontal direction, and the bottom slider 35 is slidably mounted on the guide rail. The column position adjustment drive mechanism 36 can be a ball screw drive mechanism, including a servo motor, a ball screw, and a screw nut. The screw nut is fixedly connected to the column guide mechanism 3, and the servo motor drives the ball screw to rotate, causing the bottom slider 35 to slide along the guide rail.

[0065] The position of the two column guide mechanisms 3 relative to the rotating platform 21 can be adjusted by adjusting the position of the column position drive mechanism 36, so that the position of the column guide mechanism 3 can be flexibly adjusted according to the actual working conditions.

[0066] In some embodiments, the lifting drive mechanism includes two servo drive devices 33, each corresponding to one of the two lifting sections 32, which maintain the height difference between the two lifting sections 32 within a preset range. Each column guide mechanism 3 is equipped with an independent servo drive device 33 for driving the corresponding lifting section 32 to rise and fall along the lifting guide assembly 31. Both servo drive devices 33 are connected to the control system signal. During operation, the control system acquires the position data of the two lifting sections 32 in real time (e.g., detected by an encoder or displacement sensor) and controls the operating state of the two servo drive devices 33 according to the position data, ensuring that the two lifting sections 32 maintain synchronous lifting and falling, with the height difference between them always controlled within a preset allowable range (e.g., not exceeding ±0.5mm). This embodiment, through dual servo independent drive and real-time synchronous control, ensures that the two lifting sections 32 maintain high-precision synchronous lifting and falling under any load conditions, preventing the double columns from tilting or jamming due to asynchrony, guaranteeing the smoothness and safety of the lifting motion, and providing a reliable lifting foundation for the precision installation of the heavy-duty component 130.

[0067] In some embodiments, the lifting drive mechanism includes a ball screw drive mechanism, a worm gear drive mechanism, a rack and pinion drive mechanism, or a chain drive mechanism.

[0068] In some embodiments, such as Figure 9As shown, the front telescopic mechanism 42 is connected to the robot body 41 via the first telescopic drive mechanism 441, and the counterweight 431 is connected to the telescopic member 421 via the second telescopic drive mechanism 442. In the embodiment shown, the first telescopic drive mechanism 441 includes a ball screw mechanism disposed between the front telescopic mechanism 42 and the robot body 41 and a motor for driving the ball screw mechanism. The second telescopic drive mechanism 442 includes a ball screw mechanism disposed between the counterweight 431 and the telescopic member 421 and a motor for driving the ball screw mechanism. The heavy-duty member connecting part 423 is disposed at the front end of the telescopic member 421. This embodiment, through the design of the first telescopic drive mechanism 441 and the second telescopic drive mechanism 442, achieves synchronous reverse movement of the front telescopic mechanism and the tail counterweight. While ensuring the large stroke extension capacity of the heavy-duty member 130, it effectively maintains the stability of the overall machine's center of gravity, reduces the overturning moment, and improves operational stability and safety.

[0069] In some embodiments, an end-rotation mechanism 424 is provided between the heavy-duty component connecting portion 423 and the front telescopic mechanism 42. The end-rotation mechanism 424 includes an end-rotation bearing and an end-rotation drive device to enable the heavy-duty component connecting portion 423 to rotate relative to the front telescopic mechanism 42. The end-rotation mechanism 424 is disposed between the front end of the telescopic member 421 of the front telescopic mechanism 42 and the heavy-duty component connecting portion 423. The inner ring of the end-rotation bearing is fixedly connected to the front end of the telescopic member 421, and the outer ring is fixedly connected to the heavy-duty component connecting portion 423 (or the connection method of the inner and outer rings is reversed). The end-rotation drive device can be a servo motor and a reduction gear, which drives the end-rotation bearing to rotate through the gear.

[0070] The end-effector rotation mechanism 424 provides an additional rotational degree of freedom for the heavy-duty component connection part 423, allowing the clamped or connected heavy-duty component 130 to rotate relative to the robot body 41 about the axis of the telescopic direction (i.e., the first direction). During the installation of the cladding module or other internal components, this rotational degree of freedom can be coordinated with the circumferential movement of the circumferential moving platform 12, the rotational movement of the rotating platform 21, the lifting movement of the lifting part 32, the rotational movement of the robot body 41, and the telescopic movement of the front telescopic mechanism 42 to achieve precise posture adjustment of the heavy-duty component 130, thereby meeting the accuracy requirements during the installation of the cladding module. This embodiment enables the heavy-duty component 130 to make more flexible posture adjustments during the installation process, significantly improving the accuracy and efficiency of installation alignment, and is especially suitable for the precision installation of heavy-duty components with complex installation angle requirements, such as cladding modules.

[0071] In some embodiments, the robotic arm 4 is equipped with a detection component, which includes at least two of an imaging device, a laser rangefinder, and a laser target detection device. The detection component is used to acquire position or attitude information of the robotic arm 4 and / or the heavy-duty component 130 to be installed relative to the target installation position. The imaging device can be a high-resolution camera (used in a non-radiation environment) or a radiation-resistant imaging tube analog camera (used in a radiation environment), used to acquire image information of the heavy-duty component 130 to be installed and the target installation position in real time. The imaging device is preferably installed at the front end of the robotic arm 4 or near the heavy-duty component connection portion 423 to obtain the optimal viewing angle. The laser rangefinder is used to measure the distance between the heavy-duty component 130 to be installed and surrounding structures (e.g., the inner wall of the vacuum cavity, adjacent installed cladding modules, etc.), and the distance between the heavy-duty component 130 to be installed and the target installation position. The laser rangefinder can be a lidar or a point laser displacement sensor. The laser target detection device is used to detect the position of the laser target points set on the heavy-duty component 130 to be installed and / or the target installation position. By calculating the spatial coordinates of multiple laser target points, the six-degree-of-freedom pose of the heavy-duty component 130 to be installed relative to the target installation position can be accurately determined. The detection component is connected to the control system. During operation, the detection component acquires image information, distance information, and target position information in real time. The control system calculates the deviation between the current position and attitude of the heavy-duty component 130 to be installed and the target installation position based on this information. Then, by controlling the coordinated movement of multiple degrees of freedom, such as the circumferential moving platform 12, the rotating platform 21, the lifting part 32, the manipulator 4 rotation, the front telescopic mechanism 42, and the end effector rotation mechanism 424, the automatic alignment and precision installation of the heavy-duty component 130 to be installed is achieved.

[0072] This embodiment achieves multi-source information fusion perception of the position and attitude of the heavy-duty component 130 by combining at least two of the imaging device, laser rangefinder, and laser target detection device. Combined with the control system, it realizes automated and high-precision alignment and installation of the heavy-duty component 130, effectively reducing the risk of personnel exposure in the radiation environment, while improving installation accuracy and efficiency.

[0073] In some embodiments, at least one detachable heavy-duty component lifting and adjustment mechanism 5 is also included. This mechanism 5 is used to adjust the position and / or attitude of the heavy-duty component 130 to be installed as it passes through the window 120 of the nuclear fusion vacuum chamber 110, and to transfer the adjusted heavy-duty component 130 to the robotic arm 4. Because the window 120 of the nuclear fusion vacuum chamber 110 has a limited size, while the external contour dimensions of the heavy-duty component 130, such as the blanket module, may be larger than the window size, the heavy-duty component 130 needs to enter the vacuum chamber at a specific angle and attitude when passing through the window. The function of the heavy-duty component lifting and adjustment mechanism 5 is to receive the heavy-duty component 130 delivered from the window 120 inside the vacuum chamber, and then, through multi-degree-of-freedom adjustment, to transform the heavy-duty component 130 into an attitude suitable for the robotic arm 4 to grasp and install.

[0074] The heavy-duty component lifting and adjustment mechanism 5 adopts a modular design, allowing for installation or removal as needed. When not in use, this mechanism can be removed from the rotating platform 21 to reduce the size and weight of the working device and avoid interference with other structures. When it is necessary to receive the heavy-duty component 130 from the window 120, the corresponding module is then installed. This modular design enables the working device to flexibly adapt to different operating stages and conditions.

[0075] In some embodiments, the heavy-duty component lifting and adjustment mechanism 5 includes a lower lifting module 51 detachably mounted on the rotating platform 21, a lifting module 52 disposed above the lower lifting module 51, a horizontal rotation module 53 disposed above the lifting module 52, and an angle flipping module 54 disposed on the horizontal rotation module 53 and rotated about the vertical direction by the horizontal rotation module 53. During operation, the angle flipping module 54 supports and flips the heavy-duty component 130 to adjust the angle of the heavy-duty component relative to the horizontal plane. Figure 10 and Figure 11 As shown, the lower lifting module 51 provides basic lifting functionality, capable of raising the heavy-duty component 130 from window height to a suitable height for the robotic arm 4 to grasp. The lifting module 52, positioned above the lower lifting module 51, provides more precise height adjustment and load-bearing support. The horizontal rotation module 53, positioned above the lifting module 52, can rotate vertically to adjust the angle of the heavy-duty component 130. The angle flipping module 54, positioned on the horizontal rotation module 53, supports and flips the heavy-duty component 130, adjusting its tilt angle relative to the horizontal plane.

[0076] During operation, after the heavy-duty component 130 is inserted into the vacuum chamber through the window 120, it is first received by the angle-flipping module 54. Then, through the coordinated action of the lower lifting module 51, the lifting module 52, the horizontal rotation module 53, and the angle-flipping module 54, the heavy-duty component 130 is adjusted to a predetermined posture suitable for the gripper 4 to grasp. Finally, the front telescopic mechanism 42 of the robot 4 extends and is connected and fixed to the heavy-duty component 130 through the heavy-duty component connecting part 423. The heavy-duty component lifting and adjustment mechanism 5 is then released from its support, completing the transfer.

[0077] This embodiment achieves a wide range of position and posture adjustment of the heavy-duty component 130 inside the vacuum cavity through the multi-degree-of-freedom combination of the lower lifting module 51, the lifting module 52, the horizontal rotation module 53 and the angle flipping module 54. This allows the heavy-duty component 130 to be transferred to the robot arm 4 in any desired posture, thereby improving the adaptability of the working device to heavy-duty components of different sizes and shapes.

[0078] In some embodiments, such as Figure 10 and Figure 11 As shown, the lower lifting module 51 includes multiple telescopic cylinders that extend and retract vertically; the lifting module 52 includes a scissor mechanism located at the top of the multiple telescopic cylinders; the horizontal rotation module 53 includes a rotary module that rotates vertically; and the angle flipping module 54 includes a support base 541 fixedly connected to the rotary module, a flipping component 543 hinged horizontally to the support base 541, and a telescopic drive component 542 with its two ends respectively hinged horizontally to the support base 541 and the flipping component 543. The multiple telescopic cylinders of the lower lifting module 51 can be hydraulic cylinders or electric cylinders, evenly arranged circumferentially to provide stable lifting force. Preferably, there are four telescopic cylinders arranged in a rectangular shape to ensure load-bearing stability. The scissor mechanism of the lifting module 52 is located at the top of the multiple telescopic cylinders, and the lifting height is precisely adjusted by the extension and retraction of the scissor arms. The scissor mechanism has the advantages of compact structure, strong load-bearing capacity, and large lifting stroke. The slewing module of the horizontal rotation module 53 is located above the scissor lift mechanism and can achieve precise rotation in the vertical direction using a slewing bearing and a drive motor. The angle flipping module 54 includes a support base 541 fixedly connected to the slewing module, a flipping component 543 hinged to the support base 541 in the horizontal direction, and a telescopic drive component 542 with its two ends respectively hinged to the support base 541 and the flipping component 543 in the horizontal direction. When the telescopic drive component 542 (e.g., an electric cylinder or a hydraulic cylinder) extends or retracts, it drives the flipping component 543 to flip around the hinge axis, thereby changing the tilt angle of the heavy-duty component 130. This embodiment achieves precise adjustment of the heavy-duty component 130 in three dimensions—vertical lifting, horizontal rotation, and tilting flipping—through the specific structural combination of the telescopic cylinder, the scissor lift mechanism, the slewing module, and the telescopic drive component 542. The structure is simple, reliable, and has a strong load-bearing capacity.

[0079] In some embodiments, such as Figure 11 As shown, the angle-flipping module 54 also includes a support member 544 connected to the flipping member 543. The support member 544 supports the heavy-duty member 130, and the upper surface of the support member 544 matches the shape of the surface in contact with the heavy-duty member 130. The support member 544 is detachably connected to the flipping member 543 and can be replaced according to the different outlines of the heavy-duty member 130. For example, when the heavy-duty member 130 is a cladding module with an arc-shaped surface, the upper surface of the support member 544 can be designed as a corresponding arc-shaped concave surface to increase the contact area and reduce the contact stress. When the heavy-duty member 130 is a member with a flat bottom, the upper surface of the support member 544 can be designed as a flat surface. The support member 544 and the flipping member 543 can be connected by bolts or quick-locking connections to facilitate quick replacement of the corresponding support member 544 according to the size and shape of different heavy-duty members 130.

[0080] The shape design of the support member 544 in this embodiment ensures that the heavy-duty member 130 is subjected to uniform force during posture adjustment, avoiding damage to the member caused by local stress concentration, while increasing the contact area and improving the safety and reliability of the operation.

[0081] In some embodiments, the mobile platform 12 includes a platform body 121, a traveling part that moves in conjunction with an arc-shaped guide rail 11, and a moving drive device connected between the platform body 121 and the arc-shaped guide rail 11 for driving the platform body 121 to move relative to the arc-shaped guide rail 11. The moving drive device includes a rail clamp 123 for locking the position of the platform body 121 relative to the arc-shaped guide rail 11 and a telescopic mechanism 122 with both ends hinged to the rail clamp 123. The traveling part may be a plurality of rollers or sliders disposed at the bottom of the platform body 121, which roll or slide in conjunction with the arc-shaped guide rail 11. The rail clamp 123 is disposed on the platform body 121 and includes a pair of openable and closable grippers. When the grippers are closed, they can clamp the arc-shaped guide rail 11, locking the platform body 121 in its current position on the arc-shaped guide rail 11. One end of the telescopic mechanism 122 is hinged to the rail clamp 123, and the other end is hinged to the platform body 121. The movable telescopic mechanism 122 can be an electric telescopic cylinder (e.g., an electric push rod or an electric cylinder).

[0082] During operation, the rail clamp 123 first clamps the arc-shaped guide rail 11, locking the platform body 121 relative to the arc-shaped guide rail 11. Then, the telescopic mechanism 122 extends. Since the rail clamp 123 remains stationary, the extension of the telescopic mechanism 122 pushes the platform body 121 forward a certain distance relative to the arc-shaped guide rail 11. Next, the rail clamp 123 releases the arc-shaped guide rail 11, and the telescopic mechanism 122 retracts, causing the rail clamp 123 to move forward to a position close to the platform body 121. Finally, the rail clamp 123 clamps the arc-shaped guide rail 11 again, completing one step cycle. By repeating the above step cycle, the mobile platform 12 can move forward step by step along the arc-shaped guide rail 11.

[0083] This embodiment does not require a precision rack along the entire length of the arc-shaped guide rail 11, reducing the manufacturing difficulty and cost of the guide rail; the stepping drive transmits the driving force through the friction between the rail clamp 123 and the guide rail, resulting in a large driving force that is not affected by the shape error of the guide rail; the rail clamp 123 can provide a reliable locking function when stopped, preventing the platform body 121 from sliding unexpectedly under the action of gravity or other external forces, thus improving operational safety.

[0084] In some embodiments, the mobile platform 12 includes at least two motion drive devices, and the telescopic mechanism 122 includes an electric telescopic cylinder. The circumferential mobile platform 12 may include two or more motion drive devices, which are spaced apart along the circumferential direction. Each motion drive device includes a rail clamp 123 and a telescopic mechanism 122. Using two or more motion drive devices can improve the reliability and smoothness of the drive. When two motion drive devices are used, they can alternately perform stepping operations: the rail clamp 123 of the first motion drive device clamps the guide rail, and its telescopic mechanism 122 extends to push the platform forward; then the rail clamp 123 of the second motion drive device clamps the guide rail, and its telescopic mechanism 122 extends to continue pushing the platform forward; this alternation allows for relatively smooth continuous movement.

[0085] The arrangement of multiple mobile drive devices in this embodiment improves the drive redundancy and operational stability of the circumferential mobile platform 12.

[0086] In some embodiments, a method for installing a heavy-duty component 130 of a nuclear fusion vacuum chamber 110 using any of the aforementioned dual-column telescopic stabilizing work devices 140 is also disclosed, comprising: disassembling at least a portion of the structure of the dual-column telescopic stabilizing work device 140 into modules that can pass through the window 120 of the nuclear fusion vacuum chamber 110, and sequentially transporting the disassembled modules into the nuclear fusion vacuum chamber 110 for assembly; controlling the moving platform 12 to move along the arc-shaped guide rail 11 inside the nuclear fusion vacuum chamber 110, so that the manipulator 4 reaches a circumferential position corresponding to the target installation area; controlling the rotating platform 21 to rotate, and controlling the two lifting parts 32 respectively disposed on the two column guide mechanisms 3 to rise and fall synchronously, so that the manipulator 4 located between the two column guide mechanisms 3 reaches the target installation area. The position corresponds to the height and orientation; the heavy-duty component connecting part 423 of the robot arm 4 connects to the heavy-duty component 130 to be installed, and drives the front telescopic mechanism 42 of the robot arm 4 to extend; during the extension of the front telescopic mechanism 42, according to the extension state of the front telescopic mechanism 42 and / or the load state of the heavy-duty component 130 to be installed, the counterweight part 431 located on the other side of the robot arm 4 is moved to adjust the center of gravity position of the robot arm 4; by coordinating at least two of the movements in the moving platform 12, rotating platform 21, two lifting parts 32, front telescopic mechanism 42 and the rotational movement of the robot arm 4, the position and posture of the heavy-duty component 130 to be installed are adjusted so that the heavy-duty component 130 to be installed is aligned with the target installation position; the heavy-duty component 130 to be installed is installed in the target installation position. This embodiment employs a modular disassembly and transportation strategy, along with assembly within a vacuum chamber. This allows large-scale workpieces to enter the vacuum chamber through windows of limited size. Multi-degree-of-freedom coordinated motion enables the large-scale transfer and precise alignment of the heavy-duty component 130. Self-balancing with counterweights ensures stability during heavy-duty expansion and contraction. The entire installation process can be completed automatically by the control system, reducing the risk of radiation exposure for personnel.

[0087] In some embodiments, when controlling the lifting of the two lifting parts 32, position data of the two lifting parts 32 are acquired, and servo drive devices 33 corresponding to the two lifting parts 32 are controlled according to the position data of the two lifting parts 32, so that the two lifting parts 32 move synchronously.

[0088] In some embodiments, during the extension of the front telescopic mechanism 42 carrying the heavy-duty component 130 to be installed, the counterweight 431 is controlled to move in the opposite direction to the extension direction of the front telescopic mechanism 42, based on the mass of the heavy-duty component 130 to be installed and / or the extension amount of the front telescopic mechanism 42. The control system pre-stores the correspondence data between the position of the counterweight 431 and the extension amount of the front telescopic mechanism 42 and the mass of the heavy-duty component 130. During actual operation, the control system calculates the distance that the counterweight 431 needs to move based on the current extension amount of the front telescopic mechanism 42 (which can be detected by a displacement sensor) and the mass of the heavy-duty component 130 to be installed (which can be detected by a weighing sensor or manually input), and then controls the drive mechanism of the counterweight 431 (e.g., a lead screw motor or an electric cylinder) to drive the counterweight 431 to move backward the corresponding distance. In this embodiment, through counterweight self-balancing control, the center of gravity of the robot arm 4 remains basically constant when it is carrying the heavy-duty component 130 and performing telescopic movements. This minimizes the overturning torque borne by the slewing bearing and slewing drive mechanism, and improves the smoothness of the slewing motion of the robot arm 4 and the service life of each transmission component.

[0089] In some embodiments, when aligning the heavy-duty component 130 to be installed: image information of the heavy-duty component 130 and / or the target installation position is acquired by an imaging device; distance information between the heavy-duty component 130 and the surrounding structure and / or the target installation position is acquired by a laser rangefinder; the position or attitude deviation of the heavy-duty component 130 relative to the target installation position is determined based on the image information and distance information; and the dual-column telescopic stabilizing device 140 is controlled to perform compensating movement based on the position or attitude deviation. This embodiment achieves high-precision automatic alignment of the heavy-duty component 130 in a confined space through the fusion of image information, distance information, and target position information, meeting the accuracy requirements for the installation of the nuclear fusion device blanket module. Simultaneously, the entire alignment process is automatically completed by the control system without manual intervention, effectively reducing the exposure risk to operators in the radiation environment.

[0090] In some embodiments, when the heavy-duty component 130 to be installed passes through the window 120 of the nuclear fusion vacuum chamber 110, the position and / or attitude of the heavy-duty component 130 to be installed is adjusted within the nuclear fusion vacuum chamber 110 by the heavy-duty component lifting and adjustment mechanism 5, and the adjusted heavy-duty component 130 to be installed is then transferred to the robot arm 4. With the assistance of the heavy-duty component lifting and adjustment mechanism 5, this embodiment enables the device to handle various types and specifications of heavy-duty components 130 fed through a window of limited size, solving the technical problem that the heavy-duty component 130 is difficult to enter the vacuum chamber due to its larger external dimensions than the window size, thus expanding the applicability of the working device.

[0091] 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 preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A double-column telescopic stabilizing device for heavy-duty components in nuclear fusion vacuum chambers, characterized in that, The system includes an arc-shaped guide rail, a moving platform, a slewing bearing, a rotating platform, two column guide mechanisms, two lifting parts, a lifting drive mechanism, and a robotic arm, all disposed within the nuclear fusion vacuum chamber. The moving platform is movably mounted on the arc-shaped guide rail. The rotating platform is mounted on the moving platform via the slewing bearing and is rotatable relative to the moving platform in a vertical direction. The two column guide mechanisms are spaced apart on the rotating platform. Each column guide mechanism is equipped with a lifting guide component extending in the vertical direction. The two lifting parts are respectively moved and cooperated with the two lifting guide components. The lifting drive mechanism drives the two lifting parts to move relative to the lifting guide components to lift and lower. The robotic arm is located between the two column guide mechanisms. The robotic arm includes a robotic arm body, a front telescopic mechanism, and a counterweight self-balancing mechanism. The two sides of the robotic arm body are rotatably supported by the two lifting parts, allowing the robotic arm to rise and fall with the two lifting parts and rotate relative to them. The front telescopic mechanism includes a telescopic member movable relative to the robotic arm body and a telescopic drive mechanism for driving the telescopic member to extend and retract relative to the robotic arm body in a first direction. The front end of the telescopic member has a heavy-duty member connecting part for connecting a heavy-duty member to be installed. The counterweight self-balancing mechanism is located on the side of the robotic arm body opposite to the front telescopic mechanism and includes a counterweight that can move relative to the robotic arm body in the first direction. The position of the counterweight can be adjusted according to the extension state of the front telescopic mechanism and / or the load state of the heavy-duty member to be installed, thereby changing the center of gravity position of the robotic arm.

2. The dual-column telescopic stable working device according to claim 1, characterized in that, The two column guide mechanisms are connected by at least one detachable connection structure, which can be removed from the two column guide mechanisms.

3. The dual-column telescopic stable working device according to claim 2, characterized in that, The detachable connection structure is provided with a hoisting connection part, which is used to connect a hoisting device.

4. The dual-column telescopic stable working device according to claim 1, characterized in that, The column guide mechanism includes a bottom slider that is movable relative to the rotating platform and a column position adjustment drive mechanism for driving the bottom slider. The column position adjustment drive mechanism adjusts the position of the two column guide mechanisms relative to the rotating platform by driving the bottom slider to move relative to the rotating platform.

5. The dual-column telescopic stable working device according to claim 1, characterized in that, The lifting drive mechanism includes two servo drive devices that are respectively driven and connected to the two lifting parts one-to-one. The two servo drive devices keep the height difference between the two lifting parts within a preset range.

6. The dual-column telescopic stable working device according to claim 5, characterized in that, The lifting drive mechanism includes a ball screw transmission mechanism, a worm gear transmission mechanism, a gear and rack transmission mechanism, or a chain transmission mechanism.

7. The dual-column telescopic stable working device according to claim 1, characterized in that, The front telescopic mechanism is connected to the main body of the robot arm via a first telescopic drive mechanism, and the counterweight is connected to the telescopic component via a second telescopic drive mechanism.

8. The dual-column telescopic stable working device according to claim 1, characterized in that, An end-rotation mechanism is provided between the heavy-duty component connecting part and the front telescopic mechanism. The end-rotation mechanism includes an end-rotation support and an end-rotation drive device, so that the heavy-duty component connecting part can rotate relative to the front telescopic mechanism.

9. The dual-column telescopic stable working device according to claim 1, characterized in that, The robotic arm is equipped with a detection component, which includes at least two of an imaging device, a laser rangefinder, and a laser target detection device. The detection component is used to acquire the position or attitude information of the robotic arm and / or the heavy-duty component to be installed relative to the target installation position.

10. The dual-column telescopic stable working device according to claim 1, characterized in that, It also includes at least one detachable heavy-duty component lifting and adjustment mechanism, which is used to adjust the position and / or attitude of the heavy-duty component to be installed when it passes through the window of the nuclear fusion vacuum cavity, and to transfer the adjusted heavy-duty component to be installed to the robotic arm.

11. The dual-column telescopic stable working device according to claim 10, characterized in that, The heavy-duty component lifting and adjustment mechanism includes a lower lifting module detachably mounted on the rotating platform, a lifting module disposed above the lower lifting module, a horizontal rotating module disposed above the lifting module, and an angle flipping module disposed on the horizontal rotating module that is rotated about the vertical direction by the horizontal rotating module. During operation, the angle flipping module supports and flips the heavy-duty component to adjust the angle of the heavy-duty component relative to the horizontal plane.

12. The dual-column telescopic stable working device according to claim 11, characterized in that, The lower lifting module includes multiple telescopic cylinders that extend and retract in the vertical direction; the lifting module includes a scissor mechanism located at the top of the multiple telescopic cylinders; the horizontal rotation module includes a rotary module that rotates around the vertical direction; and the angle flipping module includes a support base fixedly connected to the rotary module, a flipping component hinged to the support base in the horizontal direction, and a telescopic drive component with both ends hinged to the support base and the flipping component in the horizontal direction, respectively.

13. The dual-column telescopic stable working device according to claim 12, characterized in that, The angle flipping module also includes a support member connected to the flipping member, the support member being used to support the heavy-duty member and the upper surface of the support member matching the shape of the surface in contact with the heavy-duty member.

14. The dual-column telescopic stable working device according to claim 1, characterized in that, The mobile platform includes a platform body, a traveling part that moves in conjunction with the arc-shaped guide rail, and a moving drive device connected between the platform body and the arc-shaped guide rail for driving the platform body to move relative to the arc-shaped guide rail. The moving drive device includes a rail clamp for locking the position of the platform body relative to the arc-shaped guide rail and a moving telescopic mechanism with both ends hinged to the rail clamp.

15. The dual-column telescopic stable working device according to claim 14, characterized in that, The mobile platform includes at least two mobile drive devices, and the mobile telescopic mechanism includes an electric telescopic cylinder.

16. A method for installing heavy-duty components of a nuclear fusion vacuum chamber using the dual-column telescopic stabilizing device according to any one of claims 1 to 15, characterized in that, include: At least a portion of the structure of the dual-column telescopic stable working device is disassembled into modules that can pass through the windows of the nuclear fusion vacuum chamber, and the disassembled modules are sequentially transported into the nuclear fusion vacuum chamber for assembly; the moving platform is controlled to move along the arc-shaped guide rail inside the nuclear fusion vacuum chamber, so that the manipulator reaches the circumferential position corresponding to the target installation area; the rotating platform is controlled to rotate, and the two lifting parts respectively set on the two column guide mechanisms are controlled to rise and fall synchronously, so that the manipulator located between the two column guide mechanisms reaches the height and orientation corresponding to the target installation position; the heavy-duty structure of the manipulator... The connecting part connects to the heavy-duty component to be installed and drives the front telescopic mechanism of the robot to extend; during the extension of the front telescopic mechanism, according to the extension state of the front telescopic mechanism and / or the load state of the heavy-duty component to be installed, the counterweight part located on the other side of the robot moves to adjust the center of gravity of the robot; through the coordination of at least two of the movements of the moving platform, the rotating platform, the two lifting parts, the front telescopic mechanism and the rotation of the robot, the position and posture of the heavy-duty component to be installed are adjusted so that the heavy-duty component to be installed is aligned with the target installation position; The heavy-duty component to be installed is installed at the target installation location.

17. The method for installing heavy-duty components of a nuclear fusion vacuum cavity according to claim 16, characterized in that, When controlling the lifting of the two lifting units, the position data of the two lifting units is acquired, and the servo drive devices corresponding to the two lifting units are controlled according to the position data of the two lifting units respectively, so that the two lifting units move synchronously.

18. The method for installing heavy-duty components of a nuclear fusion vacuum cavity according to claim 16, characterized in that, During the process of the front telescopic mechanism extending while carrying the heavy-duty component to be installed, the counterweight is controlled to move in the opposite direction to the extension direction of the front telescopic mechanism, based on the mass of the heavy-duty component to be installed and / or the extension amount of the front telescopic mechanism.

19. The method for installing heavy-duty components of a nuclear fusion vacuum cavity according to claim 16, characterized in that, When aligning the heavy-duty component to be installed: image information of the heavy-duty component to be installed and / or the target installation position is acquired by an imaging device; distance information between the heavy-duty component to be installed and the surrounding structure and / or the target installation position is acquired by a laser ranging device; The position or attitude deviation of the heavy-duty component to be installed relative to the target installation position is determined based on the image information and the distance information; and the double-column telescopic stabilizing device is controlled to perform compensating movement based on the position or attitude deviation.

20. The method for installing heavy-duty components of a nuclear fusion vacuum cavity according to claim 16, characterized in that, When the heavy-duty component to be installed passes through the window of the nuclear fusion vacuum chamber, the position and / or attitude of the heavy-duty component to be installed is adjusted by the heavy-duty component lifting and adjustment mechanism in the nuclear fusion vacuum chamber, and the adjusted heavy-duty component to be installed is transferred to the robotic arm.

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