A cryogenic protection robot system

Abstract

A cryogenic protection robot system, which comprises a front drive mechanism, a rear drive mechanism, front and rear wheel assemblies, an electronic control unit and a frame. Both the front drive mechanism and the rear drive mechanism include a motor reducer, front and rear drive heating sheets, a phase change material layer, a heat insulation layer and a vacuum dewar flask. The output end of the motor reducer is connected to the front and rear wheel assemblies. The motor reducer, the front and rear drive heating sheets, the phase change material layer and the heat insulation layer are all arranged inside the vacuum dewar flask. The front and rear drive heating sheets are pasted on the outside of the motor reducer, and the phase change material layer is coated on the outside of the front and rear drive heating sheets. A heat insulation layer is arranged between the phase change material layer and the vacuum dewar flask. The electronic control unit includes an outer box body, an inner box body, an outer heat insulation layer, a phase change material energy storage container, an inner heat insulation layer and an electronic control heating sheet. The phase change material energy storage container is placed inside the outer box body. The robot system of the present invention can be used for normal continuous operation in cryogenic environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to an ultra-low temperature protection robot system. Background Art

[0002] When current ordinary robots operate in a low-temperature environment of -40°C, many problems are exposed: such as low battery endurance, large infrared temperature measurement errors, low imaging accuracy, inaccurate navigation and positioning, etc. There are very few related automated devices and robots that can operate in an ultra-low temperature environment (-160°C). Therefore, it is imperative to develop a robot system that can operate in an ultra-low temperature environment. Summary of the Invention

[0003] The present invention aims to overcome the prior art and provides an ultra-low temperature protection robot system. This system can operate continuously and normally in an ultra-low temperature environment.

[0004] An ultra-low temperature protection robot system includes a front drive mechanism, a rear drive mechanism, front and rear wheel assemblies, an electronic control unit, and a frame. The front drive mechanism and the rear drive mechanism are respectively arranged on the front and rear sides of the frame. The output ends of the front drive mechanism and the rear drive mechanism are both connected to the front and rear wheel assemblies arranged on the frame. The electronic control unit is arranged in the frame and is used to control the front drive mechanism and the rear drive mechanism to realize the movement of the front and rear wheels.

[0005] Both the front drive mechanism and the rear drive mechanism include a motor reducer, front and rear drive heating sheets, a phase change material layer, a heat insulation layer, and a vacuum dewar flask. The output end of the motor reducer is connected to the front and rear wheel assemblies. The motor reducer, the front and rear drive heating sheets, the phase change material layer, and the heat insulation layer are all arranged in the vacuum dewar flask. The front and rear drive heating sheets are attached to the outside of the motor reducer, and the phase change material layer is coated on the outside of the front and rear drive heating sheets. A heat insulation layer is arranged between the phase change material layer and the vacuum dewar flask.

[0006] The electronic control unit includes an outer box, an inner box, an outer heat insulation layer, a phase change material energy storage container, an inner heat insulation layer, and an electronic control heating sheet. The phase change material energy storage container is placed in the outer box, and the inner box is placed in the phase change material energy storage container to carry the electronic control components. The electronic control heating sheet is attached to the outer side of the inner box. An inner heat insulation layer is arranged between the phase change material energy storage container and the electronic control heating sheet, and an outer heat insulation layer is arranged between the phase change material energy storage container and the outer box.

[0007] Further, the phase change material layer is a polytetrafluoroethylene sealed thin bag filled with formic acid.

[0008] Furthermore, the phase change material energy storage container includes a carbon fiber container body, a polytetrafluoroethylene inner liner, and a polytetrafluoroethylene sleeve; the carbon fiber container body has inner and outer thin walls and a sealed storage cavity surrounded by the inner and outer thin walls and filled with formic acid. The inner wall encloses a bearing groove, and a polytetrafluoroethylene inner liner that matches the bearing groove is arranged in the bearing groove. The outer wall is coated with a polytetrafluoroethylene sleeve that matches the outer wall. The edge of the polytetrafluoroethylene inner liner is heat-melted and connected to the edge of the polytetrafluoroethylene sleeve to wrap the carbon fiber container body.

[0009] The beneficial effects of the present invention compared with the prior art are as follows:

[0010] The present invention can be used for normal and continuous operation in ultra-low temperature environments (such as -160°C), overcoming the technical problem that existing motors and electronic control components cannot operate normally in ultra-low temperature environments. The front drive mechanism and the rear drive mechanism are protected by adding a vacuum Dewar flask, a phase change material layer, and a thermal insulation layer. The ultra-low temperature test experiment proves that the robot system of the present invention can ensure that the operation does not require the use of heating sheets for at least 60 minutes.

[0011] The phase change material energy storage container of the present invention has a compact structure and is convenient to use. Combining the characteristics of formic acid, careful comparison and selection are made in terms of materials, and a design combining carbon fiber and polytetrafluoroethylene is adopted to complete the development of the bearing container to solve the bearing of the corrosive phase change energy storage material formic acid. The outer dimensions of the container can be specified according to actual requirements and can be made into square, cylindrical, etc. The developed phase change energy storage material bearing container can place power devices such as an electric control box or a motor reducer to form a phase change energy storage material bearing container suitable for use in ultra-low temperature environments. For example, it is applied to the robot system for use in ultra-low temperature environments.

[0012] The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments: Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of the ultra-low temperature protection robot system of the present invention;

[0014] Figure 2 is a schematic diagram of the front drive mechanism or the rear drive mechanism of the present invention connected to the front and rear wheel assemblies;

[0015] Figure 3 is a schematic diagram of the front drive mechanism or the rear drive mechanism of the present invention;

[0016] Figure 4 is a cross-sectional view of the front drive mechanism or the rear drive mechanism;

[0017] Figure 5 is a schematic diagram of the electronic control unit;

[0018] Figure 6Is a cross-sectional view of the electronic control unit;

[0019] Figure 7 Is a schematic diagram of a square-structured phase change energy storage material carrier container according to an embodiment of the present invention;

[0020] Figure 8 Is Figure 7 Top view of;

[0021] Figure 9 Is Figure 8 A-A sectional view of;

[0022] Figure 10 Is Figure 8 B-B sectional view of;

[0023] Figure 11 Is a semi-finished product drawing of the phase change energy storage material carrier container;

[0024] Figure 12 Is a physical picture of a polytetrafluoroethylene sealed thin bag filled with formic acid;

[0025] Figure 13 Is a physical picture of an aerogel felt pad that is completely enclosed in a vacuum and at low temperature under ideal conditions;

[0026] Figure 14 Is a physical picture of an aerogel felt pad that cannot be completely enclosed at the connection of the motor reducer;

[0027] Figure 15 Is a curve graph showing the change of temperature over time under four different conditions in a vacuum Dewar experiment;

[0028] Figure 16 Is a diagram of a low-temperature simulation experiment device for the front drive mechanism or the rear drive mechanism;

[0029] Figure 17 Is a curve graph showing the change of temperature over time in a low-temperature simulation experiment of the front drive mechanism or the rear drive mechanism. Specific implementation mode

[0030] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which the present invention belongs.

[0031] Combined with Figures 1 - 6Description: A cryogenic protection robot system according to this embodiment includes a front drive mechanism 1, a rear drive mechanism 2, front and rear wheel assemblies 3, an electronic control unit 4, and a frame 5. The front drive mechanism 1 and the rear drive mechanism 2 are respectively arranged on the front and rear sides of the frame 5. The output ends of the front drive mechanism 1 and the rear drive mechanism 2 are both connected to the front and rear wheel assemblies 3 arranged on the frame 5. The electronic control unit 4 is arranged in the frame 5 and is used to control the front drive mechanism 1 and the rear drive mechanism 2 to realize the movement of the front and rear wheels.

[0032] Both the front drive mechanism 1 and the rear drive mechanism 2 include a motor reducer 1-1, a front and rear drive heating sheet 1-2, a phase change material layer 1-3, a heat insulation layer 1-4, and a vacuum dewar 1-5. The output end of the motor reducer 1-1 is connected to the front and rear wheel assemblies 3. The motor reducer 1-1, the front and rear drive heating sheet 1-2, the phase change material layer 1-3, and the heat insulation layer 1-4 are all arranged in the vacuum dewar 1-5. The front and rear drive heating sheet 1-2 is attached to the outside of the motor reducer 1-1. The phase change material layer 1-3 is coated on the outside of the front and rear drive heating sheet 1-2. A heat insulation layer 1-4 is arranged between the phase change material layer 1-3 and the vacuum dewar 1-5.

[0033] The electronic control unit 4 includes an outer box 4-1, an inner box 4-2, an outer heat insulation layer 4-3, a phase change material energy storage container 4-4, an inner heat insulation layer 4-5, and an electronic control heating sheet 4-6. The phase change material energy storage container 4-4 is placed in the outer box 4-1. The inner box 4-2 is placed in the phase change material energy storage container 4-4 for carrying electronic control components. The electronic control heating sheet 4-6 is attached to the outer side of the inner box 4-2. An inner heat insulation layer 4-5 is arranged between the phase change material energy storage container 4-4 and the electronic control heating sheet 4-6. An outer heat insulation layer 4-3 is arranged between the phase change material energy storage container 4-4 and the outer box 4-1.

[0034] The effect of this embodiment is that the front and rear drive mechanisms use the heat insulation of the vacuum dewar 1-5, the heat storage and release of the phase change material layer 1-3, the heat supply of the front and rear drive heating sheet 1-2, the heat insulation layer 1-4, etc. to ensure the temperature of the motor working environment. The function of the design of the front and rear drive heating sheet 1-2 is to raise the temperature in time when the temperature is low. In addition, a sensor is installed between the phase change material layer and the heat insulation layer to detect the temperature in real time.

[0035] The electronic control unit uses the heat storage and release of the phase change material energy storage container 4-4, the heat supply of the inner and outer heat insulation layers and the electronic control heating sheet 4-6 to ensure the normal operation of the electronic control components.

[0036] In addition, in order to ensure the safe and reliable operation, the shoulder of the shaft of the motor reducer connected to the front and rear wheel assemblies, the external material of the shoulder is polytetrafluoroethylene, which is a poor conductor of heat and is not conducive to heat transfer, helping to maintain the sustainable operation at ultra-low temperature.

[0037] The above is further illustrated by the following embodiments:

[0038] Embodiment 1: The phase change material layer 1-3 is a polytetrafluoroethylene sealed thin bag filled with formic acid.

[0039] The polytetrafluoroethylene sealed thin bag in this embodiment is a flexible container. The manufacturing process of the polytetrafluoroethylene sealed thin bag is as follows:

[0040] It can be formed by welding films together at high temperature. Specifically, two square polytetrafluoroethylene film sheets are used. First, three sides of the square sheets are welded using a thin-film hand-held welding machine. Then, formic acid is injected into the open end, and the open end is welded and sealed (the welding here can be carried out by welding films at high temperature). This is a phase change unit module. According to actual situations, multiple unit modules are used to achieve the purpose of phase change energy storage. The physical diagram is as Figure 12 shown.

[0041] Preferably, the welding film is FEP hot-melt solid glue, which melts at about 370°C and has a width of 20 mm.

[0042] The size of the thin-film square sheet is adjusted according to actual needs. During actual welding, more than 40 mm is added outside the sides of the required size. This size is used to place the welding film for welding. After the formic acid is injected into the flexible container, a pressure test is performed on this unit module. When a 5-kg object is pressed on the surface of the unit module and there is no leakage, it can be used. The physical diagram of the manufactured product is as Figure 12 shown.

[0043] Embodiment 2: Further limitations in this embodiment are as follows: The phase change material energy storage container 4-4 includes a carbon fiber container body 4-41, a polytetrafluoroethylene inner liner, and a polytetrafluoroethylene sleeve;

[0044] The carbon fiber container body 4-41 has inner and outer thin walls and a sealed storage cavity 4-42 filled with formic acid surrounded by the inner and outer thin walls. The inner wall encloses a bearing groove 4-43. A polytetrafluoroethylene inner liner that matches the bearing groove 4-43 is arranged in the bearing groove 4-43. The outer wall is coated with a polytetrafluoroethylene sleeve that matches the outer wall. The edge of the polytetrafluoroethylene inner liner is heat-melted and connected to the edge of the polytetrafluoroethylene sleeve to wrap the carbon fiber container body 4-41. The heat-melt connection in this embodiment is carried out by welding with FEP hot-melt solid glue.

[0045] The phase change material energy storage container in this embodiment can well solve the problem of carrying corrosive formic acid and can be applied to a robot system in an ultra-low temperature environment.

[0046] Optionally, the shapes that the phase change material energy storage container of this embodiment can be made into include, but are not limited to: square or rectangular or cylindrical or rhombic. Due to the characteristics of carbon fiber and polytetrafluoroethylene materials, it can be made into a shape that meets the actual needs. The rest is the same as in Embodiment 1.

[0047] Embodiment 3: In this embodiment, the carbon fiber selected is T700 carbon fiber. It has the advantages of high thermal conductivity (about 10 - 140 W / mK), low specific gravity, high tensile strength, high elasticity, and low coefficient of thermal expansion, etc. It can be compatible with most phase change materials, has strong corrosion resistance, and has a very small fiber diameter, which is beneficial to be uniformly arranged in the material. As a container material, it can ensure that the container will not leak.

[0048] Specifically, the outer dimensions of the container body can be specified according to actual requirements. In this embodiment, the container for accommodating the electronic control components is made in the shape of a "square box", as Figures 5 - 7 shown. There is a hollow between the inner and outer thin walls. To ensure the phase change effect, the wall thickness of the container can be selected from 0.7 - 0.9 mm, preferably 0.8 mm. The rest is the same as in Embodiment 1 or 2.

[0049] Embodiment 4: In the sealed storage cavity 4 - 42 of this embodiment, there are also reinforcing ribs 4 - 45 connected to the inner and outer thin walls, and through holes are provided on the reinforcing ribs 4 - 45. The purpose of this setting is: on the premise of ensuring the strength of the container body, a plurality of round holes are processed on the reinforcing ribs 2 to ensure that when formic acid is injected, the liquid can fully flow inside the hollow, preventing the situation of air remaining inside, further ensuring the phase change quality of the container and meeting the requirements of ultra - low temperature operation. Preferably, a plurality of reinforcing ribs are arranged inside the sealed storage cavity 4 - 42, and the thickness of the reinforcing ribs is 0.5 - 0.8 mm. It not only meets the strength and plays a role in supporting the inner and outer walls, but also ensures that the formic acid injection will be fully filled. In order to fully ensure that formic acid will not leak out during actual use, first, a layer of polytetrafluoroethylene film is pasted on the inner and outer layers of the container body.

[0050] Based on the above embodiments, further, a polytetrafluoroethylene film is pasted on the wall surface of the bearing groove 4 - 43, and a polytetrafluoroethylene film is pasted on the outer wall surface of the outer thin wall. Figure 8 In the box body, 4 - 01 represents the inner thin wall, and 4 - 02 represents the outer thin wall.

[0051] During the installation and subsequent actual operation of the carbon fiber container body 4 - 41, it is vulnerable to extrusion pressure. To prevent large pressure from causing the leakage of the phase change layer, the outside of the carbon fiber container body 4 - 41 is secondarily encapsulated with a polytetrafluoroethylene film.

[0052] The following further illustrates the manufacturing and encapsulation process of the carbon fiber container body 4 - 41 with a box body embodiment for the above - mentioned solution:

[0053] S1. Make a cuboid carbon fiber container body 4-41 with an open end and a sealed storage cavity 4-42 using a carbon fiber board;

[0054] S2. Inject formic acid into the sealed storage cavity 4-42 through the injection hole 4-20 on the sealed storage cavity 4-42 until it is full;

[0055] As Figure 1 shown, 4 injection holes are arranged in the diagonal direction of the upper surface of the long side of the cuboid box body to ensure that after the formic acid is injected, the air in the sealed storage cavity of the box body can be exhausted and the formic acid can be filled as much as possible; there are two square grooves 4-45 on the other diagonal of the box body, and the square grooves are used to arrange the electric control wires. If not needed, the square grooves can be not processed during the container production;

[0056] It should be specifically pointed out that: the plane where the injection hole 4-20 is located is higher than other planes. As Figure 9 shown, the wall thickness at this position is 1.6 - 2 mm to ensure firm plugging.

[0057] S3. After it is full, apply anaerobic glue around the injection hole 4-20 and plug it with polytetrafluoroethylene to ensure that the plug will not fall off during use;

[0058] S4. Encapsulate with a polytetrafluoroethylene membrane. After injecting formic acid and plugging, make a polytetrafluoroethylene inner liner that matches the bearing groove 4-43 and a polytetrafluoroethylene sleeve that matches the outer wall using the polytetrafluoroethylene membrane. Place the polytetrafluoroethylene inner liner in the bearing groove 4-43, wrap the polytetrafluoroethylene sleeve around the outer wall surface of the carbon fiber container body 4-41, and weld the edge of the polytetrafluoroethylene inner liner and the edge of the polytetrafluoroethylene sleeve together with FEP hot melt solid glue to complete the encapsulation of the carbon fiber container body 4-41.

[0059] The cuboid box body is encapsulated with a polytetrafluoroethylene film to achieve secondary leak prevention. After injecting formic acid and plugging, it is welded and encapsulated with a polytetrafluoroethylene film. For its encapsulation method, make two polytetrafluoroethylene film grooves that match the box body inside and outside, and all the joints are welded. Weld the reserved edges exposed on the upper part of the two polytetrafluoroethylene film grooves. The semi-finished product before welding is as Figure 11 shown. The welding material uses welding film FEP hot melt solid glue. Use a film welding machine to melt it to bond the two films together and completely cover the edge of the upper surface of the box body to complete the encapsulation of the carbon fiber container body 4-41, preventing corrosion and leakage. The welding film is FEP hot melt solid glue, and it melts at about 370 °C.

[0060] Since the concentration of formic acid is 80%, its density is approximately 1.22 g / mL. Before the step of injecting formic acid, water is injected into the sealed storage cavity 4-42 through the injection hole 4-20 using a syringe. While detecting leaks, the amount of injected water is calculated to determine the amount of injected formic acid, so as to ensure that no overflow occurs during the injection process, avoiding unnecessary situations. After injecting formic acid, it is sealed with a polytetrafluoroethylene plug.

[0061] The power devices such as the electric control box or the motor reducer are placed in the encapsulated polytetrafluoroethylene type groove to form a phase change energy storage material bearing container suitable for use in ultra-low temperature environments. For example, it is applied to the ultra-low temperature environment of the robot system.

[0062] Example 5: To meet the storage and heat preservation needs of actual environmental components, the phase change material energy storage container 4-4 manufactured above further includes a lid 4-44. The lid 4-44 is a carbon fiber lid with a storage cavity that can cover the open mouth of the carbon fiber container body. The storage cavity is filled with formic acid, and the outer surface of the carbon fiber lid is coated with a polytetrafluoroethylene film.

[0063] Example 6: The materials of the thermal insulation layer 1-4, the outer thermal insulation layer 4-4, and the inner thermal insulation layer 4-5 are all aerogel felts. Optionally. The purpose of this setting is that the outer layer of the inner box body where the electric control heating sheet 4-46 is installed is provided with the phase change material energy storage container 4-4. The inner box body 4-2 is made of metal material. In order to prevent the edge of the inner box body from scratching the phase change material during installation, a 5-mm aerogel drill is installed between the two to enhance the heat preservation effect while protecting the phase change layer.

[0064] Furthermore, the front and rear drive heating sheets 1-2 and the electric control heating sheet 4-6 are both polyimide electric heating films or polyethylene terephthalate electric heating films. The purpose of this setting is that they can be fixed on the corresponding motor reducer and the surface of the inner box body through back glue, and their heating speed is relatively fast. Optionally, the thickness is selected to be 0.2 - 0.5 mm.

[0065] Next, the feasibility of applying the solution of this application to operate at ultra-low temperature of -160°C is verified through experiments.

[0066] In order to ensure that the motors and reducers of each part can be used normally in the low temperature environment, the actual operation conditions are simulated, and vacuum dewars and component experiments are carried out.

[0067] 1. Vacuum Dewar Experiment

[0068] Simulate the heat preservation situation of the vacuum dewar and the heating cycle of the heating sheet during the actual operation of the robot.

[0069] Vacuum Dewar Experiment: Cut the aerogel felt (with a thickness of 10 mm) into two size models, denoted as A and B respectively. B is a round pad with a diameter of 120 mm, and A is a square pad of 380×200 mm. First, stuff 4 pieces of A pads into the bottom of the Dewar bottle, then stuff the B pad into the vacuum Dewar screen, ensure that the aerogel felt is closely attached to the inner wall of the Dewar bottle, then fix the heating sheet and the sensor at the designed positions, and use the remaining A pads to seal the Dewar bottle. Place it in a liquid nitrogen tank (with an internal temperature of -190°C) to simulate the vacuum Dewar heat preservation situation and the heating cycle of the heating sheet during actual robot operation. After installing the internal heat preservation sheet in the vacuum Dewar as described above, conduct the following experiment.

[0070] The vacuum low temperature passes through four different condition experiments, which are:

[0071] ① Vacuum Dewar bottle + aerogel felt (1 piece of A pad, 4 pieces of B pads) + one heating sheet + sensor + completely sealed aerogel felt pad (A pad without notch, as Figure 13 );

[0072] ② Vacuum Dewar bottle + aerogel felt (1 piece of A pad, 4 pieces of B pads) + one heating sheet + sensor + open-sealed aerogel felt pad (A pad with a notch, as Figure 14 );

[0073] ③ Vacuum Dewar bottle + aerogel felt (1 piece of A pad, 4 pieces of B pads) + two heating sheets + sensor + open-sealed aerogel felt pad (A pad with a notch, as Figure 14 );

[0074] ④ Vacuum Dewar bottle + aerogel felt (1 piece of A pad, 4 pieces of B pads) + phase change material layer (as shown in Figure c) + two heating sheets + sensor + open-sealed aerogel felt pad (A pad with a notch, as Figure 14 ).

[0075] Among them, Figure 13 represents the physical diagram of the aerogel felt pad in the case of complete enclosure of vacuum low temperature under ideal conditions; Figure 14 represents the physical diagram of the aerogel felt pad where heat dissipation occurs because the connection of the speed reducer cannot be completely enclosed.

[0076] Observe the four conditions (the condition of experiment ④ is closer to the actual working situation), the cooling time when the internal temperature of the vacuum Dewar drops from 23°C to -20°C and the heating time when it rises from -20°C to 23°C, so as to obtain the internal temperature change (heat preservation situation of the heat preservation layer) and the cooling and heating cycles of the vacuum Dewar bottle under different conditions.

[0077] Through the experiments under four different conditions (the internal temperature of the liquid nitrogen tank is -190°C), it can be clearly seen that adding a vacuum Dewar, a phase change material layer and the upper part of the aerogel felt can ensure that the heating sheet does not need to be used within 40 minutes of operation (the actual working time is set at 40 minutes)

[0078] Experiment ④ is the closest to the actual operation situation, and it is necessary to test the sealing performance of the encapsulated phase change material layer to ensure that there are no leakage or seepage problems with the sealed bag during the cooling-heating process. Therefore, Experiment ④ was conducted 3 times in total. Figure 15 It is a graph of temperature (°C) - time (min) under four conditions (one of the cases in Experiment ④).

[0079] Table 1. Temperature-time change table for four experiments

[0080]

[0081] 2. Component experiments based on Experiment ④ of the vacuum Dewar

[0082] After installing the front drive mechanism or the rear drive mechanism, place it in a liquid nitrogen tank for experiments, as shown in the assembled experimental device. Figure 16 as shown Figure 17 It is a graph of the temperature (°C) change of the front drive mechanism that can operate normally over time (min) based on Experiment ④.

[0083] The temperature change curves under the four groups of experiments are basically close, that is, within the same time period, the temperature ranges for performing work tend to be the same. During the four groups of experiments, the operating speed of the motor reducer is controlled at 50 - 200 r / min.

[0084] Table 2. Temperature-time change table based on Experiment ④ of the vacuum Dewar in Table 1

[0085]

[0086] In summary, Figure 17 From Table 1 and Table 2, it can be obtained that the front drive mechanism 1 and the rear drive mechanism 2 of the present application obtained based on Experiment ④ of the Dewar can operate normally and continuously at an ultra-low temperature of -160 °C.

[0087] The present invention has been disclosed above with preferred embodiments. However, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make some changes or modifications to the above-disclosed structure and technical content to obtain equivalent embodiments of equivalent changes, which still fall within the scope of the technical solution of the present invention.

Claims

1. A cryogenic protection robot system, comprising a front drive mechanism (1), a rear drive mechanism (2), front and rear wheel assemblies (3), an electronic control unit (4) and a frame (5). The front drive mechanism (1) and the rear drive mechanism (2) are respectively arranged on the front and rear sides of the frame (5). The output ends of the front drive mechanism (1) and the rear drive mechanism (2) are both connected to the front and rear wheel assemblies (3) arranged on the frame (5). The electronic control unit (4) is arranged in the frame (5) and is used to control the front drive mechanism (1) and the rear drive mechanism (2) to realize the movement of the front and rear wheels; It is characterized in that: Both the front drive mechanism (1) and the rear drive mechanism (2) include a motor reducer (1-1), front and rear drive heating sheets (1-2), a phase change material layer (1-3), a heat insulation layer (1-4) and a vacuum dewar (1-5). The output end of the motor reducer (1-1) is connected to the front and rear wheel assemblies (3). The motor reducer (1-1), the front and rear drive heating sheets (1-2), the phase change material layer (1-3) and the heat insulation layer (1-4) are all arranged in the vacuum dewar (1-5). The front and rear drive heating sheets (1-2) are attached to the outside of the motor reducer (1-1). The phase change material layer (1-3) is coated on the outside of the front and rear drive heating sheets (1-2). A heat insulation layer (1-4) is arranged between the phase change material layer (1-3) and the vacuum dewar (1-5); The electronic control unit (4) includes an outer box body (4-1), an inner box body (4-2), an outer heat insulation layer (4-3), a phase change material energy storage container (4-4), an inner heat insulation layer (4-5) and an electronic control heating sheet (4-6). The phase change material energy storage container (4-4) is placed in the outer box body (4-1). The inner box body (4-2) is placed in the phase change material energy storage container (4-4) for carrying electronic control components. The electronic control heating sheet (4-6) is attached to the outer side surface of the inner box body (4-2). An inner heat insulation layer (4-5) is arranged between the phase change material energy storage container (4-4) and the electronic control heating sheet (4-6). An outer heat insulation layer (4-3) is arranged between the phase change material energy storage container (4-4) and the outer box body (4-1).

2. The cryogenic protection robot system according to claim 1, characterized in that: The phase change material layer (1-3) is a polytetrafluoroethylene sealed thin bag filled with formic acid.

3. The cryogenic protection robot system according to claim 1 or 2, characterized in that: The phase change material energy storage container (4-4) includes a carbon fiber container body (4-41), a polytetrafluoroethylene inner liner and a polytetrafluoroethylene sleeve; The carbon fiber container body (4-41) has inner and outer thin walls and a sealed storage cavity (4-42) surrounded by the inner and outer thin walls and filled with formic acid. The inner wall encloses a bearing groove (4-43). A polytetrafluoroethylene inner liner matching the bearing groove (4-43) is arranged in the bearing groove (4-43). The outer wall is coated with a polytetrafluoroethylene sleeve matching the outer wall. The edge of the polytetrafluoroethylene inner liner is heat-melted and connected to the edge of the polytetrafluoroethylene sleeve to wrap the carbon fiber container body (4-41).

4. The cryogenic protection robot system according to claim 3, wherein: The carbon fiber is T700 carbon fiber.

5. The cryogenic protection robot system according to claim 3, wherein: A polytetrafluoroethylene film is attached to the wall surface of the bearing groove (4-43), and a polytetrafluoroethylene film is attached to the outer wall surface of the outer thin wall.

6. The cryogenic protection robot system according to claim 3, wherein: The phase change material energy storage container further includes a lid (4-44), which is a carbon fiber lid with a storage cavity that can cover the open mouth of the carbon fiber container body. The storage cavity is filled with formic acid, and the outer surface of the carbon fiber lid is coated with a polytetrafluoroethylene film.

7. The cryogenic protection robot system according to claim 1, wherein: The materials of the thermal insulation layer (1-4), the outer thermal insulation layer (4-3), and the inner thermal insulation layer (4-5) are all aerogel felts.

8. The cryogenic protection robot system according to claim 1, wherein: The front and rear drive heating sheets (1-2) and the electric control heating sheet (4-6) are both polyimide electric heating films or polyethylene terephthalate electric heating films.

9. The cryogenic protection robot system according to claim 3, wherein: The wall thickness of the inner and outer thin walls is 0.7-0.9 mm.

10. The cryogenic protection robot system according to claim 3, wherein: A reinforcing rib (4-45) connected to the inner and outer thin walls is further arranged in the sealed storage cavity (4-42), and through holes are provided on the reinforcing rib (4-45).

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