Parallel robot temperature control device used in vacuum low-temperature environment

Abstract

The invention relates to the technical field of spaceflight or vacuum low temperature, in particular to a parallel robot temperature control device used in a vacuum low-temperature environment, which comprises an upper platform heat preservation cover, a lower platform heat preservation cover, a multi-layer heat insulation assembly, a temperature sensor, a heating sheet and a heat insulation pad, the upper platform heat preservation cover is installed on the upper platform, and the lower platform heat preservation cover is installed on the lower platform. Through the arrangement of the parallel robot temperature control device, a plurality of heating areas are formed in the parallel robot, and a temperature sensor is arranged in each heating area; the telescopic rod is connected with the upper platform through a joint of the upper hinge, the telescopic rod and the motor are both fixed to the motor support, and the motor support is connected with the lower platform through a joint of the lower hinge. The provided temperature control device can effectively solve the technical problems that in the vacuum low-temperature environment, the parallel robot rapidly moves in a large-stroke and large-angle mode, the number of movable joints is large, the exposed position is not fixed, and the parallel robot cannot be completely wrapped with a multi-layer heat insulation assembly, so that heat leakage is serious, and the temperature control difficulty is high.

Description

Technical Field

[0001] The invention belongs to the field of aerospace or vacuum low temperature technology, and in particular relates to a parallel robot temperature control device used in a vacuum low temperature environment. Background Art

[0002] With the increasing complexity of space exploration missions, such as space station construction, satellite maintenance, deep space exploration, and on-orbit assembly, the demand for high-precision space robots is extremely urgent. The upper and lower platforms and the telescopic rods are connected by joint hinges. The extension and retraction of the telescopic rods will cause the telescopic rods to swing around the hinges, and the amplitude of the swing is determined by the structure of the parallel robot. Therefore, it is impossible to cover the hinge part and the movable part of the telescopic rod, resulting in these parts being exposed to the cold and dark environment of space or the vacuum and low temperature on the ground, with serious heat leakage and extremely difficult temperature control. In this case, to ensure the normal operation of the parallel robot and the temperature control of each key component, reasonable and efficient temperature control measures need to be taken.

[0003] Commonly used thermal control measures include: first, coating the surface with multiple layers of thermal insulation components, making thermal control coatings, and adjusting the heat exchanged between the inside and the outside to achieve the purpose of temperature control; second, pasting heating sheets for temperature compensation, and ensuring the overall internal energy level by controlling the temperature control power and heating time. Summary of the invention

[0004] In view of this, in order to solve the technical problems that in the existing vacuum and low-temperature environment, the parallel robot has a large stroke, a large angle, and rapid movement, has many active joints, and the exposed position is not fixed, and it cannot be completely covered with multi-layer insulation components, which leads to serious heat leakage and high temperature control difficulty, the present invention provides a parallel robot temperature control device with a new structure for use in a vacuum and low-temperature environment.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: The present invention provides a parallel robot temperature control device for use in a vacuum low-temperature environment. The parallel robot structure includes an upper platform, an upper hinge, a telescopic rod, a motor, a motor support, a lower hinge and a lower platform; The telescopic rod is connected to the upper platform through the joint of the upper hinge, the telescopic rod and the motor are both fixed on the motor support, and the motor support is connected to the lower platform through the joint of the lower hinge; the motor includes a side close to the external space, a side away from the external space, and two side surfaces; The parallel robot temperature control device includes an upper platform insulation cover, a lower platform insulation cover, a multi-layer insulation component, a temperature sensor, a heating plate and an insulation pad; the upper platform insulation cover is installed on the upper platform, and the lower platform insulation cover is installed on the lower platform; through the setting of the parallel robot temperature control device, several heating zones are formed in the parallel robot, and the temperature sensor is arranged in each of the heating zones.

[0006] Furthermore, the outer surface of the upper platform insulation cover, the outer surface of the lower platform insulation cover, the outer surface of the upper platform, the outer surface of the lower platform, the non-connected part of the inner surface of the upper platform, the non-connected part of the inner surface of the lower platform, the telescopic rod, the two side surfaces of the motor and the motor support are all covered with the multi-layer insulation assembly.

[0007] Furthermore, the upper platform insulation cover and the upper platform, the lower platform insulation cover and the lower platform, and the motor and the motor support are all insulated by the insulation pads; the material of the insulation pads is titanium alloy, fiberglass or polyimide.

[0008] Furthermore, the inner surface of the upper platform insulation cover is evenly covered with a black paint coating or a black anodized coating, and the emissivity of the inner surface of the upper platform insulation cover is not less than 0.8; and / or, the inner surface of the lower platform insulation cover is evenly covered with a black paint coating or a black anodized coating, and the emissivity of the inner surface of the lower platform insulation cover is not less than 0.8.

[0009] Furthermore, the upper platform insulation cover is mechanically connected to the upper platform through three upper fixed points, and the three upper fixed points are distributed at an equal angle of 120°; the lower platform insulation cover is mechanically connected to the lower platform through three lower fixed points, and the three lower fixed points are distributed at an equal angle of 120°; the thermal insulation pad is arranged at each upper fixed point, and the thermal insulation pad is arranged at each lower fixed point.

[0010] Furthermore, the length of the upper platform insulation cover extends downward, and the length of the upper platform insulation cover covers the upper hinge; the length of the lower platform insulation cover extends upward, and the length of the lower platform insulation cover covers the lower hinge.

[0011] Furthermore, the heating sheet is pasted on the outer surface of the upper platform insulation cover, the outer surface of the lower platform insulation cover, the side of the motor close to the external space, the side of the motor away from the external space, the side of the telescopic rod close to the external space, and the side of the telescopic rod away from the external space.

[0012] Furthermore, the material of the heating plate is a flexible film heating plate; the arrangement of the heating plates is a spiral shape or a grid shape.

[0013] Furthermore, a circle of the heating plates is pasted on the outer surface of the upper platform insulation cover along the circumferential direction, and a circle of the heating plates is pasted on the inner surface of the upper platform insulation cover along the circumferential direction; a circle of the heating plates is pasted on the outer surface of the lower platform insulation cover along the circumferential direction, and a circle of the heating plates is pasted on the inner surface of the lower platform insulation cover along the circumferential direction.

[0014] Furthermore, the temperature sensor is a thermistor, a thermocouple or a platinum resistor.

[0015] Compared with the prior art, the invention can achieve the following beneficial effects: The temperature control device for a parallel robot in a vacuum low-temperature environment provided by the present invention can actively perform thermal control when the parallel robot is working, so that the temperature of the thermal insulation cover rises and radiates inward, thereby increasing the overall temperature level of the internal space, and then the temperature indicators of the joint hinges and the exposed parts of the telescopic rods are guaranteed through active thermal control of the motor and the telescopic rod; the length of the thermal insulation cover can be flexibly adjusted according to the activity space of the platform on the parallel robot; the thermal insulation cover is easy to install and maintain, and has a flat surface, which is convenient for pasting heating plates, and can be flexibly applied to other similar aerospace devices according to needs.

[0016] The temperature control device for a parallel robot in a vacuum low-temperature environment provided by the present invention has a heat dissipation surface on the surface of the motor to prevent the motor from overheating during operation, and at the same time, a heat-insulating installation is used between the motor and the motor support to isolate the influence of the motor on the telescopic rod; a high-emissivity coating such as black paint or black anodizing is made on the inner side of the thermal insulation cover to increase the infrared emissivity and improve the efficiency of the thermal insulation cover radiating energy to the inside; a multi-layer thermal insulation component is coated on the outer surface of the thermal insulation cover, the telescopic rod body, and the outer surface of the motor to reduce the influence of the heat flow outside the space on the temperature of the parallel robot and prevent the key components of the robot from losing too much heat to the low-temperature space; at the same time, the thermal insulation material is reasonably used to ensure that the motor and the support, and the upper and lower platforms and the thermal insulation cover are well insulated. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 This is a schematic diagram of the structure of a parallel robot temperature control device used in a vacuum low temperature environment in an embodiment of the present invention; Figure 2 This is a schematic diagram of thermal control measures for a parallel robot temperature control device in a vacuum low-temperature environment in an embodiment of the present invention.

[0018] Reference numerals: 1. Upper platform; 2. Upper platform insulation cover; 3. Telescopic rod; 4. Motor; 5. Motor support; 6. Lower hinge; 7. Lower platform; 8. Lower platform insulation cover; 9. Upper hinge; 10. Multi-layer insulation assembly; 11. Temperature sensor; 12. Heating plate; 13. Insulation pad. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0020] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0022] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0023] In a specific embodiment of the present invention, a parallel robot temperature control device for use in a vacuum low-temperature environment is provided. The structure of the parallel robot includes an upper platform, an upper hinge, a telescopic rod, a motor, a motor support, a lower hinge, and a lower platform; the telescopic rod is connected to the upper platform through a joint of the upper hinge, the telescopic rod and the motor are both fixed on the motor support, and the motor support is connected to the lower platform through a joint of the lower hinge; the motor includes a side close to the external space, a side away from the external space, and two side surfaces, and the motor is mainly used to drive the telescopic rod to move; The parallel robot temperature control device includes an upper platform insulation cover, a lower platform insulation cover, a multi-layer insulation component, a temperature sensor, a heating plate and an insulation pad; the upper platform insulation cover is installed on the upper platform, and the lower platform insulation cover is installed on the lower platform; through the setting of the parallel robot temperature control device, a plurality of heating zones are formed in the parallel robot, and the temperature sensor is arranged in each heating zone. Specifically, through the parallel robot temperature control device, 17 heating zones are arranged in the parallel robot, which are distributed on the bottom surface of the upper platform, the upper platform insulation cover, the rod body part of each telescopic rod, each motor, the top surface of the lower platform and the lower platform insulation cover; the temperature sensor is arranged in the vicinity of the heating plate in the heating zone; the temperature sensor can be a thermistor, a thermocouple or a platinum resistor, which can collect temperature signals in real time and transmit them to the controller; the controller compares the measured value with the set value through the PID algorithm, generates an adjustment instruction, dynamically adjusts the output duty cycle of the heating element, realizes closed-loop temperature control, and ensures that the temperature of each heating zone is stable within the target range.

[0024] In a specific embodiment, the outer surface of the upper platform insulation cover, the outer surface of the lower platform insulation cover, the outer surface of the upper platform, the outer surface of the lower platform, the non-connected part of the inner surface of the upper platform, the non-connected part of the inner surface of the lower platform, the telescopic rod, the two side surfaces of the motor and the motor support are all covered with the multi-layer insulation assembly. The insulation cover of the upper platform and the upper platform, the insulation cover of the lower platform and the lower platform, and the motor and the motor support are all insulated by the insulation pad; except for the joint connection between the upper and lower platforms and the lower hinge, the movable part of the telescopic rod, the inner surface part of the insulation cover of the upper and lower platforms, and the side of the motor close to the internal space, the other parts are covered with the multi-layer insulation assembly; the multi-layer insulation assembly is a commonly used vacuum multi-layer insulation assembly made of a plurality of reflective screens and transverse insulation ratios staggered and stacked, and its main materials are double-sided aluminum-plated film and polyester mesh; in the present invention, the material of the insulation pad is titanium alloy, fiberglass or polyimide. The inner surface of the upper platform insulation cover is evenly covered with a black paint coating or a black anodized coating, and the emissivity of the inner surface of the upper platform insulation cover is not less than 0.8; and / or, the inner surface of the lower platform insulation cover is evenly covered with a black paint coating or a black anodized coating, and the emissivity of the inner surface of the lower platform insulation cover is not less than 0.8.

[0025] In a specific implementation, since the surface of the upper platform insulation cover is provided with both a heating plate and a multi-layer insulation component, the surface of the lower platform insulation cover is also provided with both a heating plate and a multi-layer insulation component. The heating plate can be a flexible polyimide film heater, which can be specifically embedded between the inner layer of the multi-layer insulation component and the outer surface of the upper and lower platform insulation covers. The surface of the heating plate is coated with thermal conductive silicone grease and directly adheres to the surface of the shell; the fixing method of the multi-layer insulation component may include mechanical fixing, such as sewing, binding tape, adhesive, etc.; the coating method of the multi-layer insulation component may be layered wrapping, edge sealing, overlapping design, etc., to ensure that there are no thermal bridges and gaps.

[0026] In a specific implementation, the upper platform insulation cover is mechanically connected to the upper platform through three upper fixed points, and the three upper fixed points are distributed at an equal angle of 120°; the lower platform insulation cover is mechanically connected to the lower platform through three lower fixed points, and the three lower fixed points are distributed at an equal angle of 120°; the insulation pad is arranged at each upper fixed point, and the insulation pad is arranged at each lower fixed point. The length of the upper platform insulation cover extends downward, and the length of the upper platform insulation cover covers the upper hinge, so as not to affect the movement of the upper platform and the telescopic rod; the length of the lower platform insulation cover extends upward, and the length of the lower platform insulation cover covers the lower hinge, so as not to affect the movement of the lower platform and the telescopic rod. The outer surface of the upper platform insulation cover, the outer surface of the lower platform insulation cover, the side of the motor close to the external space, the side of the motor away from the external space, the side of the telescopic rod close to the external space, and the side of the telescopic rod away from the external space are all pasted with the heating plate.

[0027] In a specific implementation, each heating plate is customized and has a fixed resistance. Specifically, the resistance of the heating plate can be determined by the structure of the parallel robot. The required power is calculated through simulation, and then the resistance is calculated through R=U² / P. When the voltage remains unchanged, the temperature of the heating plate is controlled by controlling the heating time. The temperature level inside the parallel robot is determined by the power of the heating plate on the heating cover. The power of the heating plate used in the present invention is calculated through precise simulation, and it can ensure that the energy radiated by it can keep the temperature of the hinge above 0°C in a low temperature environment. The temperature of the insulation cover is determined by controlling the duty cycle of the heating on the insulation cover, that is, the heating time, through the temperature sensors on the upper platform insulation cover and the lower platform insulation cover, as feedback of a control link. In a specific embodiment, the material of the heating plate is a flexible film heating plate, and the heating plate is connected to the corresponding surface through a high-efficiency heat-conducting material, such as heat-conducting glue, heat-conducting grease, etc., to improve the efficiency of heat conduction, reduce heat loss, and ensure that heat can be quickly and evenly distributed to the heating area; the arrangement of the heating plate can be flexibly adjusted and designed according to the specific structure and needs. For example, a spiral or grid-shaped distribution can be used to achieve a more uniform heat distribution and avoid the appearance of hot spots. Specifically, the outer surface of the upper platform insulation cover is pasted with a circle of the heating plate in the circumferential direction, and the inner surface of the upper platform insulation cover is pasted with a circle of the heating plate in the circumferential direction; the outer surface of the lower platform insulation cover is pasted with a circle of the heating plate in the circumferential direction, and the inner surface of the lower platform insulation cover is pasted with a circle of the heating plate in the circumferential direction; preferably, the heating plates arranged on the upper platform insulation cover and the lower platform insulation cover are pasted in multiple pieces to ensure convenient installation.

[0028] In a specific implementation manner, the present invention further provides a parallel robot, which includes the parallel robot temperature control device of the present invention and can be used in a vacuum low-temperature environment.

[0029] The temperature control device for a parallel robot in a vacuum low-temperature environment provided by the present invention can actively perform thermal control when the parallel robot is working, so that the temperature of the thermal insulation cover rises and radiates inward, thereby increasing the overall temperature level of the internal space, and then the temperature indicators of the joint hinges and the exposed parts of the telescopic rods are guaranteed through active thermal control of the motor and the telescopic rod; the length of the thermal insulation cover can be flexibly adjusted according to the activity space of the platform on the parallel robot; the thermal insulation cover is easy to install and maintain, and has a flat surface, which is convenient for pasting heating plates, and can be flexibly applied to other similar aerospace devices according to needs.

[0030] The temperature control device for a parallel robot in a vacuum low-temperature environment provided by the present invention has a heat dissipation surface on the surface of the motor to prevent the motor from overheating during operation, and at the same time, a heat-insulating installation is used between the motor and the motor support to isolate the influence of the motor on the telescopic rod; a high-emissivity coating such as black paint or black anodizing is made on the inner side of the thermal insulation cover to increase the infrared emissivity and improve the efficiency of the thermal insulation cover radiating energy to the inside; a multi-layer thermal insulation component is coated on the outer surface of the thermal insulation cover, the telescopic rod body, and the outer surface of the motor to reduce the influence of the heat flow outside the space on the temperature of the parallel robot and prevent the key components of the robot from losing too much heat to the low-temperature space; at the same time, the thermal insulation material is reasonably used to ensure that the motor and the support, and the upper and lower platforms and the thermal insulation cover are well insulated.

[0031] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0032] like Figure 1 and Figure 2 As shown, they are respectively a schematic structural diagram of a parallel robot temperature control device in a vacuum low-temperature environment provided by a specific embodiment of the present invention and a schematic diagram of thermal control measures. It can be seen from the figure that the structure of the parallel robot includes an upper platform 1, an upper hinge 9, a telescopic rod 3, a motor 4, a motor support 5, a lower hinge 6 and a lower platform 7; wherein, the telescopic rod 3 is connected to the upper platform 1 through the joint of the upper hinge 9, the telescopic rod 3 and the motor 4 are both fixed on the motor support 5, and the motor support 5 is connected to the lower platform 7 through the joint of the lower hinge 6; the motor 4 includes a side close to the external space, a side away from the external space and two side surfaces; the parallel robot temperature control device includes an upper platform insulation cover 2, a lower platform insulation cover 8, a multi-layer insulation component 10, a temperature sensor 11, a heating plate 12 and an insulation pad 13; the upper platform insulation cover 2 is installed on the upper platform 1, and the lower platform insulation cover 8 is installed on the lower platform 7; through the setting of the parallel robot temperature control device, a plurality of heating zones are formed in the parallel robot, and a temperature sensor 11 is arranged in each heating zone.

[0033] Specifically, the upper platform insulation cover 2 is mechanically connected to the upper platform 1 through three upper fixed points, and the three upper fixed points are distributed at an equal angle of 120°; the lower platform insulation cover 8 is mechanically connected to the lower platform 7 through three lower fixed points, and the three lower fixed points are distributed at an equal angle of 120°; the upper fixed points and the lower fixed points are respectively located at the outer edge of the contact surface between the platform and the insulation cover, and the mechanical connection is achieved by titanium alloy fastening bolts, and a titanium alloy thermal insulation gasket is embedded in each fixed point.

[0034] Specifically, the outer surface of the upper platform insulation cover 2, the outer surface of the lower platform insulation cover 8, the outer surface of the upper platform 1, the outer surface of the lower platform 7, the non-connected part of the inner surface of the upper platform 1, the non-connected part of the inner surface of the lower platform 7, the telescopic rod 3, the two side surfaces of the motor 4 and the motor support 5 are all covered with a multi-layer insulation component 20; the upper platform insulation cover 2 and the upper platform 1, the lower platform insulation cover 8 and the lower platform 7, and the motor 4 and the motor support 5 are all insulated by insulation pads 13; the inner surfaces of the upper platform insulation cover 2 and the lower platform insulation cover 8 are evenly covered with a black paint coating or a black anodized coating, and the emissivity is not less than 0.8; the outer surface and the inner surface of the upper platform insulation cover 2 are both pasted with a circle of heating plates 12 along the circumferential direction, and the outer surface and the inner surface of the lower platform insulation cover 8 are both pasted with a circle of heating plates 12 along the circumferential direction. Specifically, the heating plates 12 are pasted in multiple pieces to ensure convenient installation.

[0035] The novel structure of the parallel robot temperature control device for use in a vacuum and low-temperature environment provided in an embodiment of the present invention can effectively solve the technical problems in the existing vacuum and low-temperature environment, such as the parallel robot having a large stroke, a large angle, rapid movement, many movable joints, and an unfixed exposed position, and being unable to be completely covered with multi-layer insulation components, which leads to serious heat leakage and high difficulty in temperature control.

[0036] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0037] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A parallel robot temperature control device for use in a vacuum low temperature environment, characterized in that: The structure of the parallel robot includes an upper platform, an upper hinge, a telescopic rod, a motor, a motor support, a lower hinge and a lower platform; The telescopic rod is connected to the upper platform through the joint of the upper hinge, the telescopic rod and the motor are both fixed on the motor support, and the motor support is connected to the lower platform through the joint of the lower hinge; the motor includes a side close to the external space, a side away from the external space, and two side surfaces; The parallel robot temperature control device includes an upper platform insulation cover, a lower platform insulation cover, a multi-layer insulation component, a temperature sensor, a heating plate and an insulation pad; the upper platform insulation cover is installed on the upper platform, and the lower platform insulation cover is installed on the lower platform; through the setting of the parallel robot temperature control device, several heating zones are formed in the parallel robot, and the temperature sensor is arranged in each of the heating zones.

2. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The outer surface of the upper platform insulation cover, the outer surface of the lower platform insulation cover, the outer surface of the upper platform, the outer surface of the lower platform, the non-connected part of the inner surface of the upper platform, the non-connected part of the inner surface of the lower platform, the telescopic rod, the two side surfaces of the motor and the motor support are all covered with the multi-layer insulation assembly.

3. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The upper platform insulation cover and the upper platform, the lower platform insulation cover and the lower platform, and the motor and the motor support are all heat-insulated by the insulation pad; the material of the insulation pad is titanium alloy, fiberglass or polyimide.

4. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The inner surface of the upper platform insulation cover is evenly covered with a black paint coating or a black anodized coating, and the emissivity of the inner surface of the upper platform insulation cover is not less than 0.8; and / or, the inner surface of the lower platform insulation cover is evenly covered with a black paint coating or a black anodized coating, and the emissivity of the inner surface of the lower platform insulation cover is not less than 0.

8.

5. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The upper platform insulation cover is mechanically connected to the upper platform through three upper fixed points, and the three upper fixed points are distributed at an equal angle of 120°; the lower platform insulation cover is mechanically connected to the lower platform through three lower fixed points, and the three lower fixed points are distributed at an equal angle of 120°; the insulation pad is arranged at each upper fixed point, and the insulation pad is arranged at each lower fixed point.

6. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The length of the upper platform heat preservation cover extends downward, and the length of the upper platform heat preservation cover covers the upper hinge; the length of the lower platform heat preservation cover extends upward, and the length of the lower platform heat preservation cover covers the lower hinge.

7. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The heating sheet is pasted on the outer surface of the upper platform insulation cover, the outer surface of the lower platform insulation cover, the side of the motor close to the external space, the side of the motor away from the external space, the side of the telescopic rod close to the external space, and the side of the telescopic rod away from the external space.

8. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The material of the heating sheet is a flexible film heating sheet; the arrangement of the heating sheets is a spiral shape or a grid shape.

9. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The outer surface of the upper platform insulation cover is pasted with a circle of the heating plate along the circumferential direction, and the inner surface of the upper platform insulation cover is pasted with a circle of the heating plate along the circumferential direction; the outer surface of the lower platform insulation cover is pasted with a circle of the heating plate along the circumferential direction, and the inner surface of the lower platform insulation cover is pasted with a circle of the heating plate along the circumferential direction.

10. The temperature control device of a parallel robot for use in a vacuum low temperature environment according to claim 1, characterized in that: The temperature sensor is a thermistor, a thermocouple or a platinum resistor.

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