CN-116160471-B - Control method and device for electric clamping mechanism in low-temperature and/or ultra-low-temperature environment, electric clamping mechanism and storage medium

CN116160471BCN 116160471 BCN116160471 BCN 116160471BCN-116160471-B

Abstract

The application relates to the technical field of control of an electric clamping mechanism, and discloses a control method of the electric clamping mechanism for a low-temperature and/or ultralow-temperature environment, which comprises the steps of obtaining the temperature of a first control module; and controlling the target control module to work so as to control the motor and/or the heating module to heat the control module by using the target control module. Therefore, the normal operation of electronic components in the first control module can be ensured, and the reliability of the electric clamping mechanism in low-temperature and ultralow-temperature environments can be improved. The application also discloses a control device of the electric clamping mechanism, the electric clamping mechanism and a storage medium for the low-temperature and/or ultralow-temperature environment.

Inventors

Lv Kaixiong
LIU ZHANJIE
CHEN HAITAO
TANG XIANSHUANG
WANG LU
WANG PANFEI
PAN ZHENHUI

Assignees

青岛海尔生物医疗科技有限公司
青岛海尔生物医疗股份有限公司

Dates

Publication Date: 20260508
Application Date: 20211125

Claims (9)

1. A control method of an electric clamping mechanism for a low temperature environment, the electric clamping mechanism including a first control module for controlling a motor and being close to or in contact with the motor, a heating module provided at one side of the first control module, and a second control module for controlling the heating module and being provided outside the electric clamping mechanism, the control method comprising: Obtaining a temperature of the first control module; determining a target control module from the first control module or the second control module according to the temperature; controlling the target control module to work so as to control the motor or the heating module to heat the first control module by using the target control module; Wherein the determining a target control module from the first control module or the second control module according to the temperature includes: Determining the first control module as the target control module under the condition that the temperature is smaller than a first temperature threshold value and larger than a second temperature threshold value, so as to control a motor to be electrified by using the first control module, and heating the first control module by heat generated by the motor; Determining the second control module as the target control module under the condition that the temperature is less than or equal to a second temperature threshold value, so as to start the heating module to operate by using the second control module and heat the first control module; wherein the first temperature threshold is greater than the second temperature threshold.
2. The control method of claim 1, wherein said controlling the energization of the motor with the first control module comprises: obtaining a target phase current of the motor; determining a target heating duration according to the temperature and the target phase current; And taking the target heating time length as an energizing time length, taking the target phase current as an energizing current, and energizing a winding of the motor by using the first control module.
3. The control method according to claim 2, wherein the determining a target heating period based on the temperature and the target phase current includes: According to a first preset association relation, taking the heating duration corresponding to the temperature and the target phase current as the target heating duration; The first preset association relationship is an association relationship among available phase current of the motor, temperature of the first control module and heating duration.
4. The control method according to claim 2, characterized in that the target phase current is obtained by: Obtaining the set power of the motor; According to a second preset association relation, the available phase current corresponding to the set power is used as the target phase current; Wherein the second preset association relation is the association relation between the set power and the available phase current of different motors, or Obtaining a set voltage duty cycle of the motor; according to a fourth preset association relation, the available phase current corresponding to the set voltage duty ratio is used as the target phase current; the fourth preset association relationship is an association relationship between the set voltage duty ratio of each of the different motors and the available phase current.
5. The control method according to any one of claims 1 to 4, characterized by further comprising, before the obtaining of the temperature of the first control module: And responding to a heating instruction sent by an upper computer associated with the electric clamping mechanism, and controlling the electric clamping mechanism to enter a heating mode.
6. The control method according to any one of claims 1 to 4, characterized by further comprising: And controlling the electric clamping mechanism to exit the heating mode under the condition that the temperature of the first control module is greater than or equal to a first temperature threshold value.
7. A control device for an electric gripper mechanism for a cryogenic environment, comprising a processor and a memory storing program instructions, characterized in that the processor is configured to execute the control method for a gripper mechanism according to any one of claims 1 to 6 when executing the program instructions.
8. An electric clamping mechanism in a low temperature environment, characterized by comprising the control device for the electric clamping mechanism in a low temperature environment as claimed in claim 7.
9. A storage medium storing program instructions which, when executed, perform the method of controlling an electric clamping mechanism for a cryogenic environment according to any one of claims 1 to 6.

Description

Control method and device for electric clamping mechanism in low-temperature and/or ultra-low-temperature environment, electric clamping mechanism and storage medium Technical Field The present application relates to the field of electric gripper mechanism control technology, and for example, to a control method, a control device, a gripper mechanism, and a storage medium for an electric gripper mechanism in a low-temperature and/or ultra-low-temperature environment. Background With the development of scientific technologies such as biopharmaceuticals and genetic technologies, samples stored in an ultralow-temperature automated sample library are widely applied in medical laboratories and scientific research laboratories. In the ultralow-temperature automatic sample library, a clamping mechanism, such as an electric clamping jaw, can be used for replacing manual work, so that accurate clamping of samples is realized. The normal working environment temperature of the electronic components is usually above-40 ℃, and the control module of the clamping mechanism is very easy to generate faults such as no response or misoperation under the ultralow temperature environment. Accordingly, there is a need to develop an electric clamping mechanism that can be used in low and/or ultra-low temperature environments. Disclosure of Invention The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows. The embodiment of the disclosure provides a control method, a control device, a clamping mechanism and a storage medium for an electric clamping mechanism in a low-temperature and/or ultralow-temperature environment, so as to ensure normal operation of electronic components in a first control module and improve the reliability of the electric clamping mechanism in the low-temperature and ultralow-temperature environment. In some embodiments, the electric clamping mechanism in the control method for the electric clamping mechanism in the low-temperature and/or ultra-low-temperature environment comprises a first control module, a heating module and a second control module, wherein the first control module is used for controlling the motor and is close to or in contact with the motor, the heating module is arranged on one side of the first control module, and the second control module is used for controlling the heating module and is arranged outside the electric clamping mechanism. The control method comprises the steps of obtaining the temperature of a first control module, determining a target control module from the first control module or a second control module according to the temperature, and controlling the target control module to work so as to control a motor and/or a heating module to heat the first control module by using the target control module. In some embodiments, the control device of the motorized clasping mechanism for low-temperature and/or ultra-low-temperature environments includes a processor and a memory storing program instructions. The processor is configured to perform the above-described control method of the electric gripper mechanism for low and/or ultra-low temperature environments when executing the program instructions. In some embodiments, the motorized clasping mechanism of the low-temperature and/or ultra-low-temperature environment comprises the control device of the motorized clasping mechanism for the low-temperature and/or ultra-low-temperature environment described above. In some embodiments, the storage medium stores program instructions. When the program instructions are run, the control method of the electric clamping mechanism for the low-temperature and/or ultra-low-temperature environment is executed. The control method, the device, the clamping mechanism and the storage medium for the electric clamping mechanism in the low-temperature and/or ultralow-temperature environment provided by the embodiment of the disclosure can realize the following technical effects: by obtaining the temperature of the first control module, the target control module can be determined from the first control module or the second control module according to the temperature, the target control module is further controlled to work, and the target control module is utilized to control a motor close to or in contact with the first control module or a heating module arranged on one side of the first control module so as to heat the first control module. Compared with the prior art, the electric clamping mechanism can timely heat the first control module, and ensure the normal work of electronic components in the first control module, so that the reliability of the electric clamping mechanism in work under low-temperature