Control method and device for an electric clamping mechanism for cryogenic and / or ultracryogenic environments, electric clamping mechanism and storage medium

Abstract

The application relates to the technical field of electric clamping mechanism control, and discloses a control method for an electric clamping mechanism in a low-temperature and / or ultralow-temperature environment, which comprises the following steps: 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 that the target control module is used to control a motor and / or a heating module to heat the control module. In this way, the normal work of electronic components in the first control module can be ensured, and the reliability of the electric clamping mechanism in a low-temperature and / or ultralow-temperature environment is improved. The application further discloses a control device for an electric clamping mechanism in a low-temperature and / or ultralow-temperature environment, an electric clamping mechanism and a storage medium.

Description

Technical Field

[0001] This application relates to the field of electric clamping mechanism control technology, such as a control method, control device, clamping mechanism and storage medium for electric clamping mechanisms used in low temperature and / or ultra-low temperature environments. Background Technology

[0002] With the development of biopharmaceutical and gene technologies, automated cryogenic sample banks have been widely used in medical and research laboratories for sample preservation. In these automated cryogenic sample banks, clamping mechanisms, such as motorized grippers, can replace manual labor to achieve precise sample handling. Electronic components typically operate at temperatures above -40°C; however, in cryogenic environments, the control modules of these clamping mechanisms are highly susceptible to malfunctions such as unresponsiveness or misoperation. Therefore, there is an urgent need to develop a motorized clamping mechanism that can operate in low and / or cryogenic environments. Summary of the Invention

[0003] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0004] This disclosure provides a control method, apparatus, clamping mechanism, and storage medium for an electric clamping mechanism in low-temperature and / or ultra-low-temperature environments, to ensure the normal operation of electronic components inside a first control module and to improve the reliability of the electric clamping mechanism in low-temperature and ultra-low-temperature environments.

[0005] In some embodiments, the electric clamping mechanism in the control method for an electric clamping mechanism in low-temperature and / or ultra-low-temperature environments includes a first control module for controlling a motor and located close to or in contact with the motor, a heating module disposed on one side of the first control module, and a second control module for controlling the heating module and disposed outside the electric clamping mechanism. The control method includes: obtaining the temperature of the first control module; determining a target control module from the first or second control module based on the temperature; and controlling the target control module to operate so as to use the target control module to control the motor and / or the heating module to heat the first control module.

[0006] In some embodiments, the control device for the electrically driven clamping mechanism in cryogenic and / or ultra-cryogenic environments includes a processor and a memory storing program instructions. The processor is configured to execute the aforementioned control method for the electrically driven clamping mechanism in cryogenic and / or ultra-cryogenic environments when executing the program instructions.

[0007] In some embodiments, the electric clamping mechanism for low temperature and / or ultra-low temperature environments includes the control device described above for the electric clamping mechanism for low temperature and / or ultra-low temperature environments.

[0008] In some embodiments, the storage medium stores program instructions. When executed, the program instructions perform the control method described above for the electric clamping mechanism in low-temperature and / or ultra-low-temperature environments.

[0009] The control method, apparatus, clamping mechanism, and storage medium for electric clamping mechanisms in low-temperature and / or ultra-low-temperature environments provided in this disclosure can achieve the following technical effects:

[0010] By obtaining the temperature of the first control module, a target control module can be determined from either the first or second control module based on this temperature. The target control module can then be controlled to operate, controlling a motor located near or in contact with the first control module, or a heating module positioned to one side of the first control module, to heat the first control module. Compared to existing technologies, this allows for timely heating of the first control module, ensuring the normal operation of its internal electronic components and improving the reliability of the electric clamping mechanism in low and ultra-low temperature environments.

[0011] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0012] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0013] Figure 1 This is a schematic diagram of an electric clamping mechanism for low temperature and / or ultra-low temperature environments provided in an embodiment of this disclosure;

[0014] Figure 2 This is a schematic diagram of a transmission module provided in an embodiment of this disclosure;

[0015] Figure 3 This is a schematic diagram of a first control module provided in an embodiment of this disclosure;

[0016] Figure 4 This is a flowchart of a control method for an electric clamping mechanism for low-temperature and / or ultra-low-temperature environments provided in an embodiment of this disclosure;

[0017] Figure 5 This is a flowchart of a method for a processor to control the power supply of a motor using a first control module, provided in an embodiment of this disclosure;

[0018] Figure 6 This is a flowchart of a control method for an electric clamping mechanism for low-temperature and / or ultra-low-temperature environments provided in an embodiment of this disclosure;

[0019] Figure 7 This is a flowchart of a control method for an electric clamping mechanism for low-temperature and / or ultra-low-temperature environments provided in an embodiment of this disclosure;

[0020] Figure 8 This is a schematic diagram of a control device for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments, provided in an embodiment of this disclosure.

[0021] Figure label:

[0022] 11: First control module; 111: First communication unit; 112: Motor drive unit; 113: Rotation angle detection unit; 12: Motor; Motor shaft 121; 13: Transmission module; 131: Worm gear; 132: Worm wheel; 133: Gear; 14: Robotic arm; 15: Heating module; 16: Host computer; 17: Second control module; 171: Second communication unit;

[0023] 100: Processor; 101: Memory; 102: Communication interface; 103: Bus. Detailed Implementation

[0024] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0025] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0026] Unless otherwise stated, the term "multiple" means two or more.

[0027] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0028] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0029] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0030] Figure 1 This is a schematic diagram of an electric clamping mechanism for low temperature and / or ultra-low temperature environments provided in an embodiment of this disclosure. Figure 2 This is a schematic diagram of a transmission module provided in an embodiment of this disclosure. Figure 3 This is a schematic diagram of a first control module provided in an embodiment of this disclosure. (In conjunction with...) Figures 1 to 3 As shown, this disclosure provides an electric gripping mechanism for low-temperature and / or ultra-low-temperature environments. The electric gripping mechanism may include a first control module 11 for controlling a motor 12 and located close to or in contact with the motor 12, a transmission module 13 connected to the motor 12, and multiple robotic arms 14 connected to the transmission module 13. Thus, the first control module 11 controls the motor 12, so that the motor 12 drives the transmission module 13. In this way, the multiple robotic arms 14 can cooperate to move under the transmission action of the transmission module 13, thereby achieving the gripping of objects.

[0031] Optionally, the transmission module 13 may include a worm gear 131, multiple worm wheels 132, and multiple gears 133. The first end of the worm gear 131 meshes with each of the multiple worm wheels 132, and the second end is connected to the motor shaft 121. The multiple worm wheels 132 also mesh with each of the multiple gears 132. Each gear 132 is connected to a robotic arm 14. Thus, the motor 12 can drive the transmission module 13, allowing the multiple robotic arms 14 to move in coordination under the transmission action of the transmission module 13.

[0032] Optionally, to heat the electric clamping mechanism and ensure its normal operation in low and / or ultra-low temperature environments, the electric clamping mechanism can use the first control module 11 to control the motor 12 to heat the first control module 11 itself. Alternatively, a heating module 15 can be provided on one side of the first control module 11, and a second control module 17 for controlling the heating module 15 can be provided outside the electric clamping mechanism, and the second control module 17 can use the heating module 15 to heat the first control module 11. When the first control module 11 controls the motor 12 to work, the heat generated by the motor 12 can be conducted to the electric clamping mechanism to achieve heating. When the second control module 17 starts the heating module 15 to run, the heating module 15 directly heats the electric clamping mechanism. In this way, the normal operation of the electronic components inside the first control module can be ensured, thereby improving the reliability of the electric clamping mechanism in low and ultra-low temperature environments. For specific implementation methods, please refer to the description below.

[0033] Here, the heating module 15 can be one or more of a heating element, heating wire, heating strip, and heating belt.

[0034] Optionally, the first control module 11 may include a first communication unit 111, a motor drive unit 112, and a rotation angle detection unit 113. The first communication unit 111 can establish a communication relationship with the host computer 16 to receive heating and action commands issued by the host computer 16. When the first communication unit 111 receives a heating command, the electric clamping mechanism enters a heating mode, and the first control module 11 operates, thereby further controlling the motor 12 to heat the first control module 11. The motor drive unit 112, upon receiving an action command from the host computer 16, converts the electrical pulse corresponding to the action command into angular displacement to control the rotation of the motor 12. The rotation angle detection unit 113 detects the actual rotation angle of the motor 12 when clamping an item to determine the current position of the electric clamping mechanism.

[0035] Optionally, the second control module 17 may include a second communication unit 171. The second communication unit 171 can establish a communication relationship with the host computer 16 to receive heating commands issued by the host computer 16. When the second communication unit 171 receives a heating command, the electric clamping mechanism enters the heating mode, and the second control module 17 operates, thereby further controlling the heating module 15 to heat the first control module 11.

[0036] The first communication unit 111 and the second communication unit 172 can establish a communication relationship with the host computer 16 through the CAN (Controller Area Network) bus protocol or the RS-485 protocol.

[0037] Figure 4 This is a flowchart illustrating a control method for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments, as provided in an embodiment of this disclosure. (In conjunction with...) Figure 4 As shown in the embodiments of this disclosure, a control method for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments is provided, which may include:

[0038] S41, the processor obtains the temperature of the first control module.

[0039] Here, the first control module can be equipped with one or more temperature sensors to conveniently and accurately detect its temperature.

[0040] Specifically, if multiple temperature sensors are configured at different locations within the first control module, the temperature can be represented as the maximum value among the detection values ​​of the multiple temperature sensors.

[0041] Alternatively, the temperature can be represented as the average of the readings from multiple temperature sensors. Since the temperature values ​​may differ at different locations, this allows for a more accurate determination of the temperature of the first control module.

[0042] Alternatively, the temperature can be represented as a weighted average of the readings from multiple temperature sensors. Here, different weights are assigned to the multiple temperature sensors. By setting these weights, the intelligence level of the electric clamping mechanism can be further improved. Correspondingly, the weights of each of the multiple temperature sensors can be set according to various criteria, such as the detection accuracy of the multiple temperature sensors, the detection frequency of the multiple temperature sensors, etc. This disclosure does not impose specific limitations on this aspect.

[0043] S42, the processor determines the target control module from the first control module or the second control module based on the temperature.

[0044] Here, the first control module can obtain its own temperature detected by the temperature sensor and control whether the motor is powered on. The second control module can obtain the temperature of the first control module detected by the temperature sensor and control whether the heating module is working.

[0045] Optionally, the processor determines the target control module from the first or second control module based on the temperature. This can include: when the temperature is below a first temperature threshold but above a second temperature threshold, the processor determines the first control module as the target control module, using the first control module to control the motor to power on, and the heat generated by the motor heats the first control module; when the temperature is below or equal to the second temperature threshold, the processor determines the second control module as the target control module, using the second control module to start the heating module to heat the first control module; wherein the first temperature threshold is greater than the second temperature threshold. In this way, by determining different heating strategies based on the temperature of the first control module, the first control module can be heated in a timely manner, reducing the probability of failure when the first control module operates in low and ultra-low temperature environments, ensuring the normal operation of the electronic components inside the first control module, and improving the reliability of the electric clamping mechanism in low and ultra-low temperature environments.

[0046] Here, the first temperature threshold can be -20℃, and the second temperature threshold can be -40℃. The first control module can operate when the electric clamping mechanism is in an environment above -40℃. However, when the electric clamping mechanism is in an environment at or below -40℃, the electronic components within the first control module cannot function properly, requiring a second control module located outside the electric clamping mechanism to control the heating module. Therefore, setting the ambient temperature threshold in this way ensures effective heating of the first control module.

[0047] Furthermore, since the reliability of the electronic components in the first control module can be greatly improved when the environment is above -20℃, the processor can determine the target control module from the first control module or the second control module based on the temperature. This can also include: when the temperature is less than the third temperature threshold and greater than or equal to the first temperature threshold, the processor determines the first control module as the target control module and continues to use the first control module to control the motor to be powered on, and the heat generated by the motor heats the first control module.

[0048] Here, the third temperature threshold can be 0℃.

[0049] S43, the processor controls the target control module to work, so as to use the target control module to control the motor or heating module to heat the first control module.

[0050] In summary, the control method for an electric clamping mechanism in low-temperature and / or ultra-low-temperature environments provided in this disclosure, by obtaining the temperature of the first control module, allows for the determination of a target control module from the first or second control modules based on this temperature. The target control module is then used to control a motor located near or in contact with the first control module, or a heating module positioned to one side of the first control module, to heat the first control module. Compared to existing technologies, this method allows for timely heating of the first control module, ensuring the normal operation of its internal electronic components and improving the reliability of the electric clamping mechanism in low-temperature and ultra-low-temperature environments.

[0051] Figure 5 This is a flowchart illustrating a method for a processor to control the power supply to a motor using a first control module, as provided in an embodiment of this disclosure. (In conjunction with...) Figure 5 As shown, the processor uses the first control module to control the motor's power supply, which may include:

[0052] S51, the processor obtains the target phase current of the motor.

[0053] Optionally, the target phase current can be obtained in the following ways: the processor obtains the set power of the motor; the processor uses the phase current corresponding to the set power as the target phase current according to a second preset correlation relationship; wherein the second preset correlation relationship is the correlation between the set drive power and the available phase current of each motor; or, the processor obtains the set voltage duty cycle of the motor; the processor uses the available phase current corresponding to the set voltage duty cycle as the target phase current according to a fourth preset correlation relationship; wherein the fourth preset correlation relationship is the correlation between the set voltage duty cycle and the available phase current of each motor. In this way, the target phase current can be accurately obtained, facilitating the subsequent accurate determination of the target heating time in conjunction with the temperature of the first control module, so as to energize the motor windings.

[0054] In the second preset association relationship, the available phase current of each motor can be set by wave-by-wave current limiting in combination with the set power of the motor to protect the motor of the electric clamping mechanism.

[0055] Specifically, in PWM (Pulse Width Modulation) control, if the motor's phase current exceeds the maximum allowable phase current corresponding to the set power during the current control cycle, the processor controls the motor's MOSFET to turn off, and this off state continues until the end of the current control cycle. When the next control cycle arrives, the processor turns the MOSFET on according to the prescribed timing logic. Correspondingly, the maximum allowable phase current can be used as the available phase current in the second preset association relationship. Alternatively, the user can set any value from current values ​​less than the maximum allowable phase current as the available phase current during parameter configuration. This disclosure does not impose specific limitations on this aspect.

[0056] S52, the processor determines the target heating time based on temperature and target phase current.

[0057] Optionally, the processor determines the target heating time based on the temperature and the target phase current. This can include: the processor using the heating time corresponding to the temperature and the target phase current as the target heating time according to a first preset correlation; wherein the first preset correlation is the correlation between the available phase current of the motor, the temperature of the first control module, and the heating time. Since the heating time is related to the current magnitude and the temperature of the first control module, this allows for convenient and accurate lookup of a table to obtain the target heating time of the electric clamping mechanism.

[0058] As an example, the first preset association relationship in the embodiments of this disclosure can be shown in Table 5-1.

[0059] Available phase current of the motor Temperature of the first control module Heating time 1.5A -40℃ 30s 1.5A -35℃ 20s 1.5A -30℃ 15s 1.5A -25℃ 10s 1.5A -20℃ 5s 1.5A -15℃ 5s 1A -40℃ 60s 1A -35℃ 40s 1A -30℃ 30s …… …… ……

[0060] Table 5-1

[0061] Referring to Table 5-1, users can also configure the first preset association relationship. Specifically, the user-configured heating time can be set as a multiple of the heating time in the table. This multiple can be any floating-point number. In this way, the heating time value can be arbitrarily configured when setting the first preset association relationship.

[0062] The value of any floating-point number can range from 0.5 to 3.

[0063] Furthermore, when the heating duration corresponding to both the temperature of the first control module and the target phase current is not included in the first preset correlation, the target heating duration can be obtained through linear interpolation. Specifically, the target heating duration can be obtained as follows: the processor determines a third preset correlation between the temperature corresponding to the target phase current and the heating duration based on the first preset correlation; the processor determines a first temperature value and a second temperature value adjacent to the temperature value of the first control module based on the third preset correlation, and determines a first heating duration corresponding to the first temperature value and a second heating duration corresponding to the second temperature value; the processor performs linear interpolation using the first temperature value, the second temperature value, the first heating duration, and the second heating duration to obtain a heating duration interpolation value, and uses the heating duration interpolation value as the target heating duration. In this way, even if the temperature of the first control module is not included in the first preset correlation, the target heating duration can still be obtained, thereby ensuring that the processor can use the first control module to control the normal power supply of the motor and improving the intelligence level of the electric clamping mechanism.

[0064] S53, the processor uses the target heating time as the power-on time and the target phase current as the power-on current, and uses the first control module to power the motor windings.

[0065] Here, taking a two-phase stepper motor as an example, when energizing the windings of this motor, the first and second windings can be energized alternately, or only the first or second winding can be energized. This embodiment does not impose specific limitations on this, only requiring that the electric clamping mechanism does not perform a clamping task when the motor windings are energized.

[0066] In summary, the control method for an electric clamping mechanism in low-temperature and / or ultra-low-temperature environments provided in this disclosure allows the heat generated by the energization of the motor windings when the processor uses the first control module to control the motor to be powered on to be conducted to the electric clamping mechanism for heating. This allows for timely heating of the first control module, thereby reducing the probability of failure when the first control module operates at low temperatures and improving the reliability of the electric clamping mechanism in low-temperature environments.

[0067] Figure 6 This is a flowchart illustrating a control method for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments, as provided in an embodiment of this disclosure. (In conjunction with...) Figure 6 As shown in the embodiments of this disclosure, a control method for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments is provided, which may include:

[0068] S61, the processor responds to the heating command sent by the host computer associated with the electric clamping mechanism and controls the electric clamping mechanism to enter the heating mode.

[0069] Here, the heating command can include various parameters configured by the user. For example, the user can pre-configure the available phase current of the motor, the target heating time, etc.

[0070] S41, the processor obtains the temperature of the first control module.

[0071] S42, the processor determines the target control module from the first control module or the second control module based on the temperature.

[0072] S43, the processor controls the target control module to work, so as to use the target control module to control the motor or heating module to heat the first control module.

[0073] In summary, the control method for the clamping mechanism provided in this disclosure allows for the determination of a target control module from either the first or second control module by obtaining the temperature of the first control module. The target control module is then controlled to operate, and it controls a motor located near or in contact with the first control module, or a heating module positioned to one side of the first control module, to heat the first control module. Compared to existing technologies, this method ensures timely heating of the first control module, guaranteeing the normal operation of its internal electronic components and improving the reliability of the electric clamping mechanism in low and ultra-low temperature environments. Furthermore, the user can pre-configure relevant parameters for the heating mode and control the electric clamping mechanism to enter the heating mode, enabling interactive control between the user and the electric clamping mechanism.

[0074] Figure 7 This is a flowchart illustrating a control method for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments, as provided in an embodiment of this disclosure. (In conjunction with...) Figure 7 As shown in the embodiments of this disclosure, a control method for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments is provided, which may include:

[0075] S61, the processor responds to the heating command sent by the host computer associated with the electric clamping mechanism and controls the electric clamping mechanism to enter the heating mode.

[0076] S41, the processor obtains the temperature of the first control module.

[0077] S42, the processor determines the target control module from the first control module or the second control module based on the temperature.

[0078] S43, the processor controls the target control module to work, so as to use the target control module to control the motor or heating module to heat the first control module.

[0079] S71, when the temperature of the first control module is greater than or equal to the first temperature threshold, the processor controls the electric clamping mechanism to exit the heating mode.

[0080] Since the first control module of the electric clamping mechanism can typically operate in an environment temperature above -40℃, the reliability of the first control module can be greatly improved in an environment above -20℃. Therefore, the processor can stop the electric clamping mechanism from exiting the heating mode when the temperature of the first control module is greater than or equal to -20℃, that is, stop heating the first control module.

[0081] In summary, the control method for the clamping mechanism provided in this disclosure, by obtaining the temperature of the first control module, allows for the determination of a target control module from either the first or second control module. The target control module is then controlled to operate, and it controls a motor located near or in contact with the first control module, or a heating module positioned to one side of the first control module, to heat the first control module. Compared to existing technologies, this method allows for timely heating of the first control module, ensuring the normal operation of its internal electronic components and improving the reliability of the electric clamping mechanism in low and ultra-low temperature environments. Furthermore, by setting the heating stop time based on the temperature of the first control module, energy consumption can be reduced, resources saved, and the intelligence level of the clamping mechanism further enhanced.

[0082] In practical applications, if the electric clamping mechanism is used in an ultra-low temperature automated sample library, and the temperature of the first control module of the electric clamping mechanism is detected to be -25℃, this temperature is less than the first temperature threshold and greater than the second temperature threshold. The processor needs to use the first control module to energize the motor, and the heat generated by the motor heats the first control module. Further, the processor needs to determine the target phase current of the motor by combining a second preset correlation between the set power and available phase current of each motor, or a fourth preset correlation between the set voltage duty cycle and available phase current of each motor. Simultaneously, the processor determines the target heating duration by combining the temperature of the first control module and the target phase current. Using the target heating duration as the energizing duration and the target phase current as the energizing current, the motor windings are energized, and the heat generated by the energized windings heats the clamping mechanism. If the temperature of the first control module of the electric clamping mechanism is detected to be -45℃, this temperature is less than the second temperature threshold. The processor needs to use the second control module to start the heating module to heat the first control module. In this way, the first control module can be heated in time, thereby reducing the probability of failure when the first control module is working in low and ultra-low temperature environments, and improving the working reliability of the electric clamping mechanism in low and ultra-low temperature environments.

[0083] Figure 8 This is a schematic diagram of a control device for an electric clamping mechanism used in low-temperature and / or ultra-low-temperature environments, provided in an embodiment of this disclosure. (In conjunction with...) Figure 8As shown, this disclosure provides a control device for an electric clamping mechanism in low-temperature and / or ultra-low-temperature environments, including a processor 100 and a memory 101. Optionally, the device may further include a communication interface 102 and a bus 103. The processor 100, communication interface 102, and memory 101 can communicate with each other via the bus 103. The communication interface 102 can be used for information transmission. The processor 100 can call logical instructions in the memory 101 to execute the control method for the electric clamping mechanism in low-temperature and / or ultra-low-temperature environments described in the above embodiment.

[0084] Furthermore, the logic instructions in the aforementioned memory 101 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0085] The memory 101, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 100 executes functional applications and data processing by running the program instructions / modules stored in the memory 101, that is, it implements the control method for the electric clamping mechanism in low-temperature and / or ultra-low-temperature environments described in the above embodiments.

[0086] The memory 101 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 101 may include high-speed random access memory and may also include non-volatile memory.

[0087] This disclosure provides a clamping mechanism that includes the control device for the electric clamping mechanism described above for low temperature and / or ultra-low temperature environments.

[0088] This disclosure provides a storage medium storing computer-executable instructions configured to execute the control method described above for an electric clamping mechanism in low-temperature and / or ultra-low-temperature environments.

[0089] The aforementioned storage medium can be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0090] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, including: a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media capable of storing program code; it can also be a transient storage medium.

[0091] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0092] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0093] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0094] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A control method for an electric clamping mechanism for low-temperature environments, the electric clamping mechanism comprising a first control module for controlling a motor and located close to or in contact with the motor, a heating module disposed on one side of the first control module, and a second control module for controlling the heating module and disposed outside the electric clamping mechanism, characterized in that, The control method includes: Obtain the temperature of the first control module; The target control module is determined from the first control module or the second control module based on the temperature. The target control module is controlled to operate so that the target control module can control the motor or the heating module to heat the first control module. The step of determining the target control module from the first control module or the second control module based on the temperature includes: When the temperature is less than the first temperature threshold and greater than the second temperature threshold, the first control module is identified as the target control module, so as to control the motor to be powered on by the first control module, and the heat generated by the motor heats the first control module. When the temperature is less than or equal to the second temperature threshold, the second control module is identified as the target control module, so as to start the heating module to heat the first control module. Wherein, the first temperature threshold is greater than the second temperature threshold.

2. The control method according to claim 1, characterized in that, The step of controlling the motor to be powered using the first control module includes: Obtain the target phase current of the motor; The target heating time is determined based on the temperature and the target phase current. Using the target heating time as the energizing time and the target phase current as the energizing current, the first control module is used to energize the windings of the motor.

3. The control method according to claim 2, characterized in that, The step of determining the target heating duration based on the temperature and the target phase current includes: According to the first preset correlation, the heating time corresponding to the temperature and the target phase current is taken as the target heating time; The first preset correlation is the correlation between the available phase current of the motor, the temperature of the first control module, and the heating time.

4. The control method according to claim 2, characterized in that, The target phase current is obtained in the following manner: Obtain the set power of the motor; According to the second preset correlation, the available phase current corresponding to the set power is taken as the target phase current; Wherein, the second preset correlation relationship is the correlation between the set power and available phase current of different motors; or, Obtain the set voltage duty cycle of the motor; According to the fourth preset correlation, the available phase current corresponding to the set voltage duty cycle is taken as the target phase current; The fourth preset correlation relationship is the correlation between the set voltage duty cycle and the available phase current of different motors.

5. The control method according to any one of claims 1 to 4, characterized in that, Before obtaining the temperature of the first control module, the method further includes: In response to a heating command sent by the host computer associated with the electric clamping mechanism, the electric clamping mechanism is controlled to enter the heating mode.

6. The control method according to any one of claims 1 to 4, characterized in that, Also includes: When the temperature of the first control module is greater than or equal to the first temperature threshold, the electric clamping mechanism is controlled to exit the heating mode.

7. A control device for an electric clamping mechanism in a low-temperature environment, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute the control method for a clamping mechanism as described in any one of claims 1 to 6 when executing the program instructions.

8. An electric clamping mechanism for low-temperature environments, characterized in that, Includes the control device for the electric clamping mechanism for low-temperature environments as described in claim 7.

9. A storage medium storing program instructions, characterized in that, When the program instructions are executed, they perform the control method for the electric clamping mechanism for cryogenic environments as described in any one of claims 1 to 6.

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