Dual linear gripper control method

Abstract

The application provides a double linear gripper control method. The double linear gripper control method comprises the following steps: setting a dynamic collision distance M; obtaining initial positions and target positions of two linear grippers; calculating a shortest distance N in a movement process of the two linear grippers according to given motor movement parameters of the two linear grippers, and judging a size relationship between the distance M and the shortest distance N; and adjusting the motor movement parameters of the two linear grippers when N<=M. The application solves the problem that the double linear grippers are prone to collision in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of sample detection equipment, in particular to a double linear gripper control method. BACKGROUND

[0002] The components of the immunoassay analyzer are divided into several relatively independent units according to different functions, such as sample reagent distribution, mixing, incubation, washing and separation, and operation sites for reaction cup in and out are left between the units. Disposable reaction cups are dispatched between these units by mechanical grippers to complete the entire test process.

[0003] The existing technology mechanical gripper is generally divided into linear gripper and swing arm gripper. Two-dimensional linear gripper can move along the vertical and one horizontal direction at the same time, and three-dimensional linear gripper can move along the vertical and two horizontal directions at the same time. The three-dimensional gripper cannot further improve the movement speed due to its large volume and weight, and it is difficult to meet the demand of high-speed timing action. The swing arm gripper realizes gripper positioning through vertical movement of the swing arm and rotation around the center of the arc, and the horizontal motion track is an arc, which requires the reaction cup operation site to be on an arc.

[0004] The double linear gripper shares a horizontal linear guide rail with two two-dimensional linear grippers, has the advantages of light weight and high speed of a single two-dimensional linear gripper, realizes high-speed and large-range scheduling of reaction cups, and improves the test speed and efficiency of the instrument. There is no fixed avoidance space between the two grippers, which reduces the space required for layout and increases the coverable range and flexibility of the gripper, which is beneficial to the compactness and miniaturization of the whole machine. However, the first gripper and the second gripper in the double linear gripper share a guide rail in the horizontal direction, and there is no fixed avoidance space. If the action timing design is unreasonable, the two grippers may collide during horizontal movement.

[0005] Therefore, there is a problem in the prior art that the double linear gripper is prone to collision during use. SUMMARY

[0006] The main purpose of the present application is to provide a double linear gripper control method to solve the problem that the double linear gripper in the prior art is prone to collision during use.

[0007] In order to achieve the above purpose, according to one aspect of the present application, a double linear gripper control method is provided, comprising: setting a dynamic collision distance M; obtaining the initial position and target position of the two linear grippers; calculating the shortest distance N in the movement process of the two linear grippers according to the given motor movement parameters of the two linear grippers; judging the size relationship between the distance M and the shortest distance N; when N≤M, adjusting the motor movement parameters of the two linear grippers.

[0008] Further, when N>M, the two linear grippers continue to move with the current motor movement parameters.

[0009] Further, when N≤M, after adjusting the motor motion parameters of the two linear grippers, the shortest distance N during the motion of the two linear grippers is recalculated, the size relationship between the distance M and the shortest distance N is re-judged, and the motor motion parameters or acceleration / deceleration of the two linear grippers is adjusted until N>M.

[0010] Further, when N≤M, when adjusting the motor motion parameters of the two linear grippers, the acceleration of the linear gripper in front in the motion direction among the two linear grippers is increased, and the acceleration of the linear gripper behind in the motion direction among the two linear grippers is decreased.

[0011] Further, when N≤M, when the changed acceleration of the linear gripper is greater than the preset maximum acceleration, the preset maximum acceleration is selected as the acceleration of the linear gripper.

[0012] Further, when N≤M, after changing the acceleration of the two linear grippers, the motion time of the corresponding linear gripper is calculated according to the stroke; when N≤M, when the motion time of the linear gripper is less than or equal to the preset constraint time T, the current acceleration of the linear gripper is selected.

[0013] Further, when N≤M and the motion time of the linear gripper is greater than the preset constraint time T, the acceleration of the linear gripper selected is the maximum acceleration that can satisfy the motion time of the linear gripper less than T.

[0014] Further, before adjusting the motor motion parameters of the two linear grippers, a constraint condition is set, and the constraint condition includes: the motion time of the linear gripper is less than or equal to the preset constraint time T; and / or the acceleration of the linear gripper is less than or equal to the preset maximum acceleration.

[0015] Further, when N≤M, in the process of recalculating the shortest distance N during the motion of the two linear grippers, the real-time position increment of the linear gripper is calculated according to the changed acceleration of the linear gripper, and the shortest distance N during the motion of the two linear grippers is obtained.

[0016] Further, when the real-time position increment of the linear gripper is calculated according to the changed acceleration of the linear gripper, the real-time position increment of the two linear grippers is respectively calculated according to the initial speed, acceleration / deceleration, and acceleration / deceleration stroke of the two linear grippers.

[0017] By using the technical scheme of the application, the double linear gripper control method in the application comprises the following steps: setting a dynamic collision distance M; obtaining initial positions and target positions of two linear grippers; calculating a shortest distance N in a movement process of the two linear grippers according to given motor movement parameters of the two linear grippers, and judging a size relationship between the distance M and the shortest distance N; and adjusting the motor movement parameters of the two linear grippers when N≤M.

[0018] By using the double linear gripper control method in the application, the shortest distance N between the two linear grippers and the dynamic collision distance M are judged, and the motors of the two linear grippers are controlled, so that the shortest distance N between the two linear grippers is always greater than the dynamic collision distance M, and the collision of the two linear grippers in the movement process is avoided. Therefore, the double linear gripper control method in the application realizes reliable avoidance of the double grippers, and makes the advantages of small space required by the double linear gripper layout, light weight, high speed, and large scheduling range fully play. The flexibility of the gripper scheduling is increased, and the timing control requirements in a complex scene are met. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings constituting a part of the specification illustrate the present application and are used for explaining the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 A flow chart of a double linear gripper control method according to one specific embodiment of the application is shown;

[0021] Figure 2 A structural schematic diagram of a gripper device of one specific embodiment of the application is shown.

[0022] In the above drawings, the following reference signs are used:

[0023] 10, guide rail assembly; 11, mounting plate; 12, guide rail body; 20, linear gripper structure; 30, driving assembly; 31, driving motor; 32, synchronous belt structure; 40, detection assembly. DETAILED DESCRIPTION

[0024] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict. The application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0025] It should be noted that, unless otherwise specified, all technical and scientific terms used in the application have the same meaning as generally understood by those skilled in the art to which the application belongs.

[0026] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present invention.

[0027] In order to solve the problem in the prior art that double linear grippers are prone to collision during use, the present application provides a double linear gripper control method.

[0028] The dual linear gripper control method in the present application includes setting a dynamic collision distance M; obtaining the initial position and target position of the two linear grippers; calculating the shortest distance N during the movement of the two linear grippers based on the given motor motion parameters of the two linear grippers, and judging the size relationship between the distance M and the shortest distance N; when N≤M, adjusting the motor motion parameters of the two linear grippers; when N>M, the two linear grippers continue to move with the current motor motion parameters.

[0029] The dual-line gripper control method disclosed in this application determines the minimum distance N between the two linear grippers and the dynamic collision distance M, and controls the motors of the two linear grippers to ensure that the minimum distance N between the two linear grippers is always greater than the dynamic collision distance M, thereby ensuring that the two linear grippers will not collide during movement. Therefore, the dual-line gripper control method disclosed in this application achieves intelligent and reliable dual-gripper avoidance, fully utilizing the advantages of the dual-line gripper layout, such as small space requirements, light weight, high speed, and large dispatch range; and increases the flexibility of gripper dispatching, meeting the timing control requirements in complex scenarios.

[0030] It should be noted that in this application, the motor motion parameters include acceleration and deceleration curves.

[0031] like Figure 1 Shown is a flow chart of a dual-linear gripper control method in a specific embodiment of the present application. First, the current position and target position of the two grippers are obtained, and then the default acceleration and deceleration curve of the motor is called. Then, the shortest distance between the two linear grippers during the movement is calculated, and the size of the shortest distance and the collision zone (i.e., the dynamic collision distance range) is judged. When the shortest distance is greater than the collision zone, the acceleration and deceleration curve is used to perform the movement. When the shortest distance is less than or equal to the collision zone, the motor motion parameter adaptation algorithm is used to automatically adjust the modification of the motor motion parameters, and the shortest distance between the two linear grippers during the movement is calculated again, and the size of the shortest distance and the collision zone (i.e., the dynamic collision distance range) is judged until the shortest distance is greater than the collision zone.

[0032] And, it needs to be added that, since the two straight line grippers in the present application, namely the first gripper and the second gripper, share a straight line guide in the horizontal direction, corresponding coordinated avoidance actions are required to ensure that the two do not collide during horizontal movement. The specific method for coordinated horizontal movement of the two straight line grippers is as follows: when both have reaction cup scheduling actions, the horizontal movement of the two grippers when scheduling the reaction cup avoids collision with each other; when one of the two grippers has a reaction cup scheduling action and the other does not, the one gripper schedules the reaction cup while the other idle gripper needs to move horizontally to avoid but does not perform the cup picking and placing action. In order to achieve such coordinated horizontal avoidance actions, the double straight line gripper control method in the present application is required to control.

[0033] Specifically, when N≤M and the motor movement parameters of the two straight line grippers are adjusted, the initial positions of the two straight line grippers are reacquired, the shortest distance N during movement of the two straight line grippers is recalculated, the size relationship between the distance M and the shortest distance N is rejudged, and the motor movement parameters or acceleration / deceleration of the two straight line grippers are adjusted until N>M.

[0034] Optionally, before adjusting the motor movement parameters of the two straight line grippers, a constraint condition is set, which includes that the movement time of the straight line gripper is less than or equal to a preset constraint time T.

[0035] Optionally, the acceleration of the straight line gripper is less than or equal to a preset maximum acceleration.

[0036] Specifically, when N≤M, when adjusting the motor movement parameters of the two straight line grippers, the strokes of the two straight line grippers are determined respectively, the acceleration of the straight line gripper in front in the movement direction among the two straight line grippers is increased, and the acceleration of the straight line gripper behind in the movement direction among the two straight line grippers is decreased.

[0037] Specifically, when N≤M, when the changed acceleration of the straight line gripper is greater than the preset maximum acceleration, the preset maximum acceleration is selected as the acceleration of the straight line gripper.

[0038] Specifically, when N≤M, after changing the acceleration of the two straight line grippers, the movement time of the corresponding straight line gripper is calculated according to the stroke.

[0039] Specifically, when N≤M, when the movement time of the straight line gripper is less than or equal to a preset constraint time T, the current acceleration of the straight line gripper is selected.

[0040] Specifically, when N≤M and when the movement time of the straight line gripper is greater than the preset constraint time T, the maximum acceleration that can satisfy the movement time of the straight line gripper less than T is selected as the acceleration of the straight line gripper.

[0041] Specifically, the change amount of the acceleration of the two linear grippers is the same.

[0042] Specifically, when N≤M, in the process of recalculating the shortest distance N of the two linear grippers in motion, the real-time position increment of the linear gripper is calculated according to the changed acceleration of the linear gripper, and the shortest distance N of the two linear grippers in motion is obtained.

[0043] Specifically, in the process of calculating the real-time position increment of the linear gripper according to the changed acceleration of the linear gripper, the real-time position increment of the two linear grippers is respectively calculated according to the initial speed of motion, the acceleration / deceleration, and the acceleration / deceleration stroke of the two linear grippers.

[0044] In one specific embodiment of the present application, when the double linear gripper control method in the present application is used, the motor motion parameter adaptive algorithm mainly includes the following steps:

[0045] (1) Set the constraint conditions of this section of motion: motion time t i <T, motion acceleration / deceleration a i <A, acceleration / deceleration stroke l i =L, where i=a, b, represents two different linear grippers.

[0046] (2) Set the acceleration change amount Δ.

[0047] (3) The software obtains the positions before motion: the position s a of the linear gripper in front of the motion direction in the two linear grippers, and the position s b of the linear gripper behind the motion direction.

[0048] (4) Update the acceleration: a a =a a +Δ, a b =a b -Δ, where a a is the acceleration of the linear gripper in front of the motion direction, and a b is the acceleration of the linear gripper behind the motion direction.

[0049] If the updated acceleration of the linear gripper is greater than or equal to the maximum acceleration A of the constraint, the acceleration of the linear gripper takes A;

[0050] Calculate the motion time t a , t b of the two linear grippers according to the updated acceleration.

[0051] If the motion time of the linear gripper is greater than or equal to the constraint time T, the acceleration of the linear gripper takes the minimum acceleration that can satisfy the motion time of the linear gripper less than T.

[0052] (5) According to the current acceleration-deceleration curve (initial speed v0, acceleration a, acceleration-deceleration stroke l) and the total stroke S, the real-time position increment δ a (t) of the front linear gripper at any time t is calculated, and the real-time position increment δ b (t) of the rear linear gripper at any time t is calculated.

[0053] (6) The minimum distance min{|(s a +δ a (t))-(s b +δ b (t))|} is calculated.

[0054] (7) If the minimum distance ≤ the collision area, it indicates that a collision will occur in the movement, steps (3) and (4) are repeated until the minimum distance > the collision area and the acceleration-deceleration curve at this time is output.

[0055] (8) The movement is performed by using the acceleration-deceleration curve output in step (7).

[0056] It should be noted that in the present application, the acceleration-deceleration curve can be obtained by an adaptive algorithm, or can be obtained from a pre-stored acceleration-deceleration curve database. Moreover, the double linear gripper movement avoidance control method can be simplified as a number of fixed actions in each time sequence period, so as to realize the reaction cup scheduling while meeting the avoidance requirements.

[0057] As shown in Figure 2 , the present application further provides a gripper device, which comprises a guide rail assembly 10, a linear gripper structure 20, a driving assembly 30 and a detection assembly 40. The guide rail assembly 10 has a plurality of running areas; the linear gripper structure 20 is a plurality of, and at least one linear gripper structure 20 is movably arranged in each running area; the driving assembly 30 is a plurality of, and each driving assembly 30 is drivingly connected with at least one different linear gripper structure 20, so as to drive the linear gripper structure 20 to move in the corresponding running area; and the detection assembly 40 is arranged on the guide rail assembly 10 and is signal connected with the driving assembly 30. Moreover, in the following embodiments, the linear gripper structure 20 is the linear gripper in the above method.

[0058] When the gripper device in the application is used, since at least one linear gripper structure 20 is movably arranged in each operation area of the guide rail assembly 10, the linear gripper structures 20 in multiple operation areas of the guide rail assembly 10 can work simultaneously, thereby meeting the cooperative work requirements of multiple stations. Meanwhile, since the gripper device in the application also has a detection assembly 40 arranged on the guide rail assembly 10, the movement state of the linear gripper structures 20 in different operation areas can be detected by the detection assembly 40, thereby preventing the linear gripper structures 20 in adjacent two operation areas from colliding or interfering with each other. Therefore, the gripper device in the application has the advantage of high work efficiency. Therefore, the gripper device in the application effectively solves the problem that the gripper device in the prior art cannot meet the use requirements of large stroke and multiple stations.

[0059] Specifically, the guide rail assembly 10 includes a mounting plate 11 and a guide rail body 12, and the driving assembly 30 is arranged on the mounting plate 11; the guide rail body 12 is arranged on the mounting plate 11, and the guide rail body 12 has multiple operation areas. That is to say, all the linear gripper structures 20 in the application move on the same guide rail body 12. In the application, the detection assembly 40 can be arranged on the mounting plate 11 or the guide rail body 12. In the application, by arranging the mounting plate 11, the gripper device can be conveniently installed in the preset working area, and the mounting plate 11 can also provide mounting positions for the driving assembly 30 and the detection assembly 40.

[0060] In one specific embodiment of the application, the side of the adjacent two operation areas close to each other has an overlapping intersection area, the detection assembly 40 includes multiple first detection members, at least one first detection member is arranged in each intersection area, and the first detection member is signal connected with the driving assembly 30 corresponding to the linear gripper structure 20 corresponding to the two operation areas corresponding to the intersection area. By such an arrangement, when the linear gripper structures 20 of the adjacent two operation areas in the application move into the same intersection area, the movement direction and speed of the linear gripper structures 20 can be detected by the first detection member, and the movement of the linear gripper structures 20 can be judged according to the detection result, thereby controlling the corresponding driving assembly 30 to limit the movement of the linear gripper structures 20 to prevent the linear gripper structures 20 from colliding in the intersection area. Therefore, in the application, the first detection assembly 40 can effectively ensure the stable operation of the gripper device.

[0061] Preferably, the movement directions of all the linear gripper structures 20 in the intersection region are the same. That is, when the linear gripper structures 20 in two adjacent movement regions are moving in the intersection region, in order to prevent the linear gripper structures 20 from colliding with each other, the movement directions of the linear gripper structures 20 in the intersection region can be limited by controlling the driving assemblies 30, so as to avoid the linear gripper structures 20 from colliding with each other.

[0062] Optionally, the detection assembly 40 further comprises a plurality of second detection members, at least one second detection member is arranged in the part of each movement region which is not covered by the adjacent movement region, and the second detection member is signal connected with the driving assembly 30 corresponding to the linear gripper structure 20 in the corresponding movement region. In this way, the movement state of the linear gripper structure 20 in different movement regions can be detected by the second detection member, so as to ensure the stable operation of the gripper device.

[0063] Specifically, the driving assembly 30 comprises a driving motor 31 and a synchronous belt structure 32. The driving motor 31 and the synchronous belt structure 32 are arranged on the guide rail assembly 10 respectively, and the driving motor 31 is drivingly connected with the synchronous belt structure 32. The linear gripper structure 20 is drivingly connected with the synchronous belt structure 32 and can move along the synchronous belt structure 32. That is, in the present application, the driving motor 31 drives the synchronous belt structure 32 to rotate, so as to drive the linear gripper structure 20 to move along the guide rail body 12 of the guide rail assembly 10 through the synchronous belt structure 32.

[0064] In one specific embodiment of the present application, two driving assemblies 30 are provided, and two driving motors 31 and two synchronous belt structures 32 are respectively arranged on the top surface and the bottom surface of the guide rail assembly 10. In addition, the two driving motors 31 are arranged at the same end of the length direction of the guide rail assembly 10 and staggered along the length direction of the guide rail assembly 10. Meanwhile, the driving motor 31 and the synchronous belt structure 32 of the same driving assembly 30 are respectively arranged on the top surface and the bottom surface of the guide rail assembly 10. In addition, the two synchronous belt structures 32 have the same extension direction. That is, two driving assemblies 30 are arranged on the mounting plate 11 of the guide rail assembly 10, and the two driving motors 31 of the two driving assemblies 30 are arranged at the same end of the length direction of the mounting plate 11. In addition, one driving motor 31 is arranged on the top surface of the mounting plate 11, and the other driving motor 31 is arranged on the bottom surface of the mounting plate 11. Meanwhile, one synchronous belt structure 32 is arranged on the top surface of the mounting plate 11, and the other synchronous belt structure 32 is arranged on the bottom surface of the mounting plate 11. In addition, the synchronous belt structure 32 arranged on the top surface of the mounting plate 11 is drivingly connected with the driving motor 31 arranged on the bottom surface of the mounting plate 11, and the synchronous belt structure 32 arranged on the bottom surface of the mounting plate 11 is drivingly connected with the driving motor 31 arranged on the top surface of the mounting plate 11. In this way, the overall structure of the gripper device can be effectively ensured to be more compact, and the two linear gripper structures 20 can also be ensured to move along the same guide rail body 12. In addition, since the two driving motors 31 and the two synchronous belt structures 32 are arranged at intervals along the length direction of the guide rail body 12, the two synchronous belt structures 32 have overlapping and non-overlapping parts. The overlapping part is the part of the intersection area of the two running areas.

[0065] Optionally, the detection assembly 40 further comprises a third detection member, and at least one third detection member is arranged at the end of the two synchronous belt structures 32 away from each other. The third detection assembly is used for reset detection of the linear gripper structure 20. In the present application, the first detection member and the second detection member are direction sensors and zero sensors respectively, and the third detection member is a code tooth photoelectric coupling and a code disc, which is used for accurate position control during movement.

[0066] In one specific embodiment of the present application, the two linear gripper structures 20 move along the two ends of the guide rail body 12 during reset.

[0067] It should be noted that the linear gripper structure 20 in the present application can move along the guide rail body 12, and the gripper part of the linear gripper structure 20 can also move on the linear gripper structure 20 along the direction perpendicular to the length direction of the guide rail body 12.

[0068] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects: the double-linear gripper motion avoidance control method in the present application realizes reliable intelligent avoidance of the double grippers, so that the advantages of small space required for the layout of the double-linear grippers, light weight, high speed, and large scheduling range can be fully utilized; the flexibility of gripper scheduling is increased, and the timing control requirements in complex scenarios are met.

[0069] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0070] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, work, device, component and / or combination thereof.

[0071] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0072] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dual linear gripper control method, characterized by, The double linear gripper control method is used for controlling a gripper device, the gripper device comprising a guide rail assembly (10), linear gripper structures (20), a driving assembly (30) and a detection assembly (40), the guide rail assembly (10) having a plurality of running areas; the linear gripper structures (20) are a plurality, at least one of the linear gripper structures (20) being movably arranged in each of the running areas; adjacent two of the running areas have an overlapping intersection area on a side close to each other, the movement directions of all the linear gripper structures (20) in the intersection area being the same, the double linear gripper control method comprising: setting a dynamic collision distance M; obtaining initial positions and target positions of two linear grippers; calculating a shortest distance N in a movement process of the two linear grippers according to given motor movement parameters of the two linear grippers; judging a size relationship between the distance M and the shortest distance N; when N≤M, adjusting the motor movement parameters of the two linear grippers; when N≤M, increasing an acceleration of the linear gripper in front in the movement direction among the two linear grippers and decreasing an acceleration of the linear gripper behind in the movement direction among the two linear grippers while adjusting the motor movement parameters of the two linear grippers; when N≤M and after adjusting the motor movement parameters of the two linear grippers, recalculating the shortest distance N in the movement process of the two linear grippers, re-judging the size relationship between the distance M and the shortest distance N and adjusting the motor movement parameters or acceleration of the two linear grippers until N>M; when N≤M, when the changed acceleration of the linear gripper is greater than a preset maximum acceleration, selecting the preset maximum acceleration as the acceleration of the linear gripper.

2. The dual linear gripper control method of claim 1, wherein, The running areas, the linear gripper structures (20) and the driving assembly (30) are two, two driving motors (31) and two synchronous belt structures (32) are respectively located on top and bottom surfaces of the guide rail assembly (10), the two driving motors (31) are located at the same end in the length direction of the guide rail assembly (10) and are staggered arranged along the length direction of the guide rail assembly (10), the driving motor (31) and the synchronous belt structure (32) of the same driving assembly (30) are respectively located on the top and bottom surfaces of the guide rail assembly (10), when N>M, the two linear grippers continue to move with the current motor movement parameters.

3. The double linear gripper control method according to claim 1, characterized in that, when N≤M, calculating a movement time of the corresponding linear gripper according to the stroke after changing the acceleration of the two linear grippers; when N≤M, when the movement time of the linear gripper is less than or equal to a preset constraint time T, then selecting the current acceleration of the linear gripper.

4. The dual linear gripper control method of claim 3, wherein, when N≤M and the movement time of the linear gripper is greater than the preset constraint time T, then the selected acceleration of the linear gripper takes the maximum acceleration that can meet the movement time of the linear gripper being less than T.

5. The dual linear gripper control method according to any one of claims 1 to 4, wherein, Before adjusting the motor motion parameters of the two linear grippers, a constraint condition is set, the constraint condition comprising: a motion time of the linear gripper is less than or equal to a preset constraint time T; and / or an acceleration of the linear gripper is less than or equal to a preset maximum acceleration.

6. The dual linear gripper control method of any one of claims 1 to 4, wherein, When N≤M, in the process of recalculating the shortest distance N between the two linear grippers during motion, the real-time position increment of the linear gripper is calculated according to the changed acceleration of the linear gripper, and the shortest distance N between the two linear grippers during motion is obtained.

7. The dual linear gripper control method of claim 6, wherein, In the process of calculating the real-time position increment of the linear gripper according to the changed acceleration of the linear gripper, the real-time position increment of the two linear grippers is respectively calculated according to the initial motion speed, acceleration / deceleration, and acceleration / deceleration stroke of the two linear grippers.

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