Motion assembly control method and device and computer equipment

Abstract

The invention relates to a control method and device of a motion component, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a time parameter and a path parameter of executing a target action by a target transportation unit; the target transportation unit is any transportation unit in the at least one transportation unit; based on the time parameter and the path parameter, respectively determining a first speed change curve of a first motion assembly and a second speed change curve of a second motion assembly in the target transportation unit; and the first movement assembly is controlled to move according to the first speed change curve, and the second movement assembly is controlled to move according to the second speed change curve. By adopting the method, the clamp assembly can be controlled more accurately, and the multifunctionality of the clamp assembly is improved.

Description

Technical Field

[0001] The present application relates to the field of transportation technology, and in particular to a control method, device, computer equipment, storage medium and computer program product for a motion component. Background Art

[0002] With the development of the transportation field, dual-motor (where the mover is also called a slider or carrier) transportation technology has emerged. A dual-motor transportation device refers to a device that uses at least two movers that run independently or collaboratively along the same track on a conveyor line to transport materials or products. In actual applications, the dual movers connect the clamps and use the lifting and lowering actions of the clamps to achieve longitudinal movement. In traditional technologies, the lifting and lowering of the clamps usually rely on mechanical structures, which requires additional mechanical design of the track. However, the designed mechanical components have a single function and cannot be flexibly adjusted to meet different needs, which limits the flexibility of the dual-motor transportation device. Summary of the Invention

[0003] Based on this, it is necessary to provide a control method, device, computer equipment, computer-readable storage medium and computer program product capable of moving components to address the above technical problems.

[0004] In a first aspect, the present application provides a method for controlling a motion assembly. The method is applied to a control unit electrically connected to at least one transport unit, each of which includes a first motion assembly and a second motion assembly, each of which is movably connected to a clamp assembly via a corresponding connecting rod. The method comprises:

[0005] Acquire time parameters and path parameters of a target transport unit executing a target action; the target transport unit is any transport unit among the at least one transport unit;

[0006] Determining a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit based on the time parameter and the path parameter;

[0007] The first motion component is controlled to move according to the first speed change curve, and the second motion component is controlled to move according to the second speed change curve.

[0008] In one embodiment, the target action includes the lifting and lowering movements of the clamp assembly; the time parameters and path parameters include the time and path of the lifting movement of the clamp assembly, the time and path of the lowering movement of the clamp assembly, and the starting position and target position of the motion assembly.

[0009] In one embodiment, determining a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit based on the time parameter and the path parameter respectively includes:

[0010] Determining an initial first velocity change curve of the first motion component and an initial second velocity change curve of the second motion component when the clamp assembly is not lifting or lowering, using the time and path of the clamp assembly lifting motion, the time and path of the clamp assembly lowering motion, and the starting position and target position of the motion component;

[0011] determining, based on the time and path of the lifting movement of the clamp assembly, a first sub-speed change curve of the first motion assembly during the lifting movement of the clamp assembly;

[0012] determining, based on the time and path of the downward movement of the clamp assembly, a second sub-speed change curve of the second motion assembly during the downward movement of the clamp assembly;

[0013] Based on the time and path of the lifting movement of the clamp assembly, using the first sub-speed change curve, the sub-speed change curve corresponding to the initial first speed change curve is replaced by the first sub-speed change curve to obtain the first speed change curve;

[0014] Based on the time and path of the downward movement of the clamp assembly, the sub-speed change curve corresponding to the initial second speed change curve is replaced with the second sub-speed change curve to obtain the second speed change curve.

[0015] In one embodiment, determining a first sub-speed change curve of the first motion component when the clamp assembly is lifted based on the time and path of the clamp assembly lifting movement comprises:

[0016] Using the time and path of the lifting movement, obtaining the starting speed of the clamp assembly at the start of the lifting movement from the initial first speed change curve;

[0017] Determining the acceleration of the first motion component using the time and path of the lifting motion;

[0018] The acceleration of the first motion component, the starting speed of the lifting motion, and the time of the lifting motion are used to determine a first sub-speed change curve of the first motion component when the clamp component is lifting.

[0019] In one embodiment, determining a second sub-speed change curve of the second motion component when the clamp assembly moves downward based on the time and path of the clamp assembly's downward movement comprises:

[0020] Using the time and path of the descending movement, obtaining the starting speed of the clamp assembly at the start of the descending movement from the initial second speed change curve;

[0021] Determining the descending acceleration of the second motion component using the time and path of the descending motion;

[0022] The second sub-speed change curve of the second motion component when the clamp component is in descending motion is determined by using the descending acceleration of the second motion component, the starting speed of the descending motion, and the descending time.

[0023] In one embodiment, determining an initial first velocity change curve of the first motion component and an initial second velocity change curve of the second motion component when the clamp assembly is not lifting or lowering using the time and path of the clamp assembly lifting motion, the time and path of the clamp assembly lowering motion, and the starting position and target position of the motion component comprises:

[0024] Determine the position where the clamp assembly starts the lifting movement and the position where the clamp assembly completes the lowering movement by using the time and path of the clamp assembly's lifting movement and the time and path of the clamp assembly's lowering movement;

[0025] Based on the position where the clamp assembly starts lifting movement and completes lowering movement, the starting position and target position of the motion assembly, the initial first speed change curve of the first motion assembly and the initial second speed change curve of the second motion assembly are determined when the clamp assembly is not performing lifting movement and lowering movement.

[0026] In a second aspect, the present application further provides a control device for a motion assembly. The control device is applied to a control unit, the control unit being electrically connected to at least one transport unit, each of the transport units comprising a first motion assembly and a second motion assembly, the two motion assemblies being movably connected to a clamp assembly via corresponding connecting rods, the device comprising:

[0027] A data acquisition module is used to acquire time parameters and path parameters of a target transport unit performing a target action; the target transport unit is any transport unit among the at least one transport unit;

[0028] a curve determination module, configured to determine a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit based on the time parameter and the path parameter;

[0029] The component motion module is used to control the first motion component to move according to the first speed change curve, and to control the second motion component to move according to the second speed change curve.

[0030] In one embodiment, the target action includes the lifting and lowering movements of the clamp assembly; the time parameters and path parameters include the time and path of the lifting movement of the clamp assembly, the time and path of the lowering movement of the clamp assembly, and the starting position and target position of the motion assembly.

[0031] In one embodiment, the curve determination module includes:

[0032] an initial curve determination submodule, configured to determine an initial first velocity change curve of the first motion component and an initial second velocity change curve of the second motion component when the clamp assembly is not lifting or lowering, using the time and path of the clamp assembly lifting motion, the time and path of the clamp assembly lowering motion, and the starting position and target position of the motion component;

[0033] a sub-speed curve determining sub-module, configured to determine a first sub-speed change curve of the first motion component during the lifting movement of the clamp component based on the time and path of the lifting movement of the clamp component;

[0034] The sub-speed curve determining sub-module is further configured to determine a second sub-speed change curve of the second motion component during the descending motion of the clamp assembly based on the time and path of the descending motion of the clamp assembly;

[0035] a speed curve determining submodule, configured to replace the sub-speed change curve corresponding to the initial first speed change curve with the first sub-speed change curve based on the time and path of the lifting movement of the clamp assembly, to obtain the first speed change curve;

[0036] The speed curve determination submodule is further used to replace the sub-speed change curve corresponding to the initial second speed change curve with the second sub-speed change curve based on the time and path of the clamp assembly's descending movement to obtain the second speed change curve.

[0037] In one embodiment, the sub-speed curve determination sub-module includes:

[0038] an initial speed acquisition unit, configured to acquire, from the initial first speed change curve, the initial speed at which the clamp assembly starts the lifting movement, using the time and path of the lifting movement;

[0039] an acceleration determining unit, configured to determine an acceleration of the first motion component using a time and a path of the lifting motion;

[0040] The sub-speed determination unit is used to determine the first sub-speed change curve of the first motion component when the clamp component is lifting by using the acceleration of the first motion component, the starting speed of the lifting movement, and the time of the lifting movement.

[0041] In one embodiment, determining a second sub-speed change curve of the second motion component when the clamp assembly moves downward based on the time and path of the clamp assembly's downward movement comprises:

[0042] an initial speed acquisition unit, configured to acquire, from the initial second speed change curve, the initial speed of the clamp assembly at the start of the descending movement by utilizing the time and path of the descending movement;

[0043] an acceleration determination unit, configured to determine a descending acceleration of the second motion component by using the time and path of the descending motion;

[0044] The sub-speed determination unit is used to determine the second sub-speed change curve of the second motion component when the clamp component descends by using the descending acceleration, the starting speed of the descending movement, and the descending time of the second motion component.

[0045] In one embodiment, the initial curve determination submodule includes:

[0046] a position determining unit, configured to determine a position at which the clamp assembly starts the lifting movement and a position at which the clamp assembly completes the lowering movement by using the time and path of the clamp assembly's lifting movement and the time and path of the clamp assembly's lowering movement;

[0047] An initial curve determination unit is used to determine the initial first speed change curve of the first motion component and the initial second speed change curve of the second motion component when the lifting and lowering movements of the clamp assembly are not performed, based on the position where the clamp assembly starts lifting movement and completes lowering movement, the starting position and target position of the motion component.

[0048] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the control method of the motion component as described in any one of the embodiments of the present disclosure when executing the computer program.

[0049] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for controlling a motion component as described in any one of the embodiments of the present disclosure.

[0050] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method for controlling a motion component as described in any one of the embodiments of the present disclosure.

[0051] The control method, device, computer equipment, storage medium, and computer program product of the aforementioned motion component determine the speed change curve of the motion component by obtaining the time parameters and path parameters of the target transport unit performing the target action, and move the motion component according to the obtained speed change curve. It is possible to achieve precise control of the first motion component and the second motion component in the transport unit, thereby improving the motion efficiency of the transport unit, reducing errors during transportation, and improving transportation efficiency and quality. At the same time, the first motion component and the second motion component are connected to the fixture to drive the fixture assembly to move, providing the fixture assembly with flexible speed control to adapt to different transportation needs and transportation environments, thereby improving the flexibility, adjustability, and versatility of the transport unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 1 is a flow chart of a method for controlling a motion component in one embodiment;

[0053] Figure 2 A schematic diagram of a first environment for implementing a method for controlling a motion component in one embodiment;

[0054] Figure 3 A schematic diagram of a second environment for implementing a method for controlling a motion component in one embodiment;

[0055] Figure 4 A first state diagram for implementing a control method for a motion component in one embodiment;

[0056] Figure 5 A second state diagram for an implementation of a control method for a motion component in one embodiment;

[0057] Figure 6 A fourth environment diagram illustrating an implementation of a method for controlling a motion component in one embodiment;

[0058] Figure 7 A schematic diagram of a process for determining a speed change curve of a motion component in one embodiment;

[0059] Figure 8 is a schematic diagram of a speed change curve of a motion component in one embodiment;

[0060] Figure 9 Schematic diagram of a process for determining a first sub-speed variation curve in one embodiment;

[0061] Figure 10FIG. 1 is a schematic diagram of a flow chart for determining a second sub-speed variation curve in one embodiment;

[0062] Figure 11 A schematic diagram of a process for determining an initial speed change curve in one embodiment;

[0063] Figure 12 is a schematic diagram of the acceleration of the first motion component in one embodiment;

[0064] Figure 13 is a schematic diagram of the acceleration of the second motion component in one embodiment;

[0065] Figure 14 A schematic diagram of a process for determining a first speed change curve in one embodiment;

[0066] Figure 15 A schematic diagram of a process for determining a second speed variation curve in one embodiment;

[0067] Figure 16 is a structural block diagram of a control device for a motion component in one embodiment;

[0068] Figure 17 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0070] In one embodiment, Figure 1 As shown, a method for controlling a motion component is provided. This embodiment uses the method applied to a terminal as an example for explanation. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method is applied to a control unit, the control unit is electrically connected to at least one transport unit, and each of the transport units includes a first motion component and a second motion component, and the two motion components are respectively movably connected to the clamp component through corresponding connecting rods. The method includes the following steps:

[0071] Step S100 , obtaining time parameters and path parameters for a target transport unit to perform a target action; the target transport unit is any transport unit among the at least one transport unit.

[0072] In an exemplary embodiment, the transport unit may be a link mechanism that converts horizontal motion into vertical motion. Figure 2As shown, the transport unit may include a first motion component 4, a second motion component 5, a clamp component 3, a connecting rod 6, a transport platform 7 and a track 8, etc.

[0073] The first and second motion assemblies 4 and 5 move on tracks 8, controlling the horizontal or vertical motion of the fixture assembly 3 through synchronous or asynchronous motion. Alternatively, the first and second motion assemblies 4 and 5 can utilize sliding tracks or rolling rollers for movement. In a specific implementation, the motion assemblies may be motorized sliders, magnetic levitation tracks, engine-driven rollers, or the like. The connecting rods are rigid connectors used to transmit force and displacement, ensuring motion synchronization and structural stability. In a specific implementation, the connecting rods 6 may be constructed of materials such as high-strength aluminum alloys and carbon fiber composites. The transport platform 7 can directly carry cargo and connect to the fixture assembly, moving synchronously with it and cooperating with it to perform lifting, lifting, and translational motions. The tracks 8 provide a guide path for the motion assemblies, ensuring the precision and stability of the motion of the first and second motion assemblies 4 and 5. In a specific implementation, the tracks may be magnetic levitation tracks, railroad tracks, rack tracks, or the like. Accordingly, the first and second motion assemblies 4 and 5 may be magnetic levitation movers, railroad movers, or gear trolleys.

[0074] The clamp assembly 3 may be a hinge point of the two connecting rods 6. The speed difference between the first motion assembly 4 and the second motion assembly 5 causes a change in the distance between them, thereby driving the clamp assembly to rise or fall.

[0075] In a specific implementation, the clamp assembly 3 may be a rotary transmission assembly. The rotary transmission assembly includes at least two rotating components, wherein the movement of one rotating component drives the movement of the corresponding other rotating component. In a specific implementation, the synchronous movement of the multiple rotating components can be achieved through gear transmission, belt transmission, chain transmission, or sprocket.

[0076] For example, taking gear transmission as an example, refer to Figure 3 As shown, the clamp assembly includes a first gear portion 31 and a second gear portion 32. The first gear portion 31 and the second gear portion 32 are meshed with each other. The rotation of the first gear portion 31 drives the rotation of the second gear portion 32. Similarly, the rotation of the second gear portion 32 also drives the rotation of the first gear portion 31. The first gear portion 31 is connected to the first motion component 4 through a connecting rod, and the second gear portion 32 is connected to the second motion component 5 through a connecting rod.

[0077] In a specific embodiment, the motion state of the transport unit can be as follows: Figure 4 and Figure 5 As shown. Figure 4In the motion state shown, when the distance between the first motion component 4 and the second motion component 5 gradually increases, the clamp assembly is in a descending state. Figure 5 In the motion state shown, when the distance between the first motion component 4 and the second motion component 5 gradually decreases, the clamp assembly is in an ascending state. Figure 4 As shown, the first motion component 4 and the second motion component 5 move clockwise along the track. When the first motion component 4 is accelerated or the second motion component 5 is decelerated, the two motion components exert an upward force on the gear part through the connecting rod, driving the gear part to move upward synchronously, entering Figure 5 The motion state shown.

[0078] In another exemplary embodiment, referring to Figure 6 As shown, the transport assembly may include a first motion assembly 4, a second motion assembly 5, a connecting rod 6, a clamp assembly 3, and a suspension rod 9; wherein the connecting rod 6 may be made of a rigid body or other material that does not bend and has a constant length, ensuring that it does not bend and that its length remains constant, so as to maintain the structural stability of the connecting rod. The first motion assembly 4 and the second motion assembly 5 move on the suspension rod, and ensure the horizontal movement of the clamp assembly through synchronous movement, and control the vertical movement of the clamp assembly by controlling the distance between the two motion assemblies; the movement of the motion assembly on the suspension rod may be achieved by using a sliding track or a rolling roller, etc. In actual use, the clamp assembly may be connected to a hook, a magnetic connection tool, etc., and the transport object at a lower position may be suspended or magnetically connected to the clamp assembly in state 1 by using the hook or the magnetic connection tool, and the transport object may be driven to move synchronously by the movement of the clamp assembly. When state 2 is reached, the transport object at a lower position may be transported to a higher position, etc.

[0079] It should be noted that the transport unit of the present application is not limited to the structure described in the above embodiments, but can also be implemented through a combination of motors, synchronous belts, connecting rods, etc. in the prior art. Technical personnel in the relevant field may make other changes inspired by the technical essence of the present application, but as long as the functions and effects achieved are the same or similar to those of the present application, they should be covered within the scope of protection of the present application.

[0080] In an exemplary embodiment, the target action may include the transportation process of the transportation unit. The specific transportation process may include the clamp assembly moving from static to moving through the movement of the motion component, and the lifting of the clamp assembly is achieved through the acceleration of the rear (opposite direction of movement) motion component. After passing a certain distance, the clamp assembly is lowered and opened through the acceleration of the front (movement direction) motion component, and finally the clamp assembly is stopped from moving through the motion component.

[0081] In an exemplary embodiment, the time parameter library may include the time the clamp assembly remains raised, the time the clamp assembly is raised, the time the clamp assembly is lowered and opened, the acceleration time of the clamp assembly before being raised, the deceleration time of the clamp assembly after being lowered and opened, etc. In another exemplary embodiment, the path parameters may include the travel path of the clamp assembly before being raised, the travel path of the clamp assembly when being raised, the travel path of the clamp assembly while remaining raised, the travel path of the clamp assembly while being lowered and opened, and the travel path of the clamp assembly after being lowered and opened, etc.

[0082] Step S200 : Based on the time parameter and the path parameter, respectively determine a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit.

[0083] In an exemplary embodiment, the first speed change curve and the second speed change curve may include speed change curves of the first motion component and the second motion component respectively planned using time parameters and path parameters, and the process of the target action may be as follows, "stationary - acceleration (two motion components) - uniform speed (two motion components) - acceleration (rear [opposite direction of motion] motion component) - deceleration (rear [opposite direction of motion] motion component) - uniform speed (two motion components) - acceleration (front [motion direction] motion component) - deceleration (front [motion direction] motion component) - uniform speed (two motion components) - deceleration (two motion components) - stationary"; it can be understood that from stationary to the acceleration of the two motion components, causing the clamp assembly to start moving, the rear motion component accelerates, causing the clamp assembly to lift, the front motion component accelerates, causing the clamp assembly to descend and open, the uniform speed of the two motion components in the middle of the acceleration of the rear motion component and the front motion component is the path for the clamp to be lifted, etc. In another exemplary embodiment, the process of the target action may also include "stationary - acceleration (two moving components) - acceleration (rear [opposite direction of moving direction] moving component) - deceleration (rear [opposite direction of moving direction] moving component) - uniform speed (two moving components) - acceleration (front [moving direction] moving component) - deceleration (front [moving direction] moving component) - deceleration (two moving components) - stationary". It can be understood that the first acceleration time can be set to the starting position of the second deceleration, and the last deceleration time can be set to the end position of the descending movement, that is, there is no uniform speed after the first deceleration, and there is no uniform speed after the front moving component decelerates, etc.

[0084] Step S300 : Controlling the first motion component to move according to the first speed change curve, and controlling the second motion component to move according to the second speed change curve.

[0085] In one exemplary embodiment, the resulting velocity change curve can be used to control the movement of the corresponding motion component, thereby achieving the target motion. In actual use, this can include grouping and numbering the motion components, determining the front and back order of the motion components (front direction for motion, back direction for the opposite direction), and assigning different labels to the motion components. It is understood that multiple transport units can be included, with multiple transport units moving simultaneously. Furthermore, after the motion component completes the target motion, the motion direction can be changed, switching the front and back motion components to achieve a return from the target position to the initial position.

[0086] In an exemplary embodiment, magnetic drive technology can be used to achieve an operating speed corresponding to a speed change curve of a moving component.

[0087] In the aforementioned motion component control method, the speed change curve of the motion component is determined by obtaining the time parameters and path parameters of the target transport unit performing the target action, and the motion component is moved according to the obtained speed change curve. This allows precise control of the first and second motion components in the transport unit, improving the transport unit's motion efficiency, reducing errors during transportation, and improving transportation efficiency and quality. At the same time, the first and second motion components are connected to the fixture, driving the fixture assembly to move, providing flexible speed control for the fixture assembly to adapt to different transportation needs and transportation environments, thereby improving the flexibility, adjustability, and versatility of the transport unit.

[0088] In one embodiment, the target action includes lifting and lowering movements of the clamp assembly; the time parameters and path parameters include the time and path of the lifting movement of the clamp assembly, the time and path of the lowering movement of the clamp assembly, the time and path between the lifting and lowering movements of the clamp assembly, and the starting position and target position of the motion assembly.

[0089] In an exemplary embodiment, the target action may include the movement of the clamp assembly from stationary to horizontal, as well as the lifting and lowering movements of the clamp assembly; specifically, it may include driving the clamp assembly to move horizontally through a connected motion component, and controlling the lifting and lowering of the clamp assembly through the acceleration of the motion component.

[0090] In an exemplary embodiment, the time parameters and path parameters may include the time and path of the clamp assembly in completing the target action, specifically including: the time and path of the clamp assembly lifting movement (i.e., the time and path consumed by the clamp assembly in the process of lifting), the time and path of the clamp assembly lowering movement (i.e., the time and path consumed by the clamp assembly in the process of lowering), the time and path between the lifting movement and the lowering movement of the clamp assembly (i.e., the time and path for keeping the clamp assembly lifted after the clamp assembly performs the lifting movement), the starting position and target position of the motion component (i.e., the starting position and end position of the two motion components), etc.

[0091] In this embodiment, the target motion includes the lifting and lowering of the clamp assembly; the timing and path parameters include the timing and path of the clamp assembly's lifting motion, the timing and path of the clamp assembly's lowering motion, and the starting and target positions of the motion assembly. By using these specific timing and path parameters, precise control of each component of the transport unit can be achieved, ensuring that the motion assembly and the clamp assembly move in a predetermined manner.

[0092] In one embodiment, Figure 7 As shown, the determining of a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit based on the time parameter and the path parameter respectively includes:

[0093] Step S201, using the time and path of the lifting movement of the clamp assembly, the time and path of the lowering movement of the clamp assembly, the starting position and target position of the motion assembly, determine the initial first speed change curve of the first motion assembly and the initial second speed change curve of the second motion assembly when the lifting movement and lowering movement of the clamp assembly are not performed.

[0094] In an exemplary embodiment, not performing the lifting and lowering movement of the clamp assembly may include the motion assembly only driving the clamp assembly to move horizontally without accelerating to change the longitudinal height of the clamp assembly, i.e., not lifting or lowering the clamp assembly. It is understood that the initial first speed change curve and the initial second speed change curve may be the same, i.e., both follow the pattern of "acceleration - constant speed - deceleration."

[0095] In an exemplary embodiment, the first speed change curve and the second speed change curve can be drawn by determining the starting position of the lifting motion of the clamp assembly and the ending position of the lowering motion thereof through the path of the lifting motion of the clamp assembly and the path of the lowering motion thereof. It is understood that in some cases, before reaching the path of the lifting motion of the moving assembly, it is necessary to ensure that the clamp assembly is accelerated to the corresponding speed, and before reaching the ending position of the lowering motion of the clamp assembly, it is necessary to ensure that the clamp assembly does not decelerate. Specifically, when the moving assembly is accelerated twice to achieve the lifting and lowering of the clamp, the speed must be included to complete the first acceleration and the deceleration from motion to rest must not be started.

[0096] Step S202 : determining a first sub-speed change curve of the first motion component during the lifting movement of the clamp component based on the time and path of the lifting movement of the clamp component.

[0097] In an exemplary embodiment, the first motion assembly may include a rear motion assembly (in the opposite direction of motion). It is understood that the rear motion assembly needs to be accelerated to complete the lifting of the clamp assembly. Based on the timing and path of the clamp assembly's lifting motion, a velocity curve of the rear motion assembly during the clamp assembly's lifting motion is plotted.

[0098] Step S203 : determining a second sub-speed change curve of the second motion component during the downward movement of the clamp assembly based on the time and path of the downward movement of the clamp assembly.

[0099] In an exemplary embodiment, the first motion assembly may include a forward (movement direction) motion assembly. It is understood that the forward motion assembly needs to be accelerated to complete the descent of the clamp assembly. Based on the time and path of the clamp assembly's descent, a velocity curve of the forward motion assembly during the clamp assembly's descent is plotted.

[0100] Step S204 : Based on the time and path of the lifting movement of the clamp assembly, the sub-speed change curve corresponding to the initial first speed change curve is replaced with the first sub-speed change curve to obtain the first speed change curve.

[0101] In an exemplary embodiment, a replacement sub-speed variation curve can be selected from the initial first speed variation curve based on the time and path of the clamp assembly lifting movement, and replaced with the first sub-speed variation curve to obtain the first speed variation curve. In actual use, the speed of the uniform movement can be set, that is, the speed before and after lifting is consistent, to avoid a "fault" phenomenon in the first speed variation curve after the replacement, that is, two speeds existing at the same time.

[0102] Step S205 : Based on the time and path of the downward movement of the clamp assembly, the sub-speed change curve corresponding to the initial second speed change curve is replaced with the second sub-speed change curve to obtain the second speed change curve.

[0103] In an exemplary embodiment, a replacement sub-speed variation curve can be selected from the initial second speed variation curve based on the time and path of the clamp assembly's descent motion, and replaced with the second sub-speed variation curve to obtain the first speed variation curve. In actual use, the speed of the uniform motion can be set, that is, the speed before and after descent is consistent, to avoid a "fault" phenomenon in the second speed variation curve after the replacement, that is, two speeds existing at the same time.

[0104] In an exemplary embodiment, after the initial first speed change curve and the initial second speed change curve are replaced, the speed and position may be integrated separately to ensure continuity, etc.

[0105] In an exemplary embodiment, the first speed change curve and the second speed change curve may be as follows: Figure 8 As shown, the solid line represents the speed change curve of the moving component at the rear (opposite direction of movement), and the bold dotted line represents the speed change curve of the moving component at the front (direction of movement); it can be understood that when the movement starts, both moving components are accelerating; after the uniform speed, the rear vehicle accelerates to complete the lifting of the clamp assembly, and maintains the original speed after completion. After the lifting distance has been maintained, the front vehicle accelerates to complete the lowering of the clamp assembly, and maintains the original speed after it is completed, etc.

[0106] In this embodiment, by determining the initial speed change curve, a sub-speed change curve for the motion component during the lifting and lowering motion of the fixture is established. The sub-speed change curve is used to replace the curve corresponding to the initial speed change curve to obtain the speed change curve of the motion component. By first determining the initial speed and then replacing it with the sub-speed, the complexity of the speed change curve design is simplified, providing convenience for managing and adjusting the motion of different components, and making the control of the motion component more efficient. At the same time, by designing different sub-speed change curves, the specific needs of different transport units can be met, allowing the transport unit to adapt to different transportation needs and transportation environments, thereby improving the flexibility and versatility of the transport unit.

[0107] In one embodiment, Figure 9 As shown, the method of determining a first sub-speed change curve of the first motion component when the clamp component is lifted based on the time and path of the clamp component lifting movement comprises:

[0108] Step S211 , using the time and path of the lifting movement, obtaining the starting speed of the clamp assembly starting the lifting movement from the initial first speed change curve.

[0109] In one exemplary embodiment, the starting speed of the clamp assembly at the start of the lifting movement may include obtaining the starting speed at the starting time corresponding to the start of the lifting movement in the initial first speed change curve. In another exemplary embodiment, the starting speed of the clamp assembly at the start of the lifting movement may include obtaining the starting speed at the starting path corresponding to the start of the lifting movement in the initial first speed change curve.

[0110] Step S212: Determine the acceleration of the first motion component using the time and path of the lifting motion.

[0111] In an exemplary embodiment, the time and path of the lifting movement of the clamp assembly can be used to specifically plan the acceleration that meets the lifting movement. It can be understood that the acceleration can be adjusted to determine whether the speed change meets the speed required for the lifting movement, etc.

[0112] Step S213: using the acceleration of the first motion component, the starting speed of the lifting motion, and the time of the lifting motion, determine the first sub-speed change curve of the first motion component when the clamp component is lifting.

[0113] In one exemplary embodiment, a first sub-velocity curve of the first moving assembly during the lifting of the clamp assembly can be determined based on the acceleration of the first moving assembly, the initial velocity at the start of the lifting motion, and the duration of the lifting motion. The first moving assembly may include a rearward (opposite to the direction of motion) moving assembly, and the lifting of the clamp assembly is accomplished by accelerating the rearward moving assembly. Specifically, the velocity change of the first moving assembly can be determined based on the acceleration of the first moving assembly and the initial velocity at the start of the lifting motion of the clamp assembly. The first sub-velocity curve of the first moving assembly can then be determined based on the duration of the lifting motion. Specifically, the time range of the first sub-velocity curve, i.e., the plot length of the first sub-velocity curve, can be determined based on the duration of the lifting motion. In one exemplary embodiment, the first sub-velocity curve can exhibit an "acceleration-deceleration" pattern. During actual use, the velocity before acceleration can be equal to the velocity after deceleration. Throughout the entire process, the velocity of the first moving assembly is greater than both the velocity before acceleration and the velocity after deceleration. Furthermore, throughout the entire process, the rearward moving assembly continuously provides a lifting force to the clamp assembly because its velocity is always greater than that of the clamp assembly and the frontward moving assembly.

[0114] In this embodiment, the first sub-speed change curve is determined by the starting speed of the clamp assembly's lifting motion and the acceleration of the lifting motion. Determining the starting speed facilitates the replacement of the initial sub-speed curve with the sub-speed change curve, avoiding the occurrence of two speeds at a single point in time during the replacement process and improving the accuracy of the first speed change curve. Furthermore, determining the acceleration of the motion component allows the clamp assembly to be lifted by adjusting the acceleration of the motion component, and can meet the specific needs of different transport units, allowing the transport unit to be used for different transport needs and environments, thereby improving the flexibility and versatility of the transport unit.

[0115] In one embodiment, Figure 10 As shown, the method of determining a second sub-speed change curve of the second motion component when the clamp assembly moves downward based on the time and path of the clamp assembly's downward movement comprises:

[0116] Step S221 , using the time and path of the descending movement, obtaining the starting speed of the clamp assembly at the start of the descending movement from the initial second speed change curve.

[0117] In one exemplary embodiment, the starting speed of the clamp assembly at the start of the descending movement may include obtaining the starting speed at the starting time corresponding to the start of the descending movement in the initial second speed change curve. In another exemplary embodiment, the starting speed of the clamp assembly at the start of the descending movement may include obtaining the starting speed at the starting path corresponding to the start of the descending movement in the initial second speed change curve.

[0118] Step S222: Determine the descending acceleration of the second motion component using the time and path of the descending motion.

[0119] In an exemplary embodiment, the time and path of the descending movement of the clamp assembly can be used to specifically plan the acceleration that meets the descending movement. It can be understood that the acceleration can be adjusted to determine whether the speed change meets the speed required for the descending movement.

[0120] Step S223: using the descending acceleration, the starting speed of the descending motion, and the descending time of the second motion component, determine a second sub-speed change curve of the second motion component when the clamp component descends.

[0121] In one exemplary embodiment, a first sub-velocity curve of the first moving assembly during the raising of the clamp assembly can be determined based on the acceleration of the second moving assembly, the initial velocity at the start of the lowering motion, and the duration of the lowering motion. The second moving assembly can include a forward (movement direction) moving assembly, and the lowering of the clamp assembly is accomplished by accelerating the forward moving assembly. Specifically, the velocity change of the second moving assembly can be determined based on the acceleration of the second moving assembly and the initial velocity at the start of the lowering motion of the clamp assembly. The duration of the lowering motion can be used to determine a second sub-velocity curve of the second moving assembly. Specifically, the duration of the lowering motion can be used to determine the time range of the second sub-velocity curve, i.e., the plot length of the second sub-velocity curve. In one exemplary embodiment, the second sub-velocity curve can exhibit an "acceleration-deceleration" pattern. During actual use, the velocity before acceleration can be equal to the velocity after deceleration. Throughout the entire process, the velocity of the second moving assembly is greater than both the velocity before acceleration and the velocity after deceleration. Furthermore, throughout the entire process, the forward moving assembly, because its velocity is consistently greater than that of the clamp assembly and the rearward moving assembly, continuously provides a downward force to the clamp assembly.

[0122] In this embodiment, the second sub-speed change curve is determined by the starting speed and acceleration of the descent motion of the clamp assembly. Determining the starting speed facilitates the replacement of the initial sub-speed curve with the sub-speed change curve, avoiding the occurrence of two speeds at a single point in time during the replacement process and improving the accuracy of the second speed change curve. Furthermore, determining the acceleration of the motion assembly allows the clamp assembly to be lowered by adjusting the acceleration of the motion assembly. This can also meet the specific requirements of different transport units, allowing the transport unit to be used for different transport requirements and environments, thereby increasing the flexibility and versatility of the transport unit.

[0123] In one embodiment, Figure 11 As shown, the initial first speed change curve of the first motion component and the initial second speed change curve of the second motion component are determined when the clamp assembly is not lifting or lowering, using the time and path of the clamp assembly lifting motion, the time and path of the clamp assembly lowering motion, and the starting position and target position of the motion component, including:

[0124] Step S231 , using the time and path of the clamp assembly's lifting movement and the time and path of the clamp assembly's descending movement, determine the position where the clamp assembly starts the lifting movement and the position where the descending movement is completed.

[0125] In one exemplary embodiment, when determining the initial first and second velocity profiles, it is understood that the first acceleration should be completed when the clamp assembly is raised, and deceleration (deceleration to a standstill) should be performed after the clamp assembly has completed its descent. Therefore, before determining the initial first and second velocity profiles, the position at which the clamp assembly begins its ascent and the position at which it completes its descent should be determined. Specifically, the position at which the ascent and descent begin and end may include the time at which the ascent and descent begin and end, respectively.

[0126] Step S232, based on the position where the clamp assembly starts lifting movement and completes lowering movement, the starting position and target position of the motion assembly, determine the initial first speed change curve of the first motion assembly and the initial second speed change curve of the second motion assembly when the clamp assembly is not performing lifting movement and lowering movement.

[0127] In one exemplary embodiment, after determining the starting position for the lifting motion and the completion position for the lowering motion, it is possible to ensure that the first acceleration of the motion component is completed before the lifting motion begins, and that the stationary deceleration (deceleration to a standstill) should be performed after the lowering motion is completed. In actual use, the lifting motion can be started directly after the first acceleration, and the stationary deceleration can be started directly after the lowering motion is completed.

[0128] In an exemplary embodiment, not performing lifting and lowering of the clamp assembly includes the clamp assembly moving but not lifting or lowering; that is, the clamp assembly only performs horizontal movement without lifting or lowering, etc. In other words, the motion assembly can perform "acceleration - constant speed - deceleration" and the like.

[0129] In this embodiment, the positions at which the clamp assembly begins its lifting motion and completes its lowering motion are determined using the time parameters and path parameters, further yielding an initial first velocity change curve and an initial second velocity change curve. By determining the positions at which the lifting motion begins and the positions at which the lowering motion completes, the clamp assembly avoids undergoing a second acceleration before completing its first acceleration when subsequently replacing the velocity change curve. Furthermore, the clamp assembly avoids decelerating before completing its lowering motion when subsequently replacing the velocity change curve, thereby improving the accuracy of the velocity change curve determination.

[0130] In an exemplary embodiment, the control method of the motion component can also be implemented by constructing an acceleration curve of the motion component, which may specifically include the following steps: Figure 12 and Figure 13The acceleration curve of the first moving component and the acceleration curve of the second moving component shown specifically include: when the movement starts, the first moving component and the second moving component are both in acceleration, and then after a period of uniform movement, the first moving component, that is, the rear (opposite direction of movement) moving component, first accelerates and then decelerates to complete the lifting of the clamp assembly, and then, the second moving component, that is, the front (direction of movement) moving component, first accelerates and then decelerates to complete the descent of the clamp assembly, and after the descent is completed, the first moving component and the second moving component are decelerated, and continue to decelerate until they stop, etc.

[0131] In an exemplary embodiment, the control method of the motion component can be used to control the first speed change curve of the first motion component as follows: Figure 14 Confirm the flowchart shown, including:

[0132] Step S501, calculating the motion curve from the starting position to the position where the clamp assembly is lifted, and achieving a speed from 0 to the target speed;

[0133] Step S502, planning a speed curve of the first moving component during the lifting process of the clamp assembly by maintaining parameters such as the clamp lifting distance, the starting clamp lifting position, and the ending clamp lifting position;

[0134] Step S503, planning a curve for the clamp lifting process by maintaining the clamp lifting distance, speed after acceleration and other parameters;

[0135] Step S504 , calculating a curve from the end position of the clamp lifting to the end position, achieving a speed change from the target speed to 0 speed, and obtaining a first speed change curve.

[0136] In an exemplary embodiment, the control method of the motion component can be used to control the second speed change curve of the second motion component as follows: Figure 15 Confirm the flowchart shown, including:

[0137] Step S601, calculating the curve from the starting position to the clamp lifting position to achieve the speed from 0 to the target speed;

[0138] Step S602, planning a curve for the clamp lifting process by maintaining the clamp lifting distance, speed after acceleration and other parameters;

[0139] Step S603, planning a curve of the acceleration process by maintaining parameters such as the clamp lifting distance, the starting clamp lifting position, and the ending clamp lifting position;

[0140] Step S604 , calculating a curve from the end position of the clamp lifting to the end position, achieving a change from the target speed to 0 speed, and obtaining a second speed change curve.

[0141] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0142] Based on the same inventive concept, embodiments of the present application also provide a motion component control device for implementing the aforementioned motion component control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of the embodiments of the control device for one or more motion components provided below can be found in the aforementioned limitations of the motion component control method and are not further elaborated here.

[0143] In one embodiment, Figure 16 As shown, a control device 100 for a motion component is provided, comprising: a data acquisition module 101, a curve determination module 102 and a component motion module 103, wherein:

[0144] A data acquisition module is used to acquire time parameters and path parameters of a target transport unit performing a target action; the target transport unit is any transport unit among the at least one transport unit;

[0145] a curve determination module, configured to determine a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit based on the time parameter and the path parameter;

[0146] The component motion module is used to control the first motion component to move according to the first speed change curve, and to control the second motion component to move according to the second speed change curve.

[0147] In one embodiment, the target action includes the lifting and lowering movements of the clamp assembly; the time parameters and path parameters include the time and path of the lifting movement of the clamp assembly, the time and path of the lowering movement of the clamp assembly, and the starting position and target position of the motion assembly.

[0148] In one embodiment, the curve determination module includes:

[0149] an initial curve determination submodule, configured to determine an initial first velocity change curve of the first motion component and an initial second velocity change curve of the second motion component when the clamp assembly is not lifting or lowering, using the time and path of the clamp assembly lifting motion, the time and path of the clamp assembly lowering motion, and the starting position and target position of the motion component;

[0150] a sub-speed curve determining sub-module, configured to determine a first sub-speed change curve of the first motion component during the lifting movement of the clamp component based on the time and path of the lifting movement of the clamp component;

[0151] The sub-speed curve determining sub-module is further configured to determine a second sub-speed change curve of the second motion component during the descending motion of the clamp assembly based on the time and path of the descending motion of the clamp assembly;

[0152] a speed curve determining submodule, configured to replace the sub-speed change curve corresponding to the initial first speed change curve with the first sub-speed change curve based on the time and path of the lifting movement of the clamp assembly, to obtain the first speed change curve;

[0153] The speed curve determination submodule is further used to replace the sub-speed change curve corresponding to the initial second speed change curve with the second sub-speed change curve based on the time and path of the clamp assembly's descending movement to obtain the second speed change curve.

[0154] In one embodiment, the sub-speed curve determination sub-module includes:

[0155] an initial speed acquisition unit, configured to acquire, from the initial first speed change curve, the initial speed at which the clamp assembly starts the lifting movement, using the time and path of the lifting movement;

[0156] an acceleration determining unit, configured to determine an acceleration of the first motion component using a time and a path of the lifting motion;

[0157] The sub-speed determination unit is used to determine the first sub-speed change curve of the first motion component when the clamp component is lifting by using the acceleration of the first motion component, the starting speed of the lifting movement, and the time of the lifting movement.

[0158] In one embodiment, determining a second sub-speed change curve of the second motion component when the clamp assembly moves downward based on the time and path of the clamp assembly's downward movement comprises:

[0159] an initial speed acquisition unit, configured to acquire, from the initial second speed change curve, the initial speed of the clamp assembly at the start of the descending movement by utilizing the time and path of the descending movement;

[0160] an acceleration determination unit, configured to determine a descending acceleration of the second motion component by using the time and path of the descending motion;

[0161] The sub-speed determination unit is used to determine the second sub-speed change curve of the second motion component when the clamp component descends by using the descending acceleration, the starting speed of the descending movement, and the descending time of the second motion component.

[0162] In one embodiment, the initial curve determination submodule includes:

[0163] a position determining unit, configured to determine a position at which the clamp assembly starts the lifting movement and a position at which the clamp assembly completes the lowering movement by using the time and path of the clamp assembly's lifting movement and the time and path of the clamp assembly's lowering movement;

[0164] An initial curve determination unit is used to determine the initial first speed change curve of the first motion component and the initial second speed change curve of the second motion component when the lifting and lowering movements of the clamp assembly are not performed, based on the position where the clamp assembly starts lifting movement and completes lowering movement, the starting position and target position of the motion component.

[0165] Each module in the control device for the aforementioned motion assembly may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0166] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 17As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store speed data of the motion component. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for a motion component is implemented.

[0167] Those skilled in the art will understand that Figure 17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0168] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0169] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0170] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0171] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for controlling a motion component, characterized in that: Applied to a control unit, the control unit is electrically connected to at least one transport unit, each of the transport units includes a first motion component and a second motion component, the two motion components are movably connected to the clamp component through corresponding connecting rods, the method includes: Acquire time parameters and path parameters of a target transport unit executing a target action; the target transport unit is any transport unit among the at least one transport unit; Determining a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit based on the time parameter and the path parameter; The first motion component is controlled to move according to the first speed change curve, and the second motion component is controlled to move according to the second speed change curve.

2. The method according to claim 1, characterized in that The target action includes the lifting and lowering movements of the clamp assembly; the time parameters and path parameters include the time and path of the lifting movement of the clamp assembly, the time and path of the lowering movement of the clamp assembly, and the starting position and target position of the motion assembly.

3. The method according to claim 2, characterized in that The determining, based on the time parameter and the path parameter, a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit, respectively, includes: Determining an initial first velocity change curve of the first motion component and an initial second velocity change curve of the second motion component when the clamp assembly is not lifting or lowering, using the time and path of the clamp assembly lifting motion, the time and path of the clamp assembly lowering motion, and the starting position and target position of the motion component; determining, based on the time and path of the lifting movement of the clamp assembly, a first sub-speed change curve of the first motion assembly during the lifting movement of the clamp assembly; determining, based on the time and path of the downward movement of the clamp assembly, a second sub-speed change curve of the second motion assembly during the downward movement of the clamp assembly; Based on the time and path of the lifting movement of the clamp assembly, using the first sub-speed change curve, the sub-speed change curve corresponding to the initial first speed change curve is replaced by the first sub-speed change curve to obtain the first speed change curve; Based on the time and path of the downward movement of the clamp assembly, the sub-speed change curve corresponding to the initial second speed change curve is replaced with the second sub-speed change curve to obtain the second speed change curve.

4. The method according to claim 3, characterized in that The determining, based on the time and path of the lifting movement of the clamp assembly, of a first sub-speed change curve of the first motion assembly when the clamp assembly is lifted, comprises: Using the time and path of the lifting movement, obtaining the starting speed of the clamp assembly at the start of the lifting movement from the initial first speed change curve; Determining the acceleration of the first motion component using the time and path of the lifting motion; The acceleration of the first motion component, the starting speed of the lifting motion, and the time of the lifting motion are used to determine a first sub-speed change curve of the first motion component when the clamp component is lifting.

5. The method according to claim 3, characterized in that determining, based on the time and path of the downward movement of the clamp assembly, a second sub-speed change curve of the second motion assembly when the clamp assembly moves downward; include: Using the time and path of the descending movement, obtaining the starting speed of the clamp assembly at the start of the descending movement from the initial second speed change curve; Determining the descending acceleration of the second motion component using the time and path of the descending motion; The second sub-speed change curve of the second motion component when the clamp component is in descending motion is determined by using the descending acceleration of the second motion component, the starting speed of the descending motion, and the descending time.

6. The method according to claim 3, characterized in that The determining, using the time and path of the clamp assembly lifting motion, the time and path of the clamp assembly lowering motion, and the starting position and target position of the motion assembly, of an initial first velocity change curve of the first motion assembly and an initial second velocity change curve of the second motion assembly when the clamp assembly is not lifting or lowering, includes: Determine the position where the clamp assembly starts the lifting movement and the position where the clamp assembly completes the lowering movement by using the time and path of the clamp assembly's lifting movement and the time and path of the clamp assembly's lowering movement; Based on the position where the clamp assembly starts lifting movement and completes lowering movement, the starting position and target position of the motion assembly, the initial first speed change curve of the first motion assembly and the initial second speed change curve of the second motion assembly are determined when the clamp assembly is not performing lifting movement and lowering movement.

7. A control device for a motion component, characterized in that: Applied to a control unit, the control unit is electrically connected to at least one transport unit, each of the transport units includes a first motion component and a second motion component, the two motion components are respectively movably connected to the clamp component through corresponding connecting rods, the device includes: A data acquisition module is used to acquire time parameters and path parameters of a target transport unit performing a target action; the target transport unit is any transport unit among the at least one transport unit; a curve determination module, configured to determine a first speed change curve of a first moving component and a second speed change curve of a second moving component in the target transport unit based on the time parameter and the path parameter; The component motion module is used to control the first motion component to move according to the first speed change curve, and to control the second motion component to move according to the second speed change curve.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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