An automatic positioning method and system based on a laser ranging sensor

Abstract

The present invention provides an automatic positioning method and system based on a laser ranging sensor in the technical field of chemical composition equipment conversion, the method comprising: step S10, PLC sets a first speed and a second speed, drives a stepper motor to initialize based on the first speed, and then links the positioning pin shaft held by the manipulator of the chemical composition equipment to return to its position; step S20, PLC drives the stepper motor based on the first speed and the laser ranging sensor to move the positioning pin shaft to the side of the probe module; step S30, PLC moves the positioning pin shaft to the front and rear sides of the positioning hole of the probe module based on the second speed and the laser ranging sensor, and records the corresponding front hole position and rear hole position respectively; step S40, PLC verifies the position of the positioning pin shaft based on the front hole position and the rear hole position, and moves the positioning pin shaft to the center position of the positioning hole. The advantages of the present invention are: greatly improving the efficiency and reliability of chemical composition equipment conversion.

Description

Technical Field

[0001] The invention relates to the technical field of chemical component capacity replacement equipment, and in particular to an automatic positioning method and system based on a laser distance measuring sensor. Background Art

[0002] After the production of lithium batteries is completed, they need to be processed by the capacity separation equipment. The formation is to charge and discharge the lithium batteries for activation, and the capacity separation is to test the capacity of the batteries for grouping and screening. Due to the differences in the size and pole spacing of different types of batteries, the capacity separation equipment needs to be changed before the capacity separation operation is performed on different types of batteries, that is, the spacing of the probe modules needs to be adjusted.

[0003] Traditionally, the method of manually adjusting the spacing between probe modules has been used to replace chemical composition equipment. However, as the functions of chemical composition equipment continue to be updated, their structures are becoming increasingly large and complex. The manual replacement method is no longer applicable, and the efficiency and reliability of manual replacement are poor, and there are individual differences.

[0004] Therefore, how to provide an automatic positioning method and system based on a laser ranging sensor to improve the efficiency and reliability of the conversion of chemical component equipment has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an automatic positioning method and system based on a laser ranging sensor, so as to improve the efficiency and reliability of the conversion of chemical component capacity equipment.

[0006] In a first aspect, the present invention provides an automatic positioning method based on a laser ranging sensor, comprising the following steps:

[0007] Step S10, the PLC sets a first speed and a second speed, and drives the stepper motor to initialize based on the first speed, thereby linking the positioning pin shaft held by the manipulator of the content separation equipment to return to its original position;

[0008] Step S20: The PLC drives the stepper motor based on the first rotation speed and the laser ranging sensor to move the positioning pin to the side of the probe module;

[0009] Step S30: The PLC moves the positioning pin to the front and rear sides of the positioning hole of the probe module based on the second rotation speed and the laser ranging sensor, and records the corresponding front position and rear position of the hole respectively.

[0010] Step S40, after the PLC verifies the position of the positioning pin based on the position before the hole and the position after the hole, the positioning pin is moved to the center position of the positioning hole, and then the positioning pin is inserted into the positioning hole to adjust the spacing of the probe modules.

[0011] Further, in the step S10, the first rotation speed is greater than the second rotation speed.

[0012] Further, the step S20 is specifically as follows:

[0013] The PLC presets a first distance, and drives the stepping motor to drive the positioning pin to move towards the probe module based on the first rotation speed until the distance from the probe module is sensed by the laser distance sensor to be the first distance.

[0014] Further, the step S30 is specifically as follows:

[0015] The PLC presets a second distance and a third distance;

[0016] Based on the second rotation speed, the stepping motor is driven to drive the positioning pin to move towards the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the second distance. At this time, the positioning pin is moved to the front side of the positioning hole, and the position of the stepping motor at this time is recorded as the position in front of the hole;

[0017] Based on the second rotation speed, the stepping motor is driven to drive the positioning pin to move across the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the third distance. At this time, the positioning pin is moved to the rear side of the positioning hole, and the position of the stepping motor at this time is recorded as the position behind the hole.

[0018] Further, the step S40 is specifically as follows:

[0019] The PLC calculates the calculated aperture diameter of the positioning hole based on the position in front of the hole and the position behind the hole, verifies the calculated aperture diameter based on the standard aperture diameter of the positioning hole, and judges whether the two are equal. If so, the verification passes, and the center position of the positioning hole is calculated based on the position in front of the hole and the position behind the hole. Furthermore, based on the center position, the stepping motor is driven to insert the positioning pin into the positioning hole to adjust the distance between the probe modules; if not, the verification fails, a positioning failure warning is generated, and the process ends.

[0020] In a second aspect, the present invention provides an automatic positioning system based on a laser distance sensor, including the following modules:

[0021] A stepping motor initialization module, configured to set a first rotation speed and a second rotation speed for the PLC, drive the stepping motor for initialization based on the first rotation speed, and further drive the positioning pin held by the manipulator of the formation and capacitance equipment to return to its position;

[0022] A first movement module, configured to drive the stepping motor by the PLC based on the first rotation speed and the laser distance sensor, and move the positioning pin to the side of the probe module;

[0023] The second moving module is used for the PLC to move the positioning pin to the front and rear sides of the positioning hole of the probe module successively based on the second rotational speed and the laser distance sensor, and record the corresponding pre-hole position and post-hole position respectively;

[0024] The position verification module is used for the PLC to verify the position of the positioning pin based on the pre-hole position and the post-hole position, then move the positioning pin to the center position of the positioning hole, and further insert the positioning pin into the positioning hole to adjust the distance between the probe modules.

[0025] Further, in the stepping motor initialization module, the first rotational speed is greater than the second rotational speed.

[0026] Further, the first moving module is specifically:

[0027] The PLC presets a first distance, and drives the stepping motor to drive the positioning pin to move towards the probe module based on the first rotational speed until the distance from the probe module is sensed by the laser distance sensor to be the first distance.

[0028] Further, the second moving module is specifically:

[0029] The PLC presets a second distance and a third distance;

[0030] Drive the stepping motor to drive the positioning pin to move towards the positioning hole based on the second rotational speed until the distance from the preset reference object is sensed by the laser distance sensor to be the second distance. At this time, move the positioning pin to the front side of the positioning hole, and record the position of the stepping motor at this time as the pre-hole position;

[0031] Drive the stepping motor to drive the positioning pin to move across the positioning hole based on the second rotational speed until the distance from the preset reference object is sensed by the laser distance sensor to be the third distance. At this time, move the positioning pin to the rear side of the positioning hole, and record the position of the stepping motor at this time as the post-hole position.

[0032] Further, the position verification module is specifically:

[0033] The PLC calculates the calculated aperture of the positioning hole based on the pre-hole position and the post-hole position, verifies the calculated aperture based on the standard aperture of the positioning hole, judges whether the two are equal. If so, the verification passes, calculates the center position of the positioning hole based on the pre-hole position and the post-hole position, and further drives the stepping motor based on the center position to insert the positioning pin into the positioning hole to adjust the distance between the probe modules; if not, the verification fails, generates a position search failure warning, and ends the process.

[0034] The advantages of the present invention are:

[0035] By combining a stepper motor and a laser ranging sensor, the stepper motor is first initialized, and then the positioning pin is moved to the side of the probe module at a higher first speed. Then, the positioning pin is moved to the front and rear sides of the positioning hole of the probe module at a lower second speed, and the corresponding front-hole position and back-hole position are recorded respectively. Based on the front-hole position, back-hole position and standard aperture of the positioning hole, it can be verified whether the current position of the positioning pin is correct. If so, the positioning pin is moved based on the center position calculated based on the front-hole position and back-hole position to complete the automatic positioning of the positioning pin. Since the initial movement is at a higher first speed and no manual intervention is required, the efficiency of the chemical composition equipment changeover is greatly improved. Since the second speed is used for precise positioning (positioning), and the front-hole position and back-hole position are verified based on the standard aperture of the positioning hole (the current position of the positioning pin is verified), coupled with the high-precision measurement of the laser ranging sensor, the reliability of the chemical composition equipment changeover is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0037] Figure 1 The present invention is a flow chart of an automatic positioning method based on a laser ranging sensor.

[0038] Figure 2 The present invention is a schematic structural diagram of an automatic positioning system based on a laser ranging sensor. DETAILED DESCRIPTION

[0039] The technical solution in the embodiments of the present application has the following overall idea: automatic positioning is performed by combining a stepper motor and a laser ranging sensor to improve the efficiency of the chemical composition equipment changeover; precise positioning is performed by a lower second speed, and the position before the hole and the position after the hole are verified based on the standard aperture of the positioning hole, and the high-precision measurement of the laser ranging sensor is combined to improve the reliability of the chemical composition equipment changeover.

[0040] Please refer to Figures 1 to 2 As shown, a preferred embodiment of the automatic positioning method based on a laser ranging sensor of the present invention comprises the following steps:

[0041] Step S10, the PLC (programmable logic controller) sets a first speed and a second speed, and drives the stepper motor to initialize based on the first speed, thereby linking the positioning pin shaft held by the manipulator of the content separation equipment to return to its original position, that is, the stepper motor is restored to the starting position of the positioning; the PLC drives the stepper motor to work through its own pulse output port;

[0042] Step S20: The PLC drives the stepper motor based on the first rotational speed and the laser distance sensor to move the positioning pin to the side of the probe module;

[0043] Step S30: The PLC drives the positioning pin to move to the front and rear sides of the positioning hole of the probe module based on the second rotational speed and the laser distance sensor, and respectively records the corresponding positions before and after the hole;

[0044] Step S40: After the PLC calibrates the position of the positioning pin based on the position before the hole and the position after the hole (that is, calibrates the calculated aperture based on the standard aperture, and then determines whether the position of the positioning pin is correct), it moves the positioning pin to the center position of the positioning hole, and then inserts the positioning pin into the positioning hole to adjust the spacing of the probe module.

[0045] That is, the positioning pin first moves to the side of the probe module, then moves to the front side of the positioning hole, then moves to the rear side of the positioning hole, and finally moves to the center position of the positioning hole.

[0046] In step S10, the first rotational speed is greater than the second rotational speed, that is, it first moves quickly to the side of the probe module at the first rotational speed to improve efficiency, and then performs fine positioning at the second rotational speed to improve the accuracy and reliability of position finding.

[0047] The specific content of step S20 is as follows:

[0048] The PLC presets a first distance, drives the stepper motor based on the first rotational speed to link the positioning pin to move towards the probe module until the distance from the probe module is sensed by the laser distance sensor to be the first distance, and at this time, the sensing signal of the laser distance sensor jumps.

[0049] The specific content of step S30 is as follows:

[0050] The PLC presets a second distance and a third distance;

[0051] Based on the second rotational speed, it drives the stepper motor to link the positioning pin to move towards the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the second distance, and at this time, the sensing signal of the laser distance sensor jumps. At this time, the positioning pin is moved to the front side of the positioning hole, and the position of the stepper motor at this time is recorded as the position before the hole;

[0052] Based on the second rotational speed, it drives the stepper motor to link the positioning pin to move across the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the third distance, and at this time, the sensing signal of the laser distance sensor jumps. At this time, the positioning pin is moved to the rear side of the positioning hole, and the position of the stepper motor at this time is recorded as the position after the hole.

[0053] The specific steps of step S40 are as follows:

[0054] The PLC calculates the calculated aperture diameter of the positioning hole based on the position before the hole and the position after the hole, verifies the calculated aperture diameter based on the standard aperture diameter of the positioning hole, and judges whether the two are equal. If so, the verification passes. The PLC calculates the center position of the positioning hole based on the position before the hole and the position after the hole, and then drives the stepping motor based on the center position to insert the positioning pin into the positioning hole to adjust the distance between the probe modules. If not, the verification fails, a positioning failure warning is generated, and the process ends. The value of the center position is (position before the hole + position after the hole) / 2, and the position before the hole, the position after the hole, and the center position all correspond to the rotation position of the stepping motor.

[0055] A preferred embodiment of an automatic positioning system based on a laser ranging sensor according to the present invention includes the following modules:

[0056] A stepping motor initialization module is used for the PLC (programmable logic controller) to set a first rotation speed and a second rotation speed, drive the stepping motor for initialization based on the first rotation speed, and then link the positioning pin clamped by the manipulator of the formation and capacitance equipment to return to its position, that is, let the stepping motor return to the starting position of positioning. The PLC drives the stepping motor to work through its own pulse output port.

[0057] A first moving module is used for the PLC to drive the stepping motor based on the first rotation speed and the laser ranging sensor to move the positioning pin to the side of the probe module.

[0058] A second moving module is used for the PLC to move the positioning pin to the front and back sides of the positioning hole of the probe module successively based on the second rotation speed and the laser ranging sensor, and record the corresponding position before the hole and the position after the hole respectively.

[0059] A position verification module is used for the PLC to verify the position of the positioning pin based on the position before the hole and the position after the hole (that is, verify the calculated aperture diameter based on the standard aperture diameter, and then judge whether the position of the positioning pin is correct), move the positioning pin to the center position of the positioning hole, and then insert the positioning pin into the positioning hole to adjust the distance between the probe modules.

[0060] That is, the positioning pin first moves to the side of the probe module, then moves to the front side of the positioning hole, then moves to the back side of the positioning hole, and finally moves to the center position of the positioning hole.

[0061] In the stepping motor initialization module, the first rotation speed is greater than the second rotation speed, that is, it first moves quickly to the side of the probe module at the first rotation speed to improve efficiency, and then performs fine positioning at the second rotation speed to improve the accuracy and reliability of positioning.

[0062] The specific content of the first moving module is:

[0063] The PLC preset a first distance, and drives the positioning pin shaft linked by the stepping motor to move towards the probe module based on the first rotational speed until the distance from the probe module is sensed by the laser distance sensor to be the first distance. At this time, the sensing signal of the laser distance sensor jumps.

[0064] The specific form of the second moving module is as follows:

[0065] The PLC preset a second distance and a third distance;

[0066] Based on the second rotational speed, the PLC drives the positioning pin shaft linked by the stepping motor to move towards the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the second distance. At this time, the sensing signal of the laser distance sensor jumps, and at this time, the positioning pin shaft is moved to the front side of the positioning hole, and the position of the stepping motor at this time is recorded as the position before the hole.

[0067] Based on the second rotational speed, the PLC drives the positioning pin shaft linked by the stepping motor to move across the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the third distance. At this time, the sensing signal of the laser distance sensor jumps, and at this time, the positioning pin shaft is moved to the rear side of the positioning hole, and the position of the stepping motor at this time is recorded as the position after the hole.

[0068] The specific form of the position verification module is as follows:

[0069] The PLC calculates the calculated aperture of the positioning hole based on the position before the hole and the position after the hole, verifies the calculated aperture based on the standard aperture of the positioning hole, and judges whether the two are equal. If so, the verification passes. Based on the position before the hole and the position after the hole, the PLC calculates the center position of the positioning hole, and then drives the stepping motor based on the center position to insert the positioning pin shaft into the positioning hole to adjust the distance between the probe modules. If not, the verification fails, a warning of failed position search is generated, and the process ends. The value of the center position is (position before the hole + position after the hole) / 2, and the position before the hole, the position after the hole, and the center position all correspond to the rotational positions of the stepping motor.

[0070] In summary, the advantages of the present invention are as follows:

[0071] By combining a stepper motor and a laser distance sensor, first initialize the stepper motor, then move the positioning pin to the side of the probe module at a relatively high first speed, and then move the positioning pin to the front and back sides of the positioning hole of the probe module at a relatively low second speed, and record the corresponding pre-hole position and post-hole position respectively. Based on the pre-hole position, the post-hole position and the standard aperture of the positioning hole, it can be verified whether the current position of the positioning pin is correct. If so, move the positioning pin based on the central position calculated from the pre-hole position and the post-hole position to complete the automatic positioning of the positioning pin; Since it is initially moved at a relatively high first speed and there is no need for manual intervention, the efficiency of the chemical component sorting and capacitance testing equipment model change is greatly improved; Since the fine positioning (positioning) is carried out at a relatively low second speed, and the pre-hole position and the post-hole position are verified based on the standard aperture of the positioning hole (the current position of the positioning pin is verified), plus the high-precision measurement of the laser distance sensor, the reliability of the chemical component sorting and capacitance testing equipment model change is greatly improved.

[0072] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments we described are illustrative rather than used to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be covered by the scope of the claims of the present invention.

Claims

1. An automatic positioning method based on a laser ranging sensor, characterized in that: The steps include: Step S10, the PLC sets a first speed and a second speed, and drives the stepper motor to initialize based on the first speed, thereby linking the positioning pin shaft held by the manipulator of the content separation equipment to return to its original position; Step S20: The PLC drives the stepper motor based on the first rotation speed and the laser ranging sensor to move the positioning pin to the side of the probe module; Step S30: The PLC moves the positioning pin to the front and rear sides of the positioning hole of the probe module based on the second rotation speed and the laser ranging sensor, and records the corresponding front position and rear position of the hole respectively. Step S40, after the PLC verifies the position of the positioning pin based on the position before the hole and the position after the hole, the positioning pin is moved to the center position of the positioning hole, and then the positioning pin is inserted into the positioning hole to adjust the spacing of the probe modules.

2. The automatic positioning method based on a laser ranging sensor according to claim 1, wherein: In the step S10, the first speed is greater than the second speed.

3. The automatic positioning method based on a laser ranging sensor according to claim 1, wherein: The step S20 is specifically as follows: The PLC presets a first distance, and based on the first rotation speed, drives the stepper motor to link the positioning pin shaft to move toward the probe module until the laser ranging sensor senses that the distance to the probe module is the first distance.

4. The automatic positioning method based on a laser ranging sensor according to claim 1, characterized in that: The step S30 is specifically as follows: The PLC presets a second distance and a third distance; Based on the second speed, the stepper motor is driven to move in conjunction with the positioning pin toward the positioning hole until the laser distance sensor senses that the distance from the preset reference object is a second distance, at which time the positioning pin is moved to the front side of the positioning hole, and the position of the stepper motor at this time is recorded as the front position of the hole; Based on the second rotation speed, the stepper motor is driven to link the positioning pin shaft to move across the positioning hole until the laser ranging sensor senses that the distance from the preset reference object is a third distance. At this time, the positioning pin shaft is moved to the rear side of the positioning hole, and the position of the stepper motor at this time is recorded as the rear position of the hole.

5. The automatic positioning method based on a laser ranging sensor according to claim 1, characterized in that: The step S40 is specifically as follows: The PLC calculates the calculated aperture of the positioning hole based on the position before the hole and the position after the hole, verifies the calculated aperture based on the standard aperture of the positioning hole to determine whether the two are equal. If so, the verification passes, and the center position of the positioning hole is calculated based on the position before the hole and the position after the hole, and then drives the stepper motor to insert the positioning pin into the positioning hole based on the center position to adjust the spacing of the probe module; if not, the verification fails, a positioning failure alarm is generated, and the process ends.

6. An automatic positioning system based on a laser ranging sensor, characterized in that: Includes the following modules: A stepper motor initialization module is used for the PLC to set a first speed and a second speed, and to drive the stepper motor to initialize based on the first speed, thereby linking the positioning pin shaft held by the manipulator of the content separation equipment to return to its original position; A first moving module, used for the PLC to drive the stepping motor based on the first rotation speed and the laser ranging sensor to move the positioning pin shaft to the side of the probe module; A second moving module is used for the PLC to move the positioning pin to the front and rear sides of the positioning hole of the probe module based on the second rotation speed and the laser ranging sensor, and to record the corresponding front hole position and back hole position respectively; The position verification module is used for the PLC to verify the position of the positioning pin shaft based on the position before the hole and the position after the hole, then move the positioning pin shaft to the center position of the positioning hole, and further insert the positioning pin shaft into the positioning hole to adjust the distance between the probe modules.

7. The automatic positioning system based on a laser ranging sensor according to claim 6, characterized in that: In the stepping motor initialization module, the first rotation speed is greater than the second rotation speed.

8. The automatic positioning system based on a laser ranging sensor according to claim 6, wherein: The first movement module is specifically: The PLC presets a first distance, and drives the stepping motor to drive the positioning pin shaft to move towards the probe module based on the first rotation speed until the distance from the probe module is sensed by the laser distance sensor to be the first distance.

9. The automatic positioning system based on a laser ranging sensor according to claim 6, wherein: The second movement module is specifically: The PLC presets a second distance and a third distance; Based on the second rotation speed, the stepping motor is driven to drive the positioning pin shaft to move towards the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the second distance. At this time, the positioning pin shaft is moved to the front side of the positioning hole, and the position of the stepping motor at this time is recorded as the position before the hole; Based on the second rotation speed, the stepping motor is driven to drive the positioning pin shaft to move across the positioning hole until the distance from the preset reference object is sensed by the laser distance sensor to be the third distance. At this time, the positioning pin shaft is moved to the rear side of the positioning hole, and the position of the stepping motor at this time is recorded as the position after the hole.

10. The automatic positioning system based on a laser ranging sensor according to claim 6, characterized in that: The position verification module is specifically: The PLC calculates the calculated aperture of the positioning hole based on the position before the hole and the position after the hole, verifies the calculated aperture based on the standard aperture of the positioning hole, and judges whether the two are equal. If so, the verification passes. The center position of the positioning hole is calculated based on the position before the hole and the position after the hole, and then the stepping motor is driven based on the center position to insert the positioning pin shaft into the positioning hole to adjust the distance between the probe modules; if not, the verification fails, a position search failure alarm is generated, and the process ends.

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