Photoelectric sensing position control device and method

Abstract

The invention discloses a photoelectric sensing position control device and method.The device comprises a structural frame, a mechanical execution unit and a target storage unit are arranged in the structural frame, a proximity switch sensor is installed on the mechanical execution unit, and a photoelectric sensor is installed at the target storage unit; the proximity switch sensor is used for calibrating the position of a target object in the target storage unit, the photoelectric sensor is used for resetting the mechanical execution unit, and the driving device is used for receiving signals of the proximity switch sensor and the photoelectric sensor. And the mechanical execution unit is driven to grab the target object. According to the device, the proximity switch sensor and the photoelectric sensor are adopted to replace displacement sensors such as encoders, the cost of equipment can be effectively reduced, the target object can be accurately detected and grabbed, limited space can be effectively utilized, and the device has the advantages of being simple in calibration and grabbing.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of positioning control, in particular to a photoelectric sensing position control device and method. BACKGROUND

[0002] The positioning control in modern control route usually relies on the feedback of displacement sensor, the distance between the current position and the target position is obtained, and then the position is calculated, and the driving execution component is driven to perform precise positioning movement. However, the above-mentioned sensor has the following disadvantages in some specific scenes with low position accuracy requirements, such as target object detection and grabbing:

[0003] When the encoder is installed at the joint of the mechanical arm, the physical space of the sensor body, signal cable and protection structure needs to be reserved, the space limitation is large; the cost of the encoder is high, the input-output ratio is low; a large amount of debugging time is consumed in the calibration process, which restricts the rapid deployment ability of the equipment; in some cases, the three-dimensional point cloud data of the target object needs to be additionally provided by the vision sensor. SUMMARY

[0004] Therefore, the present application provides a photoelectric sensing position control device, which is intended to solve the above-mentioned problems of using displacement sensors in some scenes with low position accuracy requirements. Specifically, the technical scheme of the present application is as follows:

[0005] A photoelectric sensing position control device, comprising:

[0006] A structure frame, a mechanical execution unit and a target storage unit are arranged in the structure frame, a proximity switch sensor is installed on the mechanical execution unit, and a photoelectric sensor is installed at the target storage unit, the proximity switch sensor is used for position calibration of a target object in the target storage unit, and the photoelectric sensor is used for resetting the mechanical execution unit, further comprising a driving device, the driving device receives signals of the proximity switch sensor and the photoelectric sensor, and drives the mechanical execution unit to grab the target object.

[0007] According to a preferred embodiment, the mechanical execution unit comprises three support frames with three mutually perpendicular and sequentially sliding connections: an X-axis movable support frame, a Y-axis movable support frame and a Z-axis movable support frame, wherein the Y-axis movable support frame is slidingly connected with the structure frame.

[0008] According to a preferred embodiment, the Z-axis movable support frame is provided with a suction cup unit, and the target object is sucked by negative pressure generated by a vacuum pump.

[0009] Further, the proximity switch sensor and the suction cup unit are located at the same height.

[0010] According to a preferred embodiment, the target storage unit is a box-shaped hollow structure, and the suction cup unit can directly enter the interior of the target storage unit.

[0011] According to a preferred embodiment, the photoelectric sensor is arranged in a recessed groove close to the target storage unit, and the height of the photoelectric sensor is configured to be equal to the height of the target object.

[0012] Correspondingly, the application also provides a photoelectric sensing position control method, comprising:

[0013] SA: calibrating the sensing position of the proximity switch sensor;

[0014] SB: based on the sensing position of the proximity switch sensor, the target object is grabbed by a mechanical execution unit, and then the mechanical execution unit is position-reset by a photoelectric sensor;

[0015] The sensing position represents the distance between the proximity switch sensor and the target object, and the height of the photoelectric sensor is consistent with the height of the target object.

[0016] Further, the SA step of calibrating the sensing position of the proximity switch sensor specifically comprises:

[0017] SA1: placing a target object directly below the proximity switch sensor;

[0018] SA2: adjusting the height of the proximity switch sensor until a switch signal is received;

[0019] SA3: recording the height information when the switch signal is received, and fixing and saving the height information as the sensing position.

[0020] Further, the SB step of grabbing the target object by the mechanical execution unit based on the sensing position of the proximity switch sensor, and then position-resetting the mechanical execution unit by the photoelectric sensor specifically comprises:

[0021] SB1: establishing the movement reference position of the mechanical execution unit;

[0022] SB2: controlling the mechanical execution unit to approach the target object, and collecting the signal of the proximity switch sensor in real time;

[0023] SB3: after the signal of the proximity switch sensor is collected, determining the running distance of the mechanical execution unit through the sensing position;

[0024] SB4: the mechanical execution unit grabs the target object, and collects the signal of the photoelectric sensor in real time;

[0025] SB5: after the signal of the photoelectric sensor is collected, the mechanical execution unit resets the position.

[0026] Further, in the SB3 step, the mechanical execution unit runs at a low speed in the running distance.

[0027] The present application adopts proximity switch sensors and photoelectric sensors to replace displacement sensors such as encoders, which can effectively reduce the cost of equipment, accurately realize the detection and grabbing of target objects in specific scenarios where the accuracy of target position is not high, and install the proximity switch sensor on the mechanical execution unit and the photoelectric sensor at the target storage unit, avoiding reserving a large amount of space at the joints of the mechanical arm for installing the sensor body, signal cables and protective structures, which can effectively utilize the limited space. The proximity switch sensor calibrates the position of the target object in the target storage unit, which is simple and intuitive, does not require complex algorithms and a large amount of data collection, and does not require additional dependence on visual sensors. It has the advantages of easy installation, high space utilization, low cost, simple calibration and grabbing, and has a broad application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a perspective view of a photoelectric sensing position control device of the present application;

[0029] Figure 2 is Figure 1 a front view of the device in

[0030] Figure 3 is a structural schematic view of a calibration tool;

[0031] Figure 4 is a photoelectric sensing position control method step diagram of the present application.

[0032] BRIEF DESCRIPTION OF DRAWINGS:

[0033] 1-target object, 2-photoelectric sensor, 3-target storage unit, 4-proximity switch sensor, 5-suction cup unit, 6-Z-axis movable support, 7-structural frame, 8-X-axis movable support, 9-Y-axis movable support, 10-tool movable support, 11-scale ruler, 12-integrated stepping motor. DETAILED DESCRIPTION

[0034] Positioning control in modern control routes usually relies on the feedback of displacement sensors, which obtains the distance between the current position and the target position, and then calculates the position to drive the execution component to perform precise positioning movement. However, the above-mentioned sensors have the following disadvantages in some specific scenarios where the accuracy of position is not high, such as detection and grabbing of target objects:

[0035] When the encoder is installed at the joint of the mechanical arm, the physical space of the sensor body, signal cable and protective structure needs to be reserved, the space is limited; the cost is high, the input-output ratio is low; the calibration process needs to consume a lot of debugging time, which restricts the rapid deployment ability of the equipment; it needs to rely on the visual sensor to provide the three-dimensional point cloud data of the target object 1 and the like.

[0036] Therefore, the present application provides an optical and electrical sensing position control device and method, which aims to solve the above problems of using displacement sensors in some scenes with low position accuracy requirements.

[0037] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the various embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that in the various embodiments of the present application, many technical details are proposed in order to make the reader better understand the present application. However, the technical scheme claimed by the present application can be realized even without these technical details and various changes and modifications based on the following embodiments.

[0038] In the following description, for the purpose of illustrating various disclosed embodiments, specific details are set forth in order to provide a thorough understanding of various disclosed embodiments. However, persons of ordinary skill in the relevant art will recognize that embodiments can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known devices, structures and techniques associated with the present application have not been shown or described in order to avoid unnecessarily obscuring the description of embodiments.

[0039] Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an open, non- limiting sense, as meaning "including, but not limited to".

[0040] The various embodiments of the present application will be described in detail below with reference to the drawings, so that the purpose, characteristics and advantages of the present application can be more clearly understood. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present application, but are only intended to illustrate the essential spirit of the technical scheme of the present application.

[0041] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrase "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0042] Specifically, the technical scheme of the present application is:

[0043] A photoelectric sensing position control device, as shown in Figure 1 、 2 comprises:

[0044] a structural frame 7, a mechanical execution unit is arranged in the structural frame 7, a proximity switch sensor 4 is mounted on the mechanical execution unit, a photoelectric sensor 2 is arranged at a target storage unit 3, the proximity switch sensor 4 is used for position calibration of a target object 1 in the target storage unit 3, the photoelectric sensor 2 is used for resetting the mechanical execution unit, and a driving device is further arranged, which receives signals of the proximity switch sensor 4 and the photoelectric sensor 2 and drives the mechanical execution unit to grab the target object 1.

[0045] As shown in Figure 3 , the process of the proximity switch sensor 4 calibrating the position of the target object 1 in the target storage unit 3 is as follows: the proximity switch sensor 4 is placed on a tool movable support 10, and a target object 1 (such as a glass sheet) is placed directly below the proximity switch sensor 4, the height of the movable support is adjusted until the proximity switch sensor 4 outputs a signal, and the distance between the proximity switch sensor 4 and the target object 1 at this time is recorded as the sensing position through a scale mark 11 (including a base) on one side of the movable support, thereby completing the calibration.

[0046] The device uses the proximity switch sensor 4 and the photoelectric sensor 2 to replace displacement sensors such as encoders, which can effectively reduce the cost of the equipment, accurately realize the detection and grabbing of the target object 1 in specific scenarios where the accuracy of the target position is not high, and install the proximity switch sensor 4 on the mechanical execution unit and the photoelectric sensor 2 at the target storage unit 3, thereby avoiding reserving a large amount of space at the joints of the mechanical arm for installing the sensor body, signal cables and protective structures, and effectively utilizing the limited space. The proximity switch sensor 4 calibrates the position of the target object 1 in the target storage unit 3, which is simple and intuitive, does not require complex algorithms and a large amount of data collection, and does not require additional dependence on visual sensors. The device has the advantages of easy installation, high space utilization, low cost, simple calibration and grabbing, and has a broad application prospect.

[0047] Further, as shown in Figure 1 , the mechanical execution unit comprises three supports with three mutually perpendicular movement directions and sequentially connected in sliding mode: an X-axis movable support 8, a Y-axis movable support 9 and a Z-axis movable support 6, wherein the Y-axis movable support 9 is in sliding connection with the structural frame 7.

[0048] The three supports with three mutually perpendicular movement directions are used to realize the accurate movement of the mechanical execution unit in a three-dimensional space and ensure the accurate positioning of the target object 1.

[0049] Three supports are connected in sequence and can be moved to the approximate position first and then fine-tuned along other axes when grabbing. Commonly, the X-axis and Y-axis can be moved to the appropriate starting position first, and then the Z-axis can be moved vertically according to the position of the target object 1 and the previously calibrated distance to ensure smooth grabbing of the target object 1.

[0050] The driving device includes an integrated stepper motor 12 connected to the mechanical execution unit and an upper computer configured to acquire signals of the photoelectric sensor 2 and the proximity switch sensor 4 and control the integrated stepper motor 12 to control the mechanical execution unit.

[0051] Further, the Z-axis movable support 6 is provided with a suction cup unit 5 that generates negative pressure through a vacuum pump to suck the target object 1.

[0052] Specifically, the suction cup unit 5 usually includes one or more suction cups connected to the vacuum pump through a pipeline. Rubber suction cups can be used for smooth metal surfaces, and silica gel suction cups can be used for soft plastic surfaces. Compared with mechanical grabbing, suction adsorption does not exert excessive pressure on the target object 1, thereby improving the safety and stability of the grabbing process.

[0053] Further, the proximity switch sensor 4 is at the same height as the suction cup unit 5. That is, the calibrated distance between the proximity switch sensor 4 and the target object 1 can be equivalent to the distance between the suction cup unit 5 and the target object 1 to ensure the effectiveness of the grabbing process.

[0054] Further, the target storage unit 3 is a box-shaped hollow structure, and the suction cup unit 5 can directly enter the inside of the target storage unit 3. For the convenience of showing the target object 1 in the drawings, one side of the target storage unit 3 is opened, and in actual use, it can be selected

[0055] The box-shaped hollow structure of the target storage unit 3 does not have a closed top, and the suction cup unit 5 can directly enter the inside to grab the target object 1. This avoids the need for the suction cup unit 5 to make a complex motion around the top of the storage unit, simplifies the motion path of the mechanical execution unit, and improves the flexibility of grabbing. Moreover, the hollow structure can accommodate target objects 1 of different sizes, as long as the height of the target object 1 does not exceed the height of the storage unit, the suction cup unit 5 can enter the inside to grab. This enables the storage unit to adapt to the storage and grabbing needs of various target objects 1, improving versatility. For example, small and large target objects 1 can be stored in one storage unit, and the mechanical execution unit can flexibly grab them, only needing corresponding position calibration.

[0056] Further, the photoelectric sensor 2 is arranged in a recessed groove close to the target storage unit 3, and the height of the photoelectric sensor 2 is configured to be equal to the height of the target object 1, so as to realize height matching and reduce misjudgment caused by the height difference between the target object 1 and the photoelectric sensor.

[0057] It should be noted that when the target object 1 is a plurality of same objects (such as glass slides), and the placement mode is stacking, only the bottommost target object 1 needs to be calibrated during calibration, and the height of the photoelectric sensor 2 is also set to be equal to the height of the bottommost target object 1. By measuring and recording the height of a single target object 1, and taking the calibration position of the bottommost target object 1 as a reference, the height of each of the other target objects 1 can be calculated. Thus, the grasping of a plurality of same objects can be realized.

[0058] The scheme is not only suitable for thin sheet-shaped target objects 1 such as glass slides, but also suitable for other shapes and sizes of stacked target objects 1. For example, in the field of electronic components, medicine packaging, etc., as long as the target objects 1 are the same and are stacked, the scheme can be applied.

[0059] Even if the storage mode of the target object 1 changes, such as from vertical stacking to horizontal stacking, the scheme can be adapted by adjusting the calculation formula and the movement path of the mechanical execution unit.

[0060] Correspondingly, the application also discloses a photoelectric sensing position control method, which comprises the following steps: Figure 4 , including:

[0061] SA: calibrating the sensing position of the proximity switch sensor 4;

[0062] SB: based on the sensing position of the proximity switch sensor 4, grasping the target object 1 by a mechanical execution unit, and then resetting the position of the mechanical execution unit based on the photoelectric sensor 2;

[0063] The sensing position represents the distance between the proximity switch sensor 4 and the target object 1, and the height of the photoelectric sensor 2 is consistent with the height of the target object 1.

[0064] Further, the SA step of calibrating the sensing position of the proximity switch sensor 4 specifically comprises:

[0065] SA1: placing the target object 1 below the proximity switch sensor 4;

[0066] SA2: adjusting the height of the proximity switch sensor 4 until a switch signal is received;

[0067] SA3: recording the height information when the switch signal is received, and fixing and saving the height information as the sensing position.

[0068] Further, the SB step is based on the sensing position of the proximity switch sensor 4, and the target object 1 is grabbed by a mechanical execution unit, and then the position of the mechanical execution unit is reset based on the photoelectric sensor 2, which specifically includes:

[0069] SB1: Establish the motion reference position of the mechanical execution unit;

[0070] SB2: Control the mechanical execution unit to approach the target object 1, and collect the signal of the proximity switch sensor 4 in real time;

[0071] SB3: After the signal of the proximity switch sensor 4 is collected, the running distance of the mechanical execution unit is determined by the sensing position;

[0072] SB4: The mechanical execution unit grabs the target object 1, and collects the signal of the photoelectric sensor 2 in real time;

[0073] SB5: After the signal of the photoelectric sensor 2 is collected, the mechanical execution unit is reset to the position.

[0074] Further, in the SB3 step, the mechanical execution unit runs at a low speed in the running distance. Here, low speed refers to less than half of the previous speed to ensure stable operation.

[0075] And, as mentioned earlier, when the target object 1 is a plurality of identical objects (such as glass slides), and is placed in a stacked manner, only the bottommost target object 1 needs to be calibrated during calibration, and the height of the photoelectric sensor 2 is also set to be equal to the height of the bottommost target object 1. By measuring and recording the height of a single target object 1, and taking the calibration position of the bottommost target object 1 as the reference, the height of each of the other target objects 1 can be calculated. This can achieve the grabbing of a plurality of identical objects.

[0076] This scheme is not only suitable for glass slides and other stacked thin sheet-shaped target objects 1, but also can be adapted to other shapes and sizes of stacked target objects 1. For example, in the field of electronic components, pharmaceutical packaging, etc., as long as the target objects 1 are identical and stacked, this scheme can be applied.

[0077] The above describes in detail the photoelectric sensing position control device and method provided by the embodiments of the present application. The embodiments in the specification are described in a progressive manner, and each embodiment mainly describes the differences from other embodiments. The same or similar parts of each embodiment can be understood by referring to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be understood by referring to the method part. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present application.

[0078] Those skilled in the art will further appreciate that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in general terms above. Whether the functions are performed in hardware or software depends on the particular application and design constraints. Those skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application.

[0079] The steps of the method or algorithm described in connection with the embodiments disclosed herein can be directly implemented in hardware, software executed by a processor, or a combination of both. The software module can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Claims

1. A photoelectric sensing position control device, characterized in that: include: A structural frame is provided with a mechanical execution unit and a target storage unit, a proximity switch sensor is installed on the mechanical execution unit, and a photoelectric sensor is installed at the target storage unit. The proximity switch sensor is used to calibrate the position of the target in the target storage unit, and the photoelectric sensor is used to reset the mechanical execution unit. The structural frame also includes a driving device, which receives signals from the proximity switch sensor and the photoelectric sensor and drives the mechanical execution unit to grab the target.

2. The photoelectric sensing position control device according to claim 1, characterized in that: The mechanical execution unit includes three brackets whose movement directions are perpendicular to each other and are slidably connected in sequence: an X-axis movable bracket, a Y-axis movable bracket and a Z-axis movable bracket, wherein the Y-axis movable bracket is slidably connected to the structural frame.

3. The photoelectric sensing position control device according to claim 2, characterized in that: The Z-axis movable bracket is provided with a suction cup unit, which absorbs the target object by generating negative pressure through a vacuum pump.

4. The photoelectric sensing position control device according to claim 3, characterized in that: The proximity switch sensor and the suction cup unit are located at the same height.

5. The photoelectric sensing position control device according to claim 4, characterized in that: The target storage unit is a box-shaped hollow structure, and the suction cup unit can directly enter the interior of the target storage unit.

6. The photoelectric sensing position control device according to claim 1, characterized in that: The photoelectric sensor is arranged in a concave groove, the concave groove is close to the target storage unit, and the height of the photoelectric sensor is configured to be equal to the height of the target object.

7. A photoelectric sensing position control method, characterized in that: include: SA: Calibrate the sensing position of the proximity switch sensor; SB: Based on the sensing position of the proximity switch sensor, the target object is grasped by a mechanical actuator, and then the position of the mechanical actuator is reset based on the photoelectric sensor; The sensing position represents the distance between the proximity switch sensor and the target object, and the height of the photoelectric sensor is consistent with the height of the target object.

8. The photoelectric sensing position control method according to claim 7, wherein: The SA step of calibrating the sensing position of the proximity switch sensor specifically includes: SA1: Place the target object directly below the proximity switch sensor. SA2: Adjust the height of the proximity switch sensor until a switch signal is received; SA3: Record the height information when the switch signal is received and store it as the sensing position.

9. The photoelectric sensing position control method according to claim 8, characterized in that: The SB step specifically includes: grabbing the target object by a mechanical execution unit based on the sensing position of the proximity switch sensor, and resetting the position of the mechanical execution unit based on the photoelectric sensor. SB1: Establishing the motion reference position of the mechanical actuator; SB2: Controlling the mechanical actuator to approach the target object and collecting the signal of the proximity switch sensor in real time; SB3: After collecting the signal of the proximity switch sensor, determine the running distance of the mechanical actuator according to the sensing position; SB4: The mechanical execution unit grasps the target object and collects the signal of the photoelectric sensor in real time; SB5: After collecting the signal from the photoelectric sensor, the mechanical execution unit performs position reset.

10. The photoelectric sensing position control method according to claim 9, characterized in that: In the step SB3, the mechanical execution unit operates at a low speed within the operating distance.

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