Automatic edge searching device based on force sensor

Abstract

The utility model relates to the technical field of circuit design, in particular to an automatic edge searching device based on a force sensor, which comprises an MCU module, an AD sampling circuit, the force sensor, a glue injection device, a motor driver and a stepping motor, the MCU module is electrically connected with the AD sampling circuit and the motor driver respectively, the force sensor is electrically connected with the AD sampling circuit, and the glue injection device is electrically connected with the motor driver. The glue injection device is connected with the stepping motor, the stepping motor is controlled by the motor driver, and the glue injection device is controlled by the stepping motor. According to the scheme, through real-time feedback of the force sensor, the device can accurately detect the contact pressure between the glue injection head and the mold; the high-precision AD sampling circuit is used for converting analog signals of the force sensor into digital signals, the position of the stepping motor is adjusted in real time, and therefore it is guaranteed that the glue injection head is tightly attached to the side face of the mold all the time, the design can effectively reduce positioning errors in the glue injection process, bubbles are avoided, and the quality of lens finished products is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of circuit design, in particular to an automatic edge-finding device based on a force sensor. Background Art

[0002] In the eyeglass mold production process, glue injection is a critical step that directly impacts the quality of the lens mold. During the injection process, the injection head needs to be in close contact with the side of the mold to ensure even distribution of the glue. If the injection head does not fit snugly into the mold, air is likely to be introduced during the injection process, leading to the formation of bubbles. These bubbles not only affect the appearance of the lens but can also weaken the lens, causing it to fail to meet product quality standards and ultimately fail to meet quality standards.

[0003] In the eyewear mold production process, precise glue injection is crucial to the quality of the final product. Currently, commonly used edge-finding devices primarily rely on manual edge-finding or fixed injection positions to determine the relative position between the glue injection head and the mold. However, both methods have significant limitations that directly impact production efficiency and product quality.

[0004] Therefore, in the current production environment, traditional methods of manual edge finding and fixed injection positions are no longer able to meet the high-precision and high-efficiency production requirements. These shortcomings not only increase production costs but can also lead to quality issues such as bubbles and other defects in lenses, reducing the product's market competitiveness. Therefore, developing a more intelligent and precise edge finding device is crucial to improving the quality and efficiency of eyeglass mold production. Utility Model Content

[0005] The utility model aims to solve the problems of low precision and low efficiency in the edge-finding and glue-injecting process of the prior art and proposes an automatic edge-finding device based on a force sensor.

[0006] The utility model is achieved through the following technical solutions:

[0007] A force sensor-based automatic edge-finding device includes an MCU module, an AD sampling circuit, a force sensor, a glue injection device, a motor driver, and a stepper motor. The MCU module is electrically connected to the AD sampling circuit and the motor driver, respectively. The force sensor is electrically connected to the AD sampling circuit. The glue injection device is connected to the stepper motor. The stepper motor is controlled by the motor driver, and the glue injection device is controlled by the stepper motor.

[0008] Furthermore, the MCU module includes a control chip U9, and the model of the control chip U9 is SWM320VET7.

[0009] Furthermore, the AD sampling circuit includes a digital isolation chip U59 and an AD chip U60. The model of the digital isolation chip U59 is π141M31, and the model of the AD chip U60 is AD7190BRUZ.

[0010] Pin 3 of the isolation chip U59 is connected to pin 75 of the control chip U9, pin 4 of the isolation chip U59 is connected to pin 74 of the control chip U9, pin 5 of the isolation chip U59 is connected to pin 73 of the control chip U9, and pin 6 of the isolation chip U59 is connected to pin 72 of the control chip U9;

[0011] Pin 11 of the isolation chip U59 is connected to pin 23 of the AD chip U60, pin 12 of the isolation chip U59 is connected to pin 24 of the AD chip U60, pin 13 of the isolation chip U59 is connected to pin 3 of the AD chip U60, and pin 14 of the isolation chip U59 is connected to pin 4 of the AD chip U60;

[0012] Pin 11 of the AD chip U60 is connected to the non-inverting signal input end of the force sensor, and pin 11 of the AD chip U60 is connected to the inverting signal input end of the force sensor.

[0013] Furthermore, the AD sampling circuit also includes a voltage reference chip U61. The model of the voltage reference chip U61 is REF194ESZ. Pin 2 of the voltage reference chip U61 is connected to the +5V voltage terminal, and pin 6 of the voltage reference chip U61 outputs a +4.5V voltage.

[0014] Furthermore, the motor driver includes an isolation chip U55 and an isolation chip U56. The model of the isolation chip U55 is TLP2362, and the model of the isolation chip U56 is PS2801-4. Pin 3 of the isolation chip U55 is connected to pin 18 of the control chip U9, and pin 5 of the isolation chip U55 is connected to the PWM signal end of the stepper motor.

[0015] Pin 2 of the isolation chip U56 is connected to pin 19 of the control chip U9, pin 4 of the isolation chip U56 is connected to pin 20 of the control chip U9, pin 10 of the isolation chip U56 is connected to pin 25 of the control chip U9, pin 12 of the isolation chip U56 is connected to pin 24 of the control chip U9, pin 14 of the isolation chip U56 is connected to the enable signal end of the stepper motor, and pin 16 of the isolation chip U56 is connected to the direction control signal end of the stepper motor.

[0016] Furthermore, it also includes a power supply module, which includes a DC-DC power supply chip U1, an isolation voltage regulator chip U2 and a voltage regulator chip U3. Pin 8 of the DC-DC power supply chip U1 is connected to the +24V voltage, pins 2 and 9 of the DC-DC power supply chip U1 are respectively connected to pin 2 of the isolation voltage regulator chip U2, pin 3 of the DC-DC power supply chip U1 is connected to pin 1 of the isolation voltage regulator chip U2, pin 6 of the isolation voltage regulator chip U2 is connected to pin 3 of the voltage regulator chip U3, and pin 2 of the voltage regulator chip U3 outputs a +3.3V voltage.

[0017] Beneficial effects of the utility model:

[0018] (1) The utility model proposes an automatic edge-finding device based on a force sensor. Through the real-time feedback of the force sensor, the device can accurately detect the contact pressure between the injection head and the mold. The analog signal of the force sensor can be converted into a digital signal by using a high-precision AD sampling circuit, and the position of the stepper motor can be adjusted in real time to ensure that the injection head is always close to the side of the mold. This design can effectively reduce the positioning error during the injection process, avoid the generation of bubbles, and improve the quality of the finished lens.

[0019] (2) This utility model proposes an automatic edge-finding device based on a force sensor. This device uses the AD7190BRUZ high-precision AD chip and, combined with 24-bit sampling accuracy, enables the pressure change on the injection head to be accurate to 0.1N, ensuring the stability and consistency of the injection head when the mold thickness varies. Through this high-precision control, the stability of the production process is improved, greatly reducing the rate of finished product rejection due to mold changes.

[0020] (3) The automatic edge-finding device based on the force sensor proposed in this utility model adopts isolation chips such as π141M31, TLP2362, and PS2801 to effectively electrically isolate the AD sampling signal and the motor control signal. This design can effectively prevent the motor driver and AD sampling circuit from interfering with the MCU, improve the anti-interference ability of the system, and ensure that the entire device can still operate stably in a complex industrial environment.

[0021] (4) The utility model proposes an automatic edge-finding device based on a force sensor. Through automatic edge-finding, positioning and adjustment during the injection process are fully automated, reducing dependence on manual operation. The device can automatically adjust the injection position according to the characteristics of different molds, which not only improves production efficiency but also significantly reduces labor costs and the possibility of human error.

[0022] (5) This utility model proposes an automatic edge-finding device based on a force sensor. The DC-DC power supply module adopts an isolated voltage-stabilizing design to ensure power supply stability and noise immunity. The voltage reference chip REF194ESZ provides a stable reference voltage, ensuring the accuracy of AD sampling, effectively reducing the impact of external power supply noise on the entire circuit, and ensuring the long-term stable operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 This is a circuit block diagram of an automatic edge-finding device based on a force sensor proposed in the present invention;

[0025] Figure 2 This is a circuit diagram of the MCU module of an automatic edge-finding device based on a force sensor proposed in the present invention;

[0026] Figure 3 This is a circuit schematic diagram of an AD sampling module of an automatic edge-finding device based on a force sensor proposed in the present invention;

[0027] Figure 4 This is a schematic diagram of the motor driver circuit of an automatic edge-finding device based on a force sensor proposed in the utility model;

[0028] Figure 5 This is a circuit schematic diagram of a power supply module of an automatic edge-finding device based on a force sensor proposed in the present invention;

[0029] Figure 6 This is a schematic diagram of the mechanical structure of an automatic edge-finding device based on a force sensor proposed in the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The schematic implementation methods of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0031] Example 1

[0032] refer to Figure 1-Figure 5, an automatic edge-finding device based on a force sensor, including an MCU module, an AD sampling circuit, a force sensor, a glue injection device, a motor driver and a stepper motor, the MCU module is electrically connected to the AD sampling circuit and the motor driver respectively, the force sensor is electrically connected to the AD sampling circuit, the glue injection device is connected to the stepper motor, the stepper motor is controlled by the motor driver, and the glue injection device is controlled by the stepper motor.

[0033] In this embodiment, the MCU module includes a control chip U9, and the model of the control chip U9 is SWM320VET7. The MCU module undertakes the core control and data processing functions in the automatic edge-finding device, and is mainly responsible for collecting data from the force sensor and controlling the precise movement of the injection head. The outside of the MCU module is equipped with a 24MHz passive crystal oscillator as a clock source. The passive crystal oscillator does not have a built-in oscillation circuit, so an oscillation circuit inside or outside the MCU module is required to drive it. The frequency of 24MHz provides the MCU with a stable and moderate clock speed, ensuring that data processing and control tasks can be executed with high accuracy and speed.

[0034] The Serial Wire Debug (SWD) interface is a commonly used debugging interface for MCU modules, providing debugging and programming functions. In this embodiment, through the SWD interface, developers can access the MCU's registers and memory during the development and debugging process, and debug the MCU's operating status.

[0035] The MCU module communicates with the AD7190BRUZ AD chip via the SPI interface, collecting digital signals from the force sensor. The AD7190BRUZ's 24-bit high-precision sampling accurately captures the force applied to the dispensing head. The MCU analyzes this data to determine the current pressure applied to the dispensing head.

[0036] The MCU uses a PID control algorithm to process the force sensor's feedback data. PID control calculates error correction signals from the proportional (P), integral (I), and differential (D) components to precisely adjust the stepper motor drive to maintain the ideal pressure between the dispensing head and the mold. By continuously adjusting the PID parameters, the MCU flexibly controls the dispensing head's movement speed and sensitivity, ensuring a stable and high-quality dispensing process. Based on the analyzed pressure data and the results calculated by the PID algorithm, the MCU controls the operation of the stepper motor through the motor driver. The precise movement of the stepper motor enables the dispensing head to accurately follow the mold surface, ensuring even injection of glue without bubbles or other defects.

[0037] The AD sampling circuit includes a digital isolation chip U59 and an AD chip U60. The model of the digital isolation chip U59 is π141M31, and the model of the AD chip U60 is AD7190BRUZ. Pin 3 of the isolation chip U59 is connected to pin 75 of the control chip U9, pin 4 of the isolation chip U59 is connected to pin 74 of the control chip U9, pin 5 of the isolation chip U59 is connected to pin 73 of the control chip U9, and pin 6 of the isolation chip U59 is connected to pin 72 of the control chip U9. Pin 11 of the isolation chip U59 is connected to pin 23 of the AD chip U60, pin 12 of the isolation chip U59 is connected to pin 24 of the AD chip U60, pin 13 of the isolation chip U59 is connected to pin 3 of the AD chip U60, and pin 14 of the isolation chip U59 is connected to pin 4 of the AD chip U60. Pin 11 of the AD chip U60 is connected to the non-inverting signal input end of the force sensor, and pin 11 of the AD chip U60 is connected to the inverting signal input end of the force sensor. The AD sampling circuit further includes a voltage reference chip U61. The model of the voltage reference chip U61 is REF194ESZ. Pin 2 of the voltage reference chip U61 is connected to a +5V voltage terminal, and pin 6 of the voltage reference chip U61 outputs a +4.5V voltage.

[0038] The π141M31 is a digital isolation chip used to isolate signals between the AD chip and the MCU. This effectively prevents signals from the AD7190BRUZ from interfering with the MCU's normal operation, improving the system's anti-interference capabilities and data transmission reliability.

[0039] The isolation chip safely transmits the digital signal collected by the AD chip to the MCU through SPI communication.

[0040] The non-inverting and inverting signal inputs of the force sensor are directly connected to the corresponding input pins of the AD chip. The AD7190BRUZ receives the analog signal from the force sensor and converts it into a high-precision digital signal. Its internal 24-bit ADC accurately interprets these analog signals, effectively capturing and reflecting even the slightest force changes, helping to maintain ideal contact pressure between the dispensing head and the mold. The AD chip transmits the sampled digital signal to the MCU via the SPI communication interface. To prevent interference during signal transmission, a digital isolation chip, π141M31, is placed between the AD chip and the MCU. This isolation chip effectively separates different voltage domains and noise sources, ensuring data transmission integrity.

[0041] The AD sampling module also includes a DC-DC circuit that converts the system's 5V voltage into the 4.5V required by the force sensor. This 4.5V also serves as the reference voltage for the AD chip. This design ensures stable power supply for the force sensor and AD chip, thereby improving the accuracy and reliability of the entire sampling module.

[0042] The motor driver includes an isolation chip U55 and an isolation chip U56. The model of the isolation chip U55 is TLP2362, and the model of the isolation chip U56 is PS2801-4. Pin 3 of the isolation chip U55 is connected to pin 18 of the control chip U9, and pin 5 of the isolation chip U55 is connected to the PWM signal end of the stepper motor.

[0043] Pin 2 of the isolation chip U56 is connected to pin 19 of the control chip U9, pin 4 of the isolation chip U56 is connected to pin 20 of the control chip U9, pin 10 of the isolation chip U56 is connected to pin 25 of the control chip U9, pin 12 of the isolation chip U56 is connected to pin 24 of the control chip U9, pin 14 of the isolation chip U56 is connected to the enable signal end of the stepper motor, and pin 16 of the isolation chip U56 is connected to the direction control signal end of the stepper motor.

[0044] The TLP2362 is a high-speed optocoupler isolator used to isolate high-frequency PWM (pulse-width modulation) signals. Its function is to isolate the PWM signal generated by the MCU from the stepper motor driver, preventing high-frequency noise generated by the motor from interfering with the MCU's normal operation. Pin 3 of the TLP2362 is connected to pin 18 of the control chip U9. This receives the PWM signal from the MCU and outputs the isolated PWM signal to the stepper motor driver through pin 5. This ensures precise control of the stepper motor while protecting the MCU from interference.

[0045] The PS2801-4 is a multi-channel optocoupler isolator designed to isolate direction and enable signals. This ensures that these control signals from the MCU are not directly exposed to the high-power circuits of the stepper motor driver, thereby protecting the MCU and other low-voltage control circuits.

[0046] Pins 2 and 4 of the PS2801-4 connect to pins 19 and 20 of the control chip U9, respectively, to process signals related to stepper motor direction control and enable. Pin 14 connects to the stepper motor enable signal, and pin 16 connects to the stepper motor direction control signal. These signals are isolated and transmitted to the stepper motor, ensuring precise direction control and start / stop operations according to the MCU's instructions.

[0047] Motor driver modules generate significant electromagnetic interference and noise during operation, especially when driving high-power stepper motors. Directly feeding these signals back to the MCU can cause malfunctions, data loss, or damage the MCU. Therefore, isolating control signals from high-power circuits using isolation chips such as the TLP2362 and PS2801-4 is crucial for ensuring system stability.

[0048] The sampling module uses a force sensor to capture the pressure applied to the dispensing head and feeds this data back to the MCU. Based on this data, the MCU uses a PID control algorithm to adjust the stepper motor's motion. This regulation relies on the precise response of the motor driver, and isolated signals ensure this accurate and timely response.

[0049] The PWM signals processed by the TLP2362 isolation chip precisely control the stepper motor's rotational speed and position adjustment, while the PS2801-4 ensures the correct transmission of the stepper motor's start, stop, and direction control signals. These designs ensure that the dispensing head can accurately and stably move along the mold edge, preventing the generation of bubbles. By using isolation chips such as the TLP2362 and PS2801-4, high-frequency noise from the motor driver is effectively isolated, preventing this interference from affecting the MCU and improving overall system stability. The isolated PWM and direction / enable signals ensure that the stepper motor accurately responds to the MCU's control commands, thereby achieving precise positioning and pressure regulation of the dispensing head.

[0050] This embodiment also includes a power supply module, which includes a DC-DC power supply chip U1, an isolation voltage regulator chip U2 and a voltage regulator chip U3. Pin 8 of the DC-DC power supply chip U1 is connected to a +24V voltage, pins 2 and 9 of the DC-DC power supply chip U1 are respectively connected to pin 2 of the isolation voltage regulator chip U2, pin 3 of the DC-DC power supply chip U1 is connected to pin 1 of the isolation voltage regulator chip U2, pin 6 of the isolation voltage regulator chip U2 is connected to pin 3 of the voltage regulator chip U3, and pin 2 of the voltage regulator chip U3 outputs a +3.3V voltage.

[0051] The XL2010 is a DC-DC step-down converter used to step down a higher input voltage (e.g., 24V) to the lower voltage (e.g., 5V) required by the system. In this embodiment, the chip converts the input 24V voltage into a stable 5V voltage through an efficient switching mode. In the circuit, pin 8 of the XL2010 is connected to the +24V power supply, pins 2 and 9 are connected to the input of the isolated voltage regulator chip U2, and pin 3 is connected to pin 1 of the isolated voltage regulator chip U2. Through these connections, the XL2010 can stably convert the 24V voltage to a lower voltage and pass it to the subsequent voltage regulator module.

[0052] The BRV0505S is an isolated power module designed to isolate the input voltage and stabilize the output to reduce the conduction of noise and interference. Its primary function is to isolate the 5V output, preventing external power supply noise from affecting other sensitive parts of the circuit.

[0053] In the circuit, U2's pins 2 and 3 are connected to the output terminals (pins 2 and 9) of the DC-DC power supply chip U1, respectively. U2's pin 6 is connected to the input terminal of the voltage regulator chip U3. This way, U2 can isolate the voltage dropped from the XL2010 and provide a low-noise, low-interference 5V power supply.

[0054] The AMS1117-3.3 is a low-dropout linear regulator that regulates an input voltage (typically 5V) to 3.3V. This regulator provides a stable 3.3V output and is suitable for electronic components requiring a 3.3V power supply, such as MCUs and sensors.

[0055] In the circuit, U3's pin 3 is connected to U2's output, and pin 2 outputs 3.3V. This configuration ensures the stability of the 3.3V output voltage and reduces noise caused by power supply fluctuations.

[0056] The power supply module uses the XL2010 DC-DC power supply chip to step down the 24V voltage to 5V, and then further converts the 5V to 3.3V using the AMS1117-3.3, ensuring the required voltage levels for various components in the circuit are met. The multi-stage voltage conversion and regulation design enables efficient energy utilization and provides appropriate operating voltages for various modules. The BRV0505S isolation voltage regulator chip provides electrical isolation at the 5V output. This design effectively isolates external power supply noise from the internal circuitry, preventing it from transmitting to sensitive analog or low-voltage digital circuits and minimizing the impact of power supply interference on system performance.

[0057] The addition of the isolation module not only enhances the anti-interference ability of the circuit, but also improves the reliability and stability of the entire system.

[0058] Example 2

[0059] This embodiment proposes a working principle of an automatic edge-finding device based on a force sensor on the basis of embodiment 1.

[0060] refer to Figure 6 , an automatic edge-finding device based on a force sensor includes the following components:

[0061] The MCU module is mainly responsible for controlling the operation and data processing of the entire system.

[0062] The AD sampling circuit, including a digital isolation chip and a high-precision AD chip, is used to convert the analog signal of the force sensor into a digital signal and transmit it to the MCU.

[0063] The force sensor is installed on the injection head to monitor the pressure on the injection head in real time.

[0064] The glue injection device is connected to the stepper motor to perform the actual glue injection operation.

[0065] The motor driver controls the movement of the stepper motor and adjusts the movement of the dispensing head.

[0066] The power supply module provides stable working power to each subsystem to ensure the reliable operation of the entire device.

[0067] After the device is powered on, the MCU is initialized using the clock source provided by the 24MHz crystal oscillator, preparing to receive and process data from the force sensor. At this point, each module in the system (such as the AD sampling circuit, stepper motor, and glue injection device) will also complete self-tests and preparations.

[0068] When the injection head contacts the side of the mold, the force sensor begins to sense the pressure on the injection head. The force sensor model used in this embodiment is JLBS-M2. The force sensor converts the pressure signal into an analog voltage signal and transmits the signal to the AD chip (AD7190BRUZ) of the AD sampling circuit.

[0069] After receiving the analog signal, the AD chip converts it into a digital signal via its built-in 24-bit high-precision analog-to-digital converter (ADC). To prevent signal interference, a digital isolation chip (π141M31) is designed into the AD sampling circuit to ensure that the signal transmission between the AD chip and the MCU is not affected by noise. The converted digital signal is transmitted to the MCU via SPI communication.

[0070] After receiving the digital signal from the AD sampling circuit, the MCU analyzes the current pressure applied to the dispensing head. Based on the preset target pressure, the MCU then uses a PID (Proportional-Integral-Derivative) control algorithm to calculate the stepper motor's movement instructions. PID control allows for parameter adjustments based on pressure sensitivity to accommodate varying dispensing requirements.

[0071] Based on the control commands calculated by the MCU, the motor driver (using the TLP2362 and PS2801-4 isolated signals) drives the stepper motor. The stepper motor precisely controls the movement of the dispensing head, maintaining close contact with the mold side to prevent air bubbles.

[0072] The device monitors the pressure of the dispensing head in real time during the dispensing process and continuously adjusts it based on the feedback from the force sensor. If the pressure applied to the dispensing head exceeds or falls below a preset range, the MCU adjusts the stepper motor's motion via the motor driver to ensure the correct position and pressure of the dispensing head, thus achieving precise edge-finding.

[0073] The device's power supply module provides stable power. A DC-DC converter (such as the XL2010) steps down the input voltage to the operating voltage required by each module. An isolated voltage regulator chip (such as the BRV0505S) in the power supply module reduces interference from external power supply noise, ensuring stable operation in high-noise environments.

[0074] This force sensor-based automatic edge-finding device achieves a close fit between the injection head and the mold side through high-precision force sensor signal acquisition, digital signal processing, and precise stepper motor control, effectively reducing the possibility of bubble formation. The system uses a PID control algorithm to dynamically adjust the position and pressure of the injection head, ensuring efficient and accurate injection. Isolation and a stable power supply further enhance the overall operational reliability of the device, making it suitable for high-precision injection operations.

[0075] The above shows and describes the basic principles and main features of the present utility model and the advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present utility model. Various changes and improvements are possible without departing from the spirit and scope of the present utility model. Such changes and improvements are within the scope of the present utility model. The scope of protection claimed in the present utility model is defined by the appended claims and their equivalents.

Claims

1. An automatic edge-finding device based on a force sensor, characterized in that: It includes an MCU module, an AD sampling circuit, a force sensor, a glue injection device, a motor driver and a stepper motor. The MCU module is electrically connected to the AD sampling circuit and the motor driver respectively, the force sensor is electrically connected to the AD sampling circuit, the glue injection device is connected to the stepper motor, the stepper motor is controlled by the motor driver, and the glue injection device is controlled by the stepper motor.

2. The automatic edge-finding device based on a force sensor according to claim 1, characterized in that: The MCU module includes a control chip U9, and the model of the control chip U9 is SWM320VET7.

3. The automatic edge-finding device based on a force sensor according to claim 1, characterized in that: The AD sampling circuit includes a digital isolation chip U59 and an AD chip U60. The model of the digital isolation chip U59 is π141M31, and the model of the AD chip U60 is AD7190BRUZ. Pin 3 of the isolation chip U59 is connected to pin 75 of the control chip U9, pin 4 of the isolation chip U59 is connected to pin 74 of the control chip U9, pin 5 of the isolation chip U59 is connected to pin 73 of the control chip U9, and pin 6 of the isolation chip U59 is connected to pin 72 of the control chip U9; Pin 11 of the isolation chip U59 is connected to pin 23 of the AD chip U60, pin 12 of the isolation chip U59 is connected to pin 24 of the AD chip U60, pin 13 of the isolation chip U59 is connected to pin 3 of the AD chip U60, and pin 14 of the isolation chip U59 is connected to pin 4 of the AD chip U60; Pin 11 of the AD chip U60 is connected to the non-inverting signal input end of the force sensor, and pin 11 of the AD chip U60 is connected to the inverting signal input end of the force sensor.

4. The automatic edge-finding device based on a force sensor according to claim 3, characterized in that: The AD sampling circuit further includes a voltage reference chip U61. The model of the voltage reference chip U61 is REF194ESZ. Pin 2 of the voltage reference chip U61 is connected to a +5V voltage terminal, and pin 6 of the voltage reference chip U61 outputs a +4.5V voltage.

5. The automatic edge-finding device based on a force sensor according to claim 1, characterized in that: The motor driver includes an isolation chip U55 and an isolation chip U56. The model of the isolation chip U55 is TLP2362, and the model of the isolation chip U56 is PS2801-4. Pin 3 of the isolation chip U55 is connected to pin 18 of the control chip U9, and pin 5 of the isolation chip U55 is connected to the PWM signal end of the stepper motor. Pin 2 of the isolation chip U56 is connected to pin 19 of the control chip U9, pin 4 of the isolation chip U56 is connected to pin 20 of the control chip U9, pin 10 of the isolation chip U56 is connected to pin 25 of the control chip U9, pin 12 of the isolation chip U56 is connected to pin 24 of the control chip U9, pin 14 of the isolation chip U56 is connected to the enable signal end of the stepper motor, and pin 16 of the isolation chip U56 is connected to the direction control signal end of the stepper motor.

6. The automatic edge-finding device based on a force sensor according to claim 1, characterized in that: It also includes a power supply module, which includes a DC-DC power supply chip U1, an isolation voltage regulator chip U2 and a voltage regulator chip U3. Pin 8 of the DC-DC power supply chip U1 is connected to a +24V voltage, pins 2 and 9 of the DC-DC power supply chip U1 are respectively connected to pin 2 of the isolation voltage regulator chip U2, pin 3 of the DC-DC power supply chip U1 is connected to pin 1 of the isolation voltage regulator chip U2, pin 6 of the isolation voltage regulator chip U2 is connected to pin 3 of the voltage regulator chip U3, and pin 2 of the voltage regulator chip U3 outputs a +3.3V voltage.

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