CN106891615A - A kind of wireless linear joint type automatic Paint Marking System - Google Patents
A kind of wireless linear joint type automatic Paint Marking System Download PDFInfo
- Publication number
- CN106891615A CN106891615A CN201710135887.9A CN201710135887A CN106891615A CN 106891615 A CN106891615 A CN 106891615A CN 201710135887 A CN201710135887 A CN 201710135887A CN 106891615 A CN106891615 A CN 106891615A
- Authority
- CN
- China
- Prior art keywords
- guide rails
- chip microcomputer
- guide rail
- type automatic
- marking system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
- B41J2/01—Ink jet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J25/00—Actions or mechanisms not otherwise provided for
- B41J25/24—Case-shift mechanisms; Fount-change arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
Abstract
The invention discloses a kind of wireless linear joint type automatic Paint Marking System,Including work top,Host computer,Single-chip microcomputer,Three servomotors of servo controller,Three Degree Of Freedom spray printing platform and wireless communication module,Servomotor connects single-chip microcomputer by servo controller,Communicated by wireless communication module between single-chip microcomputer and host computer,Y guide rail is installed on work top,It is provided with Y guide rail and its orthogonal X guide rail,The transverse movement in Y guide rail of X guide rails,One end of X guide rails is connected with servomotor,Objective table is installed on X guide rails,Objective table lengthwise movement in X guide rails,One end of Y guide rail is connected with servomotor,The other end of Y guide rail connects the bottom of Z guide rails,Servomotor is connected with the top of Z guide rails,Z guide rails are perpendicular to work top,Shower nozzle is installed in Z guide rails,Shower nozzle moves up and down in Z guide rails；The present invention can be with three kinds of different size of 26 capitalization English letters of spray printing, to meet the basic spray printing demand of small-sized dealer.
Description
Technical field
The invention belongs to jet printer technical field, more particularly to a kind of wireless linear joint type automatic Paint Marking System.
Background technology
With the fast development of commodity economy, the spray printing demand for commodity packaging is also increasing.Large enterprise is often
Automatic spray printing device is set on its flow production line, so as to efficiently easily solve spray printing demand.This kind of jet printing appts function
It is powerful, it is expensive.But domestic market still lacks cheap easy to operate with on-line shop operator suitable for individual operator
Small-sized jet printing appts, so this part operator also needs to look for the special enterprise for providing spray printing service to solve spray printing demand, this gives
Their production and operation cause certain inconvenience and financial burden.
The content of the invention
In order to solve the problems of the prior art, the present invention provides a kind of wireless linear joint type automatic Paint Marking System, can
With can different size of 26 capitalization English letters of three kinds of spray printing.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of wireless linear joint type automatic Paint Marking System, including work top, also including host computer, single-chip microcomputer, three
Servo controller, three servomotors, Three Degree Of Freedom spray printing platform and wireless communication modules, each servomotor are watched by one
Controller connection single-chip microcomputer is taken, is communicated by wireless communication module between the single-chip microcomputer and host computer, the Three Degree Of Freedom spray
Ink pad includes X guide rails, Y guide rail and Z guide rails, and Y guide rail is provided with the work top, is provided with the Y guide rail and its phase
Mutual vertical X guide rails, X guide rails transverse movement in Y guide rail, one end of the X guide rails is connected with servomotor, the X
Objective table is installed, objective table lengthwise movement in X guide rails, one end of the Y guide rail is connected with servomotor on guide rail,
The other end of Y guide rail connects the bottom of Z guide rails, and servomotor is connected with the top of the Z guide rails, and the Z guide rails are perpendicular to work
Make table top, shower nozzle is installed in the Z guide rails, the shower nozzle moves up and down in Z guide rails.
Further, the two ends of the X guide rails, Y guide rail and Z guide rails are mounted on limit switch, the limit switch with
Single-chip microcomputer connects.
Preferably, the model STC89C52 of the single-chip microcomputer；Brand and model the east friend of the servomotor
6CC401G-3DEBEAS；The eastern friend ESDA-20B of the brand and model of the servo controller；The type of the wireless communication module
Number be ESP8266.
Further, the host computer is mobile terminal, it is preferred that mobile terminal is mobile phone or panel computer.
Further, button is provided with the mobile terminal and receives and dispatches instruction to single-chip microcomputer, the button includes 31 keys,
31 keys are respectively 26 English alphabets, numerical key 1-3, send key, start button and end key.
Preferably, numerical key 1-3 is 3 font size selection keies.
Further, the pin PP, PN, DP, DN of each servo controller CN1 ports connect the P2.0 of single-chip microcomputer respectively,
The pin PP, PN, DP, DN of P2.1, P2.2, P2.3, CN1 port are used to receive the pulse of single-chip microcomputer output, single-chip microcomputer output CW/
CCW impulse waves, work as PP, and motor is rotated forward when PN receives impulse wave, DP, motor reversal when DN receives impulse wave.
Further, serial ports transmitting-receiving pin P3.0 and P3.1 and the wireless communication module of the single-chip microcomputer STC89C52
Pin TXD, RXD of ESP8266 is connected, for single-chip microcomputer and the radio communication of host computer.
Further, the servomotor is by driving cable connection servo-driver, for receiving servo controller control
System；The pin 10 and 22 of the CN1 ports of servo controller is connected with 24V Switching Power Supplies.
Further, the single-chip microcomputer is provided with a serial data buffering area and a pending data area, by data
Buffering area and pending data area are merged into an array, and preceding 270 byte is data buffer zone, behind be entirely pending number
According to area；Wait determines whether that new serial data enters for 3s seconds, is received if without if, if so, return is re-recognized；Data connect
Harvest and data are all copied to pending data area after finishing, pending data area will be then taken when data buffering is long, when not
During using pending district, data buffer zone also serves as pending data area.
Compared with prior art, the present invention has advantages below：
The present invention meets the requirement of alphabetical spatterwork, and management on small scale family can be helped to lift automated production level, and can
Develop other similar Three Degree Of Freedom automated production equipments and transplantable platform and experience are provided.In addition, sprayed printed system of the present invention
Prototype it is similar with many automated arms, such as changing shower nozzle into drill bit can carve space pattern, or even change laser head into
Can be as laser production equipment.Therefore present system has preferable transplantability and exploitability, it is adapted to further deeply grind
Study carefully and development.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is hardware block diagram of the invention；
Fig. 3 is pin connection figure of the invention；
Fig. 4 is Pulse Width Control waveform diagram of the invention；
Wherein：1-Z guide rails, 2- objective tables, 3-X guide rails, 4- servomotors, 5-Y guide rails.
Specific embodiment
The present invention is further described with reference to embodiment.
As described in Fig. 1-4, a kind of wireless linear joint type automatic Paint Marking System, including work top, also including host computer,
Single-chip microcomputer, three servo controllers, three servomotors, Three Degree Of Freedom spray printing platform and wireless communication modules, each servomotor
Single-chip microcomputer is connected by a servo controller, is communicated by wireless communication module between the single-chip microcomputer and host computer, institute
Stating Three Degree Of Freedom spray printing platform includes X guide rails, Y guide rail and Z guide rails, Y guide rail is provided with the work top, in the Y guide rail
Be provided with its orthogonal X guide rail, X guide rails transverse movement in Y guide rail, one end of the X guide rails is connected with to be watched
Motor is taken, objective table is installed on the X guide rails, objective table lengthwise movement in X guide rails, one end of the Y guide rail connects
Servomotor is connected to, the other end of Y guide rail connects the bottom of Z guide rails, servomotor, the Z are connected with the top of the Z guide rails
Guide rail is provided with shower nozzle perpendicular to work top in the Z guide rails, the shower nozzle moves up and down in Z guide rails.
The two ends of the X guide rails, Y guide rail and Z guide rails are mounted on limit switch, the limit switch and single-chip microcomputer phase
Connect.
The model STC89C52 of the single-chip microcomputer；The eastern friend 6CC401G- of the brand and model of the servomotor
3DEBEAS；The eastern friend ESDA-20B of the brand and model of the servo controller；The model of the wireless communication module
ESP8266；The host computer is mobile terminal, and mobile terminal is mobile phone or panel computer.
Button is provided with the mobile terminal and receives and dispatches instruction to single-chip microcomputer, the button includes 31 keys, 31 keys point
Not Wei 26 English alphabets, numerical key 1-3, send key, start button and end keies, numerical key 1-3 be 3 font size selection keies.
The servo controller includes the position control mode to servomotor, speed control mode and direct torque mould
Formula, the position control mode is used to control corresponding servomotor to rotate, and in position control mode, servo controller connects
The pulse signal that single-chip microcomputer sends is received, is exported to corresponding servomotor by after electronic gear point times.Typically buy on the market
To servo controller have these three control models.
The pin PP, PN, DP, DN of each servo controller CN1 ports connect P2.0, P2.1, the P2.2 of single-chip microcomputer respectively,
The pin PP, PN, DP, DN of P2.3, CN1 port are used to receive the pulse of single-chip microcomputer output, and single-chip microcomputer exports CW/CCW impulse waves,
Work as PP, motor is rotated forward when PN receives impulse wave, DP, motor reversal when DN receives impulse wave.In position control mode, servo control
The pin PP, PN, DP, DN of device CN1 ports processed are used to receive the pulse of single-chip microcomputer output, and the present invention exports CW/CCW with single-chip microcomputer
Impulse wave schematic diagram as shown in Figure 4 (to rotate forward, 9 regions are reversion in 8 regions), works as PP, and motor is rotated forward when PN receives pulse, DP,
Motor reversal when DN receives pulse.
The pin of the serial ports transmitting-receiving pin P3.0 and P3.1 and wireless communication module ESP8266 of the single-chip microcomputer STC89C52
TXD, RXD are connected, for single-chip microcomputer and the radio communication of host computer.
The servomotor by driving cable connection servo-driver, for receiving servo controller control；Servo control
The pin 10 and 22 of the CN1 ports of device processed is connected with 24V Switching Power Supplies.
The single-chip microcomputer is provided with a serial data buffering area and a pending data area, data buffer zone and will treat
Processing data area is merged into an array, and preceding 270 byte is data buffer zone, behind be entirely pending data area；Wait
Determine whether within 3s seconds that new serial data enters, received if without if, if so, return is re-recognized；After data receiver is finished
Data are all copied to pending data area, pending data area will be then taken when data buffering is long, wait to locate when not using
During reason area, data buffer zone also serves as pending data area.
The leading screw pitch of three moving guide rails be 5mm, i.e. motor often turn over one week objective table or shower nozzle can translate 5mm away from
From.Limit switch is placed on guide rail both sides, if moving guide rail loads onto switch, entire machine powers off be stopped at once, prevents
Moving guide rail causes to clash into beyond stroke.
Because shower nozzle is moved up and down, the font size of spray printing letter depends on spray printing objective table in X, Y direction movement
Apart from size, so depending on servo controller receive pulse signal number, and spray printing speed then depending on pulse frequency
Rate.Sprayed printed system can in the case of spray printing velocity-stabilization three kinds of English alphabets of different fonts size of spray printing, it is necessary to whole
Unique pulse frequency is set in SERVO CONTROL program, and adjusts pulse length.According to formula (2.1) specifically calculate pulse length and
Frequency.
(2.1) S represents pulse equivalency in formula, and the ratio of CMX and CDV is electronic gear proportion, and electronic gear proportion can watched
Take and directly set on control surface controller plate, default value is 1.L is guide screw lead, and F represents umber of pulse needed for motor is rotated a week,
It is determined by encoder for servo motor；(2.2) V represents spray printing speed in formula, and f is pulse frequency, and L is guide screw lead, and F represents electricity
Machine rotates one week required umber of pulse, and it is determined by encoder for servo motor.
After determining pulse frequency and length according to above formula, single-chip microcomputer time delay from I/O mouthfuls of output CW/CCW ripple is recycled,
Servo controller is used for controlled motor, and wherein SERVO CONTROL program is the underlying function of locus interpolation, and it is responsible for control
Direction of motor rotation processed, speed and duration, that is, take position control mode controlled motor to rotate, and under position control mode, watches
Take controller and receive the pulse signal that single-chip microcomputer sends, exported to motor, i.e. locus interpolation program by after electronic gear point times
Comprising SERVO CONTROL program；
Locus interpolation program effect is control three-shaft linkage, calls servo controller, motor to complete spray printing in order,
The locus interpolation program includes linear interpolation program and circular interpolation program,
Linear interpolation program, when system determines the position coordinates of the beginning and end of straight line, patching plug program is just
Can start and call servo controller.The beeline interpolation algorithm of sprayed printed system of the present invention uses point-to-point comparison method.Its course of work
Can be described as the beginning and end according to alphabetical stroke requirement in track and calculate several middle point coordinates, in point-to-point comparison method
Then each step will judge its deviation by current instantaneous coordinate compared with the track of regulation, then determine next step, if worked as
Preceding point goes to regulation track outside, then next step will be sidled inside；If current point is on the inside of track, next step will be past
Sidle outward, the track of an approximate assignment graph is drawn with this, and maximum deviation is no more than a pulse equivalency.
Circular interpolation program, institute's spray printing letter stroke mean camber line is approximately by circularity substitution.It is similar with linear interpolation principle
Seemingly.The distance of spray printing point to the center of circle is compared calculating deviation F with the ideal trajectory radius of the circle by circular interpolation, if shower nozzle is in circular arc
On outer or circular arc, i.e., motor drives shower nozzle to being made a move in circle；If located in circular arc inner side, then motor drive writing pen is to circular arc
Make a move outward.
SCM program algorithm is as follows：
S1：There is provided a serial data buffering area and a pending data area
S2：Data buffer zone and pending data area are merged into an array, preceding 270 byte is data buffer zone,
It is entirely below pending district
S3：Data are all copied to pending district by data receiver after finishing.When data buffering is long, will take and wait to locate
Reason data field, when pending district is not used, buffering area can act also as pending district.
In single-chip microcomputer, there is provided a serial data buffering area and a pending data area in case response speed it is too slow or
The instruction sent is lost, is taken in SCM program wait a bit of time to see whether the side that new serial data enters in addition
Method carries out determining whether to omit situation about receiving, and thinks to receive if without new data.Signal procedure uses UDP patterns.
Single-chip microcomputer determines when command reception and finishes often to judge with newline flag 0x0D 0x0A, but because different situations,
Different instruction has different line numbers, therefore is likely to result in the situation omitted and receive, therefore the present invention takes the wait a bit of time
See whether that the method that new serial data enters is sentenced
It is disconnected, think to receive if without new data.ESP8266 modules set up WiFi communication flow UDP, AP, STA,
All multi-modes such as wireless transparent transmission, wherein UDP patterns have the advantages that energy consumption is relatively low, and signal procedure of the invention is using UDP moulds
Formula.UDP sets up and reception data step is as described below：A UDP transmission port first is set up with CIPSTART, destination address is set
And port numbers, as long as local port number is correctly set, ESP8266 can actively send data to serial ports, single-chip microcomputer after receiving data
Directly extract.Also about the content of verification, whether unanimously, the first byte is total data long to quantity of first checking character for addition
Degree, extracts the first byte then more effective than more consistent.Judge whether the CRC check code of last byte is right again, it is incorrect, give up
Data, extract if correct inside control instruction and perform, finally reset flag bit, data run through rear each important register
Reset.
User is selected to need the letter of spray printing first, and send key is then clicked on successively, and successful return information is received receiving
When, you can pressing start button carries out spray printing.
For the ease of the movement of automatic Paint Marking System, work top bottom is provided with universal wheel by supporting leg, can basis
The demand for using, the mobile equipment.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of wireless linear joint type automatic Paint Marking System, including work top, it is characterised in that：Also include host computer, list
Piece machine, three servo controllers, three servomotors, Three Degree Of Freedom spray printing platform and wireless communication modules, each servomotor are equal
Single-chip microcomputer is connected by a servo controller, is communicated by wireless communication module between the single-chip microcomputer and host computer, it is described
Three Degree Of Freedom spray printing platform includes X guide rails, Y guide rail and Z guide rails, and Y guide rail is provided with the work top, pacifies in the Y guide rail
Equipped with its orthogonal X guide rail, X guide rails transverse movement in Y guide rail, one end of the X guide rails is connected with servo
Motor, is provided with objective table, objective table lengthwise movement in X guide rails, one end connection of the Y guide rail on the X guide rails
There is servomotor, the other end of Y guide rail connects the bottom of Z guide rails, servomotor is connected with the top of the Z guide rails, and the Z leads
Rail is provided with shower nozzle perpendicular to work top in the Z guide rails, the shower nozzle moves up and down in Z guide rails.
2. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：The X guide rails, Y lead
The two ends of rail and Z guide rails are mounted on limit switch, and the limit switch connects with single-chip microcomputer.
3. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：The type of the single-chip microcomputer
Number be STC89C52；The eastern friend 6CC401G-3DEBEAS of the brand and model of the servomotor；The servo controller
Brand and the eastern friend ESDA-20B of model；The model ESP8266 of the wireless communication module.
4. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：The host computer is shifting
Dynamic terminal, mobile terminal is mobile phone or panel computer.
5. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：In the mobile terminal
It is provided with button and receives and dispatches instruction to single-chip microcomputer, the button includes 31 keys, and 31 keys are respectively 26 English alphabets, numerical keys
1-3, send key, start button and end key.
6. wireless linear joint type automatic Paint Marking System according to claim 5, it is characterised in that：The numerical key 1-3
It is 3 font size selection keies.
7. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：Each servo controller
The pin PP, PN, DP, DN of CN1 ports connect the P2.0 of single-chip microcomputer, the pin PP of P2.1, P2.2, P2.3, CN1 port respectively,
PN, DP, DN are used to receive the pulse of single-chip microcomputer output, and single-chip microcomputer output CW/CCW impulse waves work as PP, electricity when PN receives impulse wave
Machine is rotated forward, DP, motor reversal when DN receives impulse wave.
8. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：The single-chip microcomputer
The serial ports transmitting-receiving pin P3.0 and P3.1 of STC89C52 is connected with pin TXD, RXD of wireless communication module ESP8266, for list
The radio communication of piece machine and host computer.
9. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：The servomotor leads to
Cable connection of overdriving servo-driver, for receiving servo controller control；The He of pin 10 of the CN1 ports of servo controller
22 are connected with 24V Switching Power Supplies.
10. wireless linear joint type automatic Paint Marking System according to claim 1, it is characterised in that：The single-chip microcomputer sets
A serial data buffering area and a pending data area are equipped with, data buffer zone and pending data area are merged into one
In array, preceding 270 byte is data buffer zone, behind be entirely pending data area；Wait determines whether new serial ports in 3s seconds
Data enter, and are received if without if, if so, return is re-recognized；Data are all copied to and wait to locate by data receiver after finishing
Reason data field, pending data area will be then taken when data buffering is long, and when pending district is not used, data buffer zone is also made
It is pending data area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710135887.9A CN106891615A (en) | 2017-03-09 | 2017-03-09 | A kind of wireless linear joint type automatic Paint Marking System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710135887.9A CN106891615A (en) | 2017-03-09 | 2017-03-09 | A kind of wireless linear joint type automatic Paint Marking System |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106891615A true CN106891615A (en) | 2017-06-27 |
Family
ID=59185249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710135887.9A Pending CN106891615A (en) | 2017-03-09 | 2017-03-09 | A kind of wireless linear joint type automatic Paint Marking System |
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Cited By (2)
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| CN110342016A (en) * | 2019-07-03 | 2019-10-18 | 湖北工业大学 | A kind of the graphite electrode automatic accomodation control system and control method of filler instrument |
| CN113659888A (en) * | 2021-06-29 | 2021-11-16 | 广州永士达医疗科技有限责任公司 | Driving system and method of OCT (optical coherence tomography) equipment |
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| CN113659888A (en) * | 2021-06-29 | 2021-11-16 | 广州永士达医疗科技有限责任公司 | Driving system and method of OCT (optical coherence tomography) equipment |
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Application publication date: 20170627 |