CN108501575A - Writing device and control system - Google Patents

Abstract

Embodiments of the present invention provide a writing device and a control system, which belong to the field of smart devices. The writing device includes a workbench, a writing pen movement mechanism and a transmission mechanism, the writing pen movement mechanism is connected with the workbench, and the writing pen movement mechanism is provided with a writing pen clamping mechanism for fixing the writing pen, so The transmission mechanism is set on the workbench, and the transmission mechanism is used to carry writing paper. When the writing device is in the working state, the movement of the writing pen movement mechanism drives the movement of the writing pen clamping mechanism, To make the writing pen write on the writing paper, the writing device can imitate manual writing, and the user can operate on the writing device without learning calligraphy, automatically write, and write a font similar to that of calligraphers , so as to realize the automation and intelligence of writing.

Description

Writing device and control system

technical field

The invention relates to the field of smart devices, in particular to a writing device and a control system.

Background technique

Under normal circumstances, because most people are not good at traditional calligraphy, they cannot write well, but sometimes they need to write, for example, Spring Festival couplets, traditional festivals or celebrations, posting Spring Festival couplets in eye-catching positions has become a continuation of the Chinese nation. traditional habits. Most of the Spring Festival couplets they post come from batch printing by manufacturers. However, the Spring Festival couplets printed in batches are poorly printed and lack the aura of writing. As the Spring Festival couplets used for the beautiful yearning and blessings of the new year, the public prefers the handwritten Spring Festival couplets. In contrast, handwritten Spring Festival couplets, especially those written by calligraphy masters themselves, have aura and can feel a visual impact, and the strokes can resonate with the reader's heart. Collection value. However, not everyone can write good handwriting, and calligraphy cannot be done quickly. Practicing calligraphy not only consumes a lot of time, but also the quality and effect of learning are greatly reduced without a good instructor. God similar to the font Spring Festival couplets.

Contents of the invention

The purpose of the present invention is to provide a writing device and a control system, which can improve the above problems.

Embodiments of the present invention are achieved like this:

A writing device, the writing device includes a workbench, a writing pen movement mechanism and a transmission mechanism, the writing pen movement mechanism is connected with the workbench, and the writing pen movement mechanism is provided with a writing pen for fixing the writing pen Clamping mechanism, the transmission mechanism is set on the workbench, the transmission mechanism is used to carry the writing paper, and when the writing device is in the working state, the writing pen is driven by the movement of the writing pen movement mechanism The clamping mechanism moves to make the writing pen write on the writing paper.

In a preferred embodiment of the present invention, the writing pen movement mechanism includes an X-axis movement mechanism and a Y-axis movement mechanism, and the X-axis movement mechanism is vertically connected to the workbench and arranged at both ends of the workbench , the Y-axis motion mechanism is connected with the X-axis motion mechanism and arranged parallel to the workbench, the Y-axis motion mechanism is provided with the writing pen clamping mechanism, and the writing pen clamping mechanism is connected to the The Y-axis motion mechanism is slidingly connected.

In a preferred embodiment of the present invention, the writing pen clamping mechanism is provided with a writing pen clamping piece for fixing the writing pen.

In a preferred embodiment of the present invention, the writing pen clamping mechanism is further provided with a positioning device, and the positioning device is used to detect the position of the writing paper on the workbench.

In a preferred embodiment of the present invention, the positioning device is a complementary metal oxide semiconductor CMOS video sensor.

In a preferred embodiment of the present invention, the writing pen clamping mechanism is further provided with a paper cutter and a paper cutter moving mechanism for fixing the paper cutter.

In a preferred embodiment of the present invention, the transmission mechanism includes a feed reel, a feed roller, a transmission hub and a conveyor belt, the transmission hub is arranged at both ends of the workbench, and the transmission hub is used to drive The conveyor belt moves, and the writing paper is tangent to the outer peripheral surfaces of the feeding drum, the feeding roller, and the transmission hub, and the writing paper moves with the movement of the conveyor belt.

In a preferred embodiment of the present invention, the conveyor belt includes a coded area and an array electrode adsorption area, and the positioning device is used to identify the coded area to detect the position of the writing paper on the conveyor belt.

In a preferred embodiment of the present invention, the workbench is further provided with a workbench turntable, and the workbench turntable is used to adjust the position of the workbench.

A writing device control system includes a control terminal and the above-mentioned writing device, the control terminal is connected to the writing device.

The beneficial effects of the embodiments of the present invention are:

An embodiment of the present invention provides a writing device and a control system. The writing device includes a worktable, a writing pen movement mechanism, and a transmission mechanism. The writing pen movement mechanism is connected to the workbench, and the writing pen movement mechanism is provided with There is a writing pen clamping mechanism for fixing the writing pen. The transmission mechanism is set on the workbench, and the transmission mechanism is used to carry the writing paper. When the writing device is in the working state, the writing pen movement mechanism The movement of the writing pen drives the clamping mechanism to move, so that the writing pen can write on the writing paper. The writing device can imitate manual writing, and the user can operate on the writing device without learning calligraphy. , Automatically write and write fonts similar to those of calligraphers, so as to realize the automation and intelligence of writing.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is a schematic structural diagram of a writing device provided by an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of another writing device provided by an embodiment of the present invention;

Fig. 3 is a functional block diagram of a writing device provided by an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a transmission mechanism provided by an embodiment of the present invention;

Fig. 5 is a structural schematic diagram of a conveyor belt provided by an embodiment of the present invention;

Fig. 6 is a structural block diagram of a writing device control system provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of a conveyor belt transmission provided by an embodiment of the present invention;

Fig. 8 is a schematic diagram of the field of view of the positioning device when the writing paper is skewed according to an embodiment of the present invention.

Icons: 100-writing device; 10-writing paper; 20-writing pen; 110-workbench; 120-writing pen movement mechanism; 121-writing pen clamping mechanism; 1211-writing pen holder; 1212-positioning device 1213-paper cutter; 1214-paper cutter movement mechanism; 122-X axis movement mechanism; 1221-X axis guide rail; 1222-X axis frame; 123-Y axis movement mechanism; 1231-Y axis guide rail; 130-transmission mechanism ;131-feed reel; 132-feed roller; 133-transmission hub; 134-conveyor belt; 1341-coding area; 1342-array electrode adsorption area; 140-support frame; Control system; 200-control terminal.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or can be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a writing device 100 provided by an embodiment of the present invention. The writing device 100 includes a workbench 110, a writing pen movement mechanism 120 and a transmission mechanism 130. Connected with the workbench 110, the writing pen movement mechanism 120 is provided with a writing pen clamping mechanism 121 for fixing the writing pen 20, and the transmission mechanism 130 is provided on the workbench 110, and the transmission mechanism 130 is used for Carrying the writing paper 10, when the writing device 100 is in the working state, the writing pen clamping mechanism 121 is driven to move under the movement of the writing pen moving mechanism 120, so that the writing pen 20 is in the writing position. Writing is performed on paper 10 .

Specifically, the workbench 110 is used to carry the conveying mechanism 130 , and both sides of the workbench 110 can be supported by support frames. The writing device 100 can be provided with a switch button for starting the writing device 100. For example, after the switch button is activated to turn on the writing device 100, the writing device 100 is in a working state, and the writing pen movement mechanism 120 and the transmission mechanism 130 can adopt Stepper motors are used to control the movement.

The transmission mechanism 130 is arranged on the workbench 110 for carrying the writing paper 10, and drives the writing paper 10 to move during the movement of the conveyance mechanism 130. The writing pen clamping mechanism 121 provided on the writing pen moving mechanism 120 is used to fix the writing pen 20, and the writing pen moving mechanism 120 can move relative to the workbench 110. For example, when the user needs to write, the writing device 100 can be turned on, and the writing pen movement mechanism 120 can be controlled to move through a custom writing mode, such as predefined Chinese characters and calligraphy, and the writing pen clamping mechanism 121 can be driven to move. Therefore, the writing pen 20 is also moved accordingly, and the writing pen 20 is made to write on the writing paper 10 according to the self-defined writing mode.

When the writing device 100 is writing, the writing paper 10 is placed on the designated position of the transmission mechanism 130, and then when the writing device 100 is in the working state, the transmission mechanism 130 moves to transmit the writing paper 10 to the writing position, and then the writing pen 20 The writing pen 20 is driven to complete writing on the writing paper 10 according to the preset movement trajectory (ie, the writing mode).

Among them, the commonly used Chinese characters information etc. can be pre-integrated in the writing device 100, for the writing mode can be automatically set on the writing device 100, for example, the length of the writing paper 10, the word margin, the number of writing words, distribution, writing Information such as the size and type of fonts, after turning on the writing device 100, select the corresponding writing mode, and then make the writing pen moving mechanism 120 drive the writing pen clamping mechanism 121 to move, so that the writing pen 20 completes the writing operation, to simulate and drive Manual writing.

In particular, for Spring Festival couplets, most of the Spring Festival couplets are currently printed. Handwritten Spring Festival couplets are loved by everyone because of their specific aura, but now fewer and fewer people use handwritten Spring Festival couplets. Not everyone can write them with one hand Good calligraphy, and calligraphy cannot be done quickly. Practicing calligraphy not only consumes a lot of time, but also the quality and effect of learning will be greatly reduced without a good instructor. The writing device 100 can write Spring Festival couplets, and can set a variety of writing modes, that is, use a variety of calligraphy, so that the user does not need to learn calligraphy, and only needs to operate on the writing device 100. Similar spring couplet fonts achieve better visual effects.

Among them, as an embodiment, the transmission mechanism 130 can be composed of a conveyor belt and a conveyor belt motor, and the conveyor belt motor can be a 57BYG250B stepping motor with a torque of 1.2N. The micro motion of the conveyor belt is 134 microns. The conveyor belt adopts pure transparent PVC material, and the writing paper 10 is placed on the conveyor belt for transmission.

As an embodiment, please refer to FIG. 2 and FIG. 3 , the writing pen movement mechanism 120 includes an X-axis movement mechanism 122 and a Y-axis movement mechanism 123, the X-axis movement mechanism 122 is vertically connected to the workbench 110 and Set at both ends of the workbench 110, the Y-axis movement mechanism 123 is connected to the X-axis movement mechanism 122 and arranged parallel to the workbench 110, the Y-axis movement mechanism 123 is provided with the writing A pen clamping mechanism 121 , the writing pen clamping mechanism 121 is slidably connected with the Y-axis movement mechanism 123 .

Specifically, the Y-axis motion mechanism 123 is provided with a Y-axis guide rail 1231, the X-axis motion mechanism 122 is provided with an X-axis guide rail 1221 and an X-axis frame 1222, and the writing pen clamping mechanism 121 can slide along the Y-axis guide rail 1231. In order to realize writing The height of the pen clamping mechanism 121 is adjustable, and the Y-axis motion mechanism 123 can slide along the X-axis frame 1222, that is, as shown in FIG. Sliding along the Y-axis guide rail 1231, the X-axis frame 1222 can slide along the X-axis guide rail 1221, that is, the writing pen clamping mechanism 121 can slide up, down, left, right, back and forth relative to the worktable 110, that is, slide along the XYZ direction, thereby driving the writing pen 20 to move , so that the Chinese characters of various calligraphy can be written on the writing paper 10.

Of course, the Y-axis motion mechanism 123 can be driven by a Y-axis motor, the X-axis motion mechanism 122 can be driven by an X-axis motor, and the driving motor, Y-axis motor, and X-axis motor of the transmission mechanism 130 can all be controlled by a control module to drive The motor works, and the control module can be arranged on the writing device 100 or outside the writing device 100 .

The X-axis guide rail 1221 can be supported and fixed by a support frame 140. The support frame 140 can be set on the ground to support the entire writing pen movement mechanism 120. The X-axis guide rail 1221 and the Y-axis guide rail 1231 are set to be perpendicular to each other, so that the Driven, sliding can be performed. Both the X-axis motor and the Y-axis motor can use 80ST-M02430 AC servo motors, and are equipped with corresponding motor drivers to connect with the control module, which can realize plane movement with a length and width of 750×1025mm, with an accuracy of 0.01mm and repeat positioning accuracy of up to ±0.05mm, can realize low-speed smooth and accurate motion control.

The transmission mechanism 130 can be driven by a stepping motor, equipped with a subdivision driver with a maximum subdivision number of 512, which can realize second-level rotation angle precision control.

The writing pen movement mechanism 120 can adopt a lead screw stepping motor, and at the same time, it is equipped with a maximum 512 subdivision driver, which can realize the up and down movement of 200mm in length and width, and the precision can reach 0.01mm.

In addition, the writing pen clamping mechanism 121 is provided with a writing pen clamping member 1211 for fixing the writing pen 20 .

A positioning device 1212 is also provided on the writing pen clamping mechanism 121 , and the positioning device 1212 is used to detect the position of the writing paper 10 on the workbench 110 .

As an implementation, the positioning device 1212 is a complementary metal oxide semiconductor CMOS video sensor, that is, a high-resolution and high-pixel area array CMOS camera, which can detect whether the writing paper 10 is tilted during the movement process, and realize the writing process. video surveillance in . For example, if it is found that the writing paper 10 is tilted, it can be adjusted so that the writing paper 10 is in a suitable writing position, so as to avoid unsatisfactory writing effects due to the tilted position.

As an implementation, the writing pen clamping mechanism 121 is provided with a paper cutter 1213 and a paper cutter movement mechanism 1214 for fixing the paper cutter 1213, and the paper cutter movement mechanism 1214 can move along the Y-axis direction. Move up and down to complete the cutting action. After the writing is completed, cutting is performed again, and the writing paper 10 that has been written can be cut off.

The drive of the paper cutter moving mechanism 1214 can adopt a screw stepping motor, so the motors are equipped with a subdivision driver with a maximum of 512 subdivisions, so as to realize accurate control of Y-axis and Z-axis motion.

As an embodiment, the workbench 110 is also provided with a workbench turntable 150, the workbench turntable 150 is used to adjust the position of the workbench 110, and the workbench 110 is used for writing and transferring the entire writing device 100. and cutting to provide support, the transmission mechanism 130 is connected to the workbench 110, and the worktable turntable 150 is arranged under the workbench 110. Driven by the workbench turntable 150, the entire workbench 110 and the transmission mechanism 130 can rotate by ±25° The movement is to meet the requirement that when the writing paper 10 is tilted, the rotation correction can be performed through the worktable turntable 150 .

The worktable turntable 150 is driven by a stepping motor, driven by a worm gear, and designed through a precise shaft system, and driven by a driver with a maximum of 512 subdivisions, which can achieve second-level rotation angle accuracy.

Please refer to FIG. 4, which is a schematic structural diagram of a transmission mechanism 130 provided by an embodiment of the present invention. As an implementation mode, the transmission mechanism 130 includes a feed reel 131, a feed roller 132, a transmission hub 133 and Conveyor belt 134, the transmission hub 133 is arranged at both ends of the workbench 110, the transmission hub 133 is used to drive the conveyor belt 134 to move, the writing paper 10 is connected with the feed reel 131, the The feed roller 132 is tangent to the outer peripheral surface of the transmission hub 133 , and the writing paper 10 moves along with the movement of the transmission belt 134 .

Wherein, as shown in FIG. 5 , the conveyor belt 134 can adopt a PVC conveyor belt 134 with a length of about 3072 mm, and the conveyor belt 134 includes a coding area 1341 and an array electrode adsorption area 1342, and the positioning device 1212 is used to carry out the coding area 1341. Identification, to detect the position of the writing paper 10 on the conveyor belt 134 , the array electrode adsorption area 1342 is used to set the adsorption electrodes, so that the writing paper 10 is adsorbed by the adsorption electrodes.

The encoding adopts 8-bit binary barcode (0 and 1 are identified by the thickness of the barcode, and each code bit is a barcode composed of 8 thick and thin stripes), which can achieve a subdivision resolution of 256, that is, 3072/256 can be realized on the conveyor belt 134 =12mm long subdivision resolution, which means that there will be binary barcodes and corresponding independent adsorption electrodes every 12mm on the conveyor belt 134, and each adsorption electrode can be independently controlled to realize power-on and power-off actions, so as to Controls whether it can be adsorbed.

The positioning device 1212 identifies the coding area 1341 so as to position the conveyor belt 134 , so as to position the writing paper 10 on the conveyor belt 134 .

The positioning device 1212 can adopt MV-CE100-30GM/C industrial camera, 10 million pixels, 1/2.3 window, Gigabit Ethernet industrial camera, and wide field of view lens, used for writing paper 10 positioning sensor and conveyor belt 134 encoding position.

The array electrode adsorption area 1342 can use a flexible PCB printing process to transfer the shape of the electrodes onto a flexible PI (polyimide) film to form an electrode array, and each electrode can be independently powered on or off.

Please refer to FIG. 6 . FIG. 6 is a structural block diagram of a writing device control system 300 provided by an embodiment of the present invention. The writing device control system 300 includes a control terminal 200 and the above-mentioned writing device 100 . communication connection.

The control terminal 200 can be realized by an independent electronic device, such as a PC, or can be realized by an embedded method, such as a single-chip microcomputer. The control device has a human-computer interaction interface, which is convenient for users to control and manage the writing device 100 .

For example, the writing information of commonly used Chinese characters has been integrated in the control terminal 200 software. After the operator sets the length of the writing paper 10 through the control terminal 200, the word margin, the number of written words and their distribution, the size and type of the written font, etc., The operator inputs a control command at the control terminal 200, that is, controls the writing device 100 to start running, and the writing device 100 calls the Chinese character information of the control terminal 200 Chinese character information database in real time, and drives the X-axis motion mechanism 122, the Y-axis motion mechanism 123 and the writing pen The motion mechanism 120 completes the writing operation of the required writing content according to the setting, so as to simulate and replace manual writing. At the same time, after the writing is completed, the paper cutter motion mechanism 1214 is controlled to cut. If the writing paper 10 is skewed, the writing device 100 collects the image of the writing paper 10 through the positioning device 1212, and then adopts algorithms such as edge detection and straight line detection to calculate the angle of inclination, and finally performs a deflection movement until the writing paper 10 is aligned with the writing device 100. The X-axis rails 1221 are parallel to each other.

The writing device 100 may be provided with a control module for receiving command data from the control terminal 200 in real time, so as to realize analog writing of various fonts. The entire writing paper 10 is packaged in rolls and mounted on the feed reel 131, and the other end passes through the feed roller 132 and spreads on the conveyor belt 134. The control terminal 200 controls the adsorption electrodes on the conveyor belt 134 to tightly adsorb the writing paper 10. , and realize the transmission of the writing paper 10 through the movement of the conveyor belt 134 . After the writing is completed, the positioning device 1212 recognizes the code of the conveyor belt 134 corresponding to the place to be cut to calculate the physical coordinates of the cutting point, thereby driving the X-axis motion mechanism 122, the Y-axis motion mechanism 123 and the paper cutter motion mechanism 1214 to realize the writing paper. 10 full cuts. The entire system can complete automatic writing and automatic cutting only after relevant settings are made on the control terminal 200, thereby realizing automatic writing.

The specific process of writing by the writing device 100 is as follows:

Step 1: Setup and Preparations.

(1) On the control terminal 200 , the operator inputs the size (length and width) of the writing paper 10 in the writing area of the workbench 110 and the writing content (the content is the same or has the same periodicity). At this time, the writing device 100 will automatically match the writing paper 10, and generate the writing paper 10 page margin, writing font, writing font size, spacing between writing fonts, etc. The operator can directly use the generated information, or set it separately.

(2) Information such as writing speed, jumping speed when the writing pen 20 is idle, time interval for dipping ink, and time for dipping ink are set in the control terminal 200, and the default system initial setting value can also be used.

(3) Reset the X-axis motion mechanism 122 and the Y-axis motion mechanism 123, adjust the focal length of the lens of the positioning device 1212, and set exposure parameters and other related parameters, so that the edge of the writing paper 10 in the collected image is clearly visible.

(4) Load the feeding reel 131, and set the action sequence of the transmission mechanism 130 and try the transmission effect. The operator installs the finished writing paper 10 on the feed roll 131 , passes the blank writing paper 10 around the feed roller 132 , passes through the workbench 110 to straighten it, and lays it flat on the workbench 110 . Afterwards, start the adsorption electrode on the control terminal 200, and drive the conveyor belt 134 to move in a small range (moving step of mm order), so as to make the writing paper 10 tense (prevent the writing paper 10 from breaking). Set the distance of a transmission (the length of the writing paper 10 on the workbench 110), try the transmission effect, and observe whether the order of the writing paper 10 during the transmission process is correct and whether there are problems such as breakage. After confirming the effect, manually operate The transfer mechanism 130 is zeroed.

(5) Set a font on the control terminal 200 that needs to be written, so as to provide data for cutting the writing paper 10; at the same time, operate the paper cutter 1213 to move down to the cutting position, and observe whether the cutter head is attached to the table in the cutting area.

Step 2: The transmission mechanism 130 transmits once, thereby completing one transmission of the current writing area.

After completing the above steps, enter the automatic operation of the writing device 100, such as:

When the transmission hub 133, the feed hub and the feed roller 132 are synchronized, the transmission mechanism 130 is driven to complete the transmission of the writing paper 10 once (in principle, the entire workbench 110 can be filled). The detailed transmission process and the schematic diagram of key points are shown in Figure 7. It is divided into five key steps a-e, as follows:

Figure 7(a) - just loaded, and not transferred to the writing position;

Fig. 7 (b)—blank writing paper 10 has been conveyed in place (the first writing has not yet been carried out), and writing can be carried out;

Fig. 7 (c) - writing has been completed for the writing paper 10 on the current workbench 110;

Fig. 7 (d)—transmit the writing paper 10 written to the right after completing a writing, and now also transmit new writing paper 10 for the writing of the latter time;

Fig. 7 (e) - the writing paper 10 after writing has been conveyed, and the cutting is completed, and now the new writing paper 10 to be written is already in a waiting state;

During the transmission process, the positioning device 1212 collects images of the blank writing paper 10 on the entire workbench 110 in real time, and provides information feedback for the transmission action and status of the device by identifying and judging key points.

Step 3: Apply electricity to the writing paper 10 above the conveyor belt 134 to form adsorption.

The control terminal 200 collects the image of the positioning device 1212 in real time, and recognizes the state of the transmission, and communicates with the electrostatic adsorption controller of the conveyor belt 134 to adsorb the Spring Festival couplet writing paper 10 on the conveyor belt 134 . Along with the blank Spring Festival couplet writing paper 10 moves right step by step (conveying from left to right), under the control of the electrostatic adsorption controller of the conveyor belt 134, the array adsorption electrodes on the conveyor belt 134 are gradually energized and adsorbed.

Step 4: Automatic tilt detection of the writing paper 10 and adjustment of the workbench 110 according to the situation.

The control terminal 200 automatically calls the positioning device 1212, and after performing pre-filtering, edge detection and line detection algorithms on the image, detects the straight line at the edge of the writing paper 10, and calculates the Y-axis of the field of view of the positioning device 1212 relative to the straight line (that is, this The included angle β of the X-axis guide rail 1221) of the embodiment of the invention. As shown in Figure 8, if |β|≤0.5°, then it is considered that there is no deflection in the writing paper 10, otherwise, start the motor of the turntable 150 of the worktable, and perform reverse angle adjustment until the edge line of the writing paper 10 is aligned with the positioning device 1212 If the Y-axis of the field of view is nearly parallel and meets the requirements of the included angle, then the next step can be performed.

Step 5: Driving the X-axis motion mechanism 122 and the Y-axis motion mechanism 123, and the writing pen motion mechanism 120 to complete the writing simulation operation.

The control terminal 200 retrieves the information needed to write Chinese characters in real time, and cooperates with the XY axis and the Z axis movement mechanism to realize the writing of Chinese characters on the plane of the writing paper 10. The Z axis movement represents the writing force information to a certain extent. Under the automatic control of the control terminal 200, the required Chinese characters are written one by one until completion.

Simultaneously, the system will automatically predict whether the writing paper 10 delivered by the discharge reel is complete, if not, continue to the second step, otherwise enter the sixth step.

Step 6: Drive the paper cutter moving mechanism 1214 to move to complete the cutting of the writing paper 10 .

The system first resets the paper cutter 1213, drives the X-axis motion mechanism 122 to move the cutter head down, and drives the Y-axis motion mechanism 123 to perform a cut.

Step 7: Unload, reload and return.

Predict whether the writing of the whole roll of writing paper 10 is completed. If it is completed, after all the writing of Chinese characters is completed, the power supply of the electrostatic adsorption electrode is automatically cut off, and the device is reset, and the writing paper on the feed roller 132, the writing table and the discharge roller is removed. 10. At the same time, if you need to continue writing, re-loading returns to the first step to start execution.

In summary, the embodiment of the present invention provides a writing device 100 and a control system. The writing device 100 includes a workbench 110, a writing pen movement mechanism 120 and a transmission mechanism 130. The writing pen movement mechanism 120 is connected to the working The writing pen movement mechanism 120 is provided with a writing pen clamping mechanism 121 for fixing the writing pen 20, and the transmission mechanism 130 is provided on the workbench 110, and the transmission mechanism 130 is used to carry the writing paper. 10. When the writing device 100 is in the working state, the writing pen clamping mechanism 121 is driven to move under the movement of the writing pen moving mechanism 120, so that the writing pen 20 can be moved on the writing paper 10. For writing, the writing device 100 can imitate manual writing. Users can operate on the writing device 100 without learning calligraphy, automatically write, and write fonts similar to calligraphy masters, thereby realizing automatic and intelligent writing.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A kind of writing device, it is characterized in that, described writing device comprises workbench, writing pen movement mechanism and transmission mechanism, and described writing pen movement mechanism is connected with described workbench, and described writing pen movement mechanism is provided with for The writing pen clamping mechanism for fixing the writing pen, the transmission mechanism is set on the workbench, the transmission mechanism is used to carry the writing paper, when the writing device is in the working state, the movement of the writing pen movement mechanism Drive the writing pen clamping mechanism to move, so that the writing pen can write on the writing paper. 2. The writing device according to claim 1, wherein the writing pen movement mechanism comprises an X-axis movement mechanism and a Y-axis movement mechanism, and the X-axis movement mechanism is vertically connected with the workbench and arranged on the The two ends of the workbench, the Y-axis movement mechanism is connected with the X-axis movement mechanism and arranged parallel to the workbench, the Y-axis movement mechanism is provided with the writing pen clamping mechanism, and the writing The pen clamping mechanism is slidingly connected with the Y-axis moving mechanism. 3. The writing device according to claim 2, characterized in that, the writing pen clamping mechanism is provided with a writing pen clamping piece for fixing the writing pen. 4. The writing device according to claim 3, wherein a positioning device is further provided on the writing pen clamping mechanism, and the positioning device is used to detect the position of the writing paper on the workbench. 5. The writing device according to claim 4, wherein the positioning device is a complementary metal oxide semiconductor CMOS video sensor. 6. The writing device according to claim 5, wherein the writing pen clamping mechanism is further provided with a paper cutter and a paper cutter moving mechanism for fixing the paper cutter. 7. The writing device according to claim 6, wherein the transmission mechanism comprises a feed reel, a feed roller, a transmission hub and a transmission belt, and the transmission hub is arranged at both ends of the workbench, so that The transmission hub is used to drive the conveyor belt to move, and the writing paper is tangent to the outer peripheral surface of the feed reel, the feed roller, and the transmission hub, and the writing paper moves along with the conveyor belt while moving. 8. The writing device according to claim 7, characterized in that, the conveyor belt comprises a coded area and an array electrode adsorption area, and the positioning device is used to identify the coded area so as to detect where the writing paper is placed. position on the conveyor belt. 9 . The writing device according to claim 8 , wherein the worktable is further provided with a worktable turntable, and the worktable turntable is used to adjust the position of the worktable. 10. A writing device control system, characterized by comprising a control terminal and the writing device according to any one of claims 1-9, the control terminal being connected to the writing device.