JP2542517B2 - XY origin detection method in XY plotter - Google Patents

Description

The present invention relates to a method for detecting an XY coordinate origin of an image on an XY plotter.

[Conventional technology]

In this type of XY coordinate origin detecting method, conventionally, independent detecting devices are arranged at the ends in the XY coordinate direction, and these detecting devices are used to detect the end position of the Y rail in the X coordinate axis direction and the Y position.
The end position of the cursor in the Y coordinate axis direction along the Y rail is detected, the above-mentioned end position is recognized by the controller as the XY origin, and the coordinates of the writing instrument are calculated from the XY origin.

[Problems to be solved by the invention]

If the XY coordinate origin of drawing is configured to be detected using two detection devices, the manufacturing cost of the XY plotter increases,
Moreover, there was a defect that the number of parts was increased, the structure was complicated, and the reliability was lowered.

The present invention aims to eliminate the above defects.

[Means for solving problems]

In order to achieve the above object, the present invention detects the predetermined position of the Y rail when the Y rail is moved to the predetermined position in the end direction of the X rail, and sets the Y cursor in the end direction of the Y rail. When the Y cursor is moved to the position, the predetermined position of the Y cursor is detected, and the center point of the writing instrument when the Y rail and the Y cursor are positioned at both detection positions is drawn.
In the method in which the origin of the XY coordinates is used, a detection device for detecting an object is provided at a single point position corresponding to the both detection positions, and a detection portion provided on the Y rail side and a detection portion provided on the Y cursor side are provided. The detected portion is moved to the detection portion of the detection device with a time difference, and the detection device is caused to detect,
The detection signal of the detection device is the XY coordinate origin signal.

[Action]

In the above-described configuration, the detected portion on the Y rail side is moved to the detection portion of the detection device to operate the detection device, and the controller recognizes the X coordinate origin of the drawing based on the operation output of the detection device. Next, the Y cursor is moved along the Y rail to move the portion to be detected on the Y cursor side to the detection portion of the above-mentioned detection device, and the detection device is operated. The controller recognizes the Y coordinate origin of the drawing based on the operation output of this detection device.

〔Example〕

Hereinafter, the configuration of the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings.

In FIG. 4, 2 is an XY plotter body,
The table 4 is fixed to this. An X rail 6 is fixed to the side portion of the table 4. An X cursor 8 is movably attached to the X rail 6, and one end of a Y rail 10 is attached to the X cursor 8 by the X rail 6.
It is attached so that it is at a right angle to. Said Y
The tail end of the rail 10 is rotatably mounted on the table 4 so that it can be unrolled. A Y cursor 12 is movably attached to the Y rail 10, and an imaging head 14 is attached to the Y cursor 12. The pen holder of the drawing head 14 holds a writing instrument 16. When the X-cursor 8 is driven by an X-motor 18 (see FIG. 18) which is a pulse motor, the X-cursor 8 moves along the X-rail 6 in the X-coordinate axis direction, and the Y-cursor 12 is a Y-pulse motor.
When the motor 20 is driven, it is configured to move along the Y rail 10 in the Y coordinate axis direction. The XY motor
As shown in FIG. 18, 18 and 20 are connected to a central processing unit (CPU) 26 of the controller via XY motor drivers 22 and 24. As shown in FIG. 5, a stopper 28 for locking the movement of the Y cursor 12 in the −Y direction is provided at the tail end of the Y rail 10, and one end of the Y rail 10 is provided with a stopper 28. A stopper is provided to lock the movement in the + Y direction. Reference numeral 30 is a detection device arranged at the side end of the table 4, and a leaf spring type limit switch is used in this embodiment. The detection device 30 may be any switch as long as it can be turned on and off.
A magnetic sensor or the like can be used. A projecting piece 32 is provided on one end of the Y rail 10 so as to be located on a line facing the detecting device 30. 34 is the Y cursor 12
To the side of the Y-rail 10 and the projecting piece 32.
So as not to collide with the projecting piece 32, the projecting piece 32 is attached with a step, and the tip of the projecting piece 34 projects longer than the tip of the projecting piece 32 by a predetermined length l. . The protrusion
Reference numerals 32 and 34 respectively form the detected portions of the Y rail 10 and the Y cursor 12. The step between the protrusions 32 and 34 is the detection device 30.
It is set to be smaller than the width of the switch piece 30a, that is, the detection unit. The detection device 30 is connected to the CPU 26. In FIG. 18, reference numerals 36 and 38 are ROMs (read only memories), and the ROM 36 stores an XY origin detection program and a normal drawing program. 40 is a RAM (random access memory), 42 is an EEPROM (electrically readable / writable ROM), 44 is a panel operation unit, and 46 is an input / output device.

Next, the operation to detect the XY coordinate origin of the drawing head 14
This will be described with reference to FIGS. 10 to 12.

XY motor with controller power off
18 and 20 are in free rotation. In this state, the user manually moves the drawing head 14 to the center of the table 4 (block 40). Then power on the controller (block 42). When the power is turned on, the CPU 26 sequentially executes the contents of the origin detection program built in the ROM 36. First, the CPU 26 drives the X motor driver 22 to drive the X motor 18 in the forward rotation direction to move the Y rail 10 at high speed in the + X coordinate axis direction (block 44). When the protrusion 32 of the Y rail 10 collides with the switch 30a of the detection device 30, the detection device 30 is turned on. When the CPU 26 confirms that the detection device 30 is turned on (decision block 46), X
The motor 18 is reversely rotated at a low speed. This makes Y rail 10
Moves slowly in the -X coordinate direction (block 48). CP
When the detection device 30 is turned off, the U26 confirms this (decision block 50) and causes the X motor 18 to normally rotate at a low speed. As a result, the Y rail 10 moves at a low speed in the + X coordinate axis direction (block 52). The protrusion 32 is again the switch piece of the detection device 30.
The detection device 30 is turned on by slowly contacting 30a and pushing it by a predetermined amount. The CPU 26 determines that the detection device 30 has been turned on (decision block 54), and resets the X counter in the controller to zero by using the position of the writing instrument 16 at that time as the origin of drawing in the X coordinate axis direction (block 56). ). Next, move the Y rail 10 in the -X coordinate axis direction by a predetermined distance
Move (block 58). As shown in FIG. 1, this distance 1 is set to the same value as the value based on the distance between the tip of the projecting piece 32 and the tip of the projecting piece 34 in the X coordinate axis direction.

Next, the CPU 26 drives the Y motor driver 24 to drive the Y motor 2
The Y cursor 12 is moved in the + Y coordinate axis direction at a high speed by rotating at high speed in the positive direction of 0 (block 60). When the tip of the protrusion 34 collides with the switch piece 30a of the detection device 30, the detection device 30 is turned on. When the detection device 30 is turned on (decision block 62), the CPU 26 converts the high speed rotation of the Y motor 20 into a low speed reverse rotation, and moves the Y cursor 12 at a low speed in the -Y coordinate axis direction (block 64). The protruding piece 34 is a switch piece
When the detection device 30 is turned off and the detection device 30 is turned off, the CPU 26 confirms this (decision block 66), this time rotates the Y motor 20 in the forward direction at a low speed, and moves the Y cursor 12 in the + Y coordinate axis direction. Move slowly to (block 68). The movement of the Y cursor 12 causes the tip of the protruding piece 34 to slowly contact the switch piece 30a of the detection device 30, and when the switch piece 30a is pushed by a predetermined amount, the detection device 30 is turned on. CPU26
Confirms that the detection device 30 is turned on at this time, resets the Y counter of the controller to zero, and sets the position of the writing instrument 16 at this time as the origin in the Y coordinate axis direction of the drawing (block 72).

Next, another embodiment will be described with reference to FIGS. 13 to 15.

Power on or reset the controller (block 80). The CPU 26 determines whether the detection device 30 is on (decision block 82). If not, the X motor 18 is driven at high speed to move the Y rail 10 in the + X coordinate axis direction at high speed (block 85). The protruding piece 32 is the switch piece 30 of the detection device 30.
When the detection device 30 is turned on due to collision with a (decision block 86), the CPU 26 moves the Y cursor 12 by an arbitrary movement distance in the -Y coordinate axis direction (block 88). In this case, when the Y cursor 12 is at the movement limit position, the Y cursor 12 collides with the stopper 58 and mechanical damage occurs. To prevent this from happening, the CPU 26 reduces the torque of the Y motor 20 to a very small torque to bring it out of step. Y cursor 12
Is to move the arbitrary movement distance in the -Y coordinate axis direction by
This is to prevent 34 from overlapping the projection 32. Thus, by removing the protruding piece 34 from the front of the protruding piece 32 in the −Y direction, only the protruding piece 32 can collide with the switch piece 30a of the detection device 30 when the Y rail 10 is moved in the + X direction. The piece 34 does not collide with the switch piece 30a. Therefore, when the detection device 30 is in the ON state, the Y cursor 12 is moved in the arbitrary movement distance −Y direction and the state of the detection device 30 is checked. It can be determined whether the contact is caused or the protrusion 34 is contacted.

Next, the CPU 26 determines whether or not the detection device 30 is off (decision block 90). If off, move Y rail 10 to + X
When the detector 30 is turned on (decision block 94), the Y rail 10 is slowly moved in the -X direction (block 96). Next CPU26
Determines whether the detection device 30 is off (decision block 98),
If it is off, the Y rail 10 is moved in the + X direction at a low speed (block 100), and when the detection device 30 is turned on (decision block 102), the CPU 26 determines the position of the writing instrument 16 at this time to draw. Set as the origin of coordinates in the X direction (block 10
Four). If NO is determined in the determination block 90, block 9
Go to 6. When the origin in the X direction is detected, CPU26
Moves the Y rail 10 in the -X direction by an arbitrary distance (block 106). Next, the CPU 26 moves the Y cursor 12 in the + Y direction at high speed (block 108), and when the projecting piece 34 collides with the switch piece 30a of the detection device 30 and turns it on (decision block 110), the CPU 26 When the Y cursor 12 is slowly moved in the -Y direction (block 112) and the detection device 30 is turned off (decision block 114), the Y cursor 12 is slowly moved in the + Y direction (block 116), and the detection device 30 is detected. Is turned on (decision block 118), the writing instrument 1 at this time
The position of 6 is set as the coordinate origin in the Y direction of the drawing (block 12
0).

Next, another embodiment will be described with reference to FIGS. 7 to 9.

In FIG. 7, 122 is a spring arranged at the tail end of the Y rail 10 and located in the movement path of the Y cursor 12,
The Y cursor 12 moves in the -Y direction along the Y rail 10,
When reaching the vicinity of the tail end of the Y-rail 10, the Y-cursor 12 collides with the spring 122, and when the spring 122 is maximally compressed, the Y-cursor 12 is locked by the spring 122 in the movement in the -Y direction. . When the Y-cursor 12 compresses the spring 122 and is locked to the spring 122, the controller is powered off and the Y-motor 20 is de-energized.
Becomes freely movable along the Y rail 10.
In this state, the Y cursor 12 is pushed out by a predetermined distance in the + Y direction along the Y rail 10 by the elastic force of the spring 122. As a result, the Y cursor 12-in the above-described embodiment is
It is possible to secure an arbitrary movement distance in the Y direction.
If the Y cursor 12 is the stopper at the tail end of the Y rail 10,
In the state of being in contact with 28, the block 88 of FIG.
In block 106 of FIG. 14, when the Y cursor 12 is driven in the −Y direction, an excessive load is applied between the Y cursor 12 and the tail end stopper 28 of the Y rail 10, which may cause mechanical damage. .

Further, in FIG. 8, when the controller is reset, Y
The cursor 12 is at the movement limit point of the tail end of the Y rail 10,
When the Y cursor 12 is compressing the spring 122, the CPU 26 controls the torque of the Y motor 20 to zero the torque as shown in FIG. 16 (block 12).
Four). As a result, the Y cursor 12 is pushed out by the force of the spring 122 in the arbitrary movement distance + Y direction to the point P as shown in FIG. Also, regarding the drawing range, the Y cursor 12
It is effective up to the Z point where 2 is maximally compressed. Spring 122
When the Y cursor 12 is pushed out by the
6) CPU 26 returns the current of Y motor 20 to normal (block
128), and proceed to decision block 82 in FIG. As another embodiment, the drawing range is set to the position of the writing instrument when the Y cursor 12 moves to point P. In this case, when the controller is reset, the Y cursor 12 is not positioned within the arbitrary movement distance from the movement limit point Z point.
Further, even when the Y cursor 12 is manually moved to the Z point when the power is off, the Y cursor 12 is pushed out to the P point by the force of the spring 122 when the hand is released.

Next, use servo motors as the XY motors 18 and 20,
An embodiment in which the Y servo motors 18 'and 20' are feedback-controlled by pulse encoders 130 and 132 as shown in FIG. 19 will be described.

When the XY servo motors 18 'and 20' are feedback-controlled, the Y cursor 12 is moved along the Y rail 10 while the Y cursor 12 is in contact with the stopper 28 at the tail end of the Y rail 10. Even if there is a movement command in the Y direction, the feedback signal of the encoder 132 in the -Y direction of the Y cursor 12 is not supplied to the controller. CPU2 in this case
6 stops the movement command and moves the position to the Y cursor 12 -Y
It is determined to be the movement limit point Z in the direction. In addition, Y is controlled by the CPU 26 so that mechanical damage does not occur at the movement limit point.
The motor 20 'is moved by a slight torque.

The above operation will be described below with reference to the flowchart of FIG.

Power on or reset the controller (block 134). Next, the CPU 26 determines whether the detection device 30 is on (decision block 136). If no, + X on Y rail 10
Direction (block 138), and then decision block 140 determines if the detection device 30 is on. Detector 3
If 0 is on, the CPU 26 moves the Y cursor 12 by a slight torque in the -Y direction by an arbitrary movement distance (block 142).
Next, the CPU 26 compares whether or not the movement command data and the data to be fed back match (block 14).
Four). If both data are the same (decision block 146),
If the position is not the same, the position is judged as the movement limit point of the Y cursor 12, that is, the Z point (block 148), and the process moves to the block 96 of FIG. The protrusions 32 and 34 may have the same length.

〔effect〕

As described above, the present invention has an effect that the cost can be reduced by using only one detection device and the reliability is improved because the number of parts is reduced.

[Brief description of drawings]

FIG. 1 is a side view, FIG. 2 is an external view, FIG. 3 is an external view, FIG. 4 is a plan view, FIG. 5 is a plan view, FIG. 6 is a plan view, and FIG. 7 is a plan view. FIG. 8 is a plan view, FIG. 9 is a plan view, FIGS. 10 to 17 are flowcharts, FIG. 18 is a block circuit diagram of a controller, and FIG. 19 is a block circuit diagram showing another embodiment of the controller. is there. 2 …… machine, 4 …… table, 6 …… X rail, 8 …… X cursor, 10 …… Y rail, 12 …… Y cursor, 14 …… drawing head, 16 …… writing tool, 18 …… X motor , 20 …… Y motor, 28
...... Stopper, 30 …… Detector, 32 …… Projection piece, 34 …… Projection piece, 122 …… Spring

Claims (6)

(57) [Claims] 1. When the Y rail is moved to a predetermined position in the end direction of the X rail, the predetermined position of the Y rail is detected, and the Y cursor is moved to the predetermined position in the end direction of the Y rail. To detect the predetermined position of the Y cursor,
A method for detecting an object at a single point position corresponding to both the detection positions in a method in which the center point of the writing instrument when the Y rail and the Y cursor are located at the both detection positions is set as the XY coordinate origin of the drawing. And a detection portion provided on the Y-rail side and a detection portion provided on the Y-cursor side are moved to the detection portion of the detection device with a time difference, and detection is performed by the detection device. An XY origin detecting method in an XY plotter, wherein the detection signal of the detecting device is the XY coordinate origin signal. 2. When the Y rail is moved to a predetermined position in the end direction of the X rail, the predetermined position of the Y rail is detected, and the Y cursor is moved to the predetermined position in the end direction of the Y rail. To detect the predetermined position of the Y cursor,
A method for detecting an object at a single point position corresponding to both the detection positions in a method in which the center point of the writing instrument when the Y rail and the Y cursor are located at the both detection positions is set as the XY coordinate origin of the drawing. And a controller controls the X motor to automatically detect the Y-rail along the X-rail in the direction of the detection device at the detected portion on the Y-rail side by the detection unit of the detection device. Move up to
Then, the Y rail is moved to a position where the detection device is turned off, and the detection unit of the detection device is positioned on the movement path of the Y cursor. Then, the Y motor is controlled by the controller. , The Y cursor is automatically moved in the direction of the detection device along the Y rail until the detected portion on the Y cursor side is detected by the detection unit of the detection device, and the detection signal of the detection device is detected. XY
An XY origin detection method for an XY plotter, which is characterized by using a coordinate origin signal. 3. When the Y rail is moved to a predetermined position in the end direction of the X rail, the predetermined position of the Y rail is detected, and the Y cursor is moved to the predetermined position in the end direction of the Y rail. To detect the predetermined position of the Y cursor,
A method for detecting an object at a single point position corresponding to both the detection positions in a method in which the center point of the writing instrument when the Y rail and the Y cursor are located at the both detection positions is set as the XY coordinate origin of the drawing. And a controller controls the X motor to automatically detect the Y-rail along the X-rail in the direction of the detection device at the detected portion on the Y-rail side by the detection unit of the detection device. Move up to
Then, the Y rail is moved to a position where the detection device is turned off, and the detection unit of the detection device is positioned on the movement path of the detected portion on the Y cursor side. Control the Y motor,
The Y cursor is automatically moved along the Y rail in the direction of the detection device until the detected portion on the Y cursor side is detected by the detection unit of the detection device, and the detection signal of the detection device is changed to With the XY coordinate origin signal, the Y cursor is moved to Y when the detection device detects the detected portion of the Y rail.
An arbitrary moving distance is automatically moved along the rail in the direction opposite to the Y coordinate origin, and a spring is provided at the movement limit end of the Y cursor in the direction opposite to the Y coordinate origin of the Y rail. When the cursor is positioned at the movement limit end of the Y rail, the controller is turned off, the power supply to the X motor is cut off, and the Y cursor becomes free to move along the Y rail. The XY origin detection method in an XY plotter, wherein the arbitrary movement distance is formed between a movement limit end of the Y rail and the Y cursor. 4. When the Y rail is moved to a predetermined position in the end direction of the X rail, the predetermined position of the Y rail is detected, and the Y cursor is moved to the predetermined position in the end direction of the Y rail. To detect the predetermined position of the Y cursor,
A method for detecting an object at a single point position corresponding to both the detection positions in a method in which the center point of the writing instrument when the Y rail and the Y cursor are located at the both detection positions is set as the XY coordinate origin of the drawing. And a controller controls the X motor to automatically detect the Y-rail along the X-rail in the direction of the detection device at the detected portion on the Y-rail side by the detection unit of the detection device. Move up to
Then, the Y rail is moved to a position where the detection device is turned off, and the detection unit of the detection device is positioned on the movement path of the detected portion on the Y cursor side. Control the Y motor,
The Y cursor is automatically moved along the Y rail in the direction of the detection device until the detected portion on the Y cursor side is detected by the detection unit of the detection device, and the detection signal of the detection device is changed to The XY coordinate origin signal is used to automatically move the Y cursor along the Y rail in the direction opposite to the Y coordinate origin when the detection device detects the detected portion on the Y rail side. When the controller is reset with the Y cursor positioned at the movement limit end of the Y rail, a spring is provided at the Y cursor movement limit end in the direction opposite to the Y coordinate origin of the Y rail. The power supply to the Y motor is cut off, and the Y cursor is freely moved along the Y rail. In this state, the Y cursor is pushed back from the movement limit end by the spring. XY origin detection method in XY plotter, characterized in that as the arbitrary moving distance is formed between the travel limit end and Y cursor. 5. When the Y rail is moved to a predetermined position in the end direction of the X rail, the predetermined position of the Y rail is detected, and the Y cursor is moved to the predetermined position in the end direction of the Y rail. To detect the predetermined position of the Y cursor,
A method for detecting an object at a single point position corresponding to both the detection positions in a method in which the center point of the writing instrument when the Y rail and the Y cursor are located at the both detection positions is set as the XY coordinate origin of the drawing. And a controller controls the X motor to automatically detect the Y-rail along the X-rail in the direction of the detection device at the detected portion on the Y-rail side by the detection unit of the detection device. Move up to
Then, the Y rail is moved to a position where the detection device is turned off, and the detection unit of the detection device is positioned on the movement path of the detected portion on the Y cursor side. Control the Y motor,
The Y cursor is automatically moved along the Y rail in the direction of the detection device until the detected portion on the Y cursor side is detected by the detection unit of the detection device, and the detection signal of the detection device is changed to With the XY coordinate origin signal, the Y cursor is moved to Y when the detection device detects the detected portion of the Y rail.
The arbitrary movement distance is automatically moved along the rail in the direction opposite to the Y coordinate origin, and the arbitrary movement distance is always provided between the Y cursor and the Y cursor movement limit end portion of the Y rail during drawing. An XY origin detection method for an XY plotter, characterized in that the drawing range is set so that the above intervals are formed. 6. When the Y rail is moved to a predetermined position in the end direction of the X rail, the predetermined position of the Y rail is detected, and the Y cursor is moved to the predetermined position in the end direction of the Y rail. To detect the predetermined position of the Y cursor,
A method for detecting an object at a single point position corresponding to both the detection positions in a method in which the center point of the writing instrument when the Y rail and the Y cursor are located at the both detection positions is set as the XY coordinate origin of the drawing. And the controller controls the X motor to perform feedback control so that the Y rail is automatically detected along the X rail in the direction of the detecting device by the detecting portion of the detecting device on the Y rail side. The Y-rail is moved to a position where the detection device is turned off, and the detection unit of the detection device is located on the movement path of the detected portion on the Y cursor side. Next, the controller performs feedback control of the Y motor to move the Y cursor to the Y
Automatically moves along the rail in the direction of the detection device until the detected portion on the Y cursor side is detected by the detection portion of the detection device, and the detection signal of the detection device is the XY coordinate origin signal, When the detection device detects the portion to be detected on the Y-rail side, the Y-cursor is automatically moved along the Y-rail in a direction opposite to the Y-coordinate origin with an arbitrary moving distance at low speed and low torque. When the Y cursor collides with the stopper at the end of the Y rail due to this movement and the feedback signal indicating the movement of the Y cursor is not input to the controller, the controller stops the movement of the Y cursor. XY on XY plotter
Origin detection method.