JPH0464499A - Apparatus for controlling vertical movement of pen of automatic drawing apparatus - Google Patents

Abstract

PURPOSE:To realize the soft landing of a pen, to increase the vertical moving speed of the pen and to carry out automatic drawing at high speed by providing an acceleration and deceleration signal generating circuit moving the pen to a desired height successively through acceleration, deceleration and constant-speed drivings when the pen is vertically moved. CONSTITUTION:When the output of an integration circuit 13 is -3V and an analogue switch H is turned ON, the signal obtained by adding the output of the integration circuit 13 and position output P through resistors R1a, R1b having the same resistance value is inputted to the input terminal of a phase compensation circuit 14. Therefore, a position servo is operated until the input of the phase compensation circuit 14 becomes 0V and, as a result, a pen 5 becomes stable at a position where the position output P becomes 3V. The output signal 30 of the integration circuit 13 is also applied to an acceleration and deceleration signal generating circuit 20 and the current command corresponding to an acceleration or deceleration current is added to the input of a constant current amplifier 2 by the change of the relative moving quantity of the pen at the time of the upward or downward movement of the pen 5. By appropriately adding acceleration and deceleration currents at the time of the vertical movement of the pen 5, the acceleration of the pen tip at the time of the contact with a recording medium 16 can be suppressed to the min. degree within a short time.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention is directed to a recording medium such as a drawing paper or a film.
The present invention relates to a pen vertical movement control device for an automatic drawing device that draws a drawing using a writing instrument (generally referred to as a pen) such as a ballpoint pen or an ink pen.

[Prior Art] A conventional device of this type raises the pen by a certain distance with respect to the recording medium when the pen is within the pen-down constant speed mode starting position from the lower limit of JP-A-61-28440-K.
The device achieves high-speed response by minimizing the lifting distance of the pen without being affected by the inclination or distortion of the recording medium.

[Problems to be Solved by the Invention] The conventional device described above performs constant speed control when the pen descends;
It does not have a soft landing, and as a result, depending on the drawing conditions (type of pen and type of recording medium), drawing errors such as jumping, misuse, and even missing characters (chips at the beginning of letters, etc.) may occur. . Further, there were other problems such as the vertical movement speed of the pen was not sufficient.

An object of the present invention is to provide a pen vertical movement control device for an automatic drawing device, which achieves a soft landing on a recording medium when the pen descends, and improves the pen vertical movement speed, thereby enabling faster automatic drawing. It is about providing.

[Means for Solving the Problems] The above object is achieved by providing an acceleration/deceleration signal generation circuit that moves the pen to a desired height position through sequential acceleration, deceleration, and constant speed driving when the pen moves up and down.

[Operation] The acceleration/deceleration signal generation circuit moves the pen to a desired height position through sequential acceleration, deceleration, and constant speed drive when the pen moves up and down. As a result, when the pen descends, a soft landing on the recording medium is achieved, and the vertical movement speed of the pen can be improved, allowing for faster automatic drawing.

[Embodiment] The present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the pen vertical movement control device for an automatic drawing device according to the present invention. As shown in FIG. It is mechanically connected to the flag 4.

By passing a current iA through the actuator 3, the actuator 3 is driven in the vertical direction, but the current iA is controlled by the current (voltage) input to the constant current amplifier 2.

The pen pressure (writing pressure) setting D/A converter 1 selectively closes the internal analog switches D, E, and F (by a processing device not shown), so that each switch D, E is closed.
A current proportional to the reciprocal of the weight resistances R4, R3, and R2 of F is passed through the constant current amplifier 2 to drive the Ben 5 in the direction of the recording medium 16 with a constant pressure. Conversely, by closing the analog switch C of the D/A converter 1, the resistance R
Ben 5 is moved to the recording medium 16 with a constant pressure proportional to the reciprocal of 5.
It can be driven in the opposite direction (upward).

As the ben 5 is driven up and down, the flag 4 also moves up and down, and by blocking the infrared rays from the infrared light emitting diode 7 by an amount proportional to the vertical position of the ben 5, the infrared rays reaching the infrared phototransistor 6 are blocked. The amount is made proportional to the vertical direction of the pen 5, so that the pen position can be detected.

The position detection amplifier 9 has an internal variable resistor (not shown).
By appropriately adjusting , the output (position output) P becomes 10 when Ben 5 is located at its stroke upper limit 15 (see Fig. 4).

It is adjusted so that the voltage is +5.8v when the ben 5 is located at the lower stroke limit 17 (see FIG. 4). Then, the output P is set at the upper limit 1 by Ben 5.
The voltage is linearly proportional to the position from the position 5 to the lower limit 17.

A spring 19 is provided to position the ben 5 at the upper limit when the power is turned off. Reference numeral 11 denotes an inverting amplifier, in order to compensate for the pressure by which the ben 5 is pulled upward by the spring 19 while the power is on.
The inverted output of the position output P is coupled to the output of the D/A converter 1 via a certain adjusted weighted resistor (not shown).

10 is a position output P in order to bring Ben 5 into contact with the recording medium 16 at a constant speed when moving in the direction of the recording medium 16.
This is a differential amplifier for differentiating the signal to obtain a signal corresponding to the speed, and its output (corresponding to the speed of Ben 5) is coupled to the output of the D/A converter 1 via an analog switch A.

14 is a phase compensation circuit, in which the position output P is input through the resistor R1a, and the output after phase compensation for the position output P is outputted to D/
Coupled to the output of A converter 1.

Therefore, analog switches A, C, D, E.

When F and H are OFF, the Ben 5 is moved by the output of the phase compensation circuit 14 to the position where the position output P becomes Ov, that is, a position servo is configured.

However, the internal circuit of the phase compensation circuit 14 is configured so that the position servo is disabled by closing the analog switch B.

12 is an inverting amplifier, and its gain is 1.

Therefore, the polarity is opposite to the output of the differentiating circuit 10, but the absolute value is the same. 13 is an integrating circuit, which discharges (resets) the internal capacitor when the pen pressure application signal 31 of Ben 5 is ON (when the pen is down), and the signal 31 is OFF.
When , the output of the inverting amplifier 12 is integrated. That is, the integration circuit 13 outputs a signal corresponding to the amount of increase in the pen-up process from pen-down to pen-up.

Note that the constant current drive circuit 8 is for keeping the current of the photodiode 7 constant.

The analog switches A, B, C, D, E, F, and H are selected 0N1 at appropriate times by a processing device (not shown).
It is possible to set it to 0FF.

For example, when the output 3o of the integrating circuit 13 is 13 V and the analog switch H is turned on, the output of the integrating circuit 13 and the position output P are added to the input of the phase compensation circuit 14 through resistors R1a and R1b having the same resistance value. signal is input. Therefore, the position servo is controlled by the phase compensation circuit 14.
The pen 5 operates until the input becomes Ov, and as a result, the pen 5 becomes stable at a position where the position output P becomes 3V.

The output signal 30 of the integrating circuit 13 is sent to the acceleration/deceleration signal generation circuit 20.
A current command corresponding to an acceleration current or a deceleration current is added to the input of the constant current amplifier 2 according to a change in the relative pen movement amount when the pen is up or down. Note that the acceleration/deceleration signal generation circuit 20 is controlled by a signal 31 so as to operate only when the pen-up or pen-down changes.

FIG. 2 shows an example of the acceleration/deceleration signal generation circuit 20. In this Figure 2, 32, 34, 35.36 are voltage comparators;
3.47 is an operational amplifier. 37 is a gate circuit that outputs 0N10FF commands for the analog switches 84 to S7. S1 to S3 are analog switches for selecting the stroke of the pen 5, and are controlled by a processing device (not shown) depending on the type of the pen 5 and whether the pen is moved during short lift pen up or not. It is turned on as appropriate. As a result, the operational amplifier 47 outputs a predetermined pen stroke command value. 42-46.48.51
~57 is a resistance. Among these, the resistors 54 to 57 are connected to predetermined dividing points (61, 21 . . . in FIG. 4) during the pen stroke.
62 or 63, 64.65) corresponding to the voltage v1~
This is a voltage dividing resistor that obtains v3.

The voltages V1-V3 are compared by voltage comparators 36, 35.degree. 34 with a signal 30 indicative of relative pen movement.

Based on this comparison result, the gate circuit 37 controls the analog switch S4. S5. Signals a, b, controlling S6
c is generated. S4 generates a pen-down acceleration current command, and S5 generates a pen-down deceleration current command and a pen-up acceleration current command. Further, S6 generates a deceleration current command when pen-up. S7 cuts off the acceleration/deceleration current at steady state and after passing the dividing point 62.65 when the pen is down and the dividing point 61.63 when the pen is up;
This is an analog switch for driving the pen 5 at a constant speed.

The acceleration/deceleration current command signal 49 obtained by the acceleration/deceleration signal generation circuit 20 is added to the input signal of the constant current amplifier 2 shown in FIG.

FIG. 3 shows an example of the mechanical structure of the pen driving section 18 in FIG. 1. In FIG. 3, a moving coil 3a, which is the movable part of the actuator 3, is made by winding a conductor around a bobbin.
The inside of the magnet 3c fixed at b can be moved up and down. That is, by passing a current through the moving coil 3a, the current of the moving coil 3a blocks the magnetic circuit 3d formed in the magnet 3C, and the support part 3
e is driven, and as a result, the flag 4 and pen 5 are configured to move up and down with respect to the recording medium 16. In addition,
The configuration itself of this pen driving section 18 is not particularly different from that of the prior art.

Hereinafter, the operation of the above-mentioned apparatus of the present invention will be described in detail using FIGS. 4 and 5. FIG. 4 is a timing chart showing the operation of the apparatus of the present invention, and the pen 5 moves up and down between the pen stroke upper limit 15 and the pen stroke lower limit 17, as shown by 1 to 0 in FIG.

The operating mode of the pen 5 in the above steps 1 to 0 will be explained below.

■...Pen standby mode...Constitutes a position servo, and is located slightly (approximately 0.1 mm) below the upper limit 15.

■...Pen down acceleration mode...Mode to move while accelerating downward without speed control at maximum pen pressure...■...
・Pen-down deceleration mode...Add deceleration current command,
The pen-down descending speed is reduced to the speed at which the pen 5 reaches the recording medium 16 without jumping.

-1...Pen down constant speed mode--Pen 5 at constant speed
reaches the recording medium 16.

■...Drawing mode...The pen 5 is moved to the recording medium 16 using a pen pressure specified by a processing device (not shown) or an operator.
(Drawing can be performed by relative movement on a plane between the pen 5 and the recording medium 16, that is, movement in the X and Y axes.)

■...Short lift pen up mode...Short lift setting position specified by switches 81 to S3 (
In this case, the mode starts ascending to the same position as the dividing point 21). The accelerating current when the pen is raised is applied until the signal 30 reaches the voltage V2 in FIG. 2 (the voltage corresponding to the dividing point 64 in this mode).

■,■'...Pen up mode...Deceleration current addition mode when pen goes up■ and constant speed increase mode■-0 Voltage V3 in Figure 2 (voltage corresponding to dividing point 63 in this mode) There is a deceleration current addition mode until the signal 30 is reached, and a constant speed movement mode until the signal 30 reaches the short lift stop point (here, the voltage corresponding to the dividing point 21).

■...Short lift up mode...Switch 8
A mode in which the mode waits at the short lift setting position (here, the position of dividing point 21) set in steps 1 to S3.

■, ■, ■−... Mode similar to ■, ■, ■−.

■...Same mode as ■.

0, 0.0-... Same mode as ■, ■, ■' (however, the mode moves to the position marked with ■).

0...Same mode as ■.

FIG. 5 shows the 0N10FF states of the analog switches AF, H, St to S7 in each mode of FIG. 4. In FIG. 5, "1" indicates that the switch is ON, and "O" indicates that the switch is OFF. In addition, the part indicated by *1 is 1 or O depending on the selection of pen pressure when pen is down, for example, rllO.
J (D=ON.

E=ON, F=OFF).
Note that rl 11J is the maximum pen pressure, and "000" is the minimum pen pressure). Similarly, in the part indicated by *2, 1 or O is combined depending on the short lift-up height selection (in addition, here "OOo", that is, 51 = OFF, 52 =
OFF, 53=OFF is the maximum short lift height).

Each of the modes (1) to 0 is set by the 0N10FF states of analog switches A-F, H, Sl-S7 as shown in FIG.

Since the responsiveness of the vertical movement of the pen 5 of an automatic drawing device has a great effect on the drawing time, it is important to minimize the lifting distance of the pen 5 from the recording medium 16 during drawing, and also to , it is necessary to suppress the acceleration when the recording medium 16 and the pen tip come into contact with each other.

According to the device of the present invention, the switches 81 to S3 are appropriately selected and set to 0N10FF depending on the type of the pen 5, and the lifting distance of the pen 5 when not drawing is set, thereby minimizing the lifting distance of the pen. In addition, by appropriately applying an acceleration/deceleration current when the pen 5 moves up and down, it is possible to minimize the acceleration when the pen tip contacts the recording medium 16 in the shortest possible time.

In addition, when drawing minute line segments such as dotted line drawing, the recording medium 16 does not rise much when the pen is rising, and there is no need for the pen 5 to miss the highest end of the pen stroke when the pen is rising. Therefore, responsiveness is improved by having the pen 5 wait at an intermediate position of the pen stroke.

Furthermore, even when using a pen type that cannot record on the recording medium 16 unless sufficient pen pressure is applied, such as pencil drawing or ballpoint pen drawing, there is no need to miss the pen 5 to the highest end of the pen stroke when the pen is raised. , as described above, responsiveness is improved by having the pen 5 wait at an intermediate position of the pen stroke.

[Effects of the Invention] According to the present invention, when the pen moves up and down, the pen is moved to a desired height position through acceleration, deceleration, and constant speed drive in sequence. A soft landing on the recording medium is realized by sequentially passing through the recording medium. Therefore, it is possible to prevent drawing irregularities such as jumping, misuse, and missing characters, and to extend the life of the pen used. Furthermore, since the pen is always driven at an accelerated rate when moving up and down, the speed of the pen's up and down movement can be improved by that amount, which has the effect of enabling faster automatic drawing compared to conventional devices.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing one embodiment of the device of the present invention, and FIG.
The figure shows an example of the acceleration/deceleration signal generation circuit in Fig. 1, Fig. 3 is a sectional view showing an example of the mechanical structure of the pen drive section in Fig. 1, and Figs. FIG. 3 is a diagram for explaining the operation of the invention device. Circuit, 30... Integral circuit output signal, 31... Pen up. Pen down signal, 49... Acceleration/deceleration current command signal, A~
F, H, Sl-S7...Analog switch.

Claims (1)

[Scope of Claims] 1. An automatic drawing device that is equipped with an acceleration/deceleration signal generating circuit that moves the pen to a desired height position through acceleration, deceleration, and constant speed drive in sequence when the pen moves up and down. dynamic control device. 2. A pen vertical movement control device for an automatic drawing device, comprising means for setting a standby position when the pen is raised according to the type of the pen.