JPS6031999A - Method and device for exchanging pen for recording - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for replacing recording pens in an automatic recording machine that uses a plurality of recording pens interchangeably.

A main object of the present invention is to provide a recording pen exchange method and apparatus that allows easy recording pen exchange control.

Still another object of the present invention is to provide a method and apparatus for replacing a recording pen, which allows the recording pen to be replaced reliably.

The configuration of the present invention will be described in detail below based on embodiments shown in the accompanying drawings.

In FIGS. 1 and 2, 2 is a machine body, 4 is a drive roller, and is linked to an X motor 5. 6 is a pressure roller;
8 is a Y rail, to which a Y cursor 10 linked to an X motor 9 is movably attached. A drawing head 12 is fixed to the Y cursor 10, and a pen holder 3-, which holds a recording pen and is composed of a fixed arm and a rotating arm, is attached to the drawing head 12. 16 is a pen storage section provided in the body 2, in which a pen stocker to be described later is stored;
The pen stocker is provided with a plurality of pen holders.

Next, the internal structure of the drawing head 12 will be explained with reference to FIGS. 3 to 6.

Reference numeral 20 denotes a support shaft vertically disposed on the head base plate 22, into which a hole formed through the body of the fixed arm 24 is fitted via a stroke ball bearing so that it can move up and down. The fixed arm 24 engages with a rotation stop pin 26, thereby preventing rotation about the support shaft 20. The projecting piece 28 fixed to the fixed arm 24 is brought into elastic contact with the output shaft 34 of the solenoid 32 by the elastic force of the coil spring 30. 36 is a stopper for the output shaft 34, and is fixed to the substrate 22. 38 is a rotating arm, and upper and lower pen holding pieces 38a, 38b of this arm are rotatably supported by a shaft 40 on the body 24a of the fixed arm 24. 4- The fixed arm 24 has pen holding pieces 24a and 2 at the upper and lower ends.
4b is formed protrudingly. The rotating arm 38 is biased by a coil spring 42 in the direction of rotation of the hour hand in FIG.

Note that rotation of the rotary arm 38 is restricted by a pin 39 (see FIG. 13), and an open portion 44 is formed between the arms 24.38 even when a pen is not located between the arms 24.38.

Pen holding pieces 24a, 2 of the fixed arm and rotating arm
4b, 38a, and 38b protrude in a direction parallel to the Y rail 8, and the pen holding pieces 24a, 24b, and 3
An open portion 44 formed by 8a and 38b faces a stocker, which will be described later.

Next, the stocker will be explained mainly with reference to FIG.

50 is a pulse motor fixed to the base 51 of the pen storage section 16, and a rotating shaft 52 is fixed to the output shaft of this pulse motor. A stocker 54 has a tubular portion 54a fitted onto the rotating shaft 52, and a disk 56 is fixed to the lower surface of the stocker with a screw 58. The head of the screw 58 fits into a hole 60 provided through the flange of the rotating shaft 52, thereby connecting the stocker 54 to the flange of the rotating shaft 52 in the rotational direction. A plurality of pen holding portions 54'b are provided in the collar portion of the stocker 54 in a radial manner by a plurality of notches. 62 is a ring, from which a plurality of fixed arms 64 are protruded radially. Reference numeral 66 denotes a rotating arm, which is arranged to face each of the fixed arms 64. A shaft body 68 is fitted into a hole formed through the ring 62 and a hole formed through the intermediate portion of the rotary arm 66. The upper part of the shaft 68 is fitted into a tube of a boss 70 fixed to the stocker 54, and the small diameter part of the lower end of the shaft 68 is fitted into a semicircular recess 72 formed on the outer periphery of the disk 56. It matches. The lower stepped horizontal surface of the shaft body 68 is in contact with the upper surface of the outer peripheral portion of the disk 56 .

The ring 62 is rotationally fixed to the disk 56 by the shaft 68. Each rear end of the rotary arm 66 is connected to an elastic member 74 made of a ring-shaped coil spring, and by this elastic member 74, the rotary arm 66 is rotated in the counterclockwise rotation direction about the shaft body 68 in FIG. is energized by The amount of rotation of the rotating arm 66 is limited by a pin 7I (see FIG. 13).

The arms 64, 66 and 24, 38 are vertically stepped in relation to each other so that they can overlap. In FIGS. 7, 10, and 11, 80 is a board connected to the disk 56 by a connecting plate 82, and a pen cap device 84 is mounted on this board. In the figure, 86 is a cylinder, 88 is a resin holder, and 9
0 is a rubber pen nib cap, 92 is an elevating rod connected to the holder 88, and a bottomed out portion 92a is formed at the lower end of this rod. 94 is a coil spring, 96 is a base 51
The arm 98 and the forked arm 100 are fixed to the rotating body 7, which is rotatably supported on the shaft. The head substrate 2 corresponds to the arm 98.
A protrusion 102 is formed on the bottom of 2. In FIG. 19, a controller 104 is configured to drive and control the X motor 5, Y motor 9, pulse motor 50, and solenoid 3Q according to instructions from a computer 106. As the motor 50, a servo motor or a combination device of a servo motor and an index mechanism can be used instead of a pulse motor.

Next, the operation of this embodiment will be explained.

First, the drawing head 12 is connected to the pen 116 on the stocker 54 side.
Let's explain what happens when you go to pick up.

The controller 104 drives the pulse motor 50 in response to a pen selection command from the computer 106, and causes a predetermined pen holder 108 to face the pen holder 110 of the drawing head 12.

After the pulse motor 50 is stopped, it is locked by a locking mechanism (8--not shown). At this time, fixed arm 6
The pen holding end 112 of No. 4 is set outside the open portion 4I+ (at a position shifted in the X direction) at a predetermined distance in the direction of the X coordinate axis with respect to the pen holding end 114 of the fixed arm 24 of the drawing head 12. . Then =1 Y by the controller 104
The motor 9 is driven, and the pen holder 110 moves linearly toward the pen holder 108 (see FIG. 13). When the tip 24a of the fixed arm 24 comes into contact with the pen 116 (FIG. 13b) and moves in the -Y direction, the pen 116 resists the elasticity of the elastic member 74 and moves against the fixed arm 24.
The moving force causes the pen holder to separate from the pen holding portion of the fixed arm 64 (FIG. 13C). Moreover, when the fixed arm 24 moves in the -Y direction and the pen 116 is tightly fitted and held between the pen holding part of the fixed arm 24 and the pen holding part of the rotating arm 38, the drawing head does not move in the one direction. Stop (Figure 14d). At this time, due to the outward displacement of the pen holding end 112 with respect to 114, the pen 116 is separated from the pen holding part of the fixed arm 64 by a predetermined distance. That is,
The pen 116 is tightly fitted and held between the fixed arm 24 and the rotating arm 38 with a predetermined elasticity, but between the fixed arm 64 and the rotating arm 66, it is held on only one side by the rotating arm 66 only. At this time, the flange 116a of the -pen 116 abuts on the upper surface of the fixed and rotating arm 24.38, and the flange 116b abuts on the lower surface of the arm 24.38. Next, when the fixed arm 24' moves in the +Y direction, the pen holding force between the fixed arm 64 and the rotating arm 66 is
Since the pen holding force between the fixed arm 24 and the rotating arm 38 is large, the pen 116 is held between the fixed arm 24 and the rotating arm 38.
The fixed arm 24 is tightly fitted and held between the pen holding parts of the
The pen 116 moves in the +Y direction from the stocker 54 side to the pen holder 110 side of one drawing head (Fig. 14 e).
4, the protrusion 102 collides with the arm 98 before the fixed arm 24 reaches the pen 116, and the arm 1
00 is shown in FIG.
Press down. As a result, the pen tip cap 90
is separated from the tip of the pen 116 by a predetermined distance.

Next, the pen 1 on the pen holder 114 side of the drawing head 12
16 to the pen holder of the stocker 54 will be explained.

The controller 104 drives the pulse motor 50 in response to a pen selection command from the computer 106, and causes a predetermined empty pen holder 108 to face the pen holder 110 of the drawing head 12.

After the pulse motor 50 is stopped, it is locked by a locking mechanism. At this time, the pen holding end 114 of the fixed arm 24
is the pen holding end 1 of the fixed arm 64 on the stocker 54 side.
12, at a predetermined interval in the XS reference axis direction and at a position shifted toward the inside of the open portion of the pen holder 108.

Next, the Y motor 11-9 is driven by the controller 104, and the pen holder 110 moves linearly toward the pen holder 108 (see FIG. 15a).

When the pen 116 comes into contact with the tip 64a of the fixed arm 64 (FIG. 15b), and the fixed arm 24 moves in the -Y direction, the pen 116 resists the elasticity of the spring 42 and moves against the fixed arm 24. The moving force causes the fixed arm 24 to separate from the pen holding portion (FIG. 15C). However, when the fixed arm 24 moves in the -Y direction, the pen 116 is tightly fitted between the pen holding part of the fixed arm 64 and the pen holding part of the rotating arm 66 due to the elasticity of the elastic member 74 (Fig. 16 d). ), the movement of the fixed arm 24 is stopped.

In this state, the flanges 116a and 116c of the pen 116
The outer circumferential groove formed by this fits into the edge of the pen holding portion 54b of the stocker 54. At this time, due to the inward displacement of the pen holding end 114 with respect to 112, the pen 116 is separated from the pen holding part of the fixed arm 24 by a predetermined distance, and the pen 116 is separated between the fixed arm 12-24 and the rotating arm 38. Only one side is held by the rotating arm 38 only. Next, when the fixed arm 24 moves in the +Y direction.

Since the pen holding force between the fixed arm 64 and the rotating arm 66 is greater than the pen holding force between the fixed arm 24 and the rotating arm 38, the pen 116 cannot be held by the fixed arm 64 and the rotating arm 6.
The fixed arm 2 is held in a tight fit between the pen holding parts of 6.
4 and the rotating arm 38 are separated from the stocker 54 side (FIG. 16e). The above embodiment describes an automatic recording machine in which paper is driven by a pinch roller consisting of a drive roller 4 and a pressure roller 6. However, as shown in FIG. 17, a Y rail 136 is movably hung on the X rails 132 and 134 on both sides of the paper loading table 130 in conjunction with the X motor, and Then, the drawing head 138
The present invention can also be used in an automatic recording machine having a configuration in which a In this case, a rotary stocker shown in FIG. 7 can be used, and a stocker 140 that is long in the linear direction can be used.

The stocker 140 has a plurality of pen holders 142 and a plurality of pen holders consisting of a fixed arm and a rotating arm. The principle of construction is the same as that of the stocker shown in FIG. An output shaft 146 of a solenoid 144 fixed to the fuselage body is connected to one end plate portion 141 of the strike car 140. 150 is a return spring;
It has strong elasticity.

The stocker 140 is guided by a guide of the machine body so as to be movable in a straight line along the Y rail 136.

In the above configuration, the drawing head 138 is activated by a pen selection command from the computer 106.

The stocker 140 is moved to a position facing a predetermined pen holder 142 . Next, the solenoid 144 is activated,
If the head 138 goes to pick up a pen, the stocker 140.

Moving in the vertical direction a, the displacement in the Y direction of the positional relationship between the fixed arm on the stocker 140 side and the fixed arm on the drawing head 138 side is set as shown in FIG. Thereby, the pen of the stocker 140 can be attached to the drawing head by simply moving the drawing head 138 linearly back and forth in the X direction. The pen of the drawing head 138 is placed in the stocker 14.
When stored at 0, the solenoid 144 is de-energized and the stocker 140 moves in the opposite direction due to the elastic force of the spring 150, changing the positional relationship between the fixed arm on the stocker 140 side and the fixed arm on the drawing head 138 side. is the first
It will look like Figure 5. That is, the fixed arm 9 on the stocker side
The pen holding end 112 of No. 4 is located on the drawing head side, with respect to the pen holding end 114 of m7-mu 24 in a direction perpendicular to the direction of movement of the drawing head, and on the inside of the pen holding opening of the drawing head. direction by a predetermined interval. In this state,
The drawing head 138 simply reciprocates in a straight line in the
6. Store the pen in the stocker side as shown in Figure 1.
5- Can be done.

The solenoid 144 and the pulse motor 50 controlled by the computer constitute a position shifting means for shifting the position of the stocker with respect to the fixed arm of the drawing head. ~The stocker position shifting operation may be performed by moving the drawing head 138 side using computer software. Further, the pulse motor 50 and the stocker 54 constitute a penholder selection means, and the mechanism for driving the stocker 1-0 and the drawing head 138 along the Y rail 136 in the second embodiment constitutes a penholder selection means. There is.

Since the present invention is configured as described above, it has the effect of achieving the object stated at the beginning.

[Brief explanation of the drawing]

The drawings show preferred embodiments of the present invention, in which Fig. 1 is an external view, Fig. 2 is an explanatory drawing, Fig. 3 is a sectional view, Fig. 4 is a plan view, and Fig. 5 is a plan view.
The figure is a sectional view taken along the line A-A, 16-6 is an external view, FIG. 7 is a sectional view, FIG. 8 is a plan view, FIG. 9 is a sectional view, and FIG. Fig. 11 is a cross-sectional view taken along line C-C, Fig. 12 is a cross-sectional view taken along line D-D, Fig. 13 is an explanatory drawing, Fig. 14 is an explanatory drawing, Fig. 15 is an explanatory drawing, and Fig. 15 is an explanatory drawing.
6 is an explanatory diagram, FIG. 17 is a 4th plan view showing another embodiment,
Fig. 18 is a plan view, Fig. 19 is a block explanatory diagram, and Fig. 20 is a block explanatory diagram.
X motor, 6...pressure roller, 8...Y rail, 9□, °...Y motor, 10...Y cursor, 12..."...drawing head, ]3...Recording pen, 14...Pen holder, 20...Spindle, 2
2... Spatula 15'1 1j board, 24... Fixed arm, 32...
Solenoid, 338... Rotating arm, 50...: Pulse motor, 54... Stocker, 54... Disc, 116... Pen, 140... Stocker, 144... solenoid. Figure 8 Figure 9--Aoo Ward Ato Threat-m-,Ω--Size Procedural Amendment ■, Case Indication 1982 Patent Application No. 140218 2, Method and Apparatus for Replacing a Pen for Recording the Name of the Invention 3. Relationship with the case of the person making the amendment Patent applicant address: 3-1-3 Ikejiri, Setagaya-ku, Tokyo Name: Muto Kogyo Co., Ltd. 4 Agent address (residence): 2 Dogenzaka, Shibuya-ku, Tokyo 150 -10
-126, number of inventions increased by amendment

Claims (1)

[Claims] 1. In a method in which a plurality of pens are held in a pen stocker and the pens are exchanged between the pen stocker and a drawing head, a fixed arm and a rotating arm are provided on the pen stocker side. A plurality of pen holders are provided on the drawing head, each of which is configured to hold a pen between the fixed arm and the rotating arm by the spring biasing force of the rotating arm, and A spring biasing force holds the pen between the fixed arm and the rotating arm. A pen holder having a step is provided for the pen holder, and when the open parts of the pen holder on the pen stocker side and the pen holder on the drawing head side are opposed, the fixed arm of the pen holder on the stocker side and the pen holder on the drawing head side When the drawing head is moved back and forth in a linear direction relative to the pen stocker and the drawing head goes to pick up a pen from the pen stocker, in advance, The stocker is positioned relative to the drawing head so that the pen holding end of the drawing head side fixed arm is located a predetermined distance inside the opening of the stocker side pen holder than the pen holding end of the stocker side fixed arm. When storing the pen held by the pen holder of the drawing head in the pen stocker by moving the drawing head back and forth in a linear direction relative to the pen stocker, the stocker side fixing arm must be moved in advance. The stocker is positioned relative to the drawing head so that the pen holding end is located at a predetermined distance inside the opening of the drawing head side pen holder than the pen holding end of the drawing head side fixed arm. A method for replacing a recording pen, characterized in that: 2. In a device that controls the movement of the drawing head relative to the paper in the X-Y coordinate axis direction to draw a predetermined drawing on the paper, a fixed arm and a rotating arm biased in the rotational direction by a spring force are used. a stocker including a plurality of pen holders capable of holding pens therebetween; and a stocker provided on the drawing head so as to face the stocker-side pen holder with a step in the vertical direction, and fixing the stocker-side pen holder. A pen holder includes a fixed arm disposed on a side facing the arm, a rotary arm disposed on a side opposite the rotary arm of the pen holder and biased in a pen holding direction, and one of the plurality of pen holders of the stocker. pen holder selection means for positioning the open portion of a desired pen holder on the pen exchange linear movement line of the drawing head; and a position for shifting the position of the stocker by a predetermined distance laterally with respect to the pen exchange linear movement line of the drawing head. A recording pen changing device comprising: a shifting means.