JPS62286798A - Method of controlling elevation of writing utensil in automatic drawing device - 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 3. Detailed Description of the Invention "Field of Industrial Application" The present invention relates to a method for driving and controlling a writing instrument of an automatic drawing device in a direction perpendicular to the drawing surface.

[Conventional technology]

Japanese Patent Publication No. 53 34532 describes an automatic drawing device with 〒
In a device that drives and controls a writing instrument of a writing instrument in a direction perpendicular to a paper surface or a drafting table, a moving coil that is directly or indirectly connected to the writing instrument, and this moving coil! St! After accelerating and decelerating the working field component and the writing instrument and arriving at the paper or drawing table, step 14! ! A high-speed writing bar vertical drive control system is disclosed, which is characterized by providing a drive circuit for applying lower pressure to the memorandum. In the above method, to detect that the writing instrument has arrived on the paper or on the drafting table, connect the output end of a position detector that detects the amount of movement of the moving coil and outputs a voltage signal to one input end of the comparator. A predetermined reference voltage is applied to the other input terminal of the comparator, and the comparator detects when the output voltage of the position detector matches this reference voltage. This is when it arrives at the drawing table. 7. The reference voltage is set to a value that exactly matches the output voltage of the position detector when the writing instrument touches the paper surface or the drafting table.

[Problem that the invention seeks to solve]

, a writing instrument using a 1-position detector and a comparator as in 1U. is 3 on the drawing screen! If the method of detecting the difference is adopted, there is no problem as long as the distance between the tip of the writing instrument and the drawing surface is always constant over the entire drawing surface when the writing instrument is raised.

However, there is an error in the levelness of the drawing surface.

Furthermore, if there are irregularities on the drawing surface, the above-mentioned distances a and t: will change depending on the position of the writing instrument on the two drawing surfaces. This means that if the reference voltage is constant, the position detector and comparator configuration cannot accurately detect when the writing instrument arrives at the writing surface.

When the writing instrument reaches the drawing surface, 1 of the writing instrument
One-way repulsive force Fa and downward pen pressure Fb are F a > F
When the relationship b exists, the writing instrument bounces against the drawing surface. Therefore, if a writing pressure greater than the repulsion force Fa is applied immediately after the writing block 4 reaches the drawing surface, the writing instrument will not bounce, but with the conventional F1 control method, the point at which the writing bar reaches the drawing surface is accurately determined. There was a defect in that the writing instrument could not be detected, and as a result, the writing instrument would bounce after reaching the drawing surface.

In addition, in the conventional method, the time for the writing instrument to start descending and reach the drawing surface is different from the raised position, and it is not possible to accurately detect when the writing instrument reaches the drawing surface. , The motor is started after a certain period of time has elapsed since the 1 was lowered. This certain period of time is the time obtained by adding a certain value (margin) to the writing instrument lowering time N, which is assumed to be the longest. Assuming that N+〆 is T1 and the actual time required for lowering the writing instrument is T2, even if the time T2 required for lowering the writing instrument is shorter than T1, the motor that drives the drawing head will not start unless a certain period of time Tl has elapsed. Therefore, (Tl-T2) becomes the loss time.

Also, during (Tl-T2), the tip of the writing instrument is in contact with the drawing surface, so there is a defect in which the writing instrument is in contact with the #k pen of the ink pen, and the ink splatters and the starting point of the drawing line becomes thick. did.

This invention prevents the occurrence of bouncing when the writing instrument reaches the drawing surface! It is an object of the present invention to provide a method for controlling the elevation and descent of a marking device, which also eliminates the loss time.

Means for solving problems r and d] In order to solve the problem L, the present invention provides a device that controls the current to a moving coil and controls the driving of a writing instrument connected to the moving coil in a direction perpendicular to the drawing surface. , converting a movement movement in a direction perpendicular to the drawing surface other than the writing into an electrical signal, detecting a change in the electrical signal when the writing i reaches the drawing surface, and detecting a change in the electrical signal based on the detection signal. The writing instrument has reached the drawing screen! 1lff,
A writing pressure setting voltage is later applied to the moving coil.

[A1: When the moving coil is energized and the tip of the writing instrument reaches the drawing surface, the downward movement in 5.n stops, and the stopped state in 2. appears as a change in the electrical signal. If this change is detected and a predetermined pen pressure voltage is applied to the moving coil based on this detection signal, the 5th staff member will be able to read the message. Immediately after reaching the screen, a descending force for pen pressure is added to prevent the writing I from bouncing. By the way, if the detection signal when the -2 writing instrument reaches the drawing surface is used as the drawing start signal in step 5, it is possible to eliminate the frost time during drawing.

〔Example〕

The structure of the present invention will be described in detail below with reference to embodiments shown in the accompanying drawings.

In FIG. 3, reference numeral 1 denotes a writing instrument supported on the substrate 5 of the drawing head 3 so that it can be freely lowered, and is a commercially available sea 1-shaped 11-pin coil surrounded by a known field component (not shown). 7 is energized, the writing J1.1 connected to the coil 7 moves down in conjunction with the 11-pin coil 7 due to electromagnetic force, so that its tip comes into contact with the paper on the drawing board 9.1-. It is composed of When a current of the opposite polarity is applied to the moving coil 7, the marking tool 1 reaches a predetermined "second limit".
-The collar (not shown) is configured to be raised by 2 hours until it is engaged. The drawing head 3 is configured to move in a predetermined direction while remaining parallel to the surface of the drawing board 9 when the XY motor is driven.

Next, in order to facilitate understanding of the present invention, FIGS. 3 and 2 mainly illustrate the principle of the present invention.

This will be explained with reference to K.

When a voltage signal for lowering is applied to the lowering drive device, that is, the moving coil 7 of the writing head 1, the writing head 1 is lowered toward the drawing surface. The downward motion of the writing instrument 1 is converted by the voltage converter 22 into a voltage signal v1 shown in the second diagram. At this time.

A voltage v2 is created by delaying the voltage -.1 by a predetermined minute time and subtracting an arbitrary voltage vO.

The voltages v1 and v2 are compared, and immediately after the voltage v2 becomes smaller than the voltage V1 (indicated by At the same time as supplying this pen pressure-voltage signal, the XY motor for feeding the drawing head 3 is activated.
MvI the writing instrument 1 in the drawing direction.

When a rising voltage signal is applied to the elevating device at rt and t, the writing instrument is moved in a direction perpendicular to the drawing surface and away from the drawing surface.

This upward movement of the writing instrument 1 is controlled by the voltage converter 22.
When converting into the voltage signal V1 shown in FIG. 1-R1 voltage v1 and v2''
As soon as the voltage v2' becomes larger than the voltage v1 and after lifting (X'1'+l<S), ! ! Note rt, 1'
The member that says Fi shi < box collided with -1 - elevation position setting stop 1 < - I? After r, a rising voltage signal is supplied to the vertical movement device of the writing instrument 1, and 5 the bow of the writing instrument 1 is adjusted.
! -Do I+.

Next, a circuit embodying the principle operation described in 2 will be explained with reference to FIG.

2 is a central processing unit, ie, CPU, based on program information stored in ROM 4.

Various signals such as pen pressure signal, pen down signal, pen up signal, and XY motor drive signal.

D/A converter 6, initial pen-down waveform controller 1-roller 8
．． Delay circuits 10, 12. The initial pen-up waveform controller 1 is configured to be output to the roller 14 and the XY motor driver 16, respectively.4.The writing pressure signal is determined depending on the type of writing held by the pen holder of the drawing head, for example.

Ballpoint pen, Fell] - A known pen discrimination circuit 1 that discriminates the type of pen, etc. from code information formed on the writing instrument 1
Based on the output signal of 8.

It is determined. The CPU 2 selects and outputs a pen pressure signal corresponding to the code information from a table stored in the RAM 20. Note that the code information is the pen ['! 22 is a voltage converter that converts the movement of the pen in the upward and downward directions relative to the drawing surface into a voltage signal, and the output terminal of this is a delayed signal. It is connected to the respective inputs of circuit 28 and comparators 24 and 26. The delay time t of the delay circuit 28 is set to a minute time t as shown in the second diagram. The degree of addition 30 is obtained by adding the set voltage vO to the output voltage vl of the delay circuit 28. In FIG. 2, a voltage indicated by v2 is output, and the subtracter 32 is configured to output a voltage V21 obtained by subtracting a set voltage from the output voltage v1 of the delay circuit 28. 30.32 is a storage circuit for storing the output of the comparators 24.26, the output is latched by the pulse signal of the one-shot multivibrator 34.36, and the latched output is sent to the pen-up driver 38.32.
They are configured to be output to the pen down driver 40, respectively. The output terminals of the memory circuits 30 and 32 are connected to the CPU 2 via the multi-vibrators 42 and 44 and the orgames 1-46. In the diagram, 4
8.50 is an antge-1", and 52.54.56 is an inverter.

As mentioned above, the writing instrument 1 shown in FIG.
The writing instrument 1 can be controlled up and down with respect to the surface of the drawing board 9 by connecting it to a moving coil 7 of an elevating drive device installed in It is configured. The drawing head 3 is provided with a magnetic flux density-to-voltage converter 22 whose component is a Hall element 60 that converts magnetic flux density into a voltage signal, and a bracket fixed to the substrate 5 of the drawing head 3. - The Hall element 6 fixed to 62
1, in which a magnet 64 attached to the writing instrument 1 via A-L- is facing 0.

In carrying out the present invention, the voltage converter 22 that converts the amount of movement of the writing instrument 1 into an electric signal is not particularly limited to a two-magnetic flux density-to-voltage converter 22, and as shown in FIG. In the embodiment shown in FIG. 4, a slit plate 72 or a shield plate is attached to JL 1 through an arm, and the The slit plate 72 is located between the light emitting element 74 and the light receiving element 70 arranged on the bracket 1-62, and is configured so that the amount of light entering the light receiving element 70 changes as the writing instrument moves up and down. There is.

Next, the operation of this embodiment will be explained.

When the CPU 2 outputs the pen-down signal a as shown in FIG. 2 in a state where the writing rL1 has increased by -1, the initial pen-down waveform controller 1-roller 8 outputs the pen-down signal a,
c is supplied to the pen down driver 40. The pen-down driver 40 uses the pen-down signal to apply a voltage such that a predetermined positive 8 dynamic voltage linearly decreases to the moving coil 7, and uses the pen-down signal C to move the -leg voltage. A current with a waveform shown by 1M in FIG. 2 flows through the lx-ping coil for 1 hour T1.

The writing instrument 1 descends toward the concave plate 9 surface. As the writing J'L1 falls, the WL pressure converter 22 inputs the voltage v1 indicated by L to the delay circuit 28 and the comparator 26. The electric power F that has passed through the delay circuit 28 and the W reducer 32 is delayed by time t compared to 1[FF, vl, and the set voltage vO is subtracted, resulting in a voltage of /2. be supplied to vessel 26.

Comparator 2 compares voltages v1 and v2.

'1' when v2 < v l, '1' when v2≧v1'
The one-shot 1-multivibrator 36 is configured to output a pulse as shown in j when the input signal changes from 0'' to ``V''. Therefore, the writing rL1 is When it collides with the paper on the drawing board 91, the voltages vl, , v2 cross X as shown in L, and immediately after that, v 2 < vl.Thereby, the comparator 26
outputs a "1P signal" as shown in f, and this signal is.

One shot! - It is latched by the memory circuit 32 by the pulse signal shown at j of the multivibrator 36, and the memory circuit 32 outputs a down pen pressure signal of "1" as shown at 1g. This down pen pressure signal is transmitted by the pen down driver 4.
o as a timing signal, the pen down driver 40 applies the pen pressure voltage set by the D/Av converter 6 to the moving coil 7, and! Piezoelectric in is supplied to the moving coil.

As a result, immediately after writing instrument 1 reaches the drawing screen! ! ¥?
, a descending force for pen pressure is added to I'11, ! ! Note ■ 1 bounce is prevented by 1. On the other hand, when the output of the memory circuit 32 changes from 0 to "t" as shown in g, the single multivibrator 44 outputs a pulse as shown in i, and this pulse is used as a motor starting signal. The CPU 2 drives the XY motor driver 16 based on the motor start signal, and the drawing head moves within the f44 plane parallel to the 9th surface of the drawing board.
! A line is drawn on a sheet of paper using a writing instrument 1. When the output level of the memory circuit 32 changes from II_OII to "1", a reset signal is supplied to the initial pen-down waveform controller 1-roller 8 through the inverter 56, and the controller 8 is reset.

Note that the memory circuits 32 and 30 have reset terminals 32a and 30a.
When “o” is supplied to .

When it is in the reset 1-state and "1" is supplied, it is configured to be in the settable state.

Therefore, it is indicated by c and E.Antoge-1-48.

When the output waveform of 50 is at a high level, the cellar 1 becomes enabled.

Next, the pen-up operation will be explained. , aJ, rl
, in the layer where P is in contact with the drawing surface.

When CPU2 outputs pen-up signal A.

Initial pen-up waveform controller j-roller 14 provides pen-up signals B and C to pen-up driver 38. The pen-up driver 38 applies a voltage such that a predetermined negative starting voltage increases linearly within a negative range to the moving coil 7, and applies a constant negative voltage to the moving coil 7 in response to the pen-up signal C. 7, the set pattern waveform is minus 111 during time T2 as shown in FIG. 2M! Flowing, writing r$l l:t:
4. As the writing instrument L moves upwards toward the high limit stopper (not shown) set at the L limit position, 1! The voltage converter 22 transmits the voltage v1 shown at K to the delay circuit 28 and the comparator 2.
Enter 4. Voltage v passing through delay circuit 28 and adder 30
1 is delayed by time t, and the set voltage VO is added to the voltage v2', which is then supplied to the comparator 24. Comparator 24 compares voltages v1 and v2.

When v1≦v2″, outputs l″, and when vl>v2′, outputs °0″.One-shot multivibrator 3
4 outputs a pulse as shown in 1 when the input signal changes from 0 to v2 is K
As shown in FIG. When the input voltage signal of °"l" is latched, the memory circuit 30 outputs a pen-up pen pressure signal, and the second pen-up pen pressure signal is supplied to the pen-up driver 38 as a timing signal, and the pen-up driver 38 applies a predetermined lower voltage in the 7-direction to the moving coil 7,
A predetermined pen-up writing pressure current m flows through the 11-pin coil 7. As a result, immediately after the writing instrument 1 is pushed to its limit position, a 1-increase force for pen-up is applied to the writing instrument 1, and the bouncing of the writing instrument P is prevented. Further, when the output level of the memory circuit 30 changes from 0'' to 1'', the one-shock 1-multivibrator 42 outputs a pulse as shown at r, and inputs a pen-up operation completion signal to the CPU 2. CPU2 receives this signal.

Move on to the next action.

[Effect] The present invention is as described in J-! ! By detecting that the writing instrument has reached the drawing screen and immediately applying pressure, it is possible to prevent the writing instrument from bouncing.
If the motor for driving the image forming head is started based on the detection signal, the image forming time can be increased. There are effects such as being able to do two things. .

[Brief explanation of the drawings] Fig. 1 is a block circuit diagram, Fig. 2 Iv! is an explanatory diagram of the operation, Fig. 3 is an explanatory diagram, and Fig. 4 is an explanatory diagram of another embodiment. 1. Patent applicant: Muto Kogyo Co., Ltd. Procedural amendment Φ 1. Case indication patent application No. 129871/1986 2. Title of the invention: Method for controlling the elevation and descent of a writing instrument in an automatic drawing device 3. Relationship with the amended person's case Patent applicant address: 3-1-3 Ikejiri, Setagaya-ku, Tokyo Name: Muto Kogyo Co., Ltd. 4, Agent address: 6-19- Jingumae, Shibuya-ku, Tokyo 150
156. Number of inventions to be increased by amendment 17. Target of amendment (2) Page 18 of the specification, 1st line, ``1. Since the pressure is applied, it is possible to prevent the writing instrument from bouncing when it rises, and J is added. A device for driving and controlling a writing instrument in a direction perpendicular to the drawing surface, which converts the movement of the writing instrument in the direction perpendicular to the drawing surface into an electrical signal, and converts the movement of the writing instrument in the direction perpendicular to the drawing surface, and converts the movement of the writing instrument into an electrical signal when the writing instrument reaches the drawing surface. A writing instrument lifting/lowering control method in an automatic drawing device, characterized in that a change in the writing instrument is detected, and a writing pressure setting voltage is applied to the moving coil immediately after the writing instrument reaches the drawing surface based on the detection signal. (2) By controlling the current to the moving coil, the writing instrument held on the elevating body connected to the moving coil is moved between the locking position by the upper stopper and the drawing surface in a direction perpendicular to the drawing surface. The device converts the movement of the writing instrument in a direction perpendicular to the drawing surface into an electrical signal, detects a change in the electrical signal when the writing instrument reaches the drawing surface, and converts the writing instrument into an electric signal. Based on this, a writing pressure setting voltage is applied to the moving coil immediately after the writing instrument reaches the drawing surface, and when the lifting body holding the writing instrument reaches the upward stopper when the writing instrument is raised, Automatic drawing characterized in that a change in the electric signal is detected, and based on the detection signal, a bounce prevention pressure setting voltage is applied to the moving coil immediately after the elevating body reaches the upward stopper. A method for controlling the lifting and lowering of a writing instrument in a device.

Claims (1)

[Claims] (1) In a device that controls current to a moving coil to drive and control a writing instrument connected to the moving coil in a direction perpendicular to the drawing surface, the movement of the writing instrument in the direction perpendicular to the drawing surface is controlled by an electric signal. , detecting a change in the electric signal when the writing instrument reaches the drawing surface, and applying a writing pressure setting voltage to the moving coil immediately after the writing instrument reaches the drawing surface based on the detection signal. A method for controlling the elevation of a writing instrument in an automatic drawing device, characterized in that the voltage is applied.