JPS62288097A - 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 controlling the driving of 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 a device for driving and controlling a writing instrument of a writing instrument device of an automatic drawing device in a direction perpendicular to a paper surface or a drafting table, a moving coil connected directly or indirectly to the writing instrument, and a moving coil connected directly or indirectly to the writing instrument, and a moving coil connected directly or indirectly to the writing instrument, and A high-speed writing instrument vertical drive control system is disclosed, which is characterized in that it includes a field component that drives a coil, and a drive circuit that accelerates and decelerates the writing instrument and applies writing pressure to the writing instrument after it reaches a paper surface or a drafting table. has been done. 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, and use the comparator. Apply a predetermined reference voltage to the other input terminal of
A comparator detects when the output voltage of the position detector matches this reference voltage, and the time when the writing instrument reaches the paper surface or the drafting table is defined as the time when this match occurs. 1. The reference voltage is set to a value that exactly matches the output voltage of the position detector when the writing instrument reaches the paper surface or the drafting table.

When raising the writing instrument by one level, a reverse voltage is applied to the moving coil, and the moving coil is raised until the writing instrument holder interlocked with the moving coil collides with the upward stopper.

[Problem that the invention seeks to solve]

In order to increase the drawing speed, the lifting motion of the writing instrument is performed at high speed. Therefore, when the writing instrument holder collides with the two-way stopper, the writing instrument holder bounces.

If the writing instrument holder is lowered and transferred to a drawing operation while the writing instrument holder is bouncing, the tip of the writing instrument will be damaged. In other words, the descending operation of the writing instrument assumes that the writing instrument is at the highest position, and the descending speed is reduced just before reaching the drawing surface to absorb the impact force when the writing instrument collides with the drawing surface, without damaging the tip of the writing instrument. It is set to no level. However, when the writing instrument holder bounces, the distance between the tip of the writing instrument and the drawing surface becomes shorter, and in this state, when the moving coil is reverse excited and the writing instrument holder descends, the writing instrument collides with the drawing surface before the descending speed of the writing instrument weakens. However, this impact force may damage the tip of the writing instrument. Therefore, when the writing instrument is raised, a time is set for the bouncing of the writing instrument to completely stop, and the drawing operation is started after this time has elapsed.

This time is an obstacle to shortening the drawing time. The object of the present invention is to eliminate the defect 1. by preventing the above-mentioned writing instrument from bouncing when raised.

[Means to solve problems]

In order to solve the above problems, the present invention provides an apparatus for driving and controlling a writing instrument connected to the moving coil in a direction perpendicular to the drawing surface by controlling a current to a moving coil. The moving movement in the direction is converted into an electric signal, and when the writing instrument is raised, a change in the electric signal is detected when the elevating body holding the writing instrument reaches the upper stopper, and based on the detection signal, the elevating body moves toward the upper stopper. The bounce prevention pressure setting voltage is applied to the moving coil immediately after reaching the upper stopper.

[Effect]

When the moving coil is energized and the elevating body holding the writing instrument reaches the upper stopper, the upward movement of the writing instrument stops, and this stopped state appears as a change in the electrical signal.

If this change is detected and a predetermined anti-bound pressure voltage is applied to the moving coil based on this detection signal, a rising force to prevent the writing instrument from bouncing will be applied to the elevating body immediately after reaching the upper stopper, causing the writing instrument to bounce. is prevented. Note that if the detector number when the elevating body reaches the upper stopper is used as a drawing start signal, the printing speed can be increased by one 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 held in an elevating body 9 that is supported on the substrate 5 of the drawing head 3 so as to be movable up and down. When the moving coil 7 is energized, the writing instrument 1 connected to the coil 7 via the elevating body 9 moves downward in conjunction with the moving coil 7 by electromagnetic force, and its tip reaches the drawing board 9.
It is configured to come into contact with the paper above. When a current of opposite polarity is applied to the moving coil 7, the elevating body 9
is configured to rise until it is stopped by a known upper stopper 11. 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 lowering voltage signal is applied to the elevating drive device of the writing instrument 1, that is, the moving coil 7, the elevating body 9 and the writing instrument 1 are lowered toward the drawing surface.

The downward movement of the writing instrument l 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 v1 by a predetermined minute time and subtracting an arbitrary voltage vO. The above voltage v
1 and v2, and immediately after the voltage v2 becomes smaller than the voltage v1 (indicated by A piezo voltage signal is supplied, and at the same time as this writing pressure voltage signal is supplied, an XY motor for feeding the drawing head 3 is driven to move the writing instrument 1.
is driven in the drawing direction.

When a rising voltage signal is applied to the lifting drive device of the writing instrument 1, the writing instrument 1 rises in a direction perpendicular to the drawing surface and away from the drawing surface.

This upward movement of the writing instrument I is converted by the voltage converter 22 into a voltage signal v1 shown in FIG. 2K. At this time, a voltage v2' is created by delaying the voltage v1 by a predetermined time and adding an arbitrary voltage VO. The voltages v1 and v2' are compared, and immediately after the voltage v2' becomes larger than the voltage v1 (X'
In other words, immediately after the writing instrument 1 or a member interlocking therewith collides with the lifting position setting stopper, a rising voltage signal is supplied to the lifting drive device of the writing instrument 1 to prevent the writing instrument 1 from bouncing. At the same time as this rising voltage signal is supplied, the XY motor for feeding the drawing head 3 is driven to drive the drawing head 3.

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

2 is a central processing unit, i.e., CPU, which generates various signals such as a pen pressure signal, a pen down signal, a pen up signal, and an XY motor drive signal based on the program information written in the ROM 4.

D/A converter 6, initial pen-down waveform controller 8,
The signal is configured to be output to delay circuits 10 and 12, initial pen-up waveform controller 14, and XY motor driver 16, respectively. The previous writing pressure signal is based on the output signal of a known pen type discrimination circuit 18 that discriminates the type of writing instrument 1 held by the pen holder of the drawing head, such as a ballpoint pen or a felt-tip pen, from code information formed on the writing instrument 1. and will be 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 may be manually input to the CPU 2 using the pen type designation switch 18. Reference numeral 22 denotes a voltage converter that converts the vertical movement of the pen relative to the drawing surface into a voltage signal, and its output terminal is connected to a delay circuit 28 and a comparator 24. ．．
26 input terminals. The delay time t of the delay circuit 28 is set to a minute time t as shown in the second diagram. The addition degree 30 outputs the voltage shown as v2 in FIG. It is configured to output a voltage v2'. 30.32 is the comparator 24°2
The output is latched by the pulse signals of the one-shot multivibrators 34 and 36, and the latched outputs are output to the pen-up driver 38 and pen-down driver 40, respectively. It is configured. The output ends of the memory circuits 30 and 32 are connected to the CPU 2 via one-shot multivibrators 42 and 44 and an OR gate 46. In the figure, 48 and 50 are AND gates, and 52, 54, and 56 are inverters.

The elevating body 9 that holds the writing instrument 1 shown in FIG.

As described above, by connecting the moving coil 7 of the lifting drive device installed in the drawing head 3 and driving the lifting drive device with the pen-up driver 38 and pen-down driver 40, the writing instrument 1 is moved against the drawing board 9. It is configured so that it can be controlled up and down. The drawing head 3 is provided with a magnetic flux density-to-voltage converter 22 that includes a Hall element 60 that converts magnetic flux density into a voltage signal. A magnet 64 attached to the elevating body 9 faces the fixed Hall element 60. In carrying out the present invention, the voltage converter 22 that converts the amount of movement of the writing instrument 1 in the direction perpendicular to the drawing surface into an electrical signal is not particularly limited to the magnetic flux density-voltage converter 22, but may be As shown in FIG. 4, a light amount-to-voltage converter 22 that includes a light receiving element 70
' may also be used. In the embodiment shown in FIG. 4, a slit plate 72 or a shielding plate is attached to the elevating body 9, and the slit plate 72 is located between the light emitting element 74 and the light receiving element 70 arranged on the bracket 62, and the writing instrument 1 The amount of light incident on the light receiving element 7o is configured to change according to the elevation of the light receiving element 7o.

Next, the operation of this embodiment will be explained.

When the writing instrument 1 is in the raised state, when the CPU 2 outputs the pen down signal a as shown in FIG. 2, the initial pen down waveform controller 8 supplies the pen down signals S and C to the pen down driver 40. pen down driver 4
0 applies a voltage to the moving coil 7 in which the predetermined positive starting voltage decreases linearly with the pen-down signal, and applies a negative voltage to the moving coil with the pen-down signal C; The moving coil has a time T1
During this period, a current with a waveform indicated by M in FIG. 2 flows, and the writing instrument 1
descends toward the 9th page of the drawing board. As writing instrument 1 descends,
The voltage converter 22 inputs the voltage v1 indicated by L to the delay circuit 28 and the comparator 26. The voltage that has passed through the delay circuit 28 and the subtracter 32 is delayed by time t compared to the voltage v1=11=, and the set voltage vO is subtracted, and the voltage v2
and is supplied to the comparator 26.

The comparator 26 compares the voltages v1 and v2, and outputs "1" when v2<vl and 0" when v2≧v1, and the one-shot multivibrator 36 outputs "0" when the input signal is 110 It.
It is configured to output a pulse as shown at j when the signal changes from 1111+ to 1111+. Therefore, when the writing instrument 1 collides with the paper on the drawing board 9, the voltages vl and v2 cross X as shown by L, and immediately after that, v2 < vl. As a result, the comparator 26 outputs a signal of '1'' as shown in f, and this signal is transmitted to the memory circuit 32 by the pulse signal shown in j from the one-shot multivibrator 36.
11 of the memory circuit 32 as shown in g.
Outputs a down pen pressure signal of 11g. This down writing pressure signal is supplied to the pen down driver 40 as a timing signal, and the pen down driver 40 applies the writing pressure voltage set by the D/A converter 6 to the moving coil 7, and the writing pressure current m is applied to the moving coil 7. is supplied to

As a result, immediately after writing instrument 1 reaches the drawing surface, writing instrument 1
A descending force for writing pressure is added to prevent the writing instrument 1 from bouncing. On the other hand, when the output of the memory circuit 32 changes from 110 H to II 1 gg as shown in g, the one-shot 1-multivibrator 44 outputs a pulse as shown in i, and this pulse is sent to the CPU as a motor start signal.
2, the CPU 2 drives the XY motor driver 16 based on the motor start signal, and the drawing head moves in a plane parallel to the drawing board 9 surface, and the writing instrument is applied to the paper on the drawing board 9 surface. 1 is used for delineation. Further, when the output level of the memory circuit 32 changes from ``0'' to LL 111, a reset signal is supplied to the initial pen-down waveform controller 8 through the inverter 56, and the controller 8
will be reset.

Note that the memory circuits 32 and 30 have reset terminals 32a and 30a.
When 0'' is supplied to LL, it is in the reset state, and when LL I II is supplied, it is configured to be in the settable state, so the output of the AND gate 48°50 indicated by e and E When the waveform is at a high level, it is ready to set.

Next, the pen-up operation will be explained. In a state where the writing instrument P is in contact with the drawing surface.

When the CPU 2 outputs the pen-up signal A, the initial pen-up waveform controller 14 supplies pen-up signals B and C to the 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,
A constant negative voltage is applied to the moving coil 7 by the pen-up signal C, and a negative current with a set pattern waveform flows through the moving coil 7 during time T2 as shown in FIG. 2 M, and the writing instrument 1 is at the upper limit position. It rises toward the upper stopper 11 set at . As the writing instrument 1 rises, the voltage converter 22 inputs the voltage v1 indicated by K to the delay circuit 28 and the comparator 24. The voltage v1 that has passed through the delay circuit 28 and the adder 30 is delayed by time t, and the set voltage vO is added to the voltage v1, which is then supplied to the comparator 24 as a voltage v2'. The comparator 24 compares the voltages v1 and v2, and when v1≦v2', the voltage is 1'.
'', and outputs at Otr when v 1 ) v2'. The one-shot multivibrator 34 outputs a pulse as shown at J when the input signal changes from 0'' to rr i u. Therefore, when the elevating body 9 is stopped by the upper stopper, the voltages vl and v2 cross X'L as shown in K, and the comparator 24 changes from 0 to 1 as shown in F. One shot multi vibrator 34
II outputs a set signal pulse to the memory circuit 30.
The input voltage signal of I II is latched. Memory circuit 3
0 outputs a pen bounce prevention pressure signal, this pen bounce prevention pressure signal is supplied to the pen up driver 38 as a timing signal, and the pen up driver 38 applies bounce prevention ID - positive pressure voltage to the moving coil 7 in a predetermined upward direction. is applied to the moving coil 7, and a predetermined pen bounce prevention pressure current m flows through the moving coil 7. As a result, a lifting force for preventing the pen from bouncing is applied to the elevating body 9 immediately after the writing instrument 1 is locked to the upper stopper, and
The writing instrument 1 is prevented from bouncing. In addition, the memory circuit 30
When the output level changes from It Otr to II II II, the one-shot multivibrator 42 outputs a pulse as shown in ■, and inputs a pen-up operation completion signal to the CPU 2.

Upon receiving this signal, the CPU 2 moves to the next operation.

〔effect〕

As described above, the present invention detects that the writing instrument has reached the upper limit position and immediately applies bounce prevention pressure, so it is possible to prevent the writing instrument from bouncing when it is raised. By starting the motor for driving the drawing head, there are effects such as speeding up the drawing time.

[Brief explanation of drawings]

1 is a block circuit diagram, FIG. 2 is an explanatory diagram of operation, FIG. 3 is an explanatory diagram, and FIG. 4 is an explanatory diagram of another embodiment.

Claims (1)

[Claims] (1) 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 drive control device converts the movement of the writing instrument in a direction perpendicular to the drawing surface into an electrical signal, and detects a change in the electrical signal when an elevating body holding the writing instrument reaches the upward stopper. A method for controlling the elevation of a writing instrument in an automatic drawing device, characterized in that, 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.