JPH02229097A - Landing control method for recorder pencil pen - Google Patents

Abstract

PURPOSE:To reduce an impact at the time of hitting by a method wherein at the time of receiving a pen-up control command, a position (z) of a pencil pen at that time is read before the execution of the command, and a landing target position to be used for a next landing control is determined based on the position (z). CONSTITUTION:For example, a pencil pen 1 is landed on a point D as a landing target point just after a previous landing control and receives a pen-up command at a point t6. A landing target position C to be used for a next landing control is calculated based on a value (z) at the point t6 before the execution of a pen-up action and set to a register in a controller. Thereafter, a pen-up control is conducted, a positioning control is performed, for example, to a point A as a target position, and the pencil pen 1 is moved up to the pen-up position A and held at the point A. The landing target position C determined from a point E is a suitable point in the present landing control and, thus, the pencil pen lead can come into contact with a recording paper surface without impact.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pencil pen used in a recording device, and particularly to a landing control method thereof.

[Prior Art] Pencil recording on a recording device has become popular recently because it is easy to erase after recording. FIG. 3 is a side view showing a pencil pen used in a recording device and its vertical mechanism, in which 1 is a pencil pen, 2 is a pen holder, 3 is a base, 4 is an actuator, 5 is a slide bearing,
13 is a pencil lead.

The axis of the pencil pen 1 is held in a direction perpendicular to the surface of recording paper (not shown). That is, for convenience of explanation, if we consider orthogonal coordinate axes with the surface of the recording paper as the X-Y plane, the axis of the pencil pen 1 is held in the Z direction. The entire structure shown in FIG. 3 is mounted on a carriage (not shown) on a base 3,
This carriage is configured so that it can be controlled to position it at any X-Y position on the recording paper, but since this part is not directly related to the present invention, its explanation will be omitted.

The pencil pen 1 is configured to be able to change its position 2 in two directions with respect to the base 3 via a pen holder 2 and a slide bearing 5, and the pencil pen 1 can be moved in the Z direction according to the current flowing through the actuator 4. Assume that a driving force F is generated.

Although not shown in FIG. 3, a position detection device for measuring the relative position Z of the base 3 and the pencil pen 1 in two directions is provided. This position detection device is composed of, for example, a magnetic field that changes in relation to the relative position 2, and a ball effect element that detects the change in this magnetic field. (not shown).

The position Z of the pencil pen 1 in the Z direction is controlled by constant speed control and positioning control. FIGS. 4 and 5 are explanatory diagrams illustrating constant speed control and positioning control, respectively.

including all loads connected to the actuator 4,
If the equivalent mass is m and the uniform frictional resistance coefficient is r, then m (d2z/dt2)+r (dz/dt)=F ・
(1).

In constant speed control, F=G (v
-dz/dt) ・ ・ ・ (2).

Here ■ is the target speed.

d z / d t is controlled so that it gradually approaches ■. Therefore, the velocity dz/dt changes as shown in FIG. 4(b), and Z changes as shown in FIG. 4(c) by integrating dz/dt.

In positioning control, F=G (
p-z-k (dz/dt)) (3).

Here, p is the target position and k is the velocity feedback coefficient. Z is controlled so that it gradually approaches p. Figure 5 (
b) shows the change in 2 when the initial velocity is V-0, (C) shows the change in velocity dz/dt obtained by differentiating (b), and (d) shows the initial velocity v. = Change of 2 in the case of S, (e) in the same figure is the velocity d z / obtained by differentiating (d) in the same figure.
The changes in d and t are shown respectively.

FIG. 6 is an operation diagram showing the conventional method, and the horizontal axis of the diagram is time t.
, the vertical axis represents the position 2 of the pencil pen 1 in the Z direction. Also, among the points on the vertical axis, A indicates the lead 13 when the pencil pen 1 is in an unused state.
B is the control switching position, C is the target landing position, and D is the landing position. At the landing point position, pencil lead 1
3 is pressed against the recording paper with a predetermined pressure.

At time 10 in FIG. 6, control for lowering the position of the pencil pen 1 is started with the intention of using it. Initially, the target speed S is set using constant speed control, and the pencil pen 1 is moved downward.

d z / d t changes as shown in Figure 4 (b), and almost reaches the target speed at time t1, so 2 changes as shown in Figure 4 (
Changes as shown in c). When reaching point B, the control is switched to positioning control and the 0 point is set as the target position. Since the initial speed at the switching point is approximately the target speed S, 2 changes as shown in FIG. 5(d), and d z / d
t changes as shown in the figure (e). When the positional error from the zero point falls within a predetermined tolerance, the control is switched to constant speed control again. However, the target speed S at this time is set to a sufficiently small value.

d z / d t tries to approach S, but still
The tip of the pencil lead 13 collides with the recording surface at a much smaller point in time. Part of the kinetic energy at the time of this collision is absorbed by the system, and part of it becomes an elastic collision, resulting in d z / of the pencil pen 1.
d The direction of t is reversed. Although it is a kind of chatter, this chuck link eventually ends and the pencil pen 1
comes to rest at point D. At this time, d z / d t =
Since it becomes 0, the landing point position can be detected.

Since d z / d t = O at point D, the formula (
From 2), F=Gv... (4), and this force presses the lead 13 of the pencil pen 1 against the recording surface.

Calculate the next target landing position C by considering an appropriate offset value to the value 2 at the time the landing point position was detected, and calculate this C
The value of C is set in the position control device (not shown) of the pencil pen 1, and this set value of C is used for the next landing control.

FIG. 7 is a flowchart showing the conventional method explained above.
01 to 107 are each step. Steps 101 and 1
Even if you omit -02 and enter step 103 from the beginning of the year,
If we choose appropriate values for G and k in equation (3), we get
Since the process follows substantially the same process as shown in FIGS. 6, 10 to 73, steps 101 and 102, which are not shown in FIG. 7, are not essential steps.

[Problems to be Solved by the Invention] In the conventional method as described above, the target landing position C is calculated from the previous landing position, so there are the following problems. FIG. 8 is a side view showing changes in the landing point position. In the figure, the same reference numerals as in FIG. 3 indicate the same or corresponding parts, and 6 is the surface of the recording paper.

Due to the wear and tear of the pencil lead 13 during use, the value of Z at the landing point changes from the state shown in FIG. In the conventional method, the target landing position C is determined from the previous landing position and the determined value of C is used for the next landing control, so the distance from this target landing position to the actual landing position is long. In this case, the speed d z / d t of the pencil pen at the landing point becomes a speed close to the target speed S, and there is a problem that a collision at this speed causes a large impact and increases the chuck ring.

This invention was made in order to solve the above-mentioned problem in the conventional method, and it is possible to prevent the impact when colliding with the landing point from changing even if the value of 2 at the landing point changes due to the use of a pencil pen. The purpose is to provide a control method.

[Means for Solving the Problems] In the method of the present invention, at the time when a command for pen-up control is received, before executing the command, the position 2 of the pencil pen at that time is read, and the position 2 of the pencil pen at that time is calculated from the value of 2. It was decided to determine the landing target position to be used for the next landing control.

[Operation] In this invention, since the target landing position to be used for the next landing control is determined from the value of 2 when the pen-up command is given, the pencil There is no wear of the core, therefore, from a suitable landing target position to constant speed control at low speed S, d z / d
When the value of t is sufficiently smaller than S, the pencil lead collides with the surface of the recording paper, and the impact of the collision is alleviated.

Embodiments] Examples of the present invention will be described below with reference to the drawings. 1st
The figure is an operation diagram showing an embodiment of the present invention, in which the same reference numerals as in FIG. 6 indicate the same or corresponding parts, and E is the landing point position at the time when the pen-up command is received. Further, FIG. 2 is a flowchart showing the operation of the present invention, and in the figure, 10
3 to 106 indicate the same or corresponding steps as the same reference numerals in FIG. 7, and 108 to 110 indicate each step in the present invention.

Point D shown in FIG.
Suppose you receive a pen-up order at the age of 70. Before performing the pen-up operation, step 110 is entered, and the target landing position C to be used for the next landing control is calculated from the Z value at that point (indicated by E in FIG. 1), and is stored in the register in the control device ( (not shown).

Next, enter pen-up control, enter positioning control with point A as the target position, and move pencil pen 1 to pen-up position A.
and hold at point A.

At the time tlo in FIG. 1, control for lowering the position is started with the intention of using the pencil pen 1. tlo~t1.5 has the same progress as 10~t5 in Figure 6, but from t6 onwards, tlo
Since the landing point position E has not changed up to this point, E
The landing target position C determined from is a suitable position point in the current landing control, and the pencil lead 13 contacts the recording paper surface 6 without impact, and after contact, the pencil lead is moved with the force shown in equation (4). 13 is pressed against the recording paper surface 6. If the force shown in equation (4) is inappropriate, it is easy to change it after landing.

[Effects of the Invention] As described above, according to the present invention, there is an effect that the impact when the pencil pen lands on the ground can be alleviated regardless of the usage status of the pencil lead.

[Brief explanation of the drawing]

FIG. 1 is an operation diagram showing an embodiment of the present invention, FIG. 2 is a flowchart showing the operation of the invention, FIG. 3 is a side view showing a pencil pen used in a recording device and its up and down mechanism, and FIG. figure,
Fig. 5 is an explanatory diagram explaining the control of the pencil pen, Fig. 6 is an operation diagram showing the conventional method, Fig. 7 is a flow chart showing the conventional method, and Fig. 8 is a side view showing changes in the landing point position. . A... Pen up position, C... Target landing position, D, E
- Landing point position, 1 Pencil pen, 4... Actuator, 6... Recording paper surface 13... Pencil lead mechanism. In addition, the same reference numerals in each figure indicate the same or corresponding parts.
U C1

Claims (1)

[Claims] A pencil pen attached to a recording device for recording with a pencil on a recording paper, the X-Y pen having the plane of the recording paper as an X-Y plane.
- The position of the pencil pen on the X-Y plane with respect to the Z orthogonal coordinate axis is arbitrarily controlled, the force applied to move the pencil pen in the Z direction is arbitrarily controlled, and the position of the pencil pen with respect to the plane of the recording paper is arbitrarily controlled; In a method for controlling the landing of a pencil pen in a recording device, the tip of the lead of the pencil pen is controlled to come into contact with the surface of the recording paper using a device capable of detecting the Z-direction position z of the pencil pen. If a command is given to remove the lead of the pencil pen from the surface of the recording paper and hold it in the pen-up position while the pencil is in contact with the surface of the recording paper, the instruction must be received before the command is executed. a step of memorizing the value of the Z-direction position z of the pencil pen at the time; a step of determining a landing target position C in relation to the memorized value of z and setting the determined value of C; and a step of setting the determined value of C; a positioning control step in which, when a landing control command is given to bring the tip of the lead of the pencil pen into contact with the surface of the recording paper, the pencil pen is positioned and controlled using the above-set value of C as a target position; A recording device pencil comprising: a constant speed control step of controlling the pencil pen at a constant speed with a predetermined speed as a target speed when the positional error falls within a predetermined tolerance range in the step. How to control the landing of a pen.