CN108501575B

CN108501575B - Writing device and control system

Info

Publication number: CN108501575B
Application number: CN201810413566.5A
Authority: CN
Inventors: 肖永军
Original assignee: Xiaogan Liangzi Mechanical And Electrical Technology Co Ltd
Current assignee: Chezhi Road Data Management Co., Ltd
Priority date: 2018-05-02
Filing date: 2018-05-02
Publication date: 2020-03-17
Anticipated expiration: 2038-05-02
Also published as: CN108501575A

Abstract

The embodiment of the invention provides a writing device and a control system, and belongs to the field of intelligent equipment. Writing device includes workstation, writing pen motion and transport mechanism, writing pen motion with the workstation is connected, be provided with the writing pen fixture who is used for fixed writing pen on the writing pen motion, set up on the workstation transport mechanism, transport mechanism is used for bearing writing paper writing device is when operating condition writing device drives under writing pen motion's the motion writing pen fixture motion, so that writing pen is in write on the writing paper, this writing device can imitate the manual work and write, and the user need not the study calligraphy, can operate on writing device, writes automatically, writes out the typeface similar with the calligraphy large to realize the automation and the intellectuality of writing.

Description

Writing device and control system

Technical Field

The invention relates to the field of intelligent equipment, in particular to a writing device and a control system.

Background

Generally, most people are not good at traditional calligraphy, so that people cannot write a good character with one hand, but sometimes need to write characters, for example, spring festival scrolls, traditional festival scrolls or celebration, the spring festival scrolls are posted in an eye-catching position, and the traditional habit of China nationality is continued all the time. The spring festival scrolls posted by the method are mostly printed in batches by manufacturers. However, the spring festival scroll printed in the batch printing lacks of inspiration for writing, and people prefer the spring festival scroll manually written as a spring festival scroll used for a new year of the new year for good going and blessing. In contrast, when people write by handwriting on the spring festival scrolls, especially calligraphy is written by writing with a pen, the characters of the spring festival scrolls are inspirational, a visual impact can be felt, the strokes can resonate with the inner heart of a reader, and in addition, the characters of the calligraphy also have collection value to a certain extent. However, not all people can write a good character with one hand, the calligraphy cannot be quickly finished, the calligraphy practice not only consumes a large amount of time, but also greatly reduces the learning quality and the learning effect without better instructing teachers, and the spring festival couplets with characters similar to the calligraphy figures cannot be written.

Disclosure of Invention

It is an object of the present invention to provide a writing instrument and a control system which can improve the above-mentioned problems.

The embodiment of the invention is realized by the following steps:

the utility model provides a writing device, writing device includes workstation, writing pen motion and transport mechanism, writing pen motion with the workstation is connected, be provided with the writing pen fixture who is used for fixed writing pen on the writing pen motion, set up on the workstation transport mechanism, transport mechanism is used for bearing writing paper when writing device is in operating condition drive under writing pen motion's the motion writing pen fixture motion, so that writing pen is in write on the paper.

In a preferred embodiment of the present invention, the writing pen moving mechanism includes an X-axis moving mechanism and a Y-axis moving mechanism, the X-axis moving mechanism is vertically connected to the worktable and disposed at two ends of the worktable, the Y-axis moving mechanism is connected to the X-axis moving mechanism and disposed parallel to the worktable, the Y-axis moving mechanism is provided with the writing pen holding mechanism, and the writing pen holding mechanism is slidably connected to the Y-axis moving mechanism.

In a preferred embodiment of the present invention, the writing pen holding mechanism is provided with a writing pen holding member for fixing the writing pen.

In a preferred embodiment of the present invention, a positioning device is further disposed on the writing pen holding mechanism, and the positioning device is configured to detect a position of the writing paper on the workbench.

In a preferred embodiment of the present invention, the positioning device is a CMOS video sensor.

In a preferred embodiment of the present invention, a paper cutter and a paper cutter moving mechanism for fixing the paper cutter are further disposed on the writing pen holding mechanism.

In a preferred embodiment of the present invention, the conveying mechanism includes a feeding drum, a feeding roller, a conveying hub and a conveying belt, the conveying hubs are disposed at two ends of the worktable, the conveying hubs are used for driving the conveying belt to move, the writing paper is tangent to the outer peripheral surfaces of the feeding drum, the feeding roller and the conveying hubs, and the writing paper moves along with the movement of the conveying belt.

In a preferred embodiment of the present invention, the conveyor belt includes a code area and an array electrode adsorption area, and the positioning device is configured to identify the code area to detect a position of the writing paper on the conveyor belt.

In a preferred embodiment of the present invention, the worktable is further provided with a worktable turntable for adjusting the position of the worktable.

A writing device control system comprises a control terminal and the writing device, wherein the control terminal is connected with the writing device.

The embodiment of the invention has the beneficial effects that:

the embodiment of the invention provides a writing device and a control system, the writing device comprises a workbench, a writing pen movement mechanism and a transmission mechanism, the writing pen movement mechanism is connected with the workbench, a writing pen clamping mechanism for fixing a writing pen is arranged on the writing pen movement mechanism, the transmission mechanism is arranged on the workbench and used for bearing writing paper, when the writing device is in a working state, the writing pen clamping mechanism is driven to move under the motion of the writing pen moving mechanism, so that the writing pen writes on the writing paper, the writing device can imitate manual writing, a user does not need to learn calligraphy, the handwriting device can be operated on the writing device to automatically write and write out characters similar to calligraphy characters, so that the automation and the intellectualization of writing are realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic diagram of a writing instrument according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of another writing instrument according to an embodiment of the present invention;

FIG. 3 is a functional block diagram of a writing instrument according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a conveying mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a conveyor belt according to an embodiment of the present invention;

fig. 6 is a block diagram of a writing device control system according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a conveyor belt according to an embodiment of the present invention;

fig. 8 is a schematic view of a field of view of a positioning device when a writing paper is skewed according to an embodiment of the present invention.

Icon: 100-a writing device; 10-writing paper; 20-a writing pen; 110-a workbench; 120-a writing pen movement mechanism; 121-a stylus holding mechanism; 1211-a stylus holder; 1212-a positioning device; 1213-paper cutter; 1214-paper cutter movement mechanism; 122-X axis motion; 1221-X axis guides; 1222-X axis frame; 123-Y axis movement mechanism; 1231-Y-axis guideway; 130-a transport mechanism; 131-a feed roll; 132-a feed roll; 133-a transfer hub; 134-a conveyor belt; 1341-an encoding region; 1342-array electrode adsorption area; 140-a support frame; 150-a table turntable; 300-writing instrument control system; 200-control terminal.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a writing device 100 according to an embodiment of the present invention, where the writing device 100 includes a workbench 110, a writing pen movement mechanism 120, and a transmission mechanism 130, the writing pen movement mechanism 120 is connected to the workbench 110, a writing pen clamping mechanism 121 for fixing a writing pen 20 is disposed on the writing pen movement mechanism 120, the workbench 110 is disposed with the transmission mechanism 130, and the transmission mechanism 130 is used for bearing a writing paper 10, and when the writing device 100 is in a working state, the writing pen movement mechanism 120 drives the writing pen clamping mechanism 121 to move under movement of the writing pen movement mechanism 120, so that the writing pen 20 writes on the writing paper 10.

Specifically, the working platform 110 is used for carrying the conveying mechanism 130, and two sides of the working platform 110 can be supported by supporting frames. The writing instrument 100 may be provided with a switch button for activating the writing instrument 100, for example, after the switch button is activated to activate the writing instrument 100, so that the writing instrument 100 is in an operating state, the pen moving mechanism 120 and the transmission mechanism 130 may be controlled by a stepping motor to perform movement.

The conveying mechanism 130 is disposed on the workbench 110 and used for bearing the writing paper 10, the writing paper 10 is driven to move in the movement of the conveying mechanism 130, the writing pen moving mechanism 120 can be disposed above the workbench 110 and slidably connected with the workbench 110 through a support, the writing pen holding mechanism 121 disposed on the writing pen moving mechanism 120 is used for fixing the writing pen 20, and the writing pen moving mechanism 120 can move relative to the workbench 110. For example, when a user needs to write, the writing device 100 may be turned on, and the writing pen moving mechanism 120 is controlled to move and the writing pen holding mechanism 121 is driven to move through a customized writing mode, such as predefined chinese characters and calligraphy, so that the writing pen 20 also moves, and the writing pen 20 writes on the writing paper 10 according to the customized writing mode.

When the writing device 100 writes, the writing paper 10 is placed at a designated position of the transport mechanism 130, then when the writing device 100 is in an operating state, the transport mechanism 130 moves to transport the writing paper 10 to a writing position, and then the writing pen 20 moves according to a preset movement trajectory (i.e., a writing mode) to drive the writing pen 20 to complete writing on the writing paper 10.

Wherein, the chinese information that commonly uses etc. can integrate in writing device 100 in advance for can carry out automatic setting on writing device 100 and write the mode, for example, write information such as length, the page margin, write word number, distribution condition, the size and the kind of the typeface of writing of paper 10, after opening writing device 100, select corresponding writing mode, then make writing pen motion 120 drive writing pen fixture 121 motion, thereby make writing pen 20 accomplish the writing operation, write with the simulation and drive the manual work.

Particularly, for spring festival scrolls, most of spring festival scrolls are printed at present, handwritten spring festival scrolls are deeply loved by everyone due to specific inspiration of characters, but at present, fewer and fewer people adopt handwritten spring festival scrolls, not all people can write a good character on one hand, and calligraphy cannot be quickly finished, practice of calligraphy not only consumes a large amount of time, but also greatly reduces learning quality and effect under the condition of not having better guidance for teachers, and a spring festival scroll with characters similar to the shape and spirit of calligraphy cannot be written, so that the writing device 100 is used for writing spring festival scrolls, various writing modes can be set, namely various calligraphy are adopted, a user does not need to learn calligraphy, and the spring festival scrolls with characters similar to the shape and spirit of calligraphy can be written only after the writing device 100 is operated, and a better visual effect is achieved.

As an implementation manner, the conveying mechanism 130 may be formed by a conveyor belt and a conveyor belt motor, the conveyor belt motor may be a 57BYG250B stepper motor, the torque is 1.2N.M, and a maximum 256-segment motor driver and a stepper motor controller are matched, so that micron-scale micro-motion of the conveyor belt 134 can be realized. The conveyor belt is made of pure transparent PVC material, and the writing paper 10 is placed on the conveyor belt for conveying.

As an embodiment, referring to fig. 2 and 3, the writing pen moving mechanism 120 includes an X-axis moving mechanism 122 and a Y-axis moving mechanism 123, the X-axis moving mechanism 122 is vertically connected to the worktable 110 and disposed at two ends of the worktable 110, the Y-axis moving mechanism 123 is connected to the X-axis moving mechanism 122 and disposed parallel to the worktable 110, the writing pen holding mechanism 121 is disposed on the Y-axis moving mechanism 123, and the writing pen holding mechanism 121 is slidably connected to the Y-axis moving mechanism 123.

Specifically, the Y-axis moving mechanism 123 is provided with a Y-axis guide rail 1231, the X-axis moving mechanism 122 is provided with an X-axis guide rail 1221 and an X-axis frame 1222, the writing pen holding mechanism 121 can slide along the Y-axis guide rail 1231, in order to achieve the height adjustment of the writing pen holding mechanism 121, the Y-axis moving mechanism 123 can slide along the X-axis frame 1222, that is, as shown in fig. 2, the Y-axis guide rail 1231 can slide up and down along the X-axis frame 1222, the writing pen holding mechanism 121 can slide along the Y-axis guide rail 1231, and the X-axis frame 1222 can slide along the X-axis guide rail 1221, that is, the writing pen holding mechanism 121 can slide up, down, left, right, front and back relative to the worktable 110, that is, in other words, along the XYZ directions, so as to drive the writing pen 20 to move, and write various chinese characters of different.

Of course, the Y-axis motion mechanism 123 may be driven by a Y-axis motor, the X-axis motion mechanism 122 may be driven by an X-axis motor, and the driving motor of the transmission mechanism 130, the Y-axis motor and the X-axis motor may all be controlled by a control module to drive the motors to work, and the control module may be disposed on the writing device 100 or outside the writing device 100.

The X-axis guide 1221 may be supported and fixed by a support frame 140, the support frame 140 may be disposed on the ground to support the whole writing pen moving mechanism 120, and the X-axis guide 1221 and the Y-axis guide 1231 are perpendicular to each other, so as to slide under the driving of the motor. The X-axis motor and the Y-axis motor can adopt 80ST-M02430 alternating current servo motors, are matched with corresponding motor drivers and are connected with the control module, can realize plane motion with the length and the width of 750 multiplied by 1025mm, the precision can reach 0.01mm, the repeated positioning precision can reach +/-0.05 mm, and can realize stable and accurate motion control at low speed.

The transmission mechanism 130 can be driven by a stepping motor, and can be provided with a subdivision driver with the maximum subdivision number of 512, so that the rotation angle precision control of the second level can be realized.

The writing pen movement mechanism 120 can adopt a lead screw stepping motor and is provided with a highest 512 subdivision driver, so that the up-and-down movement with the length and the width of 200mm can be realized, and the precision can reach 0.01 mm.

In addition, the writing pen holding mechanism 121 is provided with a writing pen holding member 1211 for fixing the writing pen 20.

The writing pen holding mechanism 121 is further provided with a positioning device 1212, and the positioning device 1212 is used for detecting the position of the writing paper 10 on the workbench 110.

As an embodiment, the positioning device 1212 is a CMOS video sensor, i.e. an area-array CMOS camera with high resolution and high pixel, which can detect whether the writing paper 10 is tilted during moving and realize video monitoring during writing. For example, if the writing paper 10 is found to be tilted, the writing paper 10 can be adjusted to be in an appropriate writing position to avoid an undesirable writing effect due to the tilted position.

In one embodiment, the writing pen holding mechanism 121 is provided with a paper cutter 1213 and a paper cutter movement mechanism 1214 for fixing the paper cutter 1213, the paper cutter movement mechanism 1214 can move up and down along the Y-axis direction to complete the cutting operation, and after writing is completed, the writing pen can be cut to cut the writing paper 10.

The driving of the paper cutter movement mechanism 1214 can adopt a lead screw stepping motor, so that the motors are all provided with subdivision drivers with maximum 512 subdivisions, thereby realizing the accurate control of the movement of the Y axis and the Z axis.

As an embodiment, the workbench 110 is further provided with a workbench turntable 150, the workbench turntable 150 is used for adjusting the position of the workbench 110, the workbench 110 is used for providing support for writing, conveying and cutting of the whole writing device 100, the conveying mechanism 130 is connected to the workbench 110, the workbench turntable 150 is arranged below the workbench 110, and the whole workbench 110 and the conveying mechanism 130 can perform a rotation movement of ± 25 ° under the driving of the workbench turntable 150, so as to meet the requirement that when the writing paper 10 is inclined, the rotation correction can be performed through the workbench turntable 150.

The workbench rotary table 150 is driven by a stepping motor, driven by a worm and gear, and driven by a highest 512 subdivision driver through a precision shafting, so that the second-level rotation angle precision can be realized.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a conveying mechanism 130 according to an embodiment of the present invention, as an implementation manner, the conveying mechanism 130 includes a feeding reel 131, a feeding roller 132, a conveying hub 133 and a conveyor belt 134, the conveying hubs 133 are disposed at two ends of the worktable 110, the conveying hubs 133 are used for driving the conveyor belt 134 to move, the writing paper 10 is tangent to the outer circumferential surfaces of the feeding reel 131, the feeding roller 132 and the conveying hub 133, and the writing paper 10 moves along with the movement of the conveyor belt 134.

As shown in fig. 5, the conveyor belt 134 may be a PVC conveyor belt 134 with a length of about 3072mm, the conveyor belt 134 includes an encoding region 1341 and an array electrode adsorption region 1342, the positioning device 1212 is configured to identify the encoding region 1341 to detect a position of the writing paper 10 on the conveyor belt 134, and the array electrode adsorption region 1342 is configured to set an adsorption electrode, so that the writing paper 10 is adsorbed by the adsorption electrode.

The encoding adopts 8-bit binary bar codes (the thickness of the bar codes is used for identifying 0 and 1, and each encoding bit adopts a bar code consisting of 8 thick and thin stripes), 256-level subdivision resolution can be realized, namely 3072/256-12 mm long subdivision resolution can be realized on the conveying belt 134, so that the binary bar codes and the corresponding independent adsorption electrodes can be arranged on the conveying belt 134 every 12mm, each adsorption electrode can be independently controlled, and power-on and power-off actions are realized to control whether the adsorption electrodes can adsorb.

The positioning device 1212 identifies the code region 1341 so that the conveyor belt 134 can be positioned to position the writing paper 10 on the conveyor belt 134.

The positioning device 1212 may employ an MV-CE100-30GM/C industrial camera, 1000 ten thousand pixels, 1/2.3 window, gigabit ethernet industrial camera, and a wide field of view lens for the writing paper 10 positioning sensing and the conveyor belt 134 encoding positioning.

The array electrode adsorption region 1342 may be formed by transferring an electrode shape onto a flexible PI (polyimide) film using a flexible PCB printing process, so as to form an electrode array, and each electrode may be independently controlled to be powered on or powered off.

Referring to fig. 6, fig. 6 is a block diagram of a writing device control system 300 according to an embodiment of the present invention, where the writing device control system 300 includes a control terminal 200 and the writing device 100, and the control terminal 200 can be communicatively connected to the writing device 100.

The control terminal 200 may be implemented by an independent electronic device, such as a PC, or may be implemented in an embedded manner, such as a single chip, where the control device has a human-computer interaction interface, so as to facilitate a user to control and manage the writing device 100.

For example, writing information of common chinese characters is already integrated in the software of the control terminal 200, after an operator sets information such as length, page margin, number and distribution of written characters, size and type of written fonts, etc. of the writing paper 10 through the control terminal 200, the operator inputs a control command at the control terminal 200, i.e., controls the writing device 100 to start operating, the writing device 100 calls the chinese character information of the chinese character information library of the control terminal 200 in real time, and completes writing operation of desired writing contents according to the setting by driving the X-axis movement mechanism 122, the Y-axis movement mechanism 123 and the writing pen movement mechanism 120, so as to simulate and replace manual writing, and at the same time, controls the guillotine movement mechanism 1214 to cut when writing is completed. If the writing paper 10 is inclined, the writing device 100 acquires an image of the writing paper 10 through the positioning device 1212, calculates an inclination angle by using algorithms such as edge detection and line detection, and finally performs a deflection motion until the writing paper 10 is parallel to the X-axis guide 1221 of the writing device 100.

The writing apparatus 100 may be provided with a control module for receiving command data from the control terminal 200 in real time, thereby implementing analog writing of various fonts. The whole writing paper 10 is wrapped and mounted on the feeding reel 131, the other end of the writing paper is laid on the conveying belt 134 after passing through the feeding roller 132, the control terminal 200 controls the adsorption electrode on the conveying belt 134 to tightly adsorb the writing paper 10, and the driving of the writing paper 10 is realized through the movement of the conveying belt 134. After writing is completed, the positioning device 1212 identifies the code of the conveyor belt 134 corresponding to the position to be cut to calculate the physical coordinates of the cutting point, so as to drive the X-axis motion mechanism 122, the Y-axis motion mechanism 123 and the guillotine motion mechanism 1214 to complete cutting of the writing paper 10. The whole system can complete automatic writing and automatic cutting only after the control terminal 200 is subjected to relevant setting, so that the writing automation is realized.

The writing process performed by the writing instrument 100 is as follows:

the first step is as follows: setting and preparation work.

(1) The operator inputs the size (length, width) of the writing paper 10 in the writing area of the table 110 and the writing contents (the contents are the same or have the same periodicity) on the control terminal 200. At this time, the writing apparatus 100 automatically matches the writing paper 10 to generate contents such as margins, writing fonts, writing character sizes, and spaces between writing fonts of the writing paper 10, and the operator may use the generated information directly or may set the information separately.

(2) The control terminal 200 may set information such as writing speed, skip speed of the writing pen 20 when it is idle, time interval of dipping ink, and time of dipping ink, or may default the system initial setting value.

(3) Resetting the X-axis movement mechanism 122 and the Y-axis movement mechanism 123, adjusting the focal length of the lens of the positioning device 1212, and setting relevant parameters such as exposure parameters, so that the edge of the writing paper 10 in the acquired image is clearly visible.

(4) The feed roll 131 is loaded and the sequence of action of the transfer mechanism 130 and the effect of the attempted transfer are set. The operator mounts the writing paper 10 on the feeding reel 131, and passes the blank writing paper 10 around the feeding roller 132, and after being straightened by the table 110, the blank writing paper is laid flat on the table 110. Then, the suction electrode is activated on the control terminal 200, and the conveyor belt 134 is driven to move by a small amplitude (a moving step of mm order), thereby tensioning the writing paper 10 (preventing the writing paper 10 from being broken). The distance for one transfer (the length of the writing paper 10 on the table 110) is set, an attempt is made to transfer the effect, and whether the order of the writing paper 10 during the transfer is correct and the problem such as the occurrence of a break is observed, and after the effect is confirmed, the transfer mechanism 130 is manually operated to return to zero.

(5) Setting a font of the content to be written on the control terminal 200, thereby providing data for cutting the writing paper 10; at the same time, the operation causes the guillotine 1213 to move down to the cutting position, observing whether the blade is attached to the cutting zone table.

The second step is that: the transfer mechanism 130 transfers one time, thereby completing one transfer of the current writing area.

After the above steps are completed, the automatic operation of the writing device 100 is entered, such as:

the conveyance mechanism 130 is driven with the conveyance hub 133, the feed hub, and the feed roller 132 synchronized to complete conveyance of the writing paper 10 (which may fill the entire table 110 in principle). The detailed transmission process and the key point diagram are shown in fig. 7, which is divided into five key steps a-e, as follows:

FIG. 7(a) -freshly loaded and not transferred to the writing position;

FIG. 7(b) -blank writing paper 10 has been transferred into position (no first writing has been performed) and writing is possible;

FIG. 7(c) -writing has been completed with respect to the writing paper 10 on the current table 110;

FIG. 7(d) -the written writing paper 10 is conveyed to the right after completion of one writing, and a new writing paper 10 is conveyed for the next writing;

FIG. 7(e) -the written writing paper 10 has been transported completely and cut, at which time the new writing paper 10 to be written is already in a waiting state;

in the transmission process, the positioning device 1212 acquires the image of the blank writing paper 10 on the whole workbench 110 in real time, and provides information feedback for the transmission action and state of the device by identifying and judging the key point positions.

The third step: the writing paper 10 above the conveyance belt 134 is energized, and suction is formed.

The control terminal 200 collects images of the positioning device 1212 in real time, recognizes the transmission state, and communicates with the conveyor belt 134 electrostatic adsorption controller to adsorb the spring festival scroll writing paper 10 on the conveyor belt 134. With the blank spring festival scroll writing paper 10 moving right step by step (conveying from left to right), the array adsorption electrodes on the conveyor belt 134 are gradually electrified and adsorbed under the control of the electrostatic adsorption controller of the conveyor belt 134.

The fourth step: the writing paper 10 is automatically detected for inclination and the table 110 is adjusted according to the situation.

The control terminal 200 automatically calls the positioning device 1212, and after performing pre-filtering, edge detection and line detection algorithms on the image, detects a straight line at the edge of the writing paper 10, and calculates an included angle β between the straight line and a Y axis of a field of view of the positioning device 1212 (i.e., an X-axis guide rail 1221 according to an embodiment of the present invention). as shown in fig. 8, if | β | is less than or equal to 0.5 °, it is determined that the writing paper 10 is not skewed, otherwise, the table turntable 150 motor is started to perform reverse angle adjustment until the straight line at the edge of the writing paper 10 is approximately parallel to the Y axis of the field of view of the positioning device 1212 and the included angle requirement is satisfied, then the next.

The fifth step: the X-axis movement mechanism 122 and the Y-axis movement mechanism 123, and the writing pen movement mechanism 120 are driven to move, completing the writing simulation operation.

The control terminal 200 calls information of the Chinese characters to be written in real time, and the Chinese characters are written on the plane of the writing paper 10 through the mutual matching of the XY axis and the Z axis movement mechanism, the Z axis movement represents writing force information to a certain extent, and the required Chinese characters are written one by one under the automatic control of the control terminal 200 until the completion.

Meanwhile, the system can automatically pre-judge whether the writing paper 10 conveyed out by the discharging reel is complete, if not, the operation of the second step is continued, otherwise, the operation of the sixth step is started.

And a sixth step: the cutter movement mechanism 1214 is driven to move, and the cutting of the writing paper 10 is completed.

The system first resets the paper cutter 1213, drives the X-axis motion mechanism 122 to move the cutter head downward, and drives the Y-axis motion mechanism 123 to perform one-time cutting.

The seventh step: unloading, reloading and returning.

And (3) judging whether the writing of the whole roll of writing paper 10 is finished or not in advance, if so, automatically cutting off the power supply of the electrostatic adsorption electrode after all Chinese characters are written, resetting the equipment, and taking down the writing paper 10 on the feeding roller 132, the writing table top and the discharging roller. Meanwhile, if the writing is required to be continued, the material is reloaded and returns to the first step to be executed.

In summary, the embodiment of the present invention provides a writing device 100 and a control system, where the writing device 100 includes a workbench 110, a writing pen movement mechanism 120, and a transmission mechanism 130, the writing pen movement mechanism 120 is connected to the workbench 110, the writing pen movement mechanism 120 is provided with a writing pen clamping mechanism 121 for fixing a writing pen 20, the workbench 110 is provided with the transmission mechanism 130, the transmission mechanism 130 is used for bearing a writing paper 10, when the writing device 100 is in an operating state, the writing pen clamping mechanism 121 is driven by the movement of the writing pen movement mechanism 120 to move, so that the writing pen 20 writes on the writing paper 10, the writing device 100 can simulate manual writing, a user can operate on the writing device 100 without learning calligraphy, automatically writes, and writes out a font similar to calligraphy, thereby realizing the automation and the intellectualization of writing.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A writing device is characterized by comprising a workbench, a writing pen movement mechanism and a conveying mechanism, wherein the writing pen movement mechanism is connected with the workbench, a writing pen clamping mechanism used for fixing a writing pen is arranged on the writing pen movement mechanism, the conveying mechanism is arranged on the workbench and used for bearing writing paper, and when the writing device is in a working state, the writing pen clamping mechanism is driven to move under the motion of the writing pen movement mechanism so as to enable the writing pen to write on the writing paper;

the transfer mechanism includes: the conveying hubs are arranged at two ends of the workbench and are used for driving the conveying belt to move, and the writing paper moves along with the movement of the conveying belt;

the writing pen clamping mechanism is also provided with a positioning device, and the positioning device is used for detecting the position of the writing paper on the workbench;

the conveyer belt includes coding region and array electrode adsorption zone the coding region is provided with a plurality of codes array electrode adsorption zone is provided with a plurality of adsorption electrodes, and each code corresponds an adsorption electrode, positioner is used for right the code is discerned, in order to detect write paper in position on the conveyer belt.

2. The writing instrument as defined in claim 1, wherein the writing pen moving mechanism includes an X-axis moving mechanism and a Y-axis moving mechanism, the X-axis moving mechanism is vertically connected to the worktable and disposed at two ends of the worktable, the Y-axis moving mechanism is connected to the X-axis moving mechanism and disposed parallel to the worktable, the Y-axis moving mechanism is provided with the writing pen holding mechanism, and the writing pen holding mechanism is slidably connected to the Y-axis moving mechanism.

3. A writing instrument as claimed in claim 2, wherein the writing pen holding means is provided with a writing pen holder for holding the writing pen.

4. A writing instrument according to claim 3, wherein the positioning device is a CMOS video sensor.

5. The writing instrument of claim 4, wherein the writing pen holding mechanism further includes a guillotine and a guillotine movement mechanism for securing the guillotine.

6. The writing instrument of claim 5, wherein the transport mechanism includes a feed reel and a feed roller, the writing paper being tangent to the outer peripheral surfaces of the feed reel, the feed roller, and the transport hub.

7. A writing instrument as claimed in claim 6, wherein the table is further provided with a table turntable for adjusting the position of the table.

8. A writing instrument control system comprising a control terminal and a writing instrument according to any one of claims 1 to 7, said control terminal being connected to said writing instrument.