Paper pressing device and control method thereof

Abstract

The invention discloses a paper pressing device and a control method thereof. The control method comprises the steps that when it is determined that a paper pressing rod is in a downward motion under the control of a first motor and a second motor and it is determined that the first motor and the second motor are both in a non-overload state, the downward Hall step number of the first motor is determined according to the number of rotation turns of the first motor in a first preset direction, determining a downlink Hall step number of the second motor according to the number of rotation turns of the second motor in the second preset direction; when it is determined that the absolute value of the difference value between the downlink Hall step number of the first motor and the downlink Hall step number of the second motor is larger than a first set threshold value, the first preset motor is controlled to stop running until the absolute value of the difference value between the downlink Hall step number of the first motor and the downlink Hall step number of the second motor is smaller than or equal to the first set threshold value; and the first preset motor is controlled to recover operation, balanced operation of the paper pressing rod is guaranteed, the reliability of control over the paper pressing device is improved, the manual paper pressing link is reduced, and the experience feeling is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of paper pressing devices, and in particular to a paper pressing device and a control method thereof. Background Art

[0002] Paper is a widely used office product. In some application scenarios, a paper pressing device is required to press the paper to prevent the paper from flying around.

[0003] However, in the prior art, manual paper pressing is generally adopted, which occupies a lot of human resources and has low efficiency. Summary of the invention

[0004] The present invention provides a paper pressing device and a control method thereof, so as to realize automatic control of a paper pressing rod, reduce the steps of manual paper pressing, and better improve user experience.

[0005] According to one aspect of the present invention, a control method for a paper pressing device is provided, wherein the paper pressing device comprises: a paper pressing rod, a first motor and a second motor, wherein the first motor and the second motor are respectively used to control the movement of two ends of the paper pressing rod;

[0006] The control method of the paper pressing device comprises:

[0007] When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and that both the first motor and the second motor are in a non-overloaded state, the downward Hall step number of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the downward Hall step number of the second motor is determined according to the number of rotations of the second motor in the second preset direction;

[0008] When it is determined that the absolute value of the difference between the downstream Hall step number of the first motor and the downstream Hall step number of the second motor is greater than a first set threshold, the first preset motor is controlled to stop running until the absolute value of the difference between the downstream Hall step number of the first motor and the downstream Hall step number of the second motor is less than or equal to the first set threshold, and the first preset motor is controlled to resume running; wherein, the first preset motor is the motor with a larger downstream Hall step number between the first motor and the second motor.

[0009] Optionally, the control method of the paper pressing device further includes:

[0010] When the paper pressing rod is in downward motion, when the second preset motor is in an overload state, when the difference between the downward Hall step number of the third preset motor and the downward Hall step number of the second preset motor is greater than a second set threshold, the second preset motor and the third preset motor are controlled to stop running; wherein, when the second preset motor is the first motor, the third preset motor is the second motor, or, when the second preset motor is the second motor, the third preset motor is the first motor.

[0011] Optionally, the control method of the paper pressing device further includes:

[0012] When the paper pressing rod is in downward motion, when it is determined that both the first motor and the second motor are in an overload state, the first motor and the second motor are controlled to stop running.

[0013] Optionally, the control method of the paper pressing device further includes:

[0014] When it is determined that the paper pressing rod is in upward motion under the control of the first motor and the second motor and that both the first motor and the second motor are in a non-overloaded state, the upward Hall step number of the first motor is determined according to the number of rotations of the first motor in a third preset direction, and the upward Hall step number of the second motor is determined according to the number of rotations of the second motor in a fourth preset direction; the third preset direction is opposite to the first preset direction, and the fourth preset direction is opposite to the second preset direction;

[0015] When it is determined that the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is greater than the first set threshold, the fourth preset motor is controlled to stop running until the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is less than or equal to the first set threshold, and the fourth preset motor is controlled to resume running; wherein, the fourth preset motor is the motor with a larger upward Hall step number between the first motor and the second motor.

[0016] Optionally, the control method of the paper pressing device further includes:

[0017] When the paper pressing rod is in upward movement, when the fifth preset motor is in an overload state, when the difference between the downward Hall step number of the sixth preset motor and the downward Hall step number of the fifth preset motor is greater than the second set threshold, the fifth preset motor and the sixth preset motor are controlled to stop running; wherein, when the fifth preset motor is the first motor, the sixth preset motor is the second motor, or, when the fifth preset motor is the second motor, the sixth preset motor is the first motor.

[0018] Optionally, the control method of the paper pressing device further includes:

[0019] When the paper pressing rod is in upward movement, when it is determined that both the first motor and the second motor are in an overload state, the first motor and the second motor are controlled to stop running.

[0020] Optionally, determining that both the first motor and the second motor are in a non-overloaded state includes:

[0021] When the rotation speed of the first motor is greater than a rotation speed threshold, it is determined that the first motor is in a non-overload state, and when the rotation speed of the second motor is greater than the rotation speed threshold, it is determined that the second motor is in a non-overload state.

[0022] Optionally, determining that both the first motor and the second motor are in an overload state includes:

[0023] When the rotation speed of the first motor is less than or equal to a rotation speed threshold, it is determined that the first motor is in an overload state; when the rotation speed of the second motor is less than or equal to the rotation speed threshold, it is determined that the second motor is in an overload state.

[0024] According to another aspect of the present invention, a paper pressing device is provided, which includes: a paper pressing rod, a first motor, a second motor and a controller, wherein the first motor and the second motor are respectively used to control the movement of both ends of the paper pressing rod; the controller is respectively connected to the first motor and the second motor, and the controller is used to execute the control method of the paper pressing device described above.

[0025] According to the technical solution of the embodiment of the present invention, the paper pressing rod is driven by a dual motor, and when the paper pressing rod moves downward, when the downward Hall step numbers of the two motors differ greatly, the motor with the larger downward Hall step number is controlled to stop running so that the difference in the downward Hall step numbers of the two motors is reduced to a certain range, thereby avoiding the problem of the paper pressing rod being stuck due to imbalance at both ends of the paper pressing rod caused by errors such as the torque of the two motors, ensuring the balanced operation of the paper pressing rod, improving the reliability of the control of the paper pressing device, reducing the manual paper pressing link, and improving the user experience.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A flow chart of a control method of a paper pressing device provided by an embodiment of the present invention;

[0029] Figure 2 A flow chart of another method for controlling a paper pressing device provided by an embodiment of the present invention;

[0030] Figure 3 A flow chart of another method for controlling a paper pressing device provided by an embodiment of the present invention;

[0031] Figure 4 A flow chart of another method for controlling a paper pressing device provided by an embodiment of the present invention;

[0032] Figure 5 A flow chart of another method for controlling a paper pressing device provided by an embodiment of the present invention;

[0033] Figure 6 A flowchart of another method for controlling a paper pressing device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] Figure 1 A flow chart of a control method of a paper pressing device provided by an embodiment of the present invention, wherein the paper pressing device comprises a paper pressing rod, a first motor and a second motor, wherein the first motor and the second motor are respectively used to control the movement of two ends of the paper pressing rod. Figure 1 , the control method of the paper pressing device includes:

[0037] S110: When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the number of downward Hall steps of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the number of downward Hall steps of the second motor is determined according to the number of rotations of the second motor in the second preset direction.

[0038] The first motor and the second motor control the operation of the two ends of the paper pressing rod respectively. Due to the torque and other errors of the two motors, the two ends of the paper pressing rod may drop to different heights during the downward movement, causing the paper pressing rod to be unbalanced and stuck. Therefore, when the paper pressing rod moves under the drive of the dual motors, it is necessary to monitor the operating status of the motors in real time to ensure that the left and right ends of the paper pressing rod drop to basically the same height to ensure the balance of the paper pressing rod.

[0039] The paper pressing rod is used to press the paper directly below the paper pressing rod, and the downward movement of the paper pressing rod is the movement of the paper pressing rod toward the paper placement side. When both the first motor and the second motor are in a non-overloaded state, it indicates that the first motor and the second motor are in a normal operating state. The first preset direction can be the forward direction of the motor, such as clockwise, or the reverse direction of the motor, such as counterclockwise. The second preset direction can be the same as the first preset direction, or it can be opposite to the second preset direction. Specifically, when the rotation directions of the first motor and the second motor are the same, the movement of the paper pressing rod is controlled, or when the rotation directions of the first motor and the second motor are opposite, the movement of the paper pressing rod is controlled. When the rotation direction of the first motor is the first preset direction and the rotation direction of the second motor is the second preset direction, it is determined that the paper pressing rod is in a downward movement. The number of downward Hall steps of the first motor is proportional to the number of rotations of the first motor in the first preset direction, and the number of downward Hall steps of the second motor is proportional to the number of rotations of the second motor in the second preset direction. Exemplarily, the first end of the paper pressing rod moves under the control of the first motor, and the second end of the paper pressing rod moves under the control of the second motor. Then, the descending height of the first end of the paper pressing rod is positively correlated with the number of downward Hall steps of the first motor, and the descending height of the second end of the paper pressing rod is positively correlated with the number of downward Hall steps of the second motor.

[0040] S120: When it is determined that the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is greater than the first set threshold, the first preset motor is controlled to stop running until the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is less than or equal to the first set threshold, and the first preset motor is controlled to resume running; wherein, the first preset motor is the motor with a larger downward Hall step number between the first motor and the second motor.

[0041] When the absolute value of the difference between the number of downward Hall steps of the first motor and the number of downward Hall steps of the second motor is greater than the first set threshold, it indicates that the height difference between the two ends of the paper pressing rod is large, which can easily cause the paper pressing rod to be in an unbalanced state. Therefore, the motor with a large number of downward Hall steps is controlled to stop running, and the corresponding end of the corresponding paper pressing rod stops descending. During the period when the motor with a large number of downward Hall steps stops running, the motor with a small number of downward Hall steps maintains normal operation, so that the corresponding end of the paper pressing rod continues to descend, until the absolute value of the difference between the number of downward Hall steps of the first motor and the second motor is less than or equal to the first set threshold, the motor that stopped running before is controlled to resume running, so that the two ends of the paper pressing rod continue to move downward.

[0042] Specifically, when the value of the first motor's downstream Hall step number minus the second motor's downstream Hall step number is greater than a first set threshold, the first motor is controlled to stop running and the second motor is maintained until the value of the first motor's downstream Hall step number minus the second motor's downstream Hall step number is less than or equal to the first set threshold, and the first motor is controlled to resume running. When the value of the second motor's downstream Hall step number minus the first motor's downstream Hall step number is greater than the first set threshold, the second motor is controlled to stop running and the first motor is maintained until the value of the second motor's downstream Hall step number minus the first motor's downstream Hall step number is less than or equal to the first set threshold, and the second motor is controlled to resume running.

[0043] According to the technical solution of the embodiment of the present invention, the paper pressing rod is driven by a dual motor, and when the paper pressing rod moves downward, when the difference in the downward Hall steps of the two motors is large, the motor with the larger downward Hall step number is controlled to stop running so that the difference in the downward Hall steps of the two motors is reduced to a certain range, thereby avoiding the problem of the paper pressing rod being stuck due to imbalance at both ends of the paper pressing rod due to errors such as the torque of the two motors, ensuring the balanced operation of the paper pressing rod, improving the reliability of the control of the paper pressing device, reducing the manual paper pressing link, and improving the user experience.

[0044] During the downward movement of the paper pressing rod, if the paper pressing rod reaches the paper pressing position, the two motors must be controlled to stop in time. Figure 2 and Figure 3 There are two options. The specific two options are as follows: Figure 2A flowchart of another method for controlling a paper pressing device provided by an embodiment of the present invention, referring to Figure 2 , optionally, the control method includes:

[0045] S111: When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the number of downward Hall steps of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the number of downward Hall steps of the second motor is determined according to the number of rotations of the second motor in the second preset direction.

[0046] S121: When it is determined that the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is greater than the first set threshold, the first preset motor is controlled to stop running, until the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is less than or equal to the first set threshold, and then the first preset motor is controlled to resume running.

[0047] S131: When the paper pressing rod is in downward motion, when the second preset motor is in an overload state, when the difference between the downward Hall step number of the third preset motor and the downward Hall step number of the second preset motor is greater than the first set threshold, the second preset motor and the third preset motor are controlled to stop running. Wherein, when the second preset motor is the first motor, the third preset motor is the second motor, or, when the second preset motor is the second motor, the third preset motor is the first motor.

[0048] When the speed of the first motor is less than or equal to the speed threshold, it is determined that the first motor is in an overload state, and when the speed of the first motor is greater than the speed threshold, it is determined that the first motor is not in an overload state. When the speed of the second motor is less than or equal to the speed threshold, it is determined that the second motor is in an overload state, and when the speed of the second motor is greater than the speed threshold, it is determined that the second motor is not in an overload state.

[0049] The speed of the first motor and the second motor during the normal downward movement of the paper pressing rod or the upward movement recorded below is greater than the speed threshold. During the downward movement of the paper pressing rod, if the speed of the first motor or the second motor is less than or equal to the speed threshold, it indicates that the paper pressing rod encounters an obstacle during the downward movement, indicating that the paper pressing rod has reached the paper pressing position. Among them, the speed threshold is the maximum speed of the motor corresponding to the paper pressing rod when it reaches the paper pressing position. Specifically, when the paper pressing rod is in the downward movement, when the first motor is in an overload state, when the value of the downward Hall step number of the second motor minus the downward Hall step number of the first motor is greater than the second set threshold, the first motor and the second motor are controlled to stop running and the paper pressing operation is completed. When the first motor is in an overload state, it indicates that the first end of the paper pressing rod controlled by the first motor has reached the paper pressing position, and at this time, the downward Hall step number of the second motor is greater than the downward Hall step number of the first motor, and the descending height of the second end of the paper pressing rod controlled by the second motor is greater than the descending distance of the first end, so the second end of the paper pressing rod has also reached the paper pressing position, and the downward movement of the paper pressing rod is ended at this time, and both motors are controlled to stop running. Similarly, when the paper pressing rod is in downward motion, when the second motor is in an overload state, when the value of the downward Hall step number of the first motor minus the downward Hall step number of the second motor is greater than the second set threshold value, the first motor and the second motor are controlled to stop running to complete the paper pressing operation. When the second motor is in an overload state, it indicates that the second end of the paper pressing rod controlled by the second motor has reached the paper pressing position, and at this time, the downward Hall step number of the first motor is greater than the downward Hall step number of the second motor, and the descending height of the first end of the paper pressing rod controlled by the first motor is greater than the descending height of the second end, so the first end of the paper pressing rod has also reached the paper pressing position, and at this time, the downward motion of the paper pressing rod ends, and both motors are controlled to stop running.

[0050] The second method for determining whether the paper pressing rod reaches the paper pressing position is as follows: Figure 3 As shown, Figure 3 A flowchart of another method for controlling a paper pressing device provided by an embodiment of the present invention, referring to Figure 3 , optionally, the control method includes:

[0051] S112: When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the number of downward Hall steps of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the number of downward Hall steps of the second motor is determined according to the number of rotations of the second motor in the second preset direction.

[0052] S122: When it is determined that the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is greater than the first set threshold, the first preset motor is controlled to stop running, until the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is less than or equal to the first set threshold, and then the first preset motor is controlled to resume running.

[0053] S132: When the paper pressing rod is in the downward movement, when it is determined that both the first motor and the second motor are in the overload state, the first motor and the second motor are controlled to stop running.

[0054] When the first motor and the second motor are both in an overload state, it indicates that the first end and the second end of the paper pressing rod have reached the paper pressing position. At this time, the downward movement of the paper pressing rod ends, the two motors are controlled to stop running, and the paper pressing rod completes the paper pressing operation.

[0055] Figure 4 A flowchart of another method for controlling a paper pressing device provided by an embodiment of the present invention, referring to Figure 4 Optionally, the control method of the paper pressing device includes:

[0056] S113: When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the number of downward Hall steps of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the number of downward Hall steps of the second motor is determined according to the number of rotations of the second motor in the second preset direction.

[0057] S123: When it is determined that the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is greater than the first set threshold, the first preset motor is controlled to stop running until the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is less than or equal to the first set threshold, and then the first preset motor is controlled to resume running.

[0058] S133: When it is determined that the paper pressing rod is in upward motion under the control of the first motor and the second motor and that both the first motor and the second motor are in a non-overloaded state, the upward Hall step number of the first motor is determined according to the number of rotations of the first motor in a third preset direction, and the upward Hall step number of the second motor is determined according to the number of rotations of the second motor in a fourth preset direction. The third preset direction is opposite to the first preset direction, and the fourth preset direction is opposite to the second preset direction.

[0059] When the paper pressing rod needs to be reset to the initial position after the paper pressing operation ends, or when the paper pressing rod wants to end the downward movement and change to upward movement during the downward movement of the paper pressing rod, the paper pressing rod moves upward under the control of the first motor and the second motor. Wherein, the upward movement is the movement of the paper pressing rod away from the direction of the paper placement side. In an optional embodiment, when the first preset direction and the fourth preset direction are both the forward rotation direction of the motor, the second preset direction and the third preset direction are both the reverse rotation direction of the motor, or, when the first preset direction and the fourth preset direction are the reverse rotation direction of the motor, the second preset direction and the third preset direction are the forward rotation direction of the motor. In another optional embodiment, the first preset direction and the second preset direction are both the forward rotation direction of the motor, the third preset direction and the fourth preset direction are both the reverse rotation direction of the motor, or, the first preset direction and the second preset direction are both the reverse rotation direction of the motor, and the third preset direction and the fourth preset direction are both the forward rotation direction of the motor. Further, when it is determined that the rotation direction of the first motor is the third preset direction and the rotation direction of the second motor is the fourth preset direction, it is determined that the paper pressing rod is in upward movement. The upward Hall step number of the first motor is proportional to the number of rotations of the first motor in the third preset direction, and the upward Hall step number of the second motor is proportional to the number of rotations of the second motor in the fourth preset direction. Exemplarily, after the paper pressing rod completes the paper pressing operation, the first end of the paper pressing rod moves upward under the control of the first motor, and the second end of the paper pressing rod moves upward under the control of the second motor, then the rising height of the first end of the paper pressing rod from the paper pressing position is positively correlated with the upward Hall step number of the first motor, and the rising height of the second end of the paper pressing rod from the paper pressing position is positively correlated with the upward Hall step number of the second motor.

[0060] S143: When it is determined that the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is greater than the first set threshold, the fourth preset motor is controlled to stop running until the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is less than or equal to the first set threshold, and the fourth preset motor is controlled to resume running; wherein the fourth preset motor is the motor with the larger upward Hall step number between the first motor and the second motor.

[0061] When the absolute value of the difference between the first motor's upward Hall step number and the second motor's upward Hall step number is greater than the first set threshold, it indicates that the height difference between the two ends of the paper pressing rod is large, which can easily cause the paper pressing rod to be in an unbalanced state. Therefore, the motor with a large upward Hall step number is controlled to stop running, and the end of the paper pressing rod corresponding to the large rising height stops moving. During the period when the motor with a large upward Hall step number stops running, the motor with a small upward Hall step number keeps running, so that the end of the paper pressing rod with a small rising height continues to rise, until the absolute value of the difference between the first motor and the second motor's Hall step number is less than or equal to the first set threshold, the motor that was previously stopped is controlled to resume running, so that the two ends of the paper pressing rod continue to move upward.

[0062] Specifically, when the value of the first motor's upward Hall step number minus the second motor's upward Hall step number is greater than a first set threshold, the first motor is controlled to stop running and the second motor is kept running until the difference between the first motor and the second motor's downward Hall step number is less than or equal to the first set threshold, and the first motor is controlled to resume running. When the value of the second motor's upward Hall step number minus the first motor's upward Hall step number is greater than the first set threshold, the second motor is controlled to stop running and the first motor is kept running until the difference between the second motor and the first motor's downward Hall step number is less than or equal to the first set threshold, and the second motor is controlled to resume running.

[0063] During the upward movement of the paper pressing rod, if the paper pressing rod reaches the upward limit position, the paper pressing rod completes the reset operation and the paper pressing rod cannot continue to rise. The motor needs to be controlled to stop in time. Figure 5 and Figure 6 There are two options. The specific two options are as follows: Figure 5 A flowchart of another method for controlling a paper pressing device provided by an embodiment of the present invention, referring to Figure 5 , optionally, the control method includes:

[0064] S114: When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the number of downward Hall steps of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the number of downward Hall steps of the second motor is determined according to the number of rotations of the second motor in the second preset direction.

[0065] S124: When it is determined that the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is greater than the first set threshold, the first preset motor is controlled to stop running, until the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is less than or equal to the first set threshold, and then the first preset motor is controlled to resume running.

[0066] S134: When it is determined that the paper pressing rod is in upward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the upward Hall step number of the first motor is determined according to the number of rotations of the first motor in the third preset direction, and the upward Hall step number of the second motor is determined according to the number of rotations of the second motor in the fourth preset direction.

[0067] S144: When it is determined that the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is greater than the first set threshold, the fourth preset motor is controlled to stop running until the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is less than or equal to the first set threshold, and the fourth preset motor is controlled to resume running; wherein the fourth preset motor is the motor with the larger upward Hall step number between the first motor and the second motor; the second direction is opposite to the first direction.

[0068] S154: When the paper pressing rod is in upward motion, when the fifth preset motor is in an overload state, when the difference between the downward Hall step number of the sixth preset motor and the downward Hall step number of the fifth preset motor is greater than the second set threshold, the fifth preset motor and the sixth preset motor are controlled to stop running; wherein, when the fifth preset motor is the first motor, the sixth preset motor is the second motor, or, when the fifth preset motor is the second motor, the sixth preset motor is the first motor.

[0069] If the speed of the first motor or the second motor is less than or equal to the speed threshold, the first motor or the second motor is in an overload state, indicating that the paper pressing rod encounters an obstacle during the upward movement, and the paper pressing rod reaches the upward limit position. Specifically, when the paper pressing rod is in the upward movement, when the first motor is in an overload state, when the value of the upward Hall step number of the second motor minus the upward Hall step number of the first motor is greater than the second set threshold, the first motor and the second motor are controlled to stop running, and the reset operation of the paper pressing rod is completed. When the first motor is in an overload state, it indicates that the first end of the paper pressing rod controlled by the first motor has reached the upward limit position, and at this time, the upward Hall step number of the second motor is greater than the upward Hall step number of the first motor, and the rising height of the second end of the paper pressing rod controlled by the second motor is greater than the rising height of the first end, so the second end of the paper pressing rod has also reached the upward limit position, and the upward movement of the paper pressing rod is ended at this time, and both motors are controlled to stop running. Similarly, when the paper pressing rod is in upward motion, when the second motor is in an overload state, when the value of the upward Hall step number of the first motor minus the upward Hall step number of the second motor is greater than the second set threshold value, the first motor and the second motor are controlled to stop running, and the reset operation of the paper pressing rod is completed. When the second motor is in an overload state, it indicates that the second end of the paper pressing rod controlled by the second motor has reached the upward limit position, and at this time, the upward Hall step number of the first motor is greater than the upward Hall step number of the second motor, and the rising height of the first end of the paper pressing rod controlled by the first motor is greater than the rising height of the second end, so the first end of the paper pressing rod has also reached the upward limit position, and the upward motion of the paper pressing rod is ended at this time, and both motors are controlled to stop running.

[0070] The second method for determining whether the paper pressing rod has reached the upper limit position is as follows: Figure 6 As shown, Figure 6A flowchart of another method for controlling a paper pressing device provided by an embodiment of the present invention, referring to Figure 6 , optionally, the control method includes:

[0071] S115: When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the number of downward Hall steps of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the number of downward Hall steps of the second motor is determined according to the number of rotations of the second motor in the second preset direction.

[0072] S125: When it is determined that the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is greater than the first set threshold, the first preset motor is controlled to stop running, until the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is less than or equal to the first set threshold, and then the first preset motor is controlled to resume running.

[0073] S135: When it is determined that the paper pressing rod is in upward motion under the control of the first motor and the second motor and when it is determined that the first motor and the second motor are both in a non-overloaded state, the upward Hall step number of the first motor is determined according to the number of rotations of the first motor in the third preset direction, and the upward Hall step number of the second motor is determined according to the number of rotations of the second motor in the fourth preset direction.

[0074] S145: When it is determined that the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is greater than the first set threshold, the fourth preset motor is controlled to stop running until the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is less than or equal to the first set threshold, and the fourth preset motor is controlled to resume running; wherein the fourth preset motor is the motor with the larger upward Hall step number of the first motor and the second motor; the second direction is opposite to the first direction

[0075] S155: When the paper pressing rod is in upward motion, when it is determined that both the first motor and the second motor are in an overload state, the first motor and the second motor are controlled to stop running.

[0076] When the first motor and the second motor are both in an overload state, it indicates that the first end and the second end of the paper pressing rod have reached the upward limit position. At this time, the upward movement of the paper pressing rod ends, the two motors are controlled to stop running, and the paper pressing rod completes the reset operation.

[0077] Exemplarily, the specific working process of the paper pressing device to complete the paper pressing can be as follows:

[0078] Balance adjustment of the downward movement of the paper pressing rod: when the paper pressing rod is in downward movement driven by the first motor and the second motor and both the first motor and the second motor are in a non-overloaded state, when it is determined that the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is greater than the first set threshold, the first preset motor is controlled to stop running until the absolute value of the difference between the downward Hall step number of the first motor and the downward Hall step number of the second motor is less than or equal to the first set threshold, and the first preset motor is controlled to resume running; wherein, the first preset motor is the motor with the larger downward Hall step number between the first motor and the second motor.

[0079] Paper pressing operation of the paper pressing rod: When the paper pressing rod moves downward under the drive of the first motor and the second motor, when the second preset motor is in an overload state, when the difference between the downward Hall step number of the third preset motor and the downward Hall step number of the second preset motor is greater than the second set threshold, the second preset motor and the third preset motor are controlled to stop running. Wherein, when the second preset motor is the first motor, the third preset motor is the second motor, or, when the second preset motor is the second motor, the third preset motor is the first motor. Alternatively, when the paper pressing rod is in downward motion, when the first motor and the second motor are both in an overload state, the first motor and the second motor are controlled to stop running.

[0080] Balance adjustment of the upward movement of the paper pressing rod: when the paper pressing rod is in upward movement driven by the first motor and the second motor and both the first motor and the second motor are in a non-overloaded state, when it is determined that the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is greater than the first set threshold, the fourth preset motor is controlled to stop running until the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is less than or equal to the first set threshold, and the fourth preset motor is controlled to resume operation; wherein, the fourth preset motor is the motor with the larger upward Hall step number between the first motor and the second motor.

[0081] Reset operation of the paper pressing rod: When the paper pressing rod moves upward under the drive of the first motor and the second motor, when the fifth preset motor is in an overload state, when the difference between the upward Hall step number of the sixth preset motor and the upward Hall step number of the fifth preset motor is greater than the second set threshold, the fifth preset motor and the sixth preset motor are controlled to stop running. Wherein, when the fifth preset motor is the first motor, the sixth preset motor is the second motor, or, when the fifth preset motor is the second motor, the sixth preset motor is the first motor. Alternatively, when the paper pressing rod is in an upward movement, when the first motor and the second motor are both in an overload state, the first motor and the second motor are controlled to stop running.

[0082] An embodiment of the present invention also provides a paper pressing device, including a paper pressing rod, a first motor, a second motor and a controller, wherein the first motor and the second motor are respectively used to control the movement of both ends of the paper pressing rod; the controller is respectively connected to the first motor and the second motor, and the controller is used to execute the control method of the paper pressing device in any of the above embodiments.

[0083] The paper is fixed and reset by controlling the up and down movement of the paper pressing rod through dual motors. Each motor is controlled separately, and the calculation and judgment of the controller are added to solve the problem of unbalanced movement of the paper pressing rod caused by errors in motor torque and assembly. The balance control of the paper pressing rod is achieved by judging the Hall steps of the two motors and the overload signal of the motor.

[0084] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0085] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and 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 control method for a paper pressing device, characterized in that: The paper pressing device comprises: a paper pressing rod, a first motor and a second motor, wherein the first motor and the second motor are respectively used to control the movement of two ends of the paper pressing rod; The control method of the paper pressing device comprises: When it is determined that the paper pressing rod is in downward motion under the control of the first motor and the second motor and that both the first motor and the second motor are in a non-overloaded state, the downward Hall step number of the first motor is determined according to the number of rotations of the first motor in the first preset direction, and the downward Hall step number of the second motor is determined according to the number of rotations of the second motor in the second preset direction; When it is determined that the absolute value of the difference between the downstream Hall step number of the first motor and the downstream Hall step number of the second motor is greater than a first set threshold, the first preset motor is controlled to stop running until the absolute value of the difference between the downstream Hall step number of the first motor and the downstream Hall step number of the second motor is less than or equal to the first set threshold, and the first preset motor is controlled to resume running; wherein, the first preset motor is the motor with a larger downstream Hall step number between the first motor and the second motor.

2. The control method of the paper pressing device according to claim 1, characterized in that: Also includes: When the paper pressing rod is in downward motion, when the second preset motor is in an overload state, when the difference between the downward Hall step number of the third preset motor and the downward Hall step number of the second preset motor is greater than a second set threshold, the second preset motor and the third preset motor are controlled to stop running; wherein, when the second preset motor is the first motor, the third preset motor is the second motor, or, when the second preset motor is the second motor, the third preset motor is the first motor.

3. The control method of the paper pressing device according to claim 1, characterized in that: Also includes: When the paper pressing rod is in downward motion, when it is determined that both the first motor and the second motor are in an overload state, the first motor and the second motor are controlled to stop running.

4. The control method of the paper pressing device according to claim 1, characterized in that: Also includes: When it is determined that the paper pressing rod is in upward motion under the control of the first motor and the second motor and that both the first motor and the second motor are in a non-overloaded state, the upward Hall step number of the first motor is determined according to the number of rotations of the first motor in a third preset direction, and the upward Hall step number of the second motor is determined according to the number of rotations of the second motor in a fourth preset direction; The third preset direction is opposite to the first preset direction, and the fourth preset direction is opposite to the second preset direction; When it is determined that the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is greater than the first set threshold, the fourth preset motor is controlled to stop running until the absolute value of the difference between the upward Hall step number of the first motor and the upward Hall step number of the second motor is less than or equal to the first set threshold, and the fourth preset motor is controlled to resume running; wherein, the fourth preset motor is the motor with a larger upward Hall step number between the first motor and the second motor.

5. The control method of the paper pressing device according to claim 4, characterized in that: Also includes: When the paper pressing rod is in upward movement, when the fifth preset motor is in an overload state, when the difference between the downward Hall step number of the sixth preset motor and the downward Hall step number of the fifth preset motor is greater than the second set threshold, the fifth preset motor and the sixth preset motor are controlled to stop running; wherein, when the fifth preset motor is the first motor, the sixth preset motor is the second motor, or, when the fifth preset motor is the second motor, the sixth preset motor is the first motor.

6. The control method of the paper pressing device according to claim 4, characterized in that: Also includes: When the paper pressing rod is in upward movement, when it is determined that both the first motor and the second motor are in an overload state, the first motor and the second motor are controlled to stop running.

7. The control method of the paper pressing device according to claim 1 or claim 4, characterized in that: Determining that both the first motor and the second motor are in a non-overload state includes: When the rotation speed of the first motor is greater than a rotation speed threshold, it is determined that the first motor is in a non-overload state, and when the rotation speed of the second motor is greater than the rotation speed threshold, it is determined that the second motor is in a non-overload state.

8. The control method of the paper pressing device according to claim 3 or claim 6, characterized in that: Determining that both the first motor and the second motor are in an overload state includes: When the rotation speed of the first motor is less than or equal to a rotation speed threshold, it is determined that the first motor is in an overload state; when the rotation speed of the second motor is less than or equal to the rotation speed threshold, it is determined that the second motor is in an overload state.

9. A paper pressing device, characterized in that: The paper pressing device includes: a paper pressing rod, a first motor, a second motor and a controller, wherein the first motor and the second motor are respectively used to control the movement of two ends of the paper pressing rod; the controller is respectively connected to the first motor and the second motor, and the controller is used to execute the control method of the paper pressing device described in any one of claims 1-8.

Images