A paper cutter paper pushing positioning control system and control method

Abstract

The application discloses a paper pusher positioning control system and control method of a paper cutter, and the system comprises a controller, a signal adaptation circuit, an input side position detection component, an output side position detection component, a memory and a man-machine interaction device. The input side position detection component is used to acquire the motion amount of the transmission input side, and a partitioned and directional positioning compensation parameter table is established in combination with the actual position of the paper pusher detected by the output side position detection component. The controller is used to determine the compensation target position according to the target cutting size, the original servo driver is controlled by the signal adaptation circuit to complete the coarse positioning, and the correction pulse group is output according to the actual position deviation, so that the positioning precision of the old paper cutter is improved on the basis of retaining the original servo driver and the paper pusher transmission mechanism.

Description

Technical Field

[0001] This invention relates to the field of printing and cutting equipment control technology, specifically to a paper cutter pusher positioning control system and control method. Background Technology

[0002] Paper cutters are commonly used cutting equipment in printing and packaging processes. They generally include a frame, a cutter blade, a paper pressing mechanism, a paper pusher, and a paper pushing transmission mechanism that drives the paper pusher to move along the paper pushing direction. During use, the cutting size of the paper is determined by adjusting the position of the paper pusher relative to the cutter blade. Therefore, the positioning accuracy of the paper pusher directly affects the accuracy of the cutting size.

[0003] Some older paper cutters still have relatively intact frames, cutters, hydraulic actuators, servo motors, and paper pusher mechanisms. However, their original control devices often suffer from outdated human-machine interface methods, poor control interface compatibility, and insufficient positioning compensation capabilities. Replacing the entire paper cutter would not only result in high equipment purchase costs but also waste of existing mechanical and power components. Replacing the original button-type operating device with a touch screen or a new controller while continuing to use the original positioning method would only improve the operation method and would not substantially improve the positioning accuracy of the paper pusher.

[0004] Existing retrofit methods use fixed compensation values ​​to uniformly correct the paper pusher position, but fixed compensation values ​​are difficult to adapt to the error variations of the paper pusher in different position sections and different directions of movement. Other solutions achieve closed-loop control by replacing the servo driver, servo motor, or the entire motion control system, but this requires significant modifications to the original electrical system and mechanical structure of the old paper cutter, resulting in high retrofit costs, difficulties in interface matching, and long construction periods.

[0005] Therefore, the technical problem that needs to be solved in the upgrade and transformation of the control system of the old paper cutter is how to achieve signal adaptation between the new controller and the original servo driver while preserving as much of the original frame, paper push transmission mechanism, servo motor and servo driver as possible, and how to compensate for the positioning deviation in different position sections and different motion directions by obtaining the motion amount on the input side of the paper push transmission mechanism and the actual position on the output side of the paper pusher. Summary of the Invention

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A paper pusher positioning control system for a paper cutter, the paper cutter including a frame, a paper pusher movable on the frame along the paper pusher direction, a paper pusher transmission mechanism pulsatingly connected to the paper pusher, a servo motor connected to the paper pusher transmission mechanism, and a servo driver connected to the servo motor; The paper-pushing positioning control system includes a controller, a signal adapter circuit, an input-side position detection component, an output-side position detection component, a memory, and a human-machine interaction device. The signal adapter circuit is connected between the controller and the servo driver; The input-side position detection component is connected to the output shaft of the servo motor, the input shaft of the paper pusher mechanism, or the encoder frequency division output terminal of the servo driver. The output-side position detection component includes a linear scale arranged along the paper pushing direction and a reading head that cooperates with the linear scale. One of the linear scale and the reading head is fixed to the frame, and the other is connected to the paper pusher. The signal output terminal of the reading head is connected to the controller. The memory and the human-computer interaction device are respectively connected to the controller. The memory stores a positioning compensation parameter table, which is established based on the deviation between the equivalent displacement of the input side calculated by the detection result of the input side position detection component and the actual position of the paper pusher detected by the output side position detection component. The controller determines the theoretical paper push position based on the preset cutting blade reference position and the target cutting size input through the human-machine interaction device, and determines the compensation target position based on the positioning compensation parameters corresponding to the theoretical paper push position. The controller outputs a coarse positioning control signal to the servo driver through the signal adapter circuit to move the paper pusher toward the compensation target position. After the servo driver outputs the position signal, the controller outputs a set of correction pulses to the servo driver through the signal adapter circuit based on the position deviation between the actual position of the paper pusher and the compensation target position.

[0007] Furthermore, the signal adaptation circuit includes a signal input circuit, an opto-isolation circuit, a pulse shaping circuit, and an output conversion circuit connected in sequence; The signal input circuit is connected to the pulse output terminal and the direction output terminal of the controller, and the output conversion circuit is connected to the position command input terminal of the servo driver. The signal adaptation circuit also includes a status signal isolation circuit, which is connected between the position signal output terminal and the alarm signal output terminal of the servo driver and the controller.

[0008] Furthermore, the input-side position detection component includes a rotary encoder disposed on the output shaft of the servo motor or the input shaft of the paper pusher mechanism, and the signal output terminal of the rotary encoder is connected to the controller.

[0009] Furthermore, the input-side position detection component includes a pulse counting interface, which is connected between the encoder frequency divider output of the servo driver and the controller.

[0010] Furthermore, the output-side position detection component is a magnetic grating linear position detection component or a grating linear position detection component; The linear scale is fixed to the frame mounting surface parallel to the moving path of the paper pusher, and the reading head is connected to the paper pusher through the reading head mounting seat; The reading head mounting base is provided with an adjustment hole extending along the gap direction between the reading head and the linear scale. The reading head mounting base is connected to the paper pusher through a fastener inserted into the adjustment hole.

[0011] Furthermore, it also includes a first reference detection element and a second reference detection element that are spaced apart on the frame along the paper pushing direction, and the paper pusher is provided with trigger elements that respectively cooperate with the first reference detection element and the second reference detection element; The first reference detection element and the second reference detection element are respectively connected to the controller. The first reference detection element corresponds to the coordinate reference position of the paper pusher, and there is a preset reference distance between the first reference detection element and the second reference detection element.

[0012] Furthermore, the effective travel of the paper pusher is divided into multiple consecutive position segments, and the positioning compensation parameter table includes a first direction compensation parameter and a second direction compensation parameter corresponding to each of the position segments. The controller calls the corresponding first direction compensation parameter or second direction compensation parameter according to the location segment where the theoretical paper push position is located and the planned movement direction when the paper pusher reaches the compensation target position. When the theoretical paper-pushing position is located between two adjacent calibration positions, the controller determines the positioning compensation amount corresponding to the theoretical paper-pushing position based on the positioning compensation parameters corresponding to the two adjacent calibration positions.

[0013] Furthermore, the controller is equipped with a preset approximation direction; When the direction of movement required for the paper pusher to move from its current position to the compensation target position is consistent with the preset approximation direction, the controller controls the paper pusher to move along the preset approximation direction to the compensation target position; When the direction of movement required for the paper pusher to move from its current position to the compensation target position is opposite to the preset approach direction, the controller controls the paper pusher to cross the preset overshoot distance of the compensation target position in a direction opposite to the preset approach direction, and then return to the compensation target position in the preset approach direction.

[0014] This invention also provides a paper cutter paper pushing positioning control method, applied to a paper cutter including a paper pusher, a paper pushing transmission mechanism, a servo motor, and a servo driver, comprising the following steps: S1, determine the theoretical paper push position based on the preset cutting blade reference position and the target cutting size; S2, based on the location segment where the theoretical paper push position is located and the planned movement direction when the paper pusher reaches the theoretical paper push position, call the corresponding positioning compensation parameter from the positioning compensation parameter table, and determine the compensation target position based on the theoretical paper push position and the positioning compensation parameter; S3, the controller outputs a coarse positioning control signal to the servo driver via a signal adapter circuit connected between the controller and the servo driver, so that the servo motor drives the paper pusher to move towards the compensation target position through the paper push transmission mechanism; S4, after the servo driver outputs the position signal, the actual position of the paper pusher is obtained by the output side position detection component set on the output side of the paper pusher transmission mechanism; S5, a correction pulse group is generated based on the positional deviation between the actual position of the paper pusher and the compensation target position, and the correction pulse group is output to the servo driver through the signal adapter circuit; S6, after each set of the correction pulse group is output, the actual position of the paper pusher is reacquired, and the positioning ends when the position deviation between the actual position of the paper pusher and the compensation target position is within the preset positioning error range; when the number of corrections reaches the preset number and the position deviation still exceeds the preset positioning error range, the output of the correction pulse group is stopped and a positioning abnormality signal is output.

[0015] Furthermore, the positioning compensation parameter table is established according to the following steps: Control the paper pusher to reach the coordinate reference position, and unify the coordinate reference of the input-side position detection component and the output-side position detection component; Multiple calibration positions are set within the effective travel range of the paper pusher, and the paper pusher is controlled to reach each calibration position along opposite first and second movement directions. The detection results of the input-side position detection component at each of the calibration positions are obtained, and the detection results are converted into equivalent displacements on the input side according to a preset transmission conversion relationship. The actual position of the paper pusher at each of the calibration positions is obtained through the output-side position detection component. Based on the deviation between the equivalent displacement of the input side corresponding to each calibration position and the actual position of the paper pusher, a first direction compensation parameter corresponding to the first motion direction and a second direction compensation parameter corresponding to the second motion direction are established respectively.

[0016] Compared with the prior art, the present invention connects the controller to the original servo driver of the paper cutter through a signal adapter circuit, which can complete the control system transformation while retaining the original servo motor, servo driver and paper push transmission mechanism, reducing the modification of the original mechanical structure and power system of the old paper cutter. The motion of the paper pusher mechanism is obtained by the input side position detection component, and the actual position of the paper pusher is directly obtained by the output side position detection component. A positioning compensation parameter table is established based on the deviation between the equivalent displacement of the input side and the actual position of the paper pusher, so as to compensate for the transmission error generated by the paper pusher mechanism. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the control system in this invention; Figure 2 This is a schematic diagram of the control method steps of the present invention.

[0019] Explanation of reference numerals in the attached drawings: 1. Controller; 2. Signal adapter circuit; 3. Input-side position detection component; 4. Output-side position detection component; 5. Memory; 6. Human-machine interaction device; 7. First reference detection component; 8. Second reference detection component; 9. Trigger component. Detailed Implementation

[0020] The specific embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood that the following embodiments are used to illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0021] Example 1: Paper Cutter Pushing and Positioning Control System like Figure 1 As shown, this embodiment provides a paper pusher positioning control system for retrofitting an old paper cutter, including a controller 1, a signal adapter circuit 2, an input-side position detection component 3, an output-side position detection component 4, a memory 5, and a human-machine interaction device 6. It also includes a first reference detection component 7, a second reference detection component 8, and a trigger component 9 disposed on the paper pusher.

[0022] The human-machine interface device 6 and the memory 5 are respectively connected to the controller 1. The human-machine interface device 6 is used to input the target cutting size and display the position and positioning status of the paper pusher. The memory 5 stores the cutting blade reference position, positioning compensation parameter table, preset approximation direction, positioning error range, and maximum number of corrections.

[0023] Signal adapter circuit 2 is connected between controller 1 and the existing servo driver of the paper cutter. The coarse positioning control signal and correction pulse group output by controller 1 are transmitted to the servo driver through signal adapter circuit 2, and the position signal and alarm signal output by the servo driver are fed back to controller 1 through signal adapter circuit 2.

[0024] The signal adaptation circuit 2 includes a signal input circuit, an opto-isolation circuit, a pulse shaping circuit, and an output conversion circuit connected in sequence. The signal input circuit is connected to the pulse output terminal and the direction output terminal of the controller 1, and the output conversion circuit is connected to the position command input terminal of the servo driver. The signal adaptation circuit 2 also includes a status signal isolation circuit, which is connected between the position signal output terminal and the alarm signal output terminal of the servo driver and the controller 1. Thus, while retaining the original servo driver, signal matching and electrical isolation between the controller 1 and the original servo driver are achieved.

[0025] The input-side position detection component 3 is located at the output shaft of the servo motor or the input shaft of the paper pusher mechanism, and its signal output terminal is connected to the controller 1.

[0026] In one embodiment, the input-side position detection component 3 is a rotary encoder mounted on the output shaft of the servo motor or the input shaft of the paper pusher mechanism. The controller 1 converts the detection result into an equivalent displacement on the input side based on the number of pulses output by the rotary encoder, the transmission ratio, and the lead screw.

[0027] In another embodiment, the input-side position detection component 3 includes a pulse counting interface, which is connected between the encoder frequency divider output of the servo driver and the controller 1. The controller 1 calculates the equivalent displacement on the input side based on the encoder frequency divider signal. Either of the above two detection methods can be used.

[0028] The output-side position detection component 4 includes a linear scale set along the paper pushing direction and a reading head that cooperates with the linear scale. One of the linear scale and the reading head is fixed to the paper cutter frame, and the other is connected to the paper pusher. The signal output terminal of the reading head is connected to the controller 1.

[0029] In this embodiment, the linear scale is fixed to the frame mounting surface parallel to the paper pusher's movement path, and the reading head is fixed to the paper pusher via a mounting base. The mounting base is provided with an adjustment hole extending along the gap direction between the reading head and the linear scale to adjust the detection gap between the reading head and the linear scale. The output-side position detection component 4 can be a magnetic grating type linear position detection component or an optical grating type linear position detection component.

[0030] Since the output side position detection component 4 directly detects the actual position of the paper pusher after being driven by the paper pusher transmission mechanism, its detection results can reflect the position deviation caused by the screw pitch error, transmission clearance and wear of transmission components.

[0031] The first reference detection element 7 and the second reference detection element 8 are spaced apart on the paper cutter frame along the paper pushing direction, and the trigger element 9 is disposed on the paper pusher. The first reference detection element 7 and the second reference detection element 8 are respectively connected to the controller 1.

[0032] The first reference detection element 7 corresponds to the coordinate reference position of the paper pusher. When the system performs reference calibration, the controller 1 controls the paper pusher to move, causing the trigger element 9 to trigger the first reference detection element 7, and unifying the current detection positions of the input side position detection component 3 and the output side position detection component 4 as the coordinate reference.

[0033] There is a preset reference distance between the first reference detection component 7 and the second reference detection component 8. When the trigger component 9 triggers the second reference detection component 8, the controller 1 compares the measured distance detected by the output side position detection component 4 between the two reference positions with the preset reference distance to determine whether the installation position and detection ratio of the output side position detection component 4 are normal.

[0034] Example 2: Establishment of Positioning Compensation Parameter Table When establishing the positioning compensation parameter table, first control the paper pusher to reach the coordinate reference position corresponding to the first reference detection component 7, and then unify the coordinate reference of the input side position detection component 3 and the output side position detection component 4.

[0035] Multiple calibration positions are set within the effective travel range of the paper pusher, and a position segment is formed between adjacent calibration positions. The paper pusher is controlled to reach each calibration position along opposite first and second movement directions.

[0036] At each calibrated position, the controller 1 acquires the detection result of the input-side position detection component 3 and converts it into the equivalent displacement of the input side according to the preset transmission conversion relationship; at the same time, it acquires the actual position of the paper pusher through the output-side position detection component 4.

[0037] The controller 1 determines the first direction compensation parameter and the second direction compensation parameter corresponding to each calibration position based on the deviation between the equivalent displacement on the input side and the actual position of the paper pusher. The controller 1 stores each calibration position and its corresponding two sets of direction compensation parameters in the memory 5 to form a positioning compensation parameter table.

[0038] When the theoretical paper pushing position coincides with a certain calibration position, the controller 1 directly calls the direction compensation parameter corresponding to the calibration position; when the theoretical paper pushing position is between two adjacent calibration positions, the controller 1 determines the positioning compensation parameter corresponding to the theoretical paper pushing position by interpolation based on the direction compensation parameters corresponding to the two adjacent calibration positions.

[0039] Example 3: Paper Cutter Pushing and Positioning Control Method like Figure 2 As shown, the paper pusher positioning control method of this embodiment includes the following steps.

[0040] S1, the operator inputs the target cutting size through the human-machine interaction device 6, and the controller 1 determines the theoretical paper pushing position according to the preset cutting blade reference position and the target cutting size in the memory 5.

[0041] S2, the controller 1 calls the corresponding first direction compensation parameter or second direction compensation parameter from the positioning compensation parameter table according to the position segment where the theoretical paper push position is located and the planned movement direction when the paper pusher reaches the theoretical paper push position, and determines the compensation target position according to the theoretical paper push position and the positioning compensation parameter.

[0042] S3, the controller 1 outputs a coarse positioning control signal to the original servo driver through the signal adapter circuit 2, so that the original servo motor drives the paper pusher to move towards the compensation target position through the paper push transmission mechanism.

[0043] S4, after the servo driver outputs the position signal, the controller 1 obtains the actual position of the paper pusher through the output side position detection component 4.

[0044] S5, controller 1 calculates the positional deviation between the actual position of the paper pusher and the compensation target position. When the positional deviation exceeds the preset positioning error range, controller 1 generates a correction pulse group according to the direction and magnitude of the positional deviation, and outputs the correction pulse group to the servo driver through signal adapter circuit 2.

[0045] The number of pulses in each correction pulse group is determined based on the position deviation, and an upper limit is set for the number of pulses to avoid excessive correction in a single operation.

[0046] S6, after each set of correction pulses is output, controller 1 reacquires the actual position of the paper pusher. Positioning ends when the positional deviation between the actual position of the paper pusher and the compensation target position is within the preset positioning error range.

[0047] When the position deviation still exceeds the preset positioning error range and the number of corrections has not reached the preset number, the next set of correction pulse groups will continue to be output; when the number of corrections reaches the preset number and the position deviation still exceeds the preset positioning error range, the controller 1 will stop outputting the correction pulse groups and output a positioning abnormality signal through the human-machine interaction device 6.

[0048] Example 4: Preset Approach Direction Control The controller 1 is equipped with a preset approximation direction to reduce the impact of the reversing gap of the paper pusher mechanism on the repeatability positioning accuracy.

[0049] When the direction of motion required for the paper pusher to move from its current position to the compensation target position is consistent with the preset approximation direction, the controller 1 controls the paper pusher to move along the preset approximation direction to the compensation target position.

[0050] When the direction of movement required for the paper pusher to move from its current position to the compensation target position is opposite to the preset approach direction, the controller 1 first controls the paper pusher to cross the preset overshoot distance of the compensation target position in the opposite direction, and then returns to the compensation target position in the preset approach direction.

[0051] By ensuring that the paper pusher eventually reaches the compensation target position in the same direction, the paper pusher transmission mechanism maintains a relatively consistent force state at the end of the positioning process, thereby reducing the impact of backlash on the repeated positioning of the paper pusher.

Claims

1. A paper pusher positioning control system for a paper cutter, the paper cutter comprising a frame, a paper pusher movably mounted on the frame along the paper pusher direction, a paper pusher transmission mechanism pulsatorically connected to the paper pusher, a servo motor connected to the paper pusher transmission mechanism, and a servo driver connected to the servo motor, characterized in that: The paper-pushing positioning control system includes a controller, a signal adapter circuit, an input-side position detection component, an output-side position detection component, a memory, and a human-machine interaction device. The signal adapter circuit is connected between the controller and the servo driver; The input-side position detection component is connected to the output shaft of the servo motor, the input shaft of the paper pusher mechanism, or the encoder frequency division output terminal of the servo driver. The output-side position detection component includes a linear scale arranged along the paper pushing direction and a reading head that cooperates with the linear scale. One of the linear scale and the reading head is fixed to the frame, and the other is connected to the paper pusher. The signal output terminal of the reading head is connected to the controller. The memory and the human-computer interaction device are respectively connected to the controller. The memory stores a positioning compensation parameter table, which is established based on the deviation between the equivalent displacement of the input side calculated by the detection result of the input side position detection component and the actual position of the paper pusher detected by the output side position detection component. The controller determines the theoretical paper push position based on the preset cutting blade reference position and the target cutting size input through the human-machine interaction device, and determines the compensation target position based on the positioning compensation parameters corresponding to the theoretical paper push position. The controller outputs a coarse positioning control signal to the servo driver through the signal adapter circuit to move the paper pusher toward the compensation target position. After the servo driver outputs the position signal, the controller outputs a set of correction pulses to the servo driver through the signal adapter circuit based on the position deviation between the actual position of the paper pusher and the compensation target position.

2. The paper pusher positioning control system for a paper cutter according to claim 1, characterized in that, The signal adaptation circuit includes a signal input circuit, an opto-isolation circuit, a pulse shaping circuit, and an output conversion circuit connected in sequence. The signal input circuit is connected to the pulse output terminal and the direction output terminal of the controller, and the output conversion circuit is connected to the position command input terminal of the servo driver. The signal adaptation circuit also includes a status signal isolation circuit, which is connected between the position signal output terminal and the alarm signal output terminal of the servo driver and the controller.

3. The paper pusher positioning control system for a paper cutter according to claim 1, characterized in that, The input-side position detection component includes a rotary encoder mounted on the output shaft of the servo motor or the input shaft of the paper pusher mechanism, and the signal output terminal of the rotary encoder is connected to the controller.

4. The paper pusher positioning control system for a paper cutter according to claim 1, characterized in that, The input-side position detection component includes a pulse counting interface, which is connected between the encoder frequency division output terminal of the servo driver and the controller.

5. The paper pusher positioning control system for a paper cutter according to claim 1, characterized in that, The output-side position detection component is a magnetic grating linear position detection component or a grating linear position detection component; The linear scale is fixed to the frame mounting surface parallel to the moving path of the paper pusher, and the reading head is connected to the paper pusher through the reading head mounting seat; The reading head mounting base is provided with an adjustment hole extending along the gap direction between the reading head and the linear scale. The reading head mounting base is connected to the paper pusher through a fastener inserted into the adjustment hole.

6. The paper pusher positioning control system for a paper cutter according to claim 1, characterized in that, It also includes a first reference detection element and a second reference detection element that are spaced apart on the frame along the paper pushing direction, and the paper pusher is provided with trigger elements that cooperate with the first reference detection element and the second reference detection element respectively; The first reference detection element and the second reference detection element are respectively connected to the controller. The first reference detection element corresponds to the coordinate reference position of the paper pusher, and there is a preset reference distance between the first reference detection element and the second reference detection element.

7. The paper pusher positioning control system for a paper cutter according to claim 1, characterized in that, The effective travel of the paper pusher is divided into multiple continuous position segments, and the positioning compensation parameter table includes a first direction compensation parameter and a second direction compensation parameter corresponding to each of the position segments. The controller calls the corresponding first direction compensation parameter or second direction compensation parameter according to the location segment where the theoretical paper push position is located and the planned movement direction when the paper pusher reaches the compensation target position. When the theoretical paper-pushing position is located between two adjacent calibration positions, the controller determines the positioning compensation amount corresponding to the theoretical paper-pushing position based on the positioning compensation parameters corresponding to the two adjacent calibration positions.

8. The paper pusher positioning control system for a paper cutter according to claim 7, characterized in that, The controller is equipped with a preset approximation direction; When the direction of movement required for the paper pusher to move from its current position to the compensation target position is consistent with the preset approximation direction, the controller controls the paper pusher to move along the preset approximation direction to the compensation target position; When the direction of movement required for the paper pusher to move from its current position to the compensation target position is opposite to the preset approach direction, the controller controls the paper pusher to cross the preset overshoot distance of the compensation target position in a direction opposite to the preset approach direction, and then return to the compensation target position in the preset approach direction.

9. A paper cutter pusher positioning control method, applied to a paper cutter including a paper pusher, a paper pusher transmission mechanism, a servo motor, and a servo driver, characterized in that, Includes the following steps: S1, determine the theoretical paper push position based on the preset cutting blade reference position and the target cutting size; S2, based on the location segment where the theoretical paper push position is located and the planned movement direction when the paper pusher reaches the theoretical paper push position, call the corresponding positioning compensation parameter from the positioning compensation parameter table, and determine the compensation target position based on the theoretical paper push position and the positioning compensation parameter; S3, the controller outputs a coarse positioning control signal to the servo driver via a signal adapter circuit connected between the controller and the servo driver, so that the servo motor drives the paper pusher to move towards the compensation target position through the paper push transmission mechanism; S4, after the servo driver outputs the position signal, the actual position of the paper pusher is obtained by the output side position detection component set on the output side of the paper pusher transmission mechanism; S5, a correction pulse group is generated based on the positional deviation between the actual position of the paper pusher and the compensation target position, and the correction pulse group is output to the servo driver through the signal adapter circuit; S6, after each set of the correction pulse group is output, the actual position of the paper pusher is reacquired, and the positioning ends when the position deviation between the actual position of the paper pusher and the compensation target position is within the preset positioning error range; when the number of corrections reaches the preset number and the position deviation still exceeds the preset positioning error range, the output of the correction pulse group is stopped and a positioning abnormality signal is output.

10. The paper pusher positioning control method for a paper cutter according to claim 9, characterized in that, The positioning compensation parameter table is established according to the following steps: Control the paper pusher to reach the coordinate reference position, and unify the coordinate reference of the input-side position detection component and the output-side position detection component; Multiple calibration positions are set within the effective travel range of the paper pusher, and the paper pusher is controlled to reach each calibration position along opposite first and second movement directions. The detection results of the input-side position detection component at each of the calibration positions are obtained, and the detection results are converted into equivalent displacements on the input side according to a preset transmission conversion relationship. The actual position of the paper pusher at each of the calibration positions is obtained through the output-side position detection component. Based on the deviation between the equivalent displacement of the input side corresponding to each calibration position and the actual position of the paper pusher, a first direction compensation parameter corresponding to the first motion direction and a second direction compensation parameter corresponding to the second motion direction are established respectively.

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