JP2021096390A - Control unit, conveying device, image forming apparatus, control method, and program - Google Patents

Abstract

To achieve a reduction in time required for specification processing for specifying an adjustment target value of a first rotating body and a reduction in the number of bodies to be conveyed.SOLUTION: A control unit acquires, when a first rotating body 41 is rotated at two or more rotation speeds different from each other, while a second rotating body 10 is rotated at a regular speed, information on driving torque of the second rotating body in each of a first section where a body to be conveyed receives conveying forces from both the first rotating body and the second rotating body and a second section where the body to be conveyed does not receive the conveying force from the first rotating body and receives the conveying force from the second rotating body, calculates, by using all of the acquired driving torque information, a first section parameter and a second section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in the first section, and specifies, as an adjustment target value T, a rotation speed of the first rotating body at which the driving torque of the second rotating body in the first section and that in the second section match each other.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control device, a transfer device, an image forming device, a control method and a program.

Conventionally, the rotation speed of the first rotating body is set based on the rotation speed of the second rotating body that applies the conveying force to the conveyed body adjacent to the first rotating body that applies the conveying force to the conveyed body. A control device that controls adjustment is known.

For example, Patent Document 1 describes the first section in the first section in which the transported body receives a transport force from both the first rotating body and the second rotating body in a state where the second rotating body is rotated at a specified speed. The drive torque T1 of the two rotating bodies and the driving torque T2 of the second rotating body in the second section in which the transported body receives the conveying force from the second rotating body without receiving the conveying force from the first rotating body. A control device for setting the rotation speed of the first rotating body at the time of matching as a target value of the rotation speed of the first rotating body is disclosed. In this control device, while rotating the second rotating body at a predetermined speed, the rotating speed of the first rotating body is sequentially changed from a predetermined initial rotation speed within a predetermined fluctuation range, and the first section and the first rotation body are changed. The process of acquiring the drive torques T1 and T2 of the second rotating body in the two sections is performed. Then, when the magnitude relationship is reversed, linear interpolation is performed within the speed range between the rotation speed of the first rotating body immediately before the magnitude relationship is reversed and the rotation speed of the first rotating body when the magnitude relationship is reversed. The rotation speed of the first rotating body at which T1 = T2 is calculated, and this is set as the target value of the rotation speed of the first rotating body.

However, in the conventional control device, the rotation speed of the first rotating body is sequentially changed until the magnitude relation of the driving torques T1 and T2 of the second rotating body between the first section and the second section is reversed. It was necessary, and it sometimes took time to adjust the rotation speed of the first rotating body.

In order to solve the above-mentioned problems, the present invention is based on the rotation speed of the second rotating body that is adjacent to the first rotating body that applies the transporting force to the transported body and applies the transporting force to the transported body. It is a control device that controls to adjust the rotation speed of the first rotating body, and while rotating the second rotating body at a predetermined speed, the first rotation is performed at two or more different rotation speeds. When the body is rotated, each drive torque information of the second rotating body in the first section in which the transported body receives the conveying force from both the first rotating body and the second rotating body is acquired. Using the acquired total drive torque information, the first section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in the first section is calculated, and the second section is calculated. When the first rotating body is rotated at two or more different rotation speeds while rotating the rotating body at the specified speed, the conveyed body does not receive the conveying force from the first rotating body. Each drive torque information of the second rotating body in the second section receiving the conveying force from the second rotating body is acquired, and the acquired total driving torque information is used to obtain the first rotation in the second section. A second section parameter indicating the relationship between the rotation speed of the body and the driving torque of the second rotating body is calculated, and the driving torque of the second rotating body is calculated based on the first section parameter and the second section parameter. It is characterized by having a specific processing unit that executes a specific process for specifying the rotation speed of the first rotating body as an adjustment target value, which is the same between the first section and the second section.

According to the present invention, it is possible to shorten the time required for the specific process for specifying the adjustment target value of the first rotating body and reduce the number of objects to be transported that must be transported during the specific process.

The figure which shows the schematic structure of the transport device of an embodiment. Explanatory drawing which shows the structure of the secondary transfer part in the transfer apparatus. The explanatory view which shows the structure of the transport part in the same transport device. (A) and (b) are diagrams for explaining the interference torque due to the difference in the surface moving speeds of the two rotating bodies. The figure explaining the interference torque generated between the motor on the downstream side and the motor on the upstream side. The figure explaining the outline of the structure of the image forming apparatus of embodiment. The figure explaining the motor control part of embodiment. The figure explaining the function of the rotating body control processing part of embodiment. The first flowchart explaining the operation of the rotating body control processing part of embodiment. The second flowchart explaining the operation of the rotating body control processing part of embodiment. An example of the first approximation formula that linearly interpolates the first specified value and the second specified value in the first section and the drive torque of the torque detection motor, and the first specified value and the second specified value in the second section and the torque detection motor. The graph which shows an example of the 2nd approximate expression which linearly interpolates with the drive torque of. Another example of the first approximation formula that linearly interpolates the first specified value and the second specified value in the first section and the drive torque of the torque detection motor, and the first specified value, the second specified value and the torque in the second section. The graph which shows the other example of the 2nd approximate expression which linearly interpolates with the drive torque of a detection motor.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of a transport device according to this embodiment.
The transport device 100 of the present embodiment transports, for example, a sheet-shaped object to be transported, and is mounted on an image forming device or the like described later.

The transfer device 100 of the present embodiment includes an intermediate transfer belt 10, an intermediate transfer roller 11, a secondary transfer opposed roller 12, a driven roller 13, a tension roller 14, a belt cleaning device 15, and a scale sensor 16. An encoder pattern 17 is formed on the intermediate transfer belt 10. Further, the transfer device 100 of the present embodiment includes an intermediate transfer motor 21, roller encoders 22, 33, 43, motor encoders 34, 44, a secondary transfer roller 31, a secondary transfer motor 32, a transfer roller 41, and a transfer motor 42. It has a transport facing roller 46. Further, the transfer device 100 of the present embodiment has a motor control unit 200 that controls to keep the surface moving speed of the intermediate transfer belt 10 constant.

In the transfer device 100 of the present embodiment, the intermediate transfer belt 10 is stretched by a plurality of tension rollers arranged in the belt loop, and is driven by rotation of the intermediate transfer roller 11 which is one of the tension rollers. It can be moved endlessly. The intermediate transfer roller 11 is connected to the intermediate transfer motor 21 as a drive source via a reduction mechanism. This speed reduction mechanism has a configuration in which a small-diameter gear on the rotating shaft of the intermediate transfer motor 21 and a large-diameter gear on the rotating shaft of the intermediate transfer roller 11 are meshed with each other.

In this embodiment, a belt encoder method is adopted as a speed detecting means for detecting the surface moving speed of the intermediate transfer belt 10. An encoder pattern 17 is engraved on the back surface of the intermediate transfer belt 10 of the present embodiment, and the surface movement speed of the intermediate transfer belt 10 is detected by reading the encoder pattern 17 with the scale sensor 16.

In the example of FIG. 1, the scale sensor 16 is installed substantially in the center between the driven roller 13 and the intermediate transfer roller 11, but the scale sensor 16 is not limited to this. If the scale sensor 16 is installed on a flat portion, the surface moving speed of the intermediate transfer belt 10 can be measured correctly. For example, if the scale sensor 16 is installed on an uneven rotating shaft or the like, the curvature of the shaft will have an effect, and the spacing between the encoder patterns 17 will be increased due to changes in the manufacturing thickness of the intermediate transfer belt 10 and changes in the environment. It will change and the surface movement speed will not be correct, so it should be avoided.

The encoder pattern 17 may be manufactured by any method, such as pasting a sheet-shaped encoder pattern, directly pattern processing on the intermediate transfer belt 10, or integrally processing in the manufacturing process of the intermediate transfer belt 10. .. In the present embodiment, the scale sensor 16 assumes a reflection type optical sensor having slits at equal intervals, but the scale sensor 16 is not limited thereto. The sensor may be any sensor that can accurately detect the surface position of the intermediate transfer belt 10 from the encoder pattern 17, and may detect the surface position by image processing using, for example, a CCD camera or the like. Further, if it is a Doppler method or a sensor method that can detect the surface position by image processing from the unevenness of the belt surface, the encoder pattern 17 can be eliminated.

Further, as another speed detecting means for detecting the surface moving speed of the intermediate transfer belt 10, there is a rotary encoder method. This method is a rotation detector provided on the rotation shaft of the driven roller 13. The driven roller 13 is a roller that rotates driven by the endless movement of the intermediate transfer belt 10, and can detect the surface moving speed of the intermediate transfer belt 10.

In the transfer device 100, of the entire region of the intermediate transfer belt 10 in the surface movement direction, the portion after passing the hanging position with respect to the driven roller 13 and before entering the hanging position with respect to the intermediate transfer roller 11 is Y. It contacts the photoconductor drums 19 for M, C, and K to form a primary transfer nip for Y, M, C, and K. The transfer rollers are in contact with the formed portions of the primary transfer nips for Y, M, C, and K in the intermediate transfer belt 10 from the back surface side of the intermediate transfer belt 10. In the transfer device 100, a transfer bias is applied to each transfer roller by a power source, and a transfer electric field is formed between the intermediate transfer belt 10 and the photoconductor drum 19 at the primary transfer nip of each color.

In the transfer device 100, since a color image is formed at the primary transfer portion, it is preferable to detect and control the surface movement speed of the intermediate transfer belt 10 at this portion. Therefore, it is desirable to install a rotary encoder on the driven roller 13 or to install a scale sensor 16 between the driven roller 13 and the intermediate transfer roller 11.

The tension roller 14 of the present embodiment is pressed against the belt from the outside of the belt loop to generate a constant belt tension. Due to the belt tension generated by the tension roller 14, the intermediate transfer belt 10 comes into contact with the surface of each tension roller, and the intermediate transfer belt 10 moves in the surface moving direction. In particular, the contact force between the surface of the intermediate transfer roller 11 and the intermediate transfer belt 10 is important because it correlates with the belt transfer friction force of the intermediate transfer roller 11, and the transfer friction required to convey the intermediate transfer belt 10 is important. The pressing force of the tension roller 14 is set so that the force can be secured.

Further, in the transfer device 100, a secondary transfer roller 31 that comes into contact with the surface of the intermediate transfer belt 10 at a position facing the secondary transfer opposed roller 12 is arranged. Further, in the transfer device 100, the belt cleaning device 15 arranged on the outside of the belt loop and downstream of the secondary transfer roller 31 in the belt transfer direction is in contact with the intermediate transfer belt 10. The belt cleaning device 15 collects foreign matter such as toner adhering to the surface of the intermediate transfer belt 10 from the surface of the intermediate transfer belt 10 by the potential difference between the toner and itself.

The transport device 100 transports the object to be transported in the transport direction indicated by the arrow A. Therefore, the transport device 100 transports the body to be transported from the upstream side in the transport direction of the transport roller 41 and transports the object to be transported to the downstream side in the transport direction of the secondary transfer roller 31. That is, the transport path of the transported body in the present embodiment is formed by a rotating body including the intermediate transfer belt 10, the secondary transfer roller 31, and the transport roller 41.

The motor control unit 200 of the present embodiment feedback-controls the intermediate transfer motor 21 in order to keep the surface movement speed of the intermediate transfer belt 10 constant. Specifically, the motor control unit 200 is based on the output signal S1 of the scale sensor 16 indicating the surface movement speed of the intermediate transfer belt 10 and the output signal S2 of the roller encoder 22 indicating the rotation speed of the intermediate transfer roller 11. , Outputs the drive control signal S3 of the intermediate transfer motor 21.

Further, the motor control unit 200 feedback-controls the secondary transfer motor 32 and the transfer motor 42 in order to suppress fluctuations in the surface movement speed of the intermediate transfer belt 10 due to the influence of the object to be transferred passing through the secondary transfer unit 50. To do. Specifically, the motor control unit 200 outputs the drive control signal S4 of the secondary transfer motor 32 based on the output signal S1 of the scale sensor 16 and the output signal S2 of the roller encoder 22.

Next, the mechanism around the secondary transfer roller 31 will be described.
FIG. 2 is an explanatory diagram showing the configuration of the secondary transfer unit 50 in the transfer device 100.
In the transfer device 100, a secondary transfer motor 32 is installed separately from the intermediate transfer motor 21. The secondary transfer motor 32 is rotated by the drive control signal S4 transmitted from the motor control unit 200. As the secondary transfer motor 32, the same brushed DC motor and brushless DC motor as the intermediate transfer motor 21 are adopted. The rotation speed of the secondary transfer motor 32 is reduced by a reduction mechanism (motor gear and reduction gear on the secondary transfer roller 31 side). Further, the secondary transfer roller 31 conveys the transported object transported to the secondary transfer unit 50 by its rotation.

On the opposite side of the secondary transfer roller 31, there is a secondary transfer opposed roller 12 that supports the intermediate transfer belt 10, and the secondary transfer roller 31 is placed on the secondary transfer opposed roller 12 with the intermediate transfer belt 10 interposed therebetween. Contact. The contact between the two rollers is done by a spring. Further, the secondary transfer roller 31 is provided with a cam mechanism for separating from the secondary transfer opposed roller 12, and the contact and separation of the two rollers in the secondary transfer unit 50 can be switched.

In the transfer device 100 of the present embodiment, an elastic layer is provided on the surface portion of the secondary transfer roller 31 in order to improve the transferability of the secondary transfer unit 50. As an example of the secondary transfer roller 31, a low-hardness rubber material roller portion (elastic rubber layer) such as silicon rubber is provided around a low-inertity thin-walled metal pipe, and the secondary transfer roller 31 is composed of a urethane coating layer applied to the surface layer thereof. ..

In the secondary transfer roller 31 of the present embodiment, the conductive rubber roller portion is composed of vulcanized rubber or silicon-based rubber having a rubber hardness of 40 ° (rubber hardness A scale) or less as a lower layer, and the surface layer thereof has no viscosity. The urethane coating layer to be used may be provided as a thin layer. In the present embodiment, this makes it possible to expand the nip (pressure contact) region by the contact deformation of the conductive rubber roller portion and to secure an appropriate transfer required pressure.

Generally, when trying to achieve a low hardness of 40 ° or less by a method other than the foam rubber structure, in the case of vulcanized rubber, the viscosity increases due to the addition of a plasticizer. Further, in the case of silicon rubber, the viscosity becomes high. As a result, poor movement of both moving bodies occurs due to the adhesion at the pressure contact portion 51 where the intermediate transfer belt 10 and the secondary transfer roller 31 are in contact with each other or the adhesion with the portion in contact with the transported object. In order to avoid this, the urethane coating applied to the surface layer described above is effective.

Next, the configuration around the transport roller 41 will be described.
FIG. 3 is an explanatory diagram showing a configuration of a transport unit 60 in the transport device 100.
The transport roller 41 included in the transport device 100 is one of the rotating bodies that forms a transport path and transports the object to be transported, and is rotated by the transport motor 42. When the transfer motor 42 is driven, the transfer roller 41 rotates by transmitting the rotation of the transfer motor 42 to the transfer roller 41 via a gear. The conveyed body is pressure-welded to the secondary transfer roller 31 and the secondary transfer opposing roller 12 by the conveying portion 60 formed by the conveying roller 41 and the conveying opposing roller 46 arranged at a position facing the conveying roller 41. It is transported to the section 51. The conveyed body conveyed to the pressure contact portion 51 is sandwiched between the secondary transfer roller 31 and the intermediate transfer belt 10 and conveyed. In other words, the pressure contact portion 51 is a sandwiching portion in which the conveyed body is sandwiched between the secondary transfer roller 31 and the intermediate transfer belt 10.

As described above, in the transport device 100 of the present embodiment, the transported body is transported from the transport unit 60 to the secondary transfer unit 50. Then, the transfer device 100 press-contacts the secondary transfer roller 31 with the intermediate transfer belt 10 at the secondary transfer unit 50, and transfers the toner image to the transferred object. At this time, the surface moving speed of the rotating body forming the transport path of the transported body fluctuates depending on the type of the transported body, the tolerance of each roller, the change in contact pressure, the environment, the amount of deviation of the roller shape over time, and the like. To do. Further, this fluctuation changes the surface moving speed of the intermediate transfer belt 10. In other words, the fluctuation of the surface moving speed of the rotating body forming the transport path of the transported body generates an interference torque that causes the fluctuation of the drive torque of the intermediate transfer motor 21 that drives the intermediate transfer belt 10.

Therefore, in the present embodiment, in order to keep the surface moving speed of the intermediate transfer belt 10 constant, the rotation speed of the rotating body forming the transport path of the transported body is controlled. In other words, in the present embodiment, the rotation speed of the rotating body forming the transport path of the transported body is controlled so as not to generate an interference torque with respect to the drive torque of the intermediate transfer motor 21.

In the present embodiment, the rotating body forming the transport path of the transported body includes, for example, a roller located upstream of the transport roller 41 and for transporting the transported body to the transport roller 41. Further, the rotating body forming the transport path of the transported body includes a roller located downstream of the pressure contact portion 51 in the transport path and for transporting the transported body to the fixing device.

The conveyed body of the present embodiment may be, for example, paper, a sheet-shaped film, or the like. The transported object of the present embodiment may be any as long as it can transfer an image and can be transported by the transport device 100.

Hereinafter, the interference torque due to the difference in the surface moving speeds of two adjacent rotating bodies in the transport path of the transport device 100 of the present embodiment will be described.

4 (a) and 4 (b) are diagrams for explaining the interference torque due to the difference in the surface moving speeds of the two rotating bodies.
In the example of FIG. 4, the transfer roller 41 and the secondary transfer roller 31 are shown as two adjacent rotating bodies in the transfer path. In the example of FIG. 4, the transport roller 41 is a rotating body on the upstream side in the transport direction, and the secondary transfer roller 31 is a roller on the downstream side in the transport direction. FIG. 4A shows a case where the surface moving speed of the transport roller 41 on the upstream side in the transport direction is faster than the surface moving speed of the secondary transfer roller 31 on the downstream side in the transport direction. FIG. 4B shows a case where the surface moving speed of the transport roller 41 on the upstream side in the transport direction is slower than the surface moving speed of the secondary transfer roller 31 on the downstream side in the transport direction.

In the present embodiment, the transfer roller 41 on the upstream side in the transfer direction is feedback-controlled by the transfer motor 42 based on the rotation speed obtained from the motor encoder 45, so that the rotation speed Vr of the rotation shaft is always constant. On the other hand, in the secondary transfer roller 31 on the downstream side in the transport direction, the secondary transfer motor 32 is also feedback-controlled based on the rotation speed obtained from the motor encoder 34, so that the rotation speed of the rotation shaft of the secondary transfer roller 31 is controlled. Vs is always constant.

In the transport device 100, when the surface moving speed of the transport roller 41 on the upstream side in the transport direction and the surface moving speed of the secondary transfer roller 31 on the downstream side in the transport direction are different, interference torque is generated between the motors that drive these rollers. Occurs. The interference torque here means that when the secondary transfer motor 32 that drives the secondary transfer roller 31 on the downstream side in the transport direction transports the transported object, the transport roller 41 on the upstream side in the transport direction passes through the transported body. It is the torque generated by being affected by pushing or pulling from. In other words, in the example of FIG. 4, when the surface moving speed of the transfer roller 41 (rotational speed of the transfer motor 42) and the surface moving speed of the intermediate transfer belt 10 are different, between the transfer motor 42 and the intermediate transfer motor 21. Interference torque is generated in.

The interference torque described here is generated when the intermediate transfer motor 21 is affected by the pushing or pulling of the paper P in the transport roller 41 via the paper P which is the conveyed body. In order to measure this interference torque, there is a state in which the paper P straddles the secondary transfer roller 31 and the transfer roller 41 and a state in which the paper P is conveyed only to the secondary transfer roller 31 and not to the transfer roller 41. The amount of change in the drive torque Ta of the intermediate transfer motor 21 may be observed. In the present embodiment, by making this change amount close to zero, the generation of interference torque with respect to the intermediate transfer motor 21 due to pushing or pulling of the paper P in the transport roller 41 is suppressed.

FIG. 4A shows a state in which the paper P straddles both the transport roller 41 and the secondary transfer roller 31. Further, in FIG. 4A, since the surface moving speed of the transfer roller 41 is faster than the surface moving speed of the intermediate transfer belt 10, the transfer roller 41 pushes the paper P toward the secondary transfer roller 31. .. In this state, the surface moving speed of the secondary transfer roller 31 becomes high, and interference torque is generated on the surfaces of the paper P and the intermediate transfer belt 10. Here, the motor control unit 200 reduces the drive torque Ta of the intermediate transfer motor 21 (secondary transfer motor 32) in order to control the surface movement speed of the intermediate transfer belt 10 so as to be a constant speed.

Further, when the paper P is conveyed in the state of FIG. 4A and the rear end Pe of the paper P passes through the conveying section 60 and is conveyed only to the secondary transfer section 50, the transfer roller 41 is used for secondary transfer. The force for pushing the paper P toward the transfer roller 31 disappears. As a result, the surface moving speed of the secondary transfer roller 31 becomes slower. Therefore, the motor control unit 200 controls the surface moving speed of the intermediate transfer belt 10 so as to be a constant speed, so that the driving torque of the intermediate transfer motor 21 is reduced. Ta rises.

In the present embodiment, in the transport path of the transported body, the section in which the transported body is transported across both the rotating body on the upstream side in the transport direction and the rotating body on the downstream side in the transport direction is referred to as a first section. Further, in the present embodiment, a section in which the transported body is transported by only one of the rotating bodies on the upstream side or the downstream side in the transport direction is referred to as a second section. In the example of FIG. 4, in the transport path, the section in which the paper P is transported in the state where the paper P is present in both the transport section 60 and the secondary transfer section 50 is the first section, and the section is transferred to the secondary transfer section 50. The section in which the paper P is conveyed in the presence of the paper P is the second section.

Here, as shown in FIG. 4A, in a state where the transport roller 41 on the upstream side in the transport direction pushes the object to be transported against the secondary transfer roller 31 on the downstream side in the transport direction, the motor on the downstream side in the transport direction is driven. It can be seen that the torque Ta decreases in the first section and increases in the second section. In other words, when the surface moving speed of the transport roller 41 on the upstream side in the transport direction is faster than the surface moving speed of the secondary transfer roller 31 on the downstream side in the transport direction, the drive torque Ta of the motor on the downstream side in the transport direction is the second. It decreases in one section and increases in the second section.

On the other hand, in FIG. 4B, since the surface moving speed of the transport roller 41 on the upstream side in the transport direction is slower than the surface moving speed of the secondary transfer roller 31 on the downstream side in the transport direction, the transport roller 41 is the paper P. Is pulled from the secondary transfer roller 31. Then, the surface moving speed of the secondary transfer roller 31 slows down, and interference torque is generated on the surfaces of the paper P and the secondary transfer roller 31. Also at this time, since the motor control unit 200 controls the surface moving speed of the secondary transfer roller 31 to be a constant speed, the drive torque Ta of the intermediate transfer motor 21 increases.

Further, when the paper P is conveyed in the state of FIG. 4B and the rear end Pe of the paper P passes through the transfer roller 41 and is conveyed only to the secondary transfer roller 31, the transfer roller 41 is secondary. The force that pulls the paper P from the transfer roller 31 disappears. As a result, the surface moving speed of the secondary transfer roller 31 becomes high, so that the motor control unit 200 controls the surface moving speed of the intermediate transfer belt 10 so as to be a constant speed. As a result, the drive torque Ta of the intermediate transfer motor 21 is reduced.

That is, as shown in FIG. 4B, when the transport roller 41 on the upstream side in the transport direction pulls the paper P with respect to the secondary transfer roller 31 on the downstream side in the transport direction, the drive torque Ta of the motor on the downstream side in the transport direction is Ta. Can be seen to increase in the first section and decrease in the second section. In other words, when the surface moving speed of the transport roller 41 on the upstream side in the transport direction is slower than the surface moving speed of the secondary transfer roller 31 on the downstream side in the transport direction, the drive torque Ta of the motor on the downstream side in the transport direction is the second. It rises in one section and falls in the second section.

Hereinafter, the relationship between the change in torque in the first section and the change in torque in the second section will be described with reference to FIG.
FIG. 5 is a diagram for explaining the interference torque generated between the motor on the downstream side and the motor on the upstream side.
In FIG. 5, the fluctuation of the speed of the roller on the upstream side is shown as a percentage of the fluctuation of the speed with respect to the set speed of the roller on the upstream side. The set speed is a value assumed that the surface moving speed of the roller on the upstream side matches the surface moving speed of the roller on the downstream side. The vertical axis is the transport force converted from the torque. The line L1'shown in FIG. 5 shows the relationship between the rotation speed of the roller on the upstream side and the transport force of the motor on the downstream side in the first section, and the line L2'is the rotation of the roller on the upstream side in the second section. The relationship between the speed and the transport force of the motor on the downstream side is shown.

As described with reference to FIG. 4, when the rotation speed of the roller on the upstream side is faster than the surface movement speed of the roller on the downstream side, the drive torque of the motor on the downstream side decreases in the first section and decreases in the second section. To rise. Further, when the rotation speed of the roller on the upstream side is slower than the surface moving speed of the roller on the downstream side, the drive torque of the motor on the downstream side increases in the first section and decreases in the second section. Therefore, as shown in FIG. 5, the transport force L1'of the motor on the downstream side in the first section decreases as the rotation speed of the roller on the upstream side increases, and the transport force L2'of the motor on the downstream side in the second section becomes. , The faster the rotation speed of the roller on the upstream side, the higher the speed.

In the present embodiment, the state in which the difference between the transport force L1'in the first section and the transport force L2'in the second section is zero is most affected by the pushing or pulling of the transported body in the roller on the upstream side. It can be said that there is no state. Therefore, in the present embodiment, the rotation speed of the upstream motor when the difference between the transport force L1'in the first section and the transport force L2'in the second section becomes zero is the rotation speed of the upstream motor. It is the optimum value set as the adjustment target value of.

In the image forming apparatus, the conveying apparatus, and the rotating body control apparatus of the present embodiment described below, the rotation speed is adjusted in order to reduce the interference torque in the conveying path based on the above-mentioned contents. Specifically, in the present embodiment, among the rollers that are in pressure contact with the transported body, the roller located at the most upstream side and the roller adjacent to this roller on the downstream side are paired. Then, in the present embodiment, the interference torque in this set is brought close to zero by adjusting the rotation speed of the upstream roller so that the torque detected by the downstream roller becomes zero.

In the present embodiment, in the transport path, the pairs including the upstream roller and the downstream roller are shifted to the upstream side one by one until the upstream roller becomes the end roller of the transport path, and each pair is moved to the upstream side. Adjust the rotation speed of the rollers. In the present embodiment, by adjusting in this order, the rollers on the upstream side in the set can detect the interference torque without being affected by other rollers that are in pressure contact with the object to be transported upstream from this roller. Can be high. Therefore, in the present embodiment, it is possible to increase the accuracy of the adjustment that brings the interference torque close to zero.

Further, in the present embodiment, among the rollers that are in pressure contact with the transported body, the roller located at the most downstream side and the roller adjacent to this roller on the upstream side can be paired. Then, in the present embodiment, the interference torque in this set is brought close to zero by adjusting the rotation speed of the rollers on the downstream side so that the torque detected by the rollers on the upstream side becomes zero. Then, in the present embodiment, in the transport path, the pair including the downstream roller and the upstream roller is shifted to the downstream side one by one until the downstream roller becomes the end roller of the transport path, and each pair is shifted to the downstream side. Adjust the rotation speed of the roller on the downstream side. In the present embodiment, by adjusting in this order, the rollers on the downstream side in the set can detect the interference torque without being affected by other rollers that are in pressure contact with the object to be transported downstream from this roller. Can be high. Therefore, in the present embodiment, it is possible to increase the accuracy of the adjustment that brings the interference torque close to zero.

In the following description, the roller whose rotational speed is adjusted is called a speed adjusting rotating body (first rotating body), and is adjacent to the speed adjusting rotating body on the upstream side or the downstream side of the speed adjusting rotating body, and , The roller in which torque is detected is called a torque detection rotating body (second rotating body). In the present embodiment, the set including the speed adjusting rotating body and the torque detecting rotating body is shifted to the upstream side or the downstream side, and in each set, the interference torque is adjusted to be close to zero, so that the rollers in the transport path are used. To reduce torque interference.

In the present embodiment, the above-mentioned adjustment is performed until the speed adjusting rotating body becomes the roller at the end of the transport path, but the present invention is not limited to this. The end roller does not have to be the end of the actual transport path. Specifically, for example, the roller at the end may be a roller located at the end of the rotating body in which interference torque is generated with the intermediate transfer belt 10. That is, the end roller may be appropriately determined according to the accuracy of the rotating body that should eliminate the interference torque with the reference torque detecting rotating body.

Further, the transfer device 100 of the present embodiment aims to reduce the interference torque with respect to the drive torque of the intermediate transfer motor 21 in the transfer path. In other words, in the transfer device 100 of the present embodiment, the intermediate transfer motor is used both in the state where the transferred object is sandwiched and conveyed by the secondary transfer unit 50 and in the state where the intermediate transfer belt 10 is rotating alone. The purpose is to keep the drive torque of 21 constant. Therefore, in the present embodiment, in the selection of the set of the rotating body, the first set is the intermediate transfer belt 10 and the transfer roller 41, and first, the interference torque of the intermediate transfer motor 21 with respect to the drive torque Ta is brought close to zero. Then, in the present embodiment, after eliminating the interference torque with respect to the drive torque Ta, the set of rotating bodies may be selected to be shifted one by one.

At this time, in the present embodiment, the set of rotating bodies may be shifted in the transport direction from the upstream side and the downstream side of the secondary transfer unit 50 in the direction that greatly affects the interference torque with respect to the drive torque Ta. .. For example, in a general image forming apparatus, the distance from the secondary transfer unit 50 to the fixing device is larger than the distance from the secondary transfer unit 50 to the transfer roller 41 when the secondary transfer unit 50 is used as a reference. It is often configured to take. This is a result of considering the influence of heat due to fixing, the accuracy of the transfer timing by bringing the transfer roller 41 closer to the secondary transfer unit 50, and the like. In such a configuration, it is necessary to preferentially adjust the rotation speed of the transport roller 41 located on the upstream side in the transport direction, which has a large influence on the interference torque. Therefore, in the case of such a configuration, the set of rotating bodies is selected so as to be sequentially shifted from the first set to the upstream side.

In the selection of the set of rotating bodies, the direction of shifting from the first set may be determined by the difference in nip pressure, transfer path nip time, and the like. For example, when the configuration on the downstream side of the transport path has a large influence on the interference torque, the set of rotating bodies is selected so as to be sequentially shifted from the first set to the downstream side.

Each device of this embodiment will be described below.
FIG. 6 is a diagram illustrating an outline of the configuration of the image forming apparatus of the present embodiment.
The image forming apparatus 300 of the present embodiment comprises an electrophotographic digital multifunction device, and has a copying function, a printer function, a facsimile function, and the like. The image forming apparatus 300 may be an inkjet method, a sublimation type thermal transfer method, a dot impact method, or the like that ejects ink droplets to form an image. The image forming apparatus 300 of this embodiment includes a conveying apparatus 100.

The image forming apparatus 300 of the present embodiment includes an image reading unit 301, an image writing unit 302, a photoconductor unit 303, a photoconductor drum 19, a developing unit 305, an intermediate transfer unit 306, an intermediate transfer belt 10, and a secondary transfer unit 50. It has a transport unit 60, a tray 307, a transport unit 308, and a fixing unit 309.

The image forming apparatus 300 scans the document while irradiating the document with a light source by the image reading unit 301, and reads the image by the CCD (Charge Coupled Device) sensor for the reflected light from the document. The read image is sent to the image writing unit 302 after being subjected to image processing such as scanner γ correction, color conversion, image separation, and gradation correction processing by the image processing unit. The image writing unit 302 modulates the drive of the LD (Laser Diode) according to the image data. In the photoconductor unit 303, an electrostatic latent image is written on a uniformly charged rotating photoconductor drum 19 by a laser beam from the LD, and toner is adhered by the developing unit 305 to visualize the photoconductor unit 303.

The image formed on the photoconductor drum 19 is transferred onto the intermediate transfer belt 10 of the intermediate transfer unit of the intermediate transfer unit 306. When full-color copying is executed in the image forming apparatus 300, toner images of four colors (black (K), cyan (C), magenta (M), and yellow (Y)) are sequentially superimposed on the intermediate transfer belt 10. .. When the image formation and transfer of all colors are completed, the transfer unit 60 supplies the transferred body from the tray 307 at the same timing as the intermediate transfer belt 10, and the secondary transfer unit 50 transfers from the intermediate transfer belt 10. The toner image is secondarily transferred to the body. The conveyed body to which the toner image is transferred is sent to the fixing unit 309 via the conveying unit 308, and is discharged after the toner image is fixed to the conveyed body by the fixing roller and the pressure roller.

FIG. 7 is a diagram illustrating a motor control unit of the present embodiment.
The motor control unit 200 of the present embodiment is included in the transfer device 100, and controls the drive of a plurality of rotating bodies (intermediate transfer roller 11, secondary transfer roller 31, transfer roller 41) shown in FIG. .. The motor control unit 200 of the present embodiment also controls the drive of other rotating bodies forming a transport path. In the image forming apparatus 300 of the present embodiment, the motor control unit 200 is connected to the main control unit 310 that controls the entire image forming apparatus 300, and controls the driving of the rotating body that forms the transport path.

When an image data output instruction or the like is operated from the operation unit 320 of the image forming apparatus 300, the main control unit 310 gives a drive instruction for each motor to the motor control unit 200. Specifically, when the main control unit 310 receives an image data output instruction or the like, the main control unit 310 instructs the motor control unit 200 of a command value for each motor, a start / stop instruction, a target value of the rotation speed, a rotation direction, and the like. The motor control unit 200 controls the drive of each motor in response to this instruction. Further, the main control unit 310 exchanges information about each motor with the motor control unit 200. Further, the main control unit 310 has a memory 330 for storing information (motor information) about each motor. The information about the motor includes, for example, the rotation speed (set speed) of each motor, the PWM value according to the command value, the drive current, the encoder value, and the like.

In the motor control unit 200 of the present embodiment, the rotating body control processing unit 210 has a driver corresponding to a motor that rotates each of a plurality of rollers forming a transport path, and an FET. In the example of FIG. 5, an intermediate transfer motor 21, a secondary transfer motor 32, and a transfer motor 42 are shown as examples of motors that rotate each of a plurality of rollers forming a transfer path.

The drivers 211,222,223 and FET231,232,233 included in the rotating body control processing unit 210 are drivers and FETs corresponding to the intermediate transfer motor 21, the secondary transfer motor 32, and the transfer motor 42, respectively.

The rotating body control processing unit 210 will be described in detail later, but first, the target value of the rotation speed of the secondary transfer motor 32 and the target value of the rotation speed of the transfer motor 42 are adjusted, and each target value after the adjustment is adjusted. Store in memory 330. The rotation speed of the secondary transfer motor 32 is synonymous with the rotation speed of the secondary transfer roller 31, and the rotation speed of the transfer motor 42 is synonymous with the rotation speed of the transfer roller 41.

Further, the rotating body control processing unit 210 selects a set of two adjacent rotating bodies from the rotating bodies forming the transport path, and in this set, the torque of one rotating body is detected and the other rotating body is detected. Adjust the rotation speed. The rotating body control processing unit 210 selects the sets of rotating bodies to be sequentially shifted to the upstream side or the downstream side in the transport direction, and makes the same adjustment for each set.

In this embodiment, the main control unit 310 may select the set of rotating bodies. In this case, the rotating body control processing unit 210 may acquire information for identifying the selected rotating body from the main control unit 310.

The driver 221 and the FET 231 have a function of supplying a drive current to the intermediate transfer motor 21. The driver 222 and the FET 232 have a function of supplying a drive current to the secondary transfer motor 32. The driver 223 and the FET 233 have a function of supplying a drive current to the transfer motor 42.

The rotating body control processing unit 210 acquires the surface moving speed of the intermediate transfer belt 10 and the rotation speed of the intermediate transfer motor 21 from the roller encoder 22 and the scale sensor 16 of the intermediate transfer roller 11. Further, the rotating body control processing unit 210 acquires the rotation speeds of the secondary transfer motor 32 and the secondary transfer roller 31 from the motor encoder 34 and the roller encoder 33. Further, the rotating body control processing unit 210 acquires the rotation speeds of the transfer motor 42 and the transfer roller 41 from the motor encoder 44 and the roller encoder 43.

Further, the rotating body control processing unit 210 acquires the drive currents of the intermediate transfer motor 21, the secondary transfer motor 32, and the transfer motor 42, calculates the control output to each motor, and calculates the control output to each motor, and the PWM command value corresponding to the control output. Is output to each driver. Further, the rotating body control processing unit 210 of the present embodiment acquires a drive current for each motor that rotates each roller forming a transport path, calculates a control output to each motor, and corresponds to the control output. The PWM command value is output to the driver of each motor.

The rotating body control processing unit 210 calculates the drive current of each motor based on the PWM command value. However, an error may occur due to the influence of fluctuations and responsiveness of the motor drive circuit including the driver. Therefore, in order to grasp the drive current of the motor with higher accuracy, the rotating body control processing unit 210 may measure the current of the FET and grasp the drive current. Specifically, the rotating body control processing unit 210 may grasp the drive current from the combined current value flowing through the shunt resistor connected to the FET.

When the PWM command value is input, the drivers 221, 222, 223 recognize the rotation angles of the motors 21, 32, and 42 by the Hall element signal. Then, each driver converts the PWM signal generated according to the PWM command value into a motor three-phase output signal, and drives each motor via the FETs 231, 232, and 233.

The rotating body control processing unit 210 of the present embodiment controls the rotating speed of the rotating body forming the transport path based on the command value of each motor by the above operation.

Further, the rotating body control processing unit 210 calculates the drive torque from the acquired drive current. Specifically, the rotating body control processing unit 210 acquires the rotating speed and the driving current of the rotating body (motor corresponding to the rotating body) forming the transport path, and torque conversion showing the relationship between the torque multiplier and the speed. Convert the drive current into torque using a table or the like.

Further, the rotating body control processing unit 210 stores the data acquired by the rotating body control processing unit 210, the calculated data, and the like in the memory 330, and notifies the main control unit 310 of information such as an abnormality notification, if necessary. To do. The memory 330 may be configured to be included in the rotating body control processing unit 210 as well.

As described above, in the present embodiment, the rotating body control processing unit 210 functions as a part of the rotating body control device that controls the driving of the plurality of rotating bodies.

Next, with reference to FIG. 8, the function of the rotating body control processing unit 210 of the present embodiment will be described.
FIG. 8 is a diagram illustrating the function of the rotating body control processing unit of the present embodiment.
The rotating body control processing unit 210 of the present embodiment is, for example, an arithmetic processing unit (rotating body control device) having a memory or the like, and in each unit of the rotating body control processing unit 210 described later, the arithmetic processing unit is stored in the memory. It is realized by executing the rotating body control program.

The rotating body control processing unit 210 of the present embodiment includes a selection unit 240, a paper passing detection unit 245, a speed control unit 250, and a speed adjustment unit 260.

The selection unit 240 selects two adjacent rotating bodies in the transport path. The selection unit 240 of the present embodiment may select two adjacent rotating bodies by acquiring information for identifying the rotating body selected by the main control unit 310.

The selection unit 240 of the present embodiment first selects the intermediate transfer belt 10 of the secondary transfer unit 50 as a reference torque detecting rotating body. At this time, since both the intermediate transfer belt 10 and the secondary transfer roller 31 are driven in the secondary transfer unit 50, either of them may be selected as a reference, but in the present embodiment, it contributes to the stabilization of image formation. Therefore, the intermediate transfer belt 10 is selected as the reference rotating body (belt) for torque detection. In other words, in the present embodiment, the intermediate transfer belt 10 is a reference torque detecting rotating body.

Next, in the present embodiment, when adjusting the rotation speed of the rotating body on the upstream side in the transport direction from the reference rotating body, the transport roller 41 adjacent to the reference intermediate transfer belt 10 on the upstream side in the transport direction Is selected as the rotating body for speed adjustment. That is, in this case, the pair of two adjacent rotating bodies is the intermediate transfer belt 10 and the transport roller 41.

Hereinafter, a case where two transfer rollers 47-1 and 47.2 are provided on the upstream side of the transfer roller 41 in the transfer direction and the upstream side of the intermediate transfer belt 10 is to be adjusted will be described. In this case, the set selected next to the set of the intermediate transfer belt 10 and the transfer roller 41 is the transfer roller 41 on the upstream side in the transfer direction of this set and the transfer roller adjacent to the transfer roller 41 on the upstream side in the transfer direction. It becomes 47-1. Further, in this set, the transport roller 41 on the downstream side in the transport direction serves as a torque detection rotating body, and the transport roller 47-1 on the upstream side in the transport direction serves as a speed adjusting rotating body.

Next to the set of the transfer roller 41 and the transfer roller 47-1, the transfer roller 47-1 on the upstream side in the transfer direction in this set and the transfer roller 47 adjacent to the transfer roller 47-1 on the upstream side in the transfer direction. It becomes -2. Further, in this set, the transport roller 47-1 serves as a torque detection rotating body, and the transport roller 47-2 serves as a speed adjusting rotating body. The selection unit 240 selects a set until the roller at the end on the upstream side in the transport direction is selected.

Next, a case where two transfer rollers 48-1 and 48-2 are provided on the downstream side of the intermediate transfer belt 10 in the transfer direction and the downstream side of the intermediate transfer belt 10 is to be adjusted will be described. In this case, the intermediate transfer belt 10 and the transfer rollers 48-1 adjacent to the intermediate transfer belt 10 on the downstream side in the transfer direction are selected as the first set. In this case, the intermediate transfer belt 10 is a rotating body for torque detection, and the transport roller 48-1 is a rotating body for speed adjustment.

The set selected after the first set is the transfer roller 48-1 located on the downstream side in the transfer direction in this set, and the transfer roller 48-2 adjacent to the transfer roller 48-1 on the downstream side in the transfer direction. In this set, the transport roller 48-1 on the upstream side in the transport direction serves as a torque detection rotating body, and the transport roller 48-2 on the downstream side in the transport direction serves as a speed adjusting rotating body. The selection unit 240 continues to select a set until the end roller on the downstream side in the transport direction is selected.

As described above, the selection unit 240 of the present embodiment selects the speed adjusting rotating body as the next torque detecting rotating body after the rotation speed of the speed adjusting rotating body is adjusted, and this rotation A rotating body adjacent to the body on the opposite side of the torque detecting rotating body is selected as the next speed adjusting rotating body. In the present embodiment, by selecting the set of rotating bodies in this way, the rotation for speed adjustment is performed in both the case where the set is shifted to the upstream side in the transport direction and the case where the set is shifted to the downstream side in the transport direction. The body can be adjusted without being affected by the rotating body further upstream or further downstream.

In the selection unit 240 of the present embodiment, the direction to be adjusted may be set to either the upstream side or the downstream side of the reference intermediate transfer belt 10. The selection unit 240 may select a speed adjusting rotating body and a torque detecting rotating body based on this setting.

The paper passing detection unit 245 detects that each rotating body has reached or passed the conveyed body.

The speed control unit 250 controls the rotation speed of each rotating body. Specifically, the speed control unit 250 changes the rotation speed or sets a target value of the rotation speed for the motor corresponding to each rotating body. Further, the speed control unit 250 performs feedback control so that the rotation speed of each motor becomes a target value included in the motor information.

The speed adjusting unit 260 adjusts the target value of the rotation speed of the motor corresponding to the two rotating bodies so as to eliminate the torque interference between the two rotating bodies selected by the selecting unit 240.

The speed adjustment unit 260 of the present embodiment includes a torque estimation unit 261, a speed change instruction unit 263, a speed calculation unit 264, and a storage control unit 265.

The torque estimation unit 261 of the present embodiment calculates an estimated value of the drive torque for rotating the torque detection rotating body in the set selected by the selection unit 240. In other words, the torque estimation unit 261 of the present embodiment is an acquisition unit that acquires the drive torque of the motor that rotates the torque detection rotating body.

Hereinafter, as an example of the method of calculating the estimated value of the driving torque, the method of calculating the estimated value of the driving torque Ta of the intermediate transfer motor 21 will be described.

The torque estimation unit 261 sets the load torque value calculated based on the PWM command value output to the driver 221 and the rotation speed of the intermediate transfer motor 21 obtained from the scale sensor 16 as the drive torque Ta. The estimated value of the drive torque Ta can be calculated from the current value supplied to the motor, the PWM command value, and the like when each motor is accurately controlled to the target speed. In this embodiment, calculating the estimated value of the drive torque Ta is synonymous with calculating the drive torque Ta.

The speed change instruction unit 263 instructs each motor that rotates the torque detection rotating body and the speed adjusting rotating body to change the respective rotation speeds. In the following description, the motor that rotates the torque detection rotating body is called a torque detection motor, and the motor that rotates the speed adjusting rotating body is called a speed adjusting motor.

The speed calculation unit 264 is a torque detection rotating body in the first section when the speed adjusting rotating body is rotated at each rotation speed instructed by the speed change instruction unit 263 in the set selected by the selection unit 240. The drive torque T1 of the above and the drive torque T2 of the torque detection rotating body in the second section are acquired, and the first section parameter and the second section parameter are calculated. The first section parameter is a parameter showing the relationship between the rotation speed of the speed adjusting rotating body (first rotating body) and the driving torque of the torque detection rotating body (second rotating body) in the first section, and is the second. The section parameter is a parameter indicating the relationship between the rotation speed of the speed adjusting rotating body (first rotating body) and the driving torque of the torque detecting rotating body (second rotating body) in the second section. The speed calculation unit 264 of the present embodiment calculates the target value of the rotation speed of the speed adjustment motor based on the first section parameter and the second section parameter calculated in this way. In other words, the speed calculation unit 264 is a setting unit that sets the rotation speed of the speed adjustment motor.

The storage control unit 265 stores the rotation speed (target value) calculated by the speed calculation unit 264 in the memory 330.

Next, the operation of the rotating body control processing unit 210 of the present embodiment will be described with reference to FIGS. 9 and 10.
FIG. 9 is a first flowchart illustrating the operation of the rotating body control processing unit of the present embodiment.
The process shown in FIG. 9 may be executed at a predetermined timing, for example, when the image forming apparatus 300 is shipped from the factory or when the image forming apparatus 300 is installed and started to be used. Further, the process shown in FIG. 9 may be executed when the type of the transported object to be transported by the transport device 100 changes. Further, the process shown in FIG. 9 may be executed at an arbitrary timing or at predetermined intervals according to an instruction from the user of the image forming apparatus 300. That is, the process of FIG. 9 may be executed at an arbitrary timing.

The rotating body control processing unit 210 of the present embodiment sets i = 0 as the initial setting of the variable i for specifying the speed adjusting rotating body (i) by the selection unit 240 (S701). Subsequently, the rotating body control processing unit 210 acquires the direction in which the rotation speed is adjusted by the selection unit 240 (S702). In the present embodiment, it is assumed that the selection unit 240 is set as the direction to be adjusted by either the upstream side or the downstream side in the transport direction with respect to the reference rotating body.

Subsequently, the selection unit 240 determines the number (number of pairs to be selected) N of the speed adjusting rotating bodies for adjusting the rotation speed by the speed adjusting unit 260 (S703). At this time, the reference rotating body (intermediate transfer belt 10) is considered to be the 0th roller. After that, the selection unit 240 selects the speed adjusting rotating body and increments the variable i (S704). Here, the selection unit 240 first selects the speed adjusting rotating body based on the intermediate transfer belt 10 which is the reference rotating body and the direction of the adjustment target.

For example, when the direction to be adjusted is the upstream side in the transport direction, the selection unit 240 selects the transport roller 41 as the speed adjusting rotating body. When the direction to be adjusted is on the downstream side in the transport direction, the selection unit 240 selects the transfer roller 48-1 adjacent to the intermediate transfer belt 10 on the downstream side in the transport direction as the speed adjusting rotating body.

Next, the rotating body control processing unit 210 sets the first section and the second section, which are sections for measuring the drive torque of the torque detecting rotating body, by the speed adjusting unit 260 (S705). In the present embodiment, information such as the distance between rollers of the transport path and the basic transport speed is set in advance, and the transport section of the transported body is calculated with reference to these information. Further, the timing for measuring the drive torque of the torque detection rotating body is determined based on a signal from a detection sensor for detecting the passage of the conveyed body to each rotating body, a print execution signal, and the like.

In the present embodiment, the first section is a section in which both the torque detection rotating body (i-1) and the speed adjusting rotating body (i) convey the transported object. In this first section, it is assumed that there is no rotating body carrying the transported body on the upstream side of the speed adjusting rotating body (i) in the transport direction (the transport by the rotating body has substantially no effect). To do.
Further, in the present embodiment, the second section is a section in which the transported body is transported only by the torque detection rotating body (i-1).

Next, the rotating body control processing unit 210 adjusts the rotation speed of the speed adjusting rotating body (i) by the speed adjusting unit 260 (S800). The details of this processing step S800 will be described later.

After completing the processing step S800 and adjusting the rotation speed of the speed adjusting rotating body (i), the rotating body control processing unit 210 rotates the end of the speed adjusting rotating body (i) in the transport path. It is determined whether or not it is a body (S707). That is, the rotating body control processing unit 210 determines whether or not i = N of the speed adjusting rotating body (i). If it is determined in the processing step S707 that it is not the terminal rotating body, the rotating body control processing unit 210 returns to the processing step S704 to continue the processing. On the other hand, when it is determined in the processing step S707 that the rotating body is the terminal end, the speed adjusting unit 260 sets the respective rotating speeds of the speed adjusting rotating bodies (i = 1 to N) as target values. It is stored in the memory 330 (S708), and the process ends.

Next, with reference to FIG. 10, the adjustment of the rotation speed of the speed adjusting rotating body by the speed adjusting unit 260 of the present embodiment will be described.
FIG. 10 is a second flowchart illustrating the operation of the rotating body control processing unit of the present embodiment. The process of FIG. 10 shows the details of the process step S800 shown in FIG.

The rotating body control processing unit 210 of the present embodiment first sets the rotational speed of the torque detection motor to a target value (S801) and sets the rotational speed of the speed adjusting motor to the first specified value A (S802). After that, the transport (paper passing) of the transported object is started (S803). Then, the rotating body control processing unit 210 calculates the drive torque T1A of the torque detection motor in the first section and the drive torque T2A of the torque detection motor in the second section by the torque estimation unit 261 of the speed adjustment unit 260 (S804). ).

Next, the rotating body control processing unit 210 sets the rotation speed of the speed adjusting motor to the second specified value B while setting the rotation speed of the torque detection motor to the target value (S805). After that, the transport (paper passing) of the transported body is started (S806). Then, the rotating body control processing unit 210 calculates the drive torque T1B of the torque detection motor in the first section and the drive torque T2B of the torque detection motor in the second section by the torque estimation unit 261 of the speed adjustment unit 260 (S807). ).

Here, the calculation of the drive torques T1 and T2 will be described.
The rotating body control processing unit 210 starts transporting the transported body, and the paper passing detection unit 245 causes the transported body to be transferred to the torque detecting rotating body (i-1) following the speed adjusting rotating body (i). When it is detected that the torque has been reached, the torque estimation unit 261 starts to acquire the drive torque of the torque detection motor. The torque estimation unit 261 acquires the drive torque at each predetermined time interval (sampling interval), and when the paper passing detection unit 245 detects the passage of the speed adjusting rotating body of the conveyed object, the average of the acquired drive torques. A value is obtained, and this is calculated as the drive torque T1 of the torque detection motor in the first section.

Subsequently, when the rotating body control processing unit 210 detects the passage of the torque detecting rotating body of the transported body by the paper passing detecting unit 245, the torque estimating unit 261 detects the passage of the speed adjusting rotating body of the transported body. The average value of the drive torque acquired before the torque detection rotating body passes is obtained, and this is calculated as the drive torque T2 of the torque detection motor in the second section.

In the present embodiment, the drive torques T1 and T2 calculated in this way are calculated for a predetermined number of objects to be transported, and the average value for the predetermined number of sheets is calculated as the final drive torques T1 and T2. You may.

Examples of the detection method by the paper passing detection unit 245 of the present embodiment include (1) a method of monitoring the torque detected by each encoder installed in the speed adjustment motor or the torque detection motor, and (2) a rotating body for speed adjustment. Examples include a method of detecting that has started to convey the object to be conveyed, and (3) a method of monitoring the drive current flowing through the FET corresponding to the torque detection motor.

The method (1) above will be specifically described. The torque acting on the torque detection rotating body is larger in the section where the transported body is being conveyed than in the section where it is not being conveyed. After receiving the drive instruction from the main control unit 310, the paper passing detection unit 245 waits for the lapse of time for the rotation speed of the torque detection rotating body to stabilize, and monitors the torque. Then, the paper passing detection unit 245 determines that the tip of the conveyed body has rushed into the torque detecting rotating body, for example, when the torque change speed (gradient) becomes equal to or higher than the threshold value.

The method (2) above will be specifically described. The speed adjusting rotating body has a function of adjusting the timing so that the toner image of the intermediate transfer belt 10 is printed on the conveyed body and restarting the transfer. Since the main control unit 310 detects that the speed adjusting rotating body has started to be conveyed, the paper passing detection unit 245 receives a notification from the main control unit 310 that the speed adjusting rotating body has started to be conveyed. Since the distance from the speed adjusting rotating body to the torque detecting rotating body and the conveying speed are known, the paper passing detection unit 245 attaches the tip of the conveyed object to the torque detecting rotating body when a predetermined time elapses after receiving the notification. Can be determined to have rushed. In addition, a method in which a sensor installed near the torque detecting rotating body detects the passage of the conveyed body may be used.

The method (3) above will be described. The drive current flowing through the FET increases as the load on the torque detection motor increases. Therefore, when the conveyed body rushes into the torque detection rotating body, the drive current flowing through the FET increases. Therefore, the paper passing detection unit 245 determines that, for example, when the change speed (gradient) of the drive current of the torque detection motor becomes a predetermined value or more, the conveyed body has rushed into the torque detection rotating body.

As described above, the drive torques T1A and T2A of the torque detection motors in the first section and the second section when the speed adjusting rotating body is rotated at the rotation speeds of the first specified value A and the second specified value B, respectively. , T1B, T2B are obtained. After that, the speed calculation unit 264 sets the rotation speeds of two points, the first specified value A and the second specified value B, as the first section parameters, and the drive torque T1A of the torque detection motor in the first section corresponding to these. The first approximate expression L1 that linearly interpolates with T1B is calculated (S808). Further, the speed calculation unit 264 has two rotation speeds of the first specified value A and the second specified value B as the second section parameters, and the drive torque T2A of the torque detection motor in the second section corresponding to these. The second approximate expression L2 that linearly interpolates with T2B is calculated (S808).

After that, the speed calculation unit 264 determines the speed at which the drive torque of the torque detection rotating body matches between the first section and the second section based on the calculated first approximate expression L1 and second approximate expression L2. The rotation speed of the adjustment rotating body is specified as the adjustment target value T (S809). Specifically, the rotation speed of the speed adjusting rotating body, which is the intersection of the first approximate expression L1 and the second approximate expression L2, is specified as the adjustment target value T. After specifying the adjustment target value T of the speed adjusting rotating body in this way, the process proceeds to the processing step S707 of FIG.

In the present embodiment, the first specified value A and the second specified value B, which are the rotation speeds of the speed adjusting rotating body used to obtain the second approximate expression L2 for the second section, are for the first section. Although it was the same as the rotation speed of the speed adjusting rotating body used to obtain the first approximate expression L1, another rotation speed may be used. However, if they are the same, the processing can be performed in a shorter time.

FIG. 11 shows an example of the first approximate expression L1 that linearly interpolates the first specified value A and the second specified value B in the first section and the drive torques T1A and T1B of the torque detection motor, and the first specified in the second section. It is a graph which shows an example of the 2nd approximate expression L2 which linearly interpolates the value A and the 2nd specified value B, and the drive torque T2A, T2B of a torque detection motor.
Depending on various conditions (type of the object to be transported, etc.) and usage environment, as shown in FIG. 11, the rotation speed (adjustment) of the speed adjusting rotating body which is the intersection of the first approximate expression L1 and the second approximate expression L2. The target value T) may exist within the speed range between the first specified value A and the second specified value B.

FIG. 12 shows another example of the first approximate expression L1 that linearly interpolates the first specified value A and the second specified value B in the first section and the drive torques T1A and T1B of the torque detection motor, and the second in the second section. It is a graph which shows the other example of the 2nd approximate expression L2 which linearly interpolates the 1st specified value A and the 2nd specified value B, and the driving torque T2A, T2B of a torque detection motor.
Depending on various conditions (type of the object to be transported, etc.) and usage environment, as shown in FIG. 12, the rotation speed (adjustment) of the speed adjusting rotating body which is the intersection of the first approximate expression L1 and the second approximate expression L2. The target value T) may exist outside the speed range between the first specified value A and the second specified value B.

In the present embodiment, the adjustment target value T of the speed adjusting rotating body can be obtained with high accuracy in any of the cases of FIGS. 11 and 12.

This point will be described. In the image forming apparatus 300 of the present embodiment, even if the rotational speed of the speed adjusting rotating body is shaken over a wide speed range, the rotating speed and torque of the speed adjusting rotating body are detected in both the first section and the second section. It has been found that a stable relationship with the drive torques T1 and T2 of the motor can be obtained. The wide speed range referred to here means that the rotation speed of the first rotating body is sequentially changed until the magnitude relation of the driving torques T1 and T2 of the second rotating body between the first section and the second section is reversed. The speed range is wider than the change range of the rotation speed of the first rotating body in the conventional device. Further, the relationship referred to here is a proportional relationship that can be first-order approximated in the present embodiment, but may be another relationship such as a quadratic approximation formula.

Since such a stable relationship can be obtained, the rotation speed of the speed adjusting rotating body and the measured values of the driving torques T1 and T2 of the torque detection motor can be obtained at least at two points to rotate the speed adjusting rotating body. Approximate equations L1 and L2 showing the relationship between the speed and the drive torques T1 and T2 of the torque detection motor can be obtained with high accuracy (required accuracy).

As a result, in calculating the approximate expressions L1 and L2 for specifying the adjustment target value T of the speed adjusting rotating body, the speed adjustment is performed for at least two points (the first specified value A and the second specified value B). It is only necessary to acquire the drive torques T1 and T2 of the torque detection motor at the rotation speed of the rotating body. Therefore, the rotation speed of the first rotating body is sequentially changed to drive the torque detection motor until the magnitude relation of the driving torques T1 and T2 of the second rotating body between the first section and the second section is reversed. The time required for the specific process for specifying the adjustment target value T of the speed adjusting rotating body can be shortened as compared with the conventional device for acquiring the torques T1 and T2.

In particular, the adjustment target value T of the speed adjusting rotating body differs depending on the type (material, thickness, etc.) of the body to be transported. Therefore, when there are a plurality of types of objects to be transported used by the image forming apparatus 300, it is desirable to individually execute the specific processing for each type of objects to be transported. Therefore, when the specific processing is executed for each of a plurality of types of objects to be transported, the effect of shortening the time required for the specific processing is very large.

In addition, in order to acquire the drive torques T1 and T2 of the torque detection motor, it is necessary to actually transport the transported object. However, according to the present embodiment, the number of sheets to be passed through the transported object is also reduced. Can be done.

In the present embodiment, the rotation speed is adjusted from the speed adjusting motor included in each set to the speed adjusting motor of the rotating body at the end on the upstream side or the downstream side of the transport path by the above processing of the rotating body control processing unit 210. can do.

The rotating body control processing unit 210 of the present embodiment may, for example, obtain the interference torque of the intermediate transfer motor 21 after the processing of FIG. 9 is completed, and determine whether the interference torque is approaching zero. At this time, in the present embodiment, for example, it may be determined whether or not the interference torque is equal to or less than a target value that does not affect the image output unit 230.

In the present embodiment, an example of controlling the rotation speed of the rotating body forming the transport path so as to eliminate the interference torque with respect to the intermediate transfer belt 10 has been described, but the configuration to which the present embodiment is applied is this. Not limited to. The control method of the present embodiment can be applied to, for example, an image forming apparatus having a photoconductor belt. In this case, the interference torque with respect to the photoconductor belt may be eliminated. In the present embodiment, any device can be applied as long as it has a plurality of pairs of rotating bodies and the transported body is transported by the plurality of pairs.

Further, in the image forming apparatus, in a state where the intermediate transfer motor 21, the secondary transfer motor 32, and the rotating body forming the transfer path such as the transfer motor 42 are controlled to a constant rotation speed, the drive torque of each motor The fluctuation is also reflected in each signal upstream of each motor. Therefore, instead of the drive torque Ta of the intermediate transfer motor 21, the current command value, the drive current, the PWM actual measurement value, the torque actual measurement value, and the like supplied to the intermediate transfer motor 21 can be used. In other words, the current command value, drive current, PWM actual measurement value, torque actual measurement value, etc. supplied to the intermediate transfer motor 21 can be used as the transport force of the intermediate transfer motor 21. In this case, since another value can be used instead of the drive torque Ta of the intermediate transfer motor 21, it is not necessary to calculate the estimated value of the drive torque Ta.

The above description is an example, and the effect peculiar to each of the following aspects is exhibited.
[First aspect]
In the first aspect, the first rotating body (speed adjusting rotating body: for example, the conveying roller 41) that applies the conveying force to the conveyed body (for example, paper) is adjacent to the first rotating body (for example, the conveying roller 41), and the conveying force is applied to the conveyed body. A control device (for example, motor control unit 200) that controls adjusting the rotation speed of the first rotating body based on the rotating speed of the rotating body (rotary body for torque detection: for example, intermediate transfer belt 10). When the first rotating body is rotated at two or more different rotation speeds (for example, the first specified value A and the second specified value B) while rotating the second rotating body at a specified speed. Acquired each drive torque information T1A, T1B of the second rotating body in the first section in which the transported body receives the conveying force from both the first rotating body and the second rotating body, and all the acquired drives. Using the torque information, the first section parameter (for example, the first approximate expression L1) indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in the first section is calculated, and When the first rotating body is rotated at two or more different rotation speeds (for example, the first specified value A and the second specified value B) while rotating the second rotating body at the specified speed. , Each drive torque information T2A, T2B of the second rotating body in the second section in which the transported body receives the conveying force from the second rotating body without receiving the conveying force from the first rotating body is acquired. , A second section parameter (for example, the second approximate expression L2) indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in the second section using the acquired total drive torque information. The driving torque of the second rotating body will be the same between the first section and the second section based on the first section parameter and the second section parameter. It is characterized by having a specific processing unit (for example, a rotating body control processing unit 210) that executes a specific process that specifies the rotation speed of the body as an adjustment target value T.
In the conventional control device, the rotation speed of the first rotating body is sequentially changed from the first predetermined rotation speed until the magnitude relation of the driving torque of the second rotating body is reversed, and the rotation speed of the first rotating body is changed. Search for a speed range in which the adjustment target value (rotational speed) can exist. In this case, if the adjustment target value of the first rotating body is far from the initial rotation speed, it takes time to find the speed range, and a lot of time is required for the specific process of specifying the adjustment target value of the first rotating body. Will be required. Then, for the following reasons, there is a tendency that the adjustment target value of the first rotating body deviates from the initial rotation speed.
In the specific processing in the conventional control device, when the speed range in which the adjustment target value (rotation speed) of the first rotating body can exist is found, a linear equation (first section parameter and first section parameter) for linear interpolation within the speed range is found. The two-section parameter) is obtained, and the rotation speed of the first rotating body at which the driving torques of the second rotating body are the same between the first section and the second section is specified. In order to perform such processing, the conventional control device does not deviate from the search for the initial rotation speed at which the search is started, in any situation, including the adjustment target value of the first rotating body. As such, it is set with sufficient margin. Therefore, there is a tendency that the adjustment target value of the first rotating body is different from the initial rotation speed.
Here, the present inventors do not perform the process of searching the speed range in which the adjustment target value (rotational speed) of the first rotating body can exist until the magnitude relation of the driving torque of the second rotating body is reversed. However, it has been found that the first section parameter and the second section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in each section can be obtained with high accuracy. That is, the present inventors use the first section parameter and the second section parameter obtained from the rotation speeds of two points (which may be three or more points) in the first rotating body to control these rotation speeds. It was found that the adjustment target value (rotational speed) of the first rotating body existing outside the speed range can be specified with high accuracy as well as within the speed range between them.
As a result, even if the process of searching the speed range in which the adjustment target value of the first rotating body can exist is not performed, the rotation speeds of two or more points in the first rotating body are appropriately set, and the rotation of the two points or more is performed. From each drive torque information of the second rotating body when the first rotating body is rotated at a speed, the first section parameter and the second section parameter are obtained, and the adjustment target value (rotation speed) of the first rotating body is specified. be able to.
In the specific processing in this embodiment, first, in the first section and the second section when the second rotating body is rotated at a predetermined speed and the first rotating body is rotated at two or more different rotation speeds. Acquire information on each drive torque of the second rotating body. Then, using the acquired total drive torque information, the first section parameter and the second section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in each section are calculated. That is, in the specific processing of this aspect, since the first section parameter and the second section parameter are calculated using the acquired total drive torque information, the speed at which the adjustment target value (rotational speed) of the first rotating body can exist. The process of searching the range is not performed. After that, in the specific processing of this embodiment, the rotation speed of the first rotating body is adjusted to the target value based on these parameters so that the driving torque of the second rotating body matches between the first section and the second section. Specify as.
According to this aspect, the first section parameter and the second section parameter are obtained without performing the process of searching the speed range in which the adjustment target value (rotation speed) of the first rotating body can exist, and the first rotating body is obtained. The adjustment target value of can be specified. As a result, it is possible to reduce the number of points of the rotation speed of the first rotating body for obtaining the first section parameter and the second section parameter, shorten the time required for the specific process, and have to transport at the time of the specific process. It is possible to reduce the number of objects to be transported.

[Second aspect]
In the second aspect, in the first aspect, the rotation speeds of the first rotating body at two or more points (for example, the first specified value A) when acquiring the driving torque information of the second rotating body in the second section. And the second specified value B) are the same as the rotation speeds of the two or more points of the first rotating body when acquiring each drive torque information of the second rotating body in the first section. To do.
According to this, both the drive torque information of the second rotating body in the first section and the drive torque information of the second rotating body in the second section can be acquired during the transportation of the same transported body. .. Therefore, the processing can be performed in a shorter time.

[Third aspect]
The third aspect is that, in the first or second aspect, the number of rotation speeds of the first rotating body used when acquiring each drive torque information of the second rotating body is two points or three points. It is a feature.
Even if the number of rotation speeds of the first rotating body used to acquire each drive torque information of the second rotating body is as small as two or three points, the required accuracy (for example, the same degree of accuracy as before). ), The adjustment target value (rotational speed) of the first rotating body can be obtained.

[Fourth aspect]
The fourth aspect is characterized in that, in any of the first to third aspects, the relationship indicated by at least one of the first section parameter and the second section parameter is a proportional relationship. is there.
The adjustment target value (rotation speed) of the first rotating body can be obtained with the required accuracy (for example, the same accuracy as the conventional one).

[Fifth aspect]
In the fifth aspect, in any of the first to fourth aspects, the specific processing unit performs the specific processing with the second rotating body as the first rotating body at the specified speed of the second rotating body. It is characterized in that the rotation speed specified in advance as the adjustment target value is used.
According to this, the rotation speed of each rotating body on the transport path can be adjusted with higher accuracy.

[Sixth aspect]
In the sixth aspect, in any of the first to fifth aspects, the specific processing unit performs the specific processing and then with respect to the second rotating body (for example, the intermediate transfer belt 10) at the time of the specific processing. The third rotating body (for example, the conveying roller 48-1) adjacent to the first rotating body at the time of the specific processing is newly set as the first rotating body, and the specific processing is newly executed. It is a feature.
According to this, the rotation speeds of the rotating bodies on the upstream side and the downstream side in the transport direction of the second rotating body can be adjusted with reference to the second rotating body (for example, the intermediate transfer belt 10).

[7th aspect]
In the seventh aspect, in any one of the first to sixth aspects, in the specific processing unit, the driving torque of the second rotating body is the same between the first section and the second section. The first rotation speed (adjustment target value T) of one rotating body is used when acquiring each drive torque information of the second rotating body in at least one section of the first section and the second section. Even if the rotation speed of the rotating body is out of the range of the two or more points (for example, the first specified value A and the second specified value B), the rotation speed of the first rotating body that will match is adjusted to the target value. It is characterized by being specified as.
Even in the case shown in FIG. 12, the adjustment target value (rotation speed) of the first rotating body can be obtained with the required accuracy (for example, the same accuracy as the conventional one).

[8th aspect]
The eighth aspect is characterized in that, in any one of the first to seventh aspects, the drive current value or the PWM command value for driving the second rotating body is used as the drive torque information.
According to this, the drive torque information can be acquired more easily.

[9th aspect]
A ninth aspect is a transfer device 100 that conveys an object to be conveyed by a plurality of rotating bodies, and is characterized by having a control device according to any one of the first to eighth aspects.
According to this, it is possible to realize a transport device capable of shortening the time required for the specific process of specifying the adjustment target value of the first rotating body and reducing the number of objects to be transported that must be transported during the specific process. ..

[10th aspect]
A tenth aspect is an image forming apparatus 300 that forms an image on an object to be conveyed, which is conveyed by the conveying device, and is characterized in that the conveying device of the ninth aspect is used as the conveying device.
According to this, it is possible to realize an image forming apparatus capable of shortening the time required for the specific process for specifying the adjustment target value of the first rotating body and reducing the number of objects to be transported during the specific process. it can.

[11th aspect]
The eleventh aspect of the first rotating body is based on the rotation speed of the second rotating body that is adjacent to the first rotating body that applies the transporting force to the transported body and applies the transporting force to the transported body. A control method for adjusting the rotation speed, which is a control method in which the first rotating body is rotated at two or more different rotation speeds while rotating the second rotating body at a specified speed. Each drive torque information of the second rotating body in the first section in which the transported body receives the conveying force from both the first rotating body and the second rotating body is acquired, and the acquired total driving torque information is obtained. The first section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in the first section is calculated, and the second rotating body is rotated at the specified speed. When the first rotating body is rotated at two or more rotation speeds different from each other, the conveyed body is conveyed from the second rotating body without receiving the conveying force from the first rotating body. Each drive torque information of the second rotating body in the second section receiving the force is acquired, and the rotation speed of the first rotating body in the second section and the second are used by using the acquired total drive torque information. A second section parameter indicating the relationship with the driving torque of the rotating body is calculated, and based on the first section parameter and the second section parameter, the driving torque of the second rotating body is the first section and the second section. It is characterized in that a specific process for specifying the rotation speed of the first rotating body, which is to be matched between sections, as an adjustment target value is executed.
According to this, it is possible to shorten the time required for the specific process for specifying the adjustment target value of the first rotating body and reduce the number of objects to be transported that must be transported during the specific process.

[12th aspect]
The twelfth aspect of the first rotating body is based on the rotation speed of the second rotating body that is adjacent to the first rotating body that applies the conveying force to the conveyed body and applies the conveying force to the conveyed body. A program executed by a computer of a control device that controls to adjust the rotation speed. The first rotating body is rotated at a specified speed and at two or more different rotating speeds. Acquires each drive torque information of the second rotating body in the first section in which the transported body receives the conveying force from both the first rotating body and the second rotating body when the body is rotated. Using the acquired total drive torque information, the first section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body in the first section is calculated, and the second rotation When the first rotating body is rotated at two or more different rotation speeds while rotating the body at the specified speed, the transported body does not receive the conveying force from the first rotating body. Each drive torque information of the second rotating body in the second section receiving the conveying force from the second rotating body is acquired, and the acquired total driving torque information is used to obtain the first rotating body in the second section. A second section parameter indicating the relationship between the rotation speed of the second rotating body and the driving torque of the second rotating body is calculated, and the driving torque of the second rotating body is the said based on the first section parameter and the second section parameter. It is characterized in that the computer executes a specific process for specifying the rotation speed of the first rotating body as an adjustment target value, which is the same between the first section and the second section.
According to this, it is possible to shorten the time required for the specific process for specifying the adjustment target value of the first rotating body and reduce the number of objects to be transported that must be transported during the specific process.

10: Intermediate transfer belt 11: Intermediate transfer roller 12: Secondary transfer opposed roller 13: Driven roller 14: Tension roller 15: Belt cleaning device 16: Scale sensor 17: Encoder pattern 19: Photoreceptor drum 21: Intermediate transfer motor 22: Roller encoder 31: Secondary transfer roller 32: Secondary transfer motor 33, 43: Roller encoder 34, 44: Motor encoder 41, 47-1, 47-2, 48-1, 48-2: Transfer roller 42: Transfer motor 46: Conveying facing roller 50: Secondary transfer unit 60: Conveying unit 100: Conveying device 200: Motor control unit 210: Rotating body control processing unit 230: Output unit 240: Selection unit 245: Paper passing detection unit 250: Speed control unit 260: Speed adjustment unit 261: Torque estimation unit 263: Speed change instruction unit 264: Speed calculation unit 265: Storage control unit 300: Image forming device 301: Image reading unit 302: Image writing unit 303: Photoreceptor unit 305: Development unit 306: Intermediate transfer unit 308: Transport unit 309: Fixing unit 310: Main control unit 320: Operation unit 330: Memory

JP-A-2018-155895

Claims (12)

The rotation speed of the first rotating body is adjusted with reference to the rotation speed of the second rotating body that applies the conveying force to the transported body adjacent to the first rotating body that applies the transporting force to the transported body. It is a control device that controls
When the first rotating body is rotated at two or more different rotation speeds while rotating the second rotating body at a specified speed, the conveyed body is the first rotating body and the second rotating body. Each drive torque information of the second rotating body in the first section receiving the conveying force from both of the rotating bodies is acquired, and the acquired total drive torque information is used to obtain the driving torque information of the first rotating body in the first section. While calculating the first section parameter showing the relationship between the rotation speed and the drive torque of the second rotating body,
When the first rotating body is rotated at two or more different rotation speeds while rotating the second rotating body at the specified speed, the conveyed body receives a conveying force from the first rotating body. Each drive torque information of the second rotating body in the second section receiving the conveying force from the second rotating body without receiving is acquired, and the acquired total drive torque information is used to obtain the said in the second section. A second section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body was calculated.
Based on the first section parameter and the second section parameter, the rotation speed of the first rotating body at which the driving torque of the second rotating body will be the same between the first section and the second section. A control device having a specific processing unit that executes a specific process specified as an adjustment target value. In the control device according to claim 1,
The rotation speeds of the two or more points of the first rotating body when acquiring the driving torque information of the second rotating body in the second section are the driving torque information of the second rotating body in the first section. A control device characterized in that the rotation speed of the first rotating body is the same as that of the two or more points at the time of acquisition. In the control device according to claim 1 or 2.
A control device characterized in that the number of rotation speeds of the first rotating body used when acquiring each drive torque information of the second rotating body is two points or three points. In the control device according to any one of claims 1 to 3.
A control device characterized in that the relationship indicated by at least one of the first section parameter and the second section parameter is a proportional relationship. In the control device according to any one of claims 1 to 4.
The specific processing unit is characterized in that, as the specified speed of the second rotating body, the rotation speed specified in advance as an adjustment target value by performing the specific processing with the second rotating body as the first rotating body is used. Control device. In the control device according to any one of claims 1 to 5.
After executing the specific processing, the specific processing unit is adjacent to the second rotating body at the time of the specific processing on the side opposite to the first rotating body at the time of the specific processing in the transport direction. A control device characterized in that the specific process is newly executed by using the first rotating body as a new body. In the control device according to any one of claims 1 to 6.
In the specific processing unit, the rotation speed of the first rotating body at which the driving torque of the second rotating body coincides between the first section and the second section is the first section and the second section. Even if it is outside the range of the rotation speeds of the two or more points of the first rotating body used when acquiring each drive torque information of the second rotating body in at least one section of the section, the matching is performed. A control device characterized in that the rotation speed of the first rotating body is specified as an adjustment target value. In the control device according to any one of claims 1 to 7.
A control device characterized in that a drive current value or a PWM command value for driving the second rotating body is used as the drive torque information. A transport device that transports an object to be transported by a plurality of rotating bodies.
A transport device comprising the control device according to any one of claims 1 to 8. An image forming apparatus that forms an image on an object to be conveyed, which is conveyed by the conveying device.
An image forming apparatus according to claim 9, wherein the transport device is used as the transport device. The rotation speed of the first rotating body is adjusted with reference to the rotation speed of the second rotating body that applies the conveying force to the transported body adjacent to the first rotating body that applies the transporting force to the transported body. It is a control method that controls
When the first rotating body is rotated at two or more different rotation speeds while rotating the second rotating body at a specified speed, the conveyed body is the first rotating body and the second rotating body. Each drive torque information of the second rotating body in the first section receiving the conveying force from both of the rotating bodies is acquired, and the acquired total drive torque information is used to obtain the driving torque information of the first rotating body in the first section. While calculating the first section parameter showing the relationship between the rotation speed and the drive torque of the second rotating body,
When the first rotating body is rotated at two or more different rotation speeds while rotating the second rotating body at the specified speed, the conveyed body receives a conveying force from the first rotating body. Each drive torque information of the second rotating body in the second section receiving the conveying force from the second rotating body without receiving is acquired, and the acquired total drive torque information is used to obtain the said in the second section. A second section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body was calculated.
Based on the first section parameter and the second section parameter, the rotation speed of the first rotating body at which the driving torque of the second rotating body is matched between the first section and the second section is determined. A control method characterized by executing a specific process specified as an adjustment target value. The rotation speed of the first rotating body is adjusted with reference to the rotation speed of the second rotating body that applies the conveying force to the transported body adjacent to the first rotating body that applies the transporting force to the transported body. A program that is executed on the computer of the control device that controls
When the first rotating body is rotated at two or more different rotation speeds while rotating the second rotating body at a specified speed, the conveyed body is the first rotating body and the second rotating body. Each drive torque information of the second rotating body in the first section receiving the conveying force from both of the rotating bodies is acquired, and the acquired total drive torque information is used to obtain the driving torque information of the first rotating body in the first section. While calculating the first section parameter showing the relationship between the rotation speed and the drive torque of the second rotating body,
When the first rotating body is rotated at two or more different rotation speeds while rotating the second rotating body at the specified speed, the conveyed body receives a conveying force from the first rotating body. Each drive torque information of the second rotating body in the second section receiving the conveying force from the second rotating body without receiving is acquired, and the acquired total drive torque information is used to obtain the said in the second section. A second section parameter indicating the relationship between the rotation speed of the first rotating body and the driving torque of the second rotating body was calculated.
Based on the first section parameter and the second section parameter, the rotation speed of the first rotating body at which the driving torque of the second rotating body will be the same between the first section and the second section. A program characterized in that the computer executes a specific process specified as an adjustment target value.

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