JP7415266B2 - Control device, conveyance device, image forming device, control method and program - Google Patents

Description

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

Conventionally, the rotational speed of the first rotating body is determined based on the rotational speed of a second rotating body that is adjacent to the first rotating body that applies a conveying force to the conveyed object and applies a conveying force to the conveyed object. A control device that performs adjustment control is known.

For example, in Patent Document 1, in a state where the second rotating body is rotated at a specified speed, the conveyed object receives a conveying force from both the first rotating body and the second rotating body. The driving torque T1 of the two rotating bodies and the driving torque T2 of the second rotating body in the second section where the conveyed body does not receive the conveying force from the first rotating body but receives the conveying force from the second rotating body. A control device is disclosed that sets the rotational speed of a first rotating body when they match as a target value of the rotational speed of the first rotating body. In this control device, while rotating the second rotating body at a specified speed, the rotational speed of the first rotating body is sequentially changed from a predetermined initial rotational speed within a predetermined fluctuation range, and A process is performed to obtain the driving torques T1 and T2 of the second rotating body in the two sections. Then, when the magnitude relationship is reversed, linear interpolation is performed within the speed range between the rotational speed of the first rotating body immediately before the magnitude relationship is reversed and the rotational speed of the first rotating body when the magnitude relationship is reversed, The rotational speed of the first rotating body such that T1=T2 is calculated, and this is set as the target value of the rotational speed of the first rotating body.

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

In order to solve the above-mentioned problems, the present invention provides a method based on the rotational speed of a second rotating body that applies a conveying force to the conveyed object adjacent to a first rotating body that applies a conveying force to the conveyed object. a control device that performs control to adjust the rotational speed of the first rotating body, the control device controlling the rotational speed of the first rotating body at two or three predetermined points that are different from each other while rotating the second rotating body at a specified speed; Each of the second rotating bodies in the first section in which the conveyed body receives a conveying force from both the first rotating body and the second rotating body when the first rotating body is rotated respectively. Acquire drive torque information, and use the acquired total drive torque information to determine a first section parameter indicating the relationship between the rotational speed of the first rotating body and the drive torque of the second rotating body in the first section , The calculation is performed over a rotational speed range of the first rotating body that is wider than the range of rotational speeds at the predetermined two or three points , and while rotating the second rotating body at the specified speed, different predetermined speeds are calculated . When the first rotating body is rotated at each of two or three rotational speeds, the conveying force from the second rotating body is not applied to the conveyed object from the first rotating body. The rotational speed of the first rotating body in the second section and the second rotation are determined using the acquired total drive torque information. A second interval parameter indicating the relationship with the driving torque of the body is calculated over a rotational speed range of the first rotating body that is wider than the rotational speed range of the predetermined two or three points , and Based on the parameter and the second section parameter, the rotational speed of the first rotating body at which the driving torque of the second rotating body becomes the same between the first section and the second section is set as an adjustment target value. The present invention is characterized in that it has a specific processing unit that executes a specific process for specifying.

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

FIG. 1 is a diagram showing a schematic configuration of a conveying device according to an embodiment. FIG. 3 is an explanatory diagram showing the configuration of a secondary transfer section in the conveyance device. FIG. 3 is an explanatory diagram showing the configuration of a transport section in the transport device. (a) and (b) are diagrams illustrating interference torque due to a difference in surface movement speed of two rotating bodies. FIG. 3 is a diagram illustrating interference torque that occurs between a downstream motor and an upstream motor. 1 is a diagram illustrating an outline of the configuration of an image forming apparatus according to an embodiment. FIG. 3 is a diagram illustrating a motor control unit according to an embodiment. FIG. 3 is a diagram illustrating the functions of a rotating body control processing section according to an embodiment. The first flowchart explaining the operation of the rotating body control processing section of the embodiment. A second flowchart explaining the operation of the rotating body control processing section of the embodiment. An example of the first approximation formula for linearly interpolating the first specified value and second specified value in the first section and the drive torque of the torque detection motor, and the first specified value and second specified value in the second section and the torque detection motor 3 is a graph showing an example of a second approximation equation for linearly interpolating the drive torque and the driving torque. Another example of the first approximation formula that linearly interpolates the first specified value and second specified value in the first section and the drive torque of the torque detection motor, and the first specified value and second specified value and torque in the second section The graph which shows the other example of the second approximation formula which linearly interpolates the drive torque of a detection motor.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of a conveying device according to this embodiment.
The conveyance device 100 of this embodiment conveys, for example, a sheet-like object to be conveyed, and is installed in an image forming apparatus, etc., which will be described later.

The conveyance device 100 of this embodiment includes an intermediate transfer belt 10, an intermediate transfer roller 11, a secondary transfer opposing 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 conveyance 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 conveyance roller 41, a conveyance motor 42, It has conveyance opposing rollers 46. Further, the conveyance device 100 of this embodiment includes a motor control section 200 that performs control to keep the surface movement speed of the intermediate transfer belt 10 constant.

In the conveying device 100 of the present embodiment, the intermediate transfer belt 10 is stretched by a plurality of tension rollers disposed in a belt loop, and is rotated by the intermediate transfer roller 11, which is one of the tension rollers. Forced to move endlessly. This intermediate transfer roller 11 is connected to an intermediate transfer motor 21 as a drive source via a deceleration mechanism. This speed reduction mechanism has a configuration in which a small diameter gear on the rotation shaft of the intermediate transfer motor 21 and a large diameter gear on the rotation shaft of the intermediate transfer roller 11 are meshed together.

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

Note that in the example of FIG. 1, the scale sensor 16 is installed approximately in the center between the driven roller 13 and the intermediate transfer roller 11, but the scale sensor 16 is not limited thereto. The scale sensor 16 can accurately measure the surface movement speed of the intermediate transfer belt 10 if it is installed on a flat area. For example, if the scale sensor 16 is installed on a rotating shaft that is not flat, the curvature of the shaft will affect the spacing between the encoder patterns 17 due to variations in the manufacturing thickness of the intermediate transfer belt 10 or due to environmental changes. This should be avoided as it will change the surface movement speed and will no longer be the correct surface movement speed.

The encoder pattern 17 can be manufactured by any method, such as pasting a sheet-like encoder pattern, directly patterning it on the intermediate transfer belt 10, or integrally processing it in the manufacturing process of the intermediate transfer belt 10. . In this embodiment, the scale sensor 16 is assumed to be a reflective optical sensor having equally spaced slits, but is not limited thereto. This sensor may be any sensor that can accurately detect the surface position of the intermediate transfer belt 10 from the encoder pattern 17; for example, a CCD camera or the like may be used to detect the surface position through image processing. Further, if the sensor method is a Doppler method or a sensor method that can detect the surface position from unevenness on the belt surface by image processing, it is possible to eliminate the encoder pattern 17.

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

In the conveying device 100, among the entire area of the intermediate transfer belt 10 in the surface movement direction, a portion after passing through the rotation position with respect to the driven roller 13 and before entering the rotation position with respect to the intermediate transfer roller 11 is Y, A primary transfer nip for Y, M, C, and K is formed by contacting the photosensitive drums 19 for M, C, and K. Transfer rollers are in contact with the intermediate transfer belt 10 from the back side of the intermediate transfer belt 10 at the locations where the primary transfer nips for Y, M, C, and K are formed. In the conveying 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 photoreceptor drum 19 in the primary transfer nip of each color.

In the conveying device 100, since a color image is formed in the primary transfer section, it is preferable to detect and control the surface movement speed of the intermediate transfer belt 10 in this section. 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 this 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 movement 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 is correlated with the belt conveyance friction force of the intermediate transfer roller 11, and the conveyance friction necessary to convey the intermediate transfer belt 10 is important. The pressing force of the tension roller 14 is set so that the force is secured.

Further, in the conveyance device 100 , a secondary transfer roller 31 is provided that contacts the surface of the intermediate transfer belt 10 at a position facing the secondary transfer opposing roller 12 . Further, in the conveyance device 100, a belt cleaning device 15, which is disposed downstream of the secondary transfer roller 31 in the belt conveyance direction on the outside of the belt loop, 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 using the potential difference between the toner and itself.

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

The motor control unit 200 of this embodiment performs feedback control on 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 operates 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 a drive control signal S3 for the intermediate transfer motor 21.

Further, the motor control unit 200 performs feedback control on the secondary transfer motor 32 and the conveyance motor 42 in order to suppress fluctuations in the surface movement speed of the intermediate transfer belt 10 due to the influence of the conveyed object passing through the secondary transfer unit 50. do. Specifically, the motor control unit 200 outputs a drive control signal S4 for 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 explained.
FIG. 2 is an explanatory diagram showing the configuration of the secondary transfer section 50 in the conveyance device 100.
In the conveying device 100, a secondary transfer motor 32 is installed separately from the intermediate transfer motor 21. The secondary transfer motor 32 is rotated by a drive control signal S4 transmitted from the motor control section 200. As the secondary transfer motor 32, the same brushed DC motor or brushless DC motor as the intermediate transfer motor 21 is employed. The rotational speed of the secondary transfer motor 32 is reduced by a reduction mechanism (a motor gear and a reduction gear on the secondary transfer roller 31 side). Moreover, the secondary transfer roller 31 conveys the conveyed object that has been conveyed to the secondary transfer section 50 by its rotation.

On the opposite side of the secondary transfer roller 31, there is a secondary transfer opposing roller 12 that supports the intermediate transfer belt 10. come into contact with The two rollers are brought into contact by springs. Further, the secondary transfer roller 31 is provided with a cam mechanism for separating it from the secondary transfer opposing roller 12, and the contact and separation of the two rollers in the secondary transfer section 50 are switched.

In the conveyance device 100 of this embodiment, an elastic layer is provided on the surface of the secondary transfer roller 31 in order to improve the transferability of the secondary transfer section 50. An example of the secondary transfer roller 31 is a low inertia thin metal pipe, a low hardness rubber material roller part (elastic rubber layer) such as silicone rubber, and a urethane coating layer applied to the surface layer. .

In the secondary transfer roller 31 of the present embodiment, the conductive rubber roller portion has a lower layer made of vulcanized rubber or silicone rubber with a rubber hardness of 40 degrees or less (rubber hardness A scale), and a surface layer made of vulcanized rubber or silicone rubber with a rubber hardness of 40° or less (rubber hardness A scale). The urethane coating layer may be provided as a thin layer. In this embodiment, this allows the structure to expand the nip (pressure contact) area by contact deformation of the conductive rubber roller portion and ensure appropriate transfer pressure.

Generally, when trying to achieve a low hardness of 40 degrees or less using methods other than foam rubber construction, in the case of vulcanized rubber, the viscosity increases due to the addition of a plasticizer. Furthermore, silicone rubber also has high viscosity. As a result, a movement failure of both moving bodies occurs due to 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 due to adhesion at the portion that contacts the conveyed object. In order to avoid this, the above-mentioned urethane coating applied to the surface layer is effective.

Next, the configuration around the conveyance roller 41 will be explained.
FIG. 3 is an explanatory diagram showing the configuration of the transport section 60 in the transport device 100.
The conveyance roller 41 included in the conveyance device 100 is one of the rotating bodies that forms a conveyance path and conveys the object to be conveyed, and is rotated by the conveyance motor 42 . When the conveyance motor 42 is driven, the conveyance roller 41 rotates as the rotation of the conveyance motor 42 is transmitted to the conveyance roller 41 via a gear. The conveyed object is brought into pressure contact between the secondary transfer roller 31 and the secondary transfer counter roller 12 by a conveyance section 60 formed from a conveyance roller 41 and a conveyance counter roller 46 disposed at a position facing the transport roller 41. It is transported to the section 51. The conveyed object that has been conveyed to the pressure contact portion 51 is conveyed while being sandwiched between the secondary transfer roller 31 and the intermediate transfer belt 10. In other words, the pressure contact portion 51 is a nipping portion where the conveyed object is nipped between the secondary transfer roller 31 and the intermediate transfer belt 10 .

As described above, in the transport device 100 of this embodiment, the object to be transported is transported from the transport section 60 to the secondary transfer section 50. Then, the conveying device 100 comes into pressure contact with the secondary transfer roller 31 and the intermediate transfer belt 10 in the secondary transfer section 50, and transfers the toner image onto the conveyed object. At this time, the surface movement speed of the rotating body that forms the conveyance path for the conveyed object varies depending on the type of conveyed object, the tolerance of each roller, changes in contact pressure, the environment, the amount of deviation in the roller shape over time, etc. do. This variation also causes the surface movement speed of the intermediate transfer belt 10 to vary. In other words, fluctuations in the surface movement speed of the rotating body forming the transport path of the transported object generate interference torque that causes fluctuations in the driving torque of the intermediate transfer motor 21 that drives the intermediate transfer belt 10 .

Therefore, in this embodiment, in order to keep the surface movement speed of the intermediate transfer belt 10 constant, the rotational speed of the rotating body forming the conveyance path of the conveyed object is controlled. In other words, in this embodiment, the rotational speed of the rotating body forming the conveyance path of the conveyed object is controlled so as not to generate interference torque with the drive torque of the intermediate transfer motor 21.

In the present embodiment, the rotating body forming the conveyance path of the conveyed object includes, for example, a roller located upstream of the conveyance roller 41 and for conveying the conveyed object to the conveyance roller 41. Further, the rotating body forming the conveyance path of the conveyed object includes a roller located downstream of the pressure contact section 51 in the conveyance path and for conveying the conveyed object to the fixing device.

Note that the object to be conveyed in this embodiment may be, for example, paper, a sheet-like film, or the like. The object to be transported in this embodiment may be any object as long as it can transfer an image and can be transported by the transport device 100.

The interference torque due to the difference in surface movement speed of two adjacent rotating bodies in the transport path of the transport device 100 of this embodiment will be explained below.

FIGS. 4A and 4B are diagrams illustrating interference torque due to a difference in surface movement speed of two rotating bodies.
In the example of FIG. 4, the conveyance roller 41 and the secondary transfer roller 31 are shown as two rotating bodies adjacent to each other on the conveyance path. In the example of FIG. 4, the conveyance roller 41 is a rotating body on the upstream side in the conveyance direction, and the secondary transfer roller 31 is a roller on the downstream side in the conveyance direction. FIG. 4A shows a case where the surface movement speed of the transport roller 41 on the upstream side in the transport direction is faster than the surface movement speed of the secondary transfer roller 31 on the downstream side in the transport direction. FIG. 4B shows a case where the surface movement speed of the conveyance roller 41 on the upstream side in the conveyance direction is slower than the surface movement speed of the secondary transfer roller 31 on the downstream side in the conveyance direction.

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

In the conveyance device 100, when the surface movement speed of the conveyance roller 41 on the upstream side in the conveyance direction is different from the surface movement speed of the secondary transfer roller 31 on the downstream side in the conveyance direction, interference torque occurs between the motors that drive these rollers. arise. 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 conveyance direction drives the conveyance roller 41 on the upstream side in the conveyance direction via the conveyed body when conveying the conveyed object, This is the torque generated by being influenced by pushing and pulling. In other words, in the example shown in FIG. Interference torque occurs.

The interference torque described here is generated when the intermediate transfer motor 21 is influenced by the pushing and pulling of the paper P by the transport roller 41 via the paper P, which is the conveyed object. In order to measure this interference torque, it is necessary to measure between a state in which the paper P straddles the secondary transfer roller 31 and the conveyance roller 41 and a state in which the paper P is conveyed only by the secondary transfer roller 31 and not conveyed by the conveyance roller 41. All you have to do is look at the amount of change in the drive torque Ta of the intermediate transfer motor 21 in . In the present embodiment, by bringing this amount of change close to zero, generation of interference torque with respect to the intermediate transfer motor 21 due to pushing or pulling of the paper P by the transport roller 41 is suppressed.

FIG. 4A shows a state in which the paper P straddles both the conveyance roller 41 and the secondary transfer roller 31. Furthermore, in FIG. 4A, since the surface movement speed of the conveyance roller 41 is faster than the surface movement speed of the intermediate transfer belt 10, the conveyance roller 41 is in a state of pushing the paper P toward the secondary transfer roller 31. . In this state, the surface movement speed of the secondary transfer roller 31 increases, and interference torque is generated between the surface of the paper P and the intermediate transfer belt 10. Here, the motor control unit 200 reduces the driving 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 to be a constant speed.

Further, when the paper P is transported in the state shown in FIG. The force pushing paper P toward transfer roller 31 disappears. As a result, the surface movement speed of the secondary transfer roller 31 becomes slow, so the motor control unit 200 controls the driving torque of the intermediate transfer motor 21 to control the surface movement speed of the intermediate transfer belt 10 to be a constant speed. Ta increases.

In this embodiment, in the conveyance path of the conveyed object, a section in which the conveyed object is conveyed across both the rotating body on the upstream side in the conveying direction and the rotating body on the downstream side in the conveying direction is called a first section. Furthermore, in this embodiment, the section in which the conveyed object is conveyed only by the rotating body on either the upstream side or the downstream side in the conveying direction is referred to as a second section. In the example of FIG. 4, the first section is the section in which the paper P is conveyed in a state where the paper P is present in both the conveyance section 60 and the secondary transfer section 50 in the conveyance path; The second section is a section in which the paper P is conveyed in a state where only the paper P exists.

Here, as shown in FIG. 4A, when the conveyance roller 41 on the upstream side in the conveyance direction pushes the conveyed object into the secondary transfer roller 31 on the downstream side in the conveyance direction, the motor on the downstream side in the conveyance 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 movement speed of the conveyance roller 41 on the upstream side in the conveyance direction is faster than the surface movement speed of the secondary transfer roller 31 on the downstream side in the conveyance direction, the driving torque Ta of the motor on the downstream side in the conveyance direction is It decreases in one section and increases in the second section.

On the other hand, in FIG. 4B, the surface movement speed of the conveyance roller 41 on the upstream side in the conveyance direction is slower than the surface movement speed of the secondary transfer roller 31 on the downstream side in the conveyance direction, so that the conveyance roller 41 is pulled from the secondary transfer roller 31. Then, the surface movement speed of the secondary transfer roller 31 becomes slow, and interference torque is generated between the paper P and the surface of the secondary transfer roller 31. Also at this time, the motor control unit 200 controls the surface movement speed of the secondary transfer roller 31 to be constant, so the driving torque Ta of the intermediate transfer motor 21 increases.

Furthermore, when the paper P is transported in the state shown in FIG. The force that pulls the paper P from the transfer roller 31 disappears. As a result, the surface movement speed of the secondary transfer roller 31 becomes faster, so the motor control unit 200 controls the surface movement speed of the intermediate transfer belt 10 to be a constant speed. As a result, the driving torque Ta of the intermediate transfer motor 21 decreases.

In other words, as shown in FIG. 4B, when the conveyance roller 41 on the upstream side in the conveyance direction pulls the paper P with respect to the secondary transfer roller 31 on the downstream side in the conveyance direction, the driving torque Ta of the motor on the downstream side in the conveyance direction It can be seen that the value increases in the first section and decreases in the second section. In other words, when the surface movement speed of the conveyance roller 41 on the upstream side in the conveyance direction is slower than the surface movement speed of the secondary transfer roller 31 on the downstream side in the conveyance direction, the driving torque Ta of the motor on the downstream side in the conveyance direction is It increases in one section and decreases in the second section.

Hereinafter, with reference to FIG. 5, the relationship between the change in torque in the first section and the change in torque in the second section will be explained.
FIG. 5 is a diagram illustrating the interference torque generated between the downstream motor and the upstream motor.
In FIG. 5, the speed variation of the upstream roller is shown as a percentage of the speed variation relative to the set speed of the upstream roller. The set speed is a value that is assumed to cause the surface movement speed of the upstream roller to match the surface movement speed of the downstream roller. The vertical axis is the conveying force converted from the torque. Line L1' shown in FIG. 5 shows the relationship between the rotation speed of the upstream roller and the conveying force of the downstream motor in the first section, and line L2' shows the rotation of the upstream roller in the second section. It shows the relationship between speed and conveying force of the downstream motor.

As explained in FIG. 4, when the rotational speed of the upstream roller is faster than the surface movement speed of the downstream roller, the driving torque of the downstream motor decreases in the first section, and in the second section. Rise. Furthermore, when the rotational speed of the upstream roller is slower than the surface movement speed of the downstream roller, the driving torque of the downstream motor increases in the first section and decreases in the second section. Therefore, as shown in FIG. 5, the conveying force L1' of the downstream motor in the first section decreases as the rotation speed of the upstream roller increases, and the conveying force L2' of the downstream motor in the second section decreases. , increases as the rotational speed of the upstream roller increases.

In the present embodiment, the state in which the difference between the conveying force L1' in the first section and the conveying force L2' in the second section is zero is the one most affected by the pushing and pulling of the conveyed object by the upstream roller. It can be said that there is no such situation. Therefore, in this embodiment, the rotational speed of the upstream motor when the difference between the conveying force L1' in the first section and the conveying force L2' in the second section becomes zero is the rotational speed of the upstream motor. This is the optimal value set as the adjustment target value.

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

In this embodiment, in the conveyance path, sets including an upstream roller and a downstream roller are shifted upstream one by one until the upstream roller becomes the roller at the end of the conveyance path. Adjust the rotation speed of the roller. In this embodiment, by adjusting in this order, the upstream roller in the set can increase the accuracy of detecting interference torque without being affected by other rollers that are in pressure contact with the conveyed object upstream of this roller. It can be made higher. Therefore, in this embodiment, it is possible to increase the accuracy of adjustment for bringing the interference torque closer to zero.

Furthermore, in this embodiment, among the rollers that are in pressure contact with the conveyed object, the roller located most downstream and the roller adjacent to this roller on the upstream side may be set as one set. In this embodiment, the interference torque in this set is brought close to zero by adjusting the rotational speed of the downstream roller so that the torque detected at the upstream roller becomes zero. In this embodiment, in the conveyance path, the sets including the downstream roller and the upstream roller are shifted downstream one by one until the downstream roller becomes the end roller of the conveyance path. Adjust the rotation speed of the downstream roller. In this embodiment, by making adjustments in this order, the downstream roller in the set can increase the accuracy of detecting interference torque without being affected by other rollers that are in pressure contact with the conveyed object downstream of this roller. It can be made higher. Therefore, in this embodiment, it is possible to increase the accuracy of adjustment for bringing the interference torque closer to zero.

In the following explanation, the roller whose rotational speed is adjusted will be referred to as a speed adjusting rotating body (first rotating body), and a roller that is adjacent to the speed adjusting rotating body on the upstream or downstream side of the speed adjusting rotating body, and , the roller whose torque is detected is called a torque detection rotating body (second rotating body). In this embodiment, by shifting the set including the speed adjustment rotary body and the torque detection rotary body to the upstream side or the downstream side, and making adjustments to bring the interference torque close to zero in each set, the rollers in the conveyance path , to reduce torque interference.

In addition, in this embodiment, the above-mentioned adjustment is performed until the speed adjustment rotating body reaches the roller at the end of the conveyance path, but the invention is not limited thereto. The roller at the end need not be at the end of the actual conveyance path. Specifically, for example, the roller at the end may be a roller located at the end of the rotating body that generates interference torque with the intermediate transfer belt 10. In other words, the roller at the end may be appropriately determined according to the rotating body whose interference torque with the reference torque detection rotating body is to be eliminated and its accuracy.

Further, the purpose of the conveyance device 100 of this embodiment is to reduce interference torque with the drive torque of the intermediate transfer motor 21 in the conveyance path. In other words, in the conveying device 100 of the present embodiment, even when the conveyed object is being conveyed while being held by the secondary transfer section 50, and when the intermediate transfer belt 10 is rotating alone, the intermediate transfer motor The purpose is to keep the driving torque of 21 constant. Therefore, in this embodiment, in selecting a set of rotating bodies, the first set is the intermediate transfer belt 10 and the conveyance roller 41, and first, the interference torque with respect to the drive torque Ta of the intermediate transfer motor 21 is brought close to zero. In the present embodiment, after the interference torque with respect to the drive torque Ta is eliminated, the sets 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 toward the upstream side and the downstream side of the secondary transfer section 50 in the conveyance direction toward a direction that has a large influence on the interference torque with respect to the drive torque Ta. . For example, in a typical image forming apparatus, the distance from the secondary transfer section 50 to the fixing device is larger than the distance from the secondary transfer section 50 to the conveyance roller 41 when the secondary transfer section 50 is used as a reference. This is often the configuration that is used. This is the result of taking into consideration the influence of heat due to fixing, the precision of the timing of conveyance by bringing the conveyance roller 41 closer to the secondary transfer section 50, and the like. In such a configuration, it is necessary to preferentially adjust the rotation speed of the conveyance roller 41 on the upstream side in the conveyance direction, which has a large influence on the interference torque. Therefore, in the case of such a configuration, the sets of rotating bodies are selected so as to be sequentially shifted from the first set to the upstream side.

In selecting a set of rotating bodies, the direction in which the set of rotating bodies is shifted from the first set may be determined based on the nip pressure, the difference in the nip time of the conveyance route, etc. For example, if the configuration on the downstream side of the conveyance path has a large effect on the interference torque, the sets of rotating bodies are selected so as to be sequentially shifted from the first set to the downstream side.

Each device of this embodiment will be explained below.
FIG. 6 is a diagram illustrating the outline of the configuration of the image forming apparatus of this embodiment.
The image forming apparatus 300 of this embodiment is an electrophotographic digital multifunction peripheral, and has a copying function, a printer function, a facsimile function, and the like. Note that the image forming apparatus 300 may be of an inkjet type, a sublimation type thermal transfer type, a dot impact type, or the like that forms an image by ejecting ink droplets. The image forming apparatus 300 of this embodiment includes a conveyance device 100.

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

The image forming apparatus 300 scans the original while irradiating the original with a light source using the image reading unit 301, and reads an image using reflected light from the original using a CCD (Charge Coupled Device) sensor. 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 driving of an LD (Laser Diode) according to image data. In the photoreceptor unit 303, an electrostatic latent image is written on a rotating, uniformly charged photoreceptor drum 19 by a laser beam from an LD, and toner is attached to the image by a developing unit 305 to visualize the image.

The image formed on the photosensitive drum 19 is transferred onto the intermediate transfer belt 10 of the intermediate transfer unit of the intermediate transfer section 306. When full-color copying is performed 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 image formation and transfer of all colors are completed, the conveyance unit 60 supplies the conveyed object from the tray 307 in synchronization with the intermediate transfer belt 10, and the secondary transfer unit 50 supplies the conveyed object from the intermediate transfer belt 10. The toner image is secondarily transferred to the body. The conveyed object onto which the toner image has been transferred is sent to the fixing section 309 via the conveyance section 308, and after the toner image is fixed on the conveyed object by a fixing roller and a pressure roller, it is discharged.

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

When the main control unit 310 receives an instruction to output image data from the operation unit 320 of the image forming apparatus 300, the main control unit 310 instructs the motor control unit 200 to drive each motor. Specifically, upon receiving an instruction to output image data, etc., the main control unit 310 instructs the motor control unit 200 about command values for each motor, start/stop instructions, target value of rotation speed, rotation direction, and the like. The motor control unit 200 receives this instruction and controls the driving of each motor. The main control unit 310 also exchanges information regarding each motor with the motor control unit 200. Furthermore, the main control unit 310 has a memory 330 that stores information regarding each motor (motor information). The information regarding the motors includes, for example, the rotational speed (set speed) of each motor, the PWM value according to the command value, the drive current, the encoder value, etc.

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

The drivers 221, 222, 223 and FETs 231, 232, 233 included in the rotating body control processing section 210 are drivers and FETs corresponding to the intermediate transfer motor 21, the secondary transfer motor 32, and the transport motor 42, respectively.

The rotating body control processing unit 210 first adjusts the target value of the rotational speed of the secondary transfer motor 32 and the target value of the rotational speed of the transport motor 42, and calculates each target value after the adjustment, as will be described in detail later. Stored in memory 330. Note that the rotational speed of the secondary transfer motor 32 is synonymous with the rotational speed of the secondary transfer roller 31, and the rotational speed of the conveyance motor 42 is synonymous with the rotational speed of the conveyance roller 41.

Further, the rotating body control processing unit 210 selects a set of two adjacent rotating bodies from among the rotating bodies forming the conveyance path, and in this set, while detecting the torque of one rotating body, the rotation body of the other rotating body is detected. Adjust rotation speed. The rotating body control processing unit 210 selects the sets of rotating bodies so as to sequentially shift them to the upstream side or the downstream side in the conveyance direction, and performs the same adjustment for each set.

Note that in this embodiment, the selection of the set of rotating bodies may be performed by the main control unit 310. In this case, the rotating body control processing section 210 may obtain information specifying the selected rotating body from the main control section 310.

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

The rotating body control processing unit 210 acquires the surface movement speed of the intermediate transfer belt 10 and the rotation speed of the intermediate transfer motor 21 from the roller encoder 22 of the intermediate transfer roller 11 and the scale sensor 16 . The rotating body control processing unit 210 also obtains the rotational speeds of the secondary transfer motor 32 and the secondary transfer roller 31 from the motor encoder 34 and the roller encoder 33. Furthermore, the rotating body control processing section 210 acquires the rotational speeds of the conveyance motor 42 and the conveyance roller 41 from the motor encoder 44 and 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 transport motor 42, calculates the control output to each motor, and calculates 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 drive current for each motor that rotates each roller forming the conveyance path, calculates a control output to each motor, and calculates a control output corresponding to the control output. Outputs the PWM command value to each motor driver.

The rotating body control processing unit 210 calculates the drive current of each motor based on the PWM command value. However, errors may occur due to fluctuations and responsiveness of the motor drive circuit including the driver. Therefore, in order to grasp the drive current of the motor with higher precision, the rotating body control processing section 210 may measure the current of the FET to grasp the drive current. Specifically, the rotating body control processing section 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, and 223 recognize the rotation angle of each motor 21, 32, and 42 based on the Hall element signal. 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 FETs 231, 232, and 233.

Through the above-described operations, the rotating body control processing unit 210 of this embodiment controls the rotational speed of the rotating body forming the conveyance path based on the command value of each motor.

Furthermore, the rotating body control processing section 210 calculates the drive torque from the acquired drive current. Specifically, the rotating body control processing unit 210 acquires the rotational speed and drive current of the rotating body (motor corresponding to the rotating body) forming the conveyance path, and converts it into a torque conversion indicating the relationship between the torque multiplier and the speed. Convert the drive current to torque using a table or the like.

Furthermore, the rotating body control processing unit 210 stores data acquired by the rotating body control processing unit 210, calculated data, etc. in the memory 330, or notifies the main control unit 310 of information such as an abnormality notification, as necessary. I do things. The memory 330 may also be included in the rotating body control processing section 210.

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

Next, with reference to FIG. 8, the functions of the rotating body control processing section 210 of this embodiment will be described.
FIG. 8 is a diagram illustrating the functions of the rotating body control processing section of this embodiment.
The rotating body control processing unit 210 of the present embodiment is, for example, an arithmetic processing device (rotating body control device) having a memory, etc., and each part of the rotating body control processing unit 210, which will be described later, is configured such that the arithmetic processing unit is stored in the memory. This is achieved by executing a rotating body control program.

The rotating body control processing section 210 of this embodiment includes a selection section 240, a paper passage detection section 245, a speed control section 250, and a speed adjustment section 260.

The selection unit 240 selects two adjacent rotating bodies on the transport path. Note that the selection unit 240 of this embodiment may select two adjacent rotating bodies by acquiring information specifying the rotating body selected by the main control unit 310.

The selection unit 240 of this embodiment first selects the intermediate transfer belt 10 of the secondary transfer unit 50 as the reference torque detection rotating body. At this time, in the secondary transfer section 50, both the intermediate transfer belt 10 and the secondary transfer roller 31 are driven, so either one may be selected as a reference, but in this embodiment, it contributes to stabilizing image formation. In order to do this, the intermediate transfer belt 10 is selected as the reference torque detection rotating body (belt). In other words, in this embodiment, the intermediate transfer belt 10 is the reference torque detection rotating body.

Next, in this embodiment, when adjusting the rotational speed of a rotary body upstream in the conveyance direction from the reference rotary body, the conveyance roller 41 adjacent to the intermediate transfer belt 10, which is the reference, on the upstream side in the conveyance direction Select 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 conveyance roller 41.

A case will be described below in which two transport rollers 47-1 and 47-2 are provided upstream of the transport roller 41 in the transport direction, and the upstream side of the intermediate transfer belt 10 is to be adjusted. In this case, the pair selected next to the pair of intermediate transfer belt 10 and conveyance roller 41 is the conveyance roller 41 on the upstream side in the conveyance direction of this pair, and the conveyance roller adjacent to this conveyance roller 41 on the upstream side in the conveyance direction. The score became 47-1. Further, in this set, the conveying roller 41 on the downstream side in the conveying direction serves as a rotating body for torque detection, and the conveying roller 47-1 on the upstream side in the conveying direction serves as a rotating body for speed adjustment.

Further, next to the pair of conveyance roller 41 and conveyance roller 47-1, there is conveyance roller 47-1 on the upstream side in the conveyance direction in this pair, and conveyance roller 47 adjacent to this conveyance roller 47-1 on the upstream side in the conveyance direction. -2. Further, in this set, the conveyance roller 47-1 serves as a rotating body for torque detection, and the conveyance roller 47-2 serves as a rotating body for speed adjustment. The selection unit 240 performs group selection until the upstream end roller in the conveyance direction is selected.

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

The next set selected after the first set is the conveying roller 48-1 located on the downstream side in the conveying direction in this group, and the conveying roller 48-2 adjacent to this conveying roller 48-1 on the downstream side in the conveying direction. In this set, the conveying roller 48-1 on the upstream side in the conveying direction serves as a rotating body for torque detection, and the conveying roller 48-2 on the downstream side in the conveying direction serves as a rotating body for speed adjustment. The selection unit 240 continues selecting sets until the downstream end roller in the conveyance direction is selected.

As described above, after the rotation speed of the speed adjustment rotor is adjusted, the selection unit 240 of the present embodiment selects this speed adjustment rotor as the next torque detection rotor, and selects this speed adjustment rotor as the next torque detection rotor. The rotating body adjacent to the torque sensing rotating body on the opposite side of the body is selected as the next speed adjusting rotating body. In this embodiment, by selecting a set of rotating bodies in this way, the speed adjustment rotation Adjustments can be made without the body being influenced by rotating bodies further upstream or further downstream.

Note that in the selection unit 240 of this 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 the speed adjustment rotating body and the torque detection rotating body based on this setting.

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

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

The speed adjustment unit 260 adjusts the target values of the rotation speeds of the motors corresponding to the two rotating bodies selected by the selection unit 240 so as to eliminate torque interference between the two rotating bodies.

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

The torque estimating unit 261 of this embodiment calculates an estimated value of the driving torque for rotating the torque detection rotating body in the group selected by the selecting unit 240. In other words, the torque estimation unit 261 of this embodiment is an acquisition unit that acquires the driving torque of the motor that rotates the rotating body for torque detection.

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

The torque estimation unit 261 sets the load torque value calculated based on the PWM command value output to the driver 221 and the rotational 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, etc. in a state where each motor is accurately controlled to a target speed. Note that in this embodiment, calculating the estimated value of the driving torque Ta is synonymous with calculating the driving torque Ta.

The speed change instructing unit 263 instructs each motor that rotates the torque detection rotary body and the speed adjustment rotary body to change their respective rotational speeds. In the following description, the motor that rotates the torque detection rotating body will be referred to as a torque detection motor, and the motor that rotates the speed adjustment rotating body will be referred to as a speed adjustment motor.

The speed calculating unit 264 calculates the torque detection rotating body in the first section when the speed adjusting rotating body is rotated at each rotational speed instructed by the speed change instruction unit 263 in the group selected by the selecting unit 240. , and the driving torque T2 of the rotating body for torque detection in the second section, and calculate the first section parameter and the second section parameter. The first section parameter is a parameter that indicates the relationship between the rotational speed of the speed adjustment rotor (first rotor) and the driving torque of the torque detection rotor (second rotor) in the first section, and the second The section parameter is a parameter that indicates the relationship between the rotational speed of the speed adjusting rotating body (first rotating body) and the driving torque of the torque sensing rotating body (second rotating body) in the second section. The speed calculation unit 264 of this embodiment calculates the target value of the rotational 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 rotational 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 section 210 of this embodiment will be explained with reference to FIGS. 9 and 10.
FIG. 9 is a first flowchart illustrating the operation of the rotating body control processing section of this embodiment.
Note that the process shown in FIG. 9 may be executed at a predetermined timing, such as 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 object to be transported by the transport device 100 changes. Further, the process shown in FIG. 9 may be executed at any timing or every predetermined period according to an instruction from the user of the image forming apparatus 300. In other words, the process in FIG. 9 may be executed at any timing.

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

Next, the selection unit 240 determines the number N of speed adjustment rotating bodies (the number of selected groups) whose rotational speeds are to be adjusted by the speed adjustment 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 adjustment rotating body and increments the variable i (S704). Here, the selection unit 240 first selects a speed adjustment rotating body based on the intermediate transfer belt 10, which is a reference rotating body, and the direction to be adjusted.

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

Next, the rotating body control processing unit 210 uses the speed adjusting unit 260 to set a first interval and a second interval, which are intervals for measuring the driving torque of the torque sensing rotating body (S705). In this embodiment, information such as the distance between rollers on the conveyance path and the basic conveyance speed is set in advance, and the conveyance section of the conveyed object is calculated with reference to this information. Further, the timing of measuring the driving torque of the torque detection rotary body is determined based on a signal from a detection sensor for detecting passage of a conveyed object with respect to each rotary body, a print execution signal, and the like.

In the present embodiment, the first section is a section in which the object to be transported is transported by both the torque detection rotary body (i-1) and the speed adjustment rotary body (i). In this first section, it is assumed that there is no rotating body conveying the object on the upstream side of the speed adjusting rotating body (i) in the conveying direction (conveyance by the rotating body has no substantial effect). do.
Further, in the present embodiment, the second section is a section in which the object to be transported is transported only by the torque detection rotating body (i-1).

Next, the rotating body control processing unit 210 adjusts the rotational speed of the speed adjusting rotating body (i) using the speed adjusting unit 260 (S800). Details of this processing step S800 will be described later.

After completing this processing step S800 and completing the adjustment of the rotational speed of the speed adjusting rotary body (i), the rotary body control processing unit 210 controls whether the speed adjusting rotary body (i) It is determined whether it is a body (S707). In other words, the rotating body control processing unit 210 determines whether or not i=N for the speed adjusting rotating body (i). If it is determined in this processing step S707 that the rotating body is not the terminal rotating body, the rotating body control processing unit 210 returns to processing step S704 and continues the process. On the other hand, if it is determined in processing step S707 that it is a terminal rotating body, the speed adjustment unit 260 sets the rotational speed of each speed adjustment rotating body (i=1 to N) as a target value. The information is stored in the memory 330 (S708), and the process ends.

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

The rotating body control processing unit 210 of this embodiment first sets the rotational speed of the torque detection motor to a target value (S801), and also sets the rotational speed of the speed adjustment motor to a first specified value A (S802). After that, the conveyance (sheet passing) of the conveyed object is started (S803). Then, the rotating body control processing unit 210 uses the torque estimation unit 261 of the speed adjustment unit 260 to calculate 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 (S804 ).

Next, the rotating body control processing unit 210 sets the rotation speed of the speed adjustment motor to the second specified value B while keeping the rotation speed of the torque detection motor set to the target value (S805). After that, the conveyance (paper passing) of the conveyed object is started (S806). Then, the rotating body control processing unit 210 uses the torque estimation unit 261 of the speed adjustment unit 260 to calculate 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 (S807 ).

Here, calculation of the driving torques T1 and T2 will be explained.
The rotating body control processing unit 210 starts conveyance of the conveyed object, and the paper passing detection unit 245 detects that the conveyed object is on the speed adjusting rotating body (i) and then on the torque detecting rotating body (i-1). When it is detected that the torque has been reached, the torque estimation unit 261 starts acquiring the drive torque of the torque detection motor. The torque estimating unit 261 acquires the driving 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 torque estimating unit 261 calculates the average of the acquired driving torques. This value is calculated as the drive torque T1 of the torque detection motor in the first section.

Subsequently, when the paper passing detection unit 245 detects the passing of the rotating body for torque detection of the conveyed object, the rotating body control processing unit 210 causes the torque estimating unit 261 to detect the passage of the rotating body for speed adjustment of the conveyed body. The average value of the drive torques acquired until the torque detection rotating body passes is determined, and this is calculated as the drive torque T2 of the torque detection motor in the second section.

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

Detection methods by the sheet passing detection unit 245 of this embodiment include, for example, (1) a method of monitoring the torque detected by each encoder installed in a speed adjustment motor or a torque detection motor; (2) a method of monitoring a speed adjustment rotating body; (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 explained. The torque acting on the torque detection rotating body is larger in the section where the object is being transported than in the section where the object is not being transported. After receiving the drive instruction from the main control unit 310, the paper passage detection unit 245 waits for the elapse of time for the rotational speed of the torque detection rotating body to stabilize, and then monitors the torque. Then, the paper passage detection unit 245 determines that the leading end of the conveyed object has entered the torque detection rotating body, for example, when the rate of change (gradient) of the torque exceeds a threshold value.

The method (2) above will be specifically explained. The speed adjusting rotary body has a function of adjusting the timing so that the toner image on the intermediate transfer belt 10 is printed on the conveyed object and restarting the conveyance. Since the main control unit 310 detects that the speed adjusting rotary body has started conveyance, the paper passing detection unit 245 receives a notification from the main control unit 310 that the speed adjusting rotary body has started conveyance. Since the distance from the speed adjustment rotor to the torque detection rotor and the conveyance speed are known, the sheet passing detection unit 245 detects the tip of the conveyed object at the torque detection rotor when a predetermined period of time has elapsed after receiving the notification. It can be determined that the intrusion has occurred. In addition to this, a method may be used in which a sensor installed near the rotating body for torque detection detects the passage of the conveyed object.

The method (3) above will be explained. The drive current flowing through the FET increases as the load on the torque sensing motor increases. Therefore, when the conveyed object enters the rotating body for torque detection, the drive current flowing through the FET increases. Therefore, for example, when the rate of change (gradient) of the drive current of the torque detection motor exceeds a predetermined value, the paper passage detection unit 245 determines that the conveyed object has entered the torque detection rotating body.

As described above, the driving torques T1A, T2A of the torque detection motor in the first section and the second section when the speed adjusting rotating body is rotated at the rotational speed of the first specified value A and the second specified value B, respectively. , T1B, and T2B are obtained. Thereafter, the speed calculation unit 264 uses the rotational speeds at two points, the first prescribed value A and the second prescribed value B, as the first interval parameters, and the drive torque T1A of the torque detection motor in the first interval corresponding to these, respectively. A first approximate expression L1 for linear interpolation between T1B and T1B is calculated (S808). The speed calculation unit 264 also calculates, as second interval parameters, the rotational speeds at two points, the first prescribed value A and the second prescribed value B, and the drive torque T2A of the torque detection motor in the second interval corresponding to these, respectively. A second approximate expression L2 for linear interpolation between T2B and T2B is calculated (S808).

Thereafter, the speed calculation unit 264 determines the speed at which the driving 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 rotational speed of the adjustment rotating body is specified as the adjustment target value T (S809). Specifically, the rotational speed of the speed adjustment rotating body that is the intersection of the first approximation formula L1 and the second approximation formula L2 is specified as the adjustment target value T. After specifying the adjustment target value T of the speed adjustment rotating body in this way, the process advances to step S707 in FIG.

In addition, in this embodiment, the first specified value A and the second specified value B, which are the rotational speeds of the speed adjusting rotating body used to obtain the second approximation formula L2 for the second section, are the same as those for the first section. Although the rotational speed of the speed adjusting rotating body used to obtain the first approximate expression L1 is the same as that of the rotational speed, a different rotational speed may be used. However, if they are the same, processing can be completed in a shorter time.

FIG. 11 shows an example of the first approximation formula L1 for linearly interpolating the first specified value A and the second specified value B in the first section and the driving torques T1A and T1B of the torque detection motor, and the first specified value in the second section. It is a graph which shows an example of the second approximation formula L2 which linearly interpolates the value A, the second specified value B, and the driving torques T2A and T2B of the torque detection motor.
Depending on various conditions (such as the type of conveyed object) and usage environment, the rotational speed (adjustment The target value T) may lie within a speed range between the first specified value A and the second specified value B.

FIG. 12 shows another example of the first approximation formula 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 It is a graph which shows the other example of the second approximation formula L2 which linearly interpolates the drive torques T2A and T2B of a torque detection motor with the 1st regulation value A and the 2nd regulation value B.
Depending on various conditions (such as the type of conveyed object) and usage environment, the rotational speed (adjustment The target value T) may exist outside the speed range between the first specified value A and the second specified value B.

In this embodiment, the adjustment target value T of the speed adjustment rotating body can be obtained with high accuracy in either case of FIGS. 11 and 12.

This point will be explained. In the image forming apparatus 300 of the present embodiment, even if the rotation speed of the speed adjustment rotor varies over a wide speed range, the rotation speed and torque of the speed adjustment rotor cannot be detected in both the first section and the second section. It has been found that a stable relationship can be obtained between the motor drive torques T1 and T2. Note that the wide speed range referred to here means that the rotational speed of the first rotating body is sequentially changed until the magnitude relationship of the driving torques T1 and T2 of the second rotating body between the first section and the second section is reversed. This is a wider speed range than the range in which the rotational speed of the first rotating body can be changed in conventional devices. Further, in this embodiment, the relationship referred to here is a proportional relationship that can be approximated to a first order, but it may be another relationship such as a quadratic approximation.

Since a stable relationship is obtained in this way, the rotation of the speed adjustment rotor can be determined by simply obtaining the measured values of the rotation speed of the speed adjustment rotor and the drive torques T1 and T2 of the torque detection motor for at least two points. Approximate expressions L1 and L2 representing the relationship between the speed and the driving torques T1 and T2 of the torque detection motor can be obtained with high accuracy (required accuracy).

As a result, when calculating the approximate expressions L1 and L2 for specifying the adjustment target value T of the rotating body for speed adjustment, the speed adjustment for at least two points (first specified value A and second specified value B) It is sufficient to simply obtain the driving torques T1 and T2 of the torque detection motor at the rotational speed of the rotating body. Therefore, the rotational speed of the first rotating body is sequentially changed until the magnitude relationship of the driving torques T1 and T2 of the second rotating body between the first section and the second section is reversed, and the torque detection motor is driven. Compared to conventional devices that obtain torques T1 and T2, the time required for specifying the adjustment target value T of the speed adjusting rotating body can be made shorter.

In particular, the adjustment target value T of the speed adjusting rotating body differs depending on the type (material, thickness, etc.) of the conveyed object. Therefore, when the image forming apparatus 300 uses a plurality of types of objects to be transported, it is desirable to perform specific processing for each type of object to be transported individually. Therefore, when performing specific processing 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 obtain the drive torques T1 and T2 of the torque detection motor, it is necessary to actually transport the transported object, and according to this embodiment, the number of sheets passed through the transported object can also be reduced. I can do it.

In this embodiment, the rotation speed is adjusted from the speed adjustment motor included in each group to the speed adjustment motor of the rotor at the end of the upstream or downstream side of the conveyance path by the above-described processing of the rotary body control processing unit 210. can do.

Note that 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 completing the process in FIG. 9, and determine whether the interference torque is approaching zero. At this time, in this embodiment, for example, it may be determined whether the interference torque is equal to or less than a target value that does not affect the image output unit 230.

Note that in this embodiment, an example has been described in which the rotational speed of the rotating body forming the conveyance path is controlled so as to eliminate the interference torque with respect to the intermediate transfer belt 10, but the configuration to which this embodiment is applied is as follows. but not limited to. The control method of this embodiment can be applied to, for example, an image forming apparatus having a configuration including a photoreceptor belt. In this case, interference torque with respect to the photoreceptor belt may be eliminated. This embodiment can be applied to any type of apparatus as long as it has a plurality of pairs of rotating bodies and the object to be conveyed is conveyed by the plurality of pairs.

In addition, in the image forming apparatus, when the intermediate transfer motor 21, the secondary transfer motor 32, and the rotating bodies forming the conveyance path, such as the conveyance motor 42, are controlled to a constant rotational speed, the driving torque of each motor is The fluctuations are also reflected in each signal upstream of each motor. Therefore, instead of the driving torque Ta of the intermediate transfer motor 21, a current command value, a driving current, an actual PWM value, an actual torque value, etc. supplied to the intermediate transfer motor 21 may be used. In other words, the current command value, drive current, PWM actual value, torque actual value, etc. supplied to the intermediate transfer motor 21 can be used as the conveyance force of the intermediate transfer motor 21. In this case, other values can be used instead of the drive torque Ta of the intermediate transfer motor 21, so there is no need to calculate the estimated value of the drive torque Ta.

What has been described above is just an example, and each of the following aspects has its own unique effects.
[First aspect]
In the first aspect, a second rotating body (a speed adjusting rotating body: for example, the conveying roller 41) that applies a conveying force to the conveyed object is adjacent to a first rotating body (a speed adjusting rotary body: for example, the conveying roller 41) that applies a conveying force to the conveyed object (for example, paper). A control device (for example, a motor control unit 200) that performs control to adjust the rotational speed of the first rotating body based on the rotational speed of the rotating body (torque detection rotating body: for example, the intermediate transfer belt 10), When the second rotating body is rotated at a prescribed speed and the first rotating body is rotated at two or more different rotational speeds (for example, a first prescribed value A and a second prescribed value B), Acquire each drive torque information T1A, T1B of the second rotary body in a first section in which the conveyed body receives conveyance force from both the first rotary body and the second rotary body, and obtain the acquired total drive Calculating a first section parameter (for example, a first approximation formula L1) indicating a relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body in the first section using the torque information, When the second rotating body is rotated at the specified speed and the first rotating body is rotated at two or more different rotational speeds (for example, a first specified value A and a second specified value B), , acquiring each driving torque information T2A, T2B of the second rotating body in a second section in which the conveyed object is not receiving a conveying force from the first rotating body but is receiving a conveying force from the second rotating body; , a second section parameter (e.g., second approximation formula L2) that indicates the relationship between the rotational 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. and the driving torque of the second rotating body is the same between the first section and the second section based on the first section parameter and the second section parameter. The present invention is characterized in that it has a specific processing section (for example, the rotating body control processing section 210) that executes a specific process of specifying the rotational speed of as the adjustment target value T.
In conventional control devices, the rotational speed of the first rotating body is sequentially changed from a predetermined initial rotational speed until the magnitude relationship of the driving torque of the second rotating body is reversed. A speed range in which an adjustment target value (rotational speed) can exist is searched. In this case, if the adjustment target value of the first rotating body is far from the initial rotational speed, it will take time to find the relevant speed range, and a lot of time will be spent on the process of specifying the adjustment target value of the first rotating body. It will require. For the following reason, the adjustment target value of the first rotating body is likely to deviate from the initial rotational speed.
In the specific processing in conventional control devices, once a speed range in which the adjustment target value (rotational speed) of the first rotating body can exist is found, a linear equation (first interval parameter and A rotational speed of the first rotating body at which the driving torque of the second rotating body between the first section and the second section coincides is determined. In order to perform such processing, conventional control devices have to control the initial rotational speed at which the search begins so that the speed range that includes the adjustment target value of the first rotating body will not deviate from the search under any circumstances. The settings should be made with sufficient margin. Therefore, the adjustment target value of the first rotating body is likely to be far from the initial rotational speed.
Here, the inventors did not perform the process of searching for a speed range in which the adjustment target value (rotational speed) of the first rotating body can exist until the magnitude relationship of the driving torque of the second rotating body is reversed. It has been found that the first section parameter and the second section parameter indicating the relationship between the rotational speed of the first rotating body and the drive torque of the second rotating body in each section can be obtained with high accuracy even if the first section parameter and the second section parameter are expressed in each section. In other words, the present inventors used the first section parameter and the second section parameter obtained from the rotation speed of two points (or three or more points) on the first rotating body to calculate the rotation speed of these points. It has been found that not only the adjustment target value (rotational speed) of the first rotating body existing within the speed range between the two but also outside the speed range can be specified with high accuracy.
As a result, the rotational speeds of two or more points on the first rotating body can be appropriately set, and the rotation speeds of the two or more points can be adjusted without performing the process of searching for a speed range in which the adjustment target value of the first rotating body can exist. Determine the first section parameter and the second section parameter from each drive torque information of the second rotating body when the first rotating body is rotated at the same speed, and specify the adjustment target value (rotation speed) of the first rotating body. be able to.
In the specific processing in this aspect, first, while the second rotating body is rotated at a specified speed, the first rotating body is rotated at two or more different rotational speeds. Acquire each drive torque information of the second rotating body. Then, using the acquired total drive torque information, a first section parameter and a second section parameter indicating the relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body in each section are calculated. That is, in the identification process 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 is calculated. Processing to search the range is not performed. Thereafter, in the identification process of this aspect, based on these parameters, the rotational speed of the first rotating body is adjusted to a target value 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 for a speed range in which the adjustment target value (rotational speed) of the first rotating body can exist, and the first rotating body is The adjustment target value can be specified. As a result, it is possible to reduce the number of rotational speed points of the first rotating body for obtaining the first section parameter and the second section parameter, shortening the time required for specific processing, and reducing the number of points that need to be conveyed during the specific processing. It is possible to reduce the number of objects to be transported.

[Second aspect]
In a second aspect, in the first aspect, the rotational speed of the first rotating body at the two or more points (for example, a first specified value A and second prescribed value B) are the same as the rotational speeds of the first rotating body at the two or more points when acquiring each drive torque information of the second rotating body in the first section. It is something to do.
According to this, while the same transported object is being transported, it is possible to obtain both the driving torque information of the second rotating body in the first section and the driving torque information of the second rotating body in the second section. . Therefore, processing can be performed in a shorter time.

[Third aspect]
A third aspect is that in the first or second aspect, the number of rotational speeds of the first rotating body used when acquiring each drive torque information of the second rotating body is two or three. This is a characteristic feature.
Even if the number of rotational speeds of the first rotating body used to obtain each drive torque information of the second rotating body is as small as 2 or 3 points, the required accuracy (for example, the same level of accuracy as before) is required. ), the adjustment target value (rotation speed) of the first rotating body can be obtained.

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

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

[Sixth aspect]
In a sixth aspect, in any one of the first to fifth aspects, after performing the specific processing, the specific processing section may be configured to perform the specific processing on the second rotating body (for example, the intermediate transfer belt 10) at the time of the specific processing. The specific process is newly executed using a third rotating body (for example, the conveying roller 48-1) adjacent to the first rotating body on the opposite side in the conveyance direction as the first rotating body. This is a characteristic feature.
According to this, it is possible to adjust the rotational speeds of the rotating bodies on the upstream side and the downstream side in the conveyance direction of the second rotating body (for example, the intermediate transfer belt 10) with respect to the second rotating body (for example, the intermediate transfer belt 10).

[Seventh aspect]
In a seventh aspect, in any one of the first to sixth aspects, the specific processing unit is configured to control the specific processing unit in which the driving torque of the second rotating body is the same between the first section and the second section. The rotational speed (adjustment target value T) of one rotating body is determined by the first Adjust the rotational speed of the first rotating body to match the target value even if the rotational speed of the two or more points of the rotating body is outside the range (for example, the first specified value A and the second specified value B). It is characterized by being specified as.
Even in the case shown in FIG. 12, it is possible to obtain the adjustment target value (rotational speed) of the first rotating body with the required accuracy (for example, the same degree of accuracy as in the prior art).

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

[Ninth aspect]
A ninth aspect is a conveyance device 100 that conveys a conveyed object using a plurality of rotating bodies, and is characterized by having the control device according to any one of the first to eighth aspects.
According to this, it is possible to realize a conveying device that can shorten the time required for the specific process of specifying the adjustment target value of the first rotating body and reduce the number of objects to be conveyed during the specific process. .

[Tenth aspect]
A tenth aspect is an image forming apparatus 300 that forms an image on a conveyed object conveyed by a conveyance device, and is characterized in that the conveyance device of the ninth aspect is used as the conveyance device.
According to this, it is possible to realize an image forming apparatus that can shorten the time required for specific processing to specify the adjustment target value of the first rotating body and reduce the number of objects to be transported during the specific processing. can.

[Eleventh aspect]
In the eleventh aspect, the speed of the first rotating body is determined based on the rotational speed of a second rotating body that is adjacent to the first rotating body that applies a conveying force to the conveyed body and that applies a conveying force to the conveyed body. A control method that performs control to adjust the rotational speed, wherein the second rotating body is rotated at a specified speed while the first rotating body is rotated at two or more different rotational speeds, Acquire each driving torque information of the second rotating body in a first section in which the conveyed object receives a conveying force from both the first rotating body and the second rotating body, and calculate the acquired total driving torque information. is used to calculate a first section parameter indicating the relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body in the first section, and rotate the second rotating body at the specified speed. When the first rotating body is rotated at two or more rotational speeds that are different from each other while the conveyed object is being conveyed from the second rotating body without receiving a conveying force from the first rotating body. Acquire each drive torque information of the second rotating body in the second section receiving the force, and use the acquired total drive torque information to determine the rotational speed of the first rotating body in the second section and the second rotating body. A second interval parameter indicating a relationship with the driving torque of the rotating body is calculated, and based on the first interval parameter and the second interval parameter, the driving torque of the second rotating body is adjusted to the first interval and the second interval parameter. The present invention is characterized in that a specifying process is executed to specify the rotational speed of the first rotary body, which is the same between sections, as an adjustment target value.
According to this, it is possible to shorten the time required for the specifying process for specifying the adjustment target value of the first rotating body, and to reduce the number of objects to be transported that must be conveyed during the specifying process.

[Twelfth aspect]
The twelfth aspect is based on the rotational speed of a second rotating body that is adjacent to the first rotating body that applies a conveying force to the conveyed body and that applies a conveying force to the conveyed body. A program executed by a computer of a control device that performs control to adjust a rotational speed, the program rotating the second rotating body at a specified speed while rotating the first rotating body at each of two or more different rotational speeds. obtain drive torque information for each of the second rotating bodies in a first section where the conveyed body receives a conveying force from both the first rotating body and the second rotating body when rotating; Using the acquired total drive torque information, calculate a first section parameter indicating the relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body in the first section, and When the first rotating body is rotated at two or more mutually different rotational speeds while rotating the body at the specified speed, the conveyed object does not receive a conveying force from the first rotating body. Acquire drive torque information for each of the second rotating bodies in the second section receiving the conveying force from the second rotating body, and use the acquired total drive torque information to control the first rotating body in the second section. A second interval parameter indicating the relationship between the rotational speed of the second rotating body and the driving torque of the second rotating body is calculated, and based on the first interval parameter and the second interval parameter, the driving torque of the second rotating body is calculated as the driving torque of the second rotating body. The present invention is characterized in that the computer is caused to execute a specifying process for specifying, as an adjustment target value, a rotational speed of the first rotating body that is to match between the first section and the second section.
According to this, it is possible to shorten the time required for the specifying process for specifying the adjustment target value of the first rotating body, and to reduce the number of objects to be transported that must be conveyed during the specifying process.

10: Intermediate transfer belt 11: Intermediate transfer roller 12: Secondary transfer opposing roller 13: Followed roller 14: Tension roller 15: Belt cleaning device 16: Scale sensor 17: Encoder pattern 19: Photosensitive 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: Conveyance roller 42: Conveyance motor 46: Conveyance opposing roller 50: Secondary transfer section 60: Conveyance section 100: Conveyance device 200: Motor control section 210: Rotating body control processing section 230: Output section 240: Selection section 245: Paper passage detection section 250: Speed control section 260: Speed adjustment section 261: Torque estimation section 263: Speed change instruction section 264: Speed calculation section 265: Storage control section 300: Image forming device 301: Image reading section 302: Image writing unit 303: Photoconductor unit 305: Developing unit 306: Intermediate transfer section 308: Conveyance section 309: Fixing section 310: Main control section 320: Operation section 330: Memory

Japanese Patent Application Publication No. 2018-155895

Claims (10)

The rotational speed of the first rotating body is adjusted based on the rotational speed of a second rotating body that is adjacent to the first rotating body that applies a conveying force to the conveyed object and that applies a conveying force to the conveyed object. A control device that performs control,
When the second rotating body is rotated at a specified speed and the first rotating body is rotated at two or three predetermined rotational speeds that are different from each other, the conveyed object is the same as the first rotating body. Acquire drive torque information for each of the second rotating bodies in the first section receiving conveying force from both the rotating body and the second rotating body, and use the acquired total drive torque information to The first interval parameter indicating the relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body is set to a range of the first rotation that is wider than the range of rotational speeds at the predetermined two or three points. Calculated over a range of body rotational speeds ,
When the second rotating body is rotated at the specified speed and the first rotating body is rotated at two or three predetermined rotational speeds that are different from each other, the conveyed object is Obtaining drive torque information for each of the second rotating bodies in a second section in which the conveying force is not received from the second rotating body without receiving conveying force from the first rotating body, and using the acquired total driving torque information, A second section parameter indicating the relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body in the second section is set to be higher than the rotational speed range of the predetermined two or three points. Calculated over a wide rotational speed range of the first rotating body ,
Based on the first section parameter and the second section parameter, determine the rotational speed of the first rotating body at which the driving torque of the second rotating body is the same between the first section and the second section. A control device comprising: a specific processing unit that executes specific processing for specifying an adjustment target value. The control device according to claim 1,
The rotational speed at the predetermined two or three points of the first rotating body when acquiring each drive torque information of the second rotating body in the second section is the second rotation speed in the first section. A control device characterized in that the rotation speed is the same as the rotation speed at the predetermined two or three points of the first rotating body when acquiring each drive torque information of the body . The control device according to claim 1 or 2 ,
A control device characterized in that a relationship indicated by at least one of the first interval parameter and the second interval parameter is a proportional relationship. The control device according to any one of claims 1 to 3 ,
The specific processing unit uses, as the specified speed of the second rotating body, a rotational speed that has been specified in advance as an adjustment target value by performing the specific processing on the second rotating body as the first rotating body. control device. The control device according to any one of claims 1 to 4 ,
After performing the specific processing, the specific processing unit may cause a third rotating body adjacent to the second rotating body at the specific processing time on the opposite side in the transport direction to the first rotating body at the specific processing time. A control device characterized in that the specific processing is newly performed using a new rotating body as a first rotating body . The control device according to any one of claims 1 to 5 ,
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 conveyance device that conveys a conveyed object using a plurality of rotating bodies,
A conveyance device comprising the control device according to claim 1 . An image forming apparatus that forms an image on a conveyed object conveyed by a conveyance device,
An image forming apparatus characterized in that the transport device according to claim 7 is used as the transport device. The rotational speed of the first rotating body is adjusted based on the rotational speed of a second rotating body that is adjacent to the first rotating body that applies a conveying force to the conveyed object and that applies a conveying force to the conveyed object. A control method for controlling,
When the second rotating body is rotated at a prescribed speed and the first rotating body is rotated at two or three predetermined rotational speeds that are different from each other, the conveyed object is the same as the first rotating body. Acquire drive torque information for each of the second rotating bodies in the first section receiving conveying force from both the rotating body and the second rotating body, and use the acquired total drive torque information to The first interval parameter indicating the relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body is set to a range of the first rotation that is wider than the range of rotational speeds at the predetermined two or three points. Calculated over a range of body rotational speeds ,
When the second rotating body is rotated at the specified speed and the first rotating body is rotated at two or three predetermined rotational speeds that are different from each other, the conveyed object is Acquire drive torque information for each of the second rotating bodies in a second section where the conveying force is not received from the second rotating body but receiving conveying force from the second rotating body, and using the acquired total drive torque information, A second section parameter indicating the relationship between the rotational speed of the first rotating body and the drive torque of the second rotating body in the second section is set to be higher than the rotational speed range of the predetermined two or three points. Calculated over a wide rotational speed range of the first rotating body ,
Based on the first section parameter and the second section parameter, determine the rotational speed of the first rotating body at which the driving torque of the second rotating body is the same between the first section and the second section. A control method characterized by executing a specific process specified as an adjustment target value. The rotational speed of the first rotating body is adjusted based on the rotational speed of a second rotating body that is adjacent to the first rotating body that applies a conveying force to the conveyed object and that applies a conveying force to the conveyed object. A program executed by a computer of a control device that performs control,
When the second rotating body is rotated at a prescribed speed and the first rotating body is rotated at two or three predetermined rotational speeds that are different from each other, the conveyed object is the same as the first rotating body. Acquire drive torque information for each of the second rotating bodies in the first section receiving conveying force from both the rotating body and the second rotating body, and use the acquired total drive torque information to The first interval parameter indicating the relationship between the rotational speed of the first rotating body and the driving torque of the second rotating body is set to a range of the first rotation that is wider than the range of rotational speeds at the predetermined two or three points. Calculated over a range of body rotational speeds ,
When the second rotating body is rotated at the specified speed and the first rotating body is rotated at two or three predetermined rotational speeds that are different from each other, the conveyed object is Acquire drive torque information for each of the second rotating bodies in a second section where the conveying force is not received from the second rotating body but receiving conveying force from the second rotating body, and using the acquired total drive torque information, A second section parameter indicating the relationship between the rotational speed of the first rotating body and the drive torque of the second rotating body in the second section is set to be higher than the rotational speed range of the predetermined two or three points. Calculated over a wide rotational speed range of the first rotating body ,
Based on the first section parameter and the second section parameter, determine the rotational speed of the first rotating body at which the driving torque of the second rotating body is the same between the first section and the second section. A program that causes the computer to execute specific processing that is specified as an adjustment target value.

Images