CN1189328C - Driving method for driven object, and driving device and printer of using same - Google Patents
Driving method for driven object, and driving device and printer of using same Download PDFInfo
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- CN1189328C CN1189328C CNB991086473A CN99108647A CN1189328C CN 1189328 C CN1189328 C CN 1189328C CN B991086473 A CNB991086473 A CN B991086473A CN 99108647 A CN99108647 A CN 99108647A CN 1189328 C CN1189328 C CN 1189328C
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- stepping motor
- aforementioned
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- driven member
- pulse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Character Spaces And Line Spaces In Printers (AREA)
- Control Of Stepping Motors (AREA)
- Handling Of Sheets (AREA)
Abstract
A driving device drives a body to be driven and is provided with a stepping motor, an MPU(microprocessing unit) for controlling paper feed motor that controls the stepping motor, and a power transmission device that includes an endless transmission means and transmits the power of the stepping motor to the body to be driven. A ROM for storing the pulse train of an excitation pulse being supplied to the stepping motor for each drive step for continuously driving the stepping motor is provided, the pulse train being stored in the ROM is set to avoid a frequency near the resonance frequency of a drive system that is composed of the stepping motor, the power transmission device, and the body to be driven, and the MPU for controlling paper feed motor reads the pulse train from the ROM according to the number of drive steps and supplies the excitation pulse to the stepping motor.
Description
Technical field
The present invention relates to, for example dot matrix impact printer is such with paper transporting apparatus, drives the driving method and the drive unit of the driven member of driven member and the printer that uses them via annular gear by stepping motor.
Background technology
As the drive unit of the driven member that in dot matrix impact printer for example, is adopted, such formation is arranged, promptly along with the carrying out of printing, carry off and on via endless-belt by stepping motor and to use paper continuously as driven member.
For the drive unit of this driven member, exist such problem, promptly because come transferring power, so near the vibration resonance frequency is very big by endless-belt, even stop to supply with excitation pulse, also will take time just can stop because of the influence of vibration to stepping motor.
Particularly, for can the dot matrix impact printer of flying print, owing to alternately repeat at short notice to print and paper feeding, so the time compole that allows drive unit to stop is short, for the drive unit of above-mentioned this driven member, become the result of paper feeding in recording head prints, cause the deterioration of print quality.
In order to prevent the deterioration of this print quality, can consider to carry out like this Machine Design of drive unit, so that make near the resonance frequency of drive system, be not included in the driving frequency band of stepping motor.
, because the resonance frequency of drive system is not single frequency, but also changes along with the step number of paper feeding, so avoid the influence of resonating by the Machine Design of drive unit, it is impossible to say so realistically.In addition, even by the Machine Design of drive unit can shorten to a certain extent result from resonance stop to lag behind, also because as long as only change the specification or the position of an inscape of drive unit, resonance frequency will change, so must carry out careful Machine Design and manufacturing at each kind of drive unit, lack the property produced in batches, repairing simultaneously or adjustment have also become difficulty.
The present invention is to find out on the basis of above-mentioned situation, and its purpose is, provide a kind of can alleviate well or eliminate result from the driving method and the drive unit of the driven member that stops to lag behind of resonance and the printer that uses them.
Summary of the invention
To achieve these goals, in the present invention, seek following technological approaches.
According to the 1st side of the present invention, a kind of driving method of driven member is provided, this driving method drives driven member by stepping motor via annular gear, it is characterized in that, wherein at the driving step number of the aforementioned stepping motor of each Continuous Drive, set the pulse train of the excitation pulse of the aforementioned stepping motor of multiple supply, so that avoid the resonance frequency of drive system from aforementioned stepping motor to aforementioned driven member, these pulse trains are stored in the storage device, according to indication from the outside, read a kind of the multiple pulse train of same driving step number from aforementioned storage device, thereby supply with excitation pulse to aforementioned stepping motor.
According to the 2nd side of the present invention, a kind of drive unit of driven member is provided, this drive unit has stepping motor, control aforementioned Stepping Motor Control device, and comprise annular gear, the power transmission of the transmission of power of aforementioned stepping motor to driven member, it is characterized in that, wherein has such formation, driving step number at the aforementioned stepping motor of each Continuous Drive promptly is set, store the storage device of pulse train of the excitation pulse of the aforementioned stepping motor of multiple supply, be stored in the aforementioned pulse train in the aforementioned storage device, be configured to avoid the resonance frequency of the drive system that constitutes by aforementioned stepping motor and aforementioned power transmission and aforementioned driven member, aforementioned control device is according to the indication from the outside, read a kind of the multiple pulse train of same driving step number from aforementioned storage device, thereby supply with excitation pulse to aforementioned stepping motor.
As annular gear,, be not limited thereto though can adopt endless-belt or ring chain.
As driven member,, be not limited thereto though can consider paper used for recording or air roll etc.
So-called pulse train, be meant and in abutting connection with the interval between excitation pulse the cycle information corresponding of excitation pulse just, the variation in the cycle by excitation pulse, the rotation speed change of stepping motor.Excitation pulse is constant all the time during ' leading to ' in each cycle, and the frequency of excitation pulse is defined as the inverse in cycle.
As storage device,, perhaps, be not limited thereto by the volatile memory of execution power supply reserve such as battery though can consider various nonvolatile memories.
According to most preferred embodiment, storage device stores multiple pulse train at driving step number, and control device is according to the indication from the outside, reads a kind of the multiple pulse train of same driving step number from storage device, thereby supplies with excitation pulse to stepping motor.
According to the 3rd side of the present invention, a kind of driving method of driven member is provided, this driving method drives driven member by stepping motor via annular gear, it is characterized in that, wherein at the driving step number of Continuous Drive stepping motor, set the exciting current value of supplying with stepping motor, so that avoid near the resonance frequency of the drive system from the stepping motor to the driven member, these exciting current values are stored in the storage device, read the exciting current value according to driving step number from storage device, supply with exciting current to stepping motor in view of the above.
According to the 4th side of the present invention, a kind of drive unit of driven member is provided, this drive unit has stepping motor, the control device of control step motor, and comprise annular gear, the power transmission of the transmission of power of stepping motor to driven member, it is characterized in that, the formation of wherein spoiling so bad, promptly be provided with and make the variable exciting current variset of exciting current of supplying with stepping motor, and at the driving step number of Continuous Drive stepping motor, store the storage device of the exciting current value of supplying with stepping motor, be stored in the exciting current value in the storage device, be configured to avoid near the resonance frequency of the drive system that constitutes by stepping motor and power transmission and driven member, control device is read the exciting current value according to driving step number from storage device, control the exciting current variset in view of the above, supply with exciting current to stepping motor whereby.
According to the 5th side of the present invention, a kind of drive unit of driven member is provided, this drive unit has stepping motor, the control device of control step motor, and comprise annular gear, the power transmission of the transmission of power of stepping motor to driven member, it is characterized in that, the formation of wherein spoiling so bad, promptly be provided with and contacted any the belt pulley of annular gear, make the variable belt pulley control device of tension force of annular gear by the position displacement that makes belt pulley, and at the driving step number of Continuous Drive stepping motor, store the storage device of the position of belt pulley, be stored in the position of the belt pulley in the storage device, be configured to avoid near the resonance frequency of the drive system that constitutes by stepping motor and power transmission and driven member, the belt pulley control device makes the position displacement of belt pulley in view of the above according to driving step number from the position that storage device is read belt pulley.
According to most preferred embodiment, be stored in the position of the belt pulley in the storage device, be constant at driving step number, and be configured to make near the driving frequency band that leaves stepping motor the resonance frequency.
According to the 6th side of the present invention, a kind of drive unit of driven member is provided, this drive unit has stepping motor, the control device of control step motor, and comprise annular gear, the power transmission of the transmission of power of stepping motor to driven member, it is characterized in that, the formation of wherein spoiling so bad, promptly be provided with can clutch on the rotation axis of stepping motor damper, by making the clutch of damper on the rotation axis of stepping motor make the variable Damper Control device of load of stepping motor, and at the driving step number of Continuous Drive stepping motor, store the storage device of the clutch instruction of damper, be stored in the clutch instruction of the damper in the storage device, be configured to avoid near the resonance frequency of the drive system that constitutes by stepping motor and power transmission and driven member, the Damper Control device makes damper clutch on the rotation axis of stepping motor in view of the above according to driving the clutch instruction that step number is read damper from storage device.
According to the 7th side of the present invention, a kind of printer is provided, this printer is that drive source carries out paper feeding off and on to lean on annular gear connection paper feeding with the stepping motor of driving shaft, it is characterized in that, wherein has
The control device of Gou Chenging like this, promptly the frequency change of the pulse train of being supplied with when slowing down when the acceleration of stepping motor is done into discontinuous, thereby avoid comprising that near the pulse the resonance frequency of power-transmission system of drive source supplies with.
According to the present invention, owing to avoid coming drive stepping motor near the resonance frequency of drive system, result from the hysteresis that stops of resonance so can alleviate well or eliminate.
Thereby, for example dot matrix impact printer with paper conveyer in the occasion that adopts, even as the leeway of the time of stopping when thick when carrying out flying print or with paper thickness when few, also can paper feeding be stopped, change so can eliminate the elongation or the spacing of printing, can keep print quality well.
Other features and advantages of the present invention can become more apparent by the following detailed description of carrying out with reference to accompanying drawing.
Description of drawings
Fig. 1 is the local summary side elevation of employing according to the impact printer of the drive unit of driven member of the present invention.
Fig. 2 is the local approximate vertical view of the impact printer shown in Fig. 1.
Fig. 3 is the cutaway view of the A-A direction of arrow among Fig. 2.
Fig. 4 is the summary circuit block diagram of the impact printer shown in Fig. 1.
Fig. 5 is the key diagram that changes time of frequency of the excitation pulse of the stepping motor used of the paper feeding of explanation in the normal condition.
Fig. 6 is the key diagram that changes time of frequency of the excitation pulse of the stepping motor used of the paper feeding of explanation in the fine mode.
Fig. 7 is the Stepping Motor Control treatment step that carries out with MPU is controlled in explanation by the paper pushing motor shown in Fig. 4 a flow chart.
Fig. 8 is the summary circuit block diagram of the impact printer among another embodiment.
Fig. 9 is the summary circuit block diagram of the impact printer among another embodiment.
Figure 10 is near the amplification view of stepping motor of the paper feeding among another embodiment.
Figure 11 is the biopsy cavity marker devices perspective view of the main part of the damper shown in Figure 10.
Figure 12 is the amplification view of the main part of the damper shown in Figure 10.
Embodiment
Below, specifically describe most preferred embodiment of the present invention with reference to accompanying drawing.
Fig. 1 is the local summary side elevation of employing according to the impact printer of the drive unit of driven member of the present invention, in the gap between recording head 1 and air roll 2, arranging by the transport path of the paper used for recording 3 that constitutes as the continuous paper that is transferred body and the transport path of colour band 4.Paper used for recording 3 is carried along the direction of arrow by last feeder 5 and following feeder 6.Last feeder 5 and following feeder 6 by by stepping motor 7, rotate driving via belt pulley 7a on the rotating shaft 7b that is installed in stepping motor 7 and endless-belt 8.Endless-belt 8 is adjusted tension force by belt pulley 9.
Fig. 2 is the local approximate vertical view of the impact printer shown in Fig. 1, and Fig. 3 is the cutaway view of the A-A direction of arrow among Fig. 2, and recording head 1 is installed on the straight line shuttle body 12 that can move back and forth along support bar 11.On recording head 1, though do not draw, 14 stature pieces are being set along main scanning direction, a piece has along 12 of main scanning directions, along 24 of sub scanning directions, amounts to 288 scalp acupunctures.
On an end of the rotating shaft 13 of air roll 2, belt pulley 14 is installed, stride across this belt pulley 14 and be fixed on belt pulley 17 on the output shaft 16 of stepping motor 15, the endless-belt 18 of reeling.Endless-belt 18 is adjusted tension force by idler roller 19.
The a pair of feeder 5 of going up is installed on the rotating shaft 21, utilizes the sprocket hole 22 that forms every predetermined distance on the Width two ends of paper used for recording 3, carries paper used for recording 3.A pair of feeder 6 down is installed on the rotating shaft 23, utilizes the sprocket hole 22 that forms every predetermined distance on the Width two ends of paper used for recording 3, carries paper used for recording 3.
On an end of the rotating shaft 13 of air roll 2, electromagnetic clutch 24 is installed, this electromagnetic clutch 24, under the state of in the electromagnet of interior dress, not switching on, mechanically lock rotating shaft 13, stop the rotation of rotating shaft 13, under the state of in the electromagnet of interior dress, switching on, remove the mechanical caging of rotating shaft 13, allow the rotation of rotating shaft 13.
Fig. 4 is the summary circuit block diagram of the impact printer shown in Fig. 1, paper feeding stepping motor 7, by from paper pushing motor control with the motor control signal of MPU (microprocessing unit) 31 just excitation pulse control, air roll is with stepping motor 15, by controlling with the motor control signal of MPU 32 from the air roll Electric Machine Control.Electromagnetic clutch 24 is by controlling with the control signal of MPU 32 from the air roll Electric Machine Control.Paper pushing motor is controlled with MPU 31 and air roll Electric Machine Control MPU 32, controls by upper MPU 33, and in upper MPU 33, input is from the operation signal of the guidance panel 34 that has the key switch group who is operated by the user.,, use among the MPU 32, with among the MPU 31 in paper pushing motor control from stepping motor 15 input coding device signals in the air roll Electric Machine Control from stepping motor 7 input coding device signals.At paper pushing motor control MPU 31, ROM (read-only memory) 35, RAM (random access memory) 36 and timer circuit 37 are connecting bus.This external air roll Electric Machine Control is with among the MPU 32, and ROM, RAM and timer circuit are also connecting bus.
The following describes the summary of action.In when record, according to the data of the image scalp acupuncture of outstanding activation record head 1 selectively, the front end of scalp acupuncture is contacted with the recording surface of paper used for recording 3 via colour band 4.Whereby, the color of colour band 4 is transferred on the recording surface of paper used for recording 3 with point-like, thus record and the corresponding image of view data.At this moment, paper used for recording 3 is because pressured paper bowl 2 limits moving of the thick direction of paper, so the impact that paper used for recording 3 can the excuse pin and escaping.This action along with straight line shuttle body 12 repeats along moving of support bar 11, is just write down the image of 1 bandwidth on the recording surface of paper used for recording 3.
When writing down the image of 1 bandwidth by the once past moving or double action of straight line shuttle body 12, move with MPU 31 instruction paper feedings to paper pushing motor control from upper MPU 33, whereby, paper pushing motor control is with MPU 31, to stepping motor 7 output motor control signals.As a result, the output shaft of stepping motor 7 rotates, and its rotatory force is delivered to rotating shaft 21,23 via belt pulley 7a and endless-belt 8, and last feeder 5 and following feeder 6 rotate, and paper used for recording 3 is transferred along the direction of arrow of Fig. 1.The conveying capacity of this moment determines that by the zone of having write down and the distance in the zone that is about to record stepping motor 7 is by driving with the corresponding step number of this conveying capacity.That is to say, though planning in images such as the literal of record or the figure zone continuous along the throughput direction of paper used for recording 3, the record width of the sub scanning direction that produces according to recording head 1 is carried paper used for recording 3, but in the non-existent white space of image of plan record or the border of page or leaf etc., carry paper used for recording 3 according to the longer distance of record width of the sub scanning direction that produces than recording head 1.In addition, as for example writing down numeral and grid respectively, when duplicate printing, increase the action of oppositely carrying paper used for recording 3 so that finish the occasion of numerical table.
In the occasion of carrying paper used for recording 3 like this, paper pushing motor control MPU 31, according to from upper MPU 33 condition of supplying appointed information and paper feeding step count information, from ROM 35 read pulse sequences, in view of the above to the excitation pulse of stepping motor 7 supplies as motor control signal.
That is to say, in ROM 35, at the corresponding paper feeding step number of the conveying capacity of paper used for recording 3, store two kinds of pulse trains in advance.So-called two kinds of pulse trains are meant pulse train of using in normal condition and the pulse train of using at fine mode.So-called at the paper feeding step number, be meant that for example paper feeding step number goes on foot the store pulse sequence at 1 when 100 went on foot for 1 step among ROM 35, the paper feeding step number goes on foot the store pulse sequences at 5 when going on foot for 1000 steps above 100 in ROM 35, there is no need to go on foot store pulse sequence at ROM 35 at 1 with regard to all paper feeding step numbers.These pulse trains, wait to determine by experiment at the paper feeding step number, so that avoid from stepping motor 7 to paper used for recording the resonance frequency of 3 drive system, and, make from the time of stopping that stops when stepping motor 7 is supplied with excitation pulses when in fact paper used for recording 3 stops to fall in the stipulated time.
For example for normal condition, in the paper feeding step number is the occasion in 1000 steps, the frequency of the excitation pulse of supplying with stepping motor 7 is changed shown in solid line A among Fig. 5 like that, in the paper feeding step number is the occasion in 200 steps, and the frequency of the excitation pulse of supplying with stepping motor 7 is changed shown in solid line B among Fig. 5 like that.By paper pushing motor control with MPU 31 according to the pulse train of reading from ROM 35, to stepping motor 7 supply excitation pulses, realize the frequency change of this excitation pulse.Excitation pulse, constant all the time with frequency-independent ground during ' leading to ', frequency changes along with the variation in cycle.The frequency of excitation pulse is as a of solid line A
1, a
2The b of part and solid line B
1, b
2Part is set near the resonance frequency of avoiding drive system like that.
For fine mode, in the paper feeding step number is the occasion in 1000 steps, the frequency of the excitation pulse of supplying with stepping motor 7 is changed shown in solid line C among Fig. 6 like that, is the occasion in 200 steps in the paper feeding step number, and the frequency of the excitation pulse of supplying with stepping motor 7 is changed shown in solid line D among Fig. 6 like that.The frequency of excitation pulse is as the c of solid line C
1, c
2The d of part and solid line D
1, d
2Part is set near the resonance frequency of avoiding drive system like that.In the occasion of fine mode, to compare with normal condition, the deceleration time of stepping motor is very long.This is to stop the time in order to do one's utmost to shorten, and positively prevents the deterioration of print quality.That is to say, for ordinary circumstance, though even under the normal condition, the time of stopping also dropped in the stipulated time, for example in the thick occasion of the paper of paper used for recording 3, perhaps become heavy occasion at the proportion that influences paper used for recording 3 because of humidity etc., the inertia force that exists paper used for recording 3 becomes big, and so the danger that the time of stopping is elongated is in such occasion, also to set fine mode, so that positively prevent the deterioration of print quality.Switching between normal condition and the fine mode can realize that this is the result of upper MPU 33 cognitive these operations by the operation that the operator implements regulation to the key switch of guidance panel 34.
Moreover, air roll 2 and electromagnetic clutch 24, by the air roll Electric Machine Control with the in addition suitable control of MPU 32.
So, repeat at each record that is undertaken by recording head 1 in moving and the double action of straight line shuttle body 12 with by the paper feeding of carrying out with drive source 7 with the paper conveying, image is recorded on the paper used for recording 3.
Fig. 7 illustrates the flow chart of being controlled the control and treatment step of the stepping motor 7 that carries out with MPU 31 by the paper pushing motor shown in Fig. 4, comes the movement of declare record with paper 3 with reference to this flow chart.
At first, paper pushing motor control judges whether to have imported paper feeding action command (S1) from upper MPU 33 with MPU 31.
If imported paper feeding action command (S1: be) from upper MPU 33, then paper pushing motor control judges whether to be normal condition (S2) with MPU 31.That is to say, owing to comprise the paper feeding step number and the work state information of paper used for recording 3 in the paper feeding action command from upper MPU 33, so the investigation work state is normal condition or fine mode.
If operating state is normal condition (S2: be), then paper pushing motor control is with MPU 31, read with paper feeding action command from upper MPU 33 in to comprise the paper feeding step number of paper used for recording 3 corresponding, the pulse train that normal condition is used (S3).Then, paper pushing motor control generates excitation pulse with MPU 31 according to the pulse train of reading from ROM, supplies with (S4) to stepping motor 7.The frequency of this excitation pulse for example is the occasion in 1000 steps in the paper feeding step number, changes like that shown in solid line A among Fig. 5.Whereby, paper used for recording 3 is transferred with the corresponding speed of frequency with the excitation pulse of stepping motor 7.
Then, paper pushing motor control judges with MPU 31 whether the driving of stepping motor 7 finishes (S5).That is to say whether investigation is read the pulse train of regulation fully and generated excitation pulse from ROM.
If the driving of stepping motor 7 finishes (S5: be), then finish this program.
If in step S5, the driving of stepping motor 7 does not finish (S5: not), then return the driving that step S3 continues stepping motor 7 as yet.
If in step S2, not normal condition (S2: not), then, use MPU 31 so paper pushing motor is controlled owing to be fine mode, read with paper feeding action command from upper MPU 33 in to comprise the paper feeding step number of paper used for recording 3 corresponding, the pulse train that fine mode is used (S6).Then, paper pushing motor control generates excitation pulse with MPU 31 according to the pulse train of reading from ROM, supplies with (S7) to stepping motor 7.The frequency of this excitation pulse for example is the occasion in 1000 steps in the paper feeding step number, changes like that shown in solid line C among Fig. 6.Whereby, paper used for recording 3 is transferred with the corresponding speed of frequency with the excitation pulse of stepping motor 7.
Then, paper pushing motor control judges with MPU 31 whether the driving of stepping motor 7 finishes (S8).That is to say whether investigation is read the pulse train of regulation fully and generated excitation pulse from ROM.
If the driving of stepping motor 7 finishes (S8: be), then finish this program.
If in step S8, the driving of stepping motor 7 does not finish (S8: not), then return the driving that step S6 continues stepping motor 7 as yet.
If in step S1, not from upper MPU 33 input paper feeding action commands (S1: not), then return step S1 and wait for from upper MPU 33 input paper feeding action commands.
So, because at the paper feeding step number, the pulse sequence is stored among the ROM 35, avoids whereby coming drive stepping motor 7 near the resonance frequency of drive system, result from the hysteresis that stops of resonance so can alleviate well or eliminate.Thereby, even in the few occasion in the leeway of the time of stopping in order to carry out flying print, the mobile of paper used for recording 3 stopped, change so can eliminate the elongation or the spacing of printing, can keep print quality well.
And, because at the paper feeding step number, in ROM 35, storing the pulse train of normal condition and the pulse train of fine mode, even so for example in the thick occasion of the paper of paper used for recording 3, perhaps become heavy occasion at the proportion that influences paper used for recording 3 because of humidity etc., under the situation different, produce the occasion of the elongated danger of time of stopping with general situation, by operating state is switched to fine mode, the mobile of paper used for recording 3 stopped, can prevent that the elongation of printing or spacing from changing and keep print quality well.
Moreover, though in the above-described embodiments, constitute as operating state and can select a certain in normal condition and the fine mode, also can constitute and come work with single operating state.
In addition, though in the above-described embodiments,, set the resonance frequency of avoiding drive system for, also can constitute exciting current, avoid the resonance frequency of drive system by change stepping motor 7 the frequency of the excitation pulse of stepping motor 7.
That is to say that as shown in Figure 8, also can constitute by paper pushing motor control and control exciting current supply circuit 41 with MPU 31, from then on an exciting current supply circuit 41 is supplied with excitation pulse to stepping motor 7.As exciting current supply circuit 41, can adopt the constant-voltage circuit that can change output voltage, can change the constant current circuit of output current, perhaps do power circuit that can switch the resistor that is connected in series in output selectively etc.Paper pushing motor control is with MPU 31, and control exciting current supply circuit 41 can make the exciting current change of stepping motor 7 at the paper feeding step number, perhaps, also can be only when the frequency of excitation pulse reaches near the resonance frequency of drive system exciting current is changed.Be used for making the information of exciting current change, be stored in advance among the ROM 35.
If the exciting current of stepping motor 7 is changed, then the output torque of stepping motor 7 changes, so can make the variation of resonant frequency of drive system.Thereby, by suitably changing the exciting current of stepping motor 7, can avoid resonance, the result, can eliminate result from resonance stop to lag behind.
In addition, as shown in Figure 9, also can constitute by paper pushing motor control and come drive controlling motor 42, make the position change of the belt pulley 9 of Fig. 1 by this motor 42 with MPU 31.Paper pushing motor control is with MPU 31, and control motor 42 can make the position change of belt pulley at the paper feeding step number, perhaps, also can be only when the frequency of excitation pulse reaches near the resonance frequency of drive system the position of belt pulley 9 is changed.Be used for controlling the information that motor 42 makes the position change of belt pulley 9.Be stored in advance among the ROM 35.
If make the change in location of belt pulley 9 like this, the tension variation of endless-belt 8 then is so can make the variation of resonant frequency of drive system.Thereby, by suitably changing the position of belt pulley 9, can avoid resonance, the result, can eliminate result from resonance stop to lag behind.
Certainly, be used for adjusting the belt pulley 9 of the tension force of endless-belt 8, be not limited to one, it is provided with number is arbitrarily.
The change of the position of this belt pulley 9 can be carried out individually, also can combine with the change of the change of the pulse train of having stated or exciting current and carry out.
In addition, as shown in Figure 10, also can avoid resonance by the load of change stepping motor 7.That is to say, in the bearing 52 that is installed on frame 51, rotate and supporting axle 53 freely.On this one 53, the main part 54a of electromagnetic type damper 54 is installed.The stepping motor 7 that paper feeding is used is installed on the frame 55, on the rotation axis 7b of this stepping motor 7, at the other end of the end face-off of being installed with belt pulley 7a, the magnetic body 54b of damper 54 is installed.Magnetic body 54b is a disc.Interval between the main part 54a of damper 54 and the magnetic body 54b though draw greatlyyer, is actually minimum in Figure 10.The main part 54a of damper 54 as shown in Figure 11, has discoidal substantially housing 56, is housed in the coasting body made of iron 57 and the resinous torus 58 of the inside of this housing 56, between coasting body 57 and torus 58, is filling silica gel 59.
In the main part 54a of damper 54, interiorly adorning unillustrated electromagnet, an end of this magnet spool as shown in Figure 12, is connected in an end of the conductor 61 in the axle center of the axle 53 that is configured in hollow.The other end of magnet spool, the outer peripheral face that is connected in inner peripheral surface and conductor 61 is vacated an end of the columnar conductor 62 of plurality of gaps ground face-off.On the other end of conductor 61, an end in contact of flat spring 63, and on the other end of conductor 62, an end in contact of flat spring 64.Flat spring 63 is electrically connected in cable 66 via connector 65, and flat spring 64 is electrically connected in cable 67 via connector 65.Connector 65 is installed on the frame 51 by standing finish 68.
Not under the state of energising, main part 54a separates fully with magnetic body 54b in the magnet spool in the interior main part 54a that is loaded on damper 54, even the rotation axis 7b of stepping motor 7 rotates, the main part 54a of damper 54 does not rotate yet.Magnet spool one energising of damper 54, magnetic body 54b just is adsorbed on main part 54a, and both are by the magnetic force combination, if the rotation axis 7b of stepping motor 7 rotates, then damper 54 rotates simultaneously with rotation axis 7b.
Paper pushing motor control MPU 31, via cable 66,67, connector 65, flat spring 63,64, and conductor 61,62 etc., to the magnet spool output clutch instruction of damper 54.Specifically, switch to state of in the magnet spool of damper 54, switching on and the state of not switching on.Paper pushing motor control MPU 31, can switch the "on" position of the magnet spool of damper 54 at the paper feeding step number, perhaps, near also can be only when the frequency of the excitation pulse of stepping motor 7 reaches the resonance frequency of drive system, switch the magnet spool of damper 54 "on" position.Be used for switching the information of "on" position of the magnet spool of damper 54, be stored in advance among the ROM 35.
If the main part 54a that makes damper like this and magnetic body 54b combination with separate, the load variations of stepping motor 7 then is so can make the variation of resonant frequency of drive system.Thereby, by suitably switching to bonding state and released state, can avoid resonance, the result, can eliminate result from resonance stop to lag behind.
This load change that is realized by damper 54 is carried out between can be individually, also can combine with the change of the change of the pulse train of having stated or exciting current and carry out.
As above explanation, according to the present invention, near the drive stepping motor owing to avoid the resonance frequency of drive system results from the hysteresis that stops of resonance so can alleviate well or eliminate.
Claims (2)
1. the driving method of a driven member, this driving method drives driven member by stepping motor via annular gear, it is characterized in that, wherein
Driving step number at the aforementioned stepping motor of each Continuous Drive, set the pulse train of the excitation pulse of the aforementioned stepping motor of multiple supply, so that avoid the resonance frequency of drive system, these pulse trains are stored in the storage device from aforementioned stepping motor to aforementioned driven member
According to indication, read a kind of the multiple pulse train of same driving step number from aforementioned storage device, thereby supply with excitation pulse to aforementioned stepping motor from the outside.
2. the drive unit of a driven member, this drive unit has
Stepping motor,
Control aforementioned Stepping Motor Control device, and
Comprise annular gear, the transmission of power of aforementioned stepping motor to the power transmission of driven member,
It is characterized in that wherein having such formation, promptly
Setting is at the driving step number of the aforementioned stepping motor of each Continuous Drive, stores the storage device of pulse train of the excitation pulse of the aforementioned stepping motor of multiple supply,
Be stored in the aforementioned pulse train in the aforementioned storage device, be configured to avoid the resonance frequency of the drive system that constitutes by aforementioned stepping motor and aforementioned power transmission and aforementioned driven member,
Aforementioned control device is according to the indication from the outside, reads a kind of the multiple pulse train of same driving step number from aforementioned storage device, thereby supplies with excitation pulse to aforementioned stepping motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33690798A JP3435363B2 (en) | 1998-11-27 | 1998-11-27 | Driving method and driving device for driven body and printer using the same |
| JP336907/1998 | 1998-11-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1255434A CN1255434A (en) | 2000-06-07 |
| CN1189328C true CN1189328C (en) | 2005-02-16 |
Family
ID=18303747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB991086473A Expired - Lifetime CN1189328C (en) | 1998-11-27 | 1999-06-18 | Driving method for driven object, and driving device and printer of using same |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP3435363B2 (en) |
| KR (1) | KR100697168B1 (en) |
| CN (1) | CN1189328C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101369130B (en) * | 2002-01-07 | 2011-01-26 | 西门子工业公司 | Pulse output function for programmable logic controller |
| JP4565629B2 (en) | 2004-12-10 | 2010-10-20 | キヤノン株式会社 | Recording device |
| KR20080088265A (en) | 2007-03-29 | 2008-10-02 | 삼성전자주식회사 | Image forming apparatus |
| CN102756955B (en) * | 2011-04-28 | 2015-01-07 | 深圳市大族激光科技股份有限公司 | Device and method for controlling lifting mechanism |
| JP6669107B2 (en) * | 2017-03-15 | 2020-03-18 | カシオ計算機株式会社 | PRINTING APPARATUS, PRINTING APPARATUS CONTROL METHOD, AND PROGRAM |
| CN113541541B (en) * | 2020-04-22 | 2023-12-05 | 柯尼卡美能达株式会社 | Control method and control system for image forming apparatus |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61233862A (en) * | 1985-04-08 | 1986-10-18 | Nec Corp | Kana-kanji converter |
| JPH01152995A (en) * | 1987-12-07 | 1989-06-15 | Mitsubishi Electric Corp | Image reader |
| JPH0518447A (en) * | 1991-07-09 | 1993-01-26 | Mazda Motor Corp | Tension control device for engine belt |
| JPH0775389A (en) * | 1993-09-01 | 1995-03-17 | Canon Inc | Step motor drive method and image forming device by drive method |
| JPH0819296A (en) * | 1994-06-30 | 1996-01-19 | Shibaura Eng Works Co Ltd | Controller of motor |
| JPH1098898A (en) * | 1996-09-20 | 1998-04-14 | Ricoh Co Ltd | Stepping motor drive controller |
-
1998
- 1998-11-27 JP JP33690798A patent/JP3435363B2/en not_active Expired - Fee Related
-
1999
- 1999-06-18 CN CNB991086473A patent/CN1189328C/en not_active Expired - Lifetime
- 1999-06-18 KR KR1019990023065A patent/KR100697168B1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| CN1255434A (en) | 2000-06-07 |
| KR20000034873A (en) | 2000-06-26 |
| KR100697168B1 (en) | 2007-03-21 |
| JP2000166296A (en) | 2000-06-16 |
| JP3435363B2 (en) | 2003-08-11 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| ASS | Succession or assignment of patent right |
Owner name: FUJI XEROX CO., LTD. Free format text: FORMER OWNER: FUJITSU LIMITED Effective date: 20030626 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20030626 Address after: Tokyo, Japan, Japan Applicant after: Fuji Xerox Corp. Address before: Kanagawa, Japan Applicant before: Fujitsu Ltd. |
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| C14 | Grant of patent or utility model | ||
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| CX01 | Expiry of patent term |
Granted publication date: 20050216 |