JP2009046233A - Motor control device, printer, and drive control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control device with improved meshing of a planetary gear, and to provide a printer and a drive control method. <P>SOLUTION: The motor control device comprises: a motor 311; a power transmission changeover part 312 having the planetary gear 315 driven by the motor 311, and a specific gear 316 detachable from the planetary gear 315; and a control means 100 constituted of information for controlling the drive of the motor 311, and controlling the drive of the motor 311 based on a drive table having a meshing promotion low speed part for driving the planetary gear 315 at low speed compared with the other part in the drive table to mesh the planetary gear 315 with the specific gear 316, when they are not meshed with each other. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a motor control device, a printer, and a drive control method.

  In an ink jet printer, there is a mechanism (power transmission switching unit) for switching power transmission using a planetary gear in order to reduce the number of motors. In the power transmission switching unit, the planetary gear is always meshed with the sun gear, but the planetary gear moves with respect to the specific gear to be meshed, and comes in contact with and separates from the movement. Thereby, the planetary gear can be switched between a state in which power is transmitted and a state in which power is not transmitted to a specific gear. In addition, there exists a thing shown in patent document 1 as a power transmission switching part using such a planetary gear.

JP 2004-306524 A (see paragraph number 0066, FIG. 9)

  By the way, in the above-described power transmission switching unit, when the meshing state of the planetary gear and the specific gear is released due to the action of external force, the load acting on the planetary gear becomes very small, and the planetary gear suddenly The rotational speed will increase. Accordingly, there is a problem that the planetary gear cannot be engaged with the engagement gear again. If the planetary gear and the engagement gear are disengaged in the stage before starting the drive, the planetary gear speed increases from the first stage of the drive until the operation ends. It is difficult to mesh again.

  The present invention has been made based on the above circumstances, and an object of the present invention is to provide a motor control device, a printer, and a drive control method capable of achieving good meshing between a planetary gear and a specific gear. I will try.

  In order to solve the above-described problems, the present invention includes a motor, a planetary gear driven by the motor, and a specific gear provided so as to be able to come in contact with and away from the planetary gear. The power transmission switching unit that switches between the transmission state and non-transmission of the motor, and information for controlling the drive of the motor, and when the meshing between the planetary gear and the specific gear is disengaged, And a control means for controlling the drive of the motor based on a drive table having a meshing promotion low speed portion for driving the planetary gear at a lower speed than other high speed drive portions to the extent of meshing.

  In such a configuration, the drive table is provided with a meshing low speed portion for low speed driving, so even if the meshing between the planetary gear and the specific gear is disengaged, By driving the motor based on the meshing promotion low-speed part, it becomes possible to mesh the planetary gear and the specific gear. In other words, when the meshing between the planetary gear and the specific gear is disengaged, the load acting on the planetary gear becomes very small, and the planetary gear tends to rapidly increase its rotation speed. However, due to the presence of the meshing promoting low speed portion, the rotational speed of the planetary gear is suppressed to such an extent that the planetary gear meshes with a specific gear. As a result, it is possible to prevent a problem that the number of rotations of the planetary gear of the motor increases and that the planetary gear and the specific gear do not mesh again until the operation is completed.

  In another invention, in addition to the above-described invention, the meshing promotion low-speed portion continues for a predetermined time from the start of driving of the motor in the drive table.

  In such a configuration, the motor is driven based on the meshing promotion low speed portion only for a predetermined time from the start of driving of the motor. Accordingly, it is possible to prevent the occurrence of a problem that the rotational speed of the planetary gear is increased from the initial stage of driving of the motor and the planetary gear and the specific gear are not meshed again until the operation is completed.

  Furthermore, in another invention, in addition to the above-described invention, the meshing promotion low speed portion continues for a predetermined time in the final stage of driving on the driving table.

  In such a configuration, since the meshing promotion low speed portion continues for a predetermined time in the final stage of driving, it becomes possible to mesh the planetary gear with a specific gear in the final stage, and to prepare for the next driving. It becomes possible.

  In another invention, in addition to each of the above-described inventions, the power transmission switching unit may return the hopper that swings while placing the printing paper and the printing paper supplied to the next transition to the return position. The drive table is present in a path for transmitting the driving force between the return lever and the motor that is swingably mounted on the motor, and the drive table moves the motor between a plurality of standby positions where the hopper or the return lever waits. The plurality of standby positions are detected by the detection means, and the control means controls the driving of the motor according to the drive table based on the detection signal from the detection means.

  When configured in this way, the transmission of the driving force to the hopper and the return lever is switched by the power transmission switching unit. Further, since the drive table is for shifting between the plurality of standby positions, it is possible to prevent the meshing between the planetary gear and the specific gear from being disengaged during the transition between the standby positions. .

  Further, in addition to the above-described invention, in another invention, the detection means can detect the advance notice information before detecting that the return lever is approaching the return position of the standby position. The means performs control for decelerating the motor based on the notice information.

  In the case of such a configuration, the control means performs control to decelerate the motor based on the advance notice information. Thereby, it is possible to prevent the load acting on the return lever (motor) from being greatly different according to the number and type of printing paper, and to prevent the entry speed to the return position from being greatly different. Therefore, the return lever can be stably stopped at the target return position.

  Furthermore, in addition to the above-described invention, in another invention, the control means further includes an open control unit that performs open control of the motor, and the duty ratio of the voltage applied to the motor after the detection information is detected by the detection means The control which lowers is performed.

  In such a configuration, even when the open control by the open control unit is performed on the motor, when the notice information is detected by the detection unit, the duty ratio applied to the motor is reduced. It is possible to stably stop the return lever to the return position.

  Furthermore, in another invention, the printer includes the motor control device according to each of the above-described inventions.

  In such a configuration, the drive table is provided with a meshing low speed portion for low speed driving, so even if the meshing between the planetary gear and the specific gear is disengaged, By driving the motor based on the meshing promotion low-speed part, it becomes possible to mesh the planetary gear and the specific gear. As a result, it is possible to prevent a problem that the number of rotations of the planetary gear of the motor increases and that the planetary gear and the specific gear do not mesh again until the operation is completed.

  Another invention is a drive control method for controlling the drive of a motor, and includes a planetary gear driven by the motor, and a power transmission switching unit provided with a specific gear provided so as to be able to contact and separate from the planetary gear. And when the meshing between the planetary gear and the specific gear is disengaged, the meshing promotion low-speed unit for driving the planetary gear at a lower speed than the other high-speed driving units to the extent that these mesh with each other. The drive of the motor is controlled based on a drive table including

  In such a configuration, the drive table is provided with a meshing low speed portion for low speed driving, so even if the meshing between the planetary gear and the specific gear is disengaged, By driving the motor based on the meshing promotion low-speed part, it becomes possible to mesh the planetary gear and the specific gear. In other words, when the meshing between the planetary gear and the specific gear is disengaged, the load acting on the planetary gear becomes very small, and the planetary gear tends to rapidly increase its rotation speed. However, due to the presence of the meshing promoting low speed portion, the rotational speed of the planetary gear is suppressed to such an extent that the planetary gear meshes with a specific gear. As a result, it is possible to prevent a problem that the number of rotations of the planetary gear of the motor increases and that the planetary gear and the specific gear do not mesh again until the operation is completed.

  Hereinafter, a printer 10 including a motor control device according to an embodiment of the present invention and a drive control method will be described with reference to FIGS. 1 to 13. Note that the printer 10 of the present embodiment is an ink jet printer, but the ink jet printer may be an apparatus that employs any ejection method as long as the apparatus is capable of printing by ejecting ink.

  In the following description, the lower side refers to the side where the printer 10 is installed, and the upper side refers to the side away from the installed side. Further, the side on which the printing paper P is supplied is described as a feeding side (rear end side), and the side on which the printing paper P is discharged is described as a paper discharge side (front side).

<Schematic Configuration of Printer 10>
As shown in FIG. 1, the printer 10 includes a paper transport mechanism 20, a rear feeding mechanism 30, a front feeding mechanism 40, a timing detection unit 60, and a control unit 100 as main components.

  Among these, the paper transport mechanism 20 includes a paper feeding unit 21 and a paper discharge unit 22. Among these, the paper feeding means 21 includes a transport driving roller 21a and a transport driven roller 21b. The transport driving roller 21a is driven to rotate by a motor (not shown). The transport driven roller 21b is pressed against the transport driving roller 21a by a spring (not shown).

  Further, the paper discharge means 22 is provided on the downstream side of the portion where the print head 26 faces. The paper discharge means 22 includes a paper discharge driving roller 22a and a paper discharge driven roller 22b. The paper discharge drive roller 22a is driven to rotate by a motor (not shown). The paper discharge driven roller 22b is pressed against the paper discharge driving roller 22a by a spring (not shown).

  A platen 23 is provided below the conveyance path formed by the paper feeding means 21 and the paper discharge means 22 described above. A carriage 24 is provided so as to face the platen 23. The carriage 24 is guided to slide along the guide shaft 25 in the main scanning direction (the normal direction of the paper surface in FIG. 1). A print head 26 is attached to the carriage 24 so as to face and oppose the platen 23.

<Regarding the rear feeding mechanism 30>
Next, the rear feeding mechanism 30 will be described. The rear feeding mechanism 30 includes a hopper 31, a feeding roller 32, a retard roller 33, a return lever 34, and a holder 35. Among these, the hopper 31 receives a biasing force of a spring 31b (see FIG. 4), and is provided so as to be able to swing about a rotation fulcrum 31a (see FIG. 1). The operation of pressing / separating P from the feeding roller 32 is realized. The feeding roller 32 rotates while contacting the printing paper P pushed up by the hopper 31 to feed the uppermost printing paper P in contact to the downstream side. The feed roller 32 is driven to rotate by a driving force of an ASF motor 321 described later.

  The retard roller 33 is provided so as to be able to advance and retreat with respect to the feeding roller 32, and is given a predetermined rotational resistance by a torque limiter mechanism. That is, when a plurality of printing sheets P are interposed between the feeding roller 32 and the retard roller 33, the rotational resistance is larger than the frictional force between the overlapping printing sheets P, so that the retard roller 33 remains stopped, and the subsequent feeding of the printing paper P is prevented. Further, when only one sheet of printing paper P is interposed between the feed roller 32 and the retard roller 33, the rotational torque of the feed roller 32 is transmitted to the retard roller 33, and the retard roller 33 is driven and rotated. The paper P is sent downstream. The retard roller 33 is rotatably attached to a holder 35 as shown in FIG. 3, and a biasing force of a spring (not shown) is applied to the holder 35, thereby interlocking with the raising / lowering of the hopper 31. Thus, the retard roller 33 advances and retreats with respect to the feeding roller 32.

  Further, a sheet regulating member 36 as shown in FIG. 4 is provided at a portion adjacent to the holder 35. The paper regulating member 36 is for preventing the double feeding of the printing paper P more reliably, and is provided at a position that can be engaged with the lower end of the hopper 31. When the hopper 31 is lowered, the sheet regulating member 36 is pushed down against a biasing force of a spring (not shown). As a result, the restricting portion 36a existing in the sheet restricting member 36 is separated from the feeding roller 32, and a gap d shown in FIG. 4A is formed. On the other hand, when the hopper 31 is raised, the engagement between the sheet regulating member 36 and the hopper 31 is released, and the regulating portion 36a comes close to the feeding roller 32 by the biasing force of the spring. In this proximity state, the restricting portion 36 a is positioned upstream of the nip point between the feeding roller 32 and the retard roller 33, and effectively prevents the double feeding of the printing paper P.

  Further, as shown in FIG. 3 and the like, a plurality of return levers 34 are provided on a rotating shaft 34 a extending in the width direction of the printing paper P. The return lever 34 can move between the solid line and the two-dot chain line (A position, B position) in FIG. Here, the position indicated by the solid line in FIG. 1 indicates the rear home position of the return lever 34, and when the feeding of the printing paper P is started, the position falls to the downstream side (position at the A position). 1) as shown in FIG. Thereby, the supply path of the printing paper P is opened.

  Further, after the leading edge of the printing paper P passes through the return lever 34, the return lever 34 rotates clockwise in FIG. 1 so as to rise toward the upstream side and is positioned at the position B in FIG. . As a result, the printing paper P to be sent next is returned onto the hopper 31. When the feeding of the printing paper P for one sheet is completed, the return lever 34 is again rotated counterclockwise in FIG. 1 and returned to the position indicated by the solid line in FIG. The return lever 34 is driven by an ASF sub motor 311 described later.

<Front feeding mechanism>
The printer 10 also includes a front feeding mechanism 40. The front feeding mechanism 40 is a mechanism for feeding the printing paper P set on the front side (downstream side) and the bottom side of the printer 10 toward the print head 26. The front feeding mechanism 40 includes a feeding cassette 41, a pickup roller 42, a feeding roller 43, a retard roller 44, and an assist roller 45.

  The pickup roller 42 is driven by an ASF motor 321 to be described later, and rotates in contact with the uppermost printing paper P set in the feeding cassette 41 to feed the printing paper P into the guide path 46. The feeding roller 43 is a part that feeds the uppermost printing paper P sent from the feeding cassette 41 by the pickup roller 42 while reversing the curve. The retard roller 44 is provided at a position below the back side facing the outer peripheral surface of the feed roller 43 so as to be able to advance and retreat with respect to the feed roller 43. The assist roller 45 is in contact with the outer peripheral surface above and behind the feeding roller 43.

  In addition, on the downstream side of the rear feeding mechanism 30 and the front feeding mechanism 40, a paper guide 51 for guiding the printing paper P to the conveying means, an upper paper guide 52, and the like are provided. The printing paper P fed by the front feeding mechanism 40 is guided to the conveying means 21 by the paper guide 51 and the upper paper guide 52. In addition, a paper detection sensor 53 (see FIG. 2) that detects the passage of the printing paper P is provided.

<Configuration to switch power transmission>
Hereinafter, a configuration for switching the power transmission provided in the rear feeding mechanism 30 will be described with reference to FIGS. FIG. 5 is a block diagram showing the relationship from the control unit 100 to the drive target, FIG. 6 is a perspective view of the drive transmission system, and FIG. 7 is a front view of the drive transmission system.

  As shown in FIG. 5, the rear feeding mechanism 30 has two driving systems, that is, a feeding roller driving unit 320 and a hopper driving unit 310. The feed roller driving unit 320 includes an ASF motor 321 and a power transmission switching unit 322. The power of the ASF motor 321 is supplied to the feed roller 32 and the front of the rear feeding mechanism 30 via the power transmission switching unit 322. This is selectively transmitted to one of the pickup rollers 42 of the feeding mechanism 40.

  The hopper driving unit 310 includes an ASF sub motor 311 (corresponding to the motor) and a power transmission switching unit 312, and switches on / off the power transmission from the ASF sub motor 311 to the hopper 31 side and the return lever 34 side. This is performed via the power transmission switching unit 312. The control unit 100 in FIGS. 5 and 9 is a part that controls driving of the ASF motor 321 and the ASF sub motor 311.

  As shown in FIG. 2, the ASF motor 321 and the power transmission switching unit 322 are provided at the lower right side of the support unit 37. As shown in FIG. 6, the power transmission switching unit 322 transmits the power to a gear wheel train 324 including a pinion gear 323 attached to the rotation shaft of the ASF motor 321. A sun gear 325 is provided in the gear wheel train 324, and a first swing member 326 is swingably attached to the rotating shaft of the sun gear 325. Two planetary gears 327 and 328 are pivotally supported on the first swing member 326. The two planetary gears 327 and 328 mesh with the sun gear 325 and swing around the sun gear 325 as the sun gear 325 rotates.

  Here, as the sun gear 325 rotates, the first swing member 326 swings, and the swing causes the planetary gear 327 to contact and separate from the gear 329 and the planetary gear 328 contact and separate from the gear 331 (FIG. 7). reference). Here, the gear 329 meshes with the feeding gear 330, and the feeding gear 330 is coaxial with the rotation shaft of the feeding roller 32. Thereby, the transmission of the driving force to the feeding roller 32 is switched when the planetary gear 327 contacts and separates from the gear 329. The gear 331 is a part that transmits a driving force to the pickup roller 42. Thereby, the transmission of the driving force to the pickup roller 42 is switched when the planetary gear 328 contacts and separates from the gear 331.

  The ASF sub motor 311 and the power transmission switching unit 312 are provided on the upper right side of the support unit 37 (FIG. 2). The power transmission switching unit 312 (corresponding to the power transmission switching unit in the claims) has a sun gear 313, a second swing member 314, a planetary gear 315, and a gear 316 as main components. A pinion gear 311 a attached to the rotation shaft of the ASF sub motor 311 transmits power to the sun gear 313. A second swinging member 314 is swingably attached to the rotating shaft of the sun gear 313. The planetary gear 315 is pivotally supported by the second swinging member 314 in a state where the planetary gear 315 meshes with the sun gear 313. Here, the planetary gear 315 normally does not mesh with the gear 316 (corresponding to a specific gear) due to its own weight or the like. However, when the sun gear 313 rotates, the planetary gear 315 contacts and separates from the gear 316 due to the rotation of the sun gear 313 and the second swing member 314. Here, the gear 316 meshes with a hopper cam gear 317 that is a fixed two-stage gear. A hopper cam 317a is formed on the hopper cam gear 317, and a cam follower (not shown) provided on the hopper 31 is in contact with the hopper cam 317a.

  The first cam gear 317 is engaged with a gear 318, and the gear 318 is engaged with the second cam gear 319. A return lever cam 319a is fixedly provided on the return cam gear 319, and a return lever cam follower 34b shown in FIG. 3 is in contact with the return lever cam 319a. Thereby, the swinging operation of the return lever 34 as shown in FIG. 1 is realized by the driving of the ASF sub motor 311. The hopper cam gear 317 and the return cam gear 319 are rotationally driven at the same time, and the vertical movement cycle of the hopper 31 and the oscillation cycle of the return lever 34 are provided equally.

<About timing detection means>
Next, the timing detection unit 60 (corresponding to the detection unit) will be described. FIG. 8 is a perspective view of the timing detection means 60. As shown in FIG. 8, the timing detection means 60 includes a flag plate 61 (corresponding to a flag member), and the flag plate 61 rotates in synchronization with the gear 318. Three flags 62a, 62b, and 62c are provided on the outer periphery of the flag plate 61, and the disc portion 61a of the flag plate 61 is provided with notches 63a and 63b at portions separated by a predetermined radius from the center of rotation. , 63c.

  Among these, the flags 62a, 62b, and 62c are light shielding portions that do not allow light to pass through. The flags 62 a to 62 c pass through the facing portion S <b> 1 of the position detection sensor 71 and block the optical axis of the position detection sensor 71. Here, the position detection sensor 71 and the home sensor 72 described below are optical sensors of a light projecting / receiving type, and each include a light emitting unit and a light receiving unit (not shown). The notches 63a, 63b, and 63c are portions through which light passes. The notches 63a, 63b, and 63c are also provided so as to pass through the facing portion S2 of the home sensor 72. That is, when the optical axis passing through the facing portion S2 of the home sensor 72 reaches the disk portion 61a other than the notches 63a to 63c, light is not allowed to pass. However, when the optical axis of the home sensor 72 reaches the notches 63a, 63b, and 63c, the light receiving unit can receive the light emitted from the light projecting unit.

  The position detection sensor 71 and the home sensor 72 are provided so that the output level of the detection signal when the light is shielded is high (H) and the output level of the detection signal in the light receiving state is low (L). (See FIGS. 10, 11, and 13).

  Here, the relationship between the output levels of the signals of the position detection sensor 71 and the home sensor 72 when the flag plate 61 rotates is shown in FIG. As shown in FIG. 8, the flag plate 61 rotates in the direction of arrow A. In this rotational direction, the flag 62a corresponds to the rear home position (corresponding to the origin). At that time, as shown in FIG. 4A, the hopper 31 is lowered and no feeding is performed. It has become. Further, as shown in FIG. 4B, the flag 62b corresponds to a state in which the hopper 31 is raised and feeding is performed (hereinafter, this is referred to as a feeding position). The flag 62c corresponds to a paper return position (corresponding to a return position). That is, when the hopper 31 is raised and the supply of the printing paper P is started, the leading edge of the printing paper P passes through the return lever 34. When the passage is detected by the paper detection sensor 53 or the like, the ASF sub motor 311 is driven and the flag plate 61 is rotated. As a result, the return lever 34 is positioned at the B position where it rises most in FIG.

  The notch 63a corresponds to the rear home position. Here, as shown in FIG. 10, the case where the position detection sensor 71 outputs an H level signal and the home sensor 72 outputs an L level signal is defined as a rear home position. Since this combination of signal outputs is set so that it exists only in the rotation direction of the flag plate 61, the position detection sensor 71 outputs an H level signal and the home sensor 72 outputs an L level signal. When outputting, the control unit 100 can determine the rear home position.

  The notch 63b corresponds to what is called a delivery position, and the hopper 31 is raised and the return lever 34 reaches the paper return position in order to suppress deformation of the hopper 31 by the spring 31b when the printer 10 is shipped. It corresponds to the state without.

  The notch 63c corresponds to a stop notice position (corresponding to notice information), and is a position for notifying that the paper return position is close. In other words, when shifting from the feeding position to the paper return position, the return lever 34 is moved to the B position where the lever 34 is raised from the state shown by the solid line in FIG. At this time, the return lever 34 rotates so as to lift the printing paper P received by itself.

  By the way, in this rising operation, the load acting on the return lever 34 varies greatly depending on the number of print sheets P, the type of print sheets P, and the like. For example, when the printing paper P is glossy and heavy dedicated photo paper and several dozen sheets are set, the printing paper P is a lighter New Year's card than the former, and there are only two or three sheets If so, the load acting on the return lever 34 is significantly different. Thus, if the load is greatly different, even if the flag 62c is detected, the entry speed to the paper return position at the time of detection is greatly different, and it is not possible to stably stop at the target stop position at the paper return position. Therefore, when the notch 63c is provided and the home sensor 72 detects this notch 63c, the control unit 100 determines that the flag 62c will be detected soon. Then, as will be described later, the control unit 100 performs control to lower the voltage (duty) applied to the ASF sub motor 311. The flag plate 61 has the flags 62a to 62c and the notches 63a to 63c as described above.

<Configuration of control unit>
Next, the control unit 100 will be described with reference to FIG. The control unit 100 is a part that performs various controls, and corresponds to a control unit. The control unit 100 receives output signals such as the position detection sensor 71, the home sensor 72, the paper detection sensor 53, an encoder sensor (not shown), and a power switch for turning on / off the printer 10. As shown in FIG. 1, the control unit 100 includes a CPU 101, a memory 102, an interface 103, an ASIC 104, a timer 105, a motor driver 106, and the like, which are connected via a transmission path 107 such as a bus. Yes. The configuration shown in the block diagram of FIG. 9 is functional due to the cooperation of these hardware and the drive table stored in the memory 102, the cooperation of software, or the addition of circuits and components for performing specific processing. Has been realized.

  As shown in FIG. 9, an open control unit 111 is realized in the CPU 101 by reading a predetermined drive table and program from the memory 102. The open control unit 111 reads out a predetermined drive table from the memory 102, and outputs information on the duty ratio as shown in FIGS. 10 and 11 to the motor control unit 113 of the ASIC 104, and the voltage of the duty ratio. Is applied to the ASF sub motor 311 via the motor driver 106 or the like.

  Note that the drive tables shown in FIGS. 10 and 11 show the relationship between time and the duty ratio. As shown in FIGS. 10 and 11, the drive table has a meshing promotion low speed portion. In this meshing promotion low speed part, a duty ratio lower than the other part of the drive table is applied to the ASF sub motor 311. Therefore, in the meshing promotion low speed portion, the ASF sub motor 311 is driven in a state where the rotation speed is very small. And even if the meshing between the planetary gear 315 and the gear 316 is disengaged, the duty ratio of the meshing promoting low speed portion is set so that the both meshing properly.

  Here, the drive table is configured to have a sufficient margin in addition to a necessary amount to move from the rear home position to the paper feed position, for example, when the planetary gear 315 and the gear 316 are correctly engaged with each other. Has been. Therefore, if the planetary gear 315 and the gear 316 are correctly meshed with each other, the position detection sensor 71 outputs an H level signal before reaching the meshing promoting low speed portion on the rear side of the drive table, and the H level signal The open control unit 111 outputs information regarding the duty ratio for stopping the ASF sub motor 311 to the motor control unit 113 of the ASIC 104.

  The ASIC 104 includes a position calculation unit 112 that detects the rotational position of the flag plate 61 based on detection signal inputs from the position detection sensor 71 and the home sensor 72. The ASIC 104 includes a motor control unit 113 that controls driving of the ASF sub motor 311 and the ASF motor 321 based on information from the open control unit 111 in the CPU 101.

  The timer 105 outputs a timer signal when a predetermined time has elapsed. Here, the open control unit 111 increases or decreases the duty ratio with reference to the drive table while performing the time measurement by the timer 105. Further, when the open control unit 111 detects that the predetermined time has elapsed based on the timer signal of the timer 105 after detecting the notch 63c, the duty ratio applied to the ASF sub motor 311 is set to zero. A control signal for stopping the ASF sub motor 311 is output. In addition, the motor driver 106 outputs a pulse voltage corresponding to a predetermined duty ratio to the ASF sub motor 311 side based on a control signal from the motor control unit 113.

<Overall operation>
A drive sequence in the printer 10 having the above-described configuration will be described based on the processing flow in FIG.

  When starting execution of the printing operation on the printing paper P, the control unit 100 starts driving the ASF sub motor 311 so as to supply the printing paper P to the downstream side. At the start of driving, the driving table is read from the memory 102, and the ASF sub motor 311 is driven according to the driving table (S10).

  Here, in the drive according to the drive table of S10, the drive based on the meshing promotion low-speed part of a drive table is made in the first step. In this meshing promotion low-speed part, a voltage with a duty ratio is applied to the ASF sub motor 311 so that the number of rotations of the planetary gear 315 and the gear 316 can be kept very low. Here, by driving the ASF sub motor 311, the planetary gear 315 is moved in the direction of meshing with the gear 316 by the rotation of the sun gear 313 and the second swing member 314. At that time, in the driving based on the meshing promotion low speed portion, the rotation speed of the planetary gear 315 is suppressed to be very low, and for example, the peak portion of the planetary gear 315 can enter the trough portion of the gear 316. Therefore, as in the case where the planetary gear 315 is rotating at a high speed, it is possible to suppress the occurrence of a problem such that the peak portion of the planetary gear 315 does not enter the valley portion of the gear 316 and repels. The planetary gear 315 and the gear 316 can be engaged with each other.

  When the ASF sub motor 311 is driven based on the drive table, it is subsequently determined whether or not the target position has been reached (S11). Here, the target position refers to the rear home position, the paper feed position, the paper return position, and the like as described above, and is a part where the position detection sensor 71 outputs an H level signal (see FIG. 10). In this determination, if it is determined that the target position has been reached (Yes), then a duty ratio for stopping the ASF sub motor 311 is applied (S12). That is, since it is determined in S11 that the target position has been reached, a duty ratio for stopping the ASF sub motor 311 is applied. Further, after S12, a hold current is applied for a predetermined time (S13), and it is reliably stopped at the target position. Therefore, when this processing route is passed, the target is reached and the process ends.

  If it is determined in S11 that the target position has not yet been reached (in the case of No), then the current drive relates to the drive from the paper feed position to the paper return position, It is determined whether or not a stop notice position has been detected (S14).

  In this determination, when it is determined that the stop notice position has been detected (Yes), the duty ratio is applied based on the table corresponding to the preliminary brake stage (see FIG. 10) (S15). Here, in the preliminary brake stage, control is performed to reduce the duty ratio applied to the ASF sub motor 311 based on the stop notice position (notch 63c). Here, at the stage before the stop notice position is detected, the load acting on the return lever 34 (ASF sub motor 311) varies greatly depending on the number and type of printing paper P. Therefore, in the preliminary brake stage, in order to prevent the rush speed to the target stop position (paper return position) from greatly differing due to fluctuations in the load, a process for reducing the duty ratio applied to the ASF sub motor 311 is performed. The return lever 34 is stably stopped at the target paper return position.

  FIG. 13 shows the state of the load acting on the return lever 34 at each rotational position. In FIG. 13, a rectangular solid line indicates a detection signal from the position detection sensor 71, and a rectangular broken line indicates a detection signal from the home sensor 72. In FIG. 13, the largest load is applied between the flag 62b corresponding to the feeding position and the detection of the flag 62c corresponding to the paper return position. In the portion with the largest load, the load acting on the return lever 34 varies greatly depending on the number and type of printing paper P.

  If the preliminary brake stage has elapsed, it is then determined whether or not the target position (paper return position) has been reached (S16). If it is determined that the target position (paper return position) has been reached (Yes), the process proceeds to S12 described above. If it is determined that the target position (paper return position) has not been reached (in the case of No), it is determined whether or not all driving based on the preliminary brake stage table has been completed (S17). In this determination, when it is determined that all of the preliminary brake stage tables are not completed (in the case of No), the process returns to S15 described above.

  Further, when it is determined in S17 that all of the preliminary brake stage tables have been completed (in the case of Yes), driving based on the table has been completed without detecting that the target position has been reached in S16. become. In that case, the process ends without reaching the target position.

  If it is determined that the stop notice position has not been detected in the determination of S14 described above (No), it is then determined whether or not all driving based on the driving table has been completed (S18). . In this determination, when it is determined that all of the driving based on the driving table is not completed (in the case of No), the process returns to S10 described above. If it is determined in S18 that all of the drive tables have been completed (Yes), the process ends without reaching the target position, as described above.

  If it is determined in S18 that all of the drive table has been completed (Yes), the driving based on the meshing promotion low speed portion is performed at the final stage of driving in the driving table (see FIG. 11). Therefore, the ASF motor 311 can be kept at a very low rotational speed. By driving based on the meshing promotion low speed portion, for example, the peak portion of the planetary gear 315 can enter the valley portion of the gear 316, and the planetary gear 315 and the gear 316 can be meshed. Yes.

<Effects of the present invention>
According to the printer 10 configured as described above, the drive table is provided with the meshing low speed portion for low speed driving, so that the mesh between the planetary gear 315 and the gear 316 is disengaged. However, the ASF sub motor 311 is driven based on the meshing promotion low speed portion. Therefore, the planetary gear 315 and the gear 316 can be engaged with each other. That is, when the meshing between the planetary gear 315 and the gear 316 is disengaged, the load acting on the planetary gear 315 is very small, and therefore the planetary gear 315 tends to increase its rotational speed rapidly. It becomes. However, in the present embodiment, due to the presence of the meshing promotion low speed portion, the rotation speed is suppressed to such an extent that the planetary gear 315 meshes with the gear 316. As a result, the rotation speed of the planetary gear 315 increases, and it is possible to prevent the occurrence of a problem such that the planetary gear 315 and the gear 316 cannot be engaged until the drive table is finished.

  Further, in the present embodiment, as shown in FIG. 11, the meshing promotion low-speed portion continues for a predetermined time at the stage of starting driving the ASF sub motor 311 in the drive table. For this reason, the ASF sub motor 311 is driven based on the meshing promotion low speed portion only for a predetermined time from the start of driving. As a result, it is possible to prevent problems such as the planetary gear 315 and the gear 316 not meshing again until the rotational speed of the planetary gear 315 increases from the initial stage of the driving start of the ASF submotor 311 until the driving table is finished. It becomes possible.

  Furthermore, in this embodiment, the meshing promoting low speed portion continues for a predetermined time even in the final stage of the drive table. Therefore, in the final stage of the drive table, the planetary gear 315 and the gear 316 can be engaged with each other, so that the next drive can be prepared.

  Further, the power transmission switching unit 312 exists in the path for transmitting the driving force between the hopper 31 and the return lever 34 and the ASF sub motor 311, but by passing through the meshing promotion low speed unit as described above. In the power transmission switching unit 312, it is possible to prevent the occurrence of a problem that the driving force is not transmitted to the hopper 31 and the return lever 34 and the vehicle rotates idly. Further, since the drive table is for shifting between the rear home position, the paper feeding position, the paper returning position, etc., in the transition between these positions, the planetary gear 315 and the gear 316 are moved. It becomes possible to prevent the meshing from coming off.

  Further, as shown in FIG. 13, before the return lever 34 reaches the return position, the home sensor 72 detects the stop notice position (notch 63c). Then, the control unit 100 performs control for decelerating the duty ratio applied to the ASF sub motor 311 based on the stop notice position (notch 63c). As a result, the load acting on the return lever 34 (ASF sub motor 311) varies greatly depending on the number and type of printing paper P, and the entry speed to the target stop position (paper return position) is prevented from greatly differing. be able to. Therefore, the return lever 34 can be stably stopped at the target paper return position.

  Even when the open control by the open control unit 111 is performed on the ASF sub motor 311, when the stop notice position is detected by the home sensor 72, the duty ratio applied to the ASF sub motor 311 is reduced. Therefore, it is possible to stably stop the return lever 34 to the paper return position (position B).

<Modification>
Although one embodiment of the present invention has been described above, the present invention can be variously modified. This will be described below.

  In the above-described embodiment, the control unit 100 includes the CPU 101 and the ASIC 104. However, the control unit 100 may be configured to control the ASF sub motor 311 only with the ASIC 104, and in addition to these, the control unit 100 may be combined with a one-chip microcomputer in which various peripheral devices are incorporated. You may make it comprise.

  In the above-described embodiment, the printer 10 including both the rear feeding mechanism 30 and the front feeding mechanism 40 is disclosed. However, the present invention may be applied to a mechanism including only the rear feeding mechanism 30 without including the front feeding mechanism 40.

  Furthermore, in the above-described embodiment, the position detecting sensor 71 and the home sensor 72 which are optical sensors are used as the detecting means. However, the sensor included in the detection means is not limited to the optical type, and various sensors such as a contact type sensor and an ultrasonic sensor can be used.

  Moreover, in the above-mentioned embodiment, the flag board 61 which comprises the flags 62a-62c corresponding to a protrusion part and the notches 63a-63c is disclosed as a flag member which a detection means comprises. However, it may be a flag plate in which circular arcs of notches are provided at portions having different radii from the rotation center, or may be a flag plate having two types of protruding lengths of protruding portions. Moreover, you may make it provide the transparent part which permeate | transmits light instead of providing the notches 63a-63c.

  Further, in the above-described embodiment, the notch 63c is provided in the flag plate 61 to correspond to the stop notice position. However, a flag corresponding to the stop notice position may be provided as long as a sufficient interval between adjacent flags can be secured to prevent erroneous detection.

  In the above-described embodiment, the meshing promoting low speed portion is provided in the first stage and the last stage of the drive table. However, the meshing promotion low speed portion may be provided only at the first stage of the drive table, for example, or may be provided only at the last stage. Further, the meshing promoting low speed portion may be provided not in the first stage / last stage of the driving table but in the middle stage of the driving table.

  10 and 11, the drive table has a low duty ratio only in the meshing promotion low speed portion, and the other portions have the same duty ratio. However, the drive table may be configured with a duty ratio that increases in a stepped manner, for example, and may have any other configuration.

  In the above-described embodiment, the meshing between the planetary gear 315 and the gear 316 has been described. For example, the meshing between the planetary gear 327 and the gear 329, and the meshing between the planetary gear 328 and the gear 331 are performed. The present invention may be applied to the meshing. In addition, the present invention can be applied to any planetary gear that can be used as long as the planetary gear and the gear are in contact with each other.

1 is a schematic diagram illustrating a side configuration of a printer according to an embodiment of the present invention. FIG. 2 is a perspective view illustrating an appearance of a rear feeding mechanism of the printer of FIG. 1. It is a perspective view which shows the drive part of the hopper and return lever of the printer of FIG. FIG. 2 is a side view showing an ascending posture and a descending posture of the hopper of the printer of FIG. 1. FIG. 2 is a block diagram illustrating a drive system of a rear feeding mechanism in the printer of FIG. 1. It is a perspective view which shows the mechanism which switches the power transmission in the printer of FIG. It is a top view which shows the mechanism which switches the power transmission in the printer of FIG. It is a perspective view which shows the timing detection mechanism in the printer of FIG. It is a block diagram which shows schematic structure of a control part. It is a figure which shows the relationship between the output level of the detection signal of each sensor, and Duty ratio. It is a figure which shows the relationship of Duty ratio in case the target is not achieved. FIG. 2 is a diagram illustrating a processing flow in a drive sequence of the printer of FIG. 1. It is a figure which shows the load which acts on a return lever in each rotation position.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Printer, 20 ... Paper conveyance mechanism, 30 ... Rear feeding mechanism, 31 ... Hopper, 32 ... Feeding roller, 33 ... Retarding roller, 34 ... Return lever, 40 ... Front feeding mechanism, 53 ... Paper detection sensor, 60 ... Timing detection means, 61 ... Flag plate (corresponding to a part of the detection means), 62a to 62c ... Flag, 63a to 63c ... Notch, 71 ... Position detection sensor (part of the detection means, corresponding to the first sensor) 72 ... Home sensor (corresponding to detection means), 100 ... Control section (corresponding to control means), 111 ... Open control section, 315 ... Planetary gear, 316 ... Gear (corresponding to specific gear)

Claims (8)

A motor,
A planetary gear driven by the motor, and a specific gear provided so as to be able to contact and separate with respect to the planetary gear, and a power transmission switching unit that switches between power transmission state and non-transmission by contact and separation between them; ,
It is composed of information for controlling the driving of the motor, and when the meshing between the planetary gear and the specific gear is disengaged, the planetary gear is driven at another high speed to such an extent that the planetary gear is meshed. Control means for controlling the driving of the motor based on a driving table provided with a meshing promotion low-speed part for driving at a lower speed than the part;
A motor control device comprising:   The motor control device according to claim 1, wherein the meshing promotion low-speed portion continues for a predetermined time from the start of driving of the motor in the drive table.   3. The motor control device according to claim 1, wherein the meshing promotion low-speed portion continues for a predetermined time in a final stage of driving in the driving table. The power transmission switching unit includes a hopper that swings while placing a print sheet, a return lever that is swingably provided to return the print sheet supplied to the next transition to a return position, and the motor Exists in the path to transmit the driving force between
The drive table is for controlling the motor so as to shift between a plurality of standby positions where the hopper or the return lever waits,
The plurality of standby positions are detected by detection means,
The control means controls driving of the motor according to the drive table based on a detection signal from the detection means.
The motor control device according to claim 1, wherein the motor control device is a motor control device. Prior to detecting that the return lever reaches the return position of the standby position, the detection means is capable of detecting notice information, and the control means is based on the notice information, Control to decelerate the motor;
The motor control device according to claim 4.   The control unit includes an open control unit that performs open control of the motor, and performs control to reduce a duty ratio of a voltage applied to the motor after the detection information is detected by the detection unit. The motor control device according to claim 5.   A printer comprising the motor control device according to claim 1. A drive control method for controlling the drive of a motor,
A planetary gear driven by the motor, and a power transmission switching unit including a specific gear provided so as to be able to contact and separate from the planetary gear;
A drive provided with a meshing promotion low-speed portion for driving the planetary gear at a lower speed than other high-speed drive portions to the extent that the planetary gear and the specific gear are disengaged when engaged. Control the drive of the motor based on the table,
The drive control method characterized by the above-mentioned.

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