JP7098979B2 - How to adjust the position of the transfer device, transfer system and head unit - Google Patents

Description

The present invention relates to a method of adjusting the positions of a transfer device, a transfer system and a head unit.

Conventionally, there are known methods of performing various processes using a head unit. For example, a method of forming an image by a so-called inkjet method of ejecting ink from a print head is known. A method of improving the print quality of an image printed on a print medium by this image formation is known.

For example, a method of adjusting the position of a print head is known in order to improve print quality. Specifically, first, the position fluctuation in the lateral direction of the web (web), which is a printing medium passing through the continuous paper printing system, is detected by the sensor. A method of adjusting the position of the print head in the lateral direction so as to compensate for the position variation detected by this sensor is known (see, for example, Patent Document 1).

However, for example, in order to improve the image quality of the image to be formed, it may be required to improve the landing position of the discharged liquid. On the other hand, in the conventional technique, there is a problem that the accuracy of the processing position such as the landing position of the discharged liquid may be poor.

One aspect of the present invention is to provide a technique or device for more accurately adjusting the processing position by the head unit, such as the landing position of the liquid discharged from the liquid discharge head unit.

In order to solve the above-mentioned problems, the transport device having a head unit and processing the transported object by the head unit, which is one aspect of the present invention, has the head unit in the transport direction. An actuator that moves in an orthogonal direction, an actuator controller that controls the actuator, a displacement sensor that detects the amount of displacement of the head unit due to movement by the actuator, and a position and movement of the object to be transported in the orthogonal direction. A detection result indicating a speed, a movement amount or a combination thereof, a controller that outputs a command value to the actuator controller based on the output of the displacement sensor, and the controller include a command according to the detection result. A vibration cycle in which the displacement amount vibrates based on the difference between the movement amount indicated by the value and the displacement amount indicated by the output of the displacement sensor when operated at the command value, and a cycle that is an integral multiple of the vibration cycle. For each, the correction value for correcting the command value is calculated.

The processing position by the head unit can be adjusted more accurately.

It is a schematic diagram which shows an example of the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a schematic diagram which shows the whole structure example of the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a figure which shows an example of the position where the 1st sensor is installed in the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a figure which shows an example of the external shape of the liquid discharge head unit which concerns on one Embodiment of this invention. It is an external view which shows an example of the sensor device which concerns on one Embodiment of this invention. It is a schematic diagram which shows the arrangement example of the conveyed object detection sensor which the apparatus which discharges a liquid which concerns on one Embodiment of this invention has. It is a functional block diagram which shows an example of the functional structure which obtains the detection result which concerns on one Embodiment of this invention. It is a block diagram which shows an example of the correlation calculation method which concerns on one Embodiment of this invention. It is a figure which shows an example of the search method of the peak position in the correlation calculation which concerns on one Embodiment of this invention. It is a figure which shows the calculation result example of the correlation calculation which concerns on one Embodiment of this invention. It is a figure which shows the example which the position of a recording medium fluctuates in the orthogonal direction. It is a figure which shows an example of the cause which a color shift occurs. It is a block diagram which shows an example of the moving mechanism for moving the liquid discharge head unit which the apparatus which discharges a liquid which concerns on one Embodiment of this invention has. It is a timing chart which shows an example of the method of calculating the fluctuation amount of the conveyed object by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a block diagram which shows an example of the hardware composition of the control part which concerns on one Embodiment of this invention. It is a block diagram which shows an example of the hardware composition of the data management apparatus which the control part which concerns on one Embodiment of this invention has. It is a block diagram which shows an example of the hardware composition of the image output apparatus which the control part which concerns on one Embodiment of this invention has. It is a flowchart which shows an example of the processing by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a figure which shows an example of the relationship between the displacement amount and the command value in the movement control by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a control block diagram which shows the movement control example for moving the liquid discharge head unit by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a figure which shows an example of the relationship between the displacement amount and the command value in the movement control which performs the reciprocating motion by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a block diagram which shows an example of the hardware structure for moving the liquid discharge head unit which the apparatus which discharges a liquid which concerns on one Embodiment of this invention has. It is a block diagram which shows the whole structure example of the moving mechanism for moving the liquid discharge head unit by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a flowchart which shows another example of the processing by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a flowchart which shows the acquisition example of the difference value by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a flowchart which shows the example which acquires the difference value in a plurality of reciprocating motions by the apparatus which discharges a liquid which concerns on one Embodiment of this invention. It is a schematic diagram which shows the modification of the to-be-behaved detection sensor which the apparatus which discharges a liquid which concerns on one Embodiment of this invention has. It is a schematic diagram which shows the 1st modification of the transfer apparatus which concerns on one Embodiment of this invention. It is a schematic diagram which shows the 2nd modification of the transfer apparatus which concerns on one Embodiment of this invention. It is a schematic diagram which shows the 3rd modification of the transfer apparatus which concerns on one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the present specification and the drawings, the components having substantially the same functional configuration are designated by the same reference numerals, and duplicate description will be omitted.

<Overall configuration example>
Hereinafter, a case where the head unit included in the transport device is a head unit for discharging liquid and the position where the liquid discharge head unit discharges liquid to the web is defined as a “processing position” will be described as an example. Further, when the head unit included in the transport device is a liquid discharge head unit that discharges liquid, the transport device is a device that discharges liquid.

FIG. 1 is a schematic view showing an example of a device for discharging a liquid according to an embodiment of the present invention. For example, in a device that ejects a liquid, the ejected liquid is a recording liquid such as water-based or oil-based ink. Hereinafter, an example in which the device 110 for discharging the liquid is an image forming device will be described.

The device 110 that discharges the liquid conveys an object to be conveyed such as a web 120. In the illustrated example, the device 110 that discharges the liquid discharges the liquid to the web 120 conveyed by the roller 130 or the like to form an image. When an image is formed, the web 120 can also be said to be a recording medium. Further, the web 120 is a so-called continuous paper printing medium or the like. That is, the web 120 is a roll-shaped sheet or the like that can be wound up. For example, the device 110 that discharges the liquid is a so-called production printer.

In the following description, an example will be described in which the roller 130 adjusts the tension of the web 120 and the web 120 is conveyed in the direction shown in the drawing (hereinafter referred to as “transport direction 10”).

Further, in the figure, the direction orthogonal to the transport direction 10 is an example in which the orthogonal direction 20 is used.

Further, in this example, the device 110 that ejects the liquid ejects inks of four colors of black (K), cyan (C), magenta (M), and yellow (Y) at a predetermined location on the web 120. It is an inkjet printer that forms an image.

FIG. 2 is a schematic view showing an overall configuration example of a device for discharging a liquid according to an embodiment of the present invention. As shown in the figure, the device 110 for ejecting a liquid has four liquid ejection head units for ejecting inks of four colors.

Each liquid discharge head unit performs a process of discharging each liquid of each color to the web 120 transported in the transport direction 10. Further, it is assumed that the web 120 is conveyed by two pairs of nip rollers, rollers 230 and the like. Hereinafter, of the two pairs of nip rollers, the nip roller installed on the upstream side of each liquid discharge head unit is referred to as "first nip roller NR1". On the other hand, the nip roller installed on the downstream side of the first nip roller NR1 and each liquid discharge head unit is referred to as "second nip roller NR2".

As shown in the figure, each nip roller rotates with an object to be transported such as a web 120 sandwiched between them. As described above, each nip roller and roller 230 is a mechanism or the like that conveys the web 120 or the like in a predetermined direction.

Further, it is desirable that the recording medium of the web 120 is long. Specifically, it is desirable that the length of the recording medium is longer than the distance between the first nip roller NR1 and the second nip roller NR2. Furthermore, the recording medium is not limited to the web. That is, the recording medium may be a sheet that is folded and stored, so-called "Z paper" or the like.

In the overall configuration example shown below, each liquid discharge head unit is installed in the order of black (K), cyan (C), magenta (M), and yellow (Y) from the upstream side to the downstream side. do. That is, the liquid discharge head unit (hereinafter referred to as "black liquid discharge head unit 210K") installed on the most upstream side is used for black (K). The liquid discharge head unit (hereinafter referred to as "cyan liquid discharge head unit 210C") installed next to the black liquid discharge head unit 210K is used for cyan (C). Further, the liquid discharge head unit (hereinafter referred to as "magenta liquid discharge head unit 210M") installed next to the cyan liquid discharge head unit 210C is used for the magenta (M). Subsequently, the liquid discharge head unit (hereinafter referred to as "yellow liquid discharge head unit 210Y") installed on the most downstream side is used for yellow (Y).

Each liquid ejection head unit ejects ink of each color to a predetermined portion of the web 120 based on image data or the like. The position where the ejected ink lands on the web 120 (hereinafter referred to as "landing position") is substantially directly below the position where the liquid ejection head unit ejects (hereinafter referred to as "discharging position").

Hereinafter, an example will be described in which the processing position, which is the position of the object to be processed to be processed by the liquid discharge head unit, is set as the discharge position.

Further, as described above, since the discharge position for the transported object is substantially directly below the landing position for the transported object, the processing position may be described as the landing position. In this example, the black ink is ejected to the landing position of the black liquid ejection head unit 210K (hereinafter referred to as “black landing position PK”). Similarly, the cyan ink is ejected to the landing position of the cyan liquid ejection head unit 210C (hereinafter referred to as “cyan landing position PC”). Further, the magenta ink is ejected to the landing position of the magenta liquid ejection head unit 210M (hereinafter referred to as “magenta landing position PM”). Further, the yellow ink is ejected to the landing position of the yellow liquid ejection head unit 210Y (hereinafter referred to as “yellow landing position PY”).

Hereinafter, the timing at which each head unit performs processing is referred to as "processing timing". Specifically, the processing timing of each liquid ejection head unit is the timing at which each liquid ejection head unit ejects ink.

The control of each processing timing and the control of the actuators AC1, AC2, AC3, and AC4 provided in each liquid discharge head unit are performed by, for example, the controller 520 connected to each liquid discharge head unit.

Hereinafter, the actuators AC1, AC2, AC3, and AC4 may be collectively referred to as “actuator AC”. The processing timing control and the actuator AC will be described later.

Further, in the illustrated example, a plurality of rollers are installed for each liquid discharge head unit. As shown in the figure, a plurality of rollers are installed on the upstream side and the downstream side, respectively, with each liquid discharge head unit interposed therebetween, for example.

Specifically, in the transport path of the web 120, a roller (hereinafter referred to as “first roller”) for supporting the web 120 is installed on the upstream side of each landing position for each liquid discharge head unit. Further, a roller (hereinafter referred to as "second roller") for supporting the web 120 is installed on the downstream side from each landing position.

When the first roller and the second roller are installed in this way, so-called "fluttering" can be reduced at each landing position. The first roller and the second roller are used for the transport path of the recording medium, and are, for example, driven rollers. Further, the first roller and the second roller may be rollers that are rotationally driven by a motor or the like.

The first roller, which is an example of the first support member, and the second roller, which is an example of the second support member, do not have to be a rotating body such as a driven roller. That is, the first roller and the second roller may be support members that support the object to be transported. For example, the first support member and the second support member may be a pipe or a shaft having a circular cross section.

In addition, the first support member and the second support member may be a curved plate or the like whose portion in contact with the transported object has an arc shape. Hereinafter, an example will be described in which the first support member is the first roller and the second support member is the second roller.

Specifically, the black first roller CR1K is installed on the upstream side of the web 120 at the black landing position PK in the transport direction. On the other hand, the second roller CR2K for black is installed on the downstream side in the transport direction of the web 120 from the black landing position PK. Similarly, the first roller CR1C for cyan and the second roller CR2C for cyan are installed on the cyan liquid discharge head unit 210C, respectively. Further, a first roller CR1M for magenta and a second roller CR2M for magenta are installed on the magenta liquid discharge head unit 210M, respectively. Further, a first roller CR1Y for yellow and a second roller CR2Y for yellow are installed on the yellow liquid discharge head unit 210Y, respectively.

As shown in FIG. 2, for example, the device 110 for discharging the liquid includes a sensor device (hereinafter referred to as “first sensor device”) for each liquid discharge head unit. The sensor device is a unit including a transported object detection sensor capable of detecting the position of the transported object in the orthogonal direction. The transported object detection sensor is a sensor capable of acquiring information on the web 120.

The object to be transported detection sensor can detect the position of the web 120 in the orthogonal direction during image formation. Further, the device 110 for discharging the liquid may further include a sensor device (hereinafter referred to as "second sensor device SEN2") on the upstream side of the first sensor device, in addition to the first sensor device. That is, in the example shown in FIG. 2, the device 110 for discharging the liquid includes a total of five sensor devices including four first sensor devices and one second sensor device SEN2.

Further, in the following description, each of the first sensor device and the second sensor device may be collectively referred to simply as "sensor device SEN". The object to be transported detection sensor is not limited to the configuration shown in the figure and the configuration installed at the position shown in the figure. Further, the second sensor device SEN2 may not be provided.

In the following description, a total of five examples of the transported object detection sensor will be described. The number of objects to be detected is not limited to five. That is, it is desirable that the number of objects to be detected is equal to or greater than the total number of the first sensor and the second sensor and the number of liquid discharge head units. For example, two or more object detection sensors may be installed for each liquid discharge head unit. Similarly, two or more second sensors may be installed.

As the transported object detection sensor, an optical sensor or the like that uses light such as a laser, pneumatic pressure, ultrasonic waves, or infrared rays is used. The optical sensor may be, for example, a CCD (Charge Coupled Device) camera, a CMOS camera (Complementary Metal Oxide Sensor), or the like. It should be noted that the objects to be transported detection sensors may all be of the same type or may be of different types. In the following description, all the objects to be transported detection sensors are of the same type.

In the following description, the sensor device installed for the black liquid discharge head unit 210K is referred to as "black sensor device SENK". Similarly, the sensor device installed for the cyan liquid discharge head unit 210C is referred to as "cyan sensor device SENC". Further, the sensor device installed for the magenta liquid discharge head unit 210M is referred to as "magenta sensor device SENM". Furthermore, the sensor device installed for the yellow liquid discharge head unit 210Y is referred to as "yellow sensor device SENY".

Further, in the following description, the "position where the transported object detection sensor is installed" refers to a position where data acquisition or the like is performed. Therefore, it is not necessary to install all the configurations of the sensor device at the "position where the transported object detection sensor is installed", and other than the functions required for acquiring the data of the web 120, they are connected by a cable or the like. It may be installed at the position of.

In the figure, the black sensor device SENK, the cyan sensor device SENC, the magenta sensor device SENM, the yellow sensor device SENY, and the second sensor device SEN2 show an example of the position where the transported object detection sensor is installed.

For example, as shown in the figure, the position where the transported object detection sensor included in the first sensor device is installed is such as INTK1 between rollers for black, INTC1 between rollers for cyan, INTM1 between rollers for magenta, and INTY1 between rollers for yellow. Is. Desirably, the position where the transported object detection sensor is installed is, as shown in the figure, an upstream section INTK2 for black, an upstream section INTC2 for cyan, an upstream section INTM2 for magenta, an upstream section INTY2 for yellow, and the like.

FIG. 3 is a diagram showing an example of a position where a first sensor device is installed in a device for discharging a liquid according to an embodiment of the present invention. Hereinafter, black will be described as an example. In this example, the black sensor device SENK is installed between the black first roller CR1K and the black second roller CR2K at a position closer to the black first roller CR1K than the black landing position PK. desirable.

The distance close to the first roller CR1K for black is determined based on the time required for the control operation and the like. For example, the distance close to the first roller CR1K for black is set to "20 mm". In this case, the position where the black sensor device SENK is installed is an example in which the position is "20 mm" upstream from the black landing position PK.

In FIG. 3, the position of the black sensor device SENK is described as being on the edge of the web 120, but the position of the black sensor device SENK is perpendicular to the surface of the web 120, not the edge of the web 120. It may be in a position where it completely overlaps with the web 120 when viewed in any direction.

Further, the device 110 for discharging the liquid may further include a measuring unit such as an encoder. Hereinafter, an example in which the measuring unit is realized by the encoder will be described. Specifically, the encoder is installed, for example, with respect to the rotation axis of the roller 230. In this way, the amount of movement in the transport direction can be measured based on the amount of rotation of the roller 230. When this measurement result is used together with the output data from the transported object detection sensor, the device 110 that discharges the liquid can discharge the liquid to the web 120 with higher accuracy.

Further, the device 110 for discharging the liquid has a displacement sensor PS for each head unit, which obtains a displacement amount in the orthogonal direction orthogonal to the transport direction of each head unit. Specifically, the device 110 for discharging the liquid includes a first displacement sensor PS1 for detecting the displacement amount of the black liquid discharge head unit 210K, a second displacement sensor PS2 for detecting the displacement amount of the cyan liquid discharge head unit 210C, and a magenta. The third displacement sensor PS3 for detecting the displacement amount of the liquid discharge head unit 210M and the fourth displacement sensor PS4 for detecting the displacement amount of the yellow liquid discharge head unit 210Y are provided.

The first displacement sensor PS1, the second displacement sensor PS2, the third displacement sensor PS3, and the fourth displacement sensor PS4 are position sensors capable of detecting each displacement amount. For example, the first displacement sensor PS1, the second displacement sensor PS2, the third displacement sensor PS3, and the fourth displacement sensor PS4 are a reflection method using a laser beam or a method for counting the number of pulses by a slit or a linear scale.

Alternatively, the first displacement sensor PS1, the second displacement sensor PS2, the third displacement sensor PS3, and the fourth displacement sensor PS4 may be an optical sensor, an acceleration sensor, an encoder, a potentiometer, a CIS (contact image sensor), or a combination thereof. ..

As described above, the displacement sensor is a sensor capable of detecting the displacement of each liquid discharge head unit in the transport direction, the orthogonal direction, or both directions. Therefore, the displacement sensor may be any kind of sensor as long as it can detect displacement and the like.

<External shape of liquid discharge head unit>
An example of the outer shape of the liquid discharge head unit will be described with reference to FIG. As shown in the figure, FIG. 4A is a schematic plan view showing an example of four liquid discharge head units 210K to 210Y of the liquid discharge device 110 according to the embodiment of the present invention.

As shown in FIG. 4A, the liquid discharge head unit is a line type head unit in this embodiment. That is, the device 110 for discharging the liquid has four liquid discharge head units 210K corresponding to black (K), cyan (C), magenta (M), and yellow (Y) from the upstream side in the transport direction 10 of the recording medium. 210C, 210M and 210Y are arranged.

In this example, the black (K) liquid discharge head unit 210K arranges four heads 210K-1, 210K-2, 210K-3 and 210K-4 in a staggered manner in the orthogonal direction. As a result, the device 110 for discharging the liquid can form an image in the entire width direction (orthogonal direction) of the image forming region (printing area) of the web 120. Since the configurations of the other liquid discharge head units 210C, 210M and 210Y are the same as the configurations of the black (K) liquid discharge head unit 210K, the description thereof will be omitted.

In this example, the example in which the liquid discharge head unit is configured by four heads has been described, but the liquid discharge head unit may be configured by a single head.

FIG. 5 is an external view showing an example of a sensor device according to an embodiment of the present invention.

The illustrated sensor device SEN has a configuration in which an object such as a web 120 is illuminated to form a speckle pattern. Specifically, the sensor device SEN has a semiconductor laser light source (LD) and a collimating optical system (CL).

In addition, the sensor device SEN has a CMOS image sensor, which is an example of the object detection sensor WS, to capture an image of the speckle pattern, and a telecentric imaging optics to condense and image the speckle pattern on the CMOS image sensor. It has a system (TO).

The speckle pattern will be described later.

In the illustrated configuration example, a CMOS image sensor provided with different sensor devices SEN captures an image in which a speckle pattern is captured at each of the time “TM1” and the time “TM2”, for example. Further, the same CMOS image sensor may capture an image showing a pattern or the like at each of the time TM1 and the time TM2 separated from each other.

In the illustrated example, the size width W × depth D × height H of the sensor is 15 × 60 × 32 [mm].

As described above, the CMOS image sensor is an example of the transported object detection sensor WS, and the control circuit 52 is an example of the image pickup control units 14A and 14B described later. For example, the control circuit 52 is an FPGA (Field-Programmable Gate Array) circuit. Further, the light source is not limited to the device using the laser beam. For example, the light source may be an LED (Light Emitting Diode), an organic EL (Electro-luminescence), or the like. The pattern does not have to be a speckle pattern depending on the type of light source.

FIG. 6 is a schematic diagram showing an arrangement example of a transported object detection sensor included in the device for discharging the liquid according to the embodiment of the present invention. For example, the transported object detection sensor WS provided in the black sensor device SENK is referred to as the first transported object detection sensor WS1. Further, the transported object detection sensor provided in the cyan sensor device SENC is referred to as a second transported object detection sensor WS2. Further, the transported object detection sensor provided in the magenta sensor device SENM is referred to as a third transported object detection sensor. Furthermore, the transported object detection sensor provided in the yellow sensor device SENY is used as the fourth transported object detection sensor.

Then, the first transported object detection sensor WS1, the second transported object detection sensor WS2, the third transported object detection sensor WS3, and the fourth transported object detection sensor WS4 are located at positions where the web 120 as shown can be detected. Be placed.

In the case of the sensor device SEN shown in FIG. 5, at least a part of the detection region of the transported object detection sensor WS included in each sensor device overlaps with the web 120 when viewed through in a direction perpendicular to the surface of the web 120. Is desirable.

The actuators AC1, AC2, AC3, and AC4 provided in each liquid discharge head unit 210 in FIG. 6 will be described later.

Further, when the black liquid discharge head unit 210K is not moved in the direction orthogonal to the transport direction 10, the actuator AC1 may be omitted.

FIG. 7 is a functional block diagram showing an example of a functional configuration for obtaining a detection result according to an embodiment of the present invention.

As shown below, among the sensor devices installed for each liquid discharge head unit 210, the black sensor device SENK corresponding to the black liquid discharge head unit 210K and the cyan sensor device corresponding to the cyan liquid discharge head unit 210C are shown below. A combination of SENCs will be described as an example.

In this example, the sensor device SEN is hardware having the function of the detection unit shown in the figure.

Further, as shown in the figure, the detection unit 110F10 for the black liquid discharge head unit 210K outputs the output data related to the "A position", and the detection unit 110F10 for the cyanide liquid discharge head unit 210C outputs the output data related to the "B position". An example of outputting data will be described.

First, the detection unit 110F10 for the black liquid discharge head unit 210K is composed of, for example, an image pickup unit 16A, an image pickup control unit 14A, an image storage unit 15A, and the like.

In this example, the detection unit 110F10 for the cyan liquid discharge head unit 210C has the same configuration as the detection unit 110F10 for the black liquid discharge head unit 210K, and has the same configuration as the image pickup unit 16B, the image pickup control unit 14B, and the image storage. It is composed of parts 15B and the like. Hereinafter, the detection unit 110F10 for the black liquid discharge head unit 210K (hereinafter, simply referred to as “detection unit 110F10”) will be described as an example.

As shown in the figure, the image pickup unit 16A images the web 120 transported in the transport direction 10. The image pickup unit 16A is realized by, for example, the conveyed object detection sensor WS shown in FIG.

The image pickup control unit 14A includes a shutter control unit 141A and an image capture unit 142A. The image pickup control unit 14A is realized by, for example, the control circuit 52 shown in FIG.

The image capture unit 142A acquires an image captured by the image pickup unit 16A.

The shutter control unit 141A controls the timing at which the image pickup unit 16A takes an image.

The image storage unit 15A stores the image captured by the image pickup control unit 14A. The image storage unit 15A is realized by, for example, a storage device or the like.

The calculation unit 110F60 can calculate the position of the pattern possessed by the web 120, the movement speed at which the web 120 is conveyed, and the movement amount at which the web 120 is conveyed, based on the respective images stored in the image storage units 15A and 15B. It is composed of.

In the present embodiment, the calculation unit 110F60 calculates the command value COM for driving each actuator based on the calculation result. The command value COM will be described later. Further, the calculation unit 110F60 outputs data of a time difference Δt indicating the timing of releasing the shutter to the shutter control unit 141A. That is, the calculation unit 110F60 outputs the shutter release timing to the shutter control unit 141A so that the image indicating the “A position” and the image indicating the “B position” are imaged with a time difference Δt. The calculation unit 110F60 is realized by, for example, the controller 520 shown in FIG.

The web 120 is a member having a scattering property on the surface or inside. Therefore, when the web 120 is irradiated with the laser beam, the reflected light is diffusely reflected. Due to this diffuse reflection, a pattern is formed on the web 120. That is, the pattern is a spot called "speckle", a so-called speckle pattern. Therefore, when the web 120 is imaged, an image showing a speckle pattern is obtained. Since the position of the speckle pattern can be known from this image, it is possible to detect where the predetermined position of the web 120 is. It should be noted that this speckle pattern is generated because the irradiated laser beam interferes with the uneven shape formed on the surface or the inside of the web 120.

Therefore, when the web 120 is conveyed, the speckle pattern of the web 120 is also conveyed. Therefore, if the same speckle pattern is detected at different times, the amount of movement can be obtained. That is, when the same speckle pattern is detected and the movement amount of the pattern is obtained, the calculation unit 110F60 can obtain the movement amount of the web 120. When the obtained movement amount is converted per unit time, the calculation unit 110F60 can obtain the movement speed at which the web 120 has moved.

The required movement amount or movement speed is not limited to the transport direction of the web 120. That is, since the image pickup unit 16A outputs the two-dimensional image data, the calculation unit 110F60 can obtain the movement amount or the movement speed in the two dimensions. That is, the sensor may also be used to detect the positions in the transport direction and the positions orthogonal to the transport direction. When used in this way, the cost can be reduced in each direction. In addition, since the number of sensors can be reduced, space can be saved.

As described above, the device for discharging the liquid based on the speckle pattern can accurately obtain the detection result indicating the position of the web 120 in the orthogonal direction.

The calculation unit 110F60 calculates the detection result which is the position, the moving speed, the moving amount, or a combination thereof of the web 120 by using the following correlation calculation. Further, the calculation unit 110F60 calculates the command value COM from the detection result. The actuator controllers CTL1 and CTL2 to which the first command value COM1 and the second command value COM2 are input are controllers that control the actuators AC1 and AC2, respectively. The actuator controllers CTL1 and CTL2 will be described later.

<Correlation operation example>
FIG. 8 is a block diagram showing an example of a correlation calculation method according to an embodiment of the present invention. For example, when the correlation calculation is performed by the configuration as shown in the figure, the calculation unit 110F60 calculates the relative position, the movement amount, the movement speed, or a combination thereof in the orthogonal direction of the web 120 at the position where the image data is captured. be able to. In addition, it is possible to calculate the amount of deviation of the web 120 from the ideal transport position, the moving speed, and the like at the timing when the image data is captured.

Specifically, as shown in the figure, the calculation unit 110F60 includes a first two-dimensional Fourier transform unit FT1, a second two-dimensional Fourier transform unit FT2, a correlation image data generation unit DMK, a peak position search unit SR, and a calculation unit. It has a CAL and a conversion result storage unit MEM.

The first two-dimensional Fourier transform unit FT1 converts the first image data D1. Specifically, the first two-dimensional Fourier transform unit FT1 has a configuration including a Fourier transform unit FT1a for the orthogonal direction and a Fourier transform unit FT1b for the transport direction.

The Fourier transform unit FT1a for the orthogonal direction performs a one-dimensional Fourier transform on the first image data D1 in the orthogonal direction. Then, the Fourier transform unit FT1b for the transport direction performs one-dimensional Fourier transform of the first image data D1 in the transport direction based on the conversion result by the Fourier transform unit FT1a for the orthogonal direction. In this way, the Fourier transform unit FT1a for the orthogonal direction and the Fourier transform unit FT1b for the transport direction perform one-dimensional Fourier transform in the orthogonal direction and the transport direction, respectively. The first two-dimensional Fourier transform unit FT1 outputs the conversion result converted in this way to the correlation image data generation unit DMK.

Similarly, the second two-dimensional Fourier transform unit FT2 transforms the second image data D2. Specifically, the second two-dimensional Fourier transform unit FT2 has a configuration including a Fourier transform unit FT2a for the orthogonal direction, a Fourier transform unit FT2b for the transport direction, and a complex conjugate unit FT2c.

The Fourier transform unit FT2a for the orthogonal direction performs a one-dimensional Fourier transform on the second image data D2 in the orthogonal direction. Then, the Fourier transform unit FT2b for the transport direction performs one-dimensional Fourier transform of the second image data D2 in the transport direction based on the conversion result by the Fourier transform unit FT2a for the orthogonal direction. In this way, the Fourier transform unit FT2a for the orthogonal direction and the Fourier transform unit FT2b for the transport direction perform one-dimensional Fourier transform in the orthogonal direction and the transport direction, respectively.

Next, the complex conjugate unit FT2c calculates the complex conjugate of the conversion result by the Fourier transform unit FT2a for the orthogonal direction and the Fourier transform unit FT2b for the transport direction. Then, the second two-dimensional Fourier transform unit FT2 outputs the complex conjugate calculated by the complex conjugate unit FT2c to the correlation image data generation unit DMK.

Subsequently, the correlated image data generation unit DMK has the conversion result of the first image data D1 output from the first two-dimensional Fourier transform unit FT1 and the second image output from the second two-dimensional Fourier transform unit FT2. Correlated image data is generated based on the conversion result of the data D2.

The correlation image data generation unit DMK has a configuration including an integration unit DMKa and a two-dimensional inverse Fourier transform unit DMKb.

The integration unit DMKa integrates the conversion result of the first image data D1 and the conversion result of the second image data D2. Then, the integration unit DMKa outputs the integration result to the two-dimensional inverse Fourier transform unit DMKb.

The two-dimensional inverse Fourier transform unit DMKb performs a two-dimensional inverse Fourier transform on the integration result by the integration unit DMKa. When the two-dimensional inverse Fourier transform is performed in this way, the correlated image data is generated. Then, the two-dimensional inverse Fourier transform unit DMKb outputs the correlation image data to the peak position search unit SR.

The peak position search unit SR searches for a peak position having a peak brightness (peak value) that has the steepest (that is, a steep rise) in the generated correlated image data. First, a value indicating the intensity of light, that is, the magnitude of brightness is input to the correlated image data. The brightness is input in a matrix.

In the correlated image data, the luminance is arranged at the pixel pitch interval of the area sensor, that is, the pixel size interval. Therefore, it is desirable that the search for the peak position is performed after performing so-called subpixel processing. In this way, when the sub-pixel processing is performed, the peak position can be searched with high accuracy. Therefore, the calculation unit 110F60 can accurately output the position, the movement amount, the movement speed, and the like.

For example, the search by the peak position search unit SR is performed as follows.

FIG. 9 is a diagram showing an example of a method for searching for a peak position in a correlation calculation according to an embodiment of the present invention. In the figure, the horizontal axis indicates the position in the transport direction in the image indicated by the correlation image data. On the other hand, the vertical axis indicates the brightness of the image indicated by the correlation image data.

Hereinafter, among the brightnesses indicated by the correlated image data, three data of the first data value q1, the second data value q2, and the third data value q3 will be described as an example. That is, in this example, the peak position search unit SR (FIG. 8) searches for the peak position P on the curve k connecting the first data value q1, the second data value q2, and the third data value q3.

First, the peak position search unit SR calculates each difference in the brightness of the image indicated by the correlation image data. Then, the peak position search unit SR extracts a combination of data values having the largest difference value among the calculated differences. Next, the peak position search unit SR extracts a combination adjacent to the combination of data values having the largest difference value. In this way, the peak position search unit SR can extract three data as shown in the illustrated first data value q1, second data value q2, and third data value q3. Then, when the curve k is calculated by connecting the three extracted data, the peak position search unit SR can search for the peak position P. By doing so, the peak position search unit SR can search for the peak position P at a higher speed by reducing the amount of calculation such as sub-pixel processing. The position of the combination of data values having the largest difference value is the steepest position. Further, the sub-pixel processing may be processing other than the above processing.

As described above, when the peak position search unit SR searches for the peak position, for example, the following calculation result can be obtained.

FIG. 10 is a diagram showing an example of a calculation result of a correlation calculation according to an embodiment of the present invention. The figure shows the correlation intensity distribution of the cross-correlation function. In the figure, the X-axis and the Y-axis indicate the serial numbers of the pixels. A peak position such as the illustrated "correlation peak" is searched by the peak position search unit SR (FIG. 8).

In addition, the calculation unit CAL (FIG. 8) calculates the relative position, movement amount, movement speed, and the like of the web. For example, the calculation unit CAL can calculate the relative position and the movement amount by calculating the difference between the center position of the correlated image data and the peak position searched by the peak position search unit SR.

Further, the calculation unit CAL can calculate the movement speed by dividing the movement amount by time, for example.

As described above, the calculation unit 110F60 can detect the relative position, the movement amount, the movement speed, and the like by the correlation calculation. In the figure, an example in which there is a fluctuation in the Y direction has been described, but when there is a fluctuation in the X direction, the peak position is generated at a position shifted in the X direction as well. Further, the detection method such as relative position, movement amount or movement speed is not limited to this. For example, the calculation unit 110F60 may detect a relative position, a movement amount, a movement speed, or the like as follows.

First, the calculation unit 110F60 binarizes the brightness of each of the first image data and the second image data. That is, the calculation unit 110F60 sets "0" if the luminance is equal to or less than the preset threshold, and "1" if the luminance is larger than the threshold. The calculation unit 110F60 may detect the relative position by comparing the first image data and the second image data binarized in this way.

Further, the calculation unit 110F60 may detect a relative position, a movement amount, a movement speed, or the like by another detection method. For example, the calculation unit 110F60 may detect a relative position from each pattern reflected in each image data by so-called pattern matching processing or the like.

FIG. 11 is a diagram showing an example in which the position of the recording medium fluctuates in the orthogonal direction. Hereinafter, an example in which the web 120 is conveyed in the conveying direction 10 as shown in FIG. 11A will be described. As shown in this example, the web 120 is conveyed by a roller or the like. As described above, when the web 120 is conveyed, the position of the web 120 may change in the orthogonal direction, for example, as shown in FIG. 11 (B). That is, the web 120 may "meander" as shown in FIG. 11 (B).

The example shown in the figure is a case where the rollers are arranged diagonally. In the figure, the state of being “oblique” is described in an easy-to-understand manner, and the inclination of the rollers and the like may be less than in the illustrated example.

Fluctuations in the position of the web 120 in the orthogonal direction, or "meandering," occur, for example, due to roller eccentricity, misalignment, or cutting of the web 120 by a blade. Further, when the width of the web 120 is narrow with respect to the orthogonal direction, the thermal expansion of the rollers and the like may affect the fluctuation of the position of the web 120 in the orthogonal direction.

For example, when vibration is generated due to eccentricity of a roller, cutting of a blade, or the like, the web 120 may "meander" as shown in the figure. In addition, the cutting by the blade is not uniform, and the web 120 may "meander" as shown in the figure due to the physical characteristics of the web 120, that is, the shape after the web 120 is cut. be.

FIG. 12 is a diagram showing an example of the cause of color shift. As will be described with reference to FIG. 11, when the position of the recording medium fluctuates in the orthogonal direction, that is, when “meandering” occurs, color shift is likely to occur due to the cause shown in FIG.

Specifically, when an image is formed on a recording medium using a plurality of colors, that is, when a color image is formed, as shown in the figure, each liquid ejection head unit is a device for ejecting a liquid. Ink of each color to be ejected is overlapped to form a color image by a so-called color plane on the web 120.

On the other hand, there is a change in position as described with reference to FIG. For example, "meandering" may occur with reference to the reference line 320. In this case, when each liquid ejection head unit ejects ink to the same position, the position of the web 120 changes in the orthogonal direction due to "meandering" between the liquid ejection head units, so that the color shift 330 May occur. That is, the color shift 330 occurs because the lines and the like formed by the ink ejected by each liquid ejection head unit are displaced in the orthogonal direction. As described above, when the color shift 330 occurs, the image quality of the image formed on the web 120 may deteriorate.

Each liquid discharge head unit is moved by using the actuators AC1, AC2, AC3, and AC4 provided in each liquid discharge head unit 210 with respect to the positional deviation in the orthogonal direction.

FIG. 13 is a block diagram showing an example of a moving mechanism for moving the liquid discharge head unit included in the device for discharging the liquid according to the embodiment of the present invention. For example, the moving mechanism is realized by hardware or the like as shown in the figure. The illustrated example is an example of a moving mechanism for moving the cyan liquid discharge head unit 210C.

First, in the illustrated example, an actuator AC2 such as a linear actuator that moves the cyanide liquid discharge head unit 210C is installed in the cyanide liquid discharge head unit 210C. Then, the actuator controller CTL2 that controls the actuator AC2 is connected to the actuator AC2.

The actuator AC2 has, for example, a linear actuator or a motor. Further, the actuator AC2 may include a control circuit, a power supply circuit, a mechanical component, and the like. Specifically, the actuator AC2 is a device or the like that converts a rotary motion by a servomotor or the like into a linear motion by a ball screw mechanism or the like.

A command value COM or a correction command value COM'calculated based on the detection result by the calculation unit 110F60 shown in FIG. 7 is input to the actuator controller CTL2. Then, the actuator controller CTL2 controls the movement of the cyan liquid discharge head unit 210C by the actuator AC2 based on the position indicated by the command value COM or the correction command value COM', that is, so as to compensate for the fluctuation of the web 120. conduct. The details of the actuator controller CTL2 will be described later.

FIG. 14 is a timing chart showing an example of a method of calculating the amount of fluctuation of the transported object by the device for discharging the liquid according to the embodiment of the present invention. As shown in the figure, the calculation unit 110F60 (FIG. 7) calculates the fluctuation amount based on a plurality of detection results. Specifically, the calculation unit 110F60 outputs a calculation result indicating the amount of fluctuation based on the first sensor data S1 and the second sensor data S2. First, the first sensor data S1 and the second sensor data S2 are sensor data output from any two sensors of the first sensor device SEN1 and the second sensor device SEN2 shown in FIG. Next, the calculation unit 110F60 calculates the fluctuation amount based on each sensor data.

The amount of fluctuation is calculated for each liquid discharge head unit 210. Hereinafter, an example of calculating the fluctuation amount for the cyanide liquid discharge head unit 210C (FIG. 2) will be described. In this example, the fluctuation amount is, for example, the detection result by the cyan sensor device SENC (FIG. 2) and the sensor data by the black sensor device SENK (FIG. 2) installed one upstream side from the cyan sensor device SENC. It is calculated based on. In FIG. 14, the first sensor data S1 is a detection result by the black sensor device SENK. On the other hand, the second sensor data S2 is a detection result by the cyan sensor device SENC.

It is assumed that the distance between the black sensor device SENK and the cyan sensor device SENC, that is, the distance between the sensors is “L”. Further, it is assumed that the moving speed of the web 120 detected by the speed detection circuit SCR described later is "V". Further, it is assumed that the moving time required for the web 120 to be transported from the position of the black sensor device SENK to the position of the cyan sensor device SENC is "T2". In this case, the travel time is calculated as "T2 = L / V".

Further, the sampling interval by the sensor is set to "A". Further, the number of samplings between the black sensor device SENK and the cyan sensor device SENC is set to "n". In this case, the number of samplings is calculated as "n = T2 / A".

The illustrated calculation result, that is, the fluctuation amount is defined as "ΔX". For example, as shown in the figure, when the detection cycle is "0", the fluctuation amount includes the first sensor data S1 before the travel time "T2" and the second sensor data S2 having the detection cycle "0". Calculated by comparison. Specifically, the fluctuation amount is calculated as "ΔX = X2 (0) −X1 (n)". Then, when the position of the sensor is closer to the first roller than the landing position, the calculation unit 110F60 calculates the change in the position of the recording medium when the paper moves to the position of the sensor, and the command value COM. Is output. That is, the command value COM is a value that compensates for the fluctuation amount “ΔX”.

Next, the actuator controller CTL2 controls the second actuator AC2 shown in FIG. 13 based on the command value COM, and moves the cyanide liquid discharge head unit 210C shown in FIG. 2 in the orthogonal direction.

In this way, even if the position of the transported object fluctuates, the device that discharges the liquid can accurately form an image on the transported object.

Further, as shown in the figure, when the fluctuation amount is calculated based on the two detection results, that is, the detection results by the two sensors, the fluctuation amount can be calculated without integrating the position information of each sensor. Therefore, by doing so, the accumulation of detection errors by each sensor can be reduced.

The fluctuation amount may be calculated in the same manner in another liquid discharge head unit. For example, the fluctuation amount for the black liquid discharge head unit 210K shown in FIG. 2 is calculated by the first sensor data S1 by the second sensor device SEN2 and the second sensor data S2 by the black sensor device SENK.

Similarly, the fluctuation amount for the magenta liquid discharge head unit 210M is calculated by the first sensor data S1 by the cyan sensor device SENC and the second sensor data S2 by the magenta sensor device SENM. Further, the fluctuation amount for the yellow liquid discharge head unit 210Y is calculated by the first sensor data S1 by the magenta sensor device SENM and the second sensor data S2 by the yellow sensor device SENY.

Further, the transported object detection sensor WS that outputs the first sensor data S1 is not limited to the transported object detection sensor included in the sensor device installed on the upstream side of the liquid discharge head unit to be moved. That is, the first sensor data S1 may be data detected by the object to be detected sensor WS installed on the upstream side of the liquid discharge head unit to be moved. For example, the fluctuation amount for the yellow liquid discharge head unit 210Y is calculated by using the sensor data from the second sensor device SEN2, the black sensor device SENK, or the cyan sensor device SENC for the first sensor data S1. You may.

On the other hand, it is desirable that the second sensor data S2 is the detection result by the sensor installed at the position closest to the liquid discharge head unit to be moved.

Further, the fluctuation amount may be calculated based on three or more detection results.

In this way, the calculation unit 110F60 calculates the command value COM based on the fluctuation amount calculated from the plurality of sensor data. Then, the actuator controller CTL2 controls to move the liquid discharge head unit based on the command value COM. After that, when the liquid is ejected to the web, an image or the like is formed on the recording medium.

The controller 520 shown in FIG. 2 has, for example, the configuration described below.

FIG. 15 is a block diagram showing an example of the hardware configuration of the control unit according to the embodiment of the present invention. For example, the controller 520 has a host device 71 such as an information processing device and a printer device 72. In the illustrated example, the controller 520 causes the printer device 72 to form an image on the recording medium based on the image data and the control data input to the host device 71.

The host device 71 is, for example, a PC (Personal Computer) or the like. Further, the printer device 72 has a printer controller 72C and a printer engine 72E.

The printer controller 72C controls the operation of the printer engine 72E. First, the printer controller 72C transmits / receives control data to / from the host device 71 via the control line 70LC. Further, the printer controller 72C transmits / receives control data to / from the printer engine 72E via the control line 72LC. By transmitting and receiving this control data, various print conditions and the like indicated by the control data are input to the printer controller 72C, and the printer controller 72C stores the print conditions and the like by means of registers and the like. Next, the printer controller 72C controls the printer engine 72E based on the control data, and performs image formation according to the print job data, that is, the control data.

The printer controller 72C has a CPU 72Cp, a print control device 72Cc, and a storage device 72Cm. The CPU 72Cp and the print control device 72Cc are connected by a bus 72Cb and communicate with each other. Further, the bus 72Cb is connected to the control line 70LC via a communication I / F (interface) or the like.

The CPU 72Cp controls the operation of the entire printer device 72 by a control program or the like. That is, the CPU 72Cp is an arithmetic unit and a control unit.

The print control device 72Cc transmits / receives data indicating a command, status, or the like to / from the printer engine 72E based on the control data transmitted from the host device 71. As a result, the print control device 72Cc controls the printer engine 72E. Further, the calculation unit 110F60 shown in FIG. 8 is realized by, for example, a CPU 72Cp or the like. The calculation unit 110F60 may be realized by another arithmetic unit and a storage device.

Data lines 70LD-C, 70LD-M, 70LD-Y and 70LD-K, that is, a plurality of data lines are connected to the printer engine 72E. Then, the printer engine 72E receives the image data from the host device 71 via the plurality of data lines. Next, the printer engine 72E forms an image of each color based on the control by the printer controller 72C.

The printer engine 72E has data management devices 72EC, 72EM, 72EY and 72EK, that is, a plurality of data management devices. Further, the printer engine 72E has an image output device 72Ei and a transfer control device 72Ec.

FIG. 16 is a block diagram showing an example of the hardware configuration of the data management device included in the control unit according to the embodiment of the present invention. For example, a plurality of data management devices have the same configuration. Hereinafter, an example in which each data management device has the same configuration will be described, and the data management device 72EC will be described as an example. Therefore, duplicate description will be omitted.

The data management device 72EC has a logic circuit 72ECl and a storage device 72ECm. As shown in the figure, the logic circuit 72ECl is connected to the host device 71 via the data line 70LD-C. Further, the logic circuit 72ECl is connected to the print control device 72Cc via the control line 72LC. The logic circuit 72ECl is realized by an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or the like.

The logic circuit 72ECl stores the image data input from the host device 71 in the storage device 72ECm based on the control signal input from the printer controller 72C (FIG. 11).

Further, the logic circuit 72ECl reads out the image data Ic for cyan from the storage device 72ECm based on the control signal input from the printer controller 72C. Next, the logic circuit 72ECl sends the read image data Ic for cyan to the image output device 72Ei.

It is desirable that the storage device 72ECm has a capacity of storing about 3 pages of image data. When the image data of about 3 pages can be stored, the storage device 72ECm can store the image data input from the host device 71, the image data during image formation, and the image data for next image formation.

FIG. 17 is a block diagram showing an example of the hardware configuration of the image output device included in the control unit according to the embodiment of the present invention. As shown in the figure, the image output device 72Ei has an output control device 72Eic, and is a liquid discharge head unit of each color, a black liquid discharge head unit 210K, a cyan liquid discharge head unit 210C, a magenta liquid discharge head unit 210M, and a yellow liquid. Controls the discharge head unit 210Y.

The output control device 72Eic outputs image data of each color to the liquid discharge head unit of each color. That is, the output control device 72Eic controls the liquid discharge head unit of each color based on the input image data.

The output control device 72Eic controls a plurality of liquid discharge head units simultaneously or individually. That is, the output control device 72Eic receives the input of the timing and controls to change the timing of discharging the liquid to each liquid discharge head unit. The output control device 72Eic may control any of the liquid discharge head units based on the control signal input from the printer controller 72C (FIG. 15). Further, the output control device 72Eic may control any of the liquid discharge head units based on an operation by the user or the like.

The printer device 72 shown in FIG. 15 has different routes for inputting image data from the higher-level device 71 and for transmission / reception between the higher-level device 71 and the printer device 72 based on the control data. This is an example.

Further, the printer device 72 may be configured to form an image with, for example, one black color. In the case of performing image formation with one black color, in order to increase the speed of image formation, for example, a configuration having one data management device and four black liquid discharge head units may be used. In this way, the black ink is ejected by each of the plurality of black liquid ejection head units. Therefore, faster image formation can be performed as compared with the configuration in which one black liquid discharge head unit is used.

The transport control device 72Ec (FIG. 15) is a motor or the like that transports the web 120. For example, the transport control device 72Ec controls a motor or the like connected to each roller or the like to transport the web 120.

<Processing example>
FIG. 18 is a flowchart showing an example of processing by a device for discharging a liquid according to an embodiment of the present invention. For example, it is assumed that image data showing an image formed on the web 120 (FIG. 1) is input in advance to the device 110 for discharging the liquid. Next, the device 110 for discharging the liquid performs the process shown in FIG. 18 based on the image data, and forms the image shown by the image data on the web 120.

Note that FIG. 18 shows the processing for one liquid discharge head unit. Hereinafter, the processing related to the black liquid discharge head unit 210K will be described as an example. Further, for the liquid discharge head units of other colors, for example, the processes shown in FIG. 18 are separately performed in parallel or before and after.

In step S01, the calculation unit 110F60 calculates a detection result indicating the position of the object to be transported, the moving speed, the moving amount, or a combination thereof. That is, the device 110 that discharges the liquid calculates the amount of fluctuation of the transported object due to the variation as shown in FIG. 11 based on the data output by the plurality of transported object detection sensors WS.

Specifically, in step S01, the device 110 that discharges the liquid first acquires the sensor data that detects the web 120 by the conveyed object detection sensor WS. Next, the device 110 for discharging the liquid acquires each sensor data output from each object to be detected sensor WS. Subsequently, the device 110 for discharging the liquid calculates a detection result such as a relative position or a fluctuation amount of the recording medium or the like based on the plurality of sensor data. For example, the calculation of the fluctuation amount is performed as shown in FIG.

In step S02, the calculation unit 110F60 calculates the command value based on the detection result. The command value is a command value input to each actuator controller CTL in order to move each liquid discharge head unit.

In step S03, the device for discharging the liquid performs movement control for moving each liquid discharge head unit. The device for discharging the liquid performs movement control for moving each liquid discharge head unit by using, for example, the movement mechanism shown in FIG.

In step S04, the device for discharging the liquid acquires the displacement amount of each liquid discharge head unit. For example, a device that discharges a liquid acquires a displacement amount by each displacement sensor shown in FIG.

In step S05, the device 110 for discharging the liquid calculates a correction value based on the difference between the command value and the displacement amount. The calculation of the correction value will be described later. First, as shown in FIG. 19, the deviation DIF indicating the difference between the command value and the displacement amount can be calculated by comparing the command value COM and the displacement amount PD.

FIG. 19 is a diagram showing an example of the relationship between the displacement amount and the command value in the movement control by the device for discharging the liquid according to the embodiment of the present invention. In the figure, the horizontal axis represents time, while the vertical axis represents the command value COM and the displacement amount PD with respect to time.

The command value COM is a command value corresponding to any of the liquid discharge head units, and the displacement amount PD is a displacement amount output by the displacement sensor PS that detects the displacement of the head unit.

As shown in the figure, there is a difference in deviation DIF or the like between the command value COM and the displacement amount PD. Further, the command value changes ideally as shown in the figure. On the other hand, the displacement amount PD causes a phase delay and vibration. Then, after the settling time elapses from the execution of the displacement amount PD, the vibration converges, and the command value and the deviation DIF converge to a certain value.

Specifically, the deviation DIF is obtained by acquiring the displacement amount once or multiple times after the settling time, that is, after the second time TM2 in the example shown in FIG. 19 (step S04), and the acquired value or the acquired value. It is a value that can be calculated by calculating the difference between the average value of the values and the command value.

In addition, the deviation DIF may be calculated by acquiring the displacement amount at an arbitrary time such as the first time TM1 to the second time TM2 a plurality of times. That is, first, in the first time TM1 to the second time TM2, the displacement amount is acquired once or a plurality of times (step S04). Next, the device that discharges the liquid may calculate the deviation DIF by calculating the difference between the acquired value, the average value of the acquired values, and the command value.

Further, as shown in FIG. 19, when there is vibration, the device for discharging the liquid acquires the displacement amount a plurality of times within a time that is an integral multiple of the vibration cycle (step S04), and the acquired displacement is obtained. The deviation DIF may be calculated by averaging or approximating the quantities.

Furthermore, as shown in FIG. 19, when there is vibration, the device for discharging the liquid attenuates the vibration by low-pass filter processing or the like. Then, after the filtering process, the device for discharging the liquid acquires the displacement amount once or a plurality of times (step S04), and calculates the difference between the acquired value or the average value of the acquired values and the command value. The device that discharges the liquid may calculate the deviation DIF.

Further, the difference between the command value and the displacement amount may be calculated for each control cycle, for example.

In step S06, as in step S01, the device 110 that discharges the liquid calculates the detection result. Then, the command value COM is calculated based on the detection result. Subsequently, the command value COM is input to the correction circuit CRCO shown in FIG.

In step S07, the correction circuit CRCO calculates the correction command value COM'based on the command value COM and the correction value CO. That is, the fluctuation amount of the device 110 that discharges the liquid is calculated as shown in FIG. Then, the command value COM is calculated in order to move the liquid discharge head unit so as to compensate for the fluctuation amount.

In step S08, the device for discharging the liquid corrects the command value and moves and controls the liquid discharge head unit based on the corrected command value COM'which is the corrected command value. When the command value is calculated in step S07, the correction circuit CRCO shown in FIG. 20 corrects the command value and outputs the corrected correction command value COM'to the actuator controller CTL. In this way, the actuator AC is controlled based on the corrected command value.

FIG. 20 is a control block diagram showing an example of movement control for moving the liquid discharge head unit by the device for discharging the liquid according to the embodiment of the present invention. Note that FIG. 20 is a control block diagram for operating one liquid discharge head unit. For example, in the control block diagram of FIG. 20, hardware such as the controller 520, the actuator controller CTL of each actuator, and the actuator AC move each liquid discharge head unit.

In FIG. 20, the actuator AC includes a motor M and an encoder ENC. That is, each liquid discharge head unit 210 is moved by the driving force of the motor M. Then, the encoder ENC detects the rotation angle of the motor and the like.

A PWM signal is input to the motor M from the PWM signal generation circuit CRPS. Then, the motor M rotates based on the PWM signal.

A displacement sensor PD is connected to each liquid discharge head unit. Then, each displacement sensor measures the amount of displacement that each liquid discharge head unit has moved. Next, each displacement amount such as the first displacement amount PD1, the second displacement amount PD2, the third displacement amount PD3, and the fourth displacement amount PD4 measured by the displacement sensor is output to the correction value calculation circuit CRCAL.

The correction circuit CRCO and the correction value calculation circuit CRCAL are functions provided in the controller 520. The correction value calculation circuit CRCAL calculates the correction value CO based on the command value COM and the displacement amount PD. The correction value CO is a value that compensates for the difference between the command value COM and the displacement amount PD.

The correction circuit CRCO calculates the correction command value COM'based on the command value COM calculated as shown in FIG. 14 and the correction value CO calculated by the correction value calculation circuit CRCAL. Then, the correction command value COM'is output to the PID control circuit CRCT. If the correction is not performed, the correction circuit CRCO outputs the command value COM as it is to the subsequent stage.

The PID control circuit CRCT and the PWM signal generation circuit CRPS are functions provided in the actuator controller CTL. Upon receiving the command value, the PID control circuit CRCT generates a speed profile such as a trapezoidal waveform or a triangular waveform based on the command value, and outputs the speed profile to the PWM signal generation circuit CRPS. Further, as shown in the figure, the detection value by the encoder ENC is fed back to the PID control circuit CRCT. The feedback cycle, that is, the servo cycle time of the motor is, for example, about 50 μs (microseconds).

When movement control such as PID control is performed by the above configuration, for example, the following control results are obtained. The processor may have the correction circuit CRCO, the correction value calculation circuit CRCAL, the PID control circuit, and the PWM signal generation circuit as functions.

FIG. 21 is a diagram showing an example of the relationship between the displacement amount and the command value in the movement control in which the reciprocating motion is performed by the device for discharging the liquid according to the embodiment of the present invention. FIG. 21 is an example of any one liquid discharge head unit. For example, as shown in the figure, a case where the vibration in the movement control of the liquid discharge head unit is small and the displacement amount almost follows the input command value for each control cycle Tc will be described as an example.

First, the control cycle Tc is preset in the device that discharges the liquid. Then, a command value is input for each control cycle Tc. Further, in the illustrated example, the control cycle signal SIGCYC indicates the control cycle Tc.

The control cycle signal SIGCYC is a signal indicating that a command value is input at a timing when the control cycle signal SIGCYC becomes a high level (in the figure, it indicates that the control cycle signal SIGCYC becomes “High”). Specifically, the illustrated example shows an example in which a command value is input seven times.

Further, in this example, of the seven command values, the first three command values are command values for moving the liquid discharge head unit in one direction. Hereinafter, the command value that becomes the first three times in the illustrated example is referred to as "positive direction command value MVPL". Therefore, when the forward command value MVPL is input, the liquid discharge head unit moves in the “positive direction”.

On the other hand, in this example, of the seven command values, the last three command values are command values for moving the liquid discharge head unit in a direction different from the positive direction. Hereinafter, the command value that becomes the last three times in the illustrated example is referred to as "negative direction command value MVMI". Therefore, when the negative direction command value MVMI is input, the liquid discharge head unit moves in the “negative direction”.

Further, in the illustrated example, it is assumed that the positive command value MVPL and the negative command value MVMI having substantially the same amplitude are input so that the movement amount by each command value becomes almost the same movement amount. Therefore, the liquid discharge head unit first moves in the positive direction based on the forward command value MVPL (outward route). Next, the liquid discharge head unit moves in the negative direction based on the negative direction command value MVMI (return path). In this way, the liquid discharge head unit reciprocates based on the positive command value MVPL and the negative command value MVMI.

For example, in the example shown in the figure, the device for discharging the liquid acquires the displacement amount for each control cycle Tc (step S04 shown in FIG. 18). Specifically, when the command value of the first time (sometimes referred to as "the first time in the positive direction") is input, the device for discharging the liquid acquires the first deviation DIF1. Similarly, a device that discharges liquid when the command values of the second time (sometimes referred to as "second time in the forward direction") and the third time (sometimes referred to as "third time in the positive direction") are input. Acquires the second deviation DIF2 and the third deviation DIF3.

First, as shown, the liquid discharge head unit is located at the initial position P0. Next, as shown in the figure, the movement destination input by the first command value is set to the first position P1. In this case, the difference between the displacement amount actually moved by the liquid discharge head unit based on the first command value and the first position P1 is the first deviation DIF1.

Similarly, the movement destination input by the second command value is set to the second position P2. In this case, the difference between the displacement amount actually moved by the liquid discharge head unit based on the second command value and the second position P2 is the second deviation DIF2.

Further, the movement destination input by the third command value is set to the third position P3. In this case, the difference between the displacement amount actually moved by the liquid discharge head unit based on the third command value and the third position P3 is the third deviation DIF3.

Similarly, on the return route, the device that discharges the liquid acquires the displacement amount for each control cycle Tc. Specifically, the liquid is discharged when the command value of the fifth time (sometimes referred to as "the first time in the negative direction") is input, as in the case where the command value of the first to third times is input. The device obtains the fourth deviation DIF4. Similarly, a device that discharges liquid when the command values of the 6th time (sometimes referred to as "the second time in the negative direction") and the 7th time (sometimes referred to as the "third time in the negative direction") are input. Acquires the 5th deviation DIF5 and the 6th deviation DIF6.

The movement destination input by the fifth command value is set to the second position P2. In this case, the difference between the displacement amount actually moved by the liquid discharge head unit based on the fifth command value and the second position P2 is the fourth deviation DIF4.

The movement destination input by the sixth command value is set to the first position P1. In this case, the difference between the displacement amount actually moved by the liquid discharge head unit based on the sixth command value and the first position P1 is the fifth deviation DIF5.

The movement destination input by the 7th command value is set to the initial position P0. In this case, the difference between the displacement amount actually moved by the liquid discharge head unit based on the seventh command value and the initial position P0 is the sixth deviation DIF6.

The mass of the liquid discharge head unit may be greater than the mass of the actuator. For example, the mass of the liquid discharge head unit may be several tens of times the mass of the actuator. For example, when the rotation axis of the actuator moves in the positive direction, the influence of reaction or the like occurs. In such a case, the actuator may generate a force that is pushed back in the negative direction.

Further, the difference between the command value and the displacement amount often differs depending on the variation of the liquid discharge head unit, the mounting method, or the like. Specifically, for example, depending on the layout of the device that discharges the liquid, the liquid discharge head unit may be mounted at an angle.

Further, the difference between the command value and the displacement amount may differ between the outward route and the return route due to the structure of the mechanism for moving the liquid discharge head unit and the like. Therefore, as shown in the figure, when the displacement amount is acquired for each control cycle Tc, the device that discharges the liquid can absorb the characteristics of the difference between the command value and the displacement amount that are different between the outward route and the return route. ..

As described above, the device for discharging the liquid calculates the difference between the command value and the displacement amount. Next, the device that discharges the liquid calculates the correction value based on the difference between the command value and the displacement amount. Specifically, as shown in FIG. 19, the displacement amount may be smaller than the input command value. When there is such a characteristic, the correction value becomes a value that increases the command value. That is, the correction circuit CRCO shown in FIG. 20 corrects so as to add the correction value CO to the input command value. When corrected in this way, the device for discharging the liquid can control the movement of the liquid discharge head unit with a small difference from the command value, that is, with high accuracy.

In addition, each process such as acquisition of displacement amount or calculation of variation amount may take a long time to complete the process. As described above, when the processing time is long, the processing time is longer than the control cycle, and it may be difficult to execute the process shown in FIG. 18 for each control cycle.

In such a case, the device for discharging the liquid may execute the process shown in FIG. 18 every cycle that is an integral multiple of the control cycle.

In addition, the device for discharging the liquid may measure the vibration cycle of the displacement amount and execute the vibration cycle or the process shown in FIG. 18 for each cycle obtained by multiplying the vibration cycle by an integer. By performing the process of acquiring the displacement amount in such a cycle, the device that discharges the liquid can acquire the displacement amount with high accuracy even if it is affected by the amplitude fluctuation due to the vibration.

FIG. 22 is a block diagram showing an example of a hardware configuration for moving a liquid discharge head unit included in the liquid discharge device according to the embodiment of the present invention. The configuration shown in the figure is an example in which the device 110 for discharging the liquid has a plurality of actuators, a plurality of displacement sensors, and a plurality of sensor devices SEN.

In this example, each sensor device SEN has an object to be detected sensor WS. Further, in the illustrated configuration, the device 110 for discharging the liquid includes a controller 520, and the actuator controller CTL is connected to each actuator AC.

Further, the controller 520 has a CPU 221, a ROM (Read-Only Memory) 222, and a RAM (Random Access Memory) 223. Further, as shown in the figure, each device may have an interface that becomes an I / O (Input / Output) in order to send and receive data and the like to and from other devices.

The configuration is not limited to the illustrated example. That is, each of the illustrated devices may have a device for discharging the liquid, or may be an external device.

Each actuator is connected to each liquid discharge head unit that is subject to movement control. Specifically, the first actuator AC1 is connected to the black liquid discharge head unit 210K. That is, the first actuator AC1 moves the black liquid discharge head unit 210K.

Similarly, the second actuator AC2 is connected to the cyan liquid discharge head unit 210C. That is, the second actuator AC2 moves the cyan liquid discharge head unit 210C in the direction orthogonal to the transport direction of the web.

Further, the third actuator AC3 is connected to the magenta liquid discharge head unit 210M. That is, the third actuator AC3 moves the magenta liquid discharge head unit 210M.

Further, the fourth actuator AC4 is connected to the yellow liquid discharge head unit 210Y. That is, the fourth actuator AC4 moves the yellow liquid discharge head unit 210Y. As described above, when the black liquid discharge head unit is not operated, the first actuator AC1 may not be provided. Further, in that case, the second sensor device SEN2 may not be provided.

The CPU 221 is an example of hardware that realizes the calculation unit 110F60 shown in FIG. 7, the correction circuit CRCO shown in FIG. 20, the correction value calculation circuit CRCAL, and the like. Specifically, the CPU 221 acquires the detection result of each transported object detection sensor WS, and performs an operation for calculating the fluctuation amount of the transported object. Further, the CPU 221 acquires the output of each displacement sensor PS, and controls each actuator based on the fluctuation amount calculated from the detection result of each object to be detected sensor WS and the output of each displacement sensor PS. Calculate the correction command value. As described above, each actuator controller CTL performs PID control and controls for moving each head unit.

ROM 222 and RAM 223 are examples of storage devices. For example, the ROM 222 stores programs, data, and the like used by the CPU 221. Further, the RAM 223 stores a program or the like used by the CPU 221 to perform an operation, and serves as a storage area for realizing each operation.

The speed detection circuit SCR is an electronic circuit that detects the moving speed at which the object to be conveyed is conveyed. For example, a "6 ppi" signal or the like is input to the speed detection circuit SCR. Next, the speed detection circuit SCR calculates the speed at which the object to be conveyed is conveyed based on the detection result from the encoder and the like, and transmits it to the CPU 221 or the like.

In the illustrated example, the actuator controller CTL is described as hardware different from the CPU 221. However, the actuator controller CTL and the controller 520 may be realized by the same hardware.

FIG. 23 is a block diagram showing an overall configuration example of a moving mechanism for moving the liquid discharging head unit by the device for discharging the liquid according to the embodiment of the present invention.

In FIG. 23, the transported object detection sensor WS provided in the black sensor device SENK is referred to as the first transported object detection sensor WS1. Further, the transported object detection sensor provided in the cyan sensor device SENC is referred to as a second transported object detection sensor WS2. Further, the transported object detection sensor provided in the magenta sensor device SENM is referred to as a third transported object detection sensor. Furthermore, the transported object detection sensor provided in the yellow sensor device SENY is used as the fourth transported object detection sensor.

The first to fourth conveyed object detection sensors acquire sensor data which is information of the web 120 at each position. Then, the controller 520 outputs the command value COM or the correction command value COM'based on the sensor data.

As shown in the figure, for example, the device 110 for discharging a liquid has a first actuator AC1, a second actuator AC2, a third actuator AC3, and a fourth actuator AC4 for moving each liquid discharge head unit.

The first actuator AC1, the second actuator AC2, the third actuator AC3, and the fourth actuator AC4 correspond to the actuator AC2 in FIG.

Then, each actuator controls to move each liquid discharge head unit based on the command value COM or the correction command value COM'input from the controller 520. Specifically, the first command value COM1 or the first correction command value COM1'is input to the actuator controller CTL1 connected to the first actuator AC1. Similarly, the second command value COM2 or the second correction command value COM2'is input to the actuator controller CTL2 connected to the second actuator AC2. Further, the third command value COM3 or the third correction command value COM3'is input to the actuator controller CTL3 connected to the third actuator AC3. Further, the fourth command value COM4 or the fourth correction command value COM4'is input to the actuator controller CTL4 connected to the fourth actuator AC4.

Under the control of the actuator controller CTL1, the first actuator AC1 moves the black liquid discharge head unit 210K. Then, the displacement amount (hereinafter referred to as "first displacement amount PD1") to which the black liquid discharge head unit 210K has moved is acquired by the first displacement sensor PS1.

Similarly, under the control of the actuator controller CTL2, the second actuator AC2 moves the cyan liquid discharge head unit 210C. Then, the displacement amount (hereinafter referred to as "second displacement amount PD2") to which the cyanide liquid discharge head unit 210C has moved is acquired by the second displacement sensor PS2.

Further, the third actuator AC3 moves the magenta liquid discharge head unit 210M under the control of the actuator controller CTL3. Then, the displacement amount (hereinafter referred to as "third displacement amount PD3") to which the magenta liquid discharge head unit 210M has moved is acquired by the third displacement sensor PS3.

Further, based on the control of the actuator controller CTL4, the fourth actuator AC4 moves the yellow liquid discharge head unit 210Y. Then, the displacement amount (hereinafter referred to as "fourth displacement amount PD4") to which the yellow liquid discharge head unit 210Y has moved is acquired by the fourth displacement sensor PS4.

Then, the controller 520 calculates the correction command value COM'based on the output of each displacement sensor.

As described above, each command value COM is a value indicating a destination for moving each liquid discharge head unit so as to compensate for the fluctuation amount calculated by the method shown in FIG. Further, each correction command value COM'is a value obtained by correcting each command value COM based on the difference from the displacement amount of the head. Then, each actuator moves each liquid discharge head unit toward the position indicated by each command value or each correction command value by position control such as PID control by each actuator controller CTL.

For example, when black is used as a reference, the position of the black liquid discharge head unit 210K may be fixed. That is, when black is used as a reference, since the black liquid discharge head unit 210K is fixed at a predetermined position, a moving mechanism for moving the black liquid discharge head unit 210K may not be necessary. That is, the liquid discharge head unit of the reference color may be configured without a moving mechanism.

The input / output device INOT is a device that serves as an interface for the user to input control parameters and the like. In addition, the input / output device INOT is an output device that outputs a message or the like indicating an error to the user when an error occurs. For example, the input / output device INOT is an operation panel or the like.

The power supply device PWR is a device that supplies electric power to each device. For example, the power supply device PWR supplies electric power of a predetermined voltage (for example, 5V or the like) determined by specifications or the like to the actuator controller CTL or the like. Similarly, the power supply device PWR supplies electric power of a predetermined voltage (for example, 24V or the like) determined by specifications or the like to each actuator or the like.

<Another processing example>
The device for discharging the liquid may perform the following processing, for example, before the image formation is performed.

FIG. 24 is a flowchart showing another example of processing by the device for discharging the liquid according to the embodiment of the present invention. In the following description, the same processes as in FIG. 18 are designated by the same reference numerals, and the description thereof will be omitted.

For example, it may not be in time to calculate the correction value for each control cycle. Alternatively, if the phase of the liquid discharge head unit is delayed by 180 ° in relation to the command value and the displacement amount, the vibration of the liquid discharge head unit may not converge and may oscillate. In such a case, it is difficult for the device that discharges the liquid to complete the process within a time shorter than the control cycle.

Therefore, for example, the device for discharging the liquid may perform the process as shown in the figure before the image formation is performed or after the power is input. Specifically, first, before the image formation is performed, there is a time to preheat the heater for drying the liquid that has landed on the recording medium. It is desirable that the device for discharging the liquid at such a time or the like performs the process shown in the figure.

For example, if correction or the like is performed before image formation is performed, even if the liquid discharge head unit has aged change, the device for discharging the liquid can reduce the influence of the secular change by the correction. ..

In step S20, the device for discharging the liquid acquires the movement control and the difference value for reciprocating the liquid discharge head unit. Hereinafter, as in FIG. 21, an example will be described in which movement control is performed in which the liquid discharge head unit is first moved three times in the positive direction and then moved three times in the negative direction. Further, in this example, as shown in FIG. 25, the "difference value" is acquired by averaging a plurality of differences between the command value and the displacement amount. The description of FIG. 25 will be described later.

In step S21, the device for discharging the liquid calculates the correction value based on the difference value. That is, in step S21, the device for discharging the liquid calculates a correction value such that the difference value is compensated in the movement control. Specifically, the device that discharges the liquid calculates a value obtained by multiplying the difference value by "-1". In this way, the device that discharges the liquid calculates the correction value based on the difference value.

As described above, when the correction value can be calculated, the device for discharging the liquid corrects the command value based on the correction value and based on the corrected command value, as in the second and subsequent times shown in FIG. Movement control can be performed.

That is, as shown in the figure, when steps S06 to S08 are performed as in FIG. 18, the command value is corrected based on the correction value. For example, the device that discharges the liquid corrects the command value by the correction circuit CRCO or the like shown in FIG.

The device for discharging the liquid is not limited to calculating the difference value by another process shown in the figure. It is desirable that another process shown in the figure is performed, for example, when the deviations in the positive direction and the negative direction are substantially equal. On the other hand, for example, there may be a difference in deviation between odd-numbered times and even-numbered times. In such a case, the difference value may be calculated separately for odd-numbered times and even-numbered times.

Further, the reciprocating motion may be performed a plurality of times. That is, the reciprocating motion is not limited to one time as shown in FIG. Therefore, the device that discharges the liquid may calculate the difference value in a plurality of reciprocating motions. For example, as shown in FIG. 26, a device that discharges a liquid calculates a difference value in a plurality of reciprocating motions. A description of FIG. 26 will be described later.

FIG. 25 is a flowchart showing an example of acquiring a difference value by a device for discharging a liquid according to an embodiment of the present invention. For example, in the case of performing movement control as shown in FIG. 21, in step S20 shown in FIG. 24, the difference value is acquired by the process as shown in FIG. 25. Further, it is desirable that the difference value is acquired separately for the positive direction and the negative direction as shown below.

In step S201, the device for discharging the liquid performs the first movement control for moving the liquid discharge head unit in the positive direction. Specifically, in the example shown in FIG. 21, the first movement control in the positive direction is a movement control based on a command value for moving to the first position P1.

In step S202, the device for discharging the liquid acquires the first deviation. Specifically, in the example shown in FIG. 21, when the first position P1 and the displacement amount are compared, the device that discharges the liquid can acquire the first deviation DIF1.

In step S203, the device for discharging the liquid performs a second movement control for moving the liquid discharge head unit in the positive direction. Specifically, in the example shown in FIG. 21, the second movement control in the positive direction is the movement control based on the command value for moving to the second position P2.

In step S204, the device for discharging the liquid acquires the second deviation. Specifically, in the example shown in FIG. 21, when the second position P2 and the displacement amount are compared, the device that discharges the liquid can acquire the second deviation DIF2.

In step S205, the device for discharging the liquid performs a third movement control for moving the liquid discharge head unit in the positive direction. Specifically, in the example shown in FIG. 21, the third movement control in the positive direction is a movement control based on a command value for moving to the third position P3.

In step S206, the device for discharging the liquid acquires the third deviation. Specifically, in the example shown in FIG. 21, when the third position P3 and the displacement amount are compared, the device for discharging the liquid can acquire the third deviation DIF3.

In step S207, the device for discharging the liquid performs the first movement control for moving the liquid discharge head unit in the negative direction. Specifically, in the example shown in FIG. 21, the first movement control in the negative direction is a movement control based on a command value for moving to the second position P2.

In step S208, the device for discharging the liquid acquires the fourth deviation. Specifically, in the example shown in FIG. 21, when the second position P2 and the displacement amount are compared, the device for discharging the liquid can acquire the fourth deviation DIF4.

In step S209, the device for discharging the liquid performs a second movement control for moving the liquid discharge head unit in the negative direction. Specifically, in the example shown in FIG. 21, the second movement control in the negative direction is a movement control based on a command value for moving to the first position P1.

In step S210, the device for discharging the liquid acquires the fifth deviation. Specifically, in the example shown in FIG. 21, when the first position P1 and the displacement amount are compared, the device for discharging the liquid can acquire the fifth deviation DIF5.

In step S211th, the device for discharging the liquid performs the third movement control for moving the liquid discharge head unit in the negative direction. Specifically, in the example shown in FIG. 21, the third movement control in the negative direction is a movement control based on a command value for moving to the initial position P0.

In step S212, the device for discharging the liquid acquires the sixth deviation. Specifically, in the example shown in FIG. 21, when the initial position P0 and the displacement amount are compared, the device for discharging the liquid can acquire the sixth deviation DIF6.

In step S213, the device for discharging the liquid calculates the average value of the first deviation, the second deviation, and the third deviation. In this way, the device that discharges the liquid calculates the average value of the deviations in the outward path in the reciprocating motion. That is, in step S213, the average value of the deviations generated in the movement control for moving in the positive direction is calculated, so that the difference value for the positive direction is calculated.

In step S214, the device for discharging the liquid calculates the average value of the fourth deviation, the fifth deviation, and the sixth deviation. In this way, the device that discharges the liquid calculates the average value of the deviations on the return path in the reciprocating motion. That is, in step S214, the average value of the deviations generated in the movement control for moving in the negative direction is calculated, so that the difference value for the negative direction is calculated.

In step S215, the device for discharging the liquid stores the difference value. That is, the device for discharging the liquid stores the difference value calculated in step S213 and step S214.

FIG. 26 is a flowchart showing an example of acquiring a difference value in a plurality of reciprocating motions by a device for discharging a liquid according to an embodiment of the present invention. Hereinafter, a case where two reciprocating motions are performed will be described as an example.

In step S30, the device for discharging the liquid acquires the first difference value. For example, the apparatus for discharging the liquid obtains the first difference value by performing the process as shown in FIG. 25, that is, the same process as in step S20 in FIG. 24.

In step S31, the device for discharging the liquid calculates the correction value based on the first difference value. For example, the device that discharges the liquid performs the same processing as in step S21 shown in FIG. 24, and calculates the correction value.

After the correction value is calculated based on the first difference value, the command value is corrected based on the calculated correction value, and the device for discharging the liquid performs the second reciprocating motion. For example, the second reciprocating motion is the same as the first reciprocating motion.

In step S32, the device for discharging the liquid acquires the difference value for the second time. For example, the device for discharging the liquid obtains the difference value of the second time by performing the process as shown in FIG. 25, that is, the same process as step S20 in FIG. 24, as in the first time. In the second time, the image forming apparatus compares the corrected command value with the displacement amount controlled and moved based on the corrected command value, and acquires each deviation.

In step S33, the device for discharging the liquid calculates the correction value based on the second difference value. For example, the device that discharges the liquid calculates the correction value by performing the same processing as in step S21 shown in FIG. 24 as in the first time.

As described above, it is desirable that the first correction is performed based on the first difference value, and after the first correction, the second difference value is calculated. That is, it is desirable that the device for discharging the liquid performs the correction a plurality of times, and the device for discharging the liquid further calculates the correction value and performs the correction under the state where the previous correction is performed. In this way, the device that discharges the liquid can improve the landing accuracy.

The reciprocating motion may be performed three or more times. In this case, steps S32 and S33 are repeated according to the number of reciprocating motions.

As described above, when the correction value is calculated based on the reciprocating motion of a plurality of times, the device for discharging the liquid can calculate the correction value with high accuracy. Therefore, the device that discharges the liquid can land the liquid with high accuracy.

Further, the device for discharging the liquid may perform steps S20 and S21 shown in FIG. 24 before image formation, and may perform the process shown in FIG. 18 for each control cycle.

<Summary>
The device for discharging the liquid according to the embodiment of the present invention is a detection result indicating the position, the moving speed, the moving amount, or a combination thereof obtained by the calculation unit 110F60 from the output of the conveyed object detection sensor WS. Based on the above, it is possible to output a command value for moving the liquid discharge head unit 210. However, in the movement control, when the actuator AC moves the liquid discharge head unit based on the command value, a difference such as a deviation DIF or the like often occurs as shown in FIG. That is, the liquid discharge head unit does not move to the position targeted by the command value, and there is often a difference between the position indicated by the command value and the position where the liquid discharge head unit is actually moved by the movement control.

Therefore, the device 110 for discharging the liquid acquires the displacement amount indicating the position where the liquid discharge head unit is actually moved by the movement control by the displacement sensor PS arranged in the liquid discharge head unit 210. In this way, the device 110 that discharges the liquid can compare the command value with the displacement amount and calculate the difference such as the deviation DIF.

Next, the device 110 that discharges the liquid calculates the correction value CO based on the difference such as the deviation DIF by the correction value calculation circuit CRCAL. That is, the correction value calculation circuit CRCAL calculates the correction value CO so that the deviation DIF is small. Specifically, when it is a characteristic of the liquid discharge head unit that moves larger than the command value, the correction value calculation circuit CRCAL calculates the correction value CO such that the liquid discharge head unit moves smaller. On the other hand, when it is a characteristic of the liquid discharge head unit that moves smaller than the command value, the correction value calculation circuit CRCAL calculates the correction value CO such that the liquid discharge head unit moves significantly.

Then, the device 110 that discharges the liquid corrects the correction circuit CRCO and the command value. When the movement control is performed by the corrected command value in this way, the difference such as the deviation DIF can be reduced. That is, when the corrected command value is used, the command value and the displacement amount are likely to match. Therefore, the device 110 for discharging the liquid can accurately compensate for the fluctuation amount and improve the processing system such as the accuracy of the landing position of the discharged liquid.

Further, in the case of ejecting a liquid to form an image on a recording medium, the device for ejecting the liquid according to the embodiment of the present invention causes color shift when the landing position of the discharged liquid of each color becomes accurate. The number is reduced, and the image quality of the formed image can be improved.

Further, if the measurement unit 110F40 is provided, the position of the recording medium and the like can be detected more reliably. For example, it is assumed that a measuring device such as an encoder is installed on the rotating shaft of the roller 230. Then, the measuring unit 110F40 measures the movement amount of the recording medium by an encoder or the like. As described above, when the measurement result measured by the measuring unit 110F40 is further input, the device 110 for discharging the liquid can more reliably detect the position of the recording medium in the transport direction and the like.

<Modification example>

The device for discharging the liquid according to the present invention may be realized by a system for discharging the liquid having one or more devices. For example, the black liquid discharge head unit 210K and the cyan liquid discharge head unit 210C are devices having the same housing, and the magenta liquid discharge head unit 210M and the yellow liquid discharge head unit 210Y are devices having the same housing, both of which are included. It may be realized by a system that discharges a liquid.

FIG. 27 is a schematic diagram showing a modified example of the transported object detection sensor included in the device for discharging the liquid according to the embodiment of the present invention. As shown in the figure, the object to be transported sensor may be an edge sensor or the like that detects an edge in a direction orthogonal to the transport direction of the web 120. For example, the edge sensor is CIS or the like.

In the illustrated example, an object detection sensor for detecting the end position of the web 120 is provided on the upstream side of each liquid discharge head unit. Further, in the illustrated example, the object to be transported detection sensor is arranged at a position where the end portion in the direction orthogonal to the transport direction of the web 120 passes. In addition, in the illustrated example, as shown in FIG. 22, the black liquid discharge head unit 210K may be movable.

Further, the object to be transported is not limited to a recording medium such as paper. The material to be transported may be any material to which liquid can adhere. For example, the material to which the liquid can be attached may be paper, thread, fiber, fabric, leather, metal, plastic, glass, wood, ceramics, or a combination thereof, as long as the liquid can be attached even temporarily.

Further, in the liquid ejection device and the liquid ejection system according to the present invention, the liquid is not limited to ink, but may be another type of recording liquid, fixing treatment liquid, or the like. That is, the liquid ejection device and the liquid ejection system according to the present invention may be applied to a liquid ejection device other than ink.

Therefore, the device for discharging the liquid and the system for discharging the liquid according to the present invention are not limited to forming an image. For example, the formed object may be a three-dimensional model or the like.

Further, the present invention can be applied to an apparatus that performs some processing on a transported object by using a line-shaped head unit arranged in a direction orthogonal to the transport direction.

<First modification>
The first support member and the second support member may be combined. For example, the first support member and the second support member may have the following configurations.

FIG. 28 is a schematic view showing a modified example of the device for discharging the liquid according to the embodiment of the present invention. Compared with FIG. 2, in the illustrated configuration, the arrangement of the first support member and the second support member is different. As shown in the figure, the first support member and the second support member may be realized by, for example, the first member RL1, the second member RL2, the third member RL3, the fourth member RL4, and the fifth member RL5. .. That is, the second support member provided on the upstream side of each liquid discharge head unit and the first support member provided on the downstream side of each liquid discharge head unit may be shared. The first support member and the second support member may be combined with a roller or a curved plate.

<Second modification>
For example, the transport device may perform processing such as reading on the transported object as follows.

FIG. 29 is a schematic view showing a second modification of the transport device according to the embodiment of the present invention. Hereinafter, as illustrated, a case where the web 120 is transported from the upstream side to the downstream side (from left to right in the figure) will be described as an example.

As shown in the figure, in this modification, the head unit includes a CIS (Contact Image Sensor) head.

The head unit is composed of one or more CIS heads installed in the orthogonal direction 20. For example, as shown, the transport device has two head units, such as the head unit HD1 and the head unit HD2. The number of head units is not limited to two, and may be three or more.

As shown in the figure, the head unit HD1 and the head unit HD2 each include one or more CIS heads. Hereinafter, the head unit includes one CIS head, but for example, the head unit may include a plurality of CIS heads at positions where the two CIS heads are staggered with each other.

The head unit HD1 and the head unit HD2 form a so-called scanner. Therefore, the head unit HD1 and the head unit HD2 read an image or the like formed on the surface of the web 120, and output image data indicating the read image or the like. Then, the transport device can generate an image connected in the orthogonal direction 20 by connecting the image data output from each head unit.

Further, in this example, the transfer device has a controller 520, a first actuator controller CTL1 and a second actuator controller CTL2. The controller 520, the first actuator controller CTL1 and the second actuator controller CTL2 are information processing devices. Specifically, the controller 520, the first actuator controller CT1 and the second actuator controller CT2 have a hardware configuration including a CPU, an electronic circuit, an arithmetic unit such as a combination thereof, a control device, a storage device, an interface, and the like. The controller 520, the first actuator controller CTL1 and the second actuator controller CTL2 may be a plurality of devices or may be configured by the same device.

Sensor devices SEN1 and SEN2 are installed for each head unit, respectively. Then, the transport device can detect the surface information of the web 120 by the sensor device, and can detect the relative position, the moving speed, the moving amount, or a combination thereof among the plurality of detection results.

In this example, a plurality of rollers are installed for the two head units HD1 and HD2. As shown in the figure, the plurality of rollers are installed, for example, on the upstream side and the downstream side, respectively, with the two head units HD1 and HD2 interposed therebetween.

In this way, when the detection is performed by the sensor device in the inter-roller INT, the transport device can detect the position of the web 120 or the like at a position close to the processing position. In addition, the moving speed of the INT between rollers is often relatively stable. Therefore, the transport device can accurately detect the relative position, speed, movement amount, or a combination thereof among a plurality of detection results in the transport direction, the orthogonal direction, or both directions.

Further, it is desirable that the position where the sensor device is installed is a position closer to the first roller R1 than the processing position in the inter-roller INT. That is, it is desirable that the sensor device performs detection on the upstream side of the processing position. Specifically, in the illustrated example, it is desirable that the sensor device SEN1 is installed at a position closer to the first roller R1 than the processing position where the head unit HD1 performs processing. That is, in the illustrated example, the sensor device SEN1 performs detection in a section between the processing position where the head unit HD1 performs processing and the first roller R1 (hereinafter referred to as "first upstream section INT1"). desirable.

Similarly, in the illustrated example, it is desirable that the sensor device SEN2 is installed at a position closer to the first roller R1 than the processing position where the head unit HD2 performs processing. That is, in the illustrated example, the sensor device SEN2 performs detection in a section between the processing position where the head unit HD2 processes and the first roller R1 (hereinafter referred to as “second upstream section INT2”). desirable.

When the sensor device is installed in the first upstream section INT1 and the second upstream section INT2, the transport device can accurately detect the position and the like of the object to be transported. When the sensor device is installed at such a position, the sensor device is installed on the upstream side of the processing position. Therefore, the transport device can first detect the surface information of the transported object by the sensor device on the upstream side. Then, the transport device can calculate the processing timing by the head unit, the amount of movement of the head unit, or both in the orthogonal direction, the transport direction, or both directions based on the detection result. That is, after the position of the object to be transported is detected on the upstream side, the processing timing is calculated or the head unit is moved while the web 120 is transported to the processing position. The processing position can be changed.

If the sensor device is installed almost directly under the head unit, the execution of processing may be delayed due to the processing time such as calculation of processing timing or movement of the head unit. Therefore, if the position where the sensor device is installed is on the upstream side of the processing position, the transport device can reduce the delay in processing. Further, the processing position, that is, the vicinity directly under the head unit may be restricted to the position where the sensor device or the like is installed. Therefore, it is desirable that the position where the sensor device is installed is closer to the first roller R1 than the processing position, that is, upstream from the processing position.

Both processing by the head unit and detection by the sensor device may irradiate the web 120 with light from a light source. And especially when the transparency of the web 120 is high, each light may become a disturbance. Therefore, it may be desirable that the sensor device and head unit are not on the same optical axis.

On the other hand, when the transparency of the web 120 is not high, the position where the sensor device is installed may be, for example, directly under the head unit. In the illustrated example, the area directly below the head unit is the back side of the processing position. That is, in the transport direction, the processing position and the position where the sensor device is installed are almost the same, one surface (front side) of the web 120 is the processing target, and the other surface (back surface) of the web 120 is the sensor. In some cases, it may be detected by the device.

As described above, when the sensor device is directly under the head unit, the accurate amount of movement under the sensor device can be detected by the sensor device. Therefore, it is desirable that the sensor device is located near directly under the head unit if each light does not cause disturbance and control and the like can be performed quickly. On the other hand, the sensor device does not have to be almost directly under the head unit, and even if it is not directly under the head unit, the same calculation is performed.

If the error is acceptable, the position where the sensor device is installed may be substantially directly below the head unit or between the INTs between rollers, and may be a position downstream from directly below the head unit.

Further, a displacement sensor PS21 and a displacement sensor PS22 are installed for each head unit. The displacement sensor PS21 and the displacement sensor PS22 detect the displacement amounts of the head units HD1 and HD2, respectively, and output them to the controller 520.

Then, based on the outputs of the displacement sensor PS21 and the displacement sensor PS22, the controller 520 corrects the command values output to the actuator controllers CTL1 and CTL2. This makes it possible to adjust the processing position for performing the reading process with high accuracy.

<Third modification example>
For example, the device 110 that discharges the liquid may use the object to be conveyed as a belt or the like as follows.

FIG. 30 is a schematic view showing a third modification of the device for discharging the liquid according to the embodiment of the present invention. In this modification, the head units 350C, 350M, 350Y and 350K eject ink droplets to form an image on the outer peripheral surface of the transfer belt 328. Hereinafter, the head units 350C, 350M, 350Y and 350K are collectively referred to as "head unit group 350".

Next, the drying mechanism 370 dries and forms a film on the image formed on the transfer belt 328.

Subsequently, in the transfer section where the transfer belt 328 faces the transfer roller 330, the device 110 that ejects the liquid transfers the filmed image on the transfer belt 328 to the paper.

Further, the cleaning roller 323 cleans the surface of the transfer belt 328 after transfer.

As described above, in this modification, in the device for discharging the liquid, a head unit 350C, 350M, 350Y, 350K, a drying mechanism 370, a cleaning roller 323, a transfer roller 330, and the like are provided around the transfer belt 328.

In this modification, the transfer belt 328 is bridged over a drive roller 321 and an opposed roller 322, four shape maintenance rollers 324 and eight support rollers 325C1, 325C2, 325M1, 325M2, 325Y1, 325Y2, 325K1 and 325K2. It is driven by the drive roller 321 rotated by the transfer belt drive motor 327 and moves in the direction of the arrow in the figure. The direction in which the transfer belt 328 is moved by the rotation of the drive roller 321 is defined as the moving direction.

Further, the eight support rollers 325C1, 325C2, 325M1, 325M2, 325Y1, 325Y2, 325K1 and 325K2 provided facing the head unit group 350 are transferred to the transfer belt 328 when ink droplets are ejected from each head unit 350. Maintain the tension state of. Then, the transfer motor 331 rotates and drives the transfer roller 330.

Further, in this modification, the sensor device 332C is arranged between the support roller 325C1 and the support roller 325C2 and upstream of the discharge position of the head unit 350C in the moving direction of the transfer belt 328. Further, the sensor device 332C has a speckle sensor.

The speckle sensor is an example of a sensor that acquires information on the transfer belt 328. Further, the sensor device 332M is also provided for the head unit 350M in the same positional relationship as the positional relationship between the support roller 325C1, the support roller 325C2, and the sensor device 332C with respect to the head unit 350C.

In this modification, the head unit 350M, the head unit 350Y, and the head unit 350K are provided with actuators 333M, 333Y, and 333K, respectively. Further, the actuator 333M is an actuator that moves the head unit 350M in a direction orthogonal to the moving direction of the transfer belt 328. Similarly, the actuators 333Y and 333K are actuators that move the head unit 350Y and the head unit 350K in a direction orthogonal to the moving direction of the transfer belt 328, respectively.

The control board 340 detects the amount of movement of the transfer belt 328 in the orthogonal direction, the amount of movement of the transfer belt 328 in the movement direction, and the like based on the image data acquired from the sensor devices 332C, 332M, 332Y, and 332K. Further, the control board 340 controls the actuators 333M, 333Y and 333K according to the amount of movement of the transfer belt 328 in the orthogonal direction, and moves the head units 350M, 350Y and 350K in the orthogonal direction. Further, the control board 340 controls the ejection timing of the head units 350M, 350Y and 350K according to the amount of movement of the transfer belt 328 in the moving direction.

Further, the control board 340 outputs a drive signal to the transfer belt drive motor 327 and the transfer motor 331.

Further, a displacement sensor PS31, a displacement sensor PS32, and a displacement sensor PS33 are installed for each head unit. The displacement sensor PS31, the displacement sensor PS32, and the displacement sensor PS33 detect the displacement amounts of the head unit 350M, the head unit 350Y, and the head unit 350K, respectively, and output them to the control board 340.

<Effect in the third modification>
According to this modification, even when the transfer belt 328 moves in a direction orthogonal to the movement direction driven by the drive roller 321 while the transfer belt 328 is moving, the liquid is discharged according to the detected movement amount. The device 110 can move the head units 350M, 350Y and 350K in orthogonal directions, respectively. Further, the displacement sensors PS31, PS32, and PS33 output the displacement amounts of the head units 350M, 350Y, and 350K to the control board 340, respectively. As a result, the control board 340 can correct the command value for controlling each actuator. Therefore, the device 110 for discharging the liquid can form a high-quality image on the transfer belt 328.

Further, even when the transfer belt 328 moves in a movement direction different from the expected movement in the movement direction driven by the drive roller 321, the device 110 for discharging the liquid according to the detected movement amount is the head units 350M, 350Y and 350K. The discharge timing of each can be changed. Therefore, the device 110 for discharging the liquid can form a high-quality image on the transfer belt 328.

In the above example, the amount of movement in the orthogonal direction of the transfer belt 328 and the amount of movement in the movement direction of the transfer belt 328 were calculated based on the image data acquired from the sensor devices 332C, 332M, 332Y and 332K. If only the amount of movement is used, only one of them may be calculated.

Further, in this modification, the head unit 350C is not provided with an actuator, but may be provided. Then, by moving the head unit 350C in the orthogonal direction, it is possible to control the position in the direction orthogonal to the transfer transfer direction when the transfer belt 328 is transferred to the paper.

In the above example, an example of forming an image on the transfer belt 328 using a plurality of head units has been described, but it can also be applied to a case where an image is formed by one head unit.

Further, for example, the embodiment according to the present invention may be a transfer device or the like in which the head unit emits a laser and the substrate to be transported is subjected to patterning processing by the laser. Specifically, the transport device first has the laser heads arranged in a line in a direction orthogonal to the transport direction in which the substrate is transported. Then, the transport device detects the position of the substrate and the like, and moves the head unit or the like based on the detection result. Further, in this example, the processing position is the position where the laser irradiates the substrate.

Further, the transport device does not have to have a plurality of head units. That is, the present invention is applicable when the processing is continuously performed at the reference position with respect to the transported object.

Further, in the embodiment of the present invention, even if it is realized by a program for executing a part or all of the methods of discharging liquid to a computer such as a control device of a transport device, an information processing device, or a combination thereof. good.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the specific embodiment, and various modifications are made within the scope of the gist of the present invention described in the claims. Or it can be changed.

110 Liquid discharge device 120 Web 210K Black liquid discharge head unit 210C Cyan liquid discharge head unit 210M Magenta liquid discharge head unit 210Y Yellow liquid discharge head unit SENK Black sensor SENC Cyan sensor SENM Magenta sensor SENY Yellow sensor 520 controller S1 1st sensor data S2 2nd sensor data DIF deviation COM1 1st command value COM2 2nd command value COM3 3rd command value COM4 4th command value PD1 1st displacement amount PD2 2nd displacement amount PD3 3rd displacement amount PD4 4th Displacement amount CO correction value Tc control cycle

Japanese Unexamined Patent Publication No. 2015-13476

Claims (11)

A transport device having a head unit and processing an object to be transported by the head unit.
An actuator that moves the head unit in a direction orthogonal to the transport direction,
An actuator controller that controls the actuator and
A displacement sensor that detects the amount of displacement of the head unit due to movement by the actuator, and
It is provided with a detection result indicating the position, moving speed, moving amount or a combination thereof in the orthogonal direction, and a controller that outputs a command value to the actuator controller based on the output of the displacement sensor. ,
The controller vibrates based on the difference between the movement amount indicated by the command value according to the detection result and the displacement amount indicated by the output of the displacement sensor when operated at the command value. A transport device that calculates a correction value for correcting the command value for each cycle, which is an integral multiple of the vibration cycle . A transport device having a head unit and processing an object to be transported by the head unit.
An actuator that moves the head unit in a direction orthogonal to the transport direction,
An actuator controller that controls the actuator and
A displacement sensor that detects the amount of displacement of the head unit due to movement by the actuator, and
It is provided with a detection result indicating the position, moving speed, moving amount or a combination thereof in the orthogonal direction, and a controller that outputs a command value to the actuator controller based on the output of the displacement sensor. ,
The controller is a transfer device that calculates the command value for each vibration cycle in which the displacement amount vibrates and a cycle that is an integral multiple of the vibration cycle. The controller calculates the difference between the movement amount indicated by the command value according to the detection result and the displacement amount indicated by the output of the displacement sensor when operated at the command value a plurality of times, and the difference of the plurality of times. Calculate the correction value to correct the command value based on
The transport device according to claim 1 or 2 . The controller obtains the detection result from the output of the object to be detected sensor provided corresponding to the head unit.
The transport device according to any one of claims 1 to 3 . The transported object detection sensor is a sensor that detects information regarding the uneven shape formed on the surface or inside of the transported object.
The transport device according to claim 4 . The object to be transported detection sensor is a sensor that detects an edge in an orthogonal direction orthogonal to the transport direction of the object to be transported.
The transport device according to claim 4 . The object to be transported detection sensor is an optical sensor.
The transport device according to any one of claims 4 to 6 . A first support member provided on the upstream side in the transport direction from the processing position where the head unit processes the object to be transported, and
A second support member provided on the downstream side in the transport direction from the processing position is provided.
The object to be transported detection sensor is provided between the first support member and the second support member.
The transport device according to any one of claims 4 to 7 . The head unit is a liquid discharge head unit that discharges liquid to the object to be transported.
The transport device according to any one of claims 1 to 8 . A transport system having a head unit and having one or more devices that process the transported object by the head unit.
An actuator that moves the head unit in a direction orthogonal to the transport direction,
An actuator controller that controls the actuator and
A displacement sensor that detects the amount of displacement of the head unit due to movement by the actuator, and
It is provided with a detection result indicating the position, moving speed, moving amount or a combination thereof in the orthogonal direction, and a controller that outputs a command value to the actuator controller based on the output of the displacement sensor. ,
The controller is a transfer system that calculates the command value for each vibration cycle in which the displacement amount vibrates and a cycle that is an integral multiple of the vibration cycle . It is a method of adjusting the position of the head unit performed by a transport device having a head unit that processes the transported object and an actuator that moves the head unit in an orthogonal direction orthogonal to the transport direction. hand,
A detection procedure for detecting the amount of displacement of the head unit due to movement by the actuator, and
The procedure for controlling the actuator by the actuator controller and
A procedure for outputting a command value to the actuator controller based on a detection result indicating the position, moving speed, moving amount or a combination thereof in the orthogonal direction by the controller and the displacement amount . Including,
The controller is a method of adjusting the position of the head unit for calculating the command value for each vibration cycle in which the displacement amount vibrates and a cycle in which the displacement amount is an integral multiple of the vibration cycle .

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