Image forming apparatus and image forming method

Abstract

The invention relates to an image forming apparatus and an image forming method, which can improve operability when a printing object is placed and reduce time and labor consumption for adjusting the height of each support body. An image forming apparatus includes a platen (40) having a plurality of supports (402) supporting an object to be printed, the plurality of supports (402) being arranged side by side in a first direction and a second direction intersecting the first direction, the supports (402) being capable of continuously moving between a first position (H1) and a second position (H2) different in height from the first position. The image forming apparatus includes a unit that determines a region of the support as a first position (a region of a concave portion) and a region of the support as a second position (a region of a convex portion) on the basis of concave-convex information specifying the height of the plurality of supports (402), and a control unit that controls the first position of the support and the second position of the support on the basis of the determination result of the determination unit. And a unit (e.g., an electric actuator (4023)) that varies the height of the plurality of supports between a first position and a second position.

Description

Technical Field

[0001] The present invention relates to an image forming apparatus and an image forming method. Background Art

[0002] In order to improve the operability when placing a printing object, an image forming apparatus is disclosed, which includes a plurality of supports for supporting the printing object. The plurality of supports are arranged and configured in a first direction and a second direction intersecting the first direction, and the support can at least move to a first position and a second position different from the first position (for example, Patent Document 1).

[0003] In the technology of Patent Document 1, since the height of the support is displaced by pressing the plurality of supports, if the number of supports is large and each support is pressed one by one, there is a problem of time-consuming and laborious.

[0004] An object of the present invention is to improve the operability when placing a printing object and reduce the time-consuming and laborious of adjusting the height of each support.

[0005]

Patent Document 1

[0006] To solve the above problems, the present invention provides an image forming apparatus including an impression plate having a plurality of supports for supporting a printing object, characterized in that: the plurality of supports are arranged and configured in a first direction and a second direction intersecting the first direction, the support can continuously move between a first position and a second position having a height different from the first position, and the image forming apparatus includes: a unit for determining a region of the support as the first position and a region of the support as the second position based on concavo-convex information specifying the height of the plurality of supports, and a unit for changing the height of the plurality of supports between the first position and the second position according to the determination result of the determination unit.

[0007] According to the present invention, it is possible to improve the operability when placing a printing object and reduce the time-consuming and laborious of adjusting the height of each support. Brief Description of the Drawings

[0008] Figure 1 Shown is a perspective view of an example of an image forming apparatus according to an embodiment of the present invention.

[0009] Figure 2 Shown is a cross-sectional view illustrating an example of the entire impression plate having a plurality of supports.

[0010] Figure 3The figure shows a configuration example of a support using an electric actuator. (a) shows the support in a concave state, (b) shows the support when the height is displaced from the concave state to the convex state, and (c) shows the support when the displacement is from the convex state to the concave state.

[0011] Figure 4 The figure shows a configuration example of the concave and convex states of a plurality of supports provided on an imprinting plate. (a) shows an example of a region where a plurality of supports on the imprinting plate are in a concave state or a convex state, and (b) shows an example of assigning numerical values of 0 and 1 to the concave and convex states of the plurality of supports.

[0012] Figure 5 The figure shows a flowchart of an example of a process for creating printing data in Embodiment 1.

[0013] Figure 6 The figure shows a flowchart of an example of a process for printing by the image forming apparatus of Embodiment 1.

[0014] Figure 7 The figure shows a schematic view of printing by an imprinting plate of a comparative example. (a) shows the initial state of the imprinting plate, and (b) shows an example of the state of the imprinting plate when a printing medium is placed on the imprinting plate.

[0015] Figure 8 The figure shows a schematic view of printing by an imprinting plate provided with a plurality of supports. (a) shows the initial state of the plurality of supports provided on the imprinting plate, (b) shows an example of the state of the imprinting plate after forming convex portions on the supports, and (c) shows an example of the state of the imprinting plate when a printing medium is placed on the imprinting plate.

[0016] Figure 9 The figure shows a schematic view of printing by an imprinting plate provided with a plurality of supports. (a) shows an example of the state of the imprinting plate when the height difference ΔH of the supports is appropriate, (b) shows an example of the state of the imprinting plate when the height difference ΔH of the supports is smaller than the thickness of the printing medium, and (c) shows an example of the state of the imprinting plate when the height difference ΔH of the supports is larger than the thickness of the printing medium.

[0017] Figure 10 The figure shows an example of a screen displayed on an operation panel in Embodiment 2.

[0018] Figure 11 The figure shows a flowchart of an example of a printing process for specifying the concave and convex states of supports using the operation panel of Embodiment 2.

[0019] Figure 12 The figure shows an example of the height of the support in the convex state of Embodiment 3.

[0020] Figure 13The figure shows an example of illustrating the height of the raised states of a plurality of supports specified in print data. (a) shows an example of a region where a plurality of supports on an impression plate are in a concave state or two convex states, and (b) shows an example of assigning numerical values of 0, 1, and 2 to the concave state and the two convex states of the plurality of supports.

[0021] Figure 14 The figure shows an example of a screen displayed on an operation panel in Embodiment 3.

[0022] Figure 15 The figure is a schematic block diagram showing an example of a control unit in a controller motherboard of an image forming apparatus according to an embodiment of the present invention and objects to which it is connected.

[0023] Figure 16 The figure is a schematic diagram of an image forming apparatus according to an embodiment of the present invention that can be connected to an external machine. Detailed Embodiment

[0024] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in each drawing for explaining the embodiments of the present invention, for constituent elements such as members or component parts having the same function or shape, as long as they can be discriminated, the same reference numerals are given and their description is omitted after one explanation.

[0025] In an image forming apparatus according to an embodiment of the present invention, an impression plate that holds a printing medium includes a plurality of supports arranged in a grid pattern, and the height of each support can be continuously changed.

[0026] The image forming apparatus has a determination unit that acquires height information of supports in a concave state or a convex state specified by another unit and determines the supports that become convex based on this information. In addition, it has a height displacement unit that automatically adjusts the height of the supports specified according to the determination result of the determination unit to a convex state or a concave state.

[0027] Thus, it is characterized in that control can be performed to continuously displace the height of the supports on the impression plate based on the height information of the supports.

[0028] The features of the present invention described above will be described in detail with the following drawings.

[0029] Figure 1 The figure is a perspective view of an example of an image forming apparatus according to an embodiment of the present invention including an impression plate having a plurality of supports. The image forming apparatus 1 is, for example, a DTG (Direct To Garment) printer that can eject a pretreatment liquid, white ink, and color ink from an inkjet head. Figure 1Among them, as an example of an image forming apparatus, there is a printer having a single carriage structure, and having a head that can eject white ink, color ink, and a pretreatment liquid that improves the coagulation effect of the ink on the fabric. In addition, the color ink can be not only the four colors of CMYK (cyan, magenta, yellow, black), but also additional photo inks such as light cyan, light magenta, and gray, or specialty inks such as RGB (red, green, blue) or orange and purple. In addition, the platen 40 that holds a printing medium such as a T-shirt is characterized in that it is regularly divided into a grid shape and provided with a plurality of supports.

[0030] Here, an outline of a configuration example of the image forming apparatus 1 will be described.

[0031] The image forming apparatus 1 includes a carriage 11 on which a head (not shown) serving as a liquid ejection unit for ejecting a liquid is mounted. Guide members 12 and 13 hold the carriage 11 so as to be able to reciprocate in the main scanning direction X. The carriage 11 is connected to a timing belt 17 wound around a driving pulley (not shown) and a driven pulley (not shown) rotated by a main scanning motor (not shown), and the carriage 11 is reciprocated in the main scanning direction X by driving the main scanning motor.

[0032] An encoder sheet 18 is arranged along the main scanning direction X. Periodic slits are provided in the encoder sheet 18. The carriage 11 has a reading sensor that reads the slits of the encoder sheet 18, and can detect the position of the carriage 11 in the main scanning direction X from the reading result of the reading sensor.

[0033] The control performed by the control board 50 is to align the timing at the ejection position based on the carriage position obtained from the reading result of the reading sensor of the carriage 11, and eject ink as a liquid from the head.

[0034] Four heads are mounted on the carriage 11. Each head has a nozzle row in which nozzles for ejecting a liquid are arranged in two columns. The carriage 11 is also mounted with a sub-tank that temporarily stores the liquid supplied to the head. From the main tank 24, the liquid of the required color is sent to the sub-tank via a supply hose by a liquid feed pump.

[0035] The image forming apparatus 1 detachably includes a holding member, i.e., a platen 40, for holding a fabric 400 to be printed.

[0036] The platen 40 is mounted on a lifting mechanism 41 and can adjust the height in the up and down direction Z. The lifting mechanism 41 can be, for example, the same mechanism as that in Patent Document 1.

[0037] The lifting mechanism 41 of the platen 40 is mounted on a slider 42. The slider 42 is movably placed on a slide rail 43 extending in the sub-scanning direction Y orthogonal to the main scanning direction X.

[0038] The slider 42 reciprocates in the sub-scanning direction Y via the timing belt 45 by the sub-scanning drive mechanism. By the reciprocating movement of the slider 42 in the sub-scanning direction Y, the platen 40 also reciprocates in the sub-scanning direction Y.

[0039] A maintenance unit 60 for performing maintenance and recovery of the print head is arranged on one end side in the main scanning direction. The maintenance unit 60 has a suction cover for covering the nozzle surface of the print head, a moisture retention cover for covering the nozzle surface of the print head for moisture retention, and a wiping member for wiping the nozzle surface of the print head. A suction pump is connected to the suction cover.

[0040] An ejection receiving portion 66 is arranged on the other end side in the main scanning direction. During printing, the control board 50 performs maintenance and recovery of the print head by ejecting liquid from the print head to the ejection receiving portion 66.

[0041] The image forming apparatus 1 includes a power button 70, an operation unit 71, a power supply unit 72, etc.

[0042] In the image forming apparatus 1, when printing on a fabric (printing object) such as a T-shirt, first, the image forming apparatus 1 receives print data from an external information processing apparatus. Alternatively, when the print data is previously stored in the control board 50, the print data is selected by the operation unit 71.

[0043] Next, the convex portion of the platen 40 is formed, and the fabric is placed on the platen 40. After that, through the operation of the operation unit 71, printing preparations such as the action of completely pulling the platen 40 backward into the apparatus via the slider 42 are performed.

[0044] After the printing preparation is completed, when the start of printing is instructed by the operation unit 71, the printing operation starts.

[0045] After the printing operation starts, the platen 40 moves to the printing start position via the slider 42. Then, the carriage 11 is moved and liquid is ejected from the print head to perform printing of the amount for one line. When one line of printing is completed, the platen 40 moves by the amount of one line via the slider 42. By repeatedly performing one scan of the carriage 11 and the intermittent movement of the slider 42, the desired area of the fabric is printed. After the printing is completed, the platen 40 returns to the front of the apparatus and the printing ends.

[0046] Next, the platen included in the image forming apparatus 1 will be described.

[0047] Figure 2 Shown is a cross-sectional view illustrating an example of the entire platen having a plurality of supports.

[0048] Figure 3 Shown is an explanatory diagram of a configuration example of a support using an electric actuator.

[0049] In addition to the lifting mechanism 41 that adjusts the overall height of the imprinting plate 40, the image forming apparatus 1 further includes a mechanism that can displace each of the supports 402 on the imprinting plate 40 in the height direction. The imprinting plate 40 includes a base 401 and a plurality of supports 402 that support the object to be printed.

[0050] Refer to Figure 3 to describe the mechanism (also referred to as the "height displacement mechanism" or "displacement means") for displacing the height of the support 402.

[0051] In Figure 3 , example of the support in the concave state is shown in (a), example of the support when displacing from the concave state to the convex state is shown in (b), and example of the support when displacing from the convex state to the concave state is shown in (c).

[0052] The plurality of supports 402 provided on the imprinting plate 40 can move continuously between a first position and a second position, and the height of the second position is different from that of the first position. Here, the first position is one of the concave state and the convex state, and the second position is the other of the concave state and the convex state. In the following description, for ease of explanation, the concave state is taken as the first position and the convex state (the maximum value of the convex state in the following-described Embodiment 3) is taken as the second position for explanation.

[0053] The support 402 includes, for example, a cover 4021, a nut 4022, and an electric actuator (also referred to as an "electric motor") 4023. The electric actuator 4023 is an example of a height displacement mechanism that automatically adjusts the height of each support 402, and is arranged on the base 401 as shown in Figure 2 .

[0054] In Figure 3 , an example is shown in which the height of the support 402 on the imprinting plate 40 in the convex state is set to H2 and the height in the concave state is set to H1.

[0055] By rotating the electric actuator 4023 in the positive direction from the initial value (height H1) of the height of the support 402 in the concave state in (a) of Figure 3 , as shown in (b) of Figure 3 , the height of the support 402 is increased to become the convex state (height H2). When returning from the convex state to the concave state (height H1), the height of the support 402 is decreased by rotating the electric actuator 4023 in the reverse direction.

[0056] In the image forming apparatus 1, all the supports 402 are connected to the control board 50, and the concave-convex state of the supports 402 can be automatically adjusted by sending an electric signal from the control board 50.

[0057] As a comparative example, for instance, in Patent Document 1, an alternating push spring is used to change the height of a support. In this configuration, the height of the support is specified by several patterns. As an example, it is roughly specified as discontinuous specification (heights of 0 mm, 5 mm, 10 mm). In contrast, the image forming apparatus 1 of the present embodiment is configured to displace the height of the support 402 using an electric actuator 4023, and the height of the support 402 can be continuously changed not limited to heights H1 and H2.

[0058] The image forming apparatus 1 sets the heights of the plurality of supports 402, for example, using concavo-convex information (also referred to as "height information") that specifies the heights of the plurality of supports 402.

[0059] The concavo-convex information designates the heights of the plurality of supports 402 as at least a concave state and a convex state. Specifically, the concavo-convex information is information that designates at least the regions of the plurality of supports 402 that are in a concave state and the regions of the supports that are in a convex state.

[0060] The image forming apparatus 1 includes a unit (also referred to as a "determination unit") that determines the regions of the supports that become concave states and the regions of the supports that become convex states based on the concavo-convex information, and a unit (such as the electric actuator 4023) that displaces the heights of the plurality of supports 402 between the concave state and the convex state based on the determination result (determination result) determined by the determination unit.

[0061] Next, the configurations (regions) of the concave and convex states of the plurality of supports 402 on the imprint plate 40 will be described.

[0062] Figure 4 The figure shows an example of a configuration example of the concave and convex states of a plurality of supports provided on a platen. (a) shows an example of a region where the plurality of supports on the platen are in a concave state or a convex state, and (b) shows an example of assigning numerical values of 0 and 1 to the concave and convex states of the plurality of supports.

[0063] The plurality of supports 402 are arranged and configured in a first direction and a second direction that intersects the first direction. In Figure 4 , an example where the first direction and the second direction are orthogonal is shown, but they do not necessarily need to be orthogonal as long as the configuration of the plurality of supports 402 can be two-dimensionally specified.

[0064] Figure 4 The (a) of shows a view of the imprint plate 40 of the image forming apparatus according to one aspect of the embodiment as viewed from above, and represents the positions of the regularly arranged supports 402 using a matrix representation of the k-th row × the n-th column (k and n are positive integers). Figure 4 The (a) of shows an example where a part of the supports from the first row × the first column to the third row × n column are designated as convex states.

[0065] Figure 4 (b) shows the designation (setting) and Figure 4 An example of concave-convex information of a region where the support 402 is in a concave state and a region where the support 402 is in a convex state corresponding to (a) of .

[0066] The concave-convex information specifies the positions of the plurality of supports 402, for example, by expressing the matrix of the kth row × the nth column. Then, for the position of each support 402, for example, "1" indicating a convex state or "0" indicating a concave state is set (input). In this way, the convex state and concave state of each support 402 are specified.

[0067] In addition, the value of the difference ΔH between the height H2 of the convex portion and the height H1 of the concave portion (for example, ΔH=2mm) is also input (assigned) to the concave-convex information. As described above, since the support body 402 can be continuously moved between the concave state and the convex state by the height displacement unit, it can be made to be any value within the maximum value range (below the maximum value) of the height difference between the concave state and the convex state.

[0068] The above-mentioned concave-convex information can be created by the user before printing, for example, by a device other than the image forming device such as a personal computer (PC), or can also be created using the operation unit 71 which is an operation unit (input unit) possessed by the image forming device.

[0069] In addition, the concave-convex information may be configured to be confirmed on the screen of the operation unit 71 before printing starts, for example.

[0070] In the image forming apparatus 1, the determination unit for determining which of the multiple supports 402 arranged on the platen 40 is to be set to a concave state or a convex state may be a plurality of determination units, for example, there may be a case where concave-convex information is embedded in the data used in printing, or a case where the concave-convex information is acquired using an operating unit, etc.

[0071] Hereinafter, one embodiment of the present invention will be described.

[0072] Implementation method 1.

[0073] In the first embodiment, a determination unit for applying data used when printing is shown. In addition, hereinafter, data used when printing is referred to as printing data (also referred to as data for printing).

[0074] In Embodiment 1, a method of creating print data to which concave and convex information is added is described.

[0075] Printing data refers to the data used for printing an image in an image forming apparatus (e.g., an inkjet printer), and generally consists of the following information.

[0076] [1] Printing setting information (resolution, printing mode, etc.);

[0077] [2] Information on the positions of ink jets (Cy, Ma, Ye, K, white, pretreatment liquid, etc.);

[0078] [3] Information on the nozzles used for ink jetting and the timing of ink jetting (e.g., from which nozzle to jet ink in the first scan);

[0079] [4] Thumbnail information (e.g., the image data to be printed is displayed as a preview on the operation panel of the image forming apparatus)

[0080] Figure 5 The figure shows a flowchart illustrating an example of the process for creating printing data in Embodiment 1.

[0081] When starting the creation of printing data, image data such as JPEG or PNG to be printed is read in (S11), and the resolution or printing position at the time of printing is determined (S12). As the next process, the support 402 to be in the concave state or the convex state is specified (S13). As described with reference to Figure 4 As described, the specified result is incorporated into the printing data as the concavo-convex information specifying the concave state or the convex state of the support 402.

[0082] Then, in addition to the information in the above steps S11 to S13, the information obtained through the following processes is added to the printing data and output as a single file, thereby completing the creation of the printing data.

[0083] Specifically, RGB data is obtained from the image data (S14), and the data related to the color represented by RGB is expressed using Cy, Ma, Ye, and K (S15). In addition, based on the output of the data related to the color represented by Cy, Ma, Ye, and K, the positions for jetting (inkjetting) color and white inks, pretreatment liquid, etc. are determined (S16). The nozzles used for jetting ink and the timing of jetting ink are determined according to the printing settings (S17).

[0084] The printing data output as a single file (e.g., a file with the extension ".prn") is read into the image forming apparatus via a USB memory, a wired LAN, or a wireless LAN (S18). By doing so, according to the information given to the printing data, the printing process using the image forming apparatus is carried out. In addition, with reference to Figure 5 the creation of the printing data described is performed by a medium (apparatus) different from the image forming apparatus, such as an external personal computer.

[0085] Figure 6 The figure shown is a flowchart illustrating an example of the process when printing is performed by the image forming apparatus according to Embodiment 1.

[0086] First, the image forming apparatus 1 reads in print data (S21). Additionally, in the Figure 6 action example, before printing, the plurality of supports 402 of the platen 40 are in a concave state (initial state).

[0087] The image forming apparatus 1 extracts the concavo-convex information (e.g., the information shown in (b) of Figure 4 ) specifying the convex and concave portions of the supports 402 on the platen 40 from the print data, and based on the concavo-convex information, automatically displaces the height of the supports 402 (S22). Specifically, in the image forming apparatus 1, the determination unit reads the "0" or "1" information for each support 402 from the concavo-convex information, and via the control board 50, in the case of "0", does not activate the electric actuator 4023, and in the case of "1", rotates the electric actuator 4023 forward. At this time, the determination unit also reads the information on the height difference ΔH of the support 402 from the concavo-convex information (print data) to adjust the height of the support 402 to a specified height (become a convex state).

[0088] After the displacement of the height of the support 402 is completed, a printing medium such as a T-shirt, a handkerchief smaller than the platen 40, or a sock is placed on the platen 40 (S23). Next, in order to optimize the distance between the printing medium and the nozzle, automatic height detection is performed (S24). The method for detecting the distance between the printing medium and the nozzle can, for example, irradiate a laser and calculate it from the reflected light reflected from the object (e.g., using the technology disclosed in Japanese Unexamined Patent Application Publication No. 2020-001321). After optimizing the distance between the printing medium and the nozzle through automatic height detection, it becomes the printing preparation state (S25), and printing is started by pressing the print button (S26). After printing is performed by the inkjet head (IJ) (S27), the platen returns to the origin (the position when the T-shirt was placed), and the printing medium is removed (S28). When continuously printing using the same print data (when it is "yes" in S29), the convex and concave portions of the supports 402 on the platen 40 maintain their original states, and the process returns to the step of placing the T-shirt on the platen 40 in S23, and printing is similarly performed.

[0089] In the case of printing using different print data (when it is "no" in S29), all the supports 402 of the platen 40 are returned to the concave state (initial state) (S30). When returning the support 402 to the concave state, the electric actuator 4023 of the convex support 402 is rotated in the reverse direction.

[0090] Then, enter the standby state before the next printing data is sent. When printing different printing data (″Yes″ in S31), return to the process of reading the printing data in step 21. On the other hand, if no printing data is sent within a preset specified period (″No″ in S31), the printing is ended.

[0091] Next, the effect of arranging a plurality of supports 402 in a concave state or a convex state on the platen 40 will be described. In an image forming apparatus, for example, when printing a printing medium having irregularities such as a pocket, due to the influence of the convex portion of the pocket or the like, the distance between the printing surface and the nozzle head changes, dust is generated, and there is a problem that the image is not clear.

[0092] To explain the effect of the platen 40 provided with a plurality of supports, first, Figure 7 A schematic diagram showing printing of a platen of a comparative example is shown. Figure 7 As shown in (a) of, a flat platen 90 of a comparative example in a state where no printing medium is placed is shown. The platen 90 is provided with a flat support 92 on a base 91. Regarding this platen 90, it is considered that, as Figure 7 shown in (b) of, a T-shirt 500 with a pocket 501 is placed and printing is performed on the back side of the T-shirt. Although the distance between the printing medium and the nozzle head 10 needs to be optimized, the thickness of the T-shirt 500 is different between the pocket portion and other portions. In automatic height detection, in addition to optimizing the distance between the printing medium and the nozzle head, it also has the function of preventing friction between the printing medium and the nozzle head 10. That is, in Figure 7 the situation of (b) of, the optimization of the distance between the printing medium and the nozzle head is performed based on the thickest pocket portion in the printing medium. When printing on the pocket portion, a clear image can be printed, but in other portions, since the distance between the printing medium and the nozzle head is too wide, the landing accuracy decreases, and a non-clear image such as dust is generated.

[0093] Subsequently, Figure 8 A schematic diagram showing printing performed by the platen 40 provided with a plurality of supports is shown. Figure 8 As shown in (a) of, all of the plurality of supports 402 of the platen 40 are in a concave state (initial state before printing). Figure 8 As shown in (b) of, it is a state after obtaining the concavo-convex information of the supports 402 on the platen 40 and changing the height. In Figure 8 in (b) of, since the two central supports are in a concave state, the printing medium is placed in a manner that the pocket portion is inserted therein. Figure 8Figure (c) shows a schematic view when the T-shirt 500 with the pocket 501 is placed on the embossing plate 40. By embedding the thickness of the pocket part into the part where the support 402 becomes concave, the thickness of the pocket part is offset. Therefore, there is no large thickness difference between the pocket part and other parts, and either side of the printing medium can be made flat. When printing any part of the printing medium, the distance between the printing medium and the nozzle can be optimized, so high ink landing accuracy can be maintained and clear images can be printed.

[0094] Next, with reference to Figure 9 , the effects brought about by the continuous change of the height difference ΔH between the concave state and the convex state of the plurality of supports 402 will be described.

[0095] Figure 9 Figure shows a schematic view of the effect of printing using an embossing plate provided with a plurality of supports.

[0096] Figure 9 Figure (a) shows a schematic view when the T-shirt 500 is placed on the embossing plate 40 when the height difference ΔH of the support 402 is approximately equal to the thickness of the pocket part. This is the same as Figure 8 Figure (c), there is no large thickness difference between the pocket part and other parts, and a flat printing surface can be formed, so the generation of dust can be suppressed and clear images can be printed.

[0097] Figure 9 Figure (b) shows a schematic view when the T-shirt 500 is placed on the embossing plate 40 when the height difference ΔH of the support 402 is smaller than the thickness of the pocket part. This is a state where the thickness of the pocket part cannot be offset by the concave support 402. In this case, the image forming apparatus, in the same way as Figure 7 Figure (b), optimizes the distance between the printing medium and the nozzle based on the thickest pocket part in the printing medium. Clear images can be printed when printing on the pocket part, but in other parts, since the distance between the printing medium and the nozzle is too wide, there is a risk of decreased landing accuracy and unclear images such as printed dust.

[0098] Figure 9 Figure (c) shows a schematic view when the T-shirt 500 is placed on the embossing plate 40 when the height difference ΔH of the support 402 is larger than the thickness of the pocket part. For example, in Patent Document 1, by making the end of the printing medium hang downward, a force in the direction of gravity acts, so as to ensure the flatness of the printing medium. However, as Figure 9As shown in (c), when the pocket portion is in a suspended state, a force in the direction of gravity also acts on the pocket portion. Therefore, the pocket portion sinks, and the height of the printing position will be different between the pocket portion and other portions. In this case, the image forming apparatus optimizes the distance between the printing medium and the nozzle based on the portion other than the thickest pocket portion in the printing medium. When printing on a portion other than the pocket portion, a clear image can be printed, but in the pocket portion, since the distance between the printing medium and the nozzle is too wide, there is a risk of a decrease in landing accuracy and printing of a blurred image such as printing dust.

[0099] As described above, according to the present embodiment, in the adjustment of the height of the plurality of supports 402 provided on the platen 40, since the concave and convex states of the supports 402 are also packed in one print data, the image forming apparatus can perform height adjustment by reading the concave and convex information given in the print data into the image forming apparatus. In this way, it is not necessary to set the concave and convex states of the supports 402 every time, and labor saving (not time-consuming and laborious) can be achieved.

[0100] For example, the image forming apparatus 1 including the platen 40 provided with the plurality of supports 402 can continuously change the height difference ΔH of the supports 402. Therefore, even for a printing medium having a pocket portion, flatness of the printing medium can be ensured, and a clear image can be printed. This is a great advantage not present in a configuration (for example, Patent Document 1) in which the height difference ΔH of the supports 402 cannot be continuously changed.

[0101] In addition, in Patent Document 1, since it is a configuration in which when changing the height of the support, each of the plurality of supports is pressed one by one with a finger or the like, it is quite time-consuming and laborious. In contrast, the image forming apparatus according to the embodiment of the present invention can achieve a remarkable effect of eliminating the time-consuming and laborious work by automating the displacement of the height of the plurality of supports 402.

[0102] Embodiment 2.

[0103] In Embodiment 2, an example is described in which, instead of giving concave and convex information to the print data, an operation panel (also referred to as a "control panel" or "operation unit") is used to specify (input) whether each support 402 is in a concave state or a convex state to obtain concave and convex information. The image forming apparatus 1 displays a screen for prompting input of information for specifying the height of the plurality of supports 402 on the operation panel, and uses the input information as concave and convex information.

[0104] The second embodiment is characterized in that the unit for giving information on the concave state or convex state of the support 402 is an operation panel (for example, Figure 1 the operation unit 71) attached to the image forming apparatus 1.

[0105] Figure 10 The figure shows an example of the screen displayed on the operation panel of Embodiment 2.

[0106] On the operation panel 700, generally, a status screen 701, a printing start button 702 for indicating the start of printing, a printing medium-nozzle height adjustment button 703 for adjusting the height of the platen, a USB file read-in button (a button for reading a file inside the USB and obtaining printing data) 704 when obtaining printing data from the USB, a printing interruption button 705, and a preview screen 706 of the printed image are displayed. In addition, a ΔH setting button (also referred to as the "height difference setting button") 707 for setting the height difference ΔH of the convex / concave state is provided. The height difference ΔH between the convex state and the concave state is specified by directly inputting a value such as ○○ mm (○○ is a numerical value).

[0107] In addition, on the operation panel 700, a printing screen transition button 708 for transitioning to the printing screen, a maintenance button 709 for transitioning to the maintenance screen, an adjustment button 710 for transitioning to the printing position adjustment screen for adjusting the printing position, and a setting screen button 711 for transitioning to the setting screen for making various settings are displayed.

[0108] The method of designating the support 402 to be in the concave state or the convex state is performed by tapping one by one the frames 712 of the support 402 on the platen 40 displayed on the preview screen 706. The printing positions 713 on the platen 40 are displayed in the preview screen 706.

[0109] For example, in the initial state (all the supports 402 are in the concave state), the supports 402 on the preview screen 706 are represented in white and set as the supports 402 in the concave state. Here, when the frame 712 of each support 402 displayed on the preview screen 706 is tapped once, the color of the support 402 changes to gray, and it is defined as the support 402 in the convex state. By tapping again the frame 712 of the support 402 in the gray, i.e., the convex state, it is possible to return to the support 402 in the white, i.e., the concave state. The operation panel 700 is configured such that by tapping the frame 712 of each support 402, the concave state and the convex state can be changed, and the designated state becomes clear through a change in color (here, the transformation between white and gray), etc.

[0110] Figure 11 The figure shows a flowchart of an example of the printing process when designating the concave / convex state of the support using the operation panel.

[0111] After reading in printing data not provided with concavo-convex information (S41), an image to be printed is displayed on the preview screen 706 of the operation panel 700. As Figure 10As described in , by tapping the preview screen 706 while confirming the planned printing position, the concave-convex information of the support 402 is given (S42).

[0112] For example, first, an initial state in which all the plurality of supports 402 are in a concave state is displayed on the preview screen 706, and a support 402 to be changed to a convex state is specified by a tap of the user. For example, as Figure 4 As shown in (b) of , the concave-convex information can be specified using the arrangement position (location) of each support body 402 and a numerical value (for example, "0", "1") indicating a concave state or a convex state.

[0113] In the next process, the image forming device 1 (determination unit) obtains the concave-convex information of the support 402 specified using the preview screen 706 on the operation panel 700, and changes the height of the support 402 on the platen 40 to a concave state or a convex state based on the information (S43). The subsequent processes are the same as Figure 6 The process is the same as described in .

[0114] According to this embodiment, the concave-convex state of the support 402 on the platen 40 can be intuitively and simply specified on the spot. In addition, the image forming apparatus 1 of the second embodiment does not take the time and effort to press the support bodies of the pressing spring mechanism one by one as in Patent Document 1, so it can also be said to have an advantageous effect.

[0115] Implementation method 3.

[0116] In Embodiment 3, a method of providing a plurality of heights of the convex state relative to the concave state is described.

[0117] The image forming apparatus 1 of the third embodiment has a structure capable of specifying the heights of a plurality of convex states.

[0118] If Figure 12 As shown in , the convex state can be specified as two heights, H2a and H2b. In this way, a clear image can be printed on printing media with different thicknesses at the same time. For example, even if there are areas of different thicknesses in the printing medium, the flatness of the printing surface can be ensured. In Figure 12 shows an example of printing by placing thick cloth at height H2a and thin cloth at height H2b.

[0119] Figure 13 The figure shows an example of a method of adding information of the concave portions and various convex portions of the support 402 to the printing data. Figure 13 In , (a) is an example of an area in which multiple supports on a platen are in a concave state or two convex states, and (b) represents an example of giving multiple supports a concave state and two convex states with numerical values ​​of 0, 1, and 2.​​

[0120] The support 402 assigns (inputs) information to the printing data with the concave state as "0", the convex state with height H2a as "1", and the convex state with height H2b as "2". In addition, the image forming apparatus 1 is configured to directly input values such as ΔΔ mm and ×× mm (ΔΔ and ×× are different values) to respectively specify the height differences ΔH2a and ΔH2b between the convex state and the concave state. Similar to the first embodiment, the printing data with concavo-convex information is executed on a medium (apparatus) independent of the image forming apparatus, such as an external personal computer.

[0121] Then, similar to the above-described embodiment, the image forming apparatus 1 reads the information of the printing data, changes the height of each support 402 to H2a or H2b, and performs the printing process.

[0122] In addition, the image forming apparatus 1 may also input concavo-convex information from the operation panel in the same manner as in the second embodiment.

[0123] Figure 14 Shown is an example of a method of specifying information on the concave portion and various convex portions of the support through the operation panel 750. Since the same reference numerals denote the same components, the description thereof is omitted. Figure 10 the same

[0124] The operation panel 750 is configured to directly input values of ΔH2a as ΔΔ mm and ΔH2b as ×× mm from the ΔH setting button 751 to specify the height differences ΔH2a and ΔH2b between the raised state and the concave state. In addition, the method of specifying the support 402 that becomes the concave state or the convex state is performed by tapping the frame 752 of the support 402 on the platen 40 displayed on the preview screen 706. Two printing positions 753 on the platen 40 are displayed on the preview screen 706. Shown here is a case where the support 402 in the convex state is displaced to different heights between the upper layer and the lower layer among the two printing positions 753.

[0125] For example, in the initial state, the support 402 on the preview screen 706 is represented in white and is set as the support 402 in the concave state. Here, when the frame 752 of the support 402 is tapped once, the color of the frame of the support 402 changes to gray and is defined as the support 402 in the convex state H2a. By tapping the frame 752 of the support 402 in the gray, i.e., the convex state, again, it is possible to return to the support 402 in the black, i.e., the convex state H2a. When the frame 752 of the support 402 in the black state is tapped further, it is possible to return to the white, i.e., the concave state. In addition, in Figure 14 this, in order to indicate the printing position 753, the outer periphery of the frame 752 that changes to black is surrounded by a black line, but it may also be as Figure 13Like the area in the convex state of H2b shown in (a) thereof, each frame 752 is set to black.

[0126] Then, in the same manner as in Embodiment 2, the image forming apparatus 1 reads the concavo-convex information specified by the operation panel 750, changes the height of each support 402 to H2a or H2b, and performs the printing process.

[0127] According to the present embodiment, for a plurality of printing media having different thicknesses, clear images can be printed simultaneously.

[0128] Embodiment 4.

[0129] In the above Embodiments 2 and 3, it is described that the unit for giving the concave state or convex state information of the support 402 is one mode attached to the operation panel of the image forming apparatus 1, but it is not limited thereto. The unit for giving the concave state or convex state information of the support 402 can also be implemented using an external information processing device such as a personal computer.

[0130] For example, it is also possible to Figure 10 or Figure 14 display the screen example of on the display of a personal computer or a smart phone, create the concavo-convex information, and send it to the image forming apparatus 1 (the image forming apparatus 1 acquires the concavo-convex information).

[0131] Note that the height and color (white, gray, black) of the support 402 described with reference to Figure 10 , Figure 14 etc. are an example and are not limited thereto. For example, as long as it is set so that the user can recognize the height of the support 402, it is not limited to color, and patterns such as slashes can also be used.

[0132] In addition, the effects described with reference to Figures 7 to 9 in Embodiment 1 can also be similarly exerted in Embodiments 2-4.

[0133] Furthermore, the above Embodiments 1 to 4 can be appropriately combined and implemented.

[0134] Here, an example of the determination unit in each of the above embodiments is described.

[0135] The determination unit can be provided in the image forming apparatus 1, for example, as a function of a control unit installed on the control board 50 of the image forming apparatus 1. In addition, the determination unit can also be configured as a unit different from the above control unit.

[0136] When using the concavo-convex information given to the print data of Embodiments 1 and 3, the determination unit extracts the concavo-convex information from the print data. Then, based on the extracted concavo-convex information, the determination unit determines the area of the support 402 in the concave state and the area of the support 402 in the convex state, and starts the height displacement unit (electric actuator 4023) according to the determination result. At this time, the determination unit obtains the difference ΔH (height difference between the first position and the second position) between the height H2 of the convex part and the height H1 of the concave part from the concavo-convex information, and makes the concave state and the convex state of the height displacement unit into the specified height difference.

[0137] In addition, when obtaining concavo-convex information from the operation panels 700 and 750 of Embodiments 2 and 3, the image forming apparatus 1 may be configured, for example, to display a screen on the operation panels 700 and 750 to prompt an input for designating the heights of a plurality of supports, and include an operation unit that creates concavo-convex information based on the input information. Similar to the above-mentioned determination unit, the operation unit may be a function of the control unit or a unit different from the control unit.

[0138] The operation unit receives, for example, information on the area of the support 402 in the concave state (H1), the area of the support 402 in the convex state (H2, or H2a, H2b), and the height difference ΔH of the support (ΔH2a, ΔH2b in Embodiment 3) specified by the operation of the operation panels 700 and 750, and creates concavo-convex information.

[0139] In addition, as described in Embodiment 4, when obtaining concavo-convex information from a display device such as a display of an external information processing device, it is preferable that the external information processing device etc. have an application program (program) that implements the operation unit.

[0140] The determination unit receives the concavo-convex information created by the operation unit, uses the concavo-convex information to determine the area of the support 402 in the concave state and the area of the support 402 in the convex state, and starts the height displacement unit (electric actuator 4023) according to the determination result.

[0141] The configuration of the control unit (or a determination unit different from the control unit) installed on the control board 50 includes, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), and an I / O (Input / Output) unit.

[0142] For example, in the case where part or all of it is implemented by a program, the control unit reads the program stored in a storage medium (such as ROM or HDD) into the RAM and causes the CPU to execute the instruction set of the program. In addition, part or all of the control unit can also be constituted by hardware. For example, it can be implemented by a combination of hardware and software as in an embedded system, or can be constituted by any one of hardware, firmware, software, or a combination of two or more of them.

[0143] The CPU is a control mechanism responsible for the overall operation control of the control unit. The CPU controls the overall operation of the control unit by reading and executing a control program stored in the ROM, etc.

[0144] The RAM is a storage medium that serves as a working area when the control program executed by the CPU is running. The RAM temporarily stores, for example, print data, concavo-convex information, image data, etc.

[0145] The ROM and HDD are storage media that store programs executed by the CPU, etc. The ROM stores, for example, the above-mentioned control program, thresholds used in the above-described embodiments, and other fixed data.

[0146] The I / O unit mediates the start of the electric actuator 4023, for example, via the drive unit of the electric actuator 4023.

[0147] Here, an example of the configuration of the control unit provided in the control board 70 of the image forming apparatus 1 will be described.

[0148] Figure 15 The figure shows a schematic block diagram for explaining an example of the control unit in the controller motherboard of the image forming apparatus according to the embodiment of the present invention and its connection objects.

[0149] Figure 15 The shown control board 70 includes a CPU 202, a ROM 203, a RAM 204, an NVRAM (non-volatile random access memory) 205, and an ASIC (field programmable gate array) 206.

[0150] The CPU 202 is connected to the operation unit 71 for inputting and displaying information required for the device and is responsible for the overall control of the device. In addition, it also has the function of being responsible for the control of the conveyance operation of the fabric and the movement operation of the nozzle 10 of the carriage 11. The ROM 203 stores the program executed by the CPU 202 and other fixed data. The RAM 204 temporarily stores image data, etc. The NVRAM 205 is a rewritable non-volatile memory for retaining data during the period when the device power supply is cut off. The ASIC 206 processes image processing for performing various signal processes, rearrangement, etc. on the image data, and other input / output signals for controlling the overall device.

[0151] In addition, the control board 70 further includes a host interface (I / F) 201, a printing control unit 208, a main scanning motor driving unit 209, an impression plate lifting driving unit 210, a sub-scanning motor driving unit 211, a support driving unit 212, an input / output (I / O) unit 207, and a medium I / F 213.

[0152] The host interface (I / F) 201 is responsible for the transmission and reception of data and signals with the host device 30 side such as the printer driver 31.

[0153] The printing control unit 208 generates a driving waveform for driving the nozzle 11, and at the same time outputs image data for selectively driving the pressure generating unit of the nozzle 10 and various associated data to the nozzle driver 130.

[0154] The main scanning motor driving unit 209 drives the main scanning motor 105.

[0155] The impression plate lifting driving unit 210 drives the impression plate 40 up and down through the lifting mechanism 41.

[0156] The support driving unit 212 is connected to the electric actuator 4023 and is configured to automatically adjust the height of the support 402 through the determination unit. Additionally, the electric actuator 4023 can also be configured to be connected to the impression plate lifting driving unit 210, and the impression plate lifting driving unit 210 controls both the height of the impression plate (Z direction) and the height of the support.

[0157] The sub-scanning motor driving unit 211 serves to drive the sub-scanning driving mechanism 111, and this sub-scanning driving mechanism 142 drives the timing belt 45.

[0158] The input / output (I / O) unit 207 inputs the detection pulses from the reading sensor 120 and the detection signals from various other sensors.

[0159] In the control board 70, the host interface (I / F) 201 receives printing data, etc. via a cable or network and temporarily stores it in the receive buffer. The printing data is generated, for example, by the printer driver 31 of the host function of an external information processing device such as a personal computer, an image reading device such as an image scanner, or an imaging device such as a digital camera. In the control board 70, the CPU 202 reads and analyzes the printing data in the receive buffer included in the host interface (I / F) 201.

[0160] Alternatively, in the control board 70, it is also possible to read out and obtain the stored printing data by inserting an external storage medium 9 such as a USB (Universal Serial Bus) memory, an SD card, a miniSD card, or a microSD card into the medium I / F 213 (memory insertion port), and then perform parsing.

[0161] In addition, based on the analysis result, ASIC 206 performs necessary image processing, data rearrangement processing, etc., and transmits the result to the printing control unit 208. Therefore, the printing control unit 208 outputs image data and drive waveforms to the print head driver 130 at the required timing. Additionally, the generation of dot pattern data for image output can be performed, for example, by storing font data in the ROM 203, or by the printer driver 31, which is the control unit on the host device 30 side, expanding the image data into bitmap data and then transmitting it to the device. Here, for example, it is performed by the printer driver 31.

[0162] The drive waveform generation unit of the printing control unit 208 includes a D / A converter, an amplifier, etc., and is used to perform D / A conversion on the pattern data of drive pulses stored in the ROM 203 and read out by the CPU 202. Then, a drive waveform composed of one drive pulse or multiple drive pulses is output to the print head driver 130.

[0163] The print head driver 130 drives the print head 10 based on the image data (dot pattern data) equivalent to the amount of one line of the print head 10 input serially. The print head driver 130 selectively applies the drive pulses that make up the drive waveform provided by the drive waveform generation unit of the printing control unit 208 to the pressure generating unit of the print head 10.

[0164] In addition, the print head driver 130 includes, for example, a shift register for inputting a clock signal and serial data as image data, and a latch circuit for latching the stored value of the shift register by a latch signal. Furthermore, the print head driver 130 includes a level conversion circuit (level shifter) for changing the level of the output value of the latch circuit, an analog switch array (switch unit) controlled by the level shifter to turn on / off, etc. Functionally, it can be exemplified that by controlling the on / off of the analog switch array, the required drive pulses included in the drive waveform are selectively applied to the pressure generating unit of the print head 11.

[0165] The alignment sensor 123 mounted on the carriage 11 senses the fabric. Then, it detects the presence or absence of the fabric in the width direction in the carriage 11 and is used for positioning the ink jet position in the width direction.

[0166] The host device 30 connected to the image forming apparatus 1 has an input unit 32 and a display unit 33 in addition to the printer driver 31.

[0167] Next, an example of the connection between the image forming apparatus 1 and an external machine will be described.

[0168] Figure 16The figure shows a schematic diagram of an image forming apparatus according to an embodiment of the present invention that can be connected to an external machine.

[0169] The image forming apparatus 1 can acquire print data by connecting an external storage medium 9 such as a USB memory. Further, in the image forming apparatus 1, a display 76 (panel UI) as a display device is provided in a part of the operation unit 71. The dotted line indicates a configuration example of the fabric C provided on the platen 40.

[0170] Furthermore, the image forming apparatus 1 can be connected to a personal computer 80, a portable terminal such as a smart phone 20, a camera 90, or a scanner 95 via a USB cable 82 (wired) or a network 22 (wireless). The personal computer 80, the smart phone 20, the camera 90, or the scanner 95 as an external device connected to the image forming apparatus 1 functions as a host device 30 and can send print data or concavo-convex information to the image forming apparatus 1.

[0171] In addition, in Figure 16 an example is shown in which the personal computer 80 and the scanner 95 are connected by wire and the smart phone 20 and the camera 90 are connected wirelessly via the network, but the personal computer 80 can also be connected wirelessly via the network and the smart phone 20 and the camera 90 can be connected by wire.

[0172] Furthermore, a monitor 81 is provided in the personal computer 80 and a display 21 is provided in the smart phone 20. The monitor 81 of the personal computer 80 or the display 21 of the smart phone 20 connected to the image forming apparatus 1 by wire functions as a printer driver UI (display unit 33) controlled by a printer driver 31.

[0173] The monitor 81 of the personal computer 80 or the display 21 of the smart phone 20 connected to the image forming apparatus 1 via the network 22 functions as a Web driver UI.

[0174] In addition, a CD-ROM 89 as a storage medium can be inserted into the personal computer 80.

[0175] The embodiment of the present invention is as follows.

[0176] <1>

[0177] An image forming apparatus having an imprinting plate with a plurality of supports for supporting a printing object, characterized in that: the plurality of supports are arranged and configured in a first direction and a second direction intersecting the first direction, the supports are capable of continuously moving between a first position and a second position having a height different from the first position, and the image forming apparatus includes: a unit that determines a region of the supports as the first position and a region of the supports as the second position based on concavo-convex information specifying the height of the plurality of supports, and a unit that changes the height of the plurality of supports between the first position and the second position according to the determination result of the determination unit.

[0178] <2>

[0179] The image forming apparatus according to <1>, characterized in that: the concavo-convex information is pre-coded into printing data used during printing, and the determination unit reads the printing data.

[0180] <3>

[0181] The image forming apparatus according to <1>, further characterized by including: an operation unit that displays a screen prompting for input to specify the height of the plurality of supports, and creates the concavo-convex information according to the input, and the determination unit receives the concavo-convex information created by the operation unit.

[0182] <4>

[0183] The image forming apparatus according to any one of <1> to <3>, characterized in that: the concavo-convex information includes information designating at least a region of the plurality of supports as the first position and a region as the second position, and the height difference between the first position and the second position.

[0184] <5>

[0185] The image forming apparatus according to any one of <1> to <4>, characterized in that: as the height of the plurality of supports, the concavo-convex information designates, in addition to the first position and the second position, a third position between the first position and the second position, and the determination unit further determines, based on the concavo-convex information, a region of the plurality of supports as the third position.

[0186] <6>

[0187] An image forming method executed by an image forming apparatus, the image forming apparatus including an imprint plate having a plurality of supports for supporting a printing object, the plurality of supports being arranged and configured in a first direction and a second direction intersecting the first direction, the supports being capable of continuously moving between a first position and a second position having a height different from the first position, the image forming method being characterized by including: a step of determining a region of the supports as the first position and a region of the supports as the second position based on unevenness information designating at least the first position and the second position for the height of the plurality of supports; and a step of changing the height of the plurality of supports between the first position and the second position based on a determination result of the determination unit.

[0188] In addition, the present invention is not limited to the above-described embodiments. Within the scope of the present invention, each element of the above-described embodiments can be changed, added, or transformed into content that can be easily conceived by those skilled in the art.

Claims

1. An image forming device having a platen having a plurality of supports for supporting a printing object, characterized in that: The plurality of supports are arranged in a first direction and in a second direction intersecting the first direction. The support body is capable of continuously moving between a first position and a second position having a height different from that of the first position, And the image forming device comprises: a unit for determining a region of the support body at the first position and a region of the support body at the second position based on the concavo-convex information specifying the heights of the plurality of support bodies, and A unit configured to change the heights of the plurality of supports between the first position and the second position according to a result of determination by the determination unit.

2. The image forming device according to claim 1, wherein: The concave-convex information is pre-programmed into the printing data used during printing. The determination unit reads the printing data.

3. The image forming device according to claim 1, characterized in that Also includes: an operation unit that displays a screen prompting an input to specify the heights of the plurality of supports, and creates the concave-convex information according to the input, The determination unit receives the concavo-convex information created by the operation unit.

4. The image forming device according to claim 1 or 2, characterized in that: The concavo-convex information includes information specifying the plurality of supports as at least a region of the first position and a region of the second position, and a height difference between the first position and the second position.

5. The image forming apparatus according to claim 1 or 2, characterized in that: As the heights of the plurality of supports, the concave-convex information specifies a third position between the first position and the second position in addition to the first position and the second position, The determination unit further determines a region of the support body at the third position among the plurality of support bodies based on the concavo-convex information.

6. An image forming method performed by an image forming apparatus, The image forming apparatus includes a platen having a plurality of supports for supporting a printing object. The plurality of supports are arranged in a first direction and in a second direction intersecting the first direction. The support body is capable of continuously moving between a first position and a second position having a height different from that of the first position, The image forming method is characterized by comprising: a step of determining a region of the support body at the first position and a region of the support body at the second position based on the concavo-convex information specifying the heights of the plurality of support bodies, and The step of changing the heights of the plurality of supports between the first position and the second position according to the determination result.

Images