Motor drive control device and motor drive control method

Abstract

To provide a technique capable of properly driving a plurality of motors using an encoder signal.SOLUTION: A plurality of motor units 1071, 1072 includes DC motors 1051, 1052 and encoders 1061, 1062 of the DC motor, respectively. Drive control means 1020 receives an output of a drive control signal of the DC motor and an encoder signal of the encoder of the driven DC motor. Switching means 1030 selectively switches the motor unit connected to the drive control means so as to enable communication of the drive control signal and the encoder signal from among the plurality of motor units. When the switching means switches the motor unit to be connected to the drive control means, position information is stored at the time when the motor unit stops that is connected to the drive control means before switching and a drive control signal is output based on the position information when operation of the DC motor of the reconnected motor unit is restarted.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a motor drive control device that controls the drive of a plurality of motors, and a motor drive control method. [Background technology]

[0002] In an apparatus having multiple operating mechanisms, such as an image forming apparatus, multiple motors are used to operate each operating mechanism. When controlling multiple motors, they are controlled by a control means, such as a CPU, provided in the apparatus. However, there is a limit to the number of motors that can be controlled by the control means. In other words, there is a limit to the number of drive control units in the control means that control the drive of the motors.

[0003] In view of this, Patent Document 1 discloses a technique for selectively switching and outputting a signal from one drive control section (motor controller) to a plurality of motor drive circuits. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2008-17120 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology disclosed in Patent Document 1 is for controlling the drive of a stepping motor. Since a stepping motor does not normally perform feedback control, an encoder signal is not used for the drive control of the motor. Therefore, the technology disclosed in Patent Document 1 cannot be applied to the drive control of multiple motors that are driven while feeding back encoder signals to a control unit.

[0006] An object of the present invention is to provide a technique that makes it possible to appropriately drive a plurality of motors using encoder signals. [Means for solving the problem]

[0007] The present invention provides a motor drive control device that controls the drive of a DC motor for operating a predetermined operating mechanism, comprising a plurality of motor units including the DC motor and an encoder provided in the DC motor, and includes drive control means that outputs a drive control signal for controlling the drive of the DC motor and receives an encoder signal output by the encoder provided in the DC motor driven by the drive control signal, switching means that alternatively switches one of the plurality of motor units to be connected to the drive control means so that the drive control signal and the encoder signal can be communicated with the drive control means, and storage means that, when the switching means switches the motor unit communicatively connected to the drive control means, stores position information at the time when the DC motor stopped based on the encoder signal of the motor unit connected by the drive control means before switching, and when the drive control means resumes operation of the DC motor of the motor unit reconnected by the switching means, outputs the drive control signal based on the position information stored in the storage means. The number of DC motors that can be simultaneously controlled by the drive control means is N, the number of DC motors that can be switched by one of the switching means is M, and the number of the switching means is S (M≧S), the drive control means can drive S×M+NS of the DC motors. It is characterized by: Effect of the Invention

[0008] According to the present invention, it becomes possible to appropriately drive a plurality of motors using encoder signals. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a plan view of the recording apparatus according to the first embodiment. [Diagram 2] FIG. 2 is a front view of the recording apparatus shown in FIG. [Diagram 3] FIG. 2 is a right side view of the recording apparatus shown in FIG. [Figure 4] FIG. 2 is a block diagram showing a schematic configuration of a control system of the printing apparatus. [Diagram 5] FIG. 2 is a diagram showing a configuration related to motor driving. [Figure 6] FIG. 4 is a diagram showing a configuration related to the finger rest. [Figure 7] 5 is a flowchart showing motor control during nail recording in the first embodiment. [Figure 8] FIG. 11 is a configuration diagram according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (First embodiment) 1 to 3 are a plan view, a front view, and a right side view showing a schematic configuration of a recording device to which a motor drive control device according to an embodiment of the present invention is applied. In each drawing referred to in this embodiment, the direction indicated by the arrow X (X direction) indicates the left-right direction (also called the main scanning direction) of the recording device, with the +X direction indicating the right direction and the -X direction indicating the left direction. The direction indicated by the arrow Y (Y direction) indicates a direction perpendicular to the X direction (front-back direction), with the +Y direction indicating the front and the -Y direction indicating the rear. Furthermore, the direction indicated by the arrow Z (Z direction) indicates a direction perpendicular to the X and Y directions (vertical direction), with the +Z direction indicating the downward direction and the -Z direction indicating the upward direction.

[0011] The recording device 20 shown in Fig. 1 to Fig. 3 is a nail recording device that records an image by ejecting ink onto a nail as a recording medium using an inkjet method. The recording device 20 includes a recording unit 203 that performs recording on the nail and a hand placement unit 205. The hand placement unit 205 has a palm placement unit 2050 and a finger placement unit 2051, which will be described later. The recording device 20 also includes an imaging unit 204 that recognizes the position of the nail in the X and Y directions. The overall operation of the recording device 20 is controlled by a main control unit 1010 (see Fig. 5), which will be described later.

[0012] The configuration of each part of the recording device 20 will be described in more detail below with reference to the drawings. Note that in the right side view referred to in the following description, in order to clearly indicate the parts to be described, some of the components shown in FIG. 1 (for example, the Y-direction rail 2011 described later) are omitted from the illustration.

[0013] <Recording Division> The recording unit 203 includes a recording head 2030 that ejects ink, and a carriage 2031. The recording head 2030 of this embodiment is formed with an ejection port array in which a plurality of ejection ports that eject ink are arranged. Each ejection port is provided with an ejection element that generates ejection energy for ejecting ink. In this embodiment, an electro-thermal conversion element (heater) that generates thermal energy is used as the ejection energy, but an electro-mechanical conversion element such as a piezo can also be used. The recording head 2030 is supplied with ink from a predetermined ink supply source. The ink supply source may be an ink storage unit integrated with the recording head 2030, or a cartridge-type ink tank that is detachable from the recording head 2030. In addition, the following ejection port arrays are examples of the ejection port arrays provided in the recording head. Cyan ink ejection port array 2032 Magenta ink ejection port array 2033 Yellow ink ejection port array 2034

[0014] <Recording unit movement mechanism> The recording device 20 is provided with a moving mechanism as an operating mechanism for moving the carriage 2031 in the X and Y directions. This moving mechanism includes two Y-direction rails 2011 and 2022 extending in the Y direction as operating parts, and an X-direction rail 2020 extending in the X direction. The Y-direction rails 2011 and 2022 are supported by the recording device main body 21, and both ends of the X-direction rail 2020 are supported movably on the Y-direction rails 2011 and 2022. The carriage 2031 is supported movably on the X-direction rail 2020. The carriage 2031 moves in the X direction along the X-direction rail 2020 by the driving force of a DC motor. In addition, the X-direction rail 2020 moves in the Y direction along the Y-direction rails 2011 and 2022 by the driving force of a DC motor different from the DC motor that moves the carriage 2031. Therefore, the carriage 2031 moves in the X direction along the X direction rail 2020 and in the Y direction by the movement of the X direction rail 2020 in the Y direction.

[0015] The carriage 2031 moves in the main scanning direction (X direction) by the driving force of a DC motor relative to a fingernail as a recording medium placed on a finger placement table 2051. The print head 2030 ejects ink while moving in the X direction together with the carriage 2031. With one movement of the print head 2030 in the main scanning direction, an image with a width (length in the Y direction) for one scan corresponding to the width (length in the Y direction) of the ejection port row is printed on the nail. Thereafter, the print head 2030 is moved a predetermined distance in the Y direction together with the carriage 2031, and then a printing operation is performed again. In this manner, a predetermined image (nail model) is printed on the nail by alternately repeating the printing operation and the movement operation in the Y direction by the print head 2030.

[0016] <Photography Team> The photographing unit 204 includes a camera 2040 installed inside the ceiling of the recording device 20, and a photographing lens 2041 arranged under the camera 2040. The camera 2040 photographs a finger placed on a finger placement stand 2051 through the photographing lens 2041, and transmits the photographed image data to an image input unit 2070 (see FIG. 5), which will be described later. The photographing unit 204 may be one that is installed in the recording device 20, or may be one that is separately attached by the user, such as a smartphone with a camera function.

[0017] <Hand placement section> The hand placement section 205 includes a palm placement table 2050 for placing the palm, and a finger placement table 2051 for placing the fingers. The palm placement table 2050 and the finger placement table 2051 are disposed on the floor side of the recording device main body 21 which forms the outer shell of the recording device 20, and the palm placement table 2050 is provided on the front side (+Y direction side) of the recording device 20 with respect to the finger placement table 2051. As described later, the finger placement table 2051 has a configuration in which four mutually independent finger placement tables 20511-20514 on which four fingers 2061-2064 are placed are arranged in sequence. A finger placed on the finger rest is clamped and fixed between the upper surface of each finger rest 20511-20514 and the finger fixing frame 2052 by the elastic force of a spring or the like, and is held in a stable state on each finger rest 20511-20514.

[0018] 1 indicates the palm of a right hand 2060 placed on a palm rest 2050, and fingers 2061 to 2064 of the right hand placed on a finger rest 2051. In the drawing, 2061 indicates the right index finger, 2062 indicates the right middle finger, 2063 indicates the right middle finger, and 2064 indicates the right little finger. In the following description, these fingers may be referred to as fingers 206 without distinction.

[0019] In this embodiment, for ease of understanding, the thickness of the four fingers is the same for the index finger 2061, middle finger 2062, ring finger 2063, and little finger 2064. The length of the four fingers is middle finger>index finger=ring finger>little finger. The cross section of the finger is considered to be a perfect circle, and the height (length in the Z direction) and width (length in the X direction) of the finger are treated as being the same. The center of the image captured by the camera 2040 is set to the center of the middle finger 2062 and ring finger 2063 in the X direction, and to the position of the index finger 2061 and ring finger 2063 in the Y direction.

[0020] FIG. 4 is a diagram showing the configuration of the finger placement table 2051. As shown in FIG. 4, the finger placement table 2051 in this embodiment is provided with four finger placement tables 20511 to 20514 for placing four fingers 2061 to 2064 one by one. The four finger placement tables 20511 to 20514 have a role of moving (raising and lowering) the placed finger 206 in the Z direction intersecting (orthogonal in this embodiment) the XY plane. Each finger placement table can be raised and lowered independently of each other by a DC motor. The drive control of the DC motors for raising and lowering the first finger placement table 20511 to the fourth finger placement table 20514 will be described in detail later.

[0021] By raising and lowering the finger placement bases 20511 to 20514, the relative position in the Z direction between the nail of each finger 206 placed on the finger placement base 2051 and the recording head 2030 can be changed. The origin position for the lifting and lowering operation of the finger placement base 2051 can be set to any position in the Z direction by using a motor drive control device described later. However, in this embodiment, the lowest position is set as the origin position. When the finger placement base 2051 is at the lowest position which is the origin position, the finger 206 placed on the finger placement base 2051 is held at a position separated downward from the finger fixing frame 2052. Then, when recording on the nail, the finger placement bases 20511 to 20514 rise to a position (recording position) where recording on the nail is possible.

[0022] Whether the finger placement platforms 20511 to 20514 are at the origin position (lowest position) or not is detected by a finger placement platform sensor 1016 (see FIG. 5) serving as a detection means. The finger placement platform sensor 1016 includes a shutter 2053 protruding from the lower part of each of the four finger placement platforms 20511 to 20514, and a photointerrupter (not shown) provided opposite each shutter 2053. The photointerrupter is provided on a substrate 2054 shown in FIG. 4. When the shutter 2053 blocks the optical path between the light projecting section and the light receiving section of the photointerrupter, the light receiving section of the photointerrupter outputs a detection signal indicating that the finger placement platform is at the origin position. This detection signal is transmitted to a CPU 1011 (see FIG. 5) provided in a control system 101 described later.

[0023] <Recording system control configuration> Fig. 5 is a block diagram showing the control configuration of the recording system of this embodiment. In Fig. 5, the recording system of this embodiment is composed of a recording device 20 and a host PC (host personal computer). A control system 101 of the recording device 20 and the host PC 1000 are connected so as to be able to communicate with each other.

[0024] The host PC 1000 is configured as follows: A CPU 1001 executes processing in accordance with programs stored in an HDD 1003 and a RAM 1002. A RAM 1002 is a volatile storage device that temporarily stores programs and data. A hard disk (HDD) 1003 is a non-volatile storage device that stores programs and data.

[0025] The data transfer interface 1004 controls the transmission and reception of data to and from the control system 101 provided in the recording device 20. As a connection method for this data transmission and reception, a wired connection such as USB, IEEE1394, or LAN, or a wireless connection such as Bluetooth or WiFi can be used.

[0026] The keyboard / mouse interface (keyboard / mouse I / F) 1005 is an interface (I / F) that controls HIDs (Human Interface Devices) such as a keyboard and a mouse. A user can input various data and commands to the host PC 1000 via this keyboard / mouse I / F.

[0027] The display interface 1006 controls the display on a display (not shown). A screen is displayed on the display for selecting whether the nail model is to be automatically set by the device or manually set by the user, and the user is prompted to select either option. If the user selects the method of manually setting the nail model, a list of nail models similar to the user's nail is displayed on the display after the nail region is detected. The user can select and set any nail model from the list. Note that, in FIG. 1, a case where a display is provided on the host PC 100 side has been described as an example, but it is also possible to provide a display on the recording device 20.

[0028] On the other hand, the control system 101 of the recording device 20 is configured as follows. The control system 101 is provided with a main control unit 1010. The main control unit 1010 is configured to include a CPU 1011, a RAM 1012, and a ROM 1013. The CPU 1011 executes processes such as calculations and judgments according to programs stored in the ROM 1013 and the RAM 1012, and also functions as a drive control means for controlling the drive of a plurality of motors and other actuators provided in the recording device 20.

[0029] The RAM 1012 is a volatile storage capable of temporarily storing programs and data. The ROM 1013 is a non-volatile storage capable of storing table data, programs, etc. used in the processing executed by the CPU 1011. The data transfer interface (data transfer I / F) 1014 controls the transmission and reception of data to and from the host PC 100.

[0030] The head controller 1015 controls the driving of the ejection elements provided in the print head 2030 based on the print data, and controls the ejection of ink from the print head 2030. Specifically, the head controller 1015 reads control parameters and print data from a predetermined address in the RAM 1012. When the CPU 1011 writes the control parameters and print data to a predetermined address in the RAM 1012, processing by the head controller 1015 is started, and heaters serving as ejection elements provided in the print head 2030 are made to generate heat. This causes film boiling in the ink, and the resulting pressure change causes ink to be ejected from the ejection ports of the print head.

[0031] The image processing accelerator 1017 is configured by hardware, and can execute image processing faster than the CPU 1011. Specifically, the image processing accelerator reads parameters and data required for image processing from a predetermined address of the RAM 1012. When the CPU 1011 writes the parameters and data to the predetermined address of the RAM 1012, the image processing accelerator 1017 is started and a predetermined image processing is executed. Note that the image processing accelerator 1017 is not necessarily an element. Depending on the specifications of the recording device, it is also possible to execute the above-mentioned table parameter creation processing and image processing by processing only by the CPU 1011. The finger placement sensor 1016 constitutes the aforementioned detection means for detecting whether or not the finger placement sensor 2051 is at the origin position. The finger placement sensor 1016 in this embodiment is configured by a photointerrupter as described above. A detection signal indicating that the finger placement sensor 2051 is at the origin position is input to the CPU 1011.

[0032] In addition, the control system 101 is provided with a plurality of DC motors as drive sources for a plurality of operating mechanisms provided in the recording device 20. In FIG. 5, the DC motors are represented as a DC motor group, and a plurality of motor driving units for driving the DC motor group are represented as a motor driving unit group 1040. In addition, the DC motors are each provided with an encoder that outputs a pulse signal (encoder signal) in synchronization with the operation of the DC motor. In FIG. 5, the encoders provided in each of the plurality of DC motors are represented as an encoder group 1060. Furthermore, the control system 101 is provided with at least one changeover switch 1030 as a switching means for switching and transmitting a motor control signal output from one motor control unit to a plurality of motor driving units. Hereinafter, the motor drive control specific to this embodiment using the changeover switch 1030 will be described.

[0033] The CPU 1011 functions as a drive control unit that outputs a drive control signal to each of a plurality of motor drive units. However, the function of the drive control unit realized by the CPU 1011 is limited. That is, the number of DC motors that the CPU 1011 can control simultaneously (hereinafter referred to as the maximum motor control number) is limited to a predetermined number. Therefore, in this embodiment, when driving DC motors in a number equal to or greater than the maximum motor control number, motor drive control is performed using a changeover switch 1030 shown in FIG. 6.

[0034] FIG. 6 is a functional block diagram for explaining the drive control of the DC motor in this embodiment. The drive control unit 1020 of the CPU 1011 provided in the main control unit 1010 has a plurality of configurations (interfaces) to which a predetermined number of DC motors can be connected, and can simultaneously and independently control the drive of the plurality of connected DC motors. However, in FIG. 6, an example is explained in which the drive of two DC motors 1051 and 1052 in the DC motor group 1050 is selectively controlled using a configuration (one interface) for controlling the drive of one DC motor. In FIG. 6, the DC motor represented by the reference numeral 1051 is referred to as the first motor 1051, and the DC motor represented by the reference numeral 1052 is referred to as the second motor 1052. In addition, the motor drive unit (motor drive means) that drives the first motor 1051 is referred to as the first motor drive unit 1041, and the motor drive unit that drives the second motor 1052 is referred to as the second motor drive unit 1042. Furthermore, an encoder that outputs an encoder signal in synchronization with the operation of the first motor 1051 is referred to as a first encoder 1061, and an encoder that outputs an encoder signal in synchronization with the operation of the second motor 1052 is referred to as a second encoder 1062.

[0035] The first encoder 1061 is attached to the first motor 1051, and the second encoder 1062 is attached to the second motor 1052. Both encoders are configured as rotary encoders equipped with a disk-shaped scale that rotates together with the rotating shaft of the motor and an optical sensor that outputs a pulse signal in accordance with the rotation of the scale. However, detection means other than a rotary encoder may be used as long as the sensor is capable of detecting the amount of rotation of the motor.

[0036] The first and second motors 1051, 1052, together with their corresponding encoders, constitute a motor unit. That is, the first motor 1051 and the first encoder 1061 constitute a first motor unit 1071, and the second motor 1052 and the second encoder 1062 constitute a second motor unit 1072. Note that while Fig. 6 shows the first and second motor units 1071, 1072 and the first and second motor driving units 1041, 1042, in reality, the number of motor units and motor driving units provided corresponds to the number of DC motors provided in the recording device 20.

[0037] The drive control unit 1020 is communicatively connected selectively to the first motor unit 1071 and the second motor unit 1072 via a changeover switch 1030 as a switching means. For example, when driving the first motor 1051, the drive control unit 1020 is communicatively connected to the first motor 1051 of the first motor unit 1071 via the changeover switch 1030 and the first motor driving unit 1041. The drive control unit 1020 is communicatively connected to the first encoder 1061 via the changeover switch 1030. Here, the drive control signal output from the drive control unit 1020 is transmitted to the first motor driving unit 1041 via the changeover switch 1030. The first motor driving unit 1041 generates a drive signal of a predetermined current waveform according to the received drive control signal, and performs drive control of the first motor 1051. In addition, in accordance with the driving of the first motor 1051, the first encoder 1061 outputs a number of pulse signals (encoder signals) according to the driving amount (amount of rotation) of the first motor 1051. This encoder signal is received by the drive control unit 1020 via the changeover switch 1030. The drive control unit 1020 functions as an acquisition unit that acquires position information of the operating unit of the operating mechanism driven by the first motor 1051 based on the encoder signal, and stores the acquired operating position information in the RAM 1012, which is a position information storage unit (storage unit). While the drive control of this first motor 1051 is being performed, the connection between the second motor drive unit 1042 and the drive control unit 1020 is interrupted by the changeover switch 1030, and the second motor 1052 is not driven.

[0038] Moreover, when controlling the driving of the second motor 1052, the connection destination of the drive control unit 1020 is switched from the first motor driving unit 1041 to the second motor driving unit 1042 by the changeover switch 1030. Furthermore, the drive control unit 1020 is switched from the connection with the first encoder 1061 to the connection with the second encoder 1062 via the changeover switch 1030. As a result, the second motor driving unit 1042 generates a drive signal according to the drive control signal output from the drive control unit 1020, and drives the second motor 1052. The encoder signal output from the second encoder 1062 in association with the driving of the second drive motor 1052 is input to the drive control unit 1020 via the changeover switch 1030. The drive control unit 1020 acquires position information of the operating unit of the operating mechanism driven by the second motor 1052 based on the encoder signal, and stores the acquired position information in the RAM 1012, which is a position information storage unit.

[0039] As described above, the motor drive control device shown in Fig. 6 can selectively control the drive of the first motor 1051 and the second motor 1052 using a configuration (one interface) for controlling the drive of one DC motor in the drive control unit 1020 of the CPU 1011. Therefore, for example, if the number of motors that can be simultaneously controlled by the drive control unit 1020 of the CPU 1020 (maximum number of motors to be controlled) is "3", the drive control is performed using the changeover switch 1030 for DC motors that are not to be driven simultaneously. This allows the drive control unit 1020 to control four DC motors. In other words, it becomes possible to control a number of motors ("4") that exceeds the maximum number of motors to be controlled, "3".

[0040] In this embodiment, when the first motor 1051 and the second motor 1052 are stopped, the position information of the operating mechanism driven by each motor is stored. Therefore, when the first motor 1051 or the second motor 1052 that has been stopped is driven again, the CPU 1011 can perform appropriate motor drive control according to the current position of each operating part in the operating mechanism based on the position information stored in the position information storage unit 1012. For example, when the operating mechanism is stopped at a predetermined position by the previous drive, the CPU 1011 can perform drive control of the DC motor with the predetermined position as the operation start position of the operating part. This makes it possible to perform a series of operations of the operating part in the operating mechanism appropriately even when the motor is repeatedly driven and stopped.

[0041] Here, an example will be described in which the motor drive control device shown in Fig. 6 is applied to drive control of a DC motor that raises and lowers finger rest 2051 shown in Fig. 4. In the following description, the finger rest indicated by reference numeral 20511 will be referred to as the first finger rest 20511, and the finger rest indicated by reference numeral 20512 will be referred to as the second finger rest 20512. Furthermore, the finger rest indicated by reference numeral 20513 will be referred to as the third finger rest 20513, and the finger rest indicated by reference numeral 20514 will be referred to as the fourth finger rest 20514. In the following description, the finger having the nail to be recorded will be referred to as the finger to be recorded.

[0042] As described above, one finger is placed on each of the four finger placement stages 20511 to 20514. When recording on a nail, the finger placement stage on which the finger to be recorded is placed is raised from the origin position to a predetermined recording position, and a recording operation is performed by the recording head 2030. The recording operation is usually preferably performed in the order of the index finger, middle finger, ring finger, and little finger. Therefore, when recording on the nail of the right hand, the first finger placement stage 20511, the second finger placement stage 20512, the third finger placement stage 20513, and the fourth finger placement stage 20514 are raised to the recording position in this order. Furthermore, when performing a recording operation on the nails of the left hand, the fourth finger rest 20514, the third finger rest 20513, the second finger rest 20512, and the first finger rest 20511 are raised to the recording position in this order, in the opposite order to that of the right hand.

[0043] In order to shorten the time required for the recording operation, it is desirable to lower the finger for which the recording operation has been completed while raising the next recording target. However, since the recording operation is performed in the order of the index finger, middle finger, ring finger, and little finger, the index finger and little finger located at both ends do not rise and fall at the same time. In other words, the DC motor that operates the first finger placement stand 20511 and the DC motor that operates the fourth finger placement stand 20514 are not driven at the same time.

[0044] Therefore, the DC motor that operates the first finger rest 20511 and the DC motor that operates the fourth finger rest 20514 are selectively controlled for driving using a changeover switch 1030 as shown in Fig. 6. For example, the DC motor that operates the first finger rest 20511 is the first motor 1051 shown in Fig. 6, and the DC motor that operates the fourth finger rest 20514 is the second motor 1052. Then, the drive control unit 1020 of the CPU 1011 selectively controls the driving of the first motor 1051 and the second motor 1052 using the changeover switch 1030, using a configuration (interface) for driving one DC motor.

[0045] In addition, a motor unit and motor drive section (not shown) that drives the second finger rest 20512 and a motor unit and motor drive section (not shown) that drives the third finger rest 20513 are connected via different interfaces provided in the drive control section 1020. For this reason, the DC motor (not shown) that drives the second finger rest 20512 and the DC motor (not shown) that drives the third finger rest 20513 can be driven independently of the first motor 1051 and the second motor 1052 simultaneously by the drive control section 1020.

[0046] Therefore, in this embodiment, it is possible to operate adjacent finger placement tables simultaneously. Specifically, it is possible to raise the second finger placement table 20512 at the same time as the first finger placement table 20511 driven by the first motor 1051 descends, and it is also possible to lower the first finger placement table 20511 at the same time as the second finger placement table 20512 ascends. Similarly, it is possible to raise the third finger placement table 20513 at the same time as the fourth finger placement table 20514 driven by the second motor 1052 descends, and it is also possible to raise the fourth finger placement table 20514 at the same time as the third finger placement table 20513 descends. In this way, by simultaneously moving one finger placement table and the other finger placement table of two adjacent finger placement tables in different directions, it is possible to shorten the time required to complete the recording operation of all nails.

[0047] Further, the CPU 1011 acquires position information of each finger rest based on a detection signal indicating the origin position output from a photointerrupter provided on the substrate 2054 shown in FIG. 4 and an encoder signal output from an encoder of a DC motor that drives each finger rest. For example, when the first finger rest 20511 starts moving, a pulse signal output from the first encoder 1061 is received by the drive control unit 1020 via the changeover switch 1030. Then, when the detection signal output from the photointerrupter is received, the position of the first finger rest 20511 corresponding to the number of pulse signals input up to that moment is determined as the origin position. The position information (number of pulse signals) indicating this origin position is stored in the RAM 1012 as a position information storage unit. After that, the pulse signal output from the first encoder 1061 is input to the drive control unit 1020 via the changeover switch 1030 as the first finger rest 20511 moves. Then, the drive control unit 1020 can obtain position information indicating the current position of the first finger rest 20511 and the distance from the origin position based on the difference between the number of pulse signals input at the present time and the number of pulse signals when the first motor 1051 is at the origin position. When the operation of the first motor 1051 stops, the drive control unit 1020 stores the position information of the first finger rest 20511 obtained as described above in the RAM 1012. Therefore, even when the changeover switch 1030 is switched to the second motor 1052 side and then reconnected to the first motor 1051 side, the drive control unit 1020 can resume the operation control of the first motor 1051 based on the position information stored in the RAM 1012. This makes it possible to start the movement of the first finger rest 20511 according to the position at the end of the previous movement, and makes it possible to move the first finger rest 20511 appropriately and efficiently.

[0048] <Motor drive control> 7 is a flow chart showing the drive control of the DC motors which perform the lifting and lowering operations of the above-mentioned finger placement tables 20511 to 20514. Note that the "S" attached to the process numbers executed in this embodiment denotes a step.

[0049] This flowchart shows the drive control of each motor when the DC motor that moves the first finger rest 20511 is the first motor 1051 in Fig. 6, and the DC motor that moves the fourth finger rest 20514 is the second motor 1052 in Fig. 6. In the following explanation, an example will be given in which a recording operation is performed on the fingernail of the left hand.

[0050] When starting the recording operation, the drive control unit 1020 drives the second motor 1052 to raise the fourth finger placement table 20514 from the origin position to a predetermined height position (recording position) for recording on the nail (S101). At this time, the drive control unit 1020 sets the changeover switch 1030 so that the connection destination is the second motor drive unit 1042 and the second encoder 1062. As a result, the drive control signal output from the drive control unit 1020 is transmitted to the second motor drive unit 1042, and the second motor 1052 is driven by the second motor drive unit 1042. In addition, the encoder signal output from the second encoder 1062 in association with the driving of the second motor 1052 is received by the drive control unit 1020 via the changeover switch 1030.

[0051] Here, the CPU 1011 ejects ink from the print head 2030 and moves it in the main scanning direction to print on the nail of the index finger placed on the fourth finger rest 20514 (S102). After printing on the nail of the index finger is completed, the drive control unit 1020 of the CPU 1011 controls the drive of the second motor 1052 to lower the fourth finger rest 20514. Then, when the fourth finger rest 20514 reaches the origin position, the drive control unit 1020 stops the drive of the second motor 1052 (S103). While the fourth finger rest 20514 is lowering, the drive control unit 1020 drives a DC motor (not shown) for the third finger rest 20513 to raise the third finger rest 20513 to the printing position (S103). Here, the CPU 1011 performs recording with the recording head 2030 on the nail of the middle finger placed on the third finger rest 20513 that has been raised to the recording position (S104).

[0052] Thereafter, the DC motor for the third finger rest 20513 and the DC motor (not shown) for the second finger rest 20512 are driven by a drive control signal output from the drive control unit 1020. As a result, the third finger rest 20513 descends from the recording position to the origin position, and the second finger rest 20512 ascends from the origin position to the recording position (S105). Here, the CPU 1011 drives the recording head 2030 to perform recording on the nail of the ring finger placed on the second finger rest 20512 (S106).

[0053] When recording on the ring finger nail is completed, the drive control unit 1020 switches the changeover switch 1030 so that the connection destination is the first motor drive unit 1041 and the first encoder 1061 (S107). As a result, the first motor 1051 is driven based on the drive control signal from the drive control unit 1020, and the first finger rest 20511 rises from the origin position to the recording position. At the same time, the drive control unit 1020 drives the DC motor for the second finger rest 20512, and lowers the second finger rest 2051 to the origin position (S108).

[0054] Next, the CPU 1011 drives the recording head 2030 to record on the nail of the little finger placed on the first finger rest 20511 (S109). After the recording on the nail of the little finger is completed, the drive control unit 1020 controls the drive of the first motor 1051 to lower the first finger rest 20511. Then, when the first finger rest 20511 reaches the origin position, the drive control unit 1020 stops driving the first motor 1051 (S110). Here, the drive control unit 1020 switches the changeover switch 1030 (S111) to connect the drive control unit 1020 to the second motor drive unit 1042 and the second encoder 1062.

[0055] The position information of the first finger rest 20511 to the fourth finger rest 20514 when they are raised and lowered is stored in the RAM 1022, which is a position information storage unit, based on an encoder signal from an encoder provided in the DC motor that drives each of them.

[0056] As described above, in this embodiment, of the four DC motors, drive control of two DC motors (first motor 1051 and second motor 1052) is selectively performed using the changeover switch 1030. Therefore, the drive control unit 1020 of the CPU 1011 can execute drive control of the four DC motors using the configuration (three interfaces) originally used to drive the three DC motors, and the function of the CPU 1011 as the drive control unit 1020 can be effectively utilized.

[0057] Furthermore, in the recording device of this embodiment, adjacent finger placement platforms can be raised and lowered simultaneously, so that the time required for the recording operation can be shortened.

[0058] Second embodiment Next, a second embodiment of the present invention will be described.

[0059] In the first embodiment, an example was shown in which the motor drive control device was applied to drive control of a DC motor that raises and lowers a finger placement table in a nail recording device. In contrast, in the present embodiment, an example is shown in which the motor drive control device is applied to a three-dimensional object recording device that records on a three-dimensional object as shown in FIG.

[0060] 8 is a plan view showing a schematic configuration of the three-dimensional object recording device 200. The recording device body 201 of the three-dimensional object recording device 200 is provided with a holding table 2076 that holds a three-dimensional object 2075, a recording unit 203 as a recording means for ejecting ink onto the three-dimensional object 2075 to perform recording, a moving mechanism that moves the recording unit 203, and a DC motor that drives the operating unit of the moving mechanism. As the three-dimensional object handled in this embodiment, a recording medium other than paper is assumed. Specifically, for example, a smartphone case, a pen case, a ballpoint pen, an accessory, etc. are included.

[0061] The movement mechanism includes two Y-direction rails 2011 and 2022 extending in the Y direction held by the recording device main body 201, and an X-direction rail 2020 extending in a direction intersecting the Y direction (perpendicular in this example). The X-direction rail (second operating unit) 2020 moves along the Y-direction rails 2011 and 2022 by the driving force of a first motor (not shown) constituted by a DC motor.

[0062] The recording unit 203 also includes a carriage 2031 (first operating unit) supported movably along an X-direction rail 2020, and a recording head 2030 mounted on the carriage 2031. The carriage 2031 moves back and forth along the X-direction rail 2020 by the driving force of a second motor (not shown) constituted by a DC motor. The recording head 2030 also has ejection port arrays 2032, 2033, and 2034 in which ejection ports that eject ink supplied from an ink tank (not shown) are arranged along the Y direction. Ink of a different color is ejected from each ejection port array.

[0063] In the three-dimensional object recording device 200 configured as above, the recording head 2030 moves back and forth in the X direction together with the carriage 2031 above the three-dimensional object 2075 held on the holding base 2076, and ejects ink from each of the ejection port arrays 2032, 2033, and 2034 during this movement. The ejected ink lands on the three-dimensional object 2075, forming an image on the surface of the three-dimensional object 2075. Thereafter, the X-direction rail 2020 moves a predetermined distance in the Y direction along the Y-direction rails 2011 and 2022. Then, the recording head 2030 again moves in the X direction together with the carriage 2031, ejecting ink, and forming an image on the three-dimensional object 2075.

[0064] In this way, in the three-dimensional object recording device 200, the recording head 2030 moves in the X direction and in the Y direction at different timings. In other words, the first motor that moves the carriage 2031 in the X direction and the second motor that moves the X-direction rail 2020 in the Y direction are not driven simultaneously. Therefore, in this embodiment, the first motor and the second motor correspond to the first motor 1051 and the second motor 1052 shown in FIG. 6 described above, and the motor drive control device shown in FIG. 6 controls the drive of each of the motors 1051 and 1052. Hereinafter, a description will be given with reference to FIG. 6 and FIG. 8.

[0065] At the start of the recording operation, the second motor 1052 is driven by a drive control signal output from the drive control unit 1020 shown in Fig. 6 to move the carriage 2031 back and forth in the X direction to perform recording. Next, the changeover switch 1030 is switched to drive the first motor 1051 by a drive control signal from the drive control unit 1020 to move the X-direction rail 2020 a predetermined distance in the Y direction. Thereafter, the changeover switch 1030 is switched again to drive the second motor 1052 to perform the recording operation while moving the carriage 2031 in the X direction. The above operations are repeated until recording on the three-dimensional object 2075 is completed.

[0066] In this way, the drive control of the second motor 1052 that moves the carriage 2031 in the X direction and the first motor 1051 that moves the carriage 2031 in the Y direction can be performed by the motor drive control device shown in Fig. 6. That is, it becomes possible to control the drive of two DC motors (the first motor 1051 and the second motor 1052) using a configuration (one interface) for driving one DC motor in the drive control unit 1020. This makes it possible to effectively use the function of the drive control unit 1020 in the CPU 1011.

[0067] Furthermore, according to the recording device of this embodiment, it is possible to easily achieve recording on a three-dimensional object, which is difficult to achieve with a configuration in which the carriage moves only in the X direction, as in conventional recording devices that handle sheet-like recording media.

[0068] (Other embodiments) In the above-mentioned first and second embodiments, the case where two DC motors that are driven and controlled using an encoder signal are switched and used has been described, but it is also possible to switch and use three or more DC motors that are driven and controlled using an encoder signal. For example, by using a changeover switch with three switching channels, it is possible to control the drive of three DC motors that are driven and controlled using an encoder signal using a configuration for driving and controlling one DC motor. The number of channels of the changeover switch means the number of communication paths for the encoder signal and the motor drive control signal. Therefore, for example, a three-channel changeover switch means a switch that can simultaneously and selectively switch between three communication paths for communicating drive control signals and three communication paths for communicating encoder signals.

[0069] In addition, the number of DC motors that can be controlled simultaneously by a drive control unit that outputs drive control signals to the DC motors and receives encoder signals is N, and in a motor drive control device that has S M-channel changeover switches (N≧S), it becomes possible to control the drive of (S×M+NS) DC motors.

[0070] For example, in a motor drive control device, if the number N of DC motors that can be simultaneously controlled by the drive control unit is "4," the number S of changeover switches is "3," and the number M of channels of each changeover switch is "2," then the motor drive device will be able to control the drive of seven (=(3×2+4-3)) DC motors.

[0071] As in the above embodiment, the number N of DC motors that the drive control unit can control simultaneously corresponds to the maximum number of motors (resources) that can be controlled by the CPU. Therefore, by using an M-channel changeover switch in addition to the CPU with the maximum number N of motors that can be driven, it becomes possible to control more DC motors than the CPU resources.

[0072] In addition, DC motors that are not driven simultaneously can be used as switching targets of the changeover switch.

[0073] In the above embodiment, the motor drive control device is used in the nail recording device and the three-dimensional object recording device, but the present invention is not limited to this. The motor drive control device according to the above embodiment can be applied to any operating mechanism that uses multiple DC motors that are not driven simultaneously, and the configuration, function, and type of the operating mechanism are not particularly limited. [Explanation of symbols]

[0074] 1012 Location information storage unit 1020 Drive control unit 1030 Changeover switch 1051 First Motor 1052 Second Motor 1061 1st Encoder 1062 Second Encoder 1071 First motor unit 1072 Second motor unit

Claims

1. A motor drive control device that controls driving of a DC motor for operating a predetermined operating mechanism, a plurality of motor units each including the DC motor and an encoder provided on the DC motor; a drive control means for outputting a drive control signal for controlling the drive of the DC motor and receiving an encoder signal outputted by the encoder provided in the DC motor driven by the drive control signal; a switching means for selectively switching the motor unit connected to the drive control means so as to enable communication of the drive control signal and the encoder signal with the drive control means from among a plurality of the motor units; a storage means for storing, when the switching means switches the motor unit communicatively connected to the drive control means, position information at the time when the DC motor stops based on the encoder signal of the motor unit connected by the drive control means before the switching, the drive control means outputs the drive control signal based on the position information stored in the storage means when restarting the operation of the DC motor of the motor unit reconnected by the switching means, A motor drive control device characterized in that, when the number of DC motors that can be simultaneously controlled by the drive control means is N, the number of DC motors that can be switched by one of the switching means is M, and the number of the switching means is S (M≧S), the drive control means is capable of driving S×M+N-S of the DC motors.

2. 2. The motor drive control device according to claim 1, wherein the plurality of motor units whose connections to the drive control means are switched by one of the switching means are not driven simultaneously by the drive control means.

3. 3. The motor drive control device according to claim 1, wherein the drive control means is connected to the motor unit via a motor drive means that drives the DC motor in accordance with the drive control signal.

4. 4. The motor drive control device according to claim 1, wherein the switching means is provided for each of the plurality of motor units to communicate the encoder signal and the drive control signal between the drive control means and the motor unit, and selectively switches between the plurality of communication paths and a communication path that allows communication of the encoder signal and the drive control signal between the drive control means and the motor unit.

5. The motor drive control device according to claim 2, characterized in that, among the multiple motor units whose connection for communication with the drive control means can be switched by the switching means, the motor units that are alternatively connected to the drive control means by the switching means for communication can be driven by the drive control means simultaneously with the motor units whose communication connection with the drive control means cannot be switched by the switching means.

6. the operating mechanism has a plurality of operating parts that do not operate simultaneously, 6. The motor drive control device according to claim 1, wherein the switching means selectively switches between a plurality of the motor units for driving the plurality of operating parts and connects them to the drive control means.

7. The operating mechanism includes a plurality of liftable finger placement tables provided in a nail recording device for recording on nails, 7. The motor drive control device according to claim 1, wherein the switching means selectively switches between two of the motor units for raising and lowering at least two finger rests, respectively, among the plurality of motor units for raising and lowering the plurality of finger rests, and connects them to the drive control means.

8. A detection means for detecting that the finger placement platform is at an origin position; and acquiring means for acquiring an origin position of the finger placement platform, 8. The motor drive control device according to claim 7, wherein the acquisition means acquires position information of the origin position based on an encoder signal output from the encoder of the motor unit that operates the finger rest when the detection means detects that the finger rest is at the origin position.

9. At least three of the finger placement platforms are arranged in a predetermined direction, 9. The motor drive control device according to claim 7, wherein the motor units for driving the finger rests located at both ends among the plurality of finger rests are switchable in connection with the drive control means by the switching means.

10. The motor drive control device according to claim 9, characterized in that the two motor units that raise and lower each of the two adjacent finger rests are motor units that cannot be switched by the same switching means, and while the drive control means is controlling the drive of one of the motor units, it is possible to control the drive of the other motor unit, and the drive control means controls the drive of one motor unit and the other motor unit, respectively, so as to move one finger rest and the other finger rest simultaneously in different directions.

11. The operating mechanism includes a first operating unit that moves a recording means in a predetermined direction in a three-dimensional object recording device that records on a three-dimensional object, and a second operating unit that moves the recording means in a direction intersecting the predetermined direction, 7. The motor drive control device according to claim 1, wherein the switching means selectively switches between a plurality of motor units for operating the first operating section and the second operating section, and connects them to the drive control means.

12. A motor drive control method for controlling drive of a DC motor for operating a predetermined operating mechanism, comprising: a plurality of motor units each including the DC motor and an encoder provided on the DC motor; a step of outputting a drive control signal for controlling the drive of the DC motor from a drive control means and receiving an encoder signal output by the encoder provided in the DC motor driven by the drive control signal; a step of selectively switching, by a switching means, one of a plurality of motor units to be connected so as to enable communication of the drive control means with the drive control signal and the encoder signal; a step of storing, when the switching means switches the motor unit communicatively connected to the drive control means, position information at the time when the DC motor stops based on the encoder signal of the motor unit connected by the drive control means before the switching, in a storage means; and outputting the drive control signal from the drive control means based on the position information stored in the storage means when restarting the operation of the DC motor of the motor unit reconnected by the switching means, A motor drive control method characterized in that, when the number of DC motors that can be simultaneously controlled by the drive control means is N, the number of DC motors that can be switched by one of the switching means is M, and the number of the switching means is S (M≧S), the drive control means is capable of driving S×M+N-S of the DC motors.

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