JP4454416B2 - Article hardness measuring apparatus and article hardness measuring method - Google Patents

Description

  The present invention relates to an article hardness measurement apparatus and an article hardness measurement method for nondestructively measuring the hardness of articles such as fruits and vegetables.

    Conventionally, in fruits and vegetables such as fruits and vegetables, for example, by measuring the hardness of flesh such as apples, the hardness of hulls such as orange and grapefruit, and the degree of floating skin such as mandarin oranges, The quality of the internal quality and whether it can withstand storage and transportation are measured.

  As a method of measuring the hardness of such fruits and vegetables, hitherto, a load meter was pressed against the fruits and vegetables, and the spring pressure when the surface of the fruits and vegetables was broken was measured. A spring pressure type hardness measuring device is used to measure.

  However, with such a spring pressure type hardness measuring device, the surface of the fruits and vegetables will be destroyed. Therefore, in the fruits and vegetables field, the fruits and vegetables whose surfaces were destroyed for measurement must be discarded. If it is converted into a year, it is a great deal of damage.

For this reason, conventionally, the hardness of an article is measured with an accelerometer (acceleration sensor). That is, as disclosed in Patent Document 1 (Japanese Patent Application Laid-Open No. 2001-133375), when measuring hardness with an accelerometer, it is measured at the peak of the signal waveform at that time when it collides with an object.
JP 2001-133375 A

However, the hardness measurement method using such a conventional acceleration sensor has the following problems.
That is, as shown in FIG. 26, when a reference object made of rubber having different hardness is measured using such a conventional acceleration sensor, the peak value of the measured value is determined by the acceleration sensor. It depends on the strength of contact with an object. In FIG. 26, the rubber hardness 40, 50, 60 (JIS K6253, no unit) indicates a hard material in proportion to the number.

  Therefore, in the hardness measurement method using the conventional acceleration sensor, the conditions differ depending on the difference in strength with which the acceleration sensor contacts the object to be measured, the difference in contact angle, which causes a measurement error for each measurement, An accurate hardness measurement cannot be performed. Further, in the hardness measurement method using a conventional acceleration sensor, depending on the strength with which the acceleration sensor is brought into contact with the object to be measured, when measuring articles that are easily damaged or damaged, such as fruits and vegetables, The surface will be destroyed, the fruits and vegetables must be discarded, and the measurement efficiency will be reduced.

In view of such a current situation, the present invention provides a stable and accurate measurement without any measurement error for each measurement without different measurement conditions due to differences in contact strength and contact angle with respect to an article. Hardness measurement is possible, and even in the case of measuring easily damaged or damaged items such as fruits and vegetables An object of the present invention is to provide a hardness measuring apparatus for an article and a method for measuring the hardness of the article capable of measuring the hardness of the article.

The present invention has been invented in order to achieve the above-described problems and objects in the prior art, and the hardness measuring device for an article of the present invention comprises a sensor member that abuts against the article to be measured,
Two first sensors and two sensors having different sensitivities arranged on the sensor member with the same sensitivity axis;
The first sensor output by the first sensor and the second sensor output by the second sensor obtained by bringing the sensor member into contact with the object to be measured from the sensitivity direction of the two sensors. And by
A hardness identification control unit for identifying the hardness of the article to be measured;
An article hardness measuring device for measuring the hardness of an article comprising:
A sensor member drive mechanism is provided that causes the sensor member to abut against the article to be measured at a constant speed.

Further, the method for measuring the hardness of the article of the present invention comprises a sensor member that is brought into contact with the article to be measured,
Two first sensors and two sensors having different sensitivities arranged on the sensor member with a sensitivity axis aligned;
The first sensor output by the first sensor and the second sensor output by the second sensor obtained by bringing the sensor member into contact with the object to be measured from the sensitivity direction of the two sensors. And by
A hardness identification control unit for identifying the hardness of the article to be measured;
An article hardness measurement method using an article hardness measurement device for measuring the hardness of an article comprising:
The sensor member driving mechanism makes the sensor member come into contact with the article to be measured at a constant speed to identify the hardness of the article to be measured.

  By configuring in this way, the sensitivity axis is aligned with the sensor member, and the two first sensors and the second sensor having different sensitivities are arranged. Since there is no difference in strength, difference in angle, and measurement conditions are the same, the first sensor output from the first sensor and the second sensor output from the second sensor do not have different measurement conditions. There is no measurement error for each measurement, and stable and accurate hardness measurement is possible.

  In addition, since the sensor member is brought into contact with the object to be measured at a constant speed by the sensor member driving mechanism, since the sensor member is constant from the initial speed to the final speed, the measurement can be performed regardless of the size of the object to be measured. The first sensor output by the second sensor and the second sensor output by the second sensor can be stably obtained, and accurate hardness measurement is possible.

  In addition, the article hardness measurement apparatus according to the present invention is configured such that the sensor member driving mechanism controls a speed at which the sensor member abuts on the measured object according to the type and size of the article. It is characterized by being.

  In the method for measuring hardness of an article according to the present invention, the sensor member driving mechanism controls the speed at which the sensor member contacts the article to be measured according to the type and size of the article. .

As described above, the speed at which the sensor member abuts on the article to be measured is controlled by the type and size of the article to be measured, for example, the kind (variety) and size of the fruit.
Therefore, for example, when the article to be measured is a fragile fruit (variety) such as a peach or a strawberry, the article to be measured is reduced by reducing the speed of contact of the sensor member with the article to be measured. Thus, the sensor member comes into contact with a weak force, and it is possible to protect such an easily damaged article from being damaged.

  On the other hand, for example, when the article to be measured is a hard fruit such as an apple or a pear, the sensor member has a strong force on the article to be measured by increasing the speed at which the sensor member contacts the article to be measured. It will come into contact with and can be captured with high sensitivity.

  Further, for example, when the size of the article to be measured is large, the constant contact speed is slowed down (the contact force is weakened), and when the size of the article to be measured is small, the constant contact speed is increased. By making the contact force stronger, the measurement accuracy can be improved.

  In the article hardness measurement apparatus according to the present invention, the speed at which the sensor member driving mechanism abuts the sensor member on the measured article and the speed at which the sensor member drive mechanism moves away from the measured article are changed. It is comprised so that it can do.

  In the method for measuring hardness of an article of the present invention, the sensor member driving mechanism changes a speed at which the sensor member abuts on the article to be measured and a speed at which the sensor member is separated from the article to be measured. It is characterized by.

  Thus, by changing the speed at which the sensor member comes into contact with the measured article and the speed at which the sensor member moves away from the measured article, the speed at which the sensor member comes into contact with the measured article (outward path) In addition, by increasing the speed at the time of separation from the article to be measured (return path), it is possible to improve the processing capability (number of measurements per hour) without damaging the article to be measured, for example, fruit.

  In the article hardness measurement apparatus according to the present invention, the sensor member drive mechanism controls the sensor member so that the speed in the vicinity of the position where the sensor member is separated from the object to be measured and returns to the contact start position becomes slow. It is comprised as follows.

  In the article hardness measurement method of the present invention, the sensor member drive mechanism causes the sensor member to move away from the object to be measured so that the speed in the vicinity of the position where the sensor member returns to the contact start position is reduced. It is characterized by.

  With this configuration, when the sensor member moves away from the object to be measured (return path), the final speed of the return path can be reduced and the function as a brake can reduce the impact of the sensor. So you can extend the life of the sensor.

  In the article hardness measuring apparatus according to the present invention, the sensor member driving mechanism absorbs an impact of the sensor member at a position where the sensor member is separated from the article to be measured and returned to the contact start position. An absorbent member is arranged.

  In the article hardness measurement method of the present invention, the sensor member driving mechanism causes the sensor member to be impacted by the impact absorbing member at a position where the sensor member is separated from the object to be measured and returns to the contact start position. It is characterized by absorbing.

With this configuration, when the sensor member is separated from the measurement object (return path), the impact of the sensor member is absorbed by an impact absorbing member such as sponge or rubber at a position where the sensor member returns to the contact start position. It can also be used as a brake, reducing the impact of the sensor, extending the life of the sensor, improving stability when performing continuous measurements, and accurate hardness measurement Is possible.

  The article hardness measurement apparatus according to the present invention further includes a holding mechanism that holds the sensor member at a position where the sensor member is separated from the article to be measured and returned to the contact start position by the sensor member driving mechanism. It is characterized by providing.

  In the article hardness measurement method of the present invention, the sensor member is held by the holding mechanism at a position where the sensor member is separated from the measured article and returned to the contact start position by the sensor member driving mechanism. It is characterized by that.

  By configuring in this way, the sensor member at a position where the sensor member returns to the contact start position by energizing the sensor member when the sensor member is separated from the article to be measured (return path) by using, for example, an electromagnet as the holding mechanism. , The sensor member can be prevented from bouncing due to inertial force, and the life of the sensor member can be improved. Moreover, by releasing the holding by the holding mechanism when coming into contact with the object to be measured (outward path), the hardness can be measured continuously and stably, and accurate hardness measurement is possible.

In the present invention, the sensor member is attached to the tip of the arm member,
The arm member is fixed to a rotating shaft connected to the sensor member driving mechanism so as to rotate as the rotating shaft rotates.

  By configuring in this way, it is possible to provide a mechanism for lowering from the top. For example, even when an article to be measured is transported by a transport device such as a conveyor, it can be installed without depending on the type of the conveyor. In addition, for example, if it is attached to the left and right, two-surface measurement is possible, and the hardness on multiple surfaces of the article to be measured can be simultaneously measured with respect to the article to be measured.

The article hardness measurement apparatus according to the present invention includes a rotation angle detection mechanism that detects a rotation angle of a rotation shaft connected to the sensor member driving mechanism.
The hardness measurement method for an article of the present invention is characterized in that the rotation angle of the rotation shaft connected to the sensor member drive mechanism is detected by a rotation angle detection mechanism.

  With this configuration, a rotation angle detection mechanism that measures the angle of, for example, an encoder is provided on the rotation shaft, and the measurement is performed from the angle of the contact point (contact point) when the sensor member is in contact with the measured object. The dimension of the article can be measured, and the dimension of the article to be measured can be used for correcting the hardness data, so that more accurate hardness measurement can be performed.

  Further, in the article hardness measurement apparatus according to the present invention, the sensor member has a reference hardness having a predetermined reference hardness before the sensor member comes into contact with the object to be measured and measures the hardness of the object to be measured. It is configured to calibrate the hardness measurement data based on the hardness data of the reference hardness member in contact with the member.

  Further, in the method for measuring the hardness of an article according to the present invention, the sensor member has a reference hardness having a predetermined reference hardness before the sensor member comes into contact with the article to be measured and measures the hardness of the article to be measured. The hardness measurement data is calibrated by contacting the member and based on the hardness data of the reference hardness member.

With this configuration, the sensor member abuts on a reference hardness member having a predetermined reference hardness, and the hardness measurement data is calibrated based on the hardness data of the reference hardness member. Correction can be made, and the hardness measurement can be carried out more accurately.

Further, the hardness measuring apparatus for articles according to the present invention includes a temperature measuring device for measuring the temperature of the reference hardness member,
Hardness measurement data is calibrated based on temperature data of a reference hardness member by the temperature measuring device.

  The method for measuring the hardness of an article according to the present invention is characterized in that the hardness measurement data is calibrated based on temperature data of the reference hardness member by a temperature measuring device that measures the temperature of the reference hardness member.

  Thus, based on the temperature data of the reference hardness member by the temperature measuring device that measures the temperature of the reference hardness member, since the hardness measurement data is calibrated, the temperature characteristics of the reference hardness member itself can be taken into account. For example, accurate hardness can be measured without being affected by ambient temperature such as indoors or farmlands.

The article hardness measurement apparatus according to the present invention is configured such that a plurality of sensor members abut against the article to be measured.
The method for measuring the hardness of an article of the present invention is characterized in that the hardness of the article to be measured is measured by bringing a plurality of sensor members into contact with the article to be measured.

  By configuring in this way, for example, if it is attached to the left and right, it is possible to measure two surfaces, and the hardness of the article to be measured on multiple sides can be measured simultaneously with respect to the article to be measured. It can be measured accurately.

In the article hardness measuring apparatus according to the present invention, the sensor member driving mechanism for bringing the sensor member into contact with the object to be measured at a constant speed is a vibration generating apparatus.
In the article hardness measurement method according to the present invention, the sensor member driving mechanism for bringing the sensor member into contact with the object to be measured at a constant speed is a vibration generator.

  By configuring in this way, for example, fruits and vegetables that are continuously conveyed on a conveying mechanism such as a conveyor by oscillating and swinging the sensor member by rotating the stepping motor forward and backward. Since the sensor member continuously contacts the article at a constant speed, it is possible to accurately inspect the hardness of the article in large quantities.

In addition, the article hardness measurement apparatus according to the present invention is configured such that the sensor member comes into contact with an object to be measured which is continuously conveyed on the conveying device.
The method for measuring the hardness of an article of the present invention is characterized in that the sensor member is brought into contact with the article to be measured that is continuously conveyed on the conveying device.

By comprising in this way, since the hardness of the to-be-measured article conveyed continuously can be measured, measurement efficiency improves.
Further, the hardness measuring apparatus for an article of the present invention is configured so that a plurality of sensor members are placed on the article to be measured at positions spaced apart from each other by a predetermined interval in the carrying direction with respect to the article to be measured which is continuously carried on the carrying device. It is comprised so that it may contact | abut.

  Further, according to the method for measuring the hardness of an article of the present invention, a plurality of sensor members are placed on the article to be measured at a position spaced apart by a certain distance in the carrying direction with respect to the article to be measured which is continuously conveyed on the conveying device. It makes it contact | abut with respect to it.

  By configuring in this way, the plurality of sensor members are in contact with the object to be measured at positions spaced apart by a certain distance in the conveying direction and measure the hardness. Hardness can be measured accurately without measurement omission, improving measurement accuracy and measurement efficiency.

  Moreover, the hardness measuring apparatus for articles according to the present invention has a plurality of sensor members at a position spaced apart from each other by a certain distance in the transport direction with respect to the measured object continuously transported on the transport apparatus. The left and right positions are alternately in contact with the object to be measured.

  Further, according to the method for measuring hardness of an article of the present invention, with respect to the article to be measured that is continuously conveyed on the conveying device, a plurality of sensor members are arranged at a certain distance in the conveying direction with respect to the conveying direction. In this case, the measurement object is alternately brought into contact with the object to be measured from the left and right positions.

  By configuring in this way, the plurality of sensor members measure hardness by contacting the object to be measured alternately from the left and right positions with respect to the transport direction at positions spaced apart by a certain distance in the transport direction. Thus, the hardness of the article to be measured conveyed can be accurately measured without omission, and the measurement accuracy and measurement efficiency are further improved.

In addition, since a plurality of sensor members do not contact the measurement object at the same time, there is no interference between sensors, and accurate hardness measurement can be performed.
In addition, the article hardness measurement apparatus according to the present invention measures the size of the article to be measured at an upstream position where the sensor member comes into contact with the article to be measured which is continuously conveyed on the conveying device. Dimension measuring device is arranged,
Based on the dimension data of the article to be measured measured by the dimension measuring device, the sensor member driving mechanism is configured to control the contact start timing of the sensor member to the article to be measured.

In the article hardness measurement method of the present invention, the size of the article to be measured is measured at an upstream position where the sensor member abuts against the article to be measured which is continuously conveyed on the conveying device. Dimension measuring device is arranged,
Based on the dimension data of the article to be measured measured by the dimension measuring device, the contact start timing of the sensor member to the article to be measured by the sensor member driving mechanism is controlled.

  That is, in a hardness measuring device of a type in which the sensor member is swung down and contacted, for example, a small apple and a large apple have different swing angles, so the time from when the sensor member starts to contact with the object to be measured is different. It will be.

  For this reason, a dimension measuring device for measuring the size of the article to be measured, such as a photo sensor, is arranged at the upstream position where the sensor member abuts, and the dimension data of the article to be measured is calculated by this dimension measuring device. Thus, a swing-down trigger (contact start timing) is set.

  That is, when the photosensor is blocking the time, it is the size of an apple, so when it is blocked for a long time, it is a large apple, so the swing-down trigger may be slow, and when it is short, it is a small apple, so it swings early. It is supposed to be controlled to start.

As a result, the measurement conditions are the same, and the first sensor output from the first sensor and the second sensor output from the second sensor do not have different measurement conditions and no measurement error for each measurement. Stable and accurate hardness measurement is possible.

  According to the present invention, the measurement conditions do not differ depending on the difference in contact strength and the contact angle with respect to the article, there is no measurement error for each measurement, and stable and accurate hardness measurement is possible. In addition, even when measuring articles that are easily damaged or damaged, such as fruits and vegetables, accurate hardness can be measured by touching the article without destroying the surface of the fruits and vegetables. Is possible.

  According to the present invention, for example, in a fruit and vegetable fruit selection field, the whole quantity hardness can be measured by inspecting all the fruits on the conveyor of the fruit selection field and performing quality control.

Hereinafter, embodiments (examples) of the present invention will be described in more detail with reference to the drawings.
1 is a schematic front view of a hardness measuring apparatus for an article of the present invention, FIG. 2 is a schematic diagram in the I direction of the hardness measuring apparatus for the article of FIG. 1, FIG. 3 is an enlarged view of a sensor member, and FIG. It is the schematic which shows the use condition of the hardness measuring apparatus of the article | item of FIG.

In FIG. 1 to FIG. 3, reference numeral 10 denotes an overall hardness measuring apparatus for articles according to the present invention (hereinafter simply referred to as “hardness measuring apparatus”).
As shown in FIG. 1, the hardness measuring apparatus 10 includes a rotation shaft 12 that is supported by a shaft support mechanism (not shown), and an arm member 14 is attached to the rotation shaft 12. It is fixed so as to rotate as it rotates. The arm member 14 has a sensor member 16 attached to the tip thereof.

  The sensor member 16 is provided with a contact member 18 at a portion that comes into contact with the measurement object B such as fruits and vegetables. In addition, as shown in FIG. 4, a first sensor S <b> 1 is provided inside the sensor member 16 on the contact member 18 side, and a second sensor is arranged with the sensitivity axis aligned with the first sensor S <b> 1. The sensor S2 is arranged.

In this case, the first sensor S1 and the second sensor S2 are arranged on the contact surface 20 side of the contact member 18 so that the sensitivity direction is located.
On the other hand, a stepping motor 22 is mounted on the rotation shaft 12 as a rotation drive mechanism so as to rotate the rotation shaft 12, and on the opposite side, a rotation angle of the rotation shaft 12, that is, An encoder 24 for detecting the rotation angle of the sensor member 16 is attached.

  Further, the first sensor S1, the second sensor S2, the stepping motor 22, and the encoder 24 are connected to a hardness identification control unit 26 that is a control mechanism for identifying the hardness of the article B to be measured such as a CPU. ing.

  In this case, the contact member 18 may be appropriately selected from materials having appropriate hardness according to the hardness of the article to be measured, and is not particularly limited. Since it is stable, it is desirable to make it from a hard material. As such hardness, for example, the hardness of the rubber is about 70 (JIS K6253, no unit) so that it becomes more than the hardness of the apple based on the apple which is a hard fruit. Is preferred.

As such a material, for example, a polypropylene resin, a fluororesin, a silicone resin, or the like can be used.
Further, the contact surface 20 of the contact member 18 prevents the sensor member 16 from sliding on the surface of a slippery surface such as an apple when the contact surface 18 abuts on the measurement object B, thereby preventing accurate measurement. It is desirable to have minute irregularities so that the surface of the article to be measured is not damaged.

  Such minute unevenness is not particularly limited, but it is preferably a minute spherical shape having R, preferably a spherical shape having a radius of 5 to 40 mm.

  In this way, by using the stepping motor 22 as the rotation drive mechanism, the sensor member 16 is brought into contact with the measurement object B at a constant speed, and therefore, the measurement object B is constant from the initial speed to the final speed. The first sensor output from the first sensor S1 and the second sensor output from the second sensor S2 can be obtained stably, and accurate hardness measurement is possible. is there.

  Further, in this case, the hardness identification control unit 26 controls the stepping motor 22 which is a sensor member driving mechanism, and the sensor is determined according to the type and size of the article B to be measured, for example, the type (variety) and size of the fruit. It is preferable to control the speed at which the member 16 comes into contact with the measurement object B.

  For example, when the article to be measured B is a fruit (variety) that is easily damaged such as a peach or a strawberry, the article to be measured B is reduced by reducing the speed at which the sensor member 16 contacts the article to be measured B. Since the sensor member 16 comes into contact with a weak force, it is possible to protect such an easily damaged article from being damaged.

  On the other hand, for example, when the article to be measured B is a hard fruit such as an apple or a pear, the sensor article 16 can be controlled by increasing the speed at which the sensor member 16 contacts the article to be measured B. The member 16 comes into contact with a strong force and can be captured with high sensitivity.

  Furthermore, for example, when the size of the article to be measured B is large, the constant contact speed is slowed down (the contact force is weakened), and when the size of the article to be measured B is small, the constant contact speed is The measurement accuracy can be improved by speeding up (intensifying the contact force).

  Further, the hardness identification control unit 26 controls the stepping motor 22 which is a sensor member driving mechanism, and the speed at which the sensor member 16 abuts against the article B to be measured and the distance at which the sensor member 16 separates from the article B to be measured. It is desirable to be able to change the speed.

  In this way, by changing the speed at which the sensor member 16 abuts on the measurement object B and the speed at which the sensor member 16 moves away from the measurement object B, for example, the sensor member 16 abuts on the measurement object B. The processing capacity (number of measurements per hour) without damaging the article to be measured B, for example, fruit, by increasing the speed at the time of separating from the article to be measured B (return path) than the speed at the time of going (outward path) Can be improved.

  Further, the hardness identification control unit 26 controls the stepping motor 22 which is a sensor member driving mechanism, and the speed near the position where the sensor member 16 is separated from the measurement object B and returns to the contact start position is low. It is desirable to control so that it becomes.

  By configuring in this way, when the sensor member 16 is separated from the article B to be measured (return path), the final speed of the return path can be slowed down and functions as a brake, so that the impact of the sensor can be reduced. Can extend the life of the sensor.

Further, since the encoder 24 for detecting the rotation angle of the rotation shaft 12, that is, the rotation angle of the sensor member 16, is provided, as shown by the one-dot chain line in FIG. The dimension of the article to be measured B can be measured from the angle of the contact point (contact point) in the state of being in contact with the object, and the dimension of the article to be measured B can be used for correction of the hardness data. Hardness measurements can be performed.

In this case, the first sensor S1 and the second sensor S2 are composed of two sensors having different sensitivities.
The two first sensors S1 and second sensors S2 having different sensitivities are preferably composed of the same type of sensors having different sensor capacities.

  That is, for example, in the acceleration sensor, the weight sensor, etc., the same kind of sensor having different sensor capacities is used as the first sensor S1 and the second sensor S2. Therefore, the measurement can be stably performed regardless of the strength and angle at which the sensor member 16 contacts the article to be measured B.

Moreover, it is preferable that the two first sensors S1 and the second sensor S2 having different sensitivities are composed of sensors having different types of sensors.
That is, as the first sensor S1 and the second sensor S2, for example, by using an acceleration sensor and a weight sensor, the hardness is measured from the ratio of the difference in response characteristics due to the difference in the type of sensor. Can be measured stably regardless of the strength and angle of contact with the article B to be measured.

  In addition, as the first sensor S1 and the second sensor S2, two first sensors S1 and second sensors S2 having different sensitivities are composed of the same type of sensors having the same sensor capacity and different response characteristics. May be.

  In this case, even if the sensor capacities of the first sensor S1 and the second sensor S2 are the same, by making the response characteristics, for example, the response frequency of the sensors different, the hardness is determined from the ratio of the difference in response characteristics. Therefore, the sensor member 16 can stably measure regardless of the strength and angle at which the sensor member 16 contacts the measurement object B.

  In this case, in the same type of sensors having different response characteristics, the response characteristic of the sensor having the lower response characteristic is in the range of 10 hz to 1000 hz, and the response characteristic of the higher sensor is in the range of 1 Khz to 10 Khz. It is desirable to set as follows.

  If the response frequency of the first sensor S1 and the second sensor S2 is within such a range, the hardness can be measured from the ratio of the difference in response characteristics, and the sensor member 16 can contact the article to be measured B. Stable measurement is possible regardless of the strength and angle of contact.

  Thus, as a method of making the response frequency of the first sensor S1 and the second sensor S2 different from each other, a known method can be adopted and is not particularly limited. A method of electrically setting the response frequency of the first sensor S1 and the second sensor S2 to be different, a method of changing the response characteristic of the amplifier receiving the sensor, a filter using software, and the like can be used.

Therefore, as a combination of two first sensors S1 and second sensors S2 having different sensitivities,
(1) As the first sensor and the second sensor, both are acceleration sensors and have different sensor capacities.
(2) As the first sensor and the second sensor, both are weighted sensors with different sensor capacities,
(3) When an acceleration sensor and a weight sensor are used as the first sensor and the second sensor. (4) As the first sensor and the second sensor, both are the acceleration sensors and have the same sensor capacity and the response characteristics. If different
(5) When the first sensor and the second sensor are both weighted sensors with the same sensor capacity and different response characteristics,
In any case, it is possible to provide a highly sensitive hardness sensor capable of measuring the hardness only by touching the article B to be measured, regardless of the force of contact.

  Accordingly, since the measurement can be performed even if the strength with which the sensor member 16 is brought into contact with the article B to be measured is weakened to the extent that it is touched, even in the case of measuring articles that are easily damaged or damaged, such as fruits and vegetables. Accurate measurement of hardness is possible by abutting to the extent that the article is touched without destroying the surface of the kind. That is, it is possible to provide a highly sensitive hardness sensor capable of measuring the hardness by simply touching the article to be measured regardless of the abutting force.

  In addition to using such an acceleration sensor and a weight sensor, the speed may be measured by a speedometer. That is, the speed may be measured by integrating the acceleration sensor (adding the output from the acceleration sensor) and calculating from the pulse of the rotary encoder, for example.

  As shown in FIG. 4, the hardness measuring apparatus 10 configured as described above is driven by the stepping motor 22 under the control of the hardness identification control unit 26, as indicated by the arrow in FIG. 4 from the initial position. By rotating the arm member 14 at a constant speed in a direction approaching the measurement object B, the contact surface 20 of the contact member 18 of the sensor member 16 at the tip thereof is in contact with the measurement object B. It has become.

  At the time of this contact, the hardness of the article to be measured B is identified by the first sensor output from the first sensor S1 disposed inside the sensor member 16 and the second sensor output from the second sensor S2. It is supposed to be.

  By configuring in this way, the first sensor S1 and the second sensor S2 having different sensitivities are arranged on the sensor member 16, so that the sensors S1 and S2 are covered. Since there is no difference in strength and angle, which is in contact with the measurement article B, and the measurement conditions are the same, the first sensor output by the first sensor S1 and the second sensor by the second sensor S2 As for the output, there is no measurement error for each measurement without different measurement conditions, and stable and accurate hardness measurement is possible.

Below, the identification method of such hardness is demonstrated.
(A) About hardness identification method without using time shift:
The following processing is automatically calculated in the hardness identification control unit 26, although not particularly mentioned below.

  In addition, the first sensor S1 and the second sensor S2 of this embodiment both use an acceleration sensor, and the first sensor S1 has a smaller sensor capacity, a faster response, and a second response. The sensor S2 has a larger sensor capacity and a slower response.

First, when the contact surface 20 of the contact member 18 of the sensor member 16 contacts the measurement object B, the first sensor output (signal waveform W1) by the first sensor S1 and the second sensor The second sensor output (signal waveform W2) by S2 has a waveform as shown in FIG.

  In this case, since the sensor capacity of the first sensor S1 is smaller and the response is faster, the peak of the first sensor output (signal waveform W1) is earlier, and the sensor capacity of the second sensor S2 is larger. Since the response is slow, the peak of the second sensor output (signal waveform W2) is slow.

  In FIG. 5, the first sensor output (signal waveform W1) of the first sensor S1 by the first sensor S1 is taken as the X axis, and the second sensor output (signal waveform W2) by the second sensor S2 is taken as Y. An XY plot is made so as to be on the axis.

  That is, the first sensor S1 and the second sensor S2 are calculated from the signal waveforms W1 and W2, and the first sensor output of the first sensor S1 is on the X axis, and the second sensor S2 is on the Y axis. XY plot the sensor output of 2.

  When such an XY plot is measured and carried out for reference materials 40, 50, 60 made of rubber having different hardness similar to that used in FIG. 26, for example, FIG. 6, FIG. 7, FIG. Features as shown in the graph of 8 appear.

  In this case, in the graphs of FIGS. 6, 7, and 8, there are two waveforms each when the larger one (S 40, S 50, S 60) is in strong contact with the smaller one (W 40, W 50, W 60). Is a weak contact.

  As is apparent from these graphs, it can be seen that the soft reference object (S40, W40 in the graph of FIG. 6) has a rounded waveform. Therefore, if this feature is used for measuring the hardness, the hardness of the article to be measured can be measured.

  Further, in any of the graphs of FIGS. 6, 7, and 8, the area when weakly contacted (W40, W50, W60) is smaller than when strongly contacted (S40, S50, S60). It can be seen that is smaller but appears to be similar.

Therefore, if this graph is used, it is possible to provide a highly sensitive hardness sensor capable of measuring the hardness only by touching the article B to be measured, regardless of the abutting force.
In each of the graphs of FIGS. 6, 7, and 8, the area when weakly contacted (W40, W50, W60) is smaller than when strongly contacted (S40, S50, S60). Although it appears smaller, it is similar.

Therefore, in the graphs of FIGS. 6, 7, and 8, the hardness can be identified by the hardness characteristics of these graphs by correcting the size (normalization).
That is, in such correction processing (standardization), if arithmetic processing is performed so that the maximum value of the second sensor output of the second sensor on the Y axis is 100, FIG. 9, FIG. 10, and FIG. In the graph of 11, the graphs of the case of strong contact (S40, S50, S60) and the case of weak contact (W40, W50, W60) almost coincide with each other. This process cancels the measurement, and the measurement can be performed stably regardless of the strength and angle at which the sensor member 16 contacts the measurement object B.

If these figures of FIGS. 9 to 11 are put together, a graph as shown in FIG. 12 is obtained.
In the graph of FIG. 12, the X-axis values (X40, X50, and X60 indicated by arrows) in the range of 20% to 90% of the maximum value of the Y-axis (ranges indicated by dotted lines and arrows C) are expressed as hardness. When used as a measurement index, the correlation with hardness is good (correlation coefficient 0) as shown in the graph of FIG.
. 986), it is possible to measure the exact hardness.

  More specifically, as indicated by an arrow C in FIG. 12, the value of the X axis in the interval excluding the saturation of the sensor output signal and the end of the falling edge, for example, 20% to 90% of the maximum value of the Y axis. It is preferable to identify the hardness of the article to be measured as a hardness measurement index.

  Also, in this case, if the hardness is identified as follows, the waveform will be slightly deviated at every measurement due to the effects of hysteresis remaining in the sensor and the external environment such as temperature. However, accurate hardness measurement is possible.

  That is, as shown in FIG. 14, in each graph (G40, G50, G60), from the hardness analysis start reference points A40, A50, A60 of the predetermined Y-axis% (60% in FIG. 14) of the rising portion, The hardness analysis end reference points B40, B50, and B60 in% (100% in FIG. 14) in the vicinity of the maximum value of the Y axis that is the rising end point may be used.

  That is, as shown in FIG. 14, the average of the angles of the vector groups C40, C50, C60 from the hardness analysis start reference points A40, A50, A60 to any point from the hardness analysis end reference points B40, B50, B60. If the value and standard deviation are used, this corresponds to the hardness.

  If the hardness is identified by such a method, since the hardness analysis start reference points A40, A50, A60 exist on the respective waveforms, the influence of hysteresis remaining in the sensor and the influence of the external environment such as temperature. Even if the waveform is slightly deviated at each measurement, the hardness is not affected and accurate hardness identification can be performed.

  In this case, the hardness analysis start reference points A40, A50, and A60 are not particularly limited in% of the Y axis, but preferably 20 to 80%. As B40, B50, and B60, the% of the Y-axis is preferably 80% to 100%.

  In addition, the number of vectors sampled in the vector groups C40, C50, and C60 is not particularly limited. However, in order to accurately identify the hardness, preferably about 10 vectors are sampled. It is desirable to obtain the angle and standard deviation.

  Similarly to FIG. 14, as shown in FIG. 15, in each graph (G40, G50, G60), the hardness analysis start reference for% of the predetermined Y axis at the falling portion (80% in FIG. 15). Vector groups C40, C50, C60 from points D40, D50, D60 to hardness analysis end reference points E40, E50, E60 in% (20% in FIG. 15) in the vicinity of the minimum value of the Y-axis, which is the end point of falling, respectively. May be used.

  In this case, the hardness analysis start reference points D40, D50, and D60 are not particularly limited as% of the Y axis, but preferably 90 to 60%. As E40, E50, and E60, it is desirable that the% of the Y axis is preferably 20% to 40%.

  In FIG. 15, only the graph G60 is shown, but from the vector group along the curve of the graph G60, that is, from the hardness analysis start reference points D40, D50, and D60, the minimum value of the Y axis that is the falling end point Vector groups up to hardness analysis end reference points E40, E50, and E60 in nearby% (20% in FIG. 15) may be used.

In the embodiment of FIG. 5A, in the case of FIG. 5, the first sensor S1 and the second sensor S2 both show the case where acceleration sensors having different sensor capacities are used. 6 to 16 show a case where an acceleration sensor is used as the first sensor S1 and a weight sensor is used as the second sensor S2.

  However, the first sensor S1 and the second sensor S2 both use acceleration sensors with different sensor capacities, use weight sensors with different sensor capacities, and use acceleration sensors and weight sensors. In either case, the hardness can be measured basically by the same principle.

  In addition to using such an acceleration sensor and a weight sensor, the speed may be measured by a speedometer. That is, the speed may be measured by integrating the acceleration sensor (adding the output from the acceleration sensor) and calculating from the pulse of the rotary encoder, for example.

For example, FIG. 16 shows a graph obtained by XY plotting when the response speeds of the two sensors are close to each other between the first sensor S1 and the second sensor S2. In this case, The width E (E1, E2) of the line D (D1, D2) perpendicular to the inclination line C of the graph may be used as an index for identifying hardness.
(B) Hardness identification method using time shift (when using the same type of sensor with different sensor capacities):
Hereinafter, the hardness measurement using the time shift of the embodiment different from the above-described hardness measurement method will be described.

  Note that both the first sensor S1 and the second sensor S2 of this embodiment use an acceleration sensor, and the first sensor S1 has a smaller sensor capacity, a faster response, and a second response. The sensor S2 has a larger sensor capacity and a slower response.

  In the hardness measurement method of this embodiment, for example, when a reference material 40, 50, 60, 70 made of rubber having different hardness similar to that used in FIG. 26 is measured, it is shown in the graph of FIG. Such features appear.

  In this case, as shown in the graph of FIG. 17, the first sensor output (signal waveform) by the first sensor S1 is 40x, 50x, 60x, and 70x, and the second sensor by the second sensor S2 The outputs (signal waveforms) are 40y, 50y, 60y, and 70y, and the time axes coincide with each other. Therefore, it is difficult to judge these peaks on, for example, a CRT (display device), and instantaneously. The hardness difference cannot be identified.

For this reason, as shown in the graph of FIG. 18, the first sensor S1 in the case where the sensor member is brought into contact with the hardest object to be measured, in this case, 70 reference objects, is used. At the time Txp at the peak 70xp of the signal waveform 70x of the sensor output, the output start point 70xp-0 of the signal waveform 70y of the second sensor output by the second sensor S2 starts at the time Txp. 2nd by the second sensor S2 to be located
All the signal waveforms of the sensor output S2 are time-shifted (see arrow A in FIG. 18).

  In this way, the first sensor output (signal waveform) by the first sensor S1 is 40x, 50x, 60x, and 70x, and the second sensor output (signal waveform) by the second sensor S2 is These peaks are 40y, 50y, 60y, and 70y, and it is easy to judge these peaks on, for example, a CRT (display device), and the difference in hardness can be identified instantaneously.

  Further, in the graph of FIG. 18, the second sensor S2 outputs the second sensor S2 with the first sensor outputs 40x, 50x, 60x, and 70x in the signal waveform of the first sensor output by the first sensor S1 as the X axis. When the second sensor outputs 40y, 50y, 60y, and 70y in the signal waveform of the sensor output are XY plotted so as to be on the Y axis, the graph of FIG. 19 is obtained. That is, a portion where the signal waveform of the first sensor output by the first sensor S1 changes sharply and a portion where the signal waveform of the second sensor output by the second sensor S2 changes gently are in the xy coordinates. It can be plotted (R40, R50, R60, R70 in FIG. 19).

  Accordingly, it is easy to make a determination on the CRT (display device) or the like from R40, R50, R60, and R70 in the graph of FIG. 19, and the difference in hardness can be identified instantaneously.

  That is, the case of R70 will be described. In FIG. 18, the time T0 corresponds to the time T0 because the output of the first sensor and the output of the second sensor are 0 in FIG. In FIG. 18, since the first sensor output is the maximum value at 70xp and the second sensor output is 0 at the location of time Txp, the Rxp point (substantially triangular vertex) in FIG. ).

  Further, in FIG. 18, the point at time T1 corresponds to the point R1 in FIG. 19, and is located on the hypotenuse of a substantially triangle. In FIG. 18, at time T2, the output of the first sensor is 0, and the second sensor output is 70 × 2, which is the maximum value. Therefore, in FIG. Corresponds to the vertex).

  As time elapses, the first sensor output remains 0, and the second sensor output decreases as indicated by R in FIG. 18, so that it returns to the R0 point in FIG. become.

  In the graph shown in FIG. 19, R40, R50, R60, and R70 are right-angled triangles, and the hardness of the measurement article is identified by the hypotenuse of the substantially right-angled triangle and the inclinations of R40s, R50s, R60s, and R70s. be able to.

  In this case, as shown in the graph of FIG. 20 (the reference object 70 is shown in the case of the graph of FIG. 20), a predetermined ratio from the vertex of the Y axis (90 in the case of the graph of FIG. 20). The hardness of the article to be measured may be identified by the slope of the hypotenuse of a substantially right triangle within the range of the Y-axis value that is small by the percentage of the hypotenuse at the point P1.

If the slopes of the hypotenuses R40s, R50s, R60s, and R70s are within this range, the correlation with the hardness is good, and the accurate hardness can be measured.
Note that the percentage of the slope measurement range of this hypotenuse varies depending on the response speed of the sensor, but considering the correlation, it is preferably 95% to 50%, more preferably from the top of the Y axis. It is desirable to identify the hardness of the article to be measured by the inclination of the hypotenuse of a substantially right triangle in the range of the Y-axis value that is 95% to 85% smaller.

  Further, although not shown, in this case as well, the correction process (standardization) is strongly applied if an arithmetic process is performed so that the maximum value of the second sensor output of the second sensor on the Y axis is 100. The graph in the case of contact and the case of weak contact will almost coincide, so that the strength of the force is canceled by this processing, and the strength at which the sensor member contacts the object to be measured Stable measurement is possible regardless of the angle.

  In the embodiment shown in FIG. 17B, in the case of FIGS. 17 to 21, the first sensor S1 and the second sensor S2 are both acceleration sensors having different sensor capacities. Yes.

  However, the hardness of the first sensor S1 and the second sensor S2 can be measured basically by the same principle even when weighted sensors having different sensor capacities are used.

  Although the time width A is the time width A, the time width A is not particularly limited, and the above-mentioned condition is necessary to make the XY plotted graph after the time shift into a substantially triangular shape. However, the smaller the time width, the more the XY plotted graph changes from a substantially triangular shape to the graph shown in FIG. Therefore, an appropriate time width suitable for hardness identification may be set in such a change.

Although such a time shift is not physically meaningful, the peak time of the first sensor output peak in the signal waveform of the first sensor output by the first sensor is By shifting the signal waveform of the second sensor output by the second sensor so as to be at the start of output in the signal waveform of the second sensor output by the second sensor, the analysis is facilitated, and the algorithm Easy to create.
(C) About hardness identification method using time shift (when using different sensor types):
In this embodiment, the first sensor S1 uses an acceleration sensor, and the second sensor S2 uses a weighted sensor. The first sensor S1 has a smaller sensor capacity, a faster response, and a second sensor. The sensor S2 has a larger sensor capacity and a slower response.

Also in this case, the time-shifted graph is the graph of FIG. 21 as in the graph of FIG. 18 of the above embodiment (B).
The graph obtained by XY plotting the graph of FIG. 21 in the same manner as the graph of FIG. 19 of Example (B) is shown in FIG. 22 (reference object 40), FIG. 23 (reference object 50), and FIG. It is a graph of the reference | standard thing 60).

In addition, in these cases of FIGS. 22 to 24, both graphs of the case of strong and strong contact and the case of weak contact are shown.
Also in this case, as shown in FIG. 25, the hardness can be identified by the inclination of the hypotenuse of a substantially right triangle, and a predetermined ratio from the top of the Y axis (in the case of the graph of FIG. 25, the reference object of FIG. If the hardness of the object to be measured is identified by the slope of the hypotenuse of the substantially right triangle in the range of the Y-axis value that is smaller by the inclination of the hypotenuse at the point P1 of 90%, the correlation with the hardness is shown. Is good, and it is possible to measure an accurate hardness.

  Further, although not shown, in this case as well, the correction process (standardization) is strongly applied if an arithmetic process is performed so that the maximum value of the second sensor output of the second sensor on the Y axis is 100. The graph in the case of contact and the case of weak contact will almost coincide, so that the strength of the force is canceled by this processing, and the strength at which the sensor member contacts the object to be measured Stable measurement is possible regardless of the angle.

In the embodiment of (C), in FIGS. 21 to 25, the first sensor S1 uses an acceleration sensor, and the second sensor S2 uses a weight sensor, but conversely, the first sensor S1. Can be a weighted sensor, and the second sensor S2 can be an acceleration sensor.
(D) Hardness identification method using time shift (when using the same type of sensor with the same sensor capacity and different response characteristics):

In this embodiment, the first sensor S1 and the second sensor S2 use acceleration sensors having the same capacitance. Further, even if the sensor capacities of the first sensor S1 and the second sensor S2 are the same, the response frequency of the sensor is made different as response characteristics.

  Specifically, the response characteristics of the amplifier received by the first sensor S1 and the second sensor S2 are measured as the measurement conditions. As described below, for the first sensor S1, an amplifier having a fast response characteristic, For the second sensor S2, an amplifier having a slow response characteristic is used.

That is, as an amplifier
First sensor S1: “WGA-100” (manufactured by Kyowa Denki Co., Ltd.), (response characteristic 200HZ),
Second sensor S2: “WGA-100” (manufactured by Kyowa Denki Co., Ltd.), (response characteristic 1KHZ),
Is used.

Thereby, the response of the first sensor S1 is faster, and the response of the second sensor S2 is slower.
Also in this case, although not shown, the time shift is performed as in the graph of FIG.

  The graph obtained by XY plotting of the time-shifted graph in the same manner as the graph of FIG. 19 of the above-described Example (B) is shown in FIG. 27 (reference object 40), FIG. 28 (reference object 50), FIG. 29 (reference object 60).

In addition, in the case of these FIGS. 27-29, the graph of both the case where it is made to contact | abut strongly strongly and the case where it contact | abuts weakly is each shown.
Also in this case, similarly to the graph of FIG. 25 of the above-described embodiment (B), the hardness can be identified by the inclination of the hypotenuse of the substantially right triangle, and the range of the Y-axis value that is smaller by a predetermined percentage from the vertex of the Y-axis. If the hardness of the article to be measured is identified by the inclination of the hypotenuse of the substantially right-angled triangle, the correlation with the hardness is good, and the accurate hardness can be measured.

  Further, as shown in the graphs of FIG. 30 (reference object 40), FIG. 31 (reference object 50), and FIG. 32 (reference object 60), also in this case, correction processing (normalization) is performed on the Y axis. If the calculation process is performed so that the maximum value of the second sensor output of the second sensor S2 is 100, the graph when the contact is strong and the contact when the contact is weak is almost the same. As a result, the strength of the force is canceled by this process, and the sensor member can be stably measured regardless of the strength and angle at which the sensor member abuts the article to be measured.

In this case, as shown in the graph of FIG. 33, the correlation with the hardness is good (because the correlation coefficient is 0.91, accurate hardness can be measured. In this case, the capacity Although the correlation coefficient is slightly lower than that of sensors having different values, even in this case, sufficiently accurate hardness can be measured practically.
(E) About a hardness identification method using calibration of hardness measurement data by a reference hardness member:
In the hardness measuring apparatus 10 of this embodiment, the sensor member 16 has a predetermined reference hardness before the sensor member 16 comes into contact with the measured object B and measures the hardness of the measured article B. It is configured to calibrate the hardness measurement data based on the hardness data of the reference hardness member in contact with the member (built-in reference member).

  By configuring in this way, the sensor member 16 abuts on a reference hardness member having a predetermined reference hardness and calibrates the hardness measurement data based on the hardness data of the reference hardness member. Variations due to changes over time such as environmental temperature, humidity, and the characteristics of the hardness measuring device itself can be corrected, and hardness measurement can be performed more accurately.

  That is, hereinafter, as an example of a factor that affects the measurement by the hardness measuring apparatus 10, a case where the hardness measurement data is calibrated by the ambient environmental temperature (specifically, the temperature of the measurement chamber) will be described.

  As shown in FIG. 34, when the same reference hardness member is measured, the hardness measurement value of the reference hardness member changes due to a change in ambient environmental temperature. Further, as shown in FIG. 35, when the same sample (measurement article B) is measured, the hardness measurement value of the sample changes due to a change in the ambient environmental temperature.

  Therefore, the hardness measurement value data of the sample shown in FIG. 35 is calibrated with the hardness measurement value data of the reference hardness member shown in FIG. 34 (specifically, the hardness measurement value of the reference hardness member is calculated from the sample hardness measurement data value). If the data is subtracted), as shown in FIG. 36, it is understood that almost the same hardness measurement value of the same sample (measured article B) can be obtained without being affected by the temperature. .

  Therefore, for the reference hardness members 1 to 4, as shown in FIG. 37, the hardness measurement value data of the reference hardness member corresponding to the ambient environmental temperature is obtained, and as shown in FIG. Samples 1 to 4 (measurement article B) corresponding to the temperature are measured.

39, the samples 1 to 4 (measured article B) hardness measurement value data shown in FIG. 38 are calibrated with the hardness measurement value data of the reference hardness members 1 to 4 shown in FIG. Specifically, if the hardness measurement value data of the reference hardness member is subtracted from the sample hardness measurement data value), it is substantially the same for the same sample (measured article B) without being affected by temperature. It can be seen that a sample hardness measurement is obtained.

  Thus, before the sensor member 16 comes into contact with the article to be measured B and measures the hardness of the article to be measured B, the sensor member 16 becomes a reference hardness member (built-in reference member) having a predetermined reference hardness. By simply abutting and calibrating the hardness measurement data based on the hardness data of the reference hardness member, for example, it is possible to correct variations due to changes over time, such as the ambient temperature, humidity, and characteristics of the hardness measurement device itself. It is possible to measure the hardness more accurately.

FIG. 40 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention.
Since the hardness measuring apparatus 10 of this embodiment is basically the same in configuration as the embodiment shown in FIGS. 1 to 4, the same constituent members are denoted by the same reference numerals and detailed description thereof will be given. Is omitted.

  As shown in FIG. 40, the hardness measuring apparatus 10 of this embodiment is a position where the sensor member 16 is separated from the measurement object B and returned to the contact start position by the stepping motor 22 which is a sensor member driving mechanism. An impact absorbing member 28 that absorbs the impact of the sensor member 16 is disposed (at the position indicated by the solid line in FIG. 40).

  In this case, the impact absorbing member 28 is not particularly limited as long as it can absorb the impact, and can be constituted by an elastic member such as sponge, rubber, foamed polystyrene, or a spring, for example.

  With this configuration, when the sensor member 16 is separated from the measurement object B (return path), the sensor member 16 is returned to the contact start position by the impact absorbing member 28 such as sponge or rubber, for example. Can be absorbed, and since it functions as a brake, the impact of the sensor can be mitigated, so that the lifetime of the sensor can be extended, and stability is improved during continuous measurement, Accurate hardness measurement is possible.

  Further, as shown in FIG. 40, the hardness measuring apparatus 10 of this embodiment is located at a position where the sensor member 16 is separated from the measurement object B and returns to the contact start position (the position indicated by the solid line in FIG. 40). A holding mechanism 30 that holds the sensor member 16 is provided.

  Such a holding mechanism 30 holds the sensor member at a position where the sensor member 16 returns to the contact start position by energizing the sensor member 16 when the sensor member 16 is separated from the measurement object B (return path), for example, by using an electromagnet. can do.

  Thereby, it can prevent that the sensor member 16 bounces by an inertia force, and can improve the lifetime of a sensor member. Moreover, the hardness can be measured continuously and stably by releasing the holding by the holding mechanism 30 (disengagement of electricity) at the time of coming into contact with the article to be measured B (outward path). Is possible.

Such a holding mechanism 30 is not particularly limited, and other than the electromagnet described above, the arm member 14 may be configured to be held by a chuck, for example.
In this embodiment, the shock absorbing member 28 is disposed on the holding mechanism 30 side. However, the shock absorbing member 28 can be provided on the side opposite to the contact surface 20 side of the sensor member 16.

FIG. 41 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention.
Since the hardness measuring apparatus 10 of this embodiment is basically the same in configuration as the embodiment shown in FIG. 40, the same reference numerals are given to the same components and the detailed description thereof is omitted. .

In the hardness measuring apparatus 10 of this embodiment, as shown in FIG. 41, two hardness measuring apparatuses 10 are arranged on both sides of the article B to be measured.
As a result, two-surface measurement is possible, and the hardness on multiple surfaces of the article to be measured can be measured simultaneously with respect to the article to be measured, and the hardness of the article to be measured can be accurately measured.

  In this embodiment, the two hardness measuring devices 10 are arranged on the side of the article to be measured B, but this number is not particularly limited. For example, the side of the article to be measured B is arranged. The four hardness measuring devices 10 can be appropriately changed, such as being arranged 90 ° apart from each other so that the four surfaces can be measured.

FIG. 42 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention, and FIG. 43 is a view in the direction of arrow A in FIG.
Since the hardness measuring apparatus 10 of this embodiment is basically the same in configuration as the embodiment shown in FIG. 41, the same constituent members are denoted by the same reference numerals, and detailed description thereof is omitted. .

As shown in FIG. 43, the hardness measuring apparatus 10 of this embodiment has two hardness measuring apparatuses 10 arranged on both sides of the article to be measured B, as in the embodiment of FIG.
Moreover, as shown in FIG. 42 (A), the hardness measuring apparatus 10 of this embodiment has, for example, an article B to be measured on a tray 34 that is continuously conveyed by a conveying device 32 such as a conveyor. An article to be measured B such as a fruit is accommodated.

  Then, when the article to be measured B, which is accommodated in the tray 34 and conveyed by the conveying device 32, is detected by a detection sensor such as a photoelectric tube (not shown), the hardness measuring device 10 is activated and continuously detected. The hardness of the article B to be measured is measured.

  In this case, although not shown, the plurality of sensor members 16 are spaced from the measured article B by a predetermined distance in the conveying direction with respect to the measured article B being continuously conveyed on the conveying device 32. And may be configured to contact each other.

  With this configuration, the plurality of sensor members 16 abut against the article to be measured B at positions spaced apart by a certain distance in the transport direction and measure the hardness. The hardness of the article B can be accurately measured without measurement omission, and measurement accuracy and measurement efficiency are improved.

  Further, as shown in FIG. 42 (B), a position where the plurality of sensor members 16 and 16 are spaced apart from each other by a predetermined interval in the transport direction with respect to the measurement object B continuously transported on the transport device 32. Thus, the measurement object B may be contacted alternately from the left and right positions with respect to the transport direction.

  With this configuration, the plurality of sensor members 16 and 16 are in contact with the measurement object B alternately from the left and right positions with respect to the transport direction at positions spaced apart by a certain distance in the transport direction, and measure the hardness. Therefore, the hardness of the article B to be continuously conveyed can be accurately measured without measurement omission, and the measurement accuracy and measurement efficiency are further improved.

  In addition, since the plurality of sensor members 16 and 16 do not contact the measurement object at the same time, interference between the sensors is eliminated, and accurate hardness measurement can be performed.

  44 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention, FIG. 45 is a view taken in the direction of arrow A in FIG. 44, FIG. 46 is a partially enlarged view of FIG. 45, and FIG. FIG. 48 is a front view of the reference hardness member, and FIG. 49 is a bottom view of the reference hardness member of FIG.

Since the hardness measuring apparatus 100 of this embodiment has basically the same configuration as that of the above-described embodiment, the same reference numerals are given to the same components, and detailed description thereof is omitted.
In the hardness measuring apparatus 100 of this embodiment, as shown in FIG. 44, a conveyor 104 is arranged on the base frame 102. A substantially box-shaped hardness measuring mechanism 106 is fixed to the base frame 102 by an attachment leg member 108 so as to be positioned above the conveyor 104. In addition, a hardness identification control unit 26 is disposed in the upper portion of the hardness measurement mechanism 106.

In addition, an encoder 110 that measures the rotational speed of a rotating shaft of a drive motor (not shown) that drives the conveyor 104 is disposed on the downstream side of the conveyor 104, and on the downstream end side of the conveyor 104, A chute 112 for discharging the article to be measured B is attached.

  42, the article to be measured B such as fruit is accommodated on the tray 34 on which the article to be measured B is continuously conveyed by the conveyor 104. Further, when the measurement object B accommodated in the tray 34 and conveyed by the conveyor 104 is detected by a detection sensor (not shown) such as a photoelectric tube, the hardness measuring device 10 is operated and continuously. The hardness of the article to be measured B is measured.

  On the other hand, as shown in FIGS. 45 and 46, the hardness measuring mechanism 106 is formed with an opening 114 that forms a passage of the article B to be measured conveyed on the conveyor 104.

As shown in FIGS. 46 and 47, the two hardness measuring devices 10 are arranged so as to be located on both sides of the article to be measured B with the opening 114 interposed therebetween.
These hardness measuring devices 10 have the same configuration as the hardness measuring device 10 shown in FIG. 1, and as shown in FIGS. 46 and 47, the stepping motor 22 rotates the rotating shaft 12. The encoder 24 for detecting the rotation angle of the rotation shaft 12, that is, the rotation angle of the sensor member 16, is mounted on the opposite side.

  Also, in these hardness measuring apparatuses 10, as in the embodiment of FIG. 40, the shock absorbing member 28 that absorbs the shock of the sensor member 16, and the position that is separated from the article to be measured B and returns to the contact start position. In addition, a holding mechanism 30 for holding the sensor member 16 is provided. In this embodiment, the shock absorbing member 28 is provided on the side opposite to the contact surface 20 side of the sensor member 16. The shock absorbing member 28 can be disposed on the holding mechanism 30 side.

  As shown in FIG. 45 and FIG. 46, the hardness measuring mechanism 106 is guided by the guide rail 116 disposed in the vertical direction and is driven by the drive motor 118 as indicated by the arrows in FIGS. A reference hardness device 120 that can be moved up and down is provided.

  As shown in FIGS. 48 and 49, in the reference hardness apparatus 120, a plurality of (four in this embodiment) reference hardness members 126 having different hardnesses are assembled in a cylindrical shape. It has. The reference hardness assembly 128 is connected to the rotation shaft 124 of the rotary drive motor 122, and the reference hardness member 126 having an arbitrary hardness becomes the tip of the arm member 14 of the hardness measuring device 10 by rotating. The sensor member 16 is brought into contact with the sensor member 16.

  48 and 49, the reference hardness member 126 is a reference hardness assembly 128 assembled in a cylindrical shape, but although not shown, a reference hardness assembly 128 assembled in a quadrangular prism shape is used. This is desirable because the sensor member 16 comes into contact with it and the hardness data of the reference hardness can be measured accurately.

  With this configuration, the sensor member 16 contacts the reference hardness member 126 having a predetermined reference hardness and calibrates the hardness measurement data based on the hardness data of the reference hardness member 126. Therefore, the hardness measurement can be carried out more accurately.

The reference hardness member 126 may be provided with a temperature measuring device (not shown) that measures the temperature of the reference hardness member 126.
In this way, since the hardness measurement data is calibrated based on the temperature data of the reference hardness member 126 by the temperature measuring device that measures the temperature of the reference hardness member 126, the temperature characteristics of the reference hardness member itself are taken into consideration. Therefore, for example, accurate hardness can be measured without being affected by environmental temperature such as indoors or farmland.

In this case, as shown in FIG. 50, in the hardness measuring apparatus 10, the arm member 14 is made of a material having elasticity, and is bent outwardly in a substantially U shape so that a certain degree of elasticity is obtained. You may make it have. By comprising in this way, when the to-be-measured article B is an article which is soft and easily damaged, it is possible to effectively prevent breakage and damage due to impact by contact.

  In this embodiment, the reference hardness device 120 can be moved up and down, but conversely, the reference hardness device 120 cannot be moved up and down and the hardness measuring device 10 as a swing-down mechanism is moved up and down. Thus, the sensor member 16 may be brought into contact with the reference hardness member 126.

Furthermore, both the reference hardness device 120 and the hardness measuring device 10 may be relatively movable up and down.
Although not shown, the size of the article to be measured B is measured at an upstream position where the sensor member 16 comes into contact with the article to be measured B continuously conveyed on the conveyor 104 which is a conveying device. For example, based on the dimension data of the article B to be measured measured by the dimension measuring apparatus by arranging a dimension measuring apparatus composed of a photosensor, the sensor member driving mechanism abuts the sensor member 16 on the article B to be measured. The start timing may be controlled.

  That is, in the hardness measuring apparatus 10 of the type in which the sensor member 16 is swung down and contacted, for example, the swing angle is different between a small apple and a large apple, and therefore the sensor member 16 starts to move until it contacts the object B to be measured. Time will be different.

  For this reason, a dimension measuring device for measuring the size of the article to be measured B, for example, a photo sensor, is arranged at the upstream position where the sensor member 16 contacts, and the dimension data of the article to be measured is measured by this dimension measuring device. Is calculated and a swing-down trigger (contact start timing) is set.

  That is, when the photo sensor is blocking the size of the apple, it is a large apple when it is blocked for a long time. It is supposed to be controlled to start.

  As a result, the measurement conditions are the same, and the first sensor output from the first sensor S1 and the second sensor output from the second sensor S2 have no measurement error, and there is a measurement error for each measurement. Therefore, stable and accurate hardness measurement is possible.

  In this case, the hardness measuring device 10 that is a swing-down mechanism can move up to the position of the reference hardness member 126, but may stop halfway and measure large fruits such as summer oranges and melons. .

  Further, at this time, the photo sensor is also raised at the same time as the hardness measuring device 10 as the swing-down mechanism is raised, so that the photo sensor is always at the height of the contact position of the hardness measuring device 10 as the swing-down mechanism. It is desirable to make it. That is, in this way, the measurement object B can be measured to measure the width of the measurement object B at the height at which the sensor member 16 abuts, and to start contacting the center of the measurement object B. There is no measurement error every time, and stable and accurate hardness measurement is possible.

FIG. 51 is a schematic perspective view showing another embodiment of the hardness measuring device of the present invention, and FIG. 52 is a schematic diagram for explaining the operating state of the hardness measuring device of FIG.
Since the hardness measuring apparatus 100 of this embodiment has basically the same configuration as that of the above-described embodiment, the same reference numerals are given to the same components, and detailed description thereof is omitted.

In the hardness measuring apparatus 100 of this embodiment, as shown in FIG. 51, a substantially triangular shape fixed to a base such as a frame (not shown) with a fastening member 134 such as a bolt on the side near the transport mechanism 132 such as a conveyor. A columnar elastic member 136 is provided.

  In this case, the elastic member 136 is not particularly limited as long as it has elasticity, and examples thereof include urethane resin, polypropylene resin, polyethylene resin, these foamed resins, rubber such as urethane rubber, and elastic spring member. Can be configured.

  The sensor member 16 is attached to the tip 138 a of the arcuate contact surface 138 of the elastic member 136. Although not shown, the sensor member 16 is provided with a second sensor S2 that is aligned with the sensitivity axis of the first sensor S1 as in the above embodiment.

  In addition, a vibration generating device 140 is attached to the base end portion of the sensor member 16 as a sensor member driving mechanism that causes the sensor member 16 to contact the article to be measured B at a constant speed.

  Such a vibration generator is not particularly limited, but is well-known such as one that reverses the stepping motor forward, reverse, one that uses the rotational centrifugal force of the rotary motor, one that uses the action of an electromagnet, etc. The vibration generator can be used. The vibration generation frequency of such a vibration generator 140 is 10 to 100 HZ, preferably 20 to 60 HZ.

  With this configuration, as shown in FIG. 52, when the article to be measured B is transported on the transport mechanism 132 such as a conveyor, the elastic member 136 is bent by the elastic force to form an arc shape. The sensor member 16 provided at the tip 138 a of the contact surface 138 contacts the article to be measured B.

  At this time, the vibration generating device 140 vibrates and swings the sensor member 16, so that the article to be measured B such as fruits and vegetables continuously conveyed on the conveyance mechanism 132 such as a conveyor is obtained. Since the sensor member 16 continuously contacts at a constant speed, it is possible to accurately inspect the hardness of the article in large quantities.

  The hardness of the apple was actually measured using the hardness measuring apparatus 10 of the embodiment shown in FIGS. 1 to 4 configured as described above. As shown in FIG. It can be seen that there is a correlation.

From the above results, it was found that the hardness of the article to be measured can be measured very accurately according to the hardness measuring apparatus using the hardness measuring apparatus of the present invention.
In the above embodiment, data measured for a reference object having a standard hardness is accumulated in the storage unit of the hardness identification control unit 26 in advance, and these data are compared with measurement data of the article B actually measured. By doing so, the hardness can be identified instantly.

Each graph and hardness data can be displayed and printed on a display device such as a CRT.
Furthermore, in the above embodiment, one sensor member 16 is arranged in the transport direction. In this case, for example, up to four articles B to be measured can be measured per second. By arranging two in series in the conveying direction, it is possible to measure up to eight articles B to be measured in one second and arranging three in series in the conveying direction.

  In the above-described embodiment, the arm member 14 is rotated by the stepping motor 22 so that the contact surface 20 of the contact member 18 of the sensor member 16 at the tip of the arm member 14 contacts the article B to be measured. . However, instead of the stepping motor 22, other drive mechanisms such as a piston cylinder mechanism can be employed.

  Although not shown, a temperature measuring device for measuring the temperature of the reference hardness member may be provided, and the hardness measurement data may be calibrated based on the temperature data of the reference hardness member by the temperature measuring device.

  In this way, if the hardness measurement data is calibrated based on the temperature data of the reference hardness member by the temperature measuring device that measures the temperature of the reference hardness member, the temperature characteristics of the reference hardness member itself can be taken into account. For example, accurate hardness can be measured without being affected by ambient temperature such as indoors or farmlands.

Furthermore, if the temperature of the reference hardness member is adjusted to 30 ° C. ± 5 degrees with a rubber heater, the reference hardness does not change depending on the temperature, so that accurate measurement can be performed.
As described above, the preferred embodiments of the present invention have been described. However, the present invention is not limited thereto. For example, in the above-described embodiment, the article to be measured B is applied to fruits and vegetables such as fruits and vegetables. However, various modifications can be made without departing from the object of the present invention, such as being applicable to measuring the hardness of other articles such as electronic parts.

FIG. 1 is a schematic front view of a hardness measuring apparatus for articles according to the present invention. FIG. 2 is a schematic diagram in the I direction of the hardness measuring apparatus for the article of FIG. FIG. 3 is an enlarged view of the sensor member. FIG. 4 is a schematic view showing a use state of the hardness measuring apparatus for the article of FIG. FIG. 5 shows a first sensor output (signal waveform W1) by the first sensor S1 and a second sensor output (signal waveform W2) by the second sensor S2 when the product B comes into contact with the measurement object B. It is a graph to show. FIG. 6 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 7 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 8 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 9 is a graph obtained by correcting (normalizing) the graph of FIG. 6 so that the maximum value of the second sensor output of the second sensor on the Y axis becomes 100. FIG. 10 is a graph obtained by correcting (normalizing) the graph of FIG. 7 so that the maximum value of the second sensor output of the second sensor on the Y axis becomes 100. FIG. 11 is a graph obtained by correcting (normalizing) the graph of FIG. 8 so that the maximum value of the second sensor output of the second sensor on the Y axis becomes 100. FIG. 12 is a graph summarizing the diagrams of FIGS. FIG. 13 is a graph showing the correlation with the hardness when the value of the X axis in the range of 40% of the maximum value of the Y axis of the graph of FIG. 12 is used as a hardness measurement index. FIG. 14 is a graph in which correction processing (normalization) is performed so that the maximum value of the second sensor output of the second sensor on the Y axis becomes 100. FIG. 15 is a graph in which correction processing (normalization) is performed so that the maximum value of the second sensor output of the second sensor on the Y axis becomes 100. FIG. 16 is an XY plot graph in the case of using an acceleration sensor and an acceleration sensor. FIG. 17 is a graph showing a first sensor output by the first sensor S1 and a second sensor output by the second sensor S2 when the product B comes into contact with the measurement object B. FIG. 18 is a graph obtained by time-shifting all signal waveforms of the second sensor output S2 by the second sensor S2. FIG. 19 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 20 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 21 is a time-shifted graph similar to the graph of FIG. FIG. 22 is an XY plotted graph similar to the graph of FIG. FIG. 23 is an XY plotted graph similar to the graph of FIG. FIG. 24 is an XY plotted graph similar to the graph of FIG. FIG. 25 is an X-Y plotted graph for explaining the identification of hardness in the graph of FIG. FIG. 26 is a graph showing the correlation between the sun output and the hardness when only one conventional acceleration sensor is used. FIG. 27 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 28 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 29 is a graph obtained by XY plotting the first sensor output of the first sensor S1 on the X axis and the second sensor output of the second sensor S2 on the Y axis. FIG. 30 is a graph obtained by correcting (normalizing) the graph of FIG. 27 so that the maximum value of the second sensor output of the second sensor on the Y axis becomes 100. FIG. 31 is a graph obtained by correcting (normalizing) the graph of FIG. 28 so that the maximum value of the second sensor output of the second sensor on the Y axis becomes 100. FIG. 32 is a graph obtained by correcting (normalizing) the graph of FIG. 29 so that the maximum value of the second sensor output of the second sensor on the Y axis is 100. FIG. 33 is a graph showing the correlation with hardness when the value of the X axis in the range of 40% of the maximum value of the Y axis of the graphs of FIGS. 30 to 32 is used as a hardness measurement index. FIG. 34 is a graph showing the relationship between the ambient environmental temperature and the measured hardness value of the reference hardness member when the same reference hardness member is measured. FIG. 35 is a graph showing the relationship between the ambient environmental temperature and the measured hardness value of the sample when the same sample (measurement article B) is measured. 36 shows the relationship between the ambient environmental temperature and the sample hardness measurement value when the sample hardness measurement value data shown in FIG. 35 is calibrated with the hardness measurement value data of the reference hardness member shown in FIG. It is a graph. FIG. 37 is a graph showing the relationship between the ambient environmental temperature and the measured hardness value of the reference hardness member for the reference hardness members 1 to 4. FIG. 38 is a graph showing the relationship between the ambient environmental temperature and the sample hardness measurement value for Samples 1 to 4 (measurement article B). FIG. 39 shows the relationship between the ambient environmental temperature and the sample hardness measurement value when the sample hardness measurement value data shown in FIG. 38 is calibrated with the hardness measurement value data of the reference hardness member shown in FIG. It is a graph. FIG. 40 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention. FIG. 41 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention. FIG. 42 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention. 43 is a view in the direction of arrow A in FIG. FIG. 44 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention. 45 is a view in the direction of arrow A in FIG. FIG. 46 is a partially enlarged view of FIG. 47 is a view in the direction of arrow B in FIG. FIG. 48 is a front view of the reference hardness member. FIG. 49 is a bottom view of the reference hardness member of FIG. FIG. 50 is a schematic view showing another embodiment of the hardness measuring apparatus of the present invention. FIG. 51 is a schematic perspective view showing another embodiment of the hardness measuring apparatus of the present invention. FIG. 52 is a schematic diagram for explaining the operating state of the hardness measuring apparatus of FIG. FIG. 53 is a graph showing sensor estimation values and hardness values obtained by actually measuring the hardness of apples.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Hardness measuring device 12 Rotating shaft 14 Arm member 16 Sensor member 18 Contact member 20 Contact surface 22 Stepping motor 24 Encoder 26 Hardness identification control part 28 Shock absorbing member 30 Holding mechanism 32 Conveying device 34 Tray 100 Hardness measuring device 102 Base Frame 104 Conveyor 106 Hardness measuring mechanism 108 Leg member 110 Encoder 112 Chute 114 Opening 116 Guide rail 118 Drive motor 120 Reference hardness device 122 Rotation drive motor 124 Rotating shaft 126 Reference hardness member 128 Reference hardness assembly

Claims (32)

A sensor member to be brought into contact with the article to be measured;
Two first sensors and two sensors having different sensitivities arranged on the sensor member with a sensitivity axis aligned;
The first sensor output by the first sensor and the second sensor output by the second sensor obtained by bringing the sensor member into contact with the object to be measured from the sensitivity direction of the two sensors. Depending on the ratio of the difference in response characteristics with
A hardness identification control unit that identifies the hardness of the article to be measured, and a hardness measuring device for the article that measures the hardness of the article,
An article hardness measuring apparatus comprising: a sensor member driving mechanism that moves the sensor member at a constant speed so that the sensor member contacts the article to be measured at a constant speed.   The said sensor member drive mechanism is comprised so that it may control the speed | rate which contact | abuts with respect to the to-be-measured object of the said sensor member according to the kind and magnitude | size of articles | goods. Equipment hardness measurement device.   The sensor member driving mechanism is configured to be able to change a speed at which the sensor member abuts against an object to be measured and a speed at which the sensor member drive mechanism moves away from the object to be measured. The apparatus for measuring the hardness of an article according to claim 1.   The said sensor member drive mechanism is comprised so that the speed in the position vicinity in which the said sensor member leaves | separates from to-be-measured articles and returns to a contact start position may become slow. Item 4. A hardness measuring apparatus for an article according to any one of Items 1 to 3.   An impact absorbing member that absorbs the impact of the sensor member is disposed at a position where the sensor member is separated from the article to be measured and returned to the contact start position by the sensor member driving mechanism. The apparatus for measuring hardness of an article according to any one of claims 1 to 4.   6. The holding mechanism for holding the sensor member at a position where the sensor member is separated from the article to be measured and returned to the contact start position by the sensor member driving mechanism. The apparatus for measuring hardness of an article according to any one of the above. The sensor member is attached to the tip of the arm member,
The said arm member is being fixed to the rotating shaft connected with the said sensor member drive mechanism so that it may rotate with rotation of the said rotating shaft. Equipment hardness measurement equipment.   The article hardness measurement apparatus according to claim 7, further comprising a rotation angle detection mechanism that detects a rotation angle of a rotation shaft connected to the sensor member driving mechanism.   Before the sensor member comes into contact with the measured article and measures the hardness of the measured article, the sensor member comes into contact with a reference hardness member having a predetermined reference hardness, and the hardness of the reference hardness member The apparatus for measuring hardness of an article according to any one of claims 1 to 8, wherein the apparatus is configured to calibrate hardness measurement data based on the data. A temperature measuring device for measuring the temperature of the reference hardness member;
10. The article hardness measurement apparatus according to claim 1, wherein hardness measurement data is calibrated based on temperature data of a reference hardness member by the temperature measuring apparatus. 11.   The apparatus for measuring hardness of an article according to claim 1, wherein a plurality of sensor members are in contact with the article to be measured.   2. The article hardness measurement apparatus according to claim 1, wherein the sensor member drive mechanism that causes the sensor member to contact the article to be measured at a constant speed is a vibration generator. 3.   The apparatus for measuring hardness of an article according to any one of claims 1 to 12, wherein the sensor member is configured to abut against an article to be measured that is continuously conveyed on the conveying device. .   A plurality of sensor members are configured to abut against the article to be measured at positions spaced apart by a certain distance in the conveyance direction with respect to the article to be measured being continuously conveyed on the conveyance device. The apparatus for measuring the hardness of an article according to claim 13.   With respect to the article to be measured, which is continuously conveyed on the conveying device, a plurality of sensor members are alternately spaced from the left and right positions with respect to the article to be measured at positions spaced apart by a certain distance in the conveying direction. The apparatus for measuring hardness of an article according to claim 14, wherein the apparatus is configured to abut against each other. A dimension measuring device for measuring the size of the article to be measured is arranged at an upstream position where the sensor member abuts against the article to be measured which is continuously conveyed on the conveying device,
2. The apparatus according to claim 1, wherein the sensor member driving mechanism controls a contact start timing of the sensor member with respect to the measured article based on dimension data of the measured article measured by the dimension measuring device. The apparatus for measuring hardness of an article according to any one of 13 to 15. A sensor member to be brought into contact with the article to be measured;
Two first sensors and two sensors having different sensitivities arranged on the sensor member with the same sensitivity axis;
The first sensor output by the first sensor and the second sensor output by the second sensor obtained by bringing the sensor member into contact with the object to be measured from the sensitivity direction of the two sensors. Depending on the ratio of the difference in response characteristics with
A hardness identification control unit for identifying the hardness of the article to be measured, and a hardness measurement method for the article using a hardness measurement apparatus for the article for measuring the hardness of the article,
An object of the invention is characterized in that the hardness of the article to be measured is identified by moving the sensor member at a constant speed by a sensor member driving mechanism so that the sensor member contacts the article to be measured at a constant speed. Hardness measurement method.   18. The method for measuring the hardness of an article according to claim 17, wherein the sensor member driving mechanism controls a speed at which the sensor member contacts the article to be measured according to the type and size of the article.   The speed at which the sensor member driving mechanism abuts against the article to be measured and the speed at which the sensor member is separated from the article to be measured are changed. The method for measuring the hardness of the article as described in 1.   21. The sensor member driving mechanism according to any one of claims 17 to 19, wherein the sensor member is separated from the object to be measured, and the speed in the vicinity of the position where the sensor member returns to the contact start position is decreased. The method for measuring the hardness of the article as described in 1.   21. The impact of the sensor member is absorbed by the impact absorbing member at a position where the sensor member is separated from the article to be measured and returned to the contact start position by the sensor member driving mechanism. The method for measuring the hardness of an article according to any one of the above.   The sensor member is held by the holding mechanism at a position where the sensor member is separated from the measurement target article and returned to the contact start position by the sensor member driving mechanism. A method for measuring the hardness of the article according to claim 1. The sensor member is attached to the tip of the arm member,
The said arm member is being fixed to the rotating shaft connected with the said sensor member drive mechanism so that it may rotate with rotation of the said rotating shaft. Method for measuring hardness of article.   The method for measuring the hardness of an article according to claim 23, wherein a rotation angle of a rotation shaft connected to the sensor member driving mechanism is detected by a rotation angle detection mechanism.   Before the sensor member comes into contact with the measured article and measures the hardness of the measured article, the sensor member comes into contact with a reference hardness member having a predetermined reference hardness, and the hardness of the reference hardness member The method for measuring the hardness of an article according to any one of claims 17 to 24, wherein the hardness measurement data is calibrated based on the data.   The hardness measurement of an article according to any one of claims 17 to 25, wherein the hardness measurement data is calibrated based on temperature data of the reference hardness member by a temperature measuring device that measures the temperature of the reference hardness member. Method.   27. The method of measuring hardness of an article according to claim 17, wherein the hardness of the article to be measured is measured by bringing a plurality of sensor members into contact with the article to be measured.   18. The method for measuring the hardness of an article according to claim 17, wherein the sensor member driving mechanism that causes the sensor member to contact the article to be measured at a constant speed is a vibration generator.   The method for measuring the hardness of an article according to any one of claims 17 to 28, wherein the sensor member is brought into contact with the article to be measured that is continuously conveyed on the conveying device.   The plurality of sensor members are brought into contact with the object to be measured at positions spaced apart from each other by a predetermined interval in the conveying direction with respect to the object to be measured which is continuously conveyed on the conveying device. The method for measuring the hardness of an article according to 29.   With respect to the article to be measured that is continuously conveyed on the conveying device, a plurality of sensor members are alternately arranged from the left and right positions with respect to the conveying direction at a position spaced apart in the conveying direction. The method for measuring the hardness of an article according to claim 30, wherein the article is brought into contact with each other. A dimension measuring device for measuring the size of the article to be measured is arranged at an upstream position where the sensor member abuts against the article to be measured which is continuously conveyed on the conveying device,
32. The contact start timing of the sensor member to the measurement object by the sensor member driving mechanism is controlled based on the dimension data of the measurement object measured by the dimension measurement device. The method for measuring the hardness of the article as described in 1.

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