JP6654400B2 - Apparatus, program, and method for detecting change in state of workpiece, and processing apparatus - Google Patents

Description

  The present invention relates to an apparatus, a program, and a method for detecting a change in state of an object to be processed, and a processing apparatus, and more particularly to a technique for detecting a change in state of an object to be processed during processing such as mixing, kneading, and stirring.

  2. Description of the Related Art A kneading apparatus using planetary motion is frequently used for manufacturing a semi-solid food material such as bread dough, which is an example of an object to be processed. Here, the planetary motion is, for example, when a large gear and a small gear are engaged with each other and the small gear is moved along the outer periphery of the large gear, the small gear rotates around the large gear while rotating. It is a movement to revolve. In a kneading apparatus using planetary motion, a kneading member (for example, kneading blades) attached to the rotation shaft of a small gear that moves in a planetary motion kneads an object to be processed such as bread dough in a container while changing the position of the center of rotation of the kneading member. It is configured to be.

  In the kneading apparatus utilizing such planetary motion, since the rotation center of the kneading member moves, the object to be processed in the container is efficiently kneaded as compared with a normal kneading apparatus in which the rotation center of the kneading member does not move. .

  However, in a process such as kneading of an object to be processed, it is necessary to determine a timing of changing a force applied to the object to be processed or stopping the process in accordance with a state of the object to be processed.

  For example, when kneading bread dough, if the kneading is insufficient, a hard bread having low elasticity is obtained, and if the kneading is excessive, a soft bread like a cake is obtained. Therefore, when to stop the kneading process is an important point in bread making.

  Such bread dough kneading equipment, such as commercial kneading machines, may not be able to observe the state of the dough to be kneaded from the outside, such a commercial kneading machine, even with the experience of craftsmen and intuition It is difficult to always stop the operation of the kneading machine in an optimum finishing state. For this reason, the operation of the kneading machine is temporarily stopped during kneading to check the finished condition of the dough. However, if the operation of the kneading machine is temporarily stopped to check the finished state of the dough, the operation efficiency of the kneading machine and the efficiency of the kneading work deteriorate, and the dough is repeatedly operated and stopped. However, there was a risk of causing pain and deterioration of quality.

  For this reason, a device has been devised so that the kneading state of the dough to be kneaded can be observed from the outside, and the kneading state of the dough to be kneaded is detected based on the power consumption and load torque of the kneading machine. There is a way to do that.

  For example, Patent Literature 1 discloses that a state change of bread dough or the like is displayed by a characteristic pattern extracted from a load of a drive motor of a kneading machine.

JP-A-61-219333

  However, the power waveform consumed by the kneading machine is an oscillating waveform due to a power difference between when the kneading member acts on the workpiece and when the kneading member does not act on the workpiece. Statistical processing such as averaging is performed to convert to a flat power waveform. For this reason, the power waveform used for detecting the state of the object to be processed includes a fluctuation of the power (no-load power) when the kneading member is not acting on the object to be processed, and is consumed by the kneading machine. It is not possible to accurately detect the state of the object to be kneaded from the power waveform to be kneaded.

  The method of detecting a change in the state of a material to be processed disclosed in Patent Document 1 also looks at the average fluctuation tendency of the kneading machine load. Therefore, until the properties of raw materials such as bread dough can be accurately determined and monitored. Has not been reached.

  A method of detecting a change in the state of the raw material (object to be processed) using a torque meter or the like for measuring the distortion of the drive shaft of the kneading machine may be considered, but this method requires a significant modification of the kneading machine. , Cannot be easily applied to existing kneading machines.

  An object of the present invention is to provide an apparatus, a program, and a method capable of detecting a state change of an object to be processed with a simple configuration with high accuracy, and a processing apparatus using the apparatus.

  An apparatus according to the present invention is an apparatus for detecting a change in the state of an object to be processed, and a means for performing frequency analysis of current consumption of a driving source for driving one or more processing members for processing the object in a container. And information indicating the power spectrum of the consumed current obtained by the frequency analysis, the M / N (M and N are given positive integers) of the working frequency at which the one or more processing members are closest to the container. Means for extracting a power spectrum value corresponding to twice the frequency, and means for detecting a change in the state of the object to be processed based on a change in the extracted power spectrum value in time series, whereby Objective is achieved.

  In one embodiment of the present invention, the M / N (M and N are given positive integers) may be a ratio determined according to a type of the workpiece.

  In one embodiment of the present invention, the treatment on the object may include at least one of mixing, kneading, and stirring of the object.

  In one embodiment of the present invention, the one or more processing members may revolve and rotate in the container.

  In one embodiment of the present invention, the rotation direction of the one or more processing members may be different from the revolution direction of the one or more processing members.

  In one embodiment of the present invention, the rotation direction of the one or more processing members may be the same as the revolving direction of the one or more processing members.

  In one embodiment of the present invention, the working frequency is (the number of revolutions of the one or more processing members per minute) × (the one or more of the one or more processing members per revolution). The number of times each of the processing members comes closest to the container) × (the number of the one or more processing members) / 60.

  A program according to the present invention is a program for executing, by a computer, a process of detecting a change in the state of an object to be processed, the program driving one or more processing members that process the object in a container. The frequency analysis of the current consumption of the driving source to be performed and the information indicating the power spectrum of the current consumption obtained by the frequency analysis show the M / M of the working frequency at which the one or more processing members are closest to the container. Extracting a power spectrum value corresponding to N times (M and N are given positive integers) times, and changing the state of the object to be processed based on a change in the extracted power spectrum value in a time series. And causing the computer to perform at least the steps of:

  A method according to the present invention is a method for detecting a state change of an object to be processed, wherein a frequency analysis of a current consumption of a drive source for driving one or more processing members for processing the object in a container is performed. And information indicating the power spectrum of the consumed current obtained by the frequency analysis, the M / N (M and N are given positive integers) of the working frequency at which the one or more processing members are closest to the container. ) Extracting a power spectrum value corresponding to twice the frequency, and detecting a change in the state of the object to be processed based on a change in the extracted power spectrum value in time series, and thereby, Objective is achieved.

  The processing apparatus according to the present invention is a processing apparatus for processing an object to be processed, a container for accommodating the object to be processed, one or more processing members for processing the object to be processed, and the one or more processing members. A drive source for driving the processing member, and the apparatus of the present invention, wherein the apparatus detects a change in the state of the workpiece to be processed by the processing apparatus. Objective is achieved.

  In one embodiment of the present invention, the processing device includes a driving unit that supplies a driving current to the driving source, and a driving unit that responds to a change in a state of the processing target processed by the processing device, which is detected by the device. And a control unit for controlling the driving unit.

  As described above, according to the present invention, an apparatus, a program, and a method capable of detecting a change in state of an object to be processed with a simple configuration with high accuracy, and a processing apparatus using the apparatus are realized. can do.

FIG. 1 is a diagram for explaining a kneading apparatus according to Embodiment 1 of the present invention. FIG. 2 is a diagram showing a specific configuration of a state detection device included in the kneading device shown in FIG. FIG. 3 is a diagram for explaining the operation of the state detection device shown in FIG. 1, and shows a process of analyzing current consumption in the kneading device in a flowchart. FIG. 4 is a diagram for explaining the operation of the state detection device shown in FIG. 1, and shows a method for detecting a change in the state of the object to be processed from power spectrum information of current consumption. FIG. 5 is a diagram for explaining the operation mode of the kneading device shown in FIG. 1, and shows the r operation (FIG. 5 (a)) and the Q operation (FIG. 5 (b)) of the kneading device. FIG. 6 is a diagram for explaining the trajectory drawn by the tip of the kneading member of the kneading apparatus shown in FIG. 1, and FIG. 6A shows the trajectory drawn by the tip of the kneading member during the r operation. 6 (b) shows a trajectory drawn by the tip of the kneading member during the Q operation. 7A and 7B are diagrams for explaining the operation angle of the kneading member in the kneading device shown in FIG. 1, and FIG. 7A is an enlarged view of a portion R in FIG. ) Shows the relationship between the operating angle and the rotation coefficient. FIG. 8 is a view for explaining a kneading apparatus according to Embodiment 2 of the present invention. FIG. 9 is a diagram showing a specific configuration of the control unit 200c included in the kneading device shown in FIG. FIG. 10 is a diagram schematically showing an example of a specific configuration of a kneading device main body included in the kneading device shown in FIG. FIG. 11 is a flowchart showing the operation of the kneading apparatus shown in FIG. FIG. 12 is a diagram for explaining the operation characteristics of the kneading apparatus 100. FIG. 12A shows the speed of the tip of the kneading member (solid line), the distance from the tip of the kneading member to the inner wall of the container (dotted line), and the kneading. FIG. 12 (b) shows the acceleration scalar (dashed line) at the tip of the member, and FIG. 12 (b) shows the distance from the inner wall of the container to the action point, the operation mode (Q operation, r operation), and the rotation for a 5L container (volume: 5 liters) FIG. 12C shows the relationship between the distance from the inner wall of the container to the action point, the operation mode (Q operation, r operation), and the rotation coefficient for a 30 L container (with a capacity of 30 liters). . FIG. 13 is a diagram for explaining a method of deriving a relational expression that represents the position of the tip Ea of the kneading member (the x and y coordinates of the XY coordinates) as a function of the revolution angle t of the kneading member. FIG. 14 is a diagram for explaining another definition of the action angle based on the action point Pa. FIG. 14A shows the action point Pa1, a point on the circumference of the inner wall of the container which is the shortest to the action point Pa1. Pb1 and the position Pc1 on the inner wall of the container where the tip Ea of the kneading member comes closest or hits. FIG. 14B is an enlarged view showing the positional relationship between these points Pa1, Pb1, and Pc1. 14 (c) shows the definition of the action angle θa. FIG. 15 is a diagram showing the relationship between the rotation coefficient and the position of the action point Pa1 (FIG. 15A) and the relationship between the rotation coefficient and the action angle θa (FIG. 15B) for the 5L container. FIG. 16 is a diagram for explaining the relationship between the container capacity and the position of the application point Pa1. FIG. 16A shows the relationship between the container capacity and the position of the application point Pa1 when the rotation coefficient is 2. FIG. 16B) shows the relationship between the container capacity and the position of the action point Pa1 when the rotation coefficient is 11. FIG. 17 is a diagram for explaining the relationship between the container capacity and the working angle θa. FIG. 17A shows the relationship between the container capacity and the working angle θa when the rotation coefficient is 2. 17 (b)) shows the relationship between the container capacity and the working angle θa when the rotation coefficient is 11.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 shows an example of the configuration of a kneading apparatus 100 according to Embodiment 1 of the present invention.

  The kneading apparatus 100 shown in FIG. 1 is configured to knead an object to be processed by one or more processing members. Here, the object to be processed is, for example, dough. However, the material to be processed is not limited to bread dough, but may be other food materials to be kneaded, such as cookie dough or hamburger dough. Such food materials are manufactured by mixing water and flour and kneading them.

  The kneading apparatus 100 includes a kneading apparatus main body 100a in which the object to be processed 104a is kneaded, an operation section 100d for an operator to operate the kneading apparatus main body 100a, and a driving current provided to a driving source provided in the kneading apparatus main body 100a. , A control unit 100c that controls the drive unit 100b based on an operation signal Os from the operation unit 100d, and a current sensor 40 that detects current consumption consumed by a drive source of the kneading apparatus main body 100a. And a device (hereinafter, referred to as a state detection device) 10 for detecting a change in the state of the workpiece 104a to be kneaded based on the detected current consumption.

  Here, the kneading apparatus main body 100a has a container 104 that stores the object to be processed 104a. In the container 104, two kneading members 105a and 105b are provided as one or more processing members. The driving source of the kneading apparatus main body 100a is a revolving motor 101 that revolves the kneading members 105a and 105b with the motor driving current Dc1 from the driving unit 100b, and the kneading members 105a and 105b are rotated by the motor driving current Dc2 from the driving unit 100b. And a rotation motor 102 for rotation. The kneading apparatus main body 100a further includes a rotating casing 103 rotatably supported by a casing (not shown). The rotating housing 103 supports the kneading members 105a and 105b such that the kneading members 105a and 105b revolve by the rotation of the rotating housing 103, and the kneading members 105a and 105b can rotate with respect to the rotating housing 103. Have been.

  The current sensor 40 detects the current consumed by the kneading apparatus 100 based on the motor driving current Dc1 supplied to the revolution motor 101 of the kneading apparatus main body 100a and the motor driving current Dc2 supplied to the rotation motor 102. And outputs a current consumption signal Cs indicating the current consumption. The state detection device 10 quantitatively detects a change in the state of the workpiece 104a kneaded by the kneading device 100 by analyzing the current consumption in the kneading device 100 based on the current consumption signal Cs.

  Hereinafter, as an example of a specific configuration of the state detection device 10, a configuration configured by a computer will be described. However, the state detection device 10 may be realized by a configuration other than a computer as long as it achieves a function of detecting a state change of the processing target 104a based on current consumption in the kneading apparatus main body 100a.

  FIG. 2 shows an example of a specific configuration of the state detection device 10 shown in FIG.

  The state detection device 10 includes a computer 10a that detects a change in the state of an object to be processed by analyzing a current consumption signal Cs from the current sensor 40, an input device 13a for inputting information to the computer 10a, and information from the computer 10a. And an output device 14a for outputting the same. The computer 10a includes a processor 11, a memory 12, an input IF 13, and an output IF 14. The processor 11, the memory 12, the input IF 13 and the output IF 14 are mutually connected via a data bus 15. A current sensor 40 is connected to the input IF 13, and an input device 13a such as a keyboard, a mouse, a touch panel, or a scanner can be connected to the input IF 13. A display device such as a liquid crystal display is connected to the output IF 14 as an output device 14a.

  Here, a program that causes the processor 11 to analyze the current consumption signal Cs output from the current sensor 40 is stored in the memory 12, and the processor 11 uses the program stored in the memory 12 to execute the current consumption signal Cs. Execute the Cs analysis process.

  Next, the operation of the kneading apparatus 100 will be described.

  When the kneading start switch (not shown) of the operation unit 100d is turned on by the operator, the drive control signal Ds is output from the control unit 100c to the drive unit 100b based on the operation signal Os from the operation unit 100d. The drive unit 100b supplies motor drive currents Dc1 and Dc2 to the revolution motor 101 and the rotation motor 102 of the kneading apparatus main body 100a based on the drive control signal Ds.

  In the driving state of the kneading apparatus 100, the motor driving currents Dc1 and Dc2 are supplied from the driving unit 100b to the revolving motor 101 and the rotation motor 102 of the kneading apparatus main body 100a, respectively. The currents Dc1 and Dc2 are detected, and a current consumption signal Cs indicating the current consumed by the kneading device 100 is output to the state detection device 10.

  In the computer 10a included in the state detection device 10, when the current consumption signal Cs is input to the processor 11 via the input IF 13 and the data bus 15, the processor 11 performs a current analysis process on the current consumption signal Cs.

  FIG. 3 is a flowchart illustrating a process performed by the state detection device 10.

(Step S1)
First, when the current consumption signal Cs (see FIG. 4) output from the current sensor 40 is input to the processor 11, the processor 11 samples the current consumption signal Cs from the current sensor 40 at, for example, a sampling cycle of 200 Hz. In FIG. 4, the current consumption signal Cs is shown in two-dimensional coordinates in which the vertical axis A of the solid line indicates the amplitude and the diagonal axis T of the solid line indicates the time.

(Step S2)
The processor 11 records the obtained sampling data of the current consumption signal Cs in the memory 12.

(Step S3)
Subsequently, the processor 11 frequency-converts the sampling data of the current consumption signal Cs recorded in the memory 12 by a fast Fourier transform algorithm every 5 seconds as shown in FIG. The frequency conversion cycle for the sampling data of the current consumption signal Cs is not limited to 5 seconds and can be set arbitrarily.

  As illustrated in FIG. 4, the processor 11 acquires power spectrum information G <b> 1 to G <b> 4 of the current consumption every 5 seconds by frequency conversion of the sampling data of the current consumption signal Cs, and records it in the memory 12. In FIG. 4, power spectrum information G1 to G4 obtained by frequency-converting the current consumption signal Cs every 5 seconds at time t0 to t1, time t1 to t2, time t2 to t3, and time t3 to t4 is 3 It is shown in dimensional coordinates. In the three-dimensional coordinates, the dotted vertical axis P indicates power, the solid diagonal axis T indicates time, and the dotted horizontal axis F indicates frequency.

(Step S4)
Next, the processor 11 extracts a power spectrum value corresponding to a frequency that is a predetermined multiple of the operation frequency Fa.

  Here, the operation frequency Fa (Hz) is the number of times that the tip of the kneading member comes closest to the inner wall of the container (or hits the inner wall of the container) in one second, and is calculated by the following equation (1).

Working frequency = revolution speed (rpm) × rotation coefficient × number of kneading members / 60 (1)
Here, the rotation coefficient is the number of times the tip of the kneading member comes closest to the inner wall of the container (or hits the inner wall of the container) in one revolution of the kneading member.

  For example, when the number of kneading members is 2, the revolving speed is set to 84 (rpm), and the rotation coefficient is set to 2.9333, the operation frequency is 8.213 (Hz) = 84 × 2.9333 × 2/60. Become.

  However, equation (1) is used to calculate the operating frequency when each of the one or more kneading members has only one tip (hereinafter, referred to as a blade) that comes closest to the inner wall of the container (or hits the inner wall of the container). The operating frequency when at least one of the one or more kneading members has a plurality of blades is calculated by the following equation (2).

Working frequency = revolution speed (rpm) × rotation coefficient × total number of blades in one or more kneading members included in the kneading apparatus / 60 (2)
The frequency that is a predetermined multiple of the operation frequency is a frequency that is M / N times the operation frequency (M and N are arbitrary positive integers), and is used for changing the processing state of the processing object according to the type of the processing object. The frequency at which the noise margin is maximized, that is, a frequency at which a change in the processing state of the processing target can be detected with high accuracy from the power spectrum value corresponding to the current consumption signal Cs is appropriately set. In addition, when two or more frequencies that are predetermined times the operation frequency are used, compared to the case where only one frequency that is the predetermined times the operation frequency is used, the power spectrum value corresponding to the current consumption signal Cs is used. When a change in the processing state can be detected with higher accuracy, two or more frequencies may be used as the predetermined multiple of the operation frequency. Here, for example, at least one of the power spectrum values of 1/2, 1/3, and 2 times the working frequency Fa is used.

(Step S5)
Next, the processor 11 detects a change in the state of the processing target 104a based on a change in the extracted power spectrum value in time series. For example, as shown in FIG. 4, for 5 seconds from the time t0 to t1 and for 5 seconds from the next time t1 to t2, any one of 倍, 1, 3/2, and 2 times the operation frequency Fa is used. There is no change in the power spectrum value of the frequency of, but it is ５ times, 1 time and 3/2 times of the action frequency Fa in the next 5 seconds from the time t2 to t3 as compared with 5 seconds from the time t1 to t2. The power spectrum value of any frequency doubled has increased. In addition, in 5 seconds from time t2 to t3 and 5 seconds from the next time t3 to t4, the power spectrum value of any one of 1/2 times, 1 time, 3/2 times and 2 times of the working frequency Fa is obtained. No change.

  In this case, the change in the power spectrum value between 5 seconds from time t1 to t2 and 5 seconds from the next time t2 to t3 is １ ／ times, 1 time, 3/2 times, 2 times, or 2 times the operation frequency Fa. The change in the state of the object to be processed can be quantified by obtaining at least one of the doubled frequencies. For example, as shown in FIG. 4, the power spectrum value of the frequency which is one time of the action frequency Fa is changed from the value P2 to the value P3 between 5 seconds from the time t1 to t2 and 5 seconds from the next time t2 to t3. , The change in the state of the processing target 104a can be quantified by the value of ΔP = (P3−P2).

  The processor 11 can notify the operator by displaying information indicating such a change in the state of the processing member on the display device, which is the output device 14a, via the output IF 14.

  When such a change in the state of the workpiece is detected, the operator changes the operation state of the kneading apparatus so that the processing on the workpiece is processing according to the state of the workpiece.

  Hereinafter, the operator changes the kneading process of the object to be processed in the kneading apparatus 100 by changing the operation mode of the kneading apparatus 100 or by changing the operation condition (rotation coefficient) in the operation mode. The method will be described.

  FIG. 5 is a diagram illustrating two operation modes of the kneading apparatus 100 shown in FIG.

  Here, in the operation mode of the kneading apparatus 100, as shown by the arrow in FIG. 5A, the rotation direction of the kneading members 105a and 105b and the revolving direction of the kneading members 105a and 105b are different (r operation). 5B, there is an operation mode (Q operation) in which the rotation directions of the kneading members 105a and 105b are the same as the revolving directions of the kneading members 105a and 105b. In the r operation, the tip Ea of the kneading member 105a draws a locus Ta shown in FIG. 6A, and in the Q operation, the tip Ea of the kneading member 105a draws a locus Tb shown in FIG. 6B. 6 (a) and 6 (b), C0 is the center of revolution of the kneading member 105a, and the center of revolution C0 coincides with the center of the inner circumference of the container. Trc is a circular path along which the rotation center of the kneading member 105a moves. Trd is a virtual circle indicating the inner periphery of the container 104, that is, a position 20 mm away from the container inner wall 104b.

  For example, in the r operation, the tip Ea of the kneading member 105a approaches the container inner wall from an angle closer to the normal direction Lr to the container inner wall 104b, as compared to the Q operation. Conversely, in the Q operation, the tip Ea of the kneading member 105a approaches the container inner wall 104b from an angle closer to its tangential direction Lq as compared to the r operation.

  Therefore, in the r operation, the kneading members 105a and 105b tend to apply shear deformation to press and deform the object 104 against the inner wall 104b of the container, and in the Q operation, the kneading members 105a and 105b It becomes easier to fly the processing object 104 in the tangential direction of the container inner wall 104b. Further, by adjusting the rotation coefficient in the r operation or the Q operation, it is possible to adjust the degree of shear deformation given to the object to be processed, the momentum at which the object to be processed is caused to fly in the tangential direction, and the like.

  The angle at which the tip Ea of the kneading member 105a approaches the container inner wall 104b is defined as the working angle as follows.

  Hereinafter, the definition of the operation angle will be specifically described.

  7A and 7B are diagrams for explaining the operation angle. FIG. 7A is an enlarged view of a portion R in FIG. 6A, and FIG. 7B is a graph showing the relationship between the rotation coefficient Na and the operation angle K. Show the relationship.

  For example, as shown in FIG. 7A, the working angle K is a straight line La connecting a point Pa on the trajectory Ta of the tip Ea of the kneading member 105a and a point Pb on the inner wall 104a of the container 104. Of the inner wall 104b with respect to a tangent Lb of the inner wall 104b at a point Pb on the inner wall 104a. Here, the point Pa on the trajectory Ta is a point at which the tip end Ea of the kneading member 105a approaches 20 mm to the inner wall 104b of the container 104. The point Pb on the inner wall 104a of the container 104 is a point at which the trajectory Ta of the tip Ea of the kneading member 105a comes closest to the inner wall 104a of the container 104. The point Pr in FIG. 7A indicates the position of the tip Ea when the tip Ea of the kneading member 105a is closest to the container inner wall 104b.

  The operation angle in the Q operation is also defined in the same manner as the operation angle in the r operation. The tip Eb of the kneading member 105b also follows the same trajectory as the tip Ea of the kneading member 105a, and the operation angle of the kneading member 105b is defined in the same manner as the kneading member 105a.

  Further, the working angle can be changed by changing the operation mode or the rotation coefficient. For example, in the r operation, as shown by the graph J1 in FIG. 7B, the action angle K decreases as the rotation coefficient Na increases, and in the Q operation, as shown by the graph J2 in FIG. 7B. Meanwhile, the working angle K increases as the rotation coefficient Na increases. Here, the range of the rotation coefficient Na in which the action angle K changes rapidly is 5 or less.

  Therefore, the operator sets the operation mode of the kneading apparatus to either the r operation or the Q operation in accordance with the change in the state of the object to be processed, and further adjusts the rotation coefficient Na in the set operation mode to thereby set the operation angle. K is adjusted to a desired angle, whereby the processing of the object to be processed by the kneading members 105a and 105b (for example, the strength of shear deformation imparted to the object 104a by the kneading members 105a and 105b) is performed on the object to be processed. It can be made according to the state.

  As described above, the detection device 1 according to the first embodiment includes the current sensor 40 and the state detection device 10, and the current sensor 40 detects current consumption in the kneading device 100 for kneading the object to be processed. From the information indicating the power spectrum of the consumed current obtained by the frequency analysis of the detected consumed current, a power spectrum value corresponding to a frequency that is a predetermined multiple of the operating frequency at which the kneading members 105a and 105b act on the workpiece is calculated. Since the state change of the object to be processed is detected based on the change in the time series of the extracted power spectrum value, the variation of the no-load power that fluctuates in the no-load state among the frequency components of the consumed current is extracted. A state change of the processing object 104a can be detected with high accuracy based on components that are not substantially contained.

  In the first embodiment, the action angle is defined using the position of the point where the tip Ea of the kneading member 105a approaches 20 mm to the inner wall 104b of the container 104. However, the position of the point used for defining the action angle is It is not limited to the position of the point approaching 20 mm to the inner wall 104b of 104. For example, when the size of the container of the kneading apparatus (inner diameter of the container) or the rotation coefficient changes, the position of the point used for defining the working angle changes.

  Therefore, hereinafter, a method of defining the operation angle from the position of the defined operation point after clarifying the definition of the position used for defining the operation angle (hereinafter, referred to as an operation point) will be described.

[Definition of action point position]
The position of the point of action is defined as the position of the point of inflection while the speed of the tip Ea of the kneading member 105a changes from the minimum to the maximum or from the maximum to the minimum. This will be specifically described below.

  FIG. 12 is a graph showing the operating characteristics of the kneading device 100 in a graph. FIG. 12 (a) shows that when the rotation coefficient of the kneading member is 4.0833, the rotation angle of the kneading member increases. It shows how the speed of the tip (solid line), the distance from the tip of the kneading member to the inner wall of the container (dotted line), and the acceleration scalar (dot-dash line) at the tip of the kneading member change.

  As shown by a solid line in FIG. 12A, the speed of the tip of the kneading member changes sinusoidally as the orbital angle of the kneading member increases, as indicated by the solid line in FIG. The maximum speed or the minimum speed is obtained when approaching the inner wall of the container and when approaching the center of the container.

  Here, the position of the action point is the position of the inflection point on the way where the tip speed changes from the minimum to the maximum, or the position of the inflection point on the way where the tip speed changes from the maximum to the minimum. The position of the action point is determined as the position of the tip of the kneading member when the revolving angle reaches the maximum value or the minimum value of the acceleration scalar obtained by differentiating the tip speed (hereinafter, referred to as the tip position), that is, acceleration. It can be obtained as the tip position at the revolution angle when the value obtained by further differentiating the scalar becomes 0.

  Next, a method of obtaining the position of the action point according to the definition of the position of the action point will be specifically described.

  FIG. 13 shows a method of deriving a relational expression in which the orbital center C0 of the kneading member is set as the origin of the XY coordinates, and the position of the tip Ea of the kneading member (x and y coordinates of the XY coordinates) is a function of the orbital angle t of the kneading member. FIG.

  As shown in FIG. 13, the x coordinate and the y coordinate of the position of the tip Ea of the kneading member are, as shown in FIG. 13, the rotation angle t of the kneading member, the rotation angle s of the kneading member, the revolution radius H of the kneading member, and the rotation radius r of the kneading member. X = Hcos (t) + rcos (s) and y = Hsin (t) + rsin (s). In these equations, the difference between the r operation and the Q operation is represented by the sign of the rotation angle s. The rotation angle s of the kneading member is expressed as s = (p + 1) t using the rotation angle t and the rotation coefficient p. Therefore, the x-coordinate and the y-coordinate are expressed by the following equations F1 and F2.

  The velocity vector at the tip of the kneading member (hereinafter referred to as the tip velocity vector) is obtained by substituting Formulas F4 and F5 obtained by differentiating Formulas F1 and F2 into Formula F3.

  Further, the speed of the tip of the kneading member (hereinafter referred to as tip speed) is obtained by substituting the speed component in the x-axis direction (Formula F4) and the speed component in the y-axis direction (Formula F5) into Formula F6. , Are calculated as the root-mean-square (equation F7) of these velocity components.

  Further, an acceleration scalar is obtained as the following equation F8 by differentiating the tip speed (Equation F7).

  Further, after substituting the following equations F9 to F11 into the equation F8 to simplify the coefficients, the acceleration scalar of the tip speed (equation F8) is differentiated to obtain the differential value of the acceleration scalar of the blade tip speed. Obtained as F12.

  Assuming that the revolution angle t at which the right side of the equation F12 becomes 0 is ta, when the revolution angle (t = ta), the tip Ea of the kneading member is located at the inflection point of the tip speed, and the tip position at the revolution angle ta Ea is the position of the action point.

  The X-coordinate xa and the Y-coordinate ya indicating the position of the specific action point are obtained as shown in Formulas F13 and F14 by substituting the revolution angle ta into Formulas F1 and F2. Further, the distance La between the point of action and the inner wall of the container is obtained by Expression F15. However, in the formula F15, the inner circumference (radius) of the container hits the inner surface of the container when the tip of the kneading member comes closest to the inner surface of the container (that is, the same as the sum of the rotation radius and the revolution radius of the kneading member). Is assumed.

  For example, assuming that the revolving radius H is H = 40 mm, the rotation radius r of the tip of the kneading member is r = 59 mm, and the rotation coefficient p is p = −4.0833 in the operation mode of the r trajectory, the distance from the point of action to the inner wall of the container. La becomes 21.8 mm.

  As described above, according to Formula F12, the revolving angle (t = ta) when the tip Ea of the kneading member is located at the inflection point of the tip speed is determined by the revolving radius H of the kneading member and the rotation radius r of the kneading member. By defining the position of the working point for defining the working angle as the position of the inflection point of the speed of the tip Ea of the kneading member, the kneading device of any capacity can be obtained by the rotation coefficient p. Even in this case, the position of the action point and the action angle based on the position of the action point can be uniquely obtained.

  For example, FIG. 12 (b) shows the relationship between the distance from the inner wall of the container to the point of action, the operation mode (Q operation, r operation), and the rotation coefficient obtained from Equation F12 for a 5L container (capacity is 5 liters). .

  In a 5L container (revolution radius H = 40 mm, blade radius r = 59 mm, container radius = 173 mm), as shown in FIG. 12B, the position of the action point is uniquely determined according to the operation mode and the rotation coefficient. be able to. Further, FIG. 12B shows that the position 20 mm away from the inner wall of the container, which is shown as the position of the action point in the first embodiment, is an example in the case where the rotation coefficient in the r operation is about 3 in the 5L container. Understand from.

  FIG. 12 (c) shows the relationship between the distance from the inner wall of the container to the action point, the operation mode (Q operation, r operation), and the rotation coefficient obtained from Equation F12 for a 30L container (capacity is 30 liters). .

  Regarding the 30L container (revolution radius H = 60 mm, blade radius r = 112 mm, container radius = 173 mm), as shown in FIG. 12C, the position of the action point is uniquely determined according to the operation mode and the rotation coefficient. You can ask.

[First Definition of Action Angle Obtained from Defined Action Point Position]
As described with reference to FIG. 7 in the first embodiment, the first definition of the operation angle based on the defined position of the operation point is such that the operation angle K is determined between the operation point Pa whose position is defined and the kneading member 105a. The angle between the straight line La connecting the point Pb on the inner wall of the container to which the front end Ea is closest and the tangent Lb of the inner wall 104b at the point Pb.

[Second definition of action angle obtained from defined position of action point]
The second definition of the action angle based on the defined position of the action point is different from the first definition described in the first embodiment, and will be briefly described below.

  FIG. 14 is a diagram for explaining a second definition of the action angle based on the action point Pa. FIG. 14A shows the action point Pa1 and the action point Pa1 on the trajectory Ta of the tip Ea of the kneading member. FIG. 14B shows a point Pb1 on the circumference of the container inner wall, which is the shortest, and a position Pc1 on the container inner wall where the tip Ea of the kneading member comes closest or hits. FIG. 14 (b) shows these points Pa1, Pb1,. FIG. 14 (c) shows the positional relationship of the position Pc1 in an enlarged manner, and FIG. 14 (c) shows the operation angle based on the distance La1 between the point Pa1 and the point Pb1, and the length Lb1 of the arc (radius H + r) from the position Pc1 to the point Pb1. The definition of θa is shown below.

  The second definition of the operation angle θa shown in FIG. 14 is as shown in the following equations F16 to F18.

  Briefly, as shown in FIG. 14 (c), the working angle θa is defined as the shortest distance La1 from the working point Pa to the circumference Cr of the inner wall of the container, and the working length Lb1 (the circumference Cr of radius H + r). The angle defines the tangent (Equation F18) of a right-angled triangle whose height is the height of the arc from the upper point Pb1 to the point Pc1.

  Here, the working length Lb1 can be obtained by the product of the radius (H + r) of the circumference Cr and the angle θb when the tip Ea of the kneading member is located at the working point Pa1, as shown in Expression F17. Further, the angle θb is obtained from the x coordinate and the y coordinate of the action point Pa1 as shown in Expression F16.

  The working angle is an index that quantitatively indicates how deep the tip of the kneading member approaches the inner wall of the container, and the operating angle is an inflection point when the tip of the kneading member approaches the inner wall of the container. Although the action angle should be calculated using the position coordinates of a certain action point Pa, the inflection point Pa1 when the tip of the kneading member separates from the inner wall of the container also geometrically approaches the tip of the kneading member to the inner wall of the container. Since the position is exactly the same as the inflection point Pa at that time, the position coordinates of the inflection point Pa1 where the calculation for obtaining the operation angle is easy are used.

  As an example, the position of the action point Pa1 (distance La1 from the inner wall of the vessel) in a 5L container (revolution radius H = 40 mm, rotation radius r = 59 mm, rotation coefficient p = −4.0833) according to the definition of the position of the action point described above. : 21.8 mm), and using the position of the action point to calculate the action angle in accordance with the second definition described with reference to FIG. 14, the action angle θa was 23.9 degrees. However, the angle θb defining the working length Lb was 28.4 degrees, and the working length Lb was 49.15 mm.

  FIG. 15 shows the relationship between the rotation coefficient and the position of the action point Pa1 (FIG. 15 (a)) and the relationship between the rotation coefficient and the action angle θa (FIG. 15 (b)) for the 5L container.

  From FIG. 15 (a), the distance La1 from the inner wall of the container to the action point Pa1 changes from about 37 mm to about 30 mm according to the increase of the rotation coefficient (about 2 to 11) in the Q operation, and the rotation coefficient in the r operation. It can be seen that the distance La1 from the inner wall of the container to the action point Pa1 changes from about 10 mm to about 26 mm as the value increases (about 2 to 11).

  Further, from FIG. 15B, in the Q operation, the action angle (rad) changes within the range of about 0.32 to about 0.22 in accordance with the increase of the rotation coefficient (about 2 to 11), and the r operation is performed. It can be seen that the working angle (rad) changes from about 0.8 to about 0.32 as the rotation coefficient increases (about 2 to 11).

[Example of the range of the action point position and action angle]
Here, the position of the action point is an index indicating how far the action point is from the inner wall of the container. In the following description, the position of the action point is referred to as a distance from the action point to the inner wall of the container.

  FIG. 16 shows the relationship between the container capacity and the distance from the point of action Pa1 to the inner wall of the container (when the rotation coefficient is 2) (FIG. 16 (a)) and the relationship between the container capacity and the distance from the point of action Pa1 to the inner wall of the container. The relationship (when the rotation coefficient is 11) (FIG. 16B) is shown.

  FIG. 16A shows the case where the container capacity is 5 L, 25 L, 30 L, 45 L, 60 L, 110 L, and 250 L, from the action point Pa1 in the r operation with the rotation coefficient of 2 to the container inner wall. The distance (solid line) and the distance (dotted line) from the action point Pa1 to the inner wall of the container in the Q operation in which the rotation coefficient is 2 are shown. As can be seen from FIG. 16 (a), in the r operation in which the rotation coefficient is 2, the distance from the point of action Pa1 to the inner wall of the container changes from about 10 mm to about 45 mm with an increase in the container capacity. In a certain Q operation, the distance from the action point Pa1 to the inner wall of the container changes from about 38 mm to about 120 mm as the container capacity increases.

  In addition, FIG. 16B shows the case where the container capacity is 5 L, 25 L, 30 L, 45 L, 60 L, 110 L, and 250 L, respectively. (Solid line) and the distance (dotted line) from the action point Pa1 to the inner wall of the container in the Q operation in which the rotation coefficient is 11. As can be seen from FIG. 16 (b), in the r operation in which the rotation coefficient is 11, the distance from the point of action Pa1 to the inner wall of the container changes from about 25 mm to about 95 mm with an increase in the container capacity. In a certain Q operation, the distance from the action point Pa1 to the inner wall of the container changes from about 32 mm to about 105 mm as the container capacity increases.

  Therefore, the distance from the defined point of action to the inner wall of the container is from about 10 mm when the r operation with a rotation coefficient of about 2 is performed in a 5 L container to when the Q operation with a rotation coefficient of about 2 is performed in a 250 L container. It can be seen that it changes up to about 120 mm.

  FIG. 17 shows the relationship between the container capacity and the working angle θa (when the rotation coefficient is 2) (FIG. 17A), and the relationship between the container capacity and the working angle θa [when the rotation coefficient is 11] ( FIG. 17 (b) is shown.

  FIG. 17A shows the operation angle (solid line) and the rotation coefficient in the r operation in which the rotation coefficient is 2 when the container capacity is 5 L, 25 L, 30 L, 45 L, 60 L, 110 L, and 250 L. Is the operation angle (dotted line) in the Q operation when is 2. As can be seen from FIG. 17A, in the r operation in which the rotation coefficient is 2, the working angle changes in a range from about 0.82 (rad) to about 0.48 (rad) with an increase in the container capacity. It can be seen that in the Q operation in which the rotation coefficient is 2, the working angle changes in a range from about 0.32 (rad) to about 0.28 (rad) with an increase in the container capacity.

  FIG. 17B shows the operation angle (solid line) and the rotation coefficient in the r operation in which the rotation coefficient is 11 when the container capacity is 5 L, 25 L, 30 L, 45 L, 60 L, 110 L, and 250 L. Is 11, the operation angle (dotted line) in the Q operation is shown. As can be seen from FIG. 17 (b), in the r operation in which the rotation coefficient is 11, the working angle changes in a range from about 0.32 (rad) to about 0.24 (rad) with an increase in the container capacity. It can be seen that in the Q operation in which the rotation coefficient is 11, the action angle changes in a range from about 0.26 (rad) to about 0.18 (rad) with an increase in the container capacity. Here, the working angle becomes maximum when the r operation with the rotation coefficient of 2 is performed in the 5L container, and becomes minimum when the Q operation with the rotation coefficient of 11 is performed in the 45L container or the 60L container.

  As a result, the range of the working angle θa is from about 0.18 (rad) in the case where the Q operation in which the rotation coefficient is 11 is performed in the 45 L capacity or 60 L container, from the r operation in which the rotation coefficient is 2 in the 5 L capacity. The range is up to about 0.82 (rad) in the case of performing this.

(Embodiment 2)
FIG. 8 is a view for explaining a kneading apparatus according to Embodiment 2 of the present invention.

  The kneading apparatus 200 is different from the kneading apparatus 100 of the first embodiment in that the operation signal Os from the operation section 100 and the state detection are replaced with the control section 100c that controls the driving section 100b based on the operation signal Os from the operation section 100. The control unit 200c includes a control unit 200c that controls the driving unit 100b based on both of the state change signal As indicating the state change of the workpiece detected by the apparatus 10. Here, the control unit 200c changes the operation frequency or the operation angle by changing at least one of the rotation speed and the rotation direction of the revolution motor 101 and the rotation motor 102 according to a change in the state of the object to be processed. Is adapted to the processing state of the object to be processed. The other configuration of the kneading apparatus 200 of the second embodiment is the same as that of the kneading apparatus 100 of the first embodiment.

  Hereinafter, as an example of a specific configuration of the control unit 200c included in the kneading apparatus, one configured by a computer will be described. However, the control unit 200c may be realized by a configuration other than a computer as long as it achieves the function of controlling the driving unit 100b based on both the operation signal Os and the state change signal As.

  FIG. 9 shows an example of a specific configuration of the control unit 200c included in the kneading apparatus shown in FIG.

  The control unit 200c includes a computer 20a, and the computer 20a controls the driving unit 100b based on an operation signal Os from the operation unit 100d and a state change signal As from the state detection device 101 indicating a change in the state of the workpiece. .

  The computer 20a includes a processor 21, a memory 22, an input IF 23, and an output IF 24. The processor 21, the memory 22, the input IF 23, and the output IF 24 are mutually connected via a data bus 25. The state detection device 10 is connected to the input IF 23, and further, an operation unit 100d for operating the kneading device 200 is connected. The operation unit 100d includes a device such as a keyboard, a mouse, and a touch panel for inputting information to the computer 20a. The drive unit 100b is connected to the output IF 24.

  Here, the memory 22 stores a program (automatic operation program) for causing the processor 21 to control the driving unit 100b based on the state change signal A output from the state detection device 10. The automatic operation control of the kneading members 105a and 105b in the kneading device main body 100a is executed by the automatic operation program stored in the kneading device 22. Needless to say, the memory 22 stores a program for causing the processor 21 to control the driving unit 100d based on the operation signal Os from the operation unit 100d.

  FIG. 10 shows an example of a specific configuration of a kneading apparatus main body included in the kneading apparatus shown in FIG.

  The kneading apparatus main body 100a has a housing 108 and a rotatable cylindrical revolving shaft 111 arranged in the housing 108. The cylindrical revolving shaft 111 is rotatably mounted inside an annular member 131 fixed to the housing 108 by a fixture 132 via an outer upper bearing 131a and an outer lower bearing 131b. A driven sprocket 112 is attached to an upper end of the cylindrical revolving shaft 111, and the driven sprocket 112 is connected to a driving sprocket 113 attached to a motor shaft 101 a of the revolving motor 101 by a chain 114. At the lower end of the cylindrical revolving shaft 111, a rotating housing 103 that rotates together with the cylindrical revolving shaft 111 is attached.

  The kneading apparatus main body 100a has a rod-shaped rotation shaft 121 disposed inside the cylindrical revolution shaft 111. The rod-shaped rotation shaft 121 is rotatably attached to the cylindrical revolution shaft 111 via an inner upper bearing 111a and an inner lower bearing 111b. The upper end of the rod-shaped rotation shaft 121 protrudes upward through the driven sprocket 112 and is coupled to the motor shaft 102 a of the rotation motor 102. The lower end of the rod-shaped rotation shaft 121 enters the inside of the rotating casing 103, and a large gear 121 a is attached to the lower end of the rod-shaped rotation shaft 121. A pair of driven rotation shafts 123 and 124 arranged in parallel with the rod-shaped rotation shaft 121 are provided in the rotating housing 103. The driven rotation shaft 123 is rotatably attached to the rotating housing 103 via a driven shaft upper bearing 123b and a driven shaft lower bearing 123c, and the driven rotation shaft 124 is driven via a driven shaft upper bearing 124b and a driven shaft lower bearing 124c. And is rotatably attached to the rotating housing 103. Small gears 123a and 124a are attached to the driven rotation shafts 123 and 124, respectively, and the small gears 123a and 124a mesh with the large gear 121a. Further, kneading members 105a and 105b are attached to lower ends of the driven rotation shafts 123 and 124, respectively.

  In the kneading apparatus main body 100a having such a structure, the kneading members 105a and 105b revolve and rotate by rotation of the revolving drive shaft 111 and the rotation drive shaft 121.

  At the lower part of the housing 108, a mounting table 108a for mounting the kneading container 102 is provided so as to be able to move up and down. When the mounting table 108a is at the lower end position, the object 104a can be put in and out of the kneading container 104. When the mounting table 108a is at the upper end position, the upper opening of the kneading container 104 is closed by the container lid member 106. It comes off.

  Next, the operation of the kneading apparatus 200 will be described.

  FIG. 11 is a flowchart showing the operation of the kneading apparatus 200.

  For example, the memory 22 stores food materials such as bread dough, cookie dough, and hamburger dough, for example, an automatic operation program for producing bread dough.

(Step S11)
When the processor 21 starts executing the automatic driving program by an operation of the operator, the processor 21 reads a preset operating condition. Here, the operation conditions are, for example, the operation mode (r operation or Q operation), the revolving speed (rpm), and the rotation coefficient of the kneading members 105a and 105b.

(Step S12)
When the processor 11 outputs the drive control signal Ds to the drive unit 100b so that the operation mode, the rotation coefficient, and the revolving speed of the kneading members 105a and 105b conform to the operation conditions, the drive unit 100b performs the revolving motor 101 and the rotation. The motor 102 is driven so that the operating conditions are satisfied. Thus, the processing of the processing object 104a is started.

  In the state where the object 104a is being processed by the kneading members 105a and 105b, the processor 11 of the state detection device 10 executes the processing shown in steps S1 to S5 shown in FIG. The processor 11 of the state detection device 10 supplies information (state change signal) As indicating a state change of the object to be processed to the processor 21 of the control unit 200c.

(Step S13)
The processor 21 receives the state change signal As.

(Step S14)
The processor 21 determines whether or not the state of the workpiece 104a has changed based on the state change signal As.

(Step S15)
If the result of this determination is that there is no change in the state of the object 104a, the processor 21 controls the drive unit 100b so that the rotation speed of each of the motors 101 and 102 is maintained. Thus, the processing state of the object to be processed 104a is maintained as it is. After that, the process of the processor 21 returns to the current consumption analysis process (step S13).

(Step S16)
On the other hand, when it is determined in step S14 that there is a change in the state of the object 104a, the processor 21 determines whether the state change of the object 104a is a change to the processing end state of the object 104a. Judge further. If the state change of the processing target 104a is a change to the processing end state of the processing target 104a, the processor 21 controls the driving unit 100b so that the motors 101 and 102 stop, and the processing of the processing target 104a is performed. To end.

(Step S17)
On the other hand, when the state change of the processing target 104a is not a change to the processing end state of the processing target 104a, the processor 21 sets the rotation speed of each of the motors 101 and 102 to a value corresponding to the state change of the processing target 104a. The driving unit 100b is controlled so as to be as follows. Thus, the processing state of the processing target 104a is changed according to a change in the state of the processing target 104a. Thereafter, the processing of the processor 21 returns to the reception processing of the state change signal As (Step S13).

  As described above, in the kneading apparatus 200 of the second embodiment, the kneading apparatus main body 100a that processes the workpiece 104a, the current sensor 40 that detects current consumption in the kneading apparatus main body 100a, and the consumption sensor that is detected by the current sensor 40. A state detection device for detecting a change in the state of the object to be processed 104a by analyzing the current, and controlling the drive unit 100b by the control unit 200c to control the state of the object to be processed 104a in accordance with the detected state change of the object to be processed 104a. Since the processing state is changed, the processing of the processing object 104a whose state changes as the kneading processing progresses, such as bread dough, is changed to an appropriate processing state according to the state of the processing object 104a. The processing of the object 104a can be automatically performed until the object to be processed is completed.

  In the second embodiment, the detection of the change in the state of the object using the frequency analysis of the current consumption and the control of the driving unit are performed by separate computers. And control of the drive unit may be performed by one computer.

  Further, in each of the above embodiments, the case where the processing of the object to be detected for which the state change is detected is kneading, but the processing of the object to be processed is not limited to kneading, but may be other than mixing or stirring. May be performed.

  Further, in each of the above embodiments, the case where the object to be detected for which the state change is detected is a food material such as bread dough, but the object to be processed is not limited to the food material, but may be used in other fields such as medicine and physics and chemistry. Raw materials used in the above.

  For example, the present invention relates to a kneading technology for responding to an ultimate shrinking technology of components such as a capacitor, a coil, and an adhesive film used in a smartphone, or a precision mixing and dispersing technology of a raw material of an automobile battery. It can be applied in the same manner as the mixing technique or the kneading technique of food materials, and thereby, it is possible to provide the quantification of the change in the mixing state or the kneading state of the object and the quality control of the object. .

  As described above, the present invention is widely applicable not only to the kneading of the object to be processed described in each embodiment but also to the technique of mixing materials such as mixing and stirring.

  Further, in each of the above embodiments, the kneading apparatus 100 having two kneading members 105a and 105b as one or more processing members has been described, but the number of kneading members of the kneading apparatus may be one or three or more.

  Further, in each of the above embodiments, the kneading apparatus configured so that one or more processing members revolve and revolve is described. As long as the number of times of closest approach to the inner wall can be set, the rotational movement of one or more processing members may be only one of the rotation movement and the revolving movement.

  Further, the detection of the state change of the object to be processed by the detection device of the present invention is performed by the k operation of the kneading device in which the revolving direction and the rotation direction of one or more processing members are different, and the revolving direction and the rotation direction of one or more processing members. It is needless to say that any of the Q operations of the kneading apparatus having the same conditions can be used.

  Furthermore, the kneading device is not limited to a device in which each of the one or more kneading members has only one tip (blade) closest to the inner wall of the container (or hits the inner wall of the container). It goes without saying that at least one of the members may have a plurality of blades.

  As described above, the present invention has been exemplified using the preferred embodiments of the present invention, but the present invention should not be construed as being limited to these embodiments. It is understood that the scope of the present invention should be construed only by the claims. It is understood that those skilled in the art can implement equivalent ranges based on the description of the present invention and common general knowledge from the description of the specific preferred embodiments of the present invention. Patents, patent applications, and references cited herein should be incorporated by reference in their entirety, as if the content itself were specifically described herein. Understood.

  The present invention can provide an apparatus, a program, and a method capable of detecting a state change of an object to be processed with a simple configuration with high accuracy, and a processing apparatus using the apparatus. It is useful as a technique for detecting a change in the state of food materials such as cookie dough and hamburger dough, and other raw materials used in the fields of medicine and physics and chemistry during processing.

Reference Signs List 10 state detection device 10a, 20a computer 11, 21 processor 12, 22 memory 13, 23 input IF
13a Input device 14, 24 Output IF
14a Output device 15, 25 Data bus 40 Current sensor 100, 200 Kneading device 100a Kneading device main body 100b Drive unit 100c, 200c Control unit 100d Operation unit 101 Revolution motor 101a Revolution motor shaft 102 Rotation motor 102a Rotation motor shaft 103 Rotating housing 104 Container 104a Workpiece 104b Container inner wall 105a, 105b Kneading member (one or more processing members)
106 Container lid member 108 Housing 108a Container mounting table 111 Cylindrical revolving shaft 111a Inner upper bearing 111b Inner lower bearing 112 Driven sprocket 113 Drive sprocket 114 Chain 121 Bar-shaped rotation shaft 121a Large gear 123, 124 Driven rotation shaft 123a, 124a Small gear 123b, 124b Driven shaft upper bearing 123c, 124c Driven shaft lower bearing 131 Annular member 131a Outer upper bearing 131b Outer lower bearing 132 Fixture As State change signal C0 Center of revolution Cs Current consumption signal Dc1, Dc2 Motor drive current Ds Drive control signal Ea, Eb Tip of kneading member G1 to G4 Power spectrum information La Straight line Lb Tangent line Lq Tangent direction Lr Normal direction Os Operation signal Pa, Pb, Pr Point Ta, Tb Trajectory Trc Circular path Trd Virtual circle

Claims (16)

An apparatus for detecting a state change of an object to be processed,
Means for generating information indicating a power spectrum of the consumed current by performing frequency analysis of a consumed current of a driving source that drives one or more processing members that process the object to be processed in the container;
The information indicating the power spectrum of the consumption current, a means for extracting a plurality of power spectral values in a time series, each of the power spectrum values of the plurality of, in response to a predetermined frequency, the predetermined frequency, A means having a frequency which is a predetermined multiple of an operation frequency at which the one or more processing members are closest to the container, and the predetermined multiple is predetermined according to a type of the object to be processed ;
Means for detecting a state change of the object to be processed based on a time-series change of the plurality of power spectrum values. The apparatus according to claim 1, wherein at least one of 1/2, 1, 3/2, and 2 times the operating frequency is used as the predetermined multiple of the operating frequency. . 3. The apparatus according to claim 1, wherein the frequency that is a predetermined multiple of the operation frequency is a frequency at which a noise margin with respect to a change in a processing state of the workpiece is maximized. 4. The process for the object to be processed, mixing該被treated, kneaded, and at least one process of the stirring device according to any one of claims 1 to 3. The apparatus according to any one of claims 1 to 4 , wherein the one or more processing members revolve and rotate in the container. The apparatus according to claim 5 , wherein the rotation direction of the one or more processing members is different from the revolution direction of the one or more processing members. The apparatus according to claim 5 , wherein the rotation direction of the one or more processing members is the same as the revolution direction of the one or more processing members. The operating frequency is (the number of revolutions of the one or more processing members per minute) × (the number of revolutions of each of the one or more processing members per revolution of each of the one or more processing members is the maximum in the container. The apparatus according to any one of claims 5 to 7 , wherein (number of approaches) x (number of the one or more processing members) / 60. A program for executing, by a computer, a process of detecting a state change of an object to be processed,
The program is
By performing frequency analysis of a current consumption of a drive source that drives one or more processing members that process the object in a container, generating information indicating a power spectrum of the current consumption;
The information indicating the power spectrum of the current consumption, the method comprising: extracting a plurality of the power spectrum value in chronological, each of the power spectrum values of the plurality of, in response to a predetermined frequency, the predetermined frequency, The one or more processing members have a frequency that is a predetermined multiple of an operation frequency closest to the container, and the predetermined multiple is predetermined according to a type of the object to be processed ,
Detecting a change in state of the object based on a time-series change of the plurality of power spectrum values. The program according to claim 9, wherein at least one of 1/2, 1, 3/2, and 2 times the operating frequency is used as the predetermined multiple of the operating frequency. . The program according to claim 9, wherein the frequency that is a predetermined multiple of the operation frequency is a frequency at which a noise margin with respect to a change in a processing state of the workpiece is maximized. A method for detecting a state change of an object to be processed,
By performing frequency analysis of a current consumption of a drive source that drives one or more processing members that process the object in a container, generating information indicating a power spectrum of the current consumption;
The information indicating the power spectrum of the current consumption, the method comprising: extracting a plurality of the power spectrum value in chronological, each of the power spectrum values of the plurality of, in response to a predetermined frequency, the predetermined frequency, The one or more processing members have a frequency that is a predetermined multiple of an operation frequency closest to the container, and the predetermined multiple is predetermined according to a type of the object to be processed ,
Detecting a change in state of the workpiece based on a change in the time series of the plurality of power spectrum values. The method according to claim 12, wherein at least one of 1/2, 1, 3/2, and 2 times the working frequency is used as the predetermined frequency of the working frequency. . 14. The method according to claim 12, wherein the frequency that is a predetermined multiple of the working frequency is a frequency at which a noise margin with respect to a change in the processing state of the workpiece is maximized. A processing apparatus for processing an object to be processed,
A container for accommodating the object,
One or more processing members for processing the workpiece;
A drive source for driving the one or more processing members;
An apparatus according to any one of claims 1 to 8 , comprising:
A processing apparatus, wherein the apparatus detects a change in the state of the processing target processed by the processing apparatus. The processing device includes:
A drive unit that supplies a drive current to the drive source,
The processing apparatus according to claim 15 , further comprising: a control unit configured to control the driving unit in accordance with a change in a state of the processing target processed by the processing apparatus detected by the apparatus.

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