Information processing device, information processing method, production system, method for manufacturing article using production system, program, and recording medium

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The information processing device enhances cleaning blade performance evaluation by measuring on flat and curved surfaces, addressing inaccuracies from contact position changes and sliding, thereby improving measurement accuracy and assembly reliability.

JP2025156996APending Publication Date: 2025-10-15CANON KK

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Patent Information

Application Number: JP2024059799
Authority / Receiving Office: JP · JP
Patent Type: Applications
Current Assignee / Owner
Filing Date: 2024-04-02
Publication Date: 2025-10-15

AI Technical Summary

Technical Problem

Existing methods for evaluating cleaning blade performance in electrophotography systems suffer from inaccuracies due to changes in contact position and force direction caused by product tolerances and sliding, leading to unreliable measurement values.

Method used

An information processing device that measures the hardness of cleaning blades by bringing them into contact with both flat and curved surfaces, while accounting for changes in contact position and force direction through precise movement and rotation mechanisms, using sensors to capture force and deformation data.

Benefits of technology

This approach improves the accuracy of cleaning blade performance measurements by minimizing the influence of product tolerances and sliding, ensuring reliable evaluation and assembly of cleaning blades in electrophotographic devices.

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Abstract

To improve accuracy of a measurement value related to performance of a target object.SOLUTION: An information processing device that acquires information related to hardness of a target object acquires the information related to the hardness of the target object on the basis of information related to a movement amount of the target object in a case where the target object is brought into contact with any position of a planar portion or any position of a curvature surface portion having a curvature of a predetermined condition, and then the target object is further pressed against the planar portion or the curvature surface portion in a state where the target object is brought into contact with the planar portion or the curvature surface portion after bringing the target object into contact with the planar portion or the curvature surface portion, and information related to force that occurs when the target object is brought into contact with the planar portion or the curvature surface portion, or information related to an amount of deformation of a sensor portion that acquires the information related to force, respectively acquired in a case where the target object is brought into contact with the planar portion or the curvature surface portion and a case where the target object is further pressed against the planar portion or the curvature surface portion in a state where the target object is brought into contact with the planar portion or the curvature surface portion.SELECTED DRAWING: Figure 3

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Description

[Technical Field]

[0001] The present invention relates to information processing. [Background technology]

[0002] Conventionally, in image forming apparatuses using electrophotography, cleaning blades have been widely used as cleaning members to remove toner (developer) from a photosensitive drum (image carrier). A cleaning blade is constructed by adhering an elastic material, such as urethane rubber, to a metal plate using adhesive or other bonding methods. When the leading edge of the elastic material contacts the photosensitive drum, a force is applied to the photosensitive drum depending on the amount of contact and the hardness of the cleaning blade's elastic material. This frictional force generates a frictional force depending on the coefficient of friction between the cleaning blade and the photosensitive drum. To remove residual toner, it is desirable to be able to evaluate the performance of the cleaning blade in advance. One method for evaluating cleaning blade performance is to contact the cleaning blade with a rotating drum drive mechanism and measure the load acting on the cleaning blade using a load cell. For example, a blade load measuring device, such as that disclosed in Patent Document 1, is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-25717 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, when evaluating the performance of a cleaning blade, the cleaning blade is brought into contact with a cylindrical part (dummy drum) with a curved surface similar to that of a photosensitive drum, and the hardness is measured based on the contact amount and the force applied to the photosensitive drum. Here, the hardness of the cleaning blade is defined as the amount of force applied to the photosensitive drum per 1 mm of contact of the cleaning blade. However, with the method described in Patent Document 1, if the degree to which the cleaning blade is pressed against the cylindrical part, i.e., the position of the cleaning blade relative to the cylindrical part, is changed, the contact position between the cleaning blade and the cylindrical part also changes. This changes the direction of the force applied by the cleaning blade, changing the measured value, which may result in a low accuracy of the obtained measurement value. [Means for solving the problem]

[0005] The present invention is an information processing device that acquires information regarding the hardness of an object, and employs an information processing device characterized in that the information regarding the hardness of the object is acquired based on information regarding the amount of movement of the object when the object is brought into contact with any position on a flat surface portion or any position on a curved surface portion having a curvature of predetermined conditions, the object is brought into contact with the flat surface portion or the curved surface portion, and then the object is further pressed against the flat surface portion or the curved surface portion while the object is still in contact, and information regarding the force generated when the object is brought into contact with the flat surface portion or the curved surface portion, or information regarding the amount of deformation of a sensor unit that acquires information regarding the force, which is acquired when the object is brought into contact with the flat surface portion or the curved surface portion, and when the object is further pressed against the flat surface portion or the curved surface portion while the object is still in contact. [Effects of the Invention]

[0006] According to the present invention, the accuracy of measurements relating to the performance of an object can be improved. [Brief explanation of the drawings]

[0007] [Figure 1]2 is a diagram illustrating a photosensitive drum 80 and a cleaning blade 10 according to an embodiment. FIG. [Figure 2] 2 is a diagram illustrating a photosensitive drum 80 and a cleaning blade 10 according to an embodiment. FIG. [Figure 3] FIG. 1 is a diagram illustrating a system 1 according to an embodiment. [Figure 4] 3 is a control flowchart according to the embodiment. [Figure 5] FIG. 10 is a diagram for explaining the effect of the embodiment. [Figure 6] FIG. 1 is a diagram illustrating a system 1 according to an embodiment. [Figure 7] FIG. 1 is a diagram illustrating a system 1 according to an embodiment. [Figure 8] FIG. 1 is a diagram illustrating a system 1 according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, a description will be given of an embodiment of the present invention with reference to the accompanying drawings. The embodiment shown below is merely an example, and those skilled in the art can appropriately modify the detailed configuration, for example, without departing from the spirit of the present invention. Furthermore, the numerical values used in the present embodiment are for reference only and do not limit the present invention. In the following drawings, the arrows X, Y, and Z in the figures indicate the coordinate system of the entire device. Generally, the XYZ three-dimensional coordinate system indicates the world coordinate system of the entire installation environment. In addition, a local coordinate system may be used as appropriate for control purposes, etc.

[0009] (First embodiment) First, the problem in this case will be described in detail using Figures 1 and 2. Figure 1 is a diagram for explaining the contact amount of the elastic body of the cleaning blade against the photosensitive drum. Figure 1(a) shows a perspective view of the photosensitive drum 80 and cleaning blade 10 when they are in contact. Figure 1(b) is a view seen from the arrow F in Figure 1(a). Figure 1(c) is a view seen from the arrow F in Figure 1(a) that shows the contact amount of the elastic body. Figure 2 is a diagram for explaining the contact amount and force direction of the elastic body of the cleaning blade against the photosensitive drum. Figure 2(a) is a view seen from the arrow F in Figure 1(a) that shows how the contact position changes when the tip of the cleaning blade slides due to the product tolerance and contact amount of the cleaning blade. Figure 2(b) is a diagram showing how the direction of the force changes depending on the change in contact amount.

[0010] As shown in Figures 1(a) and 2(a), the cleaning blade 10 includes an elastic body 11 and a metal plate 12, with the elastic body 11 attached to the metal plate 12. The elastic body 11 comes into contact with the photosensitive drum 80. As shown in Figure 1(b), when the elastic body 11 of the cleaning blade 10 comes into contact with the photosensitive drum 80, it deforms along the surface of the photosensitive drum 80. Here, as shown in Figure 1(c), a contact amount 83 is the amount by which the elastic body 11 of the cleaning blade 10 would be pressed into the photosensitive drum 80 when it comes into contact with the photosensitive drum 80, assuming that the elastic body 11 does not deform as shown in Figure 1(b).

[0011] Because the cleaning blade is in contact with a cylindrical member, as shown in FIG. 2(a), the contact position of the cleaning blade with the cylindrical member changes from the position of elastic body 11a (dotted line) to the position of elastic body 11b (solid line) depending on the product tolerance or contact amount of the cleaning blade. As shown in FIG. 2(b), the contact position of elastic body 11 changes depending on the curvature of the cylinder, changing the direction of the force that the photosensitive drum 80 receives from elastic body 11, thereby affecting the measured values related to the performance of elastic body 11. Furthermore, as the elastic body 11 is brought into contact with the contact surface of the photosensitive drum 80, the tip position of the cleaning blade slides along the cylindrical surface from the position of elastic body 11a in the direction of arrow e depending on the contact amount. Accordingly, the tip position of the cleaning blade slides and changes the contact position. Therefore, the contact amount of the cleaning blade and the direction of the force that the cylindrical member receives from the cleaning blade change depending on the curvature of the cylinder, affecting the measured values.

[0012] In the example of Figure 2(b), when the contact position is elastic body 11a, a force 87 is applied to the photosensitive drum 80, and when the contact position is elastic body 11b, a force 88 is applied to the photosensitive drum 80. Furthermore, a contact amount change amount 86 occurs between the elastic body 11a and the elastic body 11b, and therefore the magnitudes of forces 87 and 88 also change. In this way, the change in the contact position affects the force applied to the photosensitive drum 80, which in turn affects the measured value.

[0013] The system for measuring the hardness of a cleaning blade in this embodiment will be described below with reference to the drawings. FIG. 3 is a diagram showing system 1 in this embodiment. FIG. 3(a) is a perspective view of system 1. FIG. 3(b) is an XZ plan view of FIG. 3(a) and shows the configuration of the measurement unit of the system. FIG. 3(c) is a schematic diagram showing a curved surface with a curvature radius of 150 mm or more as viewed from B in FIG. 3(a).

[0014] 3(a), the system 1 in this embodiment has a mounting unit 20 for mounting the cleaning blade 10, a measurement unit 40 for measuring the force exerted by the cleaning blade 10, and a drive unit 30 for moving the mounting unit 20 to the measurement unit 40. When mounting the cleaning blade 10 on the mounting unit 20, it is desirable to determine the position using a positioning pin or the like and then fix it to the mounting unit 20 using a fixing method such as a screw. Positioning and fixing is preferably done manually, but positioning may also be done by a robot if the required positioning precision can be achieved.

[0015] The drive unit 30 moves the cleaning blade 10 linearly in the +Z direction to bring it into contact with the measurement unit 40, and is configured with components that allow linear movement, such as a motor, ball screw, or guide. As long as it is possible to bring the cleaning blade 10 into linear contact, the method is not limited to the above, and various actuators may be used. In Figure 3(a), the measurement unit 40 is disposed in the +Z direction of the installation unit 20, i.e., vertically above, and the drive unit 30 moves in the +Z direction to bring the cleaning blade 10 into contact with the measurement unit 40.

[0016] Here, for example, the entire system 1 may be rotated 90 degrees clockwise on the X axis in the drawing, the installation unit 20 may be moved horizontally in the +Y direction, and the cleaning blade 10 may be brought into contact with the measurement unit 40 for measurement. The amount of movement of the installation unit 20 moved by the drive unit 30 is measured by a movement amount measurement unit 31. This may be an encoder attached to a motor constituting the drive unit 30, or a linear scale capable of measuring the amount of linear movement.

[0017] Next, as shown in FIGS. 3(a), 3(b), and 3(c), the measurement unit 40 has a sensor unit 41 that detects the force received from the cleaning blade 10 and a contact unit 42 against which the cleaning blade 10 contacts. A flat surface 43 is provided on the contact unit 42 surface against which the cleaning blade 10 contacts. The sensor unit 41 is composed of a load cell that measures the force from the amount of displacement when a force is applied. In this embodiment, the force is measured using a load cell, but this is not limited to this. For example, the force may be measured using an optical force sensor, a magnetic force sensor, a piezoelectric quartz force sensor, a strain gauge, or the current value of the motor of the drive unit 30, as long as it can be converted into force. When the current value of the motor of the drive unit 30 is used for measurement, the reaction force is measured.

[0018] The contact portion 42 is provided with a deformation amount measuring portion 44 made up of an eddy current sensor capable of measuring position, and measures the amount of deformation of the sensor portion 41 when measuring the force that the sensor portion 41 receives from the cleaning blade 10. By measuring the amount of deformation of the sensor portion 41, the position change in the Z-axis direction of the contact portion 42 is obtained. Any sensor other than an eddy current sensor may be used as long as it can measure the amount of deformation of the sensor portion 41. For example, an optical sensor or a magnetic sensor may be used.

[0019] The curvature of the flat surface portion 43 may be set within a range that allows for variations in the amount of contact and the direction of force due to variations in the contact position of the elastic body 11 caused by product tolerances of the cleaning blade 10 and variations in the contact position caused by sliding due to deformation of the elastic body 11. For example, as shown in the enlarged view of part b in Figure 3(c), the flat surface portion 43 may have a sufficiently large curvature, such as a curvature surface portion 45 with a radius of curvature of 150 mm or more. Here, the larger the radius of curvature, the smaller the effect on the measurement value.

[0020] The various detection results of the movement amount measurement unit 31, the sensor unit 41, and the deformation amount measurement unit 44 can be transmitted to a PC (Personal Computer) 90, which serves as an information processing device, as shown in FIG. 3(a). The PC 90 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The PC 90 also includes a communication interface (hereinafter referred to as "I / F") used for communication with external devices such as the movement amount measurement unit 31, the sensor unit 41, and the deformation amount measurement unit 44. The PC 90 also includes a driver for driving the drive unit 30. Of course, the drive unit 30 may include a control device such as a microcomputer and a driver, and the control device of the drive unit 30 may acquire data from the movement amount measurement unit 31, and the control device and driver of the drive unit 30 may control the operation of the drive unit 30 in response to a command from the PC 90.

[0021] The CPU, which is a processor, is an example of a processing unit. The ROM stores a basic program for operating the PC 90 and a program for controlling the entire system 1. The RAM is used to temporarily store programs for controlling the entire system, data such as the execution timing of tasks for each control target, control commands, and data from the movement amount measurement unit 31, the sensor unit 41, and the deformation amount measurement unit 44.

[0022] The CPU acquires data transmitted from, for example, the movement amount measurement unit 31, the sensor unit 41, and the deformation amount measurement unit 44 by receiving the data via the I / F. The CPU can also transmit commands as control target values to the drive unit 30 via the I / F based on programs and data input by the user. Note that, although the present embodiment will be described taking as an example a case where the PC 90 directly controls the drive unit 30 and receives data, this is not limiting. For example, the drive unit 30 may be equipped with a control device configured by a computer including a microprocessor, and commands may be output from the PC 90 to the control device, with the actual control being performed by the equipped control device.

[0023] The PC 90 can acquire information about the hardness of the elastic body 11 of the cleaning blade 10 based on the detection results received from the movement amount measurement unit 31, the sensor unit 41, and the deformation amount measurement unit 44. In the present embodiment, a PC is used as an example of an information processing device, but this is not limiting. For example, an information processing terminal such as a PLC (Programmable Logic Controller) or a smartphone may also be used.

[0024] The above system makes it possible to measure and evaluate the hardness of the elastic body 11 of the cleaning blade 10 and manufacture an article having the cleaning blade 10 with the evaluated elastic body 11. The object in the manufacture of the article is the cleaning blade 10. The components to which the cleaning blade 10 is attached are the printer housing on which the cleaning blade 10 is attached and a photosensitive drum having a curved surface. The process in the manufacture of the article involves evaluating the cleaning blade 10 based on information about the hardness of the elastic body 11 of the cleaning blade 10 obtained by the system 1. Then, the cleaning blade 10 that satisfies the conditions is assembled into the printer housing having a photosensitive drum. As a result, an article having the cleaning blade 10 is manufactured.

[0025] The system 1 may be equipped with a mechanism capable of carrying out the above-described steps and used as a production system. Of course, information about the hardness of the cleaning blade 10 obtained by the system 1 may be used in a system other than the system 1 to manufacture an article having the cleaning blade 10.

[0026] 4 is a flowchart showing a process for measuring the hardness of the elastic body 11 of the cleaning blade 10 using the system 1 of this embodiment. The flow shown in FIG. 4 is executed by the CPUs of the control devices in cooperation with each other through communication as needed, and the description will also include a process executed manually (by a user).

[0027] 4, first, the cleaning blade 10 is attached to the installation portion 20. Then, in step S11, the PC 90 causes the drive portion 30 to raise the installation portion 20, and controls the drive portion 30 based on the movement amount measurement portion 31 so that the drive portion 30 moves to the first abutment position where the force is measured by the sensor portion 41. In this step, the elastic body 11 of the cleaning blade 10 is brought into abutment (contact) with the flat portion 43 of the abutment portion 42.

[0028] Next, in step S12, the PC 90 uses the sensor unit 41 to measure and obtain the force that the contact portion 42 at the first contact position receives from the elastic body 11 of the cleaning blade 10. Also, the movement amount measurement unit 31 obtains the movement amount (or the position in the +Z direction) from the initial position of the installation portion 20. Also, the deformation amount measurement unit 44 measures the deformation amount from the initial state of the sensor unit 41 to obtain the position change of the contact portion 42.

[0029] Subsequently, in step S13, the PC 90 causes the driving unit 30 to move the installation unit 20 to a second contact position where the amount of contact of the contact portion 42 of the elastic body 11 with the flat surface portion 43 is greater than the first contact position in step S11 (the amount of deformation of the elastic body 11 is greater). In other words, the elastic body 11 is pressed against the flat surface portion 43. In step S13, as in step S11, the driving unit 30 controls the installation unit 20 based on the movement amount measuring unit 31 to operate the installation unit 20.

[0030] Next, in step S14, the PC 90 uses the sensor unit 41 to measure the force that the contact portion 42 at the second contact position receives from the elastic body 11 of the cleaning blade 10. Also, the movement amount measurement unit 31 acquires the movement amount (or the position in the +Z direction) of the installation portion 20 from the initial position. Also, the deformation amount measurement unit 44 measures the deformation amount of the sensor unit 41 from the initial state and acquires the position change of the contact portion 42.

[0031] Next, in step S15, information about the hardness of the elastic body 11 of the cleaning blade 10 is obtained based on the force, movement amount, and deformation amount measured in step S12 and the force, movement amount, and deformation amount measured in step S14. The force measured in step S12 is F1, the movement amount measured in step S12 is S1, the deformation amount measured in step S12 is δ1, the force measured in step S14 is F2, the movement amount measured in step S14 is S2, and the deformation amount measured in step S14 is δ2. Then, because the elastic body 11 is deformed between steps S12 and S14, hardness information K of the elastic body 11 is obtained from the difference between these values using the following formula.

[0032]

number

[0033] In step S16, the drive unit 30 lowers the installation unit 20, separating the cleaning blade 10 from the contact portion 42, and the flowchart ends. It is also possible to set a stop position before step S11 where the elastic body 11 of the cleaning blade 10 stops just before contacting the contact portion 42, and then slowly bring the cleaning blade 10 into contact with the contact portion 42 from there. This reduces the time required for measurement. If the acquired information about hardness does not meet the predetermined conditions for determining that the elastic body 11 is a non-defective product, such as if the information about hardness is not within a threshold range, an error may be notified to the user. In this embodiment, the elastic body 11 is brought into contact with the contact portion 42 at least twice, but information about the hardness of the elastic body 11 may be acquired by contacting the elastic body 11 more than twice.

[0034] In this embodiment, both the force and the deformation amount are acquired to obtain the stiffness information, but this is not limited to this. For example, if the relationship between the force and the deformation amount of the sensor unit 41 is known, it is possible to acquire either the force or the deformation amount and obtain the other based on the known relationship to obtain the stiffness information. In this embodiment, the respective movement amounts from the initial position of the installation unit 20 are acquired in measuring the movement amount. However, it is also possible to acquire stiffness information based on the movement amount of the installation unit 20 when the installation unit 20 is transitioned from step S12 to step S12. Similarly, it is also possible to acquire stiffness information based on the deformation amount of the sensor unit 41 when the installation unit 20 is transitioned from step S12 to step S12.

[0035] According to the present embodiment, the elastic body 11 of the cleaning blade 10 is brought into contact with the flat surface 43 of the contact portion 42 or the curved surface 45 having a sufficient radius of curvature. This reduces the contact amount change 86 of the elastic body 11 caused by the change in the contact position between the contact position of the elastic body 11a and the contact position of the elastic body 11b, as shown in FIG. 5 , and allows the magnitudes of the forces 87 and 88 to be matched. Furthermore, since the contact positions of the elastic body 11a and the elastic body 11b in the Z-axis direction can be matched, the directions of the forces 87 and 88 can also be matched. This allows the forces 87 and 88 to be matched even if the contact position of the elastic body 11 with the contact portion 42 changes from the position of the elastic body 11a (dotted line) to the position of the elastic body 11b (solid line) due to product tolerances or sliding of the elastic body 11. Therefore, the influence of changes in force due to product tolerances or changes in the contact position caused by sliding of the elastic body 11 can be reduced, and the accuracy of measurements relating to the performance of the object can be improved.

[0036] Furthermore, information relating to the hardness of elastic body 11 is measured from the difference in force measured between the two contact positions and the difference in the amount of deformation of contact portion 42. Therefore, even if the amount of contact of elastic body 11 cannot be measured accurately, the amount of deformation of contact portion 42 can be taken into account and the amount of contact that changes due to the deformation of contact portion 42 caused by the contact force can be measured, thereby improving the measurement accuracy of information relating to the hardness of elastic body 11.

[0037] (Second embodiment) Next, a second embodiment will be described. Note that, in the following, the same reference numerals will be used for the same or corresponding components as those in the first embodiment, and their description will be omitted or simplified, and the description will focus on the differences from the first embodiment. FIG. 3 is a diagram showing a system 1 in this embodiment. FIG. 6(a) is a perspective view of the system 1. FIG. 6(b) is a YZ plan view of FIG. 6(a), showing the state immediately before the elastic body 11 of the cleaning blade 10 comes into contact with the contact portion 42. FIG. 6(c) is a YZ plan view of FIG. 6(a), showing the state when the elastic body 11 of the cleaning blade 10 comes into contact with the contact portion 42 and the contact portion 42 is rotating.

[0038] As shown in FIG. 6(a), the system 1 according to this embodiment includes a contact portion rotation unit 50 in the measurement unit 40, which includes a contact portion rotation mechanism 51 configured from a bearing, a shaft, and the like. As shown in FIG. 6(b), the contact portion rotation unit 50 is arranged so that the flat portion 43 is parallel to the Y-axis direction before the elastic body 11 contacts the flat portion 43. As shown in FIG. 6(c), when the elastic body 11 moves in the +Z direction and contacts the flat portion 43, the elastic body 11 slides along the flat portion 43. In this case, the sensor unit 41, the contact portion 42, and the deformation amount measurement unit 44 are rotated in the direction of arrow a by the contact portion rotation mechanism 51 due to the frictional force generated between the elastic body 11 and the flat portion 43.

[0039] The acquisition of information regarding hardness is the same as in the first embodiment. The force, movement amount, and deformation amount when the elastic body 11 is brought into contact are acquired. Next, the elastic body 11 is brought into contact with the contact portion 42, and the force, movement amount, and deformation amount when the sensor portion 41, the contact portion 42, and the deformation amount measuring portion 44 rotate are acquired, and information regarding hardness is acquired based on the formula 1. Note that in this embodiment, a bearing and a shaft are used, but this is not limiting. For example, a motor or the like may also be used.

[0040] As described above, according to this embodiment, the sensor unit 41, the contact unit 42, and the deformation amount measuring unit 44 rotate due to the frictional force generated between the elastic body 11 and the flat portion 43. Therefore, the influence of the frictional force generated between the elastic body 11 and the flat portion 43 on the force measurement value of the sensor unit 41 can be reduced. Furthermore, the sensor unit 41, the contact unit 42, and the deformation amount measuring unit 44 are configured to rotate. Therefore, the sensor unit 41 also rotates relatively in accordance with the sliding of the elastic body 11, which reduces the change in the direction of the force applied to the sensor unit 41 and reduces the influence on the force measurement.

[0041] As described above, it is possible to reduce the influence of changes in force due to product tolerances or changes in the contact position caused by sliding of the elastic body 11, thereby improving the accuracy of measurements related to the performance of the object. It is also possible to reduce the influence on force measurement due to the frictional force between the elastic body 11 and the contact portion 42 and the sliding of the elastic body 11. Furthermore, the various embodiments and modified examples described above may be combined and implemented.

[0042] (Third embodiment) Next, a third embodiment will be described. In the following, the same reference numerals will be used for components that are the same as or equivalent to those in the first and second embodiments, and their description will be omitted or simplified. The following description will focus on the differences from the first and second embodiments. Figure 7 shows a system 1 according to this embodiment. Figure 7(a) is a perspective view of the system 1. Figure 7(b) is a YZ plan view of Figure 7(a), showing the state immediately before the elastic body 11 of the cleaning blade 10 comes into contact with the contact portion 42. Figure 7(c) is a YZ plan view of Figure 7(a), showing the state when the elastic body 11 of the cleaning blade 10 comes into contact with the contact portion 42 and the contact portion 42 is moving.

[0043] As shown in FIG. 7( a), the system 1 according to this embodiment is configured such that the measuring unit 40 includes a contact portion slide guide unit 61, which is configured using an LM guide or the like, and a contact portion slide unit 60 that slides along the contact portion slide guide unit 61. As shown in FIG. 7( b), the contact portion slide unit 60 is installed so as to be directly above the elastic body 11 and the flat portion 43 of the cleaning blade 10. As shown in FIG. 7( c), when the elastic body 11 of the cleaning blade 10 moves in the +Z direction and comes into contact with the flat portion 43, the elastic body 11 slides along the flat portion 43 due to the amount of contact. Then, due to the frictional force generated between the elastic body 11 and the flat portion 43, the sensor unit 41, the contact portion 42, and the deformation amount measuring unit 44 slide along the contact portion slide unit 60 and the contact portion slide guide unit 61 in the direction of arrow C.

[0044] The acquisition of information regarding hardness is the same as in the first embodiment. The force, movement amount, and deformation amount when the elastic body 11 is brought into contact are acquired. Next, the elastic body 11 is brought into contact with the contact portion 42, and the force, movement amount, and deformation amount when the sensor portion 41, the contact portion 42, and the deformation amount measuring portion 44 slide and move are acquired, and information regarding hardness is acquired based on equation 1. Note that in this embodiment, an LM guide has been used as an example, but this is not limiting. For example, a spring mechanism, a pneumatic or hydraulic actuator, etc. may be used.

[0045] According to the present embodiment, the sensor unit 41, the contact unit 42, and the deformation amount measuring unit 44 slide due to the frictional force generated between the elastic body 11 and the flat portion 43. This reduces the effect of the frictional force generated between the elastic body 11 and the flat portion 43 on the force measurement measured by the sensor unit 41. The sensor unit 41, the contact unit 42, and the deformation amount measuring unit 44 are also configured to slide. This reduces the relative movement of the sensor unit 41 in accordance with the sliding of the elastic body 11, thereby reducing the change in the direction of the force applied to the sensor unit 41 and reducing the effect on the force measurement.

[0046] As described above, it is possible to reduce the influence of changes in force due to product tolerances or changes in the contact position caused by sliding of the elastic body 11, thereby improving the accuracy of measurements related to the performance of the object. It is also possible to reduce the influence on force measurement due to the frictional force between the elastic body 11 and the contact portion 42 and the sliding of the elastic body 11. Furthermore, the various embodiments and modified examples described above may be combined and implemented.

[0047] (Fourth embodiment) Next, a fourth embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding components as those in the first to third embodiments, and their description will be omitted or simplified. The following description will focus on the differences from the first to third embodiments. Figure 8 shows a system 1 in this embodiment. Figure 8(a) is a perspective view of the system 1. Figure 8(b) is a YZ plan view of Figure 8(a), showing the state immediately before the elastic body 11 of the cleaning blade 10 comes into contact with the contact portion 42. Figure 8(c) is a YZ plan view of Figure 8(a), showing the state when the elastic body 11 of the cleaning blade 10 comes into contact with the contact portion 42 and the installation portion 20 is moving.

[0048] 8(a), the system 1 according to this embodiment is configured such that the installation section 20 is provided with an installation section slide guide section 71 and an installation section slide section 70, which are configured from an LM guide or the like. The installation section 20 is provided on the drive section 30 via a slide jig section 72, and the installation section 20, installation section slide section 70, and installation section slide guide section 71 are movable in the Z-axis direction together with the movement of the drive section 30.

[0049] As shown in Figure 8(b), the installation section slide section 70 is disposed so as to be located directly below the elastic body 11 and flat section 43 of the cleaning blade 10. As shown in Figure 8(c), when the elastic body 11 contacts the flat section 43, the elastic body 11 slides along the flat section 43 depending on the amount of contact. Then, due to the frictional force generated between the elastic body 11 and the flat section 43, the installation section 20 is slid in direction d by the installation section slide section 70 and the installation section slide guide section 71.

[0050] The acquisition of information regarding hardness is the same as in the first embodiment. The force, movement amount, and deformation amount when the elastic body 11 is brought into contact are acquired. Next, the elastic body 11 is brought into contact with the contact portion 42, and the force, movement amount, and deformation amount when the installation portion 20 slides are acquired, and information regarding hardness is acquired based on the formula 1. Note that in this embodiment, an LM guide has been used as an example, but this is not limiting. For example, a spring mechanism, a pneumatic or hydraulic actuator, etc. may be used.

[0051] According to the present embodiment, the installation section 20 slides due to the frictional force generated between the elastic body 11 and the flat section 43. This reduces the effect of the frictional force generated between the elastic body 11 and the flat section 43 on the force measurement measured by the sensor section 41. The installation section 20 is also configured to slide. This means that the installation section 20 also slides relative to the sensor section 41 in accordance with the sliding of the elastic body 11, thereby reducing the change in the direction of the force applied to the sensor section 41 and reducing the effect on the force measurement.

[0052] As described above, the influence of changes in force due to product tolerances or changes in the contact position caused by the sliding of the elastic body 11 can be reduced, improving the accuracy of measurements related to the performance of the object. Also, the influence on force measurement due to the frictional force between the elastic body 11 and the contact portion 42 and the sliding of the elastic body 11 can be reduced. Note that, although the present embodiment has been described taking as an example a case in which the installation unit 20 slides, this is not limiting. For example, as in the second embodiment, the installation unit 20 may be rotated. Furthermore, the various embodiments and modified examples described above may be combined and implemented.

[0053] (Other embodiments) The processing procedures of the above-described embodiments are specifically executed by at least one CPU and / or user input. Therefore, a recording medium on which a software program capable of executing the above-described functions is recorded can also be read and executed. In this case, the program read from the recording medium itself realizes the functions of each of the above-described embodiments, and the program itself and the recording medium on which the program is recorded constitute the present invention.

[0054] In addition, in each embodiment, the computer-readable recording medium is a ROM, a RAM, or a flash ROM, and the program is stored in the ROM, RAM, or flash ROM. However, the present invention is not limited to this embodiment. The program for implementing the present invention may be recorded on any computer-readable recording medium. An SSD (Solid State Drive) may also be used as the storage unit.

[0055] In the various embodiments described above, the robot may be a vertical multi-axis type, a horizontal multi-joint type, a parallel link type, an orthogonal robot, etc. The various embodiments described above are also applicable to machines that can automatically perform movements such as extension and contraction, bending and stretching, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information stored in a storage device provided in a control device.

[0056] The present invention is not limited to the above-described embodiments, and many modifications are possible within the technical concept of the present invention. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. Furthermore, the above-described various embodiments and modifications may be combined and implemented.

[0057] The disclosure of this embodiment also includes the following configurations and methods.

[0058] (Item 1) An information processing device that acquires information about the hardness of an object, bringing the object into contact with any position on the flat surface portion or any position on the curved surface portion having a curvature that satisfies predetermined conditions; information about a movement amount of the object when the object is brought into contact with the flat surface portion or the curved surface portion and then further pressed against the flat surface portion or the curved surface portion while the object is still in contact; and information about the hardness of the object is obtained based on information about the force generated when the object is brought into contact with the flat surface portion or the curved surface portion, or information about the deformation amount of a sensor unit that obtains information about the force, which is obtained when the object is brought into contact with the flat surface portion or the curved surface portion, and when the object is further pressed against the flat surface portion or the curved surface portion while the object is in contact with the flat surface portion or the curved surface portion. 1. An information processing device comprising:

[0059] (Item 2) In the information processing device according to item 1, the predetermined condition is a condition set based on a range of allowable changes in information about the force acquired when the object is brought into contact with the curved surface portion. 1. An information processing device comprising:

[0060] (Item 3) In the information processing device according to item 1 or 2, acquiring information about the hardness of the object based on the difference between the information about the movement amount and the information about the force or the difference between the information about the deformation amount; 1. An information processing device comprising:

[0061] (Item 4) In the information processing device according to any one of items 1 to 3, acquiring both information about the force and information about the deformation amount, and acquiring information about the hardness of the object based on the information about the force and the information about the deformation amount. 1. An information processing device comprising:

[0062] (Item 5) In the information processing device according to any one of items 1 to 4, When the object is brought into contact with the flat surface portion or the curved surface portion, the object and the flat surface portion or the curved surface portion are displaced relative to each other. 1. An information processing device comprising:

[0063] (Item 6) Item 5. In the information processing device according to item 5, When the object is brought into contact with the flat surface portion or the curved surface portion, the object is rotated or slid relative to the flat surface portion or the curved surface portion. 1. An information processing device comprising:

[0064] (Item 7) Item 5. In the information processing device according to item 5, When the object is brought into contact with the flat surface portion or the curved surface portion, the flat surface portion or the curved surface portion is rotated or slid relative to the object. 1. An information processing device comprising:

[0065] (Item 8) In the information processing device according to any one of items 5 to 7, The object is brought into contact with the flat surface portion or the curved surface portion, and friction is generated between the object and the flat surface portion or the curved surface portion, thereby displacing the object relative to the flat surface portion or the curved surface portion. 1. An information processing device comprising:

[0066] (Item 9) In the information processing device according to any one of items 1 to 8, If the information about the hardness of the object does not satisfy a predetermined condition, an error is notified. 1. An information processing device comprising:

[0067] (Item 10) In the information processing device according to any one of items 1 to 9, The object is used in contact with a part having a curved surface. 1. An information processing device comprising:

[0068] (Item 11) In the information processing device according to any one of items 1 to 10, the object is an elastic body of a cleaning blade of an electrophotographic image forming apparatus, 1. An information processing device comprising:

[0069] (Item 12) 12. A production system that assembles an object to another object based on information about the hardness of the object acquired by the information processing device according to any one of items 1 to 11.

[0070] (Item 13) Item 13. A method for manufacturing an article, comprising manufacturing the article using the production system according to Item 12.

[0071] (Item 14) An information processing method for acquiring information about the hardness of an object, comprising: bringing the object into contact with any position on the flat surface portion or any position on the curved surface portion having a curvature that satisfies predetermined conditions; information about a movement amount of the object when the object is brought into contact with the flat surface portion or the curved surface portion and then further pressed against the flat surface portion or the curved surface portion while the object is still in contact; and information about the hardness of the object is obtained based on information about the force generated when the object is brought into contact with the flat surface portion or the curved surface portion, or information about the deformation amount of a sensor unit that obtains information about the force, which is obtained when the object is brought into contact with the flat surface portion or the curved surface portion, and when the object is further pressed against the flat surface portion or the curved surface portion while the object is in contact with the flat surface portion or the curved surface portion. 1. An information processing method comprising:

[0072] (Item 15) Item 15. A program that can execute the information processing method according to item 14 by a computer.

[0073] (Item 16) Item 16. A computer-readable recording medium having the program described in item 15 recorded thereon. [Explanation of symbols]

[0074] 1 System 10 Cleaning Blade 11, 11a, 11b Elastic body 12 metal plate 20 Installation part 30 Drive unit 31 Travel amount measuring section 40 Measuring part 41 Sensor unit 42 Contact part 43 Plane part 44 Deformation measurement section 45 Curvature surface section 50 Contact part rotating part 51 Contact part rotation mechanism part 60 Contact part slide part 61 Contact slide guide 70 Installation slide section 71 Installation slide guide 72 Slide jig part 80 Photosensitive drum 83 Contact amount 86 Contact amount change 87, 88 power

Claims

1. An information processing device that acquires information about the hardness of an object, bringing the object into contact with any position on the flat surface portion or any position on the curved surface portion having a curvature that satisfies predetermined conditions; information about a movement amount of the object when the object is brought into contact with the flat surface portion or the curved surface portion and then further pressed against the flat surface portion or the curved surface portion while the object is still in contact; and information about the hardness of the object is obtained based on information about the force generated when the object is brought into contact with the flat surface portion or the curved surface portion, or information about the deformation amount of a sensor unit that obtains information about the force, which is obtained when the object is brought into contact with the flat surface portion or the curved surface portion, and when the object is further pressed against the flat surface portion or the curved surface portion while the object is in contact with the flat surface portion or the curved surface portion.