JP7817062B2 - Cutting edge inspection device - Google Patents

Description

The present invention relates to a cutting edge inspection device.

Conventionally, when inspecting the cutting edge of a roughly circular blade used to cut a workpiece such as a metal plate, an operator touches the entire circumference of the blade to inspect the degree of wear on the cutting edge and the presence of any missing parts. However, this method requires highly skilled operators to accurately inspect the degree of wear and the presence of any missing parts. Furthermore, there is a risk that inspection results will vary depending on the operator's level of skill.

Furthermore, technology has been proposed for devices that automatically inspect the cutting edge of blades, such as that described in Patent Document 1. The cutting edge inspection device described in Patent Document 1 detects the condition of the cutting edge by moving a light source that irradiates light onto the linearly extending cutting edge in a direction perpendicular to the length of the cutting edge.

JP 2012-37323 A

However, the blade edge inspection device described in Patent Document 1 requires the light source to be moved in a direction perpendicular to the length of the blade edge, making the configuration of the blade edge inspection device complex. Furthermore, the blade edge inspection device described in Patent Document 1 is applicable to blade edges that extend linearly, and is not applicable to blade edges that extend circumferentially.

In consideration of the above-mentioned problems, the present invention aims to provide a cutting edge inspection device that is simple in configuration and capable of accurately inspecting the condition of the cutting edge extending along the outer periphery of a substantially circular blade.

The cutting edge inspection device of the present invention is a cutting edge inspection device that inspects a cutting edge extending along the outer periphery of a substantially circular blade, wherein the cutting edge has, in a cross section along a direction substantially perpendicular to the circumferential direction of the cutting edge, a first side located on the radial outer surface of the cutting edge and expected to extend in a substantially straight line, a second side located on the axial end face of the cutting edge, intersecting the first side and expected to extend in a substantially straight line, and a tip located at the intersection of the first side and the second side. The cutting edge inspection device includes a support base that supports the blade, a detection unit that detects the cross-sectional profile of the cutting edge in a cross section along a direction substantially perpendicular to the circumferential direction of the cutting edge, a rotation mechanism that rotates the cutting edge relative to the detection unit to change the position of the cross-sectional profile of the cutting edge along the circumferential direction of the cutting edge, and a control unit that determines the condition of the cutting edge from the cross-sectional profile of the cutting edge, The detection unit includes a light-projecting unit that irradiates the cutting edge with slit-shaped light extending in a direction approximately perpendicular to the circumferential direction of the cutting edge along a straight line passing through approximately the center of the angle formed by the assumed straight line of the first side and the assumed straight line of the second side, and a light-receiving unit that receives light reflected from the cutting edge. The control unit is configured to extract, from the cross-sectional profile detected by the detection unit, a cross-sectional profile of a first region that is a predetermined distance from the tip of the cutting edge and a cross-sectional profile of a second region that is closer to the tip of the cutting edge than the first region, obtain an approximate straight line by linearly approximating the cross-sectional profile of the first region, estimate an ideal cross-sectional profile of the second region by extending the approximate straight line, and calculate a feature value that indicates the difference between the cross-sectional profile of the second region and the ideal cross-sectional profile of the second region.

The characteristic quantity is preferably the area of the region enclosed by the ideal cross-sectional profile of the second region and a portion of the cross-sectional profile of the second region that is located axially and radially inward of the cutting edge relative to the ideal cross-sectional profile of the second region.

The characteristic value is preferably the distance between the cross-sectional profile of the second region and the ideal cross-sectional profile of the second region.

The feature amount is preferably a value indicating the relationship between the slope of the cross-sectional profile of the second region at a predetermined position and the slope of the ideal cross-sectional profile of the second region.

The characteristic quantity is preferably the area of the region surrounded by the ideal cross-sectional profile of the second region and a portion of the cross-sectional profile of the second region that is located axially or radially outward of the cutting edge relative to the ideal cross-sectional profile of the second region.

The blade has a through hole that passes through it in the axial direction, and the support base has an upper support part that supports the upper inner circumferential surface of the blade that faces the through hole and is positioned so that the axial direction of the blade is oriented substantially horizontally, and a lower support part that supports the lower inner circumferential surface of the blade that faces the through hole and is positioned so that the axial direction of the blade is oriented substantially horizontally, and it is preferable that the upper support part has a length longer than the axial length of the upper inner circumferential surface, and the lower support part has a length substantially the same as the axial length of the lower inner circumferential surface.

This invention provides a cutting edge inspection device that is simple in configuration and capable of accurately inspecting the condition of the cutting edge extending along the outer periphery of a substantially circular blade.

1 is a perspective view schematically illustrating a configuration of a cutting system in which a cutting edge inspection device according to an embodiment of the present invention is used. 2 is a diagram showing a state in which the blade and intermediate member are removed from the temporary assembly shaft device of the blade changing system by the handling robot of the blade changing system in the blade edge inspection device and blade changing system of the cutting system shown in FIG. 1 . FIG. 2B is a diagram showing a state in which the cutting tool and the intermediate member are attached to the cutting edge inspection device by the handling robot, which is different from the state shown in FIG. 2A ; FIG. 2C is a diagram schematically illustrating a state in which the intermediate member has been removed from the cutting edge inspection device by the handling robot, which is a change from the state shown in FIG. 2B. FIG. 2D is a diagram showing a state in which the blade has been removed from the blade edge inspection device by a handling robot, which is a change from the state shown in FIG. 2C. FIG. 1 is a perspective view showing a cutting edge inspection device according to an embodiment of the present invention. FIG. 4 is a front view showing the cutting edge inspection device shown in FIG. 3 . FIG. 4 is a side view showing the cutting edge inspection device shown in FIG. 3 . 2 is a side view schematically showing a state in which a blade and an intermediate member are gripped by a handling robot of the blade changing system in the blade edge inspection device and the blade changing system of the cutting system shown in FIG. 1 . FIG. 6B is a side view schematically showing a state in which the cutting tool and the intermediate member are attached to the support base of the cutting edge inspection device by the handling robot, which is changed from the state shown in FIG. 6A. FIG. 6C is a side view schematically showing a state in which the blade is gripped by the support base, which is changed from the state shown in FIG. 6B. FIG. 6D is a side view schematically showing a state in which the intermediate member has been removed from the support base by the handling robot, which is changed from the state shown in FIG. 6C. FIG. 4 is a side view schematically showing how light is irradiated onto the cutting edge from a light projecting unit of the cutting edge inspection device shown in FIG. 3 and how reflected light from the cutting edge is received by a light receiving unit of the cutting edge inspection device. FIG. FIG. 7B is a view taken in the direction of the arrow A in FIG. 7A. FIG. 4 is a block diagram showing the configuration of the cutting edge inspection device shown in FIG. 3 . FIG. 10 is a diagram showing a cross-sectional profile of a cutting edge as an example of inspection logic for cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. FIG. 10 is a diagram showing a cross-sectional profile of a cutting edge as an example of inspection logic for cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. FIG. 10 is a diagram showing a cross-sectional profile of a cutting edge as an example of inspection logic for cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. FIG. 10 is a diagram showing a cross-sectional profile of a cutting edge as an example of inspection logic for cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. FIG. 10 is a diagram showing a cross-sectional profile of a cutting edge as an example of inspection logic for cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. FIG. 10 is a perspective view showing a modified example of the cutting edge inspection device. FIG. 15 is a side view of the cutting edge inspection device shown in FIG. 14 .

The following describes a cutting edge inspection device according to one embodiment of the present invention, with reference to the drawings. Note that the embodiment described below is merely an example, and the cutting edge inspection device of the present invention is not limited to the following embodiment.

As shown in Figures 3 to 5, the cutting edge inspection device 1 according to this embodiment is a device that inspects the cutting edge BL1 that extends along the outer periphery of a substantially circular blade BL. For example, as shown in Figure 1, the cutting edge inspection device 1 is used as a device that inspects the cutting edge BL1 of the blade BL in a cutting system CS that cuts a workpiece W, such as a metal plate, with the blade BL. However, the cutting edge inspection device 1 is not limited to cutting systems CS, and can also be used for other purposes, such as for shipping inspections at blade manufacturing factories.

The workpiece W of the cutting system CS is not particularly limited as long as it can be cut by the approximately circular blade BL, but it is, for example, a metal plate such as a steel plate. In the example shown in Figure 1, the cutting system CS cuts the strip-shaped metal plate serving as the workpiece W to slit it, i.e., to divide it in the strip width direction (cutting along the length). The following explanation will be given for the case where the workpiece W is a strip-shaped metal plate (hereinafter also referred to as strip W).

In the example shown in Figure 1, the cutting system CS includes a cutting device CD that slits the strip W, a blade replacement system ES that replaces the blade BL, and a blade edge inspection device 1 that inspects the cutting edge of the blade BL.

As shown in FIG. 1, the cutting device CD includes a cutting section 101 that cuts the strip W along the longitudinal direction of the strip W, a payout roll 102 that winds the strip W into a roll and pays out the strip W toward the cutting section 101, a take-up roll 103 that winds up the cut strip W1, which is narrower than the strip W after the strip W has been cut, and a conveying section 104 that conveys the strip W and the cut strip W1. The cutting device CD is configured so that the conveying section 104 pays out the strip W from the pay-out roll 102 and conveys it to the cutting section 101, and the conveying section 104 conveys the cut strip W1 after it has been cut by the cutting section 101 to the take-up roll 103, and the take-up roll 103 winds up the cut strip W1.

As shown in FIG. 1, the cutting unit 101 is configured to cut the strip W by applying a shear force to the strip W in the up-and-down direction using a blade BL arranged vertically above the strip W and a blade (not shown) arranged vertically below the strip W. In detail, the cutting unit 101 includes an upper cutting member 101a equipped with an upper blade BL and arranged vertically above the strip W, and a lower cutting member (not shown) equipped with a lower blade BL and arranged vertically below the strip W.

As shown in Figures 1 and 2A-2D, the upper cutting member 101a comprises a rotating shaft 101b extending substantially horizontally and perpendicular to the conveyance direction of the strip W, a substantially cylindrical sleeve 101c removably attached to the rotating shaft 101b so as to surround the rotating shaft 101b, and one or more blades BL removably attached to the outer periphery of the sleeve 101c. The upper cutting member 101a further comprises an intermediate member ME that determines the position of the blade BL on the axis of the sleeve 101c. In the cutting system CS, when replacing the blade BL provided in the cutting device CD using the blade replacement system ES, the sleeve 101c, with the blade BL and intermediate member ME attached, is removed from the rotating shaft 101b and replaced. The lower cutting member has a similar configuration to the upper cutting member 101a.

As shown in Figure 3, the blade BL is formed in a substantially circular shape centered on the axis X. The blade BL has a cutting edge BL1 extending along the outer periphery of the blade BL. The cutting edge BL1 is the portion that comes into contact with the strip W when the blade BL cuts the strip W. By coming into contact with the strip W, the cutting edge BL1 is subjected to frictional and compressive forces from the strip W. The cutting edge BL1 gradually wears due to friction and may be plastically deformed due to compressive forces. An example of plastic deformation of the cutting edge BL1 is when the cutting edge BL1 collides with the strip W or another object. Another example is when, when a portion of the cutting edge BL1 presses against the strip W to cut the strip W, a portion of the cutting edge BL1 may move toward the opposite side of the portion of the cutting edge BL1. As described in detail below, the cutting edge inspection device 1 of this embodiment can inspect the degree of wear and deformation of the cutting edge BL1 that has been deformed by wear and plastic deformation.

As shown in Figures 7A and 7B, the cutting edge BL1 of the blade BL has, in a cross section taken along a direction substantially perpendicular to the circumferential direction D3 of the cutting edge BL1, a first side BL3 located on the outer peripheral surface BL2 in the radial direction D2 of the cutting edge BL1 and expected to extend in a substantially straight line, a second side BL5 located on the end surface BL4 of the cutting edge BL1 in the axial direction D1 (the direction in which axis X extends) that intersects with the first side BL3 and is expected to extend in a substantially straight line, and a tip BL6 located at the intersection of the first side BL3 and the second side BL5.

In this specification, the phrase "expected to extend in a substantially straight line" means that in an ideal state, such as before use of the blade BL, the blade extends in a substantially straight line, but may be deformed into a shape that deviates from the ideal state due to wear and/or plastic deformation, etc. In other words, if the first side BL3 and the second side BL5 extend in a substantially straight line in the ideal state, they may deviate from the substantially straight line, for example, be curved, after use.

In this embodiment, as shown in Figures 7A and 7B, the blade BL has two cutting edges BL1, BL1 at both ends in the axial direction D1. Specifically, the cutting edge BL1 is formed between the outer peripheral surface BL2 of the blade BL and an end face BL4 on one side in the axial direction D1, and the cutting edge BL1 is formed between the outer peripheral surface BL2 of the blade BL and an end face BL4 on the other side in the axial direction D1. In the illustrated example, the one cutting edge BL1 and the other cutting edge BL2 have the same cross-sectional profile. By having the two cutting edges BL1, BL1 on both sides in the axial direction D1, even if one of them deteriorates, the other can still be used, thereby extending the life of the blade BL itself. As described in detail below, the cutting edge inspection device 1 of this embodiment has a configuration suitable for inspecting the two cutting edges BL1, BL1 on both sides in the axial direction D1. However, the number of cutting edges BL1 of the blade BL is not limited to two, and may be one, or three or more.

The cutting edge BL1 only needs to have the first side BL3 and the second side BL5 intersect in a cross section of the cutting edge BL1 along the axial direction D1, and the angle θ between the first side BL3 and the second side BL5 is not particularly limited. In this embodiment, as shown in Figures 7A and 7B, the cutting edge BL1 is formed so that the first side BL3 and the second side BL5 are approximately perpendicular to each other. Note that "approximately perpendicular" means that the angle θ between the first side BL3 and the second side BL5 is not limited to 90°, but may be within a range slightly deviating from 90°, such as between 80° and 100°.

In this embodiment, as shown in FIG. 3, the blade BL has a through hole BL7 that passes through the blade BL in the axial direction D1. More specifically, the blade BL is formed in a substantially cylindrical shape extending along the axial direction D1. As shown in FIGS. 2A to 2D, the blade BL can be supported by a sleeve 101c by inserting the sleeve 101c into the through hole BL7. Furthermore, as described below, the inner peripheral surface BL8 (see FIG. 4) facing the through hole BL7 can be grasped by the support base 2 (described below) of the cutting edge inspection device 1, and can be grasped by the handling robot 202 (described below) of the blade replacement system ES. However, the blade BL only needs to have a cutting edge BL1 extending along at least the outer periphery, and does not necessarily have to have a through hole BL7.

As shown in Figures 2A to 2D, the intermediate member ME, which is attached to the sleeve 101c together with the blades BL, is a member for determining the position of the blades BL in the axial direction D1 of the sleeve 101c. In particular, when multiple blades BL are attached to the sleeve 101c, the intermediate member ME is positioned between the multiple blades BL and determines the spacing between the multiple blades BL in the axial direction D1. This determines the width of the cut strip W1 that is produced by cutting in the cutting device CD. An elastic member such as rubber is provided on the radial surface of the intermediate member ME, and is configured to suppress deformation of the strip W when the strip W is pressed by the intermediate member ME.

In this embodiment, the intermediate member ME, like the blade BL, is formed in a cylindrical shape with a through hole that runs through in the axial direction D1. As shown in Figures 2A to 2D, the intermediate member ME can be supported by a sleeve 101c by inserting the sleeve 101c into the through hole. Furthermore, as described below, the inner circumferential surface facing the through hole is grasped by a support base 2 (described below) of the cutting edge inspection device 1, and can be grasped by a handling robot 202 (described below) of the blade replacement system ES.

As shown in Figure 1, the blade replacement system ES includes a temporary assembly shaft device 201 to which the sleeve 101c is detachably attached, a handling robot 202 that grasps and transports the blades BL and intermediate members ML, and a storage shelf 203 that stores the blades BL and intermediate members ML.

As shown in FIG. 1, the temporary assembly shaft device 201 transports the sleeve 101c, on which the cutting tool BL and intermediate member ME are attached, between the cutting device CD and the handling robot 202. The temporary assembly shaft device 201 includes a temporary assembly shaft 201a on which the sleeve 101c is attached, and a carriage 201b that supports the temporary assembly shaft 201a and moves the temporary assembly shaft 201a. The temporary assembly shaft device 201 approaches the cutting device CD so that the temporary assembly shaft 201a and the rotation shaft 101b of the cutting device CD are coaxial (position indicated by the two-dot chain line in FIG. 1), and transfers the sleeve 101c, on which the cutting tool BL and intermediate member ME are attached, to and from the cutting device CD. The temporary assembly shaft device 201 also moves within the driving range of the handling robot 202 (position indicated by the solid line in FIG. 1) to transfer the cutting tool BL and intermediate member ME to and from the handling robot 202. Figures 2A to 2D show the sleeve 101c, to which the cutting tool BL and intermediate member ME are attached, attached to the temporary assembly shaft 201a.

As shown in Figures 2A to 2D, the handling robot 202 grasps the cutting tool BL and intermediate part ME and transports them, for example, between the sleeve 101c attached to the temporary shaft assembly device 201 and the cutting edge inspection device 1. The handling robot 202 comprises a base 202a, an arm 202b having multiple joints and rotatably fixed to the base 202a, and multiple fingers 202c attached to the tip of the arm 202b and used to grasp the cutting tool BL and intermediate part ME. The handling robot 202 grasps the cutting tool BL and intermediate part ME with the multiple fingers 202c and transports the cutting tool BL and intermediate part ME by operating the arm 202b.

As shown in FIG. 4, the handling robot 202 has three fingers 202c. As shown in FIGS. 2A to 2D, each finger 202c is arranged to extend approximately horizontally from the tip of the arm portion 202b. As shown in FIG. 4, when viewed from the tip of each finger 202c, each finger 202c is arranged at a position corresponding to two vertices on either side of the base of an inverted isosceles triangle, and at a position below the base and corresponding to the remaining vertex of the inverted isosceles triangle. When approaching the cutting edge inspection device 1 to transfer the blade BL and intermediate member ME to and from the cutting edge inspection device 1, the three fingers 202c are arranged in positions that do not interfere with the upper support portion 21 and lower support portion 22 (described later) of the cutting edge inspection device 1, as shown in FIG. 3. Specifically, for example, the two upper fingers 202c are positioned so that the upper support portion 21 is located horizontally between the two upper fingers 202c and is spaced apart from the two upper fingers 202c. Furthermore, the single lower finger 202c is positioned horizontally between the two lower support portions 22 and is spaced apart from the two lower support portions 22. The three fingers 202c are positioned within the through hole BL7 of the blade BL and the through hole of the intermediate member ME, and the two upper fingers 202c and the single lower finger 202c move in directions away from each other to press against the inner circumferential surfaces of the blade BL and intermediate member ME that face the through holes, thereby gripping the blade BL and intermediate member ME.

The handling robot 202, for example, removes the blade BL and intermediate member ME from the sleeve 101c attached to the temporary assembly shaft 201a of the temporary assembly shaft device 201 (see Figure 2A), attaches the blade BL and intermediate member ME to the cutting edge inspection device 1 (see Figure 2B), removes the intermediate member ME from the blade BL and intermediate member ME attached to the cutting edge inspection device 1 (see Figure 2C), stores the intermediate member ME on the storage shelf 203 (see Figure 1), removes the blade BL attached to the cutting edge inspection device 1 (see Figure 2D), and stores the blade BL on the storage shelf 203 (see Figure 1).

As shown in Figures 3 to 5, the cutting edge inspection device 1 includes a support base 2, a detection unit 3, a rotation mechanism 4, and a control unit 5.

The support base 2 supports the blade BL. The support base 2 is not particularly limited in its configuration as long as it can support the blade BL. For example, the following configuration can be adopted. Specifically, as shown in Figures 3 to 5, the support base 2 has an upper support portion 21 that supports the upper inner peripheral surface BL81 facing the through hole BL7 of the blade BL, which is positioned so that the axial direction D1 of the blade BL is oriented substantially horizontally, and a lower support portion 22 that supports the lower inner peripheral surface BL82 facing the through hole BL7 of the blade BL, which is positioned so that the axial direction D1 of the blade BL is oriented substantially horizontally. In this configuration, the upper support portion 21 has a length L1 that is longer than the length of the upper inner peripheral surface BL81 in the axial direction D1. The lower support portion 22 has a length L2 that is substantially the same as the length of the lower inner peripheral surface BL82 in the axial direction D1. By adopting this configuration, the blade BL and intermediate member ME can be supported by the upper support portion 21 alone, and the blade BL alone can be fixed and supported by the upper support portion 21 and the lower support portion 22. Furthermore, when the blade BL is supported by the upper support portion 21 and the lower support portion 22, the intermediate member ME is supported only by the upper support portion 21. Therefore, as will be described later, the intermediate member ME alone can be easily removed from the support base 2 while the blade BL remains supported by the support base 2.

In this specification, the "upper" of the "upper support portion 21" means that the upper support portion 21 is located above the lower support portion 22 when the blade BL and intermediate member M are transferred between the cutting edge inspection device 1 and the handling robot 202, but does not mean that the upper support portion 21 is always located above the lower support portion 22. Similarly, the "lower" of the "lower support portion 22" means that the lower support portion 22 is located below the upper support portion 21 when the blade BL and intermediate member M are transferred between the cutting edge inspection device 1 and the handling robot 202, but does not mean that the lower support portion 22 is always located below the upper support portion 21. Therefore, when the upper support portion 21 and the lower support portion 22 rotate due to the rotational driving force of the rotation mechanism 4, the relative positions of the upper support portion 21 and the lower support portion 22 may be reversed in the vertical direction.

In this embodiment, the support base 2 is equipped with a distance adjustment mechanism 25 (see Figure 8) that adjusts the distance between the upper support portion 21 and the lower support portion 22. The distance adjustment mechanism 25 enables the upper support portion 21 and the lower support portion 22 to move between a gripping position where the blade BL is gripped and a release position where the blade BL is released. The distance adjustment mechanism 25 is configured to adjust the distance between the upper support portion 21 and the lower support portion 22 using the power of a drive source such as a cylinder device or a motor. Specifically, for example, the distance adjustment mechanism 25 is configured to move the upper support portion 21 and the lower support portion 22 in a direction that moves them closer to or farther apart in the vertical direction. When the upper support portion 21 and the lower support portion 22 move in a direction toward each other, the upper support portion 21 and the lower support portion 22 are positioned in the release position, and the blade BL and intermediate member ME are supported by only the upper support portion 21 of the upper support portion 21 and the lower support portion 22. When the upper support portion 21 and the lower support portion 22 move in a direction away from each other, the upper support portion 21 and the lower support portion 22 are positioned in the grip position, and both the upper support portion 21 and the lower support portion 22 press against the inner surface BL8 of the blade BL in opposite directions. This allows only the blade BL to be fixed and supported by the upper support portion 21 and the lower support portion 22.

As shown in Figures 3 to 5, the support base 2 may include an upper base member 23 to which the upper support portion 21 is fixed, and a lower base member 24 to which the lower support portion 22 is fixed. The upper support portion 21 is fixed to the upper base member 23 at one longitudinal end thereof and is configured to protrude from the upper base member 23 in a substantially horizontal direction. The lower support portion 22 is fixed to the lower base member 24 at one longitudinal end thereof and is configured to protrude from the lower base member 24 in a substantially horizontal direction. The distance between the upper support portion 21 and the lower support portion 22 is adjusted by adjusting the distance between the upper base member 23 and the lower base member 24 using a distance adjustment mechanism 25.

The number of upper support portions 21 and the number of lower support portions 22 are not particularly limited as long as they can reliably support the blade BL. For example, in the example shown in Figures 3 to 5, there is one upper support portion 21 and two lower support portions 22. Furthermore, the positions of the upper support portions 21 and the lower support portions 22 are not particularly limited as long as they can reliably support the blade BL. For example, in the example shown in Figures 3 and 4, when viewed along the length of the upper support portion 21 (axial direction D1), one of the two lower support portions 22 is located diagonally below the upper support portion 21, and the other of the two lower support portions 22 is located diagonally below the upper support portion 21 on the opposite side from the lower support portion 22. The two lower support portions 22 are positioned at positions corresponding to the two vertices on either side of the base of an isosceles triangle, and the upper support portion 21 is positioned at the remaining vertex of the isosceles triangle.

The length L1 of the upper support portion 21 need only be longer than the length in the axial direction D1 of the upper inner peripheral surface BL81 of the blade BL, and is not particularly limited. However, it is preferable that the length L1 be equal to or greater than the length in the axial direction D1 of the upper inner peripheral surface BL81 plus the length in the axial direction D1 of the inner peripheral surface facing the through hole of the intermediate member ME. In this case, the length L1 of the upper support portion 21 may be equal to or greater than the length in the axial direction D1 of the upper inner peripheral surface BL81 plus the length of the inner peripheral surface of one intermediate member ME, or it may be equal to or greater than the length in the axial direction D1 of the upper inner peripheral surface BL81 plus the lengths of the inner peripheral surfaces of multiple intermediate members ME.

The upper support portion 21 may have any shape as long as it is configured to support the upper inner peripheral surface BL81 of the blade BL. In this embodiment, as shown in Figures 3 and 4, the upper support portion 21 is formed so that a cross section taken along a direction perpendicular to the length of the upper support portion 21 conforms to the upper inner peripheral surface BL81 of the blade BL. In the example shown in Figure 3, the upper support portion 21 is formed so that a cross section taken along a direction perpendicular to the length of the upper support portion 21 is arc-shaped. By forming the upper support portion 21 to conform to the upper inner peripheral surface BL81 of the blade BL, the contact area with the upper inner peripheral surface BL81 is increased, increasing the frictional force generated between them and enabling more reliable support of the blade BL.

The upper support portion 21 is preferably inclined obliquely upward relative to the horizontal from one end to the other end in the longitudinal direction of the upper support portion 21. Specifically, for example, the upper surface of the upper support portion 21 that contacts the upper inner peripheral surface BL81 of the blade BL is preferably inclined obliquely upward relative to the horizontal from one end to the other end in the longitudinal direction of the upper support portion 21. This configuration can achieve the following effects. As described below, when the blade BL and intermediate member ME are transferred to the support base 2 by the handling robot 202, the blade BL and intermediate member ME supported by the upper support portion 21 slide down the longitudinal direction of the upper support portion 21 from the other end to one end of the upper support portion 21. As a result, the blade BL moves to a position where the lower inner peripheral surface BL82 of the blade BL faces the lower support portion 22. Therefore, the blade BL can be more reliably positioned in a position where the upper support portion 21 and the lower support portion 22 face each other, allowing the blade BL to be more reliably supported by the upper support portion 21 and the lower support portion 22.

With reference to Figures 6A to 6D, the transfer operation of the blade BL and the intermediate member ME performed between the handling robot 202 and the cutting edge inspection device 1 will be described. Figures 6A to 6D are side views that schematically show the operation of the cutting edge inspection device 1 and handling robot 202 shown in Figure 1. However, the following operation is an example, and the transfer operation between the handling robot 202 and the cutting edge inspection device 1 is not limited to the following example.

In the example shown in FIG. 6A, the three fingers 202c of the handling robot 202 support the cutting tool BL and intermediate member ME (two intermediate members ME in the illustrated example) in order from the tip side of the fingers 202c (right side in FIG. 6A). Also, in the example shown in FIG. 6A, the upper support portion 21 and the lower support portion 22 of the cutting edge inspection device 1 are positioned in the grip release position, and the distance between the upper support portion 21 and the lower support portion 22 is smaller than the distance when the cutting tool BL can be supported by the upper support portion 21 and the lower support portion 22 (hereinafter also referred to as the support distance DS, see FIG. 6C and FIG. 6D). In this state, the arm portion 202b of the handling robot 202 is operated, and the three fingers 202c approach the support table 2 of the cutting edge inspection device 1 along the axial direction D1 (see FIG. 6A).

Next, as shown in Figure 6B, the tip of the upper finger 202c abuts against the upper base member 23. Also, the tip of the lower finger 202c abuts against the lower base member 24. As a result, the blade BL abuts against the upper base member 23 and the lower base member 24. At this time, the distance between the upper support member 21 and the lower support member 22 is smaller than the support distance DS described above, so interference of the blade BL with the lower support member 22 is suppressed. Note that in Figure 6B, the tip of the upper finger 202c abuts against the upper base member 23 and the tip of the lower finger 202c abuts against the lower base member 24, but this example is not limiting. For example, the tip of the upper finger 202c may approach the upper base member 23 until there is a predetermined clearance between the tip of the upper finger 202c and the upper base member 23, and the tip of the lower finger 202c may approach the lower base member 24 until there is a predetermined clearance between the tip of the upper finger 202c and the lower base member 24 (clearance smaller than the length L2 in the axial direction D1 of the lower support portion 22).

Next, as shown in FIG. 6C, the lower finger 202c rises. As a result of this rise, the lower finger 202c is separated from the lower inner peripheral surface BL82 of the blade BL and the inner peripheral surface of the intermediate member ME. In other words, the lower finger 202c is no longer supporting the lower inner peripheral surface BL82 of the blade BL and the inner peripheral surface of the intermediate member ME. In this state, the upper finger 202c and the upper support portion 21 support the upper inner peripheral surface BL81 of the blade BL and the inner peripheral surface of the intermediate member ME. Next, the lower support portion 22 of the cutting edge inspection device 1 lowers. As a result of this descent, the lower support portion 22 comes into contact with the lower inner peripheral surface BL82 of the blade BL. In other words, the lower support portion 22 is now supporting the lower inner peripheral surface BL82 of the blade BL. In this state, the lower support portion 22 supports only the lower inner peripheral surface BL82 of the blade BL, and does not support the inner peripheral surface of the intermediate member ME. As described above, when the tips of the upper and lower fingers 202c approach the upper base member 23 and the lower base member 24 to the extent that a predetermined clearance (a clearance smaller than the length L2 of the lower support portion 22 in the axial direction D1) is formed between the tips of the upper and lower fingers 202c and the upper base member 23 and the lower base member 24 to transfer the blade BL, the blade BL is spaced apart from the upper base member 23 and the lower base member 24 in the axial direction D1. However, because the upper support portion 21 is inclined as described above, the blade BL slides on the upper support portion 21 toward the upper base member 23, and the blade BL comes into contact with the upper base member 23 and the lower base member 24. Therefore, when the blade BL is in contact with the upper base member 23 and the lower base member 24, the lower support portion 22 supports the lower inner peripheral surface BL82 of the blade BL.

Next, the three fingers 202c move a predetermined distance (slightly longer than the length L2 of the lower support portion 22) from the support table 2 along the axial direction D1, and then the lower finger 202c descends. This descent causes the lower finger 202c to press against the inner circumferential surface of the intermediate part ME. In other words, the lower finger 202c supports the inner circumferential surface of the intermediate part ME. In this state, the three fingers 202c move away from the cutting edge inspection device 1, as shown in FIG. 6D. Then, while still supporting the intermediate part ME, the three fingers 202c move to the storage shelf 203 and return the intermediate part ME to the storage shelf 203. The cutting edge BL1 of the blade BL left on the support table 2 is inspected by the cutting edge inspection device 1, as described below.

As shown in Figures 7A and 7B, the detection unit 3 detects the cross-sectional profile of the cutting edge BL1 in a cross section taken along a direction substantially perpendicular to the circumferential direction D3 of the cutting edge BL1 (see Figures 9 to 13). The detection unit 3 includes a light-projecting unit 31 that irradiates the cutting edge BL1 with slit-shaped light SH1 and a light-receiving unit 32 that receives reflected light SH2 from the cutting edge BL1. The detection unit 3 can acquire the cross-sectional profile of the cutting edge BL1 by receiving the reflected light SH2 at the light-receiving unit 32 after the slit-shaped light SH1 irradiated by the light-projecting unit 31 is reflected by the cutting edge BL1. As shown in the block diagram of Figure 8, the detection unit 3 is communicatively connected to the control unit 5 and transmits the acquired cross-sectional profile to the control unit 5. The detection unit 3 may also transmit the acquired cross-sectional profile to a storage unit (not shown).

As shown in Figures 7A and 7B, the light-projecting unit 31 irradiates the cutting edge BL1 with slit-shaped light SH1 extending in a direction substantially perpendicular to the circumferential direction D3 of the cutting edge BL1 along a straight line SL1 passing through approximately the center of the angle θ formed by the assumed straight line of the first side BL3 of the cutting edge BL1 and the assumed straight line of the second side BL5. As a result, the slit-shaped light SH1 is irradiated onto the cutting edge BL1 symmetrically around the tip BL6 of the cutting edge BL1 in a direction substantially perpendicular to the circumferential direction D3 of the cutting edge BL1, thereby obtaining a cross-sectional profile of the cutting edge BL1 in a region symmetrical around the tip BL6 of the cutting edge BL1. This allows the condition of the cutting edge BL1 to be inspected thoroughly and with high accuracy.

In this specification, the term "anticipated straight line" refers to a line based on the concept of "anticipated to extend in an approximately straight line" described above. In other words, it refers to a line in an ideal state where the blade BL extends in an approximately straight line in an ideal state, such as before use, but where there is a possibility that the line may have deviated from the ideal state due to wear and/or plastic deformation. In other words, if the first side BL3 and the second side BL5 are expected to extend in an approximately straight line in an ideal state, they may deviate from the approximately straight line, for example, be curved, after use. If the edge deviates from the approximately straight line after use, the ideal straight line can be determined using some method, such as linear approximation of the detected shape.

In addition, in this specification, the angle "approximately at the center of angle θ" does not only mean θ/2, but also means an angle within a range of ±10% of θ/2. In this embodiment, the first side BL3 and the second side BL5 are approximately perpendicular to each other, and in this case, the angle "approximately at the center of angle θ" means approximately 45°, for example, an angle within a range of 40° to 50°.

As shown in FIG. 7A, the light SH1 emitted by the light-projecting unit 31 is preferably irradiated onto the cutting edge BL1 so that the approximate center of the light SH1 is located on the straight line SL1. This allows the slit-shaped light SH1 to more accurately irradiate the cutting edge BL1 symmetrically around the tip BL6 of the cutting edge BL1 in a direction approximately perpendicular to the circumferential direction D3 of the cutting edge BL1. The length of the long side of the cross section of the light SH1 irradiated onto the cutting edge BL1 is not particularly limited and can be set appropriately depending on the size of the portion of the cutting edge BL1 where wear or chipping is expected. The light SH1 is not particularly limited as long as it is slit-shaped light, for example, light with an elongated cross-sectional shape in which the length in one direction is longer than the length in the direction perpendicular to that direction. For example, known laser light commonly used in light cutting methods can be used.

The light-receiving unit 32 receives reflected light SH2 from the cutting edge BL1. The light-receiving unit 32 receives and forms an image of the reflected light SH2, acquiring the cross-sectional shape of the cutting edge BL1 as profile data. The light-receiving unit 32 may be positioned in any manner as long as it can receive the reflected light SH2. It is preferable that the light-receiving unit 32 be positioned so that it receives the reflected light SH2 from a direction inclined (e.g., approximately 45°) in the circumferential direction D3 of the cutting edge BL1 relative to the direction of travel of the light SH1 emitted by the light-emitting unit 31, and from a direction passing through approximately the center of the angle θ between the first side BL3 and the second side BL5. This allows the light-receiving unit 32 to receive the reflected light SH2 from the cutting edge BL1 symmetrically around the tip BL6 of the cutting edge BL1 in a direction approximately perpendicular to the circumferential direction D3 of the cutting edge BL1, thereby enabling a more accurate cross-sectional profile of the cutting edge BL1 to be obtained. The light receiving unit 32 only needs to be able to receive the reflected light SH2 reflected from the cutting edge BL1, and can be configured, for example, with a known CMOS image sensor used in general light-section methods.

The rotation mechanism 4 rotates the cutting edge BL1 around the axis X relative to the detection unit 3 to change the position of the cross-sectional profile of the cutting edge BL1 along the circumferential direction of the cutting edge BL1. While the rotation mechanism 4 rotates the cutting edge BL1 relative to the detection unit 3, it continuously acquires cross-sectional profiles of the cutting edge BL1 along the circumferential direction D3 of the cutting edge BL1, thereby inspecting the condition of the cutting edge BL1 along the circumferential direction D3. The rotation angle at which the cutting edge BL1 is rotated relative to the detection unit 3 is not particularly limited, but for example, the rotation angle from the start to the end of detection by the detection unit 3 can be set to 360° or more. By using such a rotation angle, inspection can be performed along the entire circumference of the cutting edge BL1. The interval at which the cross-sectional profile is acquired along the circumferential direction D3 of the cutting edge BL1 is not particularly limited and can be set appropriately depending on the size of the portion of the cutting edge BL1 where wear or chipping is expected.

In this embodiment, the rotation mechanism 4 is configured to rotate the blade BL around the axis X, thereby rotating the cutting edge BL1 relative to the detection unit 3. Specifically, as shown in Figures 4 and 5, the rotation mechanism 4 includes a rotating body 41 provided on the support base 2 that supports the blade BL, and a drive unit (not shown), such as a motor, that rotates the rotating body 41. The upper support unit 21 and the lower support unit 22 are attached to the rotating body 41 via the upper base member 23 and the lower base member 24 of the support base 2. The rotation mechanism 4 rotates the rotating body 41 using the drive unit, thereby rotating the upper support unit 21 and the lower support unit 22 and rotating the cutting edge BL1 of the blade BL supported by the upper support unit 21 and the lower support unit 22. The rotation mechanism may be any mechanism capable of rotating the cutting edge BL1 relative to the detection unit 3. For example, it may be provided on the handling robot 202 (see Figures 2A to 2D) and configured to rotate the blade BL using the handling robot 202, or it may be configured to rotate the detection unit 3 around the cutting edge BL1.

The control unit 5 determines the condition of the cutting edge BL1 from the cross-sectional profile of the cutting edge BL1 detected by the detection unit 3. In this embodiment, as shown in the block diagram of FIG. 8, the control unit 5 is communicatively connected to the detection unit 3, controls the detection operation of the detection unit 3, and is configured to acquire the cross-sectional profile of the cutting edge BL1 directly from the detection unit 3. However, in order to determine the condition of the cutting edge BL1, the control unit 5 only needs to be able to acquire the cross-sectional profile of the cutting edge BL1 from the detection unit 3. For example, the control unit 5 may be configured to acquire the cross-sectional profile of the cutting edge BL1 indirectly via a memory unit in which the cross-sectional profile of the cutting edge BL1 is stored, or may be configured to acquire the profile from another control device that controls the detection operation of the detection unit 3. The control unit 5 may be configured, for example, using a well-known central processing unit (CPU) typically installed in a computer.

As shown in FIG. 9 , the control unit 5 extracts, from the cross-sectional profile detected by the detection unit 3, a cross-sectional profile PR1 of a first region AR1 located a predetermined distance from the tip BL6 of the cutting edge BL1, and a cross-sectional profile PR2 of a second region AR2 located closer to the tip BL6 of the cutting edge BL1 than the first region AR1. Furthermore, the control unit 5 linearly approximates the cross-sectional profile PR1 of the first region AR1 to obtain an approximated line SL2, and then estimates the ideal cross-sectional profile IPR of the second region AR2 by extending the approximated line SL2. The control unit 5 is further configured to calculate a feature value FA indicating the difference between the cross-sectional profile PR2 of the second region AR2 and the ideal cross-sectional profile IPR2 of the second region AR2. The control unit 5 compares the calculated feature value FA with a predetermined threshold value, and if the calculated feature value FA exceeds the predetermined threshold value, it can determine that the cutting edge BL1, whose cross-sectional profile is detected, has a defect such as wear, chipping, or deformation. Therefore, the cutting edge inspection device 1 has a simple configuration and can inspect the condition of the cutting edge BL1 with high accuracy.

The first region AR1, which is set a predetermined distance from the tip BL of the cutting edge BL1, can be set as a region where wear or plastic deformation is unlikely to occur on the cutting edge BL1 during use of the blade BL. For example, the predetermined distance from the tip BL6 of the cutting edge BL1 to the first region AR1 can be set in advance as a range where wear or plastic deformation is expected to occur, or the first region AR1 can be positioned relative to the tip BL6 of the cutting edge BL1 so that the difference between the approximate straight line SL2 obtained by linear approximation of the first region AR1 and the cross-sectional profile PR1 of the first region AR1 falls within a predetermined range. Linear approximation can also be performed using the least squares method or other known mathematical techniques.

The control unit 5 may be configured to determine whether the cross-sectional profile PR2 of the second region AR2 is located more inward in the axial direction D1 and radial direction D2 of the cutting edge BL1 than the ideal cross-sectional profile IPR of the second region AR2. For example, if the control unit 5 determines that the cross-sectional profile PR2 is more inward than the ideal cross-sectional profile IPR (see FIG. 9, etc.), it can determine that the cutting edge BL1 is worn or chipped. Furthermore, if the control unit 5 determines that the cross-sectional profile PR2 is more outward than the ideal cross-sectional profile IPR (see FIG. 11), it can determine that the cutting edge BL1 has undergone plastic deformation.

Here, as described above, the feature quantity FA is an amount that indicates the difference between the cross-sectional profile PR2 of the second region AR2 and the ideal cross-sectional profile IPR of the second region AR2. The feature quantity FA can be calculated using various inspection logics, as shown in Figures 9 to 13. Hereinafter, for example, as illustrated in Figure 9, the straight line obtained by extending the approximated straight line SL2 will also be referred to as the "generator line GL." The intersection between the generator line GL on the first side BL3 side and the generator line GL on the second side BL5 side will also be referred to as the "intersection point VE." In the example shown in Figure 9, the intersection point VE and the tip BL6 are located on the above-mentioned straight line SL1. However, the tip BL6 may be located slightly offset from the straight line SL1.

In the inspection logic shown in FIG. 9, the feature quantity FA is the area S1 of the region (hatched region) enclosed by the ideal cross-sectional profile IPR2 of second region AR2 and the portion of the cross-sectional profile PR2 of second region AR2 that is located inside the ideal cross-sectional profile IPR of second region AR2 in the axial direction D1 and radial direction D2 of the cutting edge BL1. The cross-sectional profile PR2 of second region AR2 and the ideal cross-sectional profile IPR of second region AR2 are compared while both are displayed in the same coordinate system. When the cross-sectional profile PR2 and the ideal cross-sectional profile IPR are displayed in the same coordinate system, the area S1 can be determined by performing integration within the region enclosed by the cross-sectional profile PR2 and the ideal cross-sectional profile IPR based on the coordinates of each point of the portion of the cross-sectional profile PR2 that is located inside the axial direction D1 and radial direction D2 of the cutting edge BL1 and the coordinates of each point of the ideal cross-sectional profile IPR. By calculating this area as the feature amount FA, the degree of defects such as wear, chipping, and deformation of the cutting edge BL1 can be determined with high accuracy.

In the inspection logic shown in FIG. 10, the feature amount FA is the distance CL between the cross-sectional profile PR2 of the second region AR2 and the ideal cross-sectional profile IPR of the second region AR2. Specifically, the distance CL is, for example, the distance between the intersection point VE and the intersection point between the line SL1 and the cross-sectional profile PR2. By calculating the distance CL as the feature amount and FA, the degree of defects such as wear, chipping, and deformation of the cutting edge BL1 can be determined with high accuracy. In particular, as shown in FIG. 11, if there is a portion of the cross-sectional profile PR2 of the second region AR2 that is located outside the ideal cross-sectional profile IPR of the second region AR2 in the axial direction D1 or radial direction D2 of the cutting edge BL1, the distance CL is likely to increase as part of the cutting edge BL1 moves outside the ideal cross-sectional profile IPR, making it easy to determine abnormalities in the cutting edge BL1.

In the inspection logic shown in FIG. 12, the feature quantity FA is a value indicating the relationship between the slopes α1 and α2 at a predetermined position on the cross-sectional profile PR2 of the second region AR2 and the slope β of the ideal cross-sectional profile IPR of the second region AR2. In this embodiment, the "predetermined position" is a position within the third region AR3 that is located at a distance greater than zero from the line SL1 and has a predetermined width within the second region AR2. The predetermined position and predetermined width can be set arbitrarily as long as they satisfy the above conditions. If the slopes of the tangent lines TL1 and TL2 drawn to the cross-sectional profile PR2 within the third region AR3 are α1 and α2, respectively, the "value indicating the relationship with the slope β of the ideal cross-sectional profile IPR" is not particularly limited, but may be, for example, α1/β or α2/β. By indicating the relationship between the slopes α1 and α2 of the cross-sectional profile PR2 and the slope β of the ideal cross-sectional profile IPR, it is possible to evaluate the roundness of the cutting edge BL1, for example.

In the inspection logic shown in FIG. 13, the feature quantity FA is the area S2 of the region (hatched region) surrounded by the ideal cross-sectional profile IPR of second region AR2 and the portion of the cross-sectional profile PR2 of second region AR2 that is located further outward in the axial direction D1 or radial direction D2 of the cutting edge BL1 than the ideal cross-sectional profile IPR of second region AR2. This configuration makes it possible to determine the extent to which the cross-sectional profile PR2 has deformed outside the ideal cross-sectional profile IPR. Therefore, the degree of plastic deformation of the cutting edge BL1 can be easily determined.

In this embodiment, as shown in the block diagram of FIG. 8, the control unit 5 is communicatively connected to the rotation mechanism 4 and configured to control the rotation operation of the rotation mechanism 4. The control unit 5 controls the rotation mechanism 4 and the detection unit 3 to rotate the cutting edge BL1 of the blade BL relative to the detection unit 3, thereby acquiring a cross-sectional profile of the cutting edge BL1 along the circumferential direction D3 of the cutting edge BL1 (see FIG. 7B). By acquiring the cross-sectional profile of the cutting edge BL1 along the circumferential direction D3 of the cutting edge BL1, the control unit 5 can calculate changes in the feature quantity FA along the circumferential direction D3 of the cutting edge BL1. This allows the control unit 5 to determine the position along the circumferential direction D3 of the cutting edge BL1 and the extent of defects such as wear, chipping, and deformation. This determination is not particularly limited, and may be made, for example, by determining whether the feature amount FA exceeds a predetermined threshold value at each position in the circumferential direction D3 of the cutting edge BL1, or by determining whether the feature amount FA exceeds a predetermined threshold value over a predetermined length range along the circumferential direction D3 of the cutting edge BL1.

As shown in the block diagram of Figure 8, the control unit 5 may be communicatively connected to the operation input unit 7 and output unit 8. The operation input unit 7 accepts operation inputs from the user and transmits the contents of the user's operation input to the control unit 5. By including the operation input unit 7, the cutting edge inspection device 1 can execute the above-mentioned operations of the control unit 5 in response to user input and modify the above-mentioned operations of the control unit 5. The operation input unit 7 can be embodied by known input means such as a keyboard or mouse. The output unit 8 is configured to output the detection results by the detection unit 3, the calculation results and judgment results by the control unit 5, etc. The cutting edge inspection device 1 can notify the user of the above-mentioned results via the output unit 8. The output unit 8 can be embodied by known data output means such as a display, printer, or speaker.

The location of the blade edge inspection device 1 is not particularly limited as long as it can inspect the cutting edge BL1 of the blade BL. In this embodiment, the blade edge inspection device 1 is provided within the blade replacement system ES, more specifically, within the area of the blade replacement system ES, as shown in Figures 1 and 2A-2D. This allows blade edge inspection to be performed during the blade replacement process, eliminating the need for a separate blade edge inspection process. In particular, in this embodiment, the blade edge inspection device 1 is provided adjacent to the handling robot 202 of the blade replacement system ES, more specifically, on the base 202a of the handling robot 202. This allows blade edge inspection to be performed while the handling robot 202 is transporting the blade BL (e.g., while transporting it to the storage shelf 203). This saves the time required to transport the blade BL compared to storing the blade BL in the storage shelf 203 and then removing it from the storage shelf 203 to perform blade edge inspection. However, the blade edge inspection may be performed while the blade BL is being transported, or after the blade BL has been stored on the storage shelf 203, it may be removed and inspected again.

As described above, the cutting edge inspection device 1 of this embodiment is capable of inspecting the cutting edge BL1 located on one side of the axial direction D1 of the blade BL. The cutting edge inspection device 1 of this embodiment can also inspect the cutting edge BL1 located on the other side of the axial direction D1 of the blade BL. As shown in Figures 3 to 5, the cutting edge inspection device 1 is equipped with a movement mechanism 6 that moves the detection unit 3 relative to the cutting edge BL1 of the blade BL between a first inspection position (position indicated by a solid line in Figure 5) for inspecting the cutting edge BL1 located on one side of the axial direction D1 of the blade BL and a second inspection position (position indicated by a two-dot chain line in Figure 5) for inspecting the cutting edge BL1 located on the other side of the axial direction D1 of the blade BL. The movement mechanism 6 moves the detection unit 3 relative to the cutting edge BL1 so that the detection unit 3 can selectively inspect the cutting edge BL1 on one side and the cutting edge BL1 on the other side of the axial direction D1 of the blade BL. In both the first inspection position and the second inspection position, the detection unit 3 can be positioned relative to the cutting edge BL1 of the blade BL in substantially the same manner as described above, thereby enabling substantially the same inspection as described above.

The movement mechanism 6 is only required to move the detection unit 3 relative to the cutting edge BL1 of the blade BL between the first and second inspection positions, and the movement direction is not particularly limited. In this embodiment, the movement mechanism 6 is configured to rotate the detection unit 3 relative to the cutting edge BL1 of the blade BL around a rotation axis X1 parallel to the radial direction D2 of the blade BL. Specifically, as shown in Figures 3 to 5, the movement mechanism 6 includes a base 61 fixed to the support base 2, an arm 62 to which the detection unit 3 is fixed and attached to the base 61 so as to be rotatable about the rotation axis X1, and a rotation drive unit 63 fixed to the base 61 and driving the arm 62 to rotate. The detection unit 3 is configured to rotate around the rotation axis X1 by being fixed to the arm 62, which rotates around the rotation axis X1 and is offset from the rotation axis X1 in a direction perpendicular to the rotation axis X1. Furthermore, by arranging the rotation axis X1 so that it is aligned substantially in a straight line with the center line of the blade BL along the radial direction D2 of the blade BL, the detection units 3 are positioned opposite each other across the blade BL in the axial direction D1 of the blade BL before and after rotating approximately 180 degrees around the rotation axis X1. This allows the detection units 3 to be positioned relative to the cutting edge BL1 of the blade BL in substantially the same way as described above in both the first inspection position and the second inspection position, thereby enabling substantially the same inspection as described above. However, the movement mechanism 6 may also be configured to move the cutting edge BL1 of the blade BL relative to the detection unit 3.

As shown in the block diagram of FIG. 8, the movement mechanism 6 is communicatively connected to the control unit 5 and is operationally controlled by the control unit 5. For example, after completing inspection of the cutting edge BL1 located on one side of the axial direction D1 of the blade BL, the control unit 5 controls the movement mechanism 6 to relatively move the detection unit 3 from the first inspection position (position indicated by the solid line in FIG. 5) to the second inspection position (position indicated by the two-dot chain line in FIG. 5), thereby continuing inspection of the cutting edge BL1 located on the other side of the axial direction D1 of the blade BL. Therefore, the cutting edge inspection device 1 can quickly inspect a blade BL having two cutting edges BL1, BL1.

In the above embodiment, the blade BL is attached to the cutting edge inspection device 1 so that the axial direction D1 of the blade BL is approximately horizontal, but this is not limited to this. For example, as shown in Figures 14 and 15, the blade BL may be attached to the cutting edge inspection device 1 so that the axial direction D1 of the blade BL is approximately vertical. In this case, the support base 2 is configured to support the blade BL so that the axial direction D1 of the blade BL is approximately vertical.

REFERENCE SIGNS LIST 1 Cutting edge inspection device 2 Support base 21 Upper support part 22 Lower support part 23 Upper base member 24 Lower base member 25 Spacing adjustment mechanism 3 Detection unit 31 Light projecting part 32 Light receiving part 4 Rotation mechanism 41 Rotating body 5 Control part 6 Movement mechanism 61 Base part 62 Arm part 63 Rotation drive part 7 Operation input part 8 Output part 101 Cutting part 101a Upper cutting member 101b Rotation shaft 101c Sleeve 102 Payout roll 103 Winding roll 104 Conveying part 201 Temporary assembly shaft device 201a Temporary assembly shaft 201b Cart 202 Handling robot 202a Base part 202b Arm part 202c Finger 203 Storage shelf AR1 First area AR2 Second area BL Cutting tool BL1 Cutting edge BL2 Outer circumferential surface BL3 First side BL4 End face BL5 Second side BL6 Tip BL7 Through hole BL8 Inner circumferential surface BL81 Upper inner circumferential surface BL82 Lower inner circumferential surface CD Cutting device CL Distance CS Cutting system D1 Axial direction D2 Radial direction D3 Circumferential direction DS Support distance ES Blade change system GL Generator IPR Ideal cross-sectional profile of the second area L1 Length of the upper support part L2 Length of the lower support part PR1 Cross-sectional profile of the first area PR2 Cross-sectional profile of the second area S1, S2 Area SH1 Slit-shaped light SH2 Reflected light SL1 Straight line passing through the approximate center of the angle θ SL2 Approximate straight line TL1, TL2 Tangent line VE Intersection W Cutting object (strip)
W1 Strip after cutting X axis X1 Rotation axis α1, α2 Inclination of cross-sectional profile of second region β Inclination of ideal cross-sectional profile of second region θ Angle

Claims (6)

A cutting edge inspection device for inspecting a cutting edge extending along the outer periphery of a substantially circular blade,
In a cross section taken along a direction substantially perpendicular to the circumferential direction of the cutting edge, the cutting edge has a first side that is located on the outer peripheral surface in the radial direction of the cutting edge and is assumed to extend substantially linearly, a second side that is located on an end surface in the axial direction of the cutting edge, intersects with the first side, and is assumed to extend substantially linearly, and a tip that is located at the intersection of the first side and the second side,
The cutting edge inspection device is
A support base that supports the blade;
a detection unit that detects a cross-sectional profile of the cutting edge in a cross section along a direction substantially perpendicular to a circumferential direction of the cutting edge;
a rotation mechanism that rotates the cutting edge relative to the detection unit to change the position of the cross-sectional profile of the cutting edge along the circumferential direction of the cutting edge;
a control unit that determines the state of the cutting edge from the cross-sectional profile of the cutting edge,
The detection unit
a light projecting unit that projects slit-shaped light extending in a direction substantially perpendicular to the circumferential direction of the cutting edge onto the cutting edge along a straight line that passes through the approximate center of the angle formed by the assumed straight line of the first side and the assumed straight line of the second side;
a light receiving unit that receives reflected light from the cutting edge,
The control unit
extracting, from the cross-sectional profile detected by the detection unit, a cross-sectional profile of a first region that is a predetermined distance from the tip of the cutting edge and a cross-sectional profile of a second region that is closer to the tip of the cutting edge than the first region;
obtaining an approximate straight line by linearly approximating the cross-sectional profile of the first region, and estimating an ideal cross-sectional profile of the second region by extending the approximate straight line;
and calculating a feature value indicative of a difference between the cross-sectional profile of the second region and an ideal cross-sectional profile of the second region.
Blade edge inspection device. The cutting edge inspection device of claim 1, wherein the feature amount is the area of the region surrounded by the ideal cross-sectional profile of the second region and a portion of the cross-sectional profile of the second region that is located axially and radially inside the cutting edge relative to the ideal cross-sectional profile of the second region. The cutting edge inspection device of claim 1, wherein the feature is the distance between the cross-sectional profile of the second region and the ideal cross-sectional profile of the second region. The cutting edge inspection device of claim 1, wherein the feature is a value indicating the relationship between the slope of the cross-sectional profile of the second region at a predetermined position and the slope of the ideal cross-sectional profile of the second region. The cutting edge inspection device of claim 1, wherein the feature amount is the area of the region surrounded by the ideal cross-sectional profile of the second region and a portion of the cross-sectional profile of the second region that is located axially or radially outward of the cutting edge relative to the ideal cross-sectional profile of the second region. The blade has a through hole that passes through the blade in the axial direction,
The support base is
an upper support portion that supports an upper inner peripheral surface of the blade that faces the through hole and is arranged so that an axial direction of the blade is oriented in a substantially horizontal direction;
a lower support portion that supports a lower inner peripheral surface of the blade that faces the through hole and is arranged so that an axial direction of the blade is oriented in a substantially horizontal direction,
the upper support portion has a length longer than the axial length of the upper inner circumferential surface,
The cutting edge inspection device according to any one of claims 1 to 5, wherein the lower support portion has a length substantially equal to the axial length of the lower inner circumferential surface.